CN102545264A - Method for controlling grid-connected inverter based on feed-forward decoupling of state quantity - Google Patents
Method for controlling grid-connected inverter based on feed-forward decoupling of state quantity Download PDFInfo
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- CN102545264A CN102545264A CN2012100282121A CN201210028212A CN102545264A CN 102545264 A CN102545264 A CN 102545264A CN 2012100282121 A CN2012100282121 A CN 2012100282121A CN 201210028212 A CN201210028212 A CN 201210028212A CN 102545264 A CN102545264 A CN 102545264A
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Abstract
The invention discloses a method for controlling a grid-connected inverter based on feed-forward decoupling of state quantity. The method comprises the following steps of: (1) acquiring a grid voltage, current feedback quantity and the state quantity; (2) according to the current feedback quantity, generating an instruction signal; (3) according to the state quantity, acquiring a feed-forward signal; and (4) superposing the instruction signal and the feed-forward signal to obtain a modulation signal, and generating a switching signal for controlling the grid-connected inverter according to the modulation signal. The method has the advantages that: a third-order system can be reduced to a first-order system, and the amplitude gain peak of a resonant frequency of an inductance-capacitance-inductance (LCL) filter is eliminated, so that the stability margin of the system can be improved, the dynamic response and steady-state performance of the system are guaranteed, and the design process of a current regulator is greatly simplified.
Description
Technical field
The invention belongs to power inverter control technology field, be specifically related to a kind of control method of the combining inverter based on quantity of state feedforward decoupling zero.
Background technology
In recent years, serious day by day along with environmental pollution and energy scarcity, development and utilization regenerative resource (like solar energy, wind energy etc.) becomes pressing for of human society.And connecting the necessary interface equipment of electrical network as renewable energy system, combining inverter has become the research focus of current power electronic applications.
Be to suppress the voltage and current ripple that HF switch produces, combining inverter generally adopts L type (single inductance) filter (shown in Fig. 1 (a)) or LCL type (inductor-capacitor-inductance) filter (shown in Fig. 1 (b)) the necessary interface parts as itself and electrical network.The L mode filter is the single order link, and is simple in structure, and system is easy to stablize, but relatively poor to the inhibition ability of current ripples, so the filter inductance value is often also bigger.The LCL mode filter comprises three energy-storage travelling wave tubes (inversion side inductance, electric capacity and grid side inductance), and its input voltage is a third-order system to the transfer function of output current, can realize bigger harmonic current decay at high band.But because there is very big amplitude gain spike in third-order system at the resonance frequency place, if directly adopt the control strategy of typical grid-connected current closed loop, system is very difficult stable.
Tradition adopts the method for passive damping (promptly on filter element, increasing damping resistance) can weaken the resonance spikes in the LCL mode filter to a certain extent, helps the stable control of system, but can bring supplementary load loss, reduces system effectiveness.Be the loss of avoiding damping resistance to bring; Method relatively more commonly used at present is that employing is interior ring with capacitor current feedback; Power network current is fed back to two closed-loop control strategies of outer shroud, and whole grid-connection control system (comprising combining inverter, LCL mode filter, voltage-current sensor and control ring) is as shown in Figure 2; This control strategy need not parallelly connected damping resistance in circuit; Therefore can be not extra the loss of increase system; But this system still is a third-order system; For resonance spikes is moved on to below the 0dB line fully, need the cut-off frequency of open cycle system be provided with very low, this will certainly influence the dynamic response and the steady-state behaviour of system; And, because this method has adopted two control rings, need to design to two current regulators respectively, so control system being comparatively complicated, system resource takies also big.
Summary of the invention
To the above-mentioned technological deficiency of existing in prior technology, the invention provides a kind of control method of the combining inverter based on quantity of state feedforward decoupling zero, can guarantee the dynamic response and the steady-state behaviour of system.
A kind of control method of the combining inverter based on quantity of state feedforward decoupling zero comprises the steps:
(1) quantity of state of collection line voltage, current feedback amount and LCL mode filter;
Described LCL mode filter comprises inversion side inductance, electric capacity and grid side inductance; Described quantity of state is the electric current of the electric current of the voltage at inversion side inductance two ends, the inversion side inductance of flowing through, the voltage at electric capacity two ends, the electric capacity of flowing through, the voltage at grid side inductance two ends or the electric current of the grid side inductance of flowing through; Described current feedback amount is the flow through electric current of inversion side inductance or the electric current of the grid side inductance of flowing through.
