CN111614118A - Implementation method for eliminating DC bus voltage ripple of inverter - Google Patents
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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
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/381—Dispersed generators
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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
- H02M1/14—Arrangements for reducing ripples from dc input or output
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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
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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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
- H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
- H02J2300/20—The dispersed energy generation being of renewable origin
- H02J2300/28—The renewable source being wind energy
-
- 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
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0038—Circuits or arrangements for suppressing, e.g. by masking incorrect turn-on or turn-off signals, e.g. due to current spikes in current mode control
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- 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
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/76—Power conversion electric or electronic aspects
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Abstract
An implementation method for eliminating DC bus voltage ripples of an inverter belongs to the field of new energy power generation grid-connected technology and power electronic technology. The method comprises the following steps: step A, directly driving a simulation model of a permanent magnet wind generating set; step B, detailed overview of a linear second-order active disturbance rejection controller; step C, establishing a mathematical model of a direct-drive permanent magnet wind generating set converter DC/AC, and establishing an improved linear second-order active disturbance rejection controller according to the system model; and D, simulation analysis. The technical effects are as follows: the direct-current bus voltage ripple of the inverter caused by a first-order inertia filtering structure is eliminated. The linear second-order active disturbance rejection controller does not depend on a specific mathematical model of a controlled system and has strong disturbance rejection capability on internal and external disturbance; experimental simulation results show that the improved second-order linear active disturbance rejection controller has strong anti-disturbance performance on model uncertainty, observation noise disturbance and the condition of grid side voltage fault.
Description
Second, the technical field
The invention belongs to the field of new energy power generation grid-connected technology and power electronic technology, and particularly relates to a novel Control method for eliminating converter ripples based on an improved Active Disturbance Rejection Control (ADRC).
Third, Prior Art (background Art)
In a full-power converter, a bus voltage outer ring and a current inner ring double closed-loop structure are generally adopted to realize power conversion and stabilize bus voltage. When a system is disturbed (such as high-frequency noise, grid-side fault, machine-side disturbance and sudden load change), unbalance between the output of a grid-side converter and the output of a machine-side converter can be caused during the fault period, so that the voltage of a direct-current side bus generates ripples, the converter cannot complete decoupling operation, and even a hardware structure is damaged.
The influence of a bus voltage filtering structure is not considered in the traditional second-order linear active disturbance rejection control, due to the fact that quantization errors exist, measurement noise exists in the calculated direct-current side bus voltage, the difference between a feedback signal and the phase of an output amplitude of a real system can be caused after the bus voltage is filtered by a first-order inertia link, the output of a controller is influenced, and the performance of the system is reduced. The methods for suppressing high-frequency noise mainly appear at present:
1. the Kalman filter is adopted to filter the measurement signal of the controlled system, so that the reduced order extended state observer has higher observation precision, but the calculated amount of the filtering algorithm is larger, and the convergence speed of the extended state observer is influenced.
2. The integral extended state observer can process the measurement signal of the doped noise and construct an integral auto-disturbance-rejection controller, but the integral saturation phenomenon is easy to occur in the method.
3. The robust differentiator adopting the supercoiling algorithm can filter the input signal, the convergence speed of the robust differentiator depends on the selection of control parameters, and a parameter setting rule is not given.
However, the above methods cannot achieve that the feedback signal truly reflects the actual output of the controlled system, thereby affecting the control effect of the active disturbance rejection controller.
Fourth, the purpose of the invention
Aiming at the problems in the prior art, the invention provides an implementation method for effectively eliminating the DC bus voltage ripple of the inverter caused by a filter structure.
Fifth, the technical scheme of the application
In order to achieve the above object, the present invention provides an inverter dc-side bus voltage control method based on an improved active disturbance rejection controller, which is characterized by at least comprising the following steps:
a, constructing a simulation model of the direct-drive permanent magnet wind generating set;
step B, detailed overview of a linear second-order active disturbance rejection controller;
step C, establishing a mathematical model of a direct-drive permanent magnet wind generating set converter DC/AC, and establishing an improved linear second-order active disturbance rejection controller according to the system model;
step D, simulation analysis
Further, the improved linear second-order auto-disturbance rejection controller is based on the active disturbance rejection control of an improved Extended State Observer (ESO).
Further, the inverter system of the improved active disturbance rejection controller applies the improved linear second-order active disturbance rejection controller to an inverter module of the direct-drive permanent magnet wind generating set, and converts an inverter model in the inverter module into a standard integrator series type required by the linear active disturbance rejection controller, so that the improved linear second-order active disturbance rejection controller is utilized to estimate and compensate uncertainty, unmodeled dynamic state and unknown external disturbance of a controlled system.
