CN111541359B - Switch switching sequence control method, system, storage medium, device and application - Google Patents
Switch switching sequence control method, system, storage medium, device and application Download PDFInfo
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- CN111541359B CN111541359B CN202010216271.6A CN202010216271A CN111541359B CN 111541359 B CN111541359 B CN 111541359B CN 202010216271 A CN202010216271 A CN 202010216271A CN 111541359 B CN111541359 B CN 111541359B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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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
- H02M7/53—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
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- Automation & Control Theory (AREA)
- Inverter Devices (AREA)
Abstract
The invention belongs to the technical field of power switch control, and discloses a switch switching sequence control method, a system, a storage medium, a device and application, wherein a first-order continuous switch system model is established; designing an input variable u; obtaining a power element switch switching sequence; the tracking error is obtained and analyzed. The system comprises: establishing a first-order continuous switching system model based on a single-phase L-shaped inverter model; the controllable direct current power supply is used for generating the amplitude of the control input variable u; the control board is used for programming a DSP program to enable a power switch element in the inverter to be switched on and off according to a designed switch sequence; the oscilloscope with the digital filtering function is used for observing current signals, tracking given signals and carrying out error analysis. The invention fully discusses the stability of the whole power system based on the switch control theory, the dynamic response of the tracking given signal is fast, and the tracking given signal has accurate steady-state error when changing.
Description
Technical Field
The invention belongs to the technical field of power switch control, and particularly relates to a switch switching sequence control method, a system, a storage medium, a device and an application.
Background
In the last decades, power electronic devices have been well developed, and a large number of power switching elements such as MOSFETs, IGBTs and the like are used in a power system, so that a power grid is high in switching value, and the power system becomes a switching system, which poses performance challenges from a single power electronic device to stability of the whole power system. The stability of the entire power system should be fully discussed based on the switching control theory. However, theoretically, there is no systematic theory to address the impact of a single power electronic device on overall power system stability. For single power electronics, the conventional modulation method is so-called Pulse Width Modulation (PWM). According to the area equivalent principle, switching control is realized by comparing a fixed frequency carrier with the output of a designed continuous controller. To improve the performance of PWM, many advanced modulation methods, such as SPWM and SVPWM, have been proposed to improve the accuracy of the power switching system. However, in designing the average model based approach, the effect of the modulation will be neglected. The stability and steady-state accuracy of the above modulation using an average model-based controller is not discussed theoretically. Model Predictive Control (MPC) is another well-known switching control strategy that has been widely used in a variety of power switching systems. In the last decades, the literature has provided a number of advanced MPCs to improve the performance of various power electronic devices. However, the model of an MPC is discrete and therefore cannot describe details in a continuous region. Moreover, these discussions do not provide an accurate analysis of steady state errors.
Furthermore, when a large number of mains switching devices are connected to the grid, these devices can interact and performance and stability can be reduced. Higher harmonics are suppressed by globally synchronizing the PWM by synchronizing the carrier of the PWM in different converters. The phase of the PWM carrier is controlled to reduce high frequency oscillations caused by different power switching systems. It has further been demonstrated that the switching control strategy of each power electronic device has a significant impact on the overall system. However, the method only improves the performance of the system through design, and does not analyze the system stability of the system, and the method does not provide a system theory to analyze the stability and steady-state accuracy of the power switch control.
Through the above analysis, the problems and defects of the prior art are as follows: performance and stability also degrade when a large number of power switching devices are connected to the grid at present, and stability and steady state accuracy of the analytical power switching control of the system are not provided.
The difficulty in solving the above problems and defects is: the existing PWM method is based on the area equivalent principle, ignores the error brought by the disturbance of a given signal on a modulation level, and limits the tracking precision.
The significance of solving the problems and the defects is as follows: a new control method is innovated, the system stability can be effectively analyzed, the tracking precision is improved, and reference significance is provided for modulation of a power electronic system.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a switch switching sequence control method, a system, a storage medium, a device and an application.