(2) utilize phase-locked loop to extract the phase place of line voltage, described phase place and given power network current peak value are multiplied each other, obtain the given signal of current on line side; Make the given signal of described current on line side deduct described current feedback amount, obtain current error signal; Utilize current regulator that described current error signal is regulated, obtain command signal;
(3) to the described quantity of state calculation process that feedovers, obtain feed-forward signal;
(4) with described feed-forward signal and instruction signal plus, obtain modulation signal; Utilize the PWM modulator that described modulation signal and given triangular carrier signal are compared, generate switching signal, so that the switching tube in the combining inverter is controlled.
Described current regulator is PI (proportional integral) controller or PR (ratio resonance) controller.
In the described step (3), according to following front feeding transfer function expression formula to the quantity of state calculation process that feedovers;
For the current feedback amount is the electric current of grid side inductance of flowing through:
If quantity of state is the flow through electric current of inversion side inductance, then front feeding transfer function H (s)=L
1S/k
Pwm
If quantity of state is the flow through electric current of electric capacity, then front feeding transfer function H (s)=L
1S/k
Pwm
If quantity of state is the flow through electric current of grid side inductance, then front feeding transfer function H (s)=L
1L
2Cs
3/ k
Pwm
As if quantity of state is the voltage at inversion side inductance two ends, then front feeding transfer function H (s)=1/k
Pwm
As if quantity of state is the voltage at electric capacity two ends, then front feeding transfer function H (s)=L
1Cs
2/ k
Pwm
As if quantity of state is the voltage at grid side inductance two ends, then front feeding transfer function H (s)=L
1Cs
2/ k
Pwm
For the current feedback amount is the electric current of inversion side inductance of flowing through:
If quantity of state is the flow through electric current of inversion side inductance, then front feeding transfer function H (s)=L
1S/k
Pwm
If quantity of state is the flow through electric current of electric capacity, then front feeding transfer function H (s)=1/ (k
PwmCs);
If quantity of state is the flow through electric current of grid side inductance, then front feeding transfer function H (s)=L
2S/k
Pwm
As if quantity of state is the voltage at inversion side inductance two ends, then front feeding transfer function H (s)=1/k
Pwm
As if quantity of state is the voltage at electric capacity two ends, then front feeding transfer function H (s)=1/k
Pwm
As if quantity of state is the voltage at grid side inductance two ends, then front feeding transfer function H (s)=1/k
PwmWherein: k
PwmBe PWM (pulse width modulation) proportional gain, and k
Pwm=V
Dc/ V
Cm, V
DcBe DC bus-bar voltage (being the input voltage of combining inverter DC side), V
CmBe triangular carrier amplitude, L
1Be the inductance value of inversion side inductance, L
2Be the inductance value of grid side inductance, C is the appearance value of electric capacity, and s=j ω, ω are angular frequency.
The inventive method is through adopting the feedfoward control of quantity of state; Can make whole system reduce to first-order system from third-order system; Eliminated the amplitude gain spike at LCL filter resonance frequency place; Thereby make system can obtain bigger stability margin, guarantee the dynamic response and the steady-state behaviour of system, and the design of current regulator is able to simplify greatly.
Description of drawings
Fig. 1 (a) is for adopting the combining inverter structural representation of L mode filter.
Fig. 1 (b) is for adopting the combining inverter structural representation of LCL mode filter.
Fig. 2 is the sketch map of prior art grid-connection control system.
Fig. 3 is the sketch map of grid-connection control system of the present invention.
Fig. 4 (a) is for adopting the oscillogram of current on line side under the prior art combining inverter control strategy.
Fig. 4 (b) is for adopting the spectrogram of current on line side under the prior art combining inverter control strategy.
Fig. 5 (a) is for adopting the oscillogram of current on line side under the combining inverter control strategy of the present invention.
Fig. 5 (b) is for adopting the spectrogram of current on line side under the combining inverter control strategy of the present invention.
Fig. 6 is for adopting the Bode figure of control system under the prior art combining inverter control strategy.
Fig. 7 is for adopting the Bode figure of control system under the combining inverter control strategy of the present invention.
Embodiment
In order to describe the present invention more particularly, be elaborated below in conjunction with accompanying drawing and embodiment control method to combining inverter of the present invention.
