CN101557174B - A state-tracked digitally-controlled inverter power supply - Google Patents

Abstract

The invention discloses a state-tracked digitally-controlled inverter power supply being characterized in that: an input end of a prefilter is connected with a reference amount u<r>; an output end of the prefilter is connected with a positive input end of a subtracter; an output end of the subtracter is connected with an input end of a one-stroke delay module; an output end of the one-stroke delay module is connected with a control end of a inverter and a second input end of a prediction observer; a first input end and a third input end of the prediction observer are respectively connected with output ends of a current sensor and a voltage sensor; an output end of the prediction observer is connected with an input end of a state gain matrix; an output end of the state gain matrix is connected with a negative input end of the subtracter; an output end of the inverter is connected with an input end of the voltage sensor and a load; a direct current end of the inverter is connected with a direct current power supply; a load current in the inverter is connected with an input end of the current sensor. The inverter power supply has good dynamic and static characteristics and has low waveform distortion of the output voltage. The invention is widely used in various power supply systems comprising an alternating current stabilized power source.

Description

The numerically controlled inverter of a kind of status tracking

Technical field

The present invention relates to a kind of power conversion circuit, the numerically controlled inverter of particularly a kind of status tracking.

Background technology

Adopt digitial controller can overcome analog controller and be prone to aging, shortcomings such as versatility is low, complex structure, thereby the digital control extensive concern that receives.Along with the development that microelectric techniques such as microprocessor are advanced by leaps and bounds, numerically controlled application is more general.For giving full play to numerically controlled advantage, Chinese scholars successively proposes various digital control methods.

But the digitial controller of simulated design belongs to indirect design, and any discretization method of its controller all has response distortion, causes its control performance to can not show a candle to analog controller.In addition, repeat the control of control and dead beat, do not take into account many-sided performance of system simultaneously as two kinds of distinctive control methods of digitial controller.Repeat to control based on internal model principle and utilize the periodicity integration of error signal to eliminate steady-state error, but dynamic responding speed is slower.Dead beat control is according to the dynamic model decision controlled quentity controlled variable of reference signal and controlled device; Make controlled volume in a time in sampling period, reach reference value; Has response speed faster; But its control precision depends on the accuracy of model parameter, and robustness is relatively poor, might reduce the stability of a system or even unstable.Though be suggested it is thus clear that can bring into play the above-mentioned digital control method of digital control advantage, exist not enough.

Summary of the invention

The objective of the invention is to overcome the weak point of above-mentioned prior art, provide a kind of status tracking numerically controlled inverter, this inverter dynamic response fast, steadily; The total percent harmonic distortion of output voltage is low under the nonlinear load situation, surpasses under 3 the situation at specified nonlinear load, load current crest factor, and the total percent harmonic distortion of output voltage is also lower; Stable state accuracy is high; And simple in structure, cost is lower.

The numerically controlled inverter of status tracking provided by the invention; It is characterized in that: the control end and the microprocessor of inverter join; The output of inverter joins with the input of voltage sensor and load; The load current of drawing in the inverter and the input of current sensor join, and the inverter dc terminal links to each other with DC power supply, and the output of voltage sensor and the output of current sensor join with microprocessor respectively;

Microprocessor comprises prefilter, the prediction observer, and the state gain matrix, one claps Postponement module and subtracter; Prefilter input and reference quantity u _rJoin, prefilter output and subtracter positive input terminal join; Subtracter output and one is clapped the Postponement module input and is joined; One claps the Postponement module output joins with inverter control end and second input of prediction observer; Prediction first input of observer and current sensor output join, and prediction the 3rd input of observer and voltage sensor output join, and prediction observer output and state gain matrix input join; State gain matrix output and subtracter negative input end join.

The present invention compared with prior art has the following advantages:

(1) impact, anticlimax are during semi-load, and the dynamic transition process of inverter provided by the invention all is no more than 0.8ms; The output voltage instantaneous rate of change is little, and workload-adaptability strengthens.

