CN102891614B - 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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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 when a kind of unbalanced source voltage.
Background technology
For operation and the control of power inverter, the scholar of association area has proposed a lot of advanced control algorithms, 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, based on control object Mathematical Modeling, by each feedback variable value of sampling, calculates the control output variable in current control cycle, 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, little to the distortion of nonlinear load output harmonic wave, has dynamic responding speed faster.
Voltage unbalance brings many harm can to Three-phase PWM Voltage Rectifier system.Under unbalanced power supply condition, Three-phase PWM Voltage Rectifier input based on traditional dead-beat control method, power output are by unstable, DC bus-bar voltage produces fluctuation, power electronic equipment will flow through larger negative-sequence current, affects the safe operation of power device and the control quality of rectifier.
Therefore, the improvement dead-beat control method of PWM rectifier while being necessary to design a kind of unbalanced source voltage, while making control system operation, can effectively suppress the power pulsations of PWM rectifier, reduce 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 been to provide a kind of unbalanced source voltage, the method can effectively suppress power pulsations and the DC bus-bar voltage fluctuation of PWM rectifier, 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 when a kind of unbalanced source voltage, it is characterized in that comprising the following steps: (l), detect three phase network voltage, three-phase input current and DC voltage, and calculate line voltage angular velocity of rotation and position angle by phase-locked loop, (2), the three phase network voltage detecting and three-phase input current are obtained to line voltage and the input current under two-phase rest frame through 3/2 conversion module, (3) line voltage and input current, under two-phase rest frame that step (2) is obtained carry out Park conversion with line voltage position angle, obtain d under synchronously rotating reference frame, q axle line voltage, input current, (4), according to the line voltage under synchronously rotating reference frame and input current computing system input active power and reactive power, (5), the system 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 input active power and reactive power two frequency multiplication pulsation actual values, system is inputted to active power, reactive power two frequency multiplication pulsation set-points are poor with system input active power and reactive power two frequency multiplication pulsation actual values respectively, then 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 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), by d, q axle line voltage value under rotating coordinate system respectively and step (5) obtain two frequency multiplication voltage compensation items be added, 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 rotating coordinate system after PI controller (3), establishing q shaft current reference value is 0, (8), establish current reference value and remain unchanged, replace next the moment current value in the PWM rectifier model after discretization by current reference value, replace converter input voltage by converter input voltage reference value, can obtain voltage reference value computation model, (9) input of the voltage reference value computation model of, respectively the d after the compensation obtaining in the d under the rotating coordinate system obtaining in the reference value of d, q shaft current under the rotating coordinate system obtaining in step (7), step (3), q shaft current actual value and step (6), q axle line voltage being set up in step (8), process voltage reference value computation model obtains the reference value of converter input voltage, (10) the input voltage reference value, step (9) being obtained is carried out anti-Park conversion taking line voltage position angle as angle of transformation, obtain the input voltage under two-phase rest frame, this voltage signal, after space vector pulse width modulation, produces the switching signal of power ratio control device.
The central angle speed of the band pass filter described in 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 unbalanced source voltage situation, can carry out real-Time Compensation to the model of PWM rectifier, can effectively suppress the power pulsations of PWM rectifier, reduce DC bus-bar voltage fluctuation, the safe operation of guaranteed output device and rectifier output quality, and in service needs of system calculates and decompose the positive and negative sequence component in system, and algorithm is simple, be easy to realize.
Brief description of the 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 the input power oscillogram that adopts improvement dead beat control of the present invention front and back; Fig. 4 is the DC voltage oscillogram that adopts improvement dead beat control of the present invention front and back.
specific implementation method
Below in conjunction with accompanying drawing, the present invention will be further described.Three-phase PWM Voltage Rectifier main circuit topological structure as shown in Figure 1.In figure,
u ga,
u gb,
u gcfor AC three-phase voltage source,
i ga,
i gb,
i gcfor three-phase alternating current side input current,
u ca,
u cb,
u ccfor power bridge input side three-phase voltage,
u dcfor DC voltage,
l gwith
r gbe respectively inlet wire inductance and equivalent resistance thereof,
cfor DC filter capacitor, O is electrical network mid point,
i lfor load current, DC side load is by resistance
r lequivalently represented.
Under electrical network three-phase voltage balance and stable case, can obtain the Mathematical Modeling of PWM rectifier under synchronous rotating frame:
(1)
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 gfor line voltage angular speed;
Under synchronous rotating frame, system input power equation is:
(2)
Under unbalanced electric grid voltage, the form of the each electric weight of system corresponding positive and negative sequence component in forward and backward rotating coordinate system is as follows:
(3)
In formula, subscript n, p represents respectively forward and backward synchronous rotating frame, subscript n, p represents respectively positive and negative sequence component.
