CN103001246A - Method for controlling a PWM (pulse width modulation) rectifying type energy feeding device on basis of virtual flux linkage - Google Patents

Method for controlling a PWM (pulse width modulation) rectifying type energy feeding device on basis of virtual flux linkage Download PDF

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CN103001246A
CN103001246A CN2012104505608A CN201210450560A CN103001246A CN 103001246 A CN103001246 A CN 103001246A CN 2012104505608 A CN2012104505608 A CN 2012104505608A CN 201210450560 A CN201210450560 A CN 201210450560A CN 103001246 A CN103001246 A CN 103001246A
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voltage
phase
energy
flux
rectifier
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CN2012104505608A
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宋宝
唐小琦
黄智聪
魏树生
戴攀
周彬
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华中科技大学
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Abstract

The invention discloses a method for controlling a PWM (pulse width modulation) rectifying type energy feeding device on the basis of virtual flux linkage. The method includes steps of (1) acquiring any two phases of current on an alternating current side of the energy feeding device and bus voltage of a direct current side of the energy feeding device; (2), estimating the flux linkage of voltage of a power grid and acquiring a virtual flux linkage; (3), acquiring a phase of three-phase power grid voltage; (4), calculating instant active power and instant reactive power of the energy feeding device; (5), sampling practical voltage of a direct current bus, subjecting error between the practical voltage of the direct current bus and instruction voltage to PID (proportion integration differentiation) adjustment calculating and multiplying calculation result by voltage of the direct current bus to obtain command of the instant active power; (6)subjecting error between the command of the instant active power and the instant active power to PID adjustment calculating, performing iPark coordinate transformation, and generating PWM pulse according to transformed voltage command, namely input and output of dynamic adjustment current can be realized. By the method, a power grid voltage sampling circuit is simplified, and accuracy and stability in current sampling of the system are guaranteed.

