CN102655327A - Control method for sliding mode converter control structure of active power filter containing parameter perturbation - Google Patents
Control method for sliding mode converter control structure of active power filter containing parameter perturbation Download PDFInfo
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- Y02E40/20—Active power filtering [APF]
Abstract
The invention discloses a control method for a sliding mode converter control structure of an active power filter containing a parameter perturbation, which comprises the following steps: firstly, building a state space mathematical model under an abc coordinate system; converting the state space mathematical model to be under a dq coordinate system to obtain a uniform mathematical model by taking dq components of harmonic current and capacitor voltage on a direct-current side as state variables; constructing a sliding mode surface; decoupling the sliding mode surface for control; defining a control rate; carrying out inverse transformation on the control rate to obtain an effective control rate; constructing an integral sliding mode surface; and redefining a new control rate, so as to finally obtain a PWM (Pulse-Width Modulation) signal for driving a switch tube. The control method adopts the sliding mode converter structure, so that current tracking and the capacitor voltage on the direct-current side are uniformly controlled. The sliding mode converter control structure is simple in design and is easy to realized, has good robustness on the internal parameter perturbation and internal interference of a system and has good dynamic performance, and the current variation can be quickly tracked when a load is suddenly changed.
Description
Technical field
The present invention relates to the control method of Active Power Filter-APF (APF), specifically is to adopt a kind of sliding mode variable structure control method that the current tracking and the dc capacitor voltage of Active Power Filter-APF are unified control.
Background technology
Along with the extensive use of power electronic equipment, harmonic wave that all kinds of nonlinear loads produce and reactive current have caused electrical network and have had a strong impact on.Active Power Filter-APF as a kind of effective measures that suppress harmonic wave by broad research and application.The principle of parallel connection type active electric filter (APF) is to make current transformer produce the real-time tracking instruction current
i c *Offset current
i c Thereby, make the grid side electric current
i s In do not contain harmonic wave and idle composition.
The control method of common current tracking has the ring of stagnating control, triangular carrier control etc.The ring control that stagnates has flexibly, response is fast, precision is than advantages such as height, but it is for the having relatively high expectations of switching frequency, and switching frequency is fixing.The characteristics of triangular carrier control are that switching frequency is fixed, circuit is realized simply, but triangular carrier is when being applied in the high fdrequency component in the instruction current, and control performance descends.At present, Sliding mode variable structure control is fast with its reaction, and good stability has good advantages such as robustness for system parameters perturbation and external disturbance, is applied in the power electronic device.
Sliding mode variable structure control is a kind of switching mode control in essence; Its requires frequently, the state of a control of switched system apace; And the unique mode of operation of power electronic device is " opening-close " pattern, and both inherent contacts are the bases that utilizes the Sliding mode variable structure control converters.So-called change structure control is meant that working as the system mode vector moves to certain specified point; When making switching function value by the state vector decision change (value of switching function by just become negative or become correct time by negative), the equation of motion of system is another kind of form (variation has taken place structure) by a kind of formal transformation.In this continuous structural change, the system mode vector finally moves to balance point.Generally speaking, require on diverter surface, to exist sliding mode, promptly so-called sliding moding structure.Its switching frequency of desirable Sliding mode variable structure control is infinitely-great, and controlled quentity controlled variable is also unrestricted, so sliding formwork is smooth; But can't satisfy top 2 requirements in the real system; But also the hysteresis on life period and the space makes the sliding moding structure system produce " buffeting ", and robustness is not strong.
In addition, for the control of the dc capacitor voltage of voltage type active electric-power filter, usually adopt PI to regulate control; It is apparent in view that PI regulates the control shortcoming: be prone to overshoot; Difficult parameters is adjusting, and it is bigger influenced by mathematical models, and interference free performance is relatively poor.At present, for control of the current tracking in the voltage type active electric-power filter and dc capacitor voltage control, all be that process is more loaded down with trivial details with both separately designs in most of documents and the practical application.
Summary of the invention
The objective of the invention is to deficiency to prior art; A kind of sliding mode variable structure control method of Active Power Filter-APF (APF) of containing parameter perturbation has been proposed; Realization is to the unified control of current tracking and dc capacitor voltage; Make offset current trace command electric current apace, make power network current be compensated for as stable equilibrium's three phase sine electric current, and direct current is surveyed voltage and also can be reached stationary value soon.