As shown in Figure 3, a kind of control method of the combining inverter based on quantity of state feedforward decoupling zero comprises the steps:
(1) gathers line voltage v
g, current feedback amount and LCL mode filter quantity of state;
In this execution mode, combining inverter converts the direct current of 450V the alternating current of 220V into, and through inputing to electrical network after the filtering of LCL mode filter.
Combining inverter is the single-phase electricity potential source type inverter VSI of 5kW, and it has 4 IGBT (Insulated Gate Bipolar Transistor, insulated gate bipolar transistor), and the switching frequency of IGBT is 8.4kHz.
The LCL mode filter comprises inversion side inductance L
1, capacitor C and grid side inductance L
2L
1=1.6mH, L
2=1.6mH, C=12 μ F.
Quantity of state is the current i of inversion side inductance of flowing through in this execution mode
L1, the current feedback amount is the current i of grid side inductance of flowing through
L2
(2) utilize phase-locked loop pll to extract line voltage v
gPhase place sin θ, with phase place sin θ and given power network current peak I
GmMultiply each other, obtain the given signal i of current on line side
gIn this execution mode, the power network current peak I
Gm=25A;
Make the given signal i of current on line side
gDeduct the current feedback amount (current i of the grid side of flowing through inductance
L2), obtain current error signal i
u
Utilize the PI controller to current error signal i
uCarry out PI and regulate, obtain command signal v
dWherein: the transfer function of PI controller is G
c(s)=(K
pS+K
i)/s, K
pBe proportionality coefficient, K
iBe integral coefficient, s=j ω, ω are angular frequency; In this execution mode, K
p=0.01, K
i=80.
(3) according to front feeding transfer function H (s)=L
1S/k
PwmTo the quantity of state (current i of the inversion side inductance of flowing through
L1) carry out the first order differential calculation process, obtain feed-forward signal v
fWherein: L
1Be the inductance value of inversion side inductance, s=j ω, ω are angular frequency; k
PwmBe the PWM proportional gain, and k
Pwm=V
Dc/ V
Cm, V
CmBe triangular carrier amplitude, V
DcBe DC bus-bar voltage (being the input voltage of combining inverter DC side); In this execution mode, V
Cm=1V, V
Dc=450V.
(4) with feed-forward signal v
fAnd instruction signal v
dAddition obtains modulation signal v
m
Utilize the PWM modulator to make modulation signal v
mWith given triangular carrier signal v
CarrierCompare, generate 4 path switching signal S
1～S
4Respectively 4 IGBT in the combining inverter are controlled;
In this execution mode, the PWM modulator adopts one pole frequency multiplication SPWM (Sinusoidal PWM) technology, and promptly leading arm is operated in the power frequency pattern, only lagging leg is modulated.
Prior art and this execution mode are contrasted:
Adopt single Current Feedback Control strategy, (L promptly flows through with current on line side
2Electric current) when being feedback quantity, the open-loop transfer function of control system is:
In the formula, G
c(s) be the transfer function of current regulator.
Obviously, this system is a third-order system.The open loop Bode of control system figure (width of cloth phase frequency diagram) in the time of can obtaining being direct controlling object with current on line side according to following formula is shown in solid line among Fig. 6.Can find out that there is bigger amplitude gain spike in third-order system at the resonance frequency place, and 180 ° of saltus steps of phase place generation, make the stability margin of system be difficult to guarantee, cause very big puzzlement for the design of control system.
(L promptly flows through with inversion side electric current
1Electric current) when being feedback quantity, the open-loop transfer function of control system is:
Can get corresponding open loop Bode figure according to following formula, shown in dotted line among Fig. 6.Can know that by figure when being the FEEDBACK CONTROL object with inversion side electric current, system has increased by two zero points, the stability of system has obtained bigger improvement, and system design is easier to relatively.Yet, the LCL mode filter intrinsic resonance gain spike still exist, and since inversion side electric current be feedback quantity, current on line side still is difficult to guarantee to reach the control effect of expection.
This shows, and though be with current on line side or with inversion side electric current as feedback quantity, all there is the amplitude gain spike in control system at LCL mode filter resonance frequency place.This phenomenon makes the circuit gain value of control system be restricted, because big slightly gain will make system vibrate, near the harmonic current composition the resonance frequency obtains amplifying; And the too little systematic steady state error that can increase of gain, and the control system bandwidth reduces and the dynamic property variation.