Description

一种基于虚拟磁链的PWM整流型能量回馈装置的控制方法技术领域[0001] 本发明属于能量回馈装置领域,具体地说是一种PWM整流型能量回馈装置的控制方法。 TECHNICAL FIELD The PWM rectifier based on virtual energy flux feedback device [0001] The present invention belongs to the field of energy feedback device, in particular a control method of an energy feedback PWM rectifier. 背景技术[0002] 近几年,能量回馈装置在工业自动化领域中广泛应用。 [0002] In recent years, energy feedback devices are widely used in industrial automation. 能量回馈装置可以提供稳定的直流电源,同时把后级设备产生的再生能量回馈到电网上。 Energy feedback device may provide a stable DC power supply, while the regenerative energy generated by the device after the stage back to the grid. 相比传统的二极管不控整流装置,见图1,提供直流电源的方法,能量回馈装置以下三方面优点:一是网侧电流正弦化,可单位功率因素运行,减小谐波电流污染;二是能量可以双向流动,再生能量可以回馈到电网上,提高能量的利用效率;三是直流母线电压可调、波动变化小。 Compared to conventional apparatus controlled rectifier diode, see FIG. 1, a method of providing DC power, energy feedback means the following three advantages: First, the grid current is sinusoidal, the operation unit power factor, reducing harmonic current pollution; two energy flow can be bi-directional, regenerative energy can be fed back to the electricity grid, to improve energy efficiency; third adjustable DC bus voltage, small fluctuations. 化、谐波污染小、能量可双向流动等特点。 , Small harmonic pollution, energy flow can be bi characteristics. [0003] 如图2,通用的能量回馈装置采用电压定向控制的方法(V0C),例如专利文献200810144730. 3和专利文献201110327903. 7提到的PWM整流型能量回馈装置都是基于这种控制方法。 [0003] As shown in FIG 2, the common energy voltage feedback device orientation control method (V0C), PWM rectifier energy e.g. Patent Document Patent Document 200810144730.3 and 201110327903.7 mentioned feedback control method are based on this apparatus . 电压定向控制的方法是基于电网电压的相位,通过三个电压传感器采样电网三相的电压。 The method is based on voltage orientation control phase of the grid voltage, grid voltage sampled by the three-phase voltage sensors. 电压定向控制的方法使用了较多的传感器,不仅增加了系统成本,而且也带来了相应的附加电路和检测误差等问题。 The method uses a voltage controlled orientation more sensors, the system only increases the cost, but also brings a corresponding additional error detection circuits, and so on. 发明内容[0004] 本发明的目的是提供一种基于虚拟磁链的PWM整流性能量回馈装置的控制方法, 其省去电网电压传感器,在控制策略上通过虚拟磁链观测获得电网电压的相位,通过直接功率控制抑制电压、电流谐波干扰。 SUMMARY OF THE INVENTION [0004] The object of the present invention is to provide a feedback control method based on the PWM rectifier virtual energy flux, which is the grid voltage sensor is omitted, the phase control strategy in the flux observer virtual grid voltage is obtained, by suppressing voltage direct power control, harmonic interference current. [0005] 实现本发明的目的所采用的具体技术方案为:[0006] 一种基于虚拟磁链的PWM整流型能量回馈装置的控制方法,包括如下步骤:[0007] (I)采样获得与电网连接的能量回馈装置交流侧的任意两相电流,以及能量回馈装置直流侧的母线电压;[0008] (2)根据能量回馈装置当前空间矢量信息、获得的所述两相交流电流和直流母线电压,对电网电压的磁链进行估算,获得虚拟磁链;[0009] (3)利用所述虚拟磁链,获得三相电网电压的相位;[0010] (4)根据所述两相交流电流和虚拟磁链,计算得到所述能量回馈装置的瞬时有功和瞬时无功;[0011] (5)采样直流母线的实际电压,将直流母线实际电压和指令电压之间的误差进行PID调节计算,并将计算结果乘以直流母线电压,作为瞬时有功的指令。 [0005] The specific implementation of the invention the technical solution adopted for the purpose of: [0006] Based on the virtual PWM rectifier energy flux feedback control method, comprising the steps of: [0007] (I) obtained by sampling the grid energy and arbitrary two-phase current side AC feedback means, feedback means and the energy bus voltage of the DC side; [0008] (2) the device of the current space vector energy feedback information, obtained by the two-phase alternating current and DC bus voltage , on the grid voltage flux estimate, obtain a virtual flux; [0009] (3) using the virtual flux, obtain a phase voltage of the three-phase network; [0010] (4) according to the two-phase alternating current and virtual flux, the energy calculated instantaneous feedback means active and instantaneous reactive; [0011] (5) sampling the actual DC bus voltage, the error between the actual DC link voltage and the command voltage regulation PID calculation, and the calculated result is multiplied by the DC bus voltage, as an instantaneous active command. [0012] (6)对所述瞬时有功的指令和步骤(4)得到的瞬时有功之间的误差进行PID调节计算,并将计算结果进行iPark坐标变换,得到变换后的电压指令;[0013] 根据该变换后的电压指令利用空间矢量脉冲宽度调制生成PWM脉冲,动态调节瞬时有功功率和瞬时无功功率,即可实现动态调节电流的输入输出。 [0012] (6) active instantaneous error between the obtained instantaneous active and an instruction step (4) of PID control calculation, and the calculation results are iPark coordinate transformation to obtain a transformed voltage command; [0013] using space vector pulse width modulation voltage command generated according to the converted PWM pulse, the instantaneous real power and instantaneous dynamic adjustment reactive power to adjust the input dynamic output current. [0014] 作为本发明的改进,所述步骤(2)中对电网电压的磁链进行估算具体过程如下: [0014] As an improvement of the present invention, the step of the grid voltage flux estimate using the following procedure (2):

[0015] 首先,计算整流器交流侧两相坐标系下电压Usa、Use,其中 [0015] First, calculate the voltage Usa Rectifier under the two-phase coordinate system, the Use, wherein

Figure CN103001246AD00041

[0017] 式中,Ud。 [0017] In the formula, Ud. 为直流母线电压,SA、SB、Sc为能量回馈装置中整流器的开关状态; DC bus voltage, SA, SB, Sc energy switching state feedback rectifier means;

[0018] 然后,由整流器交流侧电压Usa ,Us0,整流器交流侧两相坐标系下的电流ia、ie,计算得到电网两相坐标系下的磁链Ψα和,具体为: [0018] Then, the AC side of the rectifier voltage Usa, Us0, current ia at the AC side of the rectifier a two-phase coordinate system, IE, calculated flux Ψα the two-phase grid coordinate system and, in particular:

Figure CN103001246AD00042

[0020] 式中,L为滤波电感。 [0020] In the formula, L is the inductance of the filter.