Technical scheme of the present invention is to adopt following steps:
1) is based upon the space mathematical model of shunt active power filter under the abc coordinate system, this space mathematical model is transformed under the dq coordinate system, obtain dq component with harmonic current
i d ,
i q And dc capacitor voltage
u Dc Uniform mathematical model for state variable;
2) with error
,
With
As input variable structure sliding-mode surface
S, with sliding-mode surface
SDecoupling zero does
S d With
S q :
,
k 1,
k 2With
k 3Be error coefficient,
i d *With
i q *Be reference current value,
u Dc *Be reference voltage level, when
S=0 o'clock, tracking error equaled 0,
i d *,
i q *,
u Dc *Followed the tracks of the definition control rate by entirely accurate
u d ,
u q For:
,
k d0
With
k q0
Be the convergence coefficient,
Sign(
x ) be sign function, and
Sign(0)=0;
3) with control rate
u d ,
u q Carry out inverse transformation, obtain the equivalent control rate
u 1 *,
u 2 *,
u 3 *:
,
Be electric corner, and structure Integral Sliding Mode face
,
i=1,2,3;
4) the new control rate of definition
,
k 0Be the convergence coefficient; The switch function that obtains power switch pipe is:
The present invention combines current tracking control with dc capacitor voltage control, produce pwm signal through the sliding mode controller of constructing and come the driving switch pipe, thereby realize unified control; When there being parameter when perturbation in the APF system, because sliding mode variable structure control method is to characteristics such as parameter perturbation and external disturbance are insensitive, thereby the compensation performance of APF system can not be affected.Its beneficial effect is:
1, changed the control strategy of traditional Active Power Filter-APF, realized unified control current tracking and dc capacitor voltage.
2, compare with traditional control method, the sliding mode variable structure control method simplicity of design, be easy to realize.
3, adopt difference integration structure sliding-mode surface, utilize the way of structure Integral Sliding Mode face to slacken " buffeting " phenomenon effectively, improve the method for convergence rate with tradition and compare, this method is simple, operand is little.
4, since sliding moding structure to characteristics such as parameter perturbation and external disturbance are insensitive, when perturbation took place APF internal system parameter, the compensation performance of APF was unaffected, had good robustness for perturbation of internal system parameter and external disturbance; Simultaneously, when load was undergone mutation, offset current trace command electric current fast changed, and has good dynamic characteristics.
Below in conjunction with accompanying drawing and embodiment the present invention is done further explain.
Description of drawings
Fig. 1 is the The general frame of Active Power Filter-APF and control system thereof;
Fig. 2 is a software main program flow chart of the present invention;
Fig. 3 is an ADC interruption subroutine flow chart of the present invention;
Fig. 4 is Sliding mode variable structure control device structure block diagram.
Embodiment
As shown in Figure 1, the full-controlled rectifier bridge is adopted in load, and the DC side of rectifier is the resistance sense load,
u Sa ,
u Sb With
u Sc Be respectively the three phase mains phase voltage,
L f Be to connect reactance,
CBe inverter direct-flow side electric capacity,
i Fa ,
i Fb With
i Fc Be Active Power Filter-APF (APF) compensation phase current,
u Dc Be dc capacitor voltage, desired dc capacitor voltage
u Dc Be 800V.
V 1,
V 2With
V 3Be respectively APF and electrical network tie point place phase voltage.In voltage source inverter, power switch pipe
S 1With
S 4Constitute brachium pontis a,
S 3With
S 6Constitute brachium pontis b,
S 5With
S 2Constitute brachium pontis c, drive signal makes 6 the power switch pipe conductings in certain sequence and the shutoff of 3 brachium pontis.Control system comprises harmonic current detection circuit, Sliding mode variable structure control device and drive circuit, and wherein, the effect of harmonic current detection circuit is to calculate the offset current command signal; Adopt the Sliding mode variable structure control device to realize the unified control of current tracking and dc voltage, guarantee that its command signal of offset current tracking changes.Active Power Filter-APF adopts the full-digital control conceptual design; With TI company's T M320LF2812DSP chip is core; Be aided with corresponding outside sampling modulate circuit, three-phase voltage-type inverter and drive circuit etc.; Realize current signals, conditioning, harmonic wave and reactive current are calculated, functions such as current tracking control and dc capacitor voltage control.