Further, the simulation analysis is based on improved linear second-order active disturbance rejection control, and a direct-drive permanent magnet wind generating set inverter system model of voltage and current space vectors under a two-phase rotating coordinate system is established.
Further, the linear second-order active disturbance rejection controller (see fig. 3) in step B is a robust control, which regards the uncertainty of the object model as the internal disturbance of the system, and both it and the external disturbance of the system are regarded as the total disturbance of the system, and the total disturbance comprehensive action including the internal disturbance and the external disturbance of the system is estimated and compensated by the linear extended state observer.
Further, the improved linear second-order active disturbance rejection controller is composed of an improved linear fourth-order extended state observer (see fig. 5), a linear combination and disturbance compensation link; the improved linear fourth-order extended state observer estimates the system state and the total disturbance of the system through the input and the output of the system, and the linear combination utilizes the linear combination of the errors between the input and the state estimation to generate a control signal through a disturbance compensation link.
Further, the improved linear fourth-order extended state observer expands the signal filtered by the first-order inertia element into a new state variable, and the bus voltage before filtering is estimated and fed back by the improved linear extended state observer introduced into the inertia element.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
FIG. 1 is a schematic structural diagram of an inverter system of a direct-drive permanent magnet wind generating set. The main loop of the three-phase alternating current power supply is mainly composed of a three-phase alternating current power supply, a filtering structure, a current transformation module and a direct current side bus capacitor. The converter module adopts a voltage type SVPWM inverter formed by IGBT modules. The parameters are as follows: rated power is 1.5MW, network side line voltage is 690V, direct current bus voltage is 1070V, direct current bus capacitance is 240 muF, network side filter inductance is 0.12mH, and network side filter resistance is 0.942 omega.
The invention discloses a direct-drive permanent magnet wind generating set inverter control method based on a linear second-order active disturbance rejection controller (see figure 2). The dynamic mathematical model of the direct-drive permanent magnet wind generating set in the step A is a nonlinear and strongly coupled multivariable system. . The establishment of a mathematical model of the three-phase full-bridge voltage source inverter is the basis for theoretical analysis and is the premise of reasonable design of control parameters. To simplify the model, and facilitate the study, the following assumptions were made:
(1) the filter inductance is linear, without regard to saturation; the filter capacitor is an ideal capacitor, and the parasitic inductance and the parasitic resistance are ignored;
(2) all the switching devices are ideal devices, and the dead time is ignored;
(3) the switching frequency is far greater than the output voltage frequency, and the input voltage and the output voltage are kept unchanged in adjacent switching periods;
because the DC/AC converter has a switching element, the traditional modeling utilizes the switching characteristic modeling, and the LADRC controller has the characteristic of estimating and eliminating system disturbance, the characteristic of an accurate mathematical model of the system does not need to be known, and the modeling can be carried out by adopting a duty ratio mode:
according to the circuit diagram of the AC/DC equivalent model in FIG. 1, the equation of state under a three-phase coordinate system of a, b and c of the PWM converter can be obtained according to kirchhoff's law of the circuit:
the three-phase static coordinate system of the formula (1) is adopted to carry out indirect current control on the converter, and the current no-static-error control and excellent dynamic and static performances cannot be realized. Therefore, in order to obtain a better control effect, current control of a synchronous rotating coordinate system is needed, namely, the equation (1) is converted into a d-q coordinate system, and a differential state equation is obtained:
as shown in the formula (2): the coupling of the d-axis and q-axis variables can cause certain difficulties in the design of the control system. For this purpose an active disturbance rejection control strategy can be employed, treating the amount with coupling as disturbance.
Selecting the DC side bus voltage of the system as a state variable x1The inverter side voltage UdAs a control quantity u, the total disturbance ω (t) is expanded to a new state variable x3Assuming that the disturbance changes slowly, i.e. is constant in one sampling period, the filter is designed as a first-order inertia element with a cut-off frequency of ωcOr the filtering time constant is T, the state equation and the output equation of the inverter system can be obtained:
fig. 4 is a block diagram of an active disturbance rejection controlled inverter system.
The invention adopts a double closed-loop control structure, the voltage outer ring adopts improved linear second-order active disturbance rejection control, the voltage outer ring is quickly adjusted according to the voltage difference of a direct-current side bus, the total disturbance is compensated, and the stable output provides a reference value for the current inner ring; the current inner loop adopts a traditional PI control mode to improve the rapidity of current response. When external or internal disturbance exists in the system, grid-connected impact current can be caused, the improved linear second-order active disturbance rejection controller has strong anti-interference capability (mainly comprising low-frequency interference and observation noise on a grid side), can estimate and compensate disturbance signals, has a short transient process, and can provide guarantee for safe operation of a direct-drive permanent magnet wind power generation system.