From above formula, under unbalanced electric grid voltage, each electric weight shows as DC component and two harmonic sums in forward synchronous rotating frame.Due to reverse sync rotating coordinate system with-
w gspeed rotation, can obtain the positive and negative sequence voltage equation of systematic steady state according to formula (1) and formula (3)
(4)
Under unbalanced source voltage condition, system input active power and reactive power equation are
(5)
In formula,
p g0for active power DC component,
p c2for the active power two harmonic amplitudes that change with cosine rule,
p s2for the active power two harmonic amplitudes that change with sinusoidal rule,
q g0for reactive power DC component,
q c2for the reactive power two harmonic amplitudes that change with cosine rule,
q s2for the reactive power two harmonic amplitudes that change with sinusoidal rule.
Power two harmonics in above formula are
(6)
Wherein
(7)
The transformation matrix that reverse sync rotational coordinates is tied between forward synchronous rotating frame is
(8)
Show that according to formula (7), formula (8) system power being rotated in the forward in coordinate system under unbalanced electric grid voltage is
(9)
From formula (9), positive sequence component is DC component, and negative sequence component is two harmonics.Make d axle and line voltage vector in the same way, now
.Because two harmonics of line voltage q axle fluctuate near 0, in order to reduce control system complexity, ignore this wave component, can obtain system power two frequency multiplication equations and be
(10)
In order to embody the control to power two harmonics, to formula (10), differentiate can obtain
(11)
In unbalanced power supply situation, the DC component while considering stable situation can be thought constant, and formula (11) can further be expressed as
(12)
Because line voltage is uncontrollable amount, can obtain according to formula (4) and formula (12)
(13)
In formula
,
for the two frequency multiplication bucking voltages of PWM rectifier in synchronous rotating frame.
,
can be designed to
(15)
Wherein
(16)
In formula:
k p,
k ibe respectively ratio, the integral coefficient of PI controller,
ω g for line voltage angular frequency,
,
be respectively active power and reactive power two frequency multiplication command value.
In formula (15), first four can be saved as electric voltage feed forward compensation term, control voltage
with
coefficient can passing ratio coefficient
k pcompensate, therefore formula (15) can further be expressed as
(17)
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 to discretization, can obtain PWM rectifier discretization model
(19)
Wherein
In formula,
,
for two frequency multiplication bucking voltages of current time.
Arrange above formula and can obtain rectifier output voltage equation
(20)
Use current reference value
,
replace next the moment current value in above formula
,
, by converter input voltage reference value
,
replace converter input voltage in above formula
,
, can obtain voltage reference value computation model
(21)
If current reference value remains unchanged, can think
(22)
Therefore, formula (21) can further be expressed as
(23)
Through type (23) can obtain the output of voltage reference value as 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, step (l) being detected
u ga(
k),
u gb(
k),
u gcand three-phase input current
i ga(
k),
i gb(
k),
i gc(
k) obtain the line voltage under 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) line voltage under the two-phase rest frame, step (2) being calculated
u g α(
k),
u g β(
k) and input current
i g α(
k),
i g β(
k) with line voltage position angle
θ(
k) carry out Park conversion, obtain the line voltage under synchronously rotating reference frame
u gd(
k),
u gq(
k) and input current
i gd(
k)
, i gq(
k);
(4) 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 input active power and the reactive power actual value that, step (4) are obtained
p g(
k),
q g(
k) obtain system input active power and reactive power two frequency multiplication pulsation actual values through band pass filter
p g2(
k),
q g2(
k), system is inputted to active power, reactive power two frequency multiplication pulsation set-points
p g2 *(
k),
q g2 *(
k) poor with system input active power and reactive power two frequency multiplication pulsation actual values respectively
p g2(
k),
q g2(
k), then first calculate the output voltage of PI controller (1), PI controller (2) by PI controller (1), PI controller (2)
v gd2,
v gq2, then obtain respectively inputting active power and reactive power two frequency multiplication compensation term through bucking voltage computing module
u cd2 *,
u cq2 *, wherein the central angle speed of band pass filter is set to two times of synchronous rotary angular speed;
(6), by d, q axle line voltage under 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) be added 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 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 the moment current value in the PWM rectifier model after discretization
i gd(
k+ 1),
i gq(
k+ 1), by converter input voltage reference value
u cd *(
k),
u cq *(
k) replacement converter input voltage
u cd(
k),
u cq(
k), can obtain voltage reference value computation model;
(9), respectively by the reference value of d, q shaft current under the rotating coordinate system obtaining in step (7)
i gd *(
k),
i gq *(
k), d, q shaft current actual value under the rotating coordinate system that obtains in 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 step (8), obtain the reference value of converter input voltage through voltage reference value computation model
u cd *(
k),
u cq *(
k);
(10) the input voltage reference value, step (9) being obtained
u cd *(
k),
u cq *(
k) carry out anti-Park conversion taking line voltage position angle as angle of transformation, obtain the input voltage under two-phase rest frame, this voltage signal, after space vector pulse width modulation, produces the switching signal of power ratio control device.