And when adopting the control strategy of this execution mode, as feedback quantity, inversion side electric current is as the feedforward amount with current on line side, and the open-loop transfer function of control system is:
Obviously, adopt the quantity of state feedfoward control after, control system is reduced to first-order system, the design of current regulator this moment will be just the same when adopting single inductance filter, the Bode figure before and after the system compensation is as shown in Figure 7.As can be seen from Figure 7; Because control system is reduced to first-order system; The intrinsic amplitude gain spike at LCL mode filter resonance frequency place of traditional double closed-loop control has disappeared; Stability margin has obtained raising in essence, and system bandwidth can obtain the stability that influences system very greatly and not, and the design of current regulator simultaneously is simplified to a great extent.
Fig. 4 and Fig. 5 give the simulation waveform of prior art and this execution mode.Can know by Fig. 4; Adopt prior art combining inverter control strategy; The resonance problems of LCL mode filter makes that the harmonic components (harmonic number be about 33 time) of current on line side at the resonance frequency place obtains amplifying, and it is stable that the system that makes is difficult to reach, and power network current vibrates.Fig. 5 has provided and has adopted this execution mode current on line side waveform and spectrum analysis thereof, can find out that current on line side is close to the ideal sinusoidal waveform, and its THD (Total Harmonic Distortion, total harmonic distortion) is 1.47%.
Claims (4)
1. the control method based on the combining inverter of quantity of state feedforward decoupling zero comprises the steps:
(1) quantity of state of collection line voltage, current feedback amount and LCL mode filter;
(2) utilize phase-locked loop to extract the phase place of line voltage, described phase place and given power network current peak value are multiplied each other, obtain the given signal of current on line side; Make the given signal of described current on line side deduct described current feedback amount, obtain current error signal; Utilize current regulator that described current error signal is regulated, obtain command signal;
(3) to the described quantity of state calculation process that feedovers, obtain feed-forward signal;
(4) with described feed-forward signal and instruction signal plus, obtain modulation signal; Utilize the PWM modulator that described modulation signal and given triangular carrier signal are compared, generate switching signal, so that the switching tube in the combining inverter is controlled.
2. the control method of the combining inverter based on quantity of state feedforward decoupling zero according to claim 1, it is characterized in that: described current regulator is PI controller or PR controller.
3. the control method of the combining inverter based on quantity of state feedforward decoupling zero according to claim 1, it is characterized in that: described quantity of state is the electric current of the electric current of the voltage at inversion side inductance two ends, the inversion side inductance of flowing through, the voltage at electric capacity two ends, the electric capacity of flowing through, the voltage at grid side inductance two ends or the electric current of the grid side inductance of flowing through; Described current feedback amount is the flow through electric current of inversion side inductance or the electric current of the grid side inductance of flowing through.
4. the control method of the combining inverter based on quantity of state feedforward decoupling zero according to claim 3 is characterized in that: in the described step (3), according to following front feeding transfer function expression formula to the quantity of state calculation process that feedovers;
For the current feedback amount is the electric current of grid side inductance of flowing through:
If quantity of state is the flow through electric current of inversion side inductance, then front feeding transfer function H (s)=L
1S/k
Pwm
If quantity of state is the flow through electric current of electric capacity, then front feeding transfer function H (s)=L
1S/k
Pwm
If quantity of state is the flow through electric current of grid side inductance, then front feeding transfer function H (s)=L
1L
2Cs
3/ k
Pwm
As if quantity of state is the voltage at inversion side inductance two ends, then front feeding transfer function H (s)=1/k
Pwm