In order to eliminate the influence of a filtering link on the system performance, an improved linear four-order extended state observer is designed to observe the state of the system (3), a mathematical model is shown as a formula (4), and a structural block diagram is shown as fig. 5.
Referring to fig. 6, the inverter closed-loop system measures the frequency domain characteristics from noise to output, and it can be known that the variation of the time constant of the first-order inertia element does not affect the suppression performance of the system on the measured noise.
According to the pole allocation method, the improved linear fourth-order extended state observer is configured as follows:
voltages ua, ub and uc and currents ia, ib and ic are obtained through digital-to-analog conversion sampling, system variables of an inverter are converted into a two-phase synchronous rotation d-q coordinate system in a three-phase static coordinate system through 3s/2r conversion, and components ed, eq, id and iq of a d axis and a q axis are obtained. The difference value between the given value of the direct current voltage and the feedback value (or the given value of the direct current and the feedback value) is controlled by a PI regulator; comparing the intermediate direct current voltage udc with the reference direct current voltage udcref, and performing active disturbance rejection control according to different states; the method comprises the steps that the magnitude of active power P and the magnitude of reactive power Q are given through a power grid dispatching instruction, and then the magnitude of active current and reactive current are obtained through calculation according to an instantaneous powerless theory and serve as controller reference values; and finally, generating corresponding 6 paths of driving pulses to control the on-off of the IGBT by a space vector modulation algorithm of SVPWM (space vector pulse width modulation), and finally transmitting the machine side power to a network side.
The simulation analysis in the step D of the invention is based on improved linear second-order active disturbance rejection control, and MATLAB/SIMULINK is utilized to perform comparative simulation on the direct-drive permanent magnet wind generating set inverter under different inertia time constants (as shown in figures 6 and 7). Simulation results show that the improved system eliminates the voltage ripple of the direct-current bus of the inverter caused by the filter structure and has better anti-interference performance.
It should be understood that the present invention is not limited to the embodiments described herein, and that various modifications and changes obvious to those skilled in the art in light of the above teachings should be made without departing from the spirit and scope of the present invention.
Sixth, technical effects
For a direct-drive permanent magnet wind generating set inverter system, a great deal of research is carried out in the past on PI control, the traditional PI control has the advantage of not depending on a model, and the control of the PI control has the contradiction between rapidity and overshoot. To solve the problem, a linear second-order active disturbance rejection control technology is adopted, and the controller simplifies a control system and is compared with a traditional PI controller: the defect that a general PID control system is greatly overshot is overcome, and the influence of parameter time variation on the decoupling performance of the system and the contradiction between rapidity and stability of the control system are effectively solved; secondly, the linear second-order active disturbance rejection controller does not depend on a specific mathematical model of a controlled system and has strong disturbance rejection capability on internal and external disturbance. By adopting an improved linear second-order active disturbance rejection control technology, compared with a traditional linear second-order active disturbance rejection controller, the controller comprises the following steps: and the voltage ripple of the DC bus of the inverter caused by a first-order inertia filtering structure is eliminated. The improved active disturbance rejection controller structure is applied to a grid-connected inverter, and experimental simulation results show that the improved LADRC control system has stronger anti-disturbance performance under the conditions of observation noise disturbance and grid side voltage faults.
Drawings
FIG. 1 is a schematic structural diagram of an inverter system of a direct-drive permanent magnet wind generating set;
FIG. 2 is a schematic diagram of a DC/AC control strategy of an inverter system of a direct-drive permanent magnet wind generating set;
FIG. 3 is a block diagram of a linear second order active disturbance rejection controller;
FIG. 4 is a block diagram of a linear second-order active disturbance rejection control system;
FIG. 5 is a block diagram of an improved linear fourth-order extended state observer;
FIG. 6 is a frequency domain characteristic of the inverter closed loop system measuring noise to output;
fig. 7 is a bus voltage waveform comparison of a conventional system and an improved system.
Claims (6)
1. An implementation method for eliminating inverter direct-current bus voltage ripples is characterized by at least comprising the following steps:
a, constructing a simulation model of the direct-drive permanent magnet wind generating set;
step B, detailed overview of a linear second-order active disturbance rejection controller;
step C, establishing a mathematical model of a direct-drive permanent magnet wind generating set converter DC/AC, and establishing an improved linear second-order active disturbance rejection controller according to the system model;
and D, simulation analysis.