Fig. 3 is the input power oscillogram that adopts the PWM rectifier of improvement dead-beat control method of the present invention front and back, as seen from Figure 3, before adopting control algolithm of the present invention, the input of PWM rectifier is gained merit, two frequencys multiplication fluctuations occur reactive power, in the time of 0.1s, adopt control algolithm of the present invention, as can be seen from Figure, rectifier input two frequency multiplication fluctuations meritorious, reactive power are effectively suppressed rapidly.
Fig. 4 is the DC bus-bar voltage oscillogram that adopts the PWM rectifier of improvement dead-beat control method of the present invention front and back, and as can be seen from Figure, in the time of unbalanced source voltage, two frequencys multiplication pulsation appear in the DC bus-bar voltage of system; Adopt after control method of the present invention, the inhibition that DC bus-bar voltage two frequencys multiplication are pulsed to a certain extent, 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 unbalanced source voltage condition, strengthened the serviceability of PWM rectifier in 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 when a unbalanced source voltage, it is characterized in that comprising the following steps: (l), detect three phase network voltage, three-phase input current and DC voltage, and calculate line voltage angular velocity of rotation and position angle by phase-locked loop, (2), the three phase network voltage detecting and three-phase input current are obtained to line voltage and the input current under two-phase rest frame through 3/2 conversion module, (3) line voltage and input current, under two-phase rest frame that step (2) is obtained carry out Park conversion with line voltage position angle, obtain d under synchronous rotating frame, q axle line voltage, input current, (4), according to d, q axle line voltage and input current computing system input active power and reactive power under synchronous rotating frame, (5), the system input active power that step (4) is obtained and reactive power actual value are respectively through the first band pass filter, the second band pass filter obtains system input active power and reactive power two frequency multiplication pulsation actual values, system is inputted to active power and reactive power two frequencys multiplication pulsation set-points poor with system input active power and reactive power two frequencys multiplication pulsation actual values respectively, then first by a PI controller, the 2nd PI controller calculates a PI controller, the output voltage of the 2nd PI controller, obtain respectively inputting active power and reactive power two frequency multiplication compensation term through 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), by d, q axle line voltage under synchronous rotating frame respectively and the input active power that obtains of step (5) and reactive power two frequency multiplication compensation term be added, the d after being compensated, q axle line voltage value, (7), the difference of DC voltage actual value that DC voltage set-point and step (1) are obtained after the 3rd PI controller, calculate d axle input current reference value under synchronous rotating frame, establishing q axle input current reference value is 0, (8), establishing input current reference value remains unchanged, with next the moment input current in the PWM rectifier model after input current reference value replacement discretization, with rectifier input voltage reference value replacement rectifier input voltage, obtain voltage reference value computation model, (9) input of the voltage reference value computation model of, respectively the d after the compensation obtaining in d, q axle input current actual value and step (6) under the synchronous rotating frame obtaining in d, q axle input current reference value, step (3) under the synchronous rotating frame obtaining in step (7), q axle line voltage value being set up in step (8), obtains rectifier input voltage reference value through voltage reference value computation model, (10) the input voltage reference value, step (9) being obtained is carried out anti-Park conversion taking line voltage position angle as angle of transformation, obtain the input voltage under two-phase rest frame, this voltage signal, after space vector pulse width modulation, produces the switching signal of power ratio control device.
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|---|---|---|---|
| CN201210415863.6A CN102891614B (en) | 2012-10-26 | 2012-10-26 | Improved dead-beat control method for pulse width modulation (PWM) rectifier at unbalance of voltage of power grid |
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| CN103515955B (en) * | 2013-09-27 | 2015-08-05 | 天津大学 | Grid side converter dead beat Poewr control method under unbalanced source voltage |
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| CN104167967A (en) * | 2014-08-29 | 2014-11-26 | 东南大学 | Method for controlling linear induction motor under imbalance power grid voltage conditions |
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| CN105743367A (en) * | 2016-04-15 | 2016-07-06 | 中国矿业大学 | Dead beat control method of pulse width modulation (PWM) rectifier under unbalanced power grid voltage |
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| CN109358228B (en) * | 2018-11-09 | 2020-12-15 | 哈工大（张家口）工业技术研究院 | Power grid voltage positive and negative sequence component real-time estimation method based on double enhanced phase-locked loops |
| CN110148954B (en) * | 2019-05-24 | 2023-05-26 | 青岛大学 | SOP-based power distribution network control method |
| 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 |
| 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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