CN102891614A - Improved dead-beat control method for pulse width modulation (PWM) rectifier at unbalance of voltage of power grid - Google Patents
Improved dead-beat control method for pulse width modulation (PWM) rectifier at unbalance of voltage of power grid Download PDFInfo
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- CN102891614A CN102891614A CN2012104158636A CN201210415863A CN102891614A CN 102891614 A CN102891614 A CN 102891614A CN 2012104158636 A CN2012104158636 A CN 2012104158636A CN 201210415863 A CN201210415863 A CN 201210415863A CN 102891614 A CN102891614 A CN 102891614A
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Abstract
The invention discloses an improved dead-beat control method for a pulse width modulation (PWM) rectifier at unbalance of voltage of a power grid. According to the technical scheme, the key point is that the improved dead-beat control method for the PWM rectifier at unbalance of voltage of the power grid comprises the following steps of: respectively obtaining an active power double-frequency voltage compensation item and a reactive power double-frequency voltage compensation item by a bandpass filter and a proportion and integration (PI) controller through compensation voltage calculation according to input active power and input reactive power; obtaining a reference value of input voltage of the converter by taking the voltage compensation items as inputs of a built voltage reference value calculation model; performing reversed Park conversion by taking the voltage position angle of the power grid as a conversion angle to obtain input voltage under a two-phase static coordinate system; and generating a switching signal for controlling a power device by performing space vector pulse width modulation on the voltage signal. By the method, the model of the PWM rectifier can be compensated in real time, the pulses of the input active power and the input reactive power of the PWM rectifier can be effectively suppressed, and the voltage fluctuation of a direct current bus can be reduced.
Description
Technical field
The present invention relates to the control method of voltage type PWM rectifier, belong to electric and electronic power converting means control field, particularly the improvement dead-beat control method of PWM rectifier during a kind of unbalanced source voltage.
Background technology
Operation and control for power inverter, the scholar of association area has proposed a lot of advanced control algorithms, such as monocycle control, predicted current control, adaptive control, Sliding mode variable structure control and dead beat control etc., dead-beat current control method based on space voltage vector PWM, switching frequency is constant, adjusting function is good, and its application in power electronics has embodied huge advantage.Dead-beat control method by each feedback variable value of sampling, calculates the control output variable in the current control cycle based on the control object Mathematical Modeling, and controlled variable is equated with reference value in this control cycle.Its mathematical derivation is tight, and tracing preset is without overshoot, and dynamic property is good, and is little to the distortion of nonlinear load output harmonic wave, has faster dynamic responding speed.
Voltage unbalance brings many harm can for the Three-phase PWM Voltage Rectifier system.Under the unbalanced power supply condition, based on the input of the Three-phase PWM Voltage Rectifier of traditional dead-beat control method, power output with unstable, DC bus-bar voltage produces fluctuation, power electronic equipment will flow through larger negative-sequence current, affect the safe operation of power device and the control quality of rectifier.
Therefore, the improvement dead-beat control method of PWM rectifier when being necessary to design a kind of unbalanced source voltage, so that control system when operation, can carry out establishment to the power pulsations of PWM rectifier, reduce the DC bus-bar voltage fluctuation, the control quality of the safe operation of guaranteed output device and rectifier.
Summary of the invention
The improvement dead-beat control method of PWM rectifier when the technical problem that the present invention solves has provided a kind of unbalanced source voltage, the method can establishment PWM rectifier power pulsations and DC bus-bar voltage fluctuation, the control quality of the safe operation of guaranteed output device and rectifier.