The invention is realized in such a way that a switching sequence control method comprises the following steps:
firstly, establishing a first-order continuous switch system model;
secondly, designing an input variable u;
thirdly, obtaining a power element switch switching sequence; switching time sequence k i Expression:
wherein k is not less than 0 i Is not more than 1, lambda is a first-order continuous system characteristic value, lambda is greater than 0,U and b are constants, U is greater than 0,T is a time period, x is * To track a given signal; u is a controllable direct current power supply amplitude value, and b is determined by L inverter parameters and equivalent loads at two ends of the inverter;
and fourthly, obtaining and analyzing the tracking error.
Further, the second step design input variables u, u satisfy:
(1)t∈[iT,iT+k i T]when U = U;
(2)t∈[iT+k i T,(i+1)T]when U = -U;
wherein k is more than or equal to 0 i ≤1，U＞0T is the time period, i =0,1,2 ….
Further, the fourth step obtains and analyzes the tracking error, and the expression is as follows:
wherein T is ∈ [ iT, (i + 1) T]Lambda is a first order continuous system eigenvalue, lambda > 0,U and b are constants, U > 0, T is a time period,
is an error variable, is asserted>
Is an initial value;
when i → + ∞:
Wherein λ is a first-order continuous system eigenvalue, λ > 0,U and b are constants, U > 0,T is a time period, x * To track a given signal.
Further, when t = iT, the tracking error is expressed as:
it is another object of the present invention to provide a program storage medium for receiving user input, the stored computer program causing an electronic device to perform the steps comprising:
firstly, establishing a first-order continuous switch system model;
secondly, designing an input variable u;
thirdly, obtaining a power element switch switching sequence; switching time sequence k i Expression:
wherein k is not less than 0 i Is not more than 1, lambda is a first-order continuous system characteristic value, lambda is greater than 0,U and b are constants, U is greater than 0,T is a time period, x is * To track a given signal;
and fourthly, obtaining and analyzing the tracking error.
Another object of the present invention is to provide a switching sequence control system implementing the switching sequence control method, the switching sequence control system including:
establishing a first-order continuous switching system model by using a single-phase L-shaped inverter model;
the controllable direct current power supply is used for generating the amplitude of the control input variable u;
the control panel is used for programming a DSP program to enable the power switch element in the inverter to be switched on and off according to a designed switch sequence;
the oscilloscope with the digital filtering function is used for observing current signals, tracking given signals and analyzing errors.
Another object of the present invention is to provide a switching sequence control and error analysis device equipped with the switching sequence control system.
Another object of the present invention is to provide a first order continuous power switch control system incorporating the switching sequence control and error analysis apparatus.
Another object of the present invention is to provide a power switching apparatus incorporating the switching sequence control system.
Another object of the present invention is to provide a switching control system for an electronic power device equipped with the switching sequence control system.
By combining all the technical schemes, the invention has the advantages and positive effects that: the prior art only gives a designed switching control strategy and does not systematically suggest theories about stability and steady-state accuracy of power switching control. The switching sequence control method and the tracking error analysis method of the first-order power switch system provided by the invention analyze the stability and the steady-state accuracy of the first-order power switch control. The invention fully discusses the stability of the whole power system based on the switch control theory, the dynamic response of the tracking given signal is fast, the tracking speed can reach within 1ms when the tracking given signal changes, and the tracking signal has accurate steady-state error.
As shown in fig. 4 (a), the steady-state effect graph of the present invention when tracking a given dc signal, as shown in fig. 4 (b), the steady-state effect graph of the present invention when tracking a given sinusoidal (ac) signal, as shown in fig. 4 (c), the dynamic effect graph of the present invention when tracking a given dc signal; the detection method has good dynamic response and accurate steady-state error.
Drawings
Fig. 1 is a flowchart of a switching sequence control method according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a switching sequence control system according to an embodiment of the present invention.
Fig. 3 is a flowchart of an implementation of a switching sequence control method according to an embodiment of the present invention.