Control system is based upon the space mathematical model of shunt active power filter under the abc coordinate system earlier, arrives this model conversion under the dq coordinate system again, obtains with electric current
i d ,
i q And dc voltage
u Dc Uniform mathematical model for state variable; Secondly, the structure sliding-mode surface is unified control to current tracking and dc capacitor voltage, with the sliding-mode surface decoupling zero does
S d ,
S q Control, when
S=0 o'clock, tracking error equaled 0,
i d *,
i q *With
u Dc *Followed the tracks of the definition control rate by entirely accurate
u d ,
u q , obtain the equivalent control rate
u 1 *,
u 2 *,
u 3 *, structure Integral Sliding Mode face can reduce system effectively to be buffeted, and defines new control rate
u i , obtain the pwm signal of driving switch pipe at last, make offset current trace command electric current apace, make power network current be compensated for as stable equilibrium's three phase sine electric current, and direct current is surveyed voltage and also can be reached stationary value soon.Adopt
i p -i q Harmonic current detecting method utilizes the TM320LF2812 software programming to calculate harmonic wave and referenced reactive current value, through data/address bus result of calculation is seen off, and is utilized the D/A conversion chip that the reference current digital signal transition is analog signal.According to instruction current and actual offset current; The difference design Sliding mode variable structure control device of DC side desired voltage values and actual voltage value; Produce basic pwm signal; And with the control signal of this pwm signal, thereby realize unified control to current tracking and dc capacitor voltage through overdrive circuit generation control switch break-make.Detailed process is following:
Suppose the electric power system three-phase equilibrium;
and
then arranged, is based upon the state-space model of the shunt active power filter under the abc coordinate system:
In the formula (1),
L f Be the connection reactance,
CBe inverter direct-flow side electric capacity,
i Fa ,
i Fb With
i Fc Be the APF offset current,
u Dc Be dc capacitor voltage,
V 1,
V 2With
V 3Be APF and electrical network tie point place phase voltage;
d k Be the switch function of brachium pontis k,
,
Brachium pontis conducting in the expression,
Expression brachium pontis conducting down, wherein,
d a Be the switch function of brachium pontis a,
d b Be the switch function of brachium pontis b, the equivalent switch function
In order to obtain the unified mathematics of control model of harmonic current and dc voltage, formula (2) to be transformed into dq coordinate system drag be:
In the formula (2),
i d ,
i q Be the dq component of harmonic current,
u Dc Be dc capacitor voltage,
u d ,
u q Be the dq component of on off state function,
V d With
V q Be
V 1,
V 2With
V 3The dq component,
L f Be to connect reactance,
CIt is the voltage source inverter dc bus capacitor.Suppose the three-phase three wire system balance; There is not zero-sequence current, so
arranged.
As shown in Figure 2, utilize the error component △ on d, the q axle in the design of Sliding mode variable structure control device
i d , △
i q , △
u Dc Construct sliding-mode surface as input variable, with sliding-mode surface
SDecoupling zero does
S d With
S q
In the formula (3),
k 1,
k 2With
k 3Be error coefficient,
i d *With
i q *Be
i d With
i q Reference current value,
u Dc *Be reference voltage level, equal to be 800V.When
S=0 o'clock, tracking error equaled 0,
i d *,
i q *,
u Dc *Followed the tracks of the definition control rate by entirely accurate
u d ,
u q For:
(4)
In the formula (4),
k d0
With
k q0
Be the convergence coefficient,
Sign(
x ) be sign function, and
Sign(0)=0.
Will
u d ,
u q Carry out inverse transform, obtain the equivalent control rate
u 1 *,
u 2 *,
u 3 *
In the formula,
is electric corner.
The equivalent control rate can be abbreviated as
u Ieq ,
i=1、2、3。
In order to slacken " buffeting " phenomenon, structure Integral Sliding Mode face:
Define new control rate
u i :
Wherein
k 0Be the convergence coefficient.In order to obtain the pwm signal of driving power switching tube, the following one group of switch function equality of structure
?