Technical scheme of the present invention is: the improvement dead-beat control method of PWM rectifier during a kind of unbalanced source voltage, it is characterized in that may further comprise the steps: (l), detect three phase network voltage, three-phase input current and dc voltage, and by phase-locked loop calculating line voltage angular velocity of rotation and position angle; (2), the three phase network voltage that detects and three-phase input current are obtained line voltage and input current under the two-phase rest frame through 3/2 conversion module; (3), line voltage and input current under the two-phase rest frame that step (2) is obtained carry out the Park conversion with the line voltage position angle, obtains d under the synchronously rotating reference frame, q axle line voltage, input current; (4), according to the line voltage under the synchronously rotating reference frame and input current computing system input active power and reactive power; (5), system's input active power that step (4) is obtained and reactive power actual value are through passing through respectively band pass filter (1), band pass filter (2) obtains system's input active power and reactive power two frequencys multiplication pulsation actual value, system is inputted active power, reactive power two frequencys multiplication pulsation set-point is poor with system's input active power and reactive power two frequencys multiplication pulsation actual value respectively, then at first by PI controller (1), PI controller (2) calculates PI controller (1), the output voltage of PI controller (2), obtain respectively inputting active power and reactive power two frequency multiplication compensation term through the bucking voltage computing module again, wherein the central angle speed of band pass filter is set to two times of synchronous rotary angular speed; (6), with d, q axle line voltage value under the rotating coordinate system respectively and the two frequency multiplication voltage compensation item additions that obtain of step (5), the line voltage value after being compensated; (7), the poor of dc voltage actual value that dc voltage set-point and step (1) are obtained calculate the reference value of d shaft current under the rotating coordinate system through behind the PI controller (3), establishing q shaft current reference value is 0; (8), establish current reference value and remain unchanged, replace next current value constantly in the PWM rectifier model after the discretization with current reference value, replace the converter input voltage with converter input voltage reference value, can obtain the voltage reference value computation model; (9), respectively with the d after the compensation that obtains in d, q shaft current actual value and the step (6) under the rotating coordinate system that obtains in the reference value of d, q shaft current under the rotating coordinate system that obtains in the step (7), the step (3), the q axle line voltage input as the voltage reference value computation model of setting up in the step (8), obtain the reference value of converter input voltage through the voltage reference value computation model; (10), the input voltage reference value that step (9) is obtained is carried out anti-Park conversion take the line voltage position angle as angle of transformation, obtain the input voltage under the two-phase rest frame, this voltage signal produces the switching signal of power ratio control device through after the space vector pulse width modulation.
The central angle speed of the band pass filter described in the step of the present invention (5)
ω oBe set to two times of synchronous rotary angular speed 2
ω g, its frequency-domain expression is:
Control method of the present invention is in the unbalanced source voltage situation, can carry out real-Time Compensation to the model of PWM rectifier, power pulsations that can establishment PWM rectifier, reduce the DC bus-bar voltage fluctuation, the safe operation of guaranteed output device and rectifier output quality, and system is in service not to be needed the positive and negative sequence component in the system is calculated and decomposes, and algorithm is simple, is easy to realize.
Description of drawings
Fig. 1 is the main circuit structure figure of Three-phase PWM Voltage Rectifier; Fig. 2 is the structure principle chart of control system of the present invention; Fig. 3 is for adopting the input power oscillogram of improvement dead beat control of the present invention front and back; Fig. 4 is for adopting the dc voltage oscillogram of improvement dead beat control of the present invention front and back.
Specific implementation method
The present invention will be further described below in conjunction with accompanying drawing.The Three-phase PWM Voltage Rectifier main circuit topological structure as shown in Figure 1.Among the figure,
u Ga,
u Gb,
u GcBe the AC three-phase voltage source,
i Ga,
i Gb,
i GcBe three-phase alternating current side input current,
u Ca,
u Cb,
u CcBe power bridge input side three-phase voltage,
u DcBe dc voltage,
L gWith
R gBe respectively inlet wire inductance and equivalent resistance thereof,
CBe dc filter capacitor, O is the electrical network mid point,
i LBe load current, the DC side load is by resistance
R LEquivalently represented.
Under electrical network three-phase voltage balance and stable case, can get the Mathematical Modeling of PWM rectifier under synchronous rotating frame:
u Gd,
u GqBe respectively d, the q axle component of line voltage,
i Gd , i GqBe respectively d, the q axle component of AC input current,
u Cd , u CqBe respectively d, the q axle component of rectifier bridge AC input voltage,
w gBe line voltage angular speed;
System's input power equation is under the synchronous rotating frame:
The form of each electric weight of system corresponding positive and negative sequence component in the forward and backward rotating coordinate system is as follows under the unbalanced electric grid voltage:
In the formula, subscript n, p represent respectively the forward and backward synchronous rotating frame, subscript n, and p represents respectively positive and negative sequence component.