(2) under the various loading conditions from the zero load to the nominal load, the precision of voltage regulation is high, and steady-state error reduces greatly.

(3) the total percent harmonic distortion of output voltage is low under the nonlinear load situation; Surpass under 3 the situation at specified nonlinear load, load current crest factor; The total percent harmonic distortion of output voltage is also lower, shows the wave distortion that nonlinear load is caused and has stronger inhibition ability.

(4) the present invention is in the numerically controlled inverter design to status tracking; Adopt status tracking control and system's limit collocation method; With the stability, the dynamic property that guarantee inverter and reduce steady-state error, whole power-supply system has stronger robustness.Under various load disturbance situation, all can obtain colory ac output voltage; Whole inverter changes insensitive to inverter parameter, status tracking digitial controller parameter, the system responses performance is stable.

(5) circuit structure of the present invention is simple, and cost is low, is easy to realize.

Description of drawings

Fig. 1 is the structural representation of the numerically controlled inverter of status tracking;

Fig. 2 is the microprocessor main program flow chart;

Fig. 3 is the theory diagram one of control algolithm among Fig. 1;

Fig. 4 is the control algolithm program flow diagram one among Fig. 2;

Fig. 5 is the theory diagram two of control algolithm among Fig. 1;

Fig. 6 is the control algolithm program flow diagram two among Fig. 2.

Embodiment

Below in conjunction with accompanying drawing the present invention is done further explain.

As shown in Figure 1, the structure of the numerically controlled inverter of status tracking provided by the invention is:

Prefilter 7 inputs and reference quantity u _rJoin, the positive input terminal of prefilter 7 outputs and subtracter 10 joins.Subtracter 10 outputs and one are clapped Postponement module 11 inputs and are joined.One claps Postponement module 11 outputs joins with inverter 2 control ends and 8 second inputs of prediction observer.Prediction observer 8 first inputs and current sensor 6 outputs join, and prediction the 3rd input of observer 8 and voltage sensor 5 outputs join, and prediction observer 8 outputs and state gain matrix 9 inputs join.The negative input end of state gain matrix 9 outputs and subtracter 10 joins.The input of the output of inverter 2 and voltage sensor 5 and load 3 are joined, and inverter 2 dc terminal link to each other with DC power supply 4.The input of load current in the inverter 2 and current sensor 6 joins.

Inverter 2, voltage sensor 5 and current sensor 6 can be selected common inverter, voltage sensor and current sensor for use.

Prefilter 7, prediction observer 8, state gain matrix 9, are clapped Postponement module 11 and subtracter 10 formation microprocessors 1.Wherein microprocessor can be single-chip microcomputer or digital signal processing chip.

Load current i in the inverter 2 _oWith output voltage u ₀Send into microprocessor 1 through over-current sensor 6 and voltage sensor 5 respectively, microprocessor 1 is through producing control signal u behind the sequential operation ₁Inverter 2 is implemented control.

The digital control control method that adopts of status tracking is as shown in Figure 2.With the integration of output voltage, inverter current, output voltage and the double integral of output voltage is state variable, is called status tracking I type, the schematic diagram of its control algolithm and program flow diagram such as Fig. 3 and shown in Figure 4; Integration with output voltage, inverter current and output voltage is a state variable, is called status tracking II type, the schematic diagram of its control algolithm and program flow diagram such as Fig. 5 and shown in Figure 6.Its concrete steps are:

(1) gathers the output voltage u of the current bat that voltage sensor obtains _o(k) and the load current i of the current bat that obtains of current sensor _o(k), k representes the sequence number of current bat, and a sampling period T is called a bat in numerical control system.

(2) utilize formula (A) calculating voltage predicated error e _Uo(k)

$e_{\mathrm{uo}}\left(k\right)=u_o\left(k\right)-{\hat{u}}_o\left(k\right)---\left(A\right)$

Wherein, claps the output voltage predicted value for the k that when k-1 claps, obtains.