[0021] 作为本发明的改进,所述的能量回馈装置的有功功率P和无功功率Q通过如下公式计算得到: [0021] As an improvement of the present invention, the energy of the active power P and reactive power Q of the feedback device is calculated by the following equation:

Figure CN103001246AD00043

[0023] 式中,ω为电网电压角频率。 [0023] In the formula, ω is the angular frequency of the grid voltage.

[0024] 本发明中能量回馈系统主电路不需要采样电网三相电压,能量回馈系统控制电路可以采用ARM控制实现,包括两相电流采样调理、直流母线电压采样调理、虚拟磁链观测、直接功率控制、自适应数字PID。 [0024] In the present invention, the energy feedback system main circuit does not require a sampling grid phase voltage, the system energy feedback control circuit may be implemented using ARM control, a two-phase current sampling conditioning, the DC bus voltage sampling conditioning, the virtual flux observer, direct power control, adaptive digital PID.

[0025] 本发明基于虚拟磁链和直接功率控制(VF-DPC)的能量回馈装置简化了电网电压采样电路,使系统结构简单,降低成本,根据虚拟磁链观测算法和瞬时功率控制算法,保证系统电流采样的准确性和稳定性。 [0025] The present invention is reserved based on virtual flux and direct power control (VF-DPC) an energy device simplifies the grid voltage sampling circuit, that the system is simple, cost, control algorithm according to the virtual flux observer algorithms and instantaneous power, to ensure the accuracy and stability of the current sampling. 本发明还针对虚拟磁链观测引入的积分环节提出改进,用二阶低通滤波,消除积分初值和电网扰动对系统的影响。 The present invention also provides improvements to the virtual flux observer integrator incorporated with a second order low-pass filter to eliminate the influence on the system and the initial value of the integral grid disturbances. 相比基于电压定向控制的能量回馈装置,基于虚拟磁链和直接功率控制的能量回馈装置具有系统结构简单、抑制干扰和快速响应的优点。 Compared orientation control voltage based on the energy of the feedback means, the energy flux and the virtual direct feedback based power control system has a simple structure, interference suppression and the advantages of fast response. 该方法可以推广到变频器、交流伺服驱动器上。 This method can be extended to the inverter, AC servo drive.

附图说明 BRIEF DESCRIPTION

[0026] 图1是通用二极管不控整流装置的主电路拓扑结构示意图。 [0026] FIG. 1 is a schematic general circuit topology main controlled rectifier diode means. D1、D2、D3、D4、D5、D6 D1, D2, D3, D4, D5, D6

是主电路上的二极管。 Diode on the main circuit.

[0027] 图2是通用的能量回馈装置的主电路拓扑结构示意图。 [0027] FIG. 2 is a schematic diagram of the main circuit topology common energy feedback device. S1、S2、S3、S4、S5、S6是主电路上的IGBT,Hl、H2、H3是三相电流采样,一般是霍尔传感器,H4、H5、H6是三相电压采样,一般是霍尔传感器,H7直流母线电压采样,一般是霍尔传感器。 S1, S2, S3, S4, S5, S6 in the main circuit is an IGBT, Hl, H2, H3 are three-phase current sampling, typically a Hall sensor, H4, H5, H6 are three-phase voltage sample, typically a Hall sensor, H7 DC bus voltage sampling, typically a Hall sensor.

[0028] 图3是基于虚拟磁链和直接功率控制(VF-DPC)的能量回馈装置的主电路拓扑结构示意图。 [0028] FIG. 3 is a schematic diagram of a main circuit topology based feedback device virtual flux and direct power control (VF-DPC) energy. S1、S2、S3、S4、S5、S6是主电路上的IGBT,Hl、H2、H3是三相电流采样,一般是霍尔传感器,H4是直流母线电压采样,一般是霍尔传感器。 S1, S2, S3, S4, S5, S6 in the main circuit is an IGBT, Hl, H2, H3 are three-phase current sampling, typically a Hall sensor, H4 is the DC bus voltage sampling, typically a Hall sensor.