By following formula as can be known, each electric weight shows as DC component and two harmonic sums under the unbalanced electric grid voltage in the forward synchronous rotating frame.Since the reverse sync rotating coordinate system with-
w gSpeed rotation, can get the positive and negative sequence voltage equation of systematic steady state according to formula (1) and formula (3)
System's input active power and reactive power equation are under the unbalanced source voltage condition
In the formula,
P G0Be the active power DC component,
P C2Be the active power two harmonic amplitudes that change with the cosine rule,
P S2Be the active power two harmonic amplitudes that change with sinusoidal rule,
Q G0Be the reactive power DC component,
Q C2Be the reactive power two harmonic amplitudes that change with the cosine rule,
Q S2Be the reactive power two harmonic amplitudes that change with sinusoidal rule.
Power two harmonics in the following formula are
Wherein
The transformation matrix that the reverse sync rotational coordinates is tied between the forward synchronous rotating frame is
Drawing the system power that is rotated in the forward under the unbalanced electric grid voltage in the coordinate system according to formula (7), formula (8) is
By formula (9) as can be known, positive sequence component is DC component, and negative sequence component is two harmonics.Make d axle and line voltage vector in the same way, at this moment
Because two harmonics of line voltage q axle fluctuate near 0, in order to reduce the control system complexity, ignore this wave component, can get system power two frequency multiplication equations and be
In order to embody the control to power two harmonics, differentiate can get to formula (10)
(11)
In the unbalanced power supply situation, the DC component when considering stable situation can be thought constant, and formula (11) can further be expressed as
Because line voltage is uncontrollable amount, can get according to formula (4) and formula (12)
In the formula
,
Be the two frequency multiplication bucking voltages of PWM rectifier in the synchronous rotating frame.
(15)
Wherein
In the formula:
k p,
k iBe respectively ratio, the integral coefficient of PI controller,
ω g Be the line voltage angular frequency,
,
Be respectively active power and reactive power two frequency multiplication command value.
Front four can be saved as the electric voltage feed forward compensation term in the formula (15), control voltage
With
Coefficient can the passing ratio coefficient
k pCompensate, so formula (15) can further be expressed as
Formula (17) is two frequency multiplication bucking voltage calculating formulas.
Adopt two frequency multiplication bucking voltage compensation network voltages, the PWM rectifier model after being compensated
(18)
Wherein
Formula (18) is carried out discretization, can get PWM rectifier discretization model
Wherein
In the formula,
,
Two frequency multiplication bucking voltages for current time.
The arrangement following formula can get rectifier output voltage equation
(20)
Use current reference value
,
Replace next moment current value in the following formula
,
, with converter input voltage reference value
,
Replace converter input voltage in the following formula
,
, can obtain the voltage reference value computation model
If current reference value remains unchanged, then can think
Therefore, formula (21) can further be expressed as
(23)
Through type (23) can obtain voltage reference value as the output of modulator in each sampling period, and the pwm switching signal that produces response is controlled rectifier.