FIG. 4 is a graph of the current tracking effect provided by an embodiment of the present invention;
in the figure: (a) tracking a steady state effect map of the direct current; (b) tracking a steady state effect map of the sinusoidal signal; and (c) tracking the dynamic effect graph of the direct current.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In view of the problems in the prior art, the present invention provides a method, a system, a storage medium, a device and an application for controlling a switching sequence, and the present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the switching sequence control method provided by the present invention includes the following steps:
s101: establishing a first-order continuous switch system model;
s102: designing an input variable u;
s103: and obtaining a power element switch switching sequence.
S104: and obtaining and analyzing accurate tracking error.
As shown in fig. 2, a switching sequence control system provided in an embodiment of the present invention includes:
and establishing a first-order continuous switching system model by using the single-phase L-shaped inverter model.
And the controllable direct current power supply is used for generating the amplitude of the control input variable u required in the algorithm.
The C2000 MicrocontrolllerTMS 320F28379D control board writes a DSP program to make the power switch elements in the inverter switch (turn on and off) according to the designed switch sequence.
The oscilloscope with the digital filtering function is used for observing the current signal and tracking the given signal, and carrying out error analysis on the current signal and the given signal.
The technical solution of the present invention is further described below with reference to the accompanying drawings.
As shown in fig. 3, the switching sequence control method provided by the present invention includes the following steps:
the first step is as follows: establishing a first-order continuous switch system model;
the second step is that: the design input variables u, u satisfy the following relationship:
t∈[iT,iT+k i T]when U = U;
t∈[iT+k i T,(i+1)T]when U = -U;
wherein k is not less than 0 i 5363 ≦ 1,U > 0,T for the time period i =0,1,2 ….
The third step: obtaining a power element switch switching sequence:
wherein k is not less than 0 i Is not more than 1, lambda is a first-order continuous system characteristic value, lambda is greater than 0,U and b is a constant, U is greater than 0, T is a time period, x is * To track a given signal. U is a controllable direct current power supply amplitude value, and b is determined by L inverter parameters and equivalent loads at two ends of the inverter;
the fourth step: obtaining accurate tracking error and analyzing:
wherein T is ∈ [ iT, (i + 1) T]，
Is an error variable, is asserted>
Is an initial value.
When i → + ∞ times,
according to the formula:
inversely proportional to λ and inversely proportional to T. Wherein, λ is first order continuous system characteristic value, λ > 0,U and b are constants, U > 0,T is time period, x is * To track a given signal.
The technical effects of the present invention will be described in detail with reference to experiments.
As shown in fig. 4, it can be seen from the graphs in fig. 4 (a) and 4 (b) that there is an accurate steady-state error when tracking a given signal, and the tracking error fluctuates in a small range above and below the 0-th scale line when a dc signal or a sinusoidal signal having a signal amplitude of 0.7A is given. As can be seen from fig. 4 (c), the tracking speed of the switching sequence control method proposed by the present invention is fast.
It should be noted that the embodiments of the present invention can be realized by hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such code provided on a carrier medium such as a diskette, CD-or DVD-ROM, a programmable memory such as read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier, for example. The apparatus and its modules of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of hardware circuits and software, e.g., firmware.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed in the present invention should be covered within the scope of the present invention.
Claims (8)
1. A switching sequence control method, characterized by comprising:
firstly, establishing a first-order continuous switch system model;
secondly, designing an input variable u;
thirdly, obtaining a power element switch switching sequence; switching time sequence k i Expression:
wherein k is not less than 0 i Is not more than 1, lambda is a first-order continuous system characteristic value, lambda is greater than 0,U and b are constants, U is greater than 0,T is a time period, x is * To track a given signal; u is a controllable direct current power supply amplitude value, and b is determined by L inverter parameters and equivalent loads at two ends of the inverter;
fourthly, obtaining and analyzing a tracking error, wherein the expression is as follows:
wherein T is ∈ [ iT, (i + 1) T]，
In order to be an error variable, the error value,
is an initial value;
when i → + ∞:
when t = iT, the tracking error is expressed as:
2. the switching sequence control method of claim 1, wherein the second step design input variables u, u satisfy:
(1)t∈[iT,iT+k i T]when U = U;
(2)t∈[iT+k i T,(i+1)T]when U = -U;
wherein k is not less than 0 i 5363 ≦ 1,U > 0,T for time period i =0,1,2 ….