(3) calculate the control signal u ' after repeating to compensate by formula (B) ₁(k)

$\left\{\begin{array}{c}{u}_{\mathrm{rept}}\left(k\right)=Q{u}_{\mathrm{rept}}(k-N)+k_r{e}_{\mathrm{uo}}(k-N+k_z)\\ u_1^{,}\left(k\right)=u_1\left(k\right)+u_{\mathrm{rept}}\left(k\right)\end{array}\right.---\left(B\right)$

Wherein, u _Rept(k) be repetition compensation rate, u ₁(k) be the control signal that k claps, N is the sampling number of a primitive period, the Q integral coefficient that is as the criterion, and 0.9≤Q＜1 gets 0.95, k usually _rBe repeated gain, 0＜k _r≤0.5, k _zBe leading umber of beats, in order to the phase angular lag of compensation formula (C).

(4) utilize formula; (C) calculate the output voltage predicted value of next bat and the filter inductance current forecasting value

of next bat

$\left[\begin{array}{c}{\hat{u}}_0(k+1)\\ {\hat{i}}_1(k+1)\end{array}\right]=(A_s-H_s{C}_s)\left[\begin{array}{c}{\hat{u}}_0\left(k\right)\\ {\hat{i}}_1\left(k\right)\end{array}\right]+B_s\left[\begin{array}{c}{u}_1^{,}\left(k\right)\\ i_0\left(k\right)\end{array}\right]+H_s{C}_s\left[\begin{array}{c}{u}_0\left(k\right)\\ 0\end{array}\right]---\left(C\right)$

In the formula $A_s=\left[\begin{array}{cc}{\mathrm{\&phi;}}_{11}& {\mathrm{\&phi;}}_{12}\\ {\mathrm{\&phi;}}_{21}& {\mathrm{\&phi;}}_{22}\end{array}\right],$

${\mathrm{\&phi;}}_{11}=e^{-\frac{r}{2L}T}\cos {\mathrm{\&omega;}}_{d}T+\frac{r}{2L{\mathrm{\&omega;}}_d}{e}^{-\frac{r}{2L}T}\sin {\mathrm{\&omega;}}_{d}T,$ ${\mathrm{\&phi;}}_{12}=\frac{1}{C{\mathrm{\&omega;}}_d}{e}^{-\frac{r}{2L}T}\sin {\mathrm{\&omega;}}_{d}T$

${\mathrm{\&phi;}}_{21}=-\frac{1}{{\mathrm{L\&omega;}}_d}{e}^{-\frac{r}{2L}T}\sin {\mathrm{\&omega;}}_{d}T,$ ${\mathrm{\&phi;}}_{22}=e^{-\frac{r}{2L}T}\cos {\mathrm{\&omega;}}_{d}T-\frac{r}{2L{\mathrm{\&omega;}}_d}{e}^{-\frac{r}{2L}T}\sin {\mathrm{\&omega;}}_{d}T$

B _s＝[H ₁?H ₂]

$H_1=\left[\begin{array}{c}{e}^{-\frac{r}{2L}T}(-\cos {\mathrm{\&omega;}}_{d}T-\frac{r}{2L{\mathrm{\&omega;}}_d}\sin {\mathrm{\&omega;}}_{d}T)+1\\ \frac{1}{L{\mathrm{\&omega;}}_d}{e}^{-\frac{r}{2L}T}\sin {\mathrm{\&omega;}}_{d}T\end{array}\right]=\left[\begin{array}{c}{h}_{11}\\ h_{21}\end{array}\right]$

$H_2=\left[\begin{array}{c}r(e^{-\frac{r}{2L}T}\cos {\mathrm{\&omega;}}_{d}T+\frac{r}{2{\mathrm{L\&omega;}}_d}{e}^{-\frac{r}{2L}T}\sin {\mathrm{\&omega;}}_{d}T-1)-\frac{1}{C{\mathrm{\&omega;}}_d}{e}^{-\frac{r}{2L}T}\sin {\mathrm{\&omega;}}_{d}T\\ -e^{-\frac{r}{2L}T}\cos {\mathrm{\&omega;}}_{d}T-\frac{r}{2L{\mathrm{\&omega;}}_d}{e}^{-\frac{r}{2L}T}\sin {\mathrm{\&omega;}}_{d}T+1\end{array}\right]=\left[\begin{array}{c}{h}_{12}\\ h_{22}\end{array}\right]$