(9)
Wherein
d 1,
d 2,
d 3,
d 4,
d 5With
d 6Represent power switch pipe respectively
S 1,
S 2,
S 3,
S 4,
S 5With
S 6Switch function.
Because native system adopts the full-digital control scheme, the sampling of load current and dc voltage and control all need realize with software.Control board in the hardware system adopts and closes SEED-DEC2812 system that the crowd reaches, and it is integrated peripheral hardwares such as DSP, SRAM, A/D, PWM, USB greatly facilitate the design of hardware system.
As shown in Figure 3; At first main program begins, and closes all external interrupt, and system peripheral and variable are carried out initialization; And enable external interrupt EXINT1; Open global interrupt waits for and interrupting that control system software is mainly accomplished the definition of system control module, peripheral module initialization and some global variables among the present invention.Module initialization mainly comprises:
1) each peripheral hardware clock that need use control system is provided with, and comprises ADC module, EVA module;
2) the multiplexing control register of I/O mouth is set;
3) design of house dog controller when confusion takes place in system, produces watchdog reset;
4) IMR is set, enables the interrupt levels that to use;
5) to the predetermined mark setting of pll clock, the Clock Multiplier Factor of decision PLL, the system frequency that this paper designs DSP is 10kHz.
As shown in Figure 4; At first get into the ADC_ISR inlet, read the ADCRESULT value and convert actual current value into and actual dc side magnitude of voltage, the analog-to-digital conversion module of TM320LF2812 has 12 bit pads of a built-in sampling and maintenance; And have 16 analog-converted passages; System signal after accomplishing analog-to-digital conversion, is visited the ADC memory register through inserting the analog input channel of ADC behind the signal conditioner.Call harmonic current then successively and detect subprogram and Sliding mode variable structure control subprogram, thereby obtain pwm signal.
Claims (2)
1. the sliding mode variable structure control method of containing parameter perturbation Active Power Filter-APF is characterized in that adopting following steps:
1) is based upon the space mathematical model of shunt active power filter under the abc coordinate system, this space mathematical model is transformed under the dq coordinate system, obtain dq component with harmonic current
i d ,
i q And dc capacitor voltage
u Dc Uniform mathematical model for state variable;
2) with error
,
With
As input variable structure sliding-mode surface
S, with sliding-mode surface
SDecoupling zero does
S d With
S q :
,
k 1,
k 2With
k 3Be error coefficient,
i d *With
i q *Be reference current value,
u Dc *Be reference voltage level, when
S=0 o'clock, tracking error equaled 0,
i d *,
i q *,
u Dc *Followed the tracks of the definition control rate by entirely accurate
u d ,
u q For:
,
k d0
With
k q0
Be the convergence coefficient,
Sign(
x ) be sign function, and
Sign(0)=0;
3) with control rate
u d ,
u q Carry out inverse transformation, obtain the equivalent control rate
u 1 *,
u 2 *,
u 3 *:
,
,
Be electric corner, and structure Integral Sliding Mode face
,
i=1,2,3;
4) the new control rate of definition
,
k 0Be the convergence coefficient; The switch function that obtains power switch pipe is:
2. the sliding mode variable structure control method of a kind of containing parameter perturbation Active Power Filter-APF according to claim 1, it is characterized in that: the space mathematical model described in the step 1) is
, described uniform mathematical model is
,
i d ,
i q Be the dq component of harmonic current,
u d ,
u q Be the dq component of on off state function,
V d With
V q Be
V 1,
V 2With
V 3The dq component,
L f Be to connect reactance,
CBe the voltage source inverter dc bus capacitor,
CBe inverter direct-flow side electric capacity,
i Fa ,
i Fb With
i Fc Be the Active Power Filter-APF offset current,
u Dc Be dc capacitor voltage,
V 1,
V 2With
V 3Be Active Power Filter-APF and electrical network tie point place phase voltage,
d k Be the switch function of brachium pontis k,
,
Brachium pontis conducting in the expression,
Expression brachium pontis conducting down,
d a Be the switch function of brachium pontis a,
d b Be the switch function of brachium pontis b, the equivalent switch function
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| CN102868183A (en) * | 2012-09-21 | 2013-01-09 | 西安交通大学 | Sliding-mode variable structure control method of single phase grid-connected inverter based on multi-resonant sliding mode surface |
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