2. The implementation method for eliminating the inverter direct-current bus voltage ripple according to claim 1, wherein: the improved linear second-order auto-disturbance-rejection controller is based on an improved extended state observer.
3. The implementation method for eliminating the inverter direct-current bus voltage ripple according to claim 1, wherein: the inverter system of the improved active disturbance rejection controller applies the improved linear second-order active disturbance rejection controller to an inverter module of a direct-drive permanent magnet wind generating set, and converts an inverter model in the inverter module into a standard integrator series type required by the linear active disturbance rejection controller, so that the improved linear second-order active disturbance rejection controller is utilized to estimate and compensate uncertainty, unmodeled dynamic state and unknown external disturbance of a controlled system.
4. The implementation method for eliminating the inverter direct-current bus voltage ripple according to claim 1, wherein: the simulation analysis is based on improved linear second-order active disturbance rejection control, and a direct-drive permanent magnet wind generating set inverter system model of voltage and current space vectors under a two-phase rotating coordinate system is established.
5. The implementation method for eliminating the inverter direct-current bus voltage ripple according to claim 1, wherein: in the step B, the linear second-order active disturbance rejection controller (shown in figure 3) is robust control, the uncertainty of an object model is taken as the internal disturbance of the system, the uncertainty and the external disturbance of the system are both taken as the total disturbance of the system, and the total disturbance comprehensive action including the internal disturbance and the external disturbance of the system is estimated and compensated through a linear extended state observer.
6. The implementation method for eliminating the inverter direct-current bus voltage ripple according to claim 1, wherein: the improved linear second-order active disturbance rejection controller is composed of an improved linear fourth-order extended state observer, a linear combination link and a disturbance compensation link; the improved linear fourth-order extended state observer estimates the system state and the total disturbance of the system through the input and the output of the system, and the linear combination utilizes the linear combination of the errors between the input and the state estimation to generate a control signal through a disturbance compensation link. The improved linear fourth-order extended state observer expands a signal filtered by a first-order inertia element into a new state variable, and estimates and feeds back the bus voltage before filtering by the improved linear extended state observer introduced into the inertia element.
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Cited By (4)
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| CN112953287A (en) * | 2021-03-26 | 2021-06-11 | 淮阴工学院 | Inverter self-adaptive control method based on variable perturbation extended observer |
| CN113765454A (en) * | 2021-07-30 | 2021-12-07 | 中国科学院电工研究所 | Active disturbance rejection control method, system and equipment for direct-drive permanent magnet synchronous generator |
| CN114336625A (en) * | 2022-02-16 | 2022-04-12 | 北方工业大学 | Control method and device for eliminating double frequency voltage ripple of direct current bus |
| CN117458578A (en) * | 2023-07-27 | 2024-01-26 | 陕西理工大学 | Light storage direct current micro-grid bus voltage improved supercoiled sliding mode active disturbance rejection control method |
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| CN110957756A (en) * | 2019-10-29 | 2020-04-03 | 国网江苏省电力有限公司盐城供电分公司 | Photovoltaic inverter voltage control circuit based on active disturbance rejection technology |
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| CN110011296A (en) * | 2019-03-12 | 2019-07-12 | 浙江工业大学 | A kind of direct-current grid distribution droop control method based on Auto Disturbances Rejection Control Technique |
| CN110957756A (en) * | 2019-10-29 | 2020-04-03 | 国网江苏省电力有限公司盐城供电分公司 | Photovoltaic inverter voltage control circuit based on active disturbance rejection technology |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112953287A (en) * | 2021-03-26 | 2021-06-11 | 淮阴工学院 | Inverter self-adaptive control method based on variable perturbation extended observer |
| CN112953287B (en) * | 2021-03-26 | 2024-06-11 | 淮阴工学院 | Inverter self-adaptive control method based on variable perturbation expansion observer |
| CN113765454A (en) * | 2021-07-30 | 2021-12-07 | 中国科学院电工研究所 | Active disturbance rejection control method, system and equipment for direct-drive permanent magnet synchronous generator |
| CN114336625A (en) * | 2022-02-16 | 2022-04-12 | 北方工业大学 | Control method and device for eliminating double frequency voltage ripple of direct current bus |
| CN117458578A (en) * | 2023-07-27 | 2024-01-26 | 陕西理工大学 | Light storage direct current micro-grid bus voltage improved supercoiled sliding mode active disturbance rejection control method |
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Application publication date: 20200901 |