C _s＝[1?0]

${\mathrm{\&omega;}}_n=\frac{1}{\sqrt{\mathrm{LC}}},$ Natural frequency of oscillation for inverter 2

${\mathrm{\&omega;}}_d=\sqrt{\frac{1}{\mathrm{LC}}-\frac{r^2}{{4L}^2}},$ Damped oscillation frequency for inverter 2

Wherein,

Be respectively the output voltage predicted value and the filter inductance current forecasting value of current bat, L is total filter inductance of inverter 2 outputs, and C is total filter capacitor of inverter 2 outputs, and r is the equivalent damping resistance of inverter 2; H _sBe the prediction feedback gain matrix, can be according to (A _s-H _sC _s) characteristic value select than the fast principle more than 3 times of the closed loop characteristic value of inverter 2.

(5) utilize formula (D1) to calculate next and clap output voltage integration predicted value

${\hat{u}}_i(k+1)=T{\hat{u}}_0(k+1)+{\hat{u}}_i\left(k\right)---\left(D1\right)$

The output voltage integration predicted value that

claps for the k that when k-1 claps, obtains;

If adopt status tracking I type, also to utilize formula (D2) to calculate next and clap output voltage double integral predicted value

${\hat{u}}_{\mathrm{ii}}(k+1)=T{\hat{u}}_i(k+1)+{\hat{u}}_{\mathrm{ii}}\left(k\right)---\left(D2\right)$

The output voltage double integral predicted value that

claps for the k that when k-1 claps, obtains.

(6) computing mode tracking control signal u _f(k+1):

(6A) when adopting status tracking I type, utilize formula (E1) to calculate next and clap status tracking control signal u _f(k+1):

$u_f(k+1)=k_4\hat{i}(k+1)+k_3{\hat{u}}_o(k+1)+k_2{\hat{u}}_i(k+1)+k_1{\hat{u}}_{\mathrm{ii}}(k+1)---\left(E1\right)$

Wherein, k ₁, k ₂, k ₃, k ₄Be the element among the numerically controlled state gain matrix of the status tracking K.

In state variable is output voltage u _o, inverter current i, output voltage integration u _iDouble integral u with output voltage _Ii, the discrete state equations of the digital control inverter of status tracking this moment: X (k+1)=F ₁X (k)+G ₁u ₁(k), F wherein ₁, G ₁Be state matrix and input matrix; The expectation closed-loop pole P={z of system in discrete domain ₁z ₂z ₃z ₄, utilize the Ackermamn formula can be in the hope of K=[k ₁k ₂k ₃k ₄] in each element.

is the inverter current predicted value; Can be inductive current, also can be capacitance current.When adopting inductive current, next claps the inverter current predicted value $\hat{i}(k+1)={\hat{i}}_1(k+1);$ When adopting capacitance current, next claps the inverter current predicted value $\hat{i}(k+1)={\hat{i}}_1(k+1)-{\hat{i}}_o(k+1),$ Wherein next claps the load current predicted value

Can calculate by formula (F):

$\left[\begin{array}{c}{\widehat{\stackrel{\&CenterDot;}{i}}}_o(k+1)\\ {\hat{i}}_o(k+1)\end{array}\right]=A_d\left[\begin{array}{c}{\widehat{\stackrel{\&CenterDot;}{i}}}_o\left(k\right)\\ {\hat{i}}_o\left(k\right)\end{array}\right]+H_d{C}_d\left[\begin{array}{c}0\\ i_o\left(k\right)-{\hat{i}}_o\left(k\right)\end{array}\right]---\left(F\right)$

In the formula $A_d=\left[\begin{array}{cc}1& 0\\ \mathrm{<figure-callout\; id="1"\; label="T"\; filenames="H2009100617689E00011.png,H2009100617689E00012.png"\; state="\{\{state\}\}">T</figure-callout>}& 1\end{array}\right],$ C _d=[0 1],

The load current predicted value of clapping for the k that when k-1 claps, obtains, For

Differential value,

For Differential value.