As if quantity of state is the voltage at electric capacity two ends, then front feeding transfer function H (s)=L
1Cs
2/ k
Pwm
As if quantity of state is the voltage at grid side inductance two ends, then front feeding transfer function H (s)=L
1Cs
2/ k
Pwm
For the current feedback amount is the electric current of inversion side inductance of flowing through:
If quantity of state is the flow through electric current of inversion side inductance, then front feeding transfer function H (s)=L
1S/k
Pwm
If quantity of state is the flow through electric current of electric capacity, then front feeding transfer function H (s)=1/ (k
PwmCs);
If quantity of state is the flow through electric current of grid side inductance, then front feeding transfer function H (s)=L
2S/k
Pwm
As if quantity of state is the voltage at inversion side inductance two ends, then front feeding transfer function H (s)=1/k
Pwm
As if quantity of state is the voltage at electric capacity two ends, then front feeding transfer function H (s)=1/k
Pwm
As if quantity of state is the voltage at grid side inductance two ends, then front feeding transfer function H (s)=1/k
Pwm
Wherein: k
PwmBe the PWM proportional gain, and kpwm=V
Dc/ V
Cm, V
DcBe DC bus-bar voltage, V
CmBe triangular carrier amplitude, L
1Be the inductance value of inversion side inductance, L
2Be the inductance value of grid side inductance, C is the appearance value of electric capacity, and s=j ω, ω are angular frequency.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103475033A (en) * | 2013-09-27 | 2013-12-25 | 重庆大学 | Current control method and system for three-phase LCL type grid-connected inverter without phase locking link |
| CN104135034A (en) * | 2014-07-09 | 2014-11-05 | 中国科学院广州能源研究所 | Network voltage decoupling control method based on LC filter for single-phase photovoltaic grid-connected inverter |
| CN105305471A (en) * | 2015-11-27 | 2016-02-03 | 广东电网有限责任公司电力科学研究院 | Power distribution network flexible earthing device control system and parameter design method thereof |
| CN106451573A (en) * | 2016-11-26 | 2017-02-22 | 华中科技大学 | Multivariable feedback control type three-phase LCL networking converter and method |
| CN106816889A (en) * | 2015-11-27 | 2017-06-09 | 台达电子企业管理（上海）有限公司 | Combining inverter power decoupled method and device |
| CN108879782A (en) * | 2018-08-01 | 2018-11-23 | 国网重庆市电力公司电力科学研究院 | Gird-connected inverter optimal control method based on double-smoothing voltage feed-forward control |
| CN111245277A (en) * | 2020-03-30 | 2020-06-05 | 科华恒盛股份有限公司 | Grid-connected inverter starting method, photovoltaic power generation system and terminal equipment |
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| CN103475033A (en) * | 2013-09-27 | 2013-12-25 | 重庆大学 | Current control method and system for three-phase LCL type grid-connected inverter without phase locking link |
| CN104135034A (en) * | 2014-07-09 | 2014-11-05 | 中国科学院广州能源研究所 | Network voltage decoupling control method based on LC filter for single-phase photovoltaic grid-connected inverter |
| CN105305471A (en) * | 2015-11-27 | 2016-02-03 | 广东电网有限责任公司电力科学研究院 | Power distribution network flexible earthing device control system and parameter design method thereof |
| CN105305471B (en) * | 2015-11-27 | 2016-08-24 | 广东电网有限责任公司电力科学研究院 | Power distribution network flexible ground apparatus control system and Parameters design thereof |
| CN106816889A (en) * | 2015-11-27 | 2017-06-09 | 台达电子企业管理（上海）有限公司 | Combining inverter power decoupled method and device |
| CN106816889B (en) * | 2015-11-27 | 2019-04-09 | 台达电子企业管理（上海）有限公司 | Gird-connected inverter power decoupled method and device |
| CN106451573A (en) * | 2016-11-26 | 2017-02-22 | 华中科技大学 | Multivariable feedback control type three-phase LCL networking converter and method |
| CN106451573B (en) * | 2016-11-26 | 2019-05-14 | 华中科技大学 | A kind of the three-phase LCL type networking converter and method of multivariable feedback controller |
| CN108879782A (en) * | 2018-08-01 | 2018-11-23 | 国网重庆市电力公司电力科学研究院 | Gird-connected inverter optimal control method based on double-smoothing voltage feed-forward control |
| CN108879782B (en) * | 2018-08-01 | 2021-11-30 | 国网重庆市电力公司电力科学研究院 | Grid-connected inverter optimization control method based on dual-filtering power grid voltage feedforward |
| CN111245277A (en) * | 2020-03-30 | 2020-06-05 | 科华恒盛股份有限公司 | Grid-connected inverter starting method, photovoltaic power generation system and terminal equipment |
| CN111245277B (en) * | 2020-03-30 | 2021-04-09 | 科华恒盛股份有限公司 | Grid-connected inverter starting method, photovoltaic power generation system and terminal equipment |
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Application publication date: 20120704 |