Fig. 2 is the structure principle chart of control system of the present invention, and its control method specifically comprises the steps:
(l), adopt voltage sensor and current sensor to detect respectively three phase network voltage
u Ga(
k),
u Gb(
k),
u Gc(
k), three-phase input current
i Ga(
k),
i Gb(
k),
i Gc(
k) and dc voltage
u Dc(
k), adopt phase-locked loop detection of grid voltage angle speed
ω gAnd position angle
θ(
k);
(2), the three phase network voltage that step (l) is detected
u Ga(
k),
u Gb(
k),
u GcAnd three-phase input current
i Ga(
k),
i Gb(
k),
i Gc(
k) obtain line voltage under the two-phase rest frame through 3/2 conversion module
u G α(
k),
u G β(
k) and input current
i G α(
k),
i G β(
k);
(3), the line voltage under the two-phase rest frame that step (2) is calculated
u G α(
k),
u G β(
k) and input current
i G α(
k),
i G β(
k) with the line voltage position angle
θ(
k) carry out the Park conversion, obtain the line voltage under the synchronously rotating reference frame
u Gd(
k),
u Gq(
k) and input current
i Gd(
k)
, i Gq(
k);
(4), the line voltage under two cordic phase rotators that calculate by step (3)
u Gd(
k),
u Gq(
k), input current
i Gd(
k)
, i Gq(
k) calculate system input active power
P g(
k), reactive power
Q g(
k);
(5), the system's input active power and the reactive power actual value that step (4) are obtained
P g(
k),
Q g(
k) obtain system's input active power and reactive power two frequencys multiplication pulsation actual value through band pass filter
P G2(
k),
Q G2(
k), system is inputted active power, reactive power two frequencys multiplication pulsation set-point
P G2 *(
k),
Q G2 *(
k) poor with system's input active power and reactive power two frequencys multiplication pulsation actual value respectively
P G2(
k),
Q G2(
k), then at first calculate the output voltage of PI controller (1), PI controller (2) by PI controller (1), PI controller (2)
v Gd2,
v Gq2, obtain respectively inputting active power and reactive power two frequency multiplication compensation term through the bucking voltage computing module again
u Cd2 *,
u Cq2 *, wherein the central angle speed of band pass filter is set to two times of synchronous rotary angular speed;
(6), with d, q axle line voltage under the rotating coordinate system
u Gd(
k),
u Gq(
k) respectively and the two frequency multiplication voltage compensation items that obtain of step (5)
u Cd2 *(
k),
u Cq2 *(
k) addition, the line voltage value after being compensated
u Gdc(
k),
u Gqc(
k);
(7), direct voltage actual value that direct voltage set-point and step (1) are obtained poor through PI controller (3), obtain the reference value of d shaft current under the rotating coordinate system
i Gd *(
k), establish the reference value of q shaft current
i Gq *(
k) be 0;
(8), establish current reference value and remain unchanged, use current reference value
i Gd *(
k),
i Gq *(
k) replace next current value constantly in the PWM rectifier model after the discretization
i Gd(
k+ 1),
i Gq(
k+ 1), with converter input voltage reference value
u Cd *(
k),
u Cq *(
k) replacement converter input voltage
u Cd(
k),
u Cq(
k), can obtain the voltage reference value computation model;
(9), respectively with the reference value of d, q shaft current under the rotating coordinate system that obtains in the step (7)
i Gd *(
k),
i Gq *(
k), d, q shaft current actual value under the rotating coordinate system that obtains in the step (3)
i Gd(
k),
i Gq(
k) and step (6) in d, q axle line voltage after the compensation that obtains
u Gdc(
k),
u Gqc(
k) as the input of the voltage reference value computation model of setting up in the step (8), obtain the reference value of converter input voltage through the voltage reference value computation model
u Cd *(
k),
u Cq *(
k);
(10), the input voltage reference value that step (9) is obtained
u Cd *(
k),
u Cq *(
k) carry out anti-Park conversion take the line voltage position angle as angle of transformation, obtain the input voltage under the two-phase rest frame, this voltage signal produces the switching signal of power ratio control device through after the space vector pulse width modulation.
Fig. 3 is the input power oscillogram of the PWM rectifier before and after the employing improvement dead-beat control method of the present invention, as seen from Figure 3, before adopting control algolithm of the present invention, the input of PWM rectifier is meritorious, the fluctuation of two frequencys multiplication occurs reactive power, when 0.1s, adopt control algolithm of the present invention, as can be seen from Figure, rectifier input two frequencys multiplication fluctuation meritorious, reactive power is effectively suppressed rapidly.
Fig. 4 is the DC bus-bar voltage oscillogram of the PWM rectifier before and after the employing improvement dead-beat control method of the present invention, and as can be seen from Figure, when unbalanced source voltage, the pulsation of two frequencys multiplication appears in the DC bus-bar voltage of system; After adopting control method of the present invention, the pulsation of DC bus-bar voltage two frequencys multiplication obtains inhibition to a certain degree, has played the effect of stable DC busbar voltage.