H _dBe the disturbance feedback gain matrix, can be according to (A _d-H _dC _d) characteristic value select than the fast 5 times principle of the closed loop characteristic value of inverter 2.

(6B) when adopting status tracking II type, utilize formula (E2) to calculate next and clap status tracking control signal u _f(k+1):

$u_f(k+1)=k_3^{\&prime;}\hat{i}(k+1)+k_2^{\&prime;}{\hat{u}}_o(k+1)+{\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="H2009100617689E00011.png,H2009100617689E00012.png"\; state="\{\{state\}\}">k</figure-callout>}}_1^{\&prime;}{\hat{u}}_i(k+1)---\left(E2\right)$

Wherein, k ' ₁, k ' ₂, k ' ₃Be the element among the numerically controlled state gain matrix of the status tracking K '.

In state variable is output voltage u _o, inverter current i, output voltage integration u _i, the discrete state equations of the digital control inverter of status tracking this moment: X (k+1)=F ₂X (k)+G ₂u ₁(k), F wherein ₂, G ₂Be state matrix and input matrix.The expectation closed-loop pole P '={ z of system in discrete domain ₁z ₂z ₃, utilization Ackermamn formula find the solution K '=[k ' ₁K ' ₂K ' ₃] in each element.

(7) calculate prefilter output signal u _p(k+1):

Different according to status tracking I type and status tracking II type, the computational process of prefilter output signal is described below respectively.

(7A) when adopting status tracking I type, can try to achieve the prefilter parameter by following formula:

k ₇＝k ₃-Ck _ii

K wherein _IiFor ${\mathrm{Ck}}_{\mathrm{Ii}}^3-k_3{k}_{\mathrm{Ii}}^2+k_2{k}_4{k}_{\mathrm{Ii}}-k_1{k}_4^2=0$ Real root,

k ₆＝2k ₇+k ₃T，

k ₅＝k ₇+k ₃T+k ₄T ²

Clap reference quantity u according to next _r(k+1), current bat reference quantity u _r(k) reach last one and clap reference quantity u _r(k-1), next claps output signal u to calculate prefilter by formula (G1) _p(k+1):

u _p(k+1)＝k ₅u _r(k+1)-k ₆u _r(k)+k ₇u _r(k-1)+2u _p(k)-u _p(k-1) (G1)

u _p(k-1), u _p(k) be respectively the prefilter output signal that obtains k-1 bat, k bat in k-2 bat, k-1 bat;

(7B) when adopting status tracking II type, can try to achieve the prefilter parameter by following formula:

k′ ₅＝k′ ₂+k′ ₁T

k′6＝k′2

Clap reference quantity u according to next _r(k+1) and current bat reference quantity u _r(k), next claps output signal u to calculate prefilter by formula (G2) _p(k+1):

u _p(k+1)＝k′ ₅u _r(k+1)-k′ ₆u _r(k)+u _p(k) (G2)

(8) utilize formula (H) to calculate the control signal u of next bat ₁(k+1):

u ₁(k+1)＝u _p(k+1)-u _f(k+1) (H)

(9) next claps control signal u ₁(k+1) through in the k+1 bat inverter being regulated behind the bat Postponement module;

(10) make k=k+1, forward step (1) to, circulation is carried out.

Wherein k,

e _Uo, u _Rept, u ₁,

u _pThe initial value of signal all is zero.

Status tracking I type is compared with status tracking II type: impact, anticlimax are during semi-load, and the output voltage instantaneous rate of change of status tracking I type is 7.72%, and the output voltage instantaneous rate of change of status tracking II type is 10.29%; Under the various loading conditions from the zero load to the nominal load, the precision of voltage regulation of status tracking I type is within 0.79%, and the precision of voltage regulation of status tracking II type is within 0.54%; Under specified nonlinear load situation, status tracking I type is 3.6 o'clock THD＜1.2% at the electric current crest factor, and status tracking II type is 3.3 o'clock THD＜2.52% at the electric current crest factor.