3. A program storage medium for receiving a user input, the stored computer program causing an electronic device to execute the switch switching sequence control method of any one of claims 1 to 2, comprising the steps of:
firstly, establishing a first-order continuous switch system model;
secondly, designing an input variable u;
thirdly, obtaining a power element switch switching sequence; switching time sequence k i Expression:
wherein k is more than or equal to 0 i Is less than or equal to 1, lambda is a first-order continuous system characteristic value, lambda is greater than 0,U and b is constant, U is greater than 0,T is a time period, and x is * To track a given signal;
fourthly, obtaining and analyzing a tracking error, wherein the expression is as follows:
wherein T is ∈ [ iT, (i + 1) T]，
In order to be an error variable, the error value,
is an initial value;
when i → + ∞:
when t = iT, the tracking error is expressed as:
4. a switching sequence control system for implementing the switching sequence control method according to any one of claims 1 to 2, characterized in that the switching sequence control system comprises:
establishing a first-order continuous switching system model by using a single-phase L-shaped inverter model;
the controllable direct current power supply is used for generating the amplitude of the control input variable u;
the control panel is used for programming a DSP program to enable the power switch element in the inverter to be switched on and off according to a designed switch sequence;
the oscilloscope with the digital filtering function is used for observing current signals, tracking given signals and carrying out error analysis.
5. A switching sequence control and error analysis device equipped with the switching sequence control system according to claim 4.
6. A first order continuous power switch control system incorporating the switching sequence control and error analysis apparatus of claim 5.
7. A power switching apparatus incorporating the switching sequence control system of claim 4.
8. A switch control system for a power electronic device carrying the switch switching sequence control system of claim 4.
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| US4954726A (en) * | 1986-07-30 | 1990-09-04 | International Fuel Cells Corporation | Switching an inverter with stored signal sequences |
| CN103095169A (en) * | 2011-10-27 | 2013-05-08 | 意法半导体(图尔)公司 | Control of a switch in a power converter |
| WO2013104418A1 (en) * | 2012-01-11 | 2013-07-18 | Bombardier Transportation Gmbh | Generation of switching sequence for a cascaded multilevel converter |
| CN103366042A (en) * | 2013-04-17 | 2013-10-23 | 湘潭大学 | C language programming S function modeling method applicable to matrix converter switch control |
| CN106160541A (en) * | 2016-07-22 | 2016-11-23 | 南京理工大学 | The mid-point voltage Ripple Suppression system and method optimized based on off state |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2469692B1 (en) * | 2010-12-24 | 2019-06-12 | ABB Research Ltd. | Method for controlling a converter |
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- 2020-03-25 CN CN202010216271.6A patent/CN111541359B/en active Active
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| US4954726A (en) * | 1986-07-30 | 1990-09-04 | International Fuel Cells Corporation | Switching an inverter with stored signal sequences |
| CN103095169A (en) * | 2011-10-27 | 2013-05-08 | 意法半导体(图尔)公司 | Control of a switch in a power converter |
| WO2013104418A1 (en) * | 2012-01-11 | 2013-07-18 | Bombardier Transportation Gmbh | Generation of switching sequence for a cascaded multilevel converter |
| CN103366042A (en) * | 2013-04-17 | 2013-10-23 | 湘潭大学 | C language programming S function modeling method applicable to matrix converter switch control |
| CN106160541A (en) * | 2016-07-22 | 2016-11-23 | 南京理工大学 | The mid-point voltage Ripple Suppression system and method optimized based on off state |
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| Title |
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| Sequence-Based Control of an Isolated DC/AC Matrix Converter;Alireza Tajfar et al.;《IEEE Transactions on Power Electronics》;20150422;第31卷(第2期);第1757-1773页 * |
| 单相三电平脉冲整流器模型预测直接功率控制;马俊鹏 等;《中国电机工程学报》;20160220;第36卷(第04期);第1098-1105页 * |
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