In sum, control method of the present invention can effectively inhibition system of while two frequencys multiplication meritorious, reactive power fluctuate under the unbalanced source voltage condition, strengthened the serviceability of PWM rectifier in the unbalanced power supply situation, and amount of calculation is little, control structure is simple.
Claims (1)
1. the improvement dead-beat control method of PWM rectifier during a unbalanced source voltage, it is characterized in that may further comprise the steps: (l), detect three phase network voltage, three-phase input current and dc voltage, and by phase-locked loop calculating line voltage angular velocity of rotation and position angle; (2), the three phase network voltage that detects and three-phase input current are obtained line voltage and input current under the two-phase rest frame through 3/2 conversion module; (3), line voltage and input current under the two-phase rest frame that step (2) is obtained carry out the Park conversion with the line voltage position angle, obtains d under the synchronously rotating reference frame, q axle line voltage, input current; (4), according to the line voltage under the synchronously rotating reference frame and input current computing system input active power and reactive power; (5), system's input active power and reactive power actual value that step (4) obtains are passed through respectively band pass filter (1), band pass filter (2) obtains system's input active power and reactive power two frequencys multiplication pulsation actual value, system is inputted active power, reactive power two frequencys multiplication pulsation set-point is poor with system's input active power and reactive power two frequencys multiplication pulsation actual value respectively, then at first by PI controller (1), PI controller (2) calculates PI controller (1), the output voltage of PI controller (2), obtain respectively inputting active power and reactive power two frequency multiplication compensation term through the bucking voltage computing module again, wherein the central angle speed of band pass filter is set to two times of synchronous rotary angular speed; (6), with d, q axle line voltage value under the rotating coordinate system respectively and the two frequency multiplication voltage compensation item additions that obtain of step (5), the line voltage value after being compensated; (7), the poor of dc voltage actual value that dc voltage set-point and step (1) are obtained calculate the reference value of d shaft current under the rotating coordinate system through behind the PI controller (3), establishing q shaft current reference value is 0; (8), establish current reference value and remain unchanged, replace next current value constantly in the PWM rectifier model after the discretization with current reference value, replace the converter input voltage with converter input voltage reference value, can obtain the voltage reference value computation model; (9), respectively with the d after the compensation that obtains in d, q shaft current actual value and the step (6) under the rotating coordinate system that obtains in the reference value of d, q shaft current under the rotating coordinate system that obtains in the step (7), the step (3), the q axle line voltage input as the voltage reference value computation model of setting up in the step (8), obtain the reference value of converter input voltage through the voltage reference value computation model; (10), the input voltage reference value that step (9) is obtained is carried out anti-Park conversion take the line voltage position angle as angle of transformation, obtain the input voltage under the two-phase rest frame, this voltage signal produces the switching signal of power ratio control device through after the space vector pulse width modulation.
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| CN106953531B (en) * | 2016-12-21 | 2019-08-23 | 安徽皖宏电气股份有限公司 | Current inner loop dead-beat control method based on several history cycle sample informations |
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| CN111740455B (en) * | 2020-07-22 | 2023-07-07 | 太原理工大学 | Bus interface converter control method for uniformly compensating alternating-current unbalanced voltage and direct-current pulsating voltage |
| CN113285618A (en) * | 2021-06-04 | 2021-08-20 | 大连海事大学 | Frequency self-adaptive FIR (finite impulse response) repeated prediction control method |
| CN114362265A (en) * | 2021-12-07 | 2022-04-15 | 燕山大学 | Reactive power flexible control method for series-parallel electric energy router |
| CN117254704A (en) * | 2023-09-22 | 2023-12-19 | 中南大学 | Grid-connected voltage type rectifier frequency division analog resistance control method under unbalanced power grid |
| CN117254704B (en) * | 2023-09-22 | 2024-04-19 | 中南大学 | Grid-connected voltage type rectifier frequency division analog resistance control method under unbalanced power grid |
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