The present invention not only is confined to above-mentioned embodiment; Persons skilled in the art are according to embodiment and the disclosed content of accompanying drawing; Can adopt other multiple embodiment embodiment of the present invention, therefore, every employing project organization of the present invention and thinking; Do some simple designs that change or change, all fall into the scope of the present invention's protection.

Claims (1)

1. numerically controlled inverter of status tracking is characterized in that:

The control end of inverter (2) and microprocessor (1) join; The input of the output of inverter (2) and voltage sensor (5) and load (3) are joined; The input of load current of drawing in the inverter (2) and current sensor (6) joins; Inverter (2) dc terminal links to each other with DC power supply (4), and the output of the output of voltage sensor (5) and current sensor (6) joins with microprocessor (1) respectively;

Microprocessor (1) comprises prefilter (7), prediction observer (8), state gain matrix (9), a bat Postponement module (11) and a subtracter (10); Prefilter (7) input and reference quantity u _rJoin, prefilter (7) output and subtracter (10) positive input terminal join; Subtracter (10) output and one is clapped Postponement module (11) input and is joined; One claps Postponement module (11) output joins with inverter (2) control end and (8) second inputs of prediction observer; Prediction first input of observer (8) and current sensor (6) output join, and prediction the 3rd input of observer (8) and voltage sensor (5) output join, and prediction observer (8) output and state gain matrix (9) input join; State gain matrix (9) output and subtracter (10) negative input end join; Microprocessor is controlled according to following process, wherein, is state variable with the integration of inverter output voltage, inverter current, inverter output voltage and the double integral of output voltage, is called status tracking I type; As state variable, be called status tracking II type with the integration of inverter output voltage, inverter current and inverter output voltage, wherein, said inverter current is meant the inductive current or the capacitance current of inverter;

The output voltage u of the current bat that the 1st step collection voltage sensor obtains _o(k) and the output current i of the current bat that obtains of current sensor _o(k), a sampling period T is called a bat in the numerical control system, and k is the sequence number of current bat, and the initial value of k is 0;

The 2nd step utilized formula A to calculate the voltage prediction error e of current bat _Uo(k), the initial value e of voltage prediction error wherein _Uo(0) be 0,

$e_{\mathrm{Uo}}\left(k\right)=u_o\left(k\right)-{\hat{u}}_o\left(k\right)$ Formula A

Wherein, is the output voltage predicted value that k claps, and its initial value

is 0;

The 3rd step was calculated the control signal u after repeating to compensate by formula B ₁' (k)

$\left\{\begin{array}{c}{u}_1^{,}\left(k\right)=u_1\left(k\right)+u_{\mathrm{Rept}}\left(k\right)\\ u_{\mathrm{Rept}}\left(k\right)=Q{u}_{\mathrm{Rept}}(k-N)+k_r{e}_{\mathrm{Uo}}(k-N+k_z)\end{array}\right.$ Formula B

Wherein, u _Rept(k) be that k claps repetition compensation rate, its initial value u _Rept(0) be 0, u ₁(k) be the control signal that k claps, its initial value u ₁(0) be 0, N is the sampling number of a primitive period, the Q integral coefficient that is as the criterion, 0.9≤Q＜1, k _rBe repeated gain, 0＜k _r≤0.5, k _zBe leading umber of beats;

Step 4 C using the formula to calculate the next shot predicted value of the output voltage

and the next shot filter inductor current predictive value

$\left[\begin{array}{c}{\hat{u}}_0(k+1)\\ {\hat{i}}_1(k+1)\end{array}\right]=(A_s-H_s{C}_s)\left[\begin{array}{c}{\hat{u}}_0\left(k\right)\\ {\hat{i}}_1\left(k\right)\end{array}\right]+B_s\left[\begin{array}{c}{u}_1^{,}\left(k\right)\\ i_0\left(k\right)\end{array}\right]+H_s{C}_s\left[\begin{array}{c}{u}_0\left(k\right)\\ 0\end{array}\right]$

Formula C

In the formula $A_s=\left[\begin{array}{cc}{\mathrm{\&phi;}}_{11}& {\mathrm{\&phi;}}_{12}\\ {\mathrm{\&phi;}}_{21}& {\mathrm{\&phi;}}_{22}\end{array}\right],$

${\mathrm{\&phi;}}_{11}=e^{-\frac{r}{2L}T}\cos {\mathrm{\&omega;}}_{d}T+\frac{r}{2L{\mathrm{\&omega;}}_d}{e}^{-\frac{r}{2L}T}\sin {\mathrm{\&omega;}}_{d}T,$ ${\mathrm{\&phi;}}_{12}=\frac{1}{C{\mathrm{\&omega;}}_d}{e}^{-\frac{r}{2L}T}\sin {\mathrm{\&omega;}}_{d}T$

${\mathrm{\&phi;}}_{21}=-\frac{1}{L{\mathrm{\&omega;}}_d}{e}^{-\frac{r}{2L}T}\sin {\mathrm{\&omega;}}_{d}T,$ ${\mathrm{\&phi;}}_{22}=e^{-\frac{r}{2L}T}\cos {\mathrm{\&omega;}}_{d}T-\frac{r}{2L{\mathrm{\&omega;}}_d}{e}^{-\frac{t}{2L}T}\sin {\mathrm{\&omega;}}_{d}T$

B _s＝[H ₁?H ₂]

$H_1=\left[\begin{array}{c}{e}^{-\frac{r}{2L}T}(-\cos {\mathrm{\&omega;}}_{d}T-\frac{r}{2L{\mathrm{\&omega;}}_d}\sin {\mathrm{\&omega;}}_{d}T)+1\\ \frac{1}{L{\mathrm{\&omega;}}_d}{e}^{-\frac{r}{2L}T}\sin {\mathrm{\&omega;}}_{d}T\end{array}\right]$

$H_2=\left[\begin{array}{c}r(e^{-\frac{r}{2L}T}\cos {\mathrm{\&omega;}}_{d}T+\frac{r}{2L{\mathrm{\&omega;}}_d}{e}^{-\frac{r}{2L}T}\sin {\mathrm{\&omega;}}_{d}T-1)-\frac{1}{C{\mathrm{\&omega;}}_d}{e}^{-\frac{r}{2L}T}\sin {\mathrm{\&omega;}}_{d}T\\ -e^{-\frac{r}{2L}T}\cos {\mathrm{\&omega;}}_{d}T-\frac{r}{2L{\mathrm{\&omega;}}_d}{e}^{-\frac{r}{2L}T}\sin {\mathrm{\&omega;}}_{d}T+1\end{array}\right]$

C _s＝[1?0]

${\mathrm{\&omega;}}_n=\frac{1}{\sqrt{\mathrm{LC}}},$ Natural frequency of oscillation for inverter

${\mathrm{\&omega;}}_d=\sqrt{\frac{1}{\mathrm{LC}}-\frac{r^2}{4L^2}},$ Damped oscillation frequency for inverter

Wherein, Be respectively output voltage predicted value and filter inductance current forecasting value that k claps, its initial value Be 0; T is the sampling period, and L is total filter inductance of inverter output, and C is total filter capacitor of inverter output, and r is the equivalent damping resistance of inverter; H _sFor the prediction feedback gain matrix, according to (A _s-H _sC _s) characteristic value select than the fast principle more than 3 times of the closed loop characteristic value of inverter;

The 5th step was utilized formula D1 prediction, and next claps output voltage integrated value

${\hat{u}}_i(k+1)=T{\hat{u}}_0(k+1)+{\hat{u}}_i\left(k\right)$ Formula D1

is the output voltage integration predicted value that k claps, and its initial value

is 0;

If adopt status tracking I type, next claps output voltage double product score value

also will to utilize formula D2 prediction

${\hat{u}}_{\mathrm{Ii}}(k+1)=T{\hat{u}}_i(k+1)+{\hat{u}}_{\mathrm{Ii}}\left(k\right)$ Formula D2

is the output voltage double integral predicted value that k claps, and its initial value

is 0;

The 6th goes on foot computing mode tracking control signal u in the following manner _f(k+1):

(6A) when adopting status tracking I type, utilize formula E1 to calculate next and clap status tracking control signal u _f(k+1):

$u_f(k+1)=k_4\hat{i}(k+1)+k_3{\hat{u}}_0(k+1)+k_2{\hat{u}}_i(k+1)+k_1{\hat{u}}_{\mathrm{Ii}}(k+1)$ Formula E1

Wherein, k ₁, k ₂, k ₃, k ₄Be the element among the status tracking I type state gain matrix K, K=[k ₁k ₂k ₃k ₄];

is the inverter current predicted value; When adopting inductive current; When next clapped inverter current predicted value

employing capacitance current, next bat inverter current predicted value

wherein next bat load current predicted value

was calculated by formula F:

$\left[\begin{array}{c}{\hat{i}}_o(k+1)\\ {\hat{i}}_o(k+1)\end{array}\right]=A_d\left[\begin{array}{c}{\hat{i}}_o\left(k\right)\\ {\hat{i}}_o\left(k\right)\end{array}\right]+H_d{C}_d\left[\begin{array}{c}0\\ i_o\left(k\right)-{\hat{i}}_o\left(k\right)\end{array}\right]$ Formula F

In the formula

C _d=[01], H _dFor the disturbance feedback gain matrix, according to (A _d-H _dC _d) characteristic value select than the fast 5 times principle of the closed loop characteristic value of inverter,

For

Differential value,

For

Differential value, its initial value

Be 0,

Be the load current predicted value that k claps, its initial value

Be 0;

(6B) when adopting status tracking II type, utilize formula E2 to calculate next and clap status tracking control signal u _f(k+1):

$u_f(k+1)=k_3^{\&prime;}\hat{i}(k+1)+k_2^{\&prime;}{\hat{u}}_o(k+1)+k_1^{\&prime;}{\hat{u}}_i(k+1)$ Formula E2

Wherein, k ' ₁, k ' ₂, k ' ₃Be the element among the status tracking II type state gain matrix K ', K '=[k ' ₁K ' ₂K ' ₃];

The 7th step was calculated prefilter output signal u _p(k+1):

(7A) when adopting status tracking I type, clap reference quantity u according to next _r(k+1), current bat reference quantity u _r(k) reach last one and clap reference quantity u _r(k-1), next claps output signal u to calculate prefilter by formula G1 _p(k+1):

u _p(k+1)=k ₅u _r(k+1)-k ₆u _r(k)+k ₇u _r(k-1)+2u _p(k)-u _p(k-1) formula G1

Wherein, k ₇=k ₃-Ck _Ii

K wherein _IiFor

Real root,

k ₆＝2k ₇+k ₃T，

k ₅＝k ₇+k ₃T+k ₄T ²

u _p(k-1), u _p(k) be respectively the prefilter output signal that k-1 claps, k claps, its initial value u _p(0) be 0;

(7B) when adopting status tracking II type, clap reference quantity u according to next _r(k+1) and current bat reference quantity u _r(k), next claps output signal u to calculate prefilter by formula G2 _p(k+1):

u _p(k+1)=k ' ₅u _r(k+1)-k ' ₆u _r(k)+u _p(k) formula G2

Wherein, k ' ₅=k ' ₂+ k ' ₁T

k’ ₆＝k’ ₂

The 8th step utilized formula H to calculate the control signal u of next bat ₁(k+1):

u ₁(k+1)=u _p(k+1)-u _f(k+1) formula H

The 9th step, next clapped control signal u ₁(k+1) through in the k+1 bat inverter being regulated behind the bat Postponement module;

The 10th step made k=k+1, forwarded for the 1st step to, and circulation is carried out.

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