[0029] 图4是基于虚拟磁链和直接功率控制(VF-DPC)的能量回馈装置的系统结构示意图。 [0029] FIG. 4 is based on virtual flux and direct power control (VF-DPC) energy diagram of a system configuration of the feedback means. [0030] 图5是利用能量回馈装置当前空间矢量信息、交流两相电流和直流母线电压,估算得到的磁链。 [0030] FIG. 5 is a current feedback device using a spatial energy vector information, alternating two-phase current and DC bus voltage, flux estimates obtained. Ialpha、Ibeta是交流两相电流,L是滤波电感,SA、SB、Sc是当如空间矢量信息, udc是直流母线电压,Ps_alpha、Ps_beta是两相磁链。 Ialpha, Ibeta two-phase AC currents, L is the smoothing inductor, SA, SB, Sc when the space-vector information, DC link voltage UDC, Ps_alpha, Ps_beta a two-phase flux linkage.

[0031] 图6是根据瞬时功率理论的计算公式、交流两相电流和虚拟磁链,计算瞬时有功和瞬时无功,Ialpha、Ibeta是交流两相电流,Ps_alpha、Ps_beta是两相磁链,P是有功,Q是无功。 [0031] FIG. 6 is a formula for calculating the instantaneous power theory, alternating two-phase currents and the virtual flux, calculates the instantaneous active and instantaneous reactive power, Ialpha, Ibeta an alternating two-phase current, Ps_alpha, Ps_beta two-phase flux, P is active, Q is reactive power.

[0032] 图7是使用电流重构算法和电流重构控制的移相SVPWM算法的控制算法示意图。 [0032] FIG. 7 is a schematic diagram of a current control algorithm using the phase shift algorithm of SVPWM control algorithm and the reconstructed current reconstructed.

[0033] [0033]

[0034] [0034]

[0035] [0035]

[0036] [0036]

具体实施方式 Detailed ways

[0037] 下面将结合附图及实施例对本发明做进一步说明,下述实施例仅是示例性的,并不构成是对本发明的限定。 [0037] The accompanying drawings and the following embodiments of the present invention will be further described, the following examples are exemplary only and do not constitute a limitation on the present invention.

[0038] 本实施例的基于虚拟磁链的PWM整流型能量回馈装置的控制方法,具体包括如下步骤: [0038] The control method according to the present embodiment of the feedback PWM rectifier based on virtual flux energy, includes the following steps:

[0039] 步骤一、利用电流霍尔传感器采样能量回馈装置交流侧的两相电流。 [0039] Step a, using a Hall sensor current sampling two-phase current of the AC power side of the feedback device.

[0040] 步骤二、利用电压霍尔传感器采样能量回馈装置直流侧的母线电压。 [0040] Step two, the voltage of the Hall sensor sampling an energy bus voltage side of the DC feedback means.

[0041] 步骤三、根据能量回馈装置当前空间矢量信息、步骤一获得的交流两相电流和步骤二获得的直流母线电压,对磁链进行估算,见图5。 [0041] Step three, the device according to the current spatial energy feedback vector information, DC bus voltage of the AC step of obtaining a two-phase currents obtained in step two, of the flux estimate, shown in Figure 5.

[0042] 首先,根据(1)式,由直流母线电压Ud。 [0042] First, according to (1), the DC link voltage Ud. ,整流器开关状态SA、SB、SC,经坐标转换计算得到整流器交流侧两相坐标系下电压usa、us0。 , State rectifier switches SA, SB, SC, calculate the coordinate transformation of the rectifier the AC voltage side of the two-phase coordinate system by usa, us0.

[0043] 然后,对(2)式左右两边进行积分得到(3)式,由整流器交流侧电压usa、use和整流器交流侧两相坐标系下电流ia、ie,计算得到电网两相坐标系下磁链wa、 [0043] Then, on both sides (2) about the integral of equation (3), a current ia case of the rectifier the AC side voltage usa, use and Rectifier under the two-phase coordinate system, IE, calculate the power two-phase coordinate system flux wa,

[0044] [0044]

[0045] [0045]

Figure CN103001246AD00051

[0046] [0046]

[0047] 步骤四、利用步骤三估算出来的虚拟磁链,可以计算得到虚拟磁链矢量在空间矢量中的位置,从而进行定向,空间矢量角度的计算: [0047] Step 4 using the estimated flux virtual three steps, can be calculated virtual flux space vector in the vector position, thereby calculating the orientation, the angle of the space vector:

[0048] [0048]

Figure CN103001246AD00052

[0049] 步骤五、根据瞬时功率理论的计算公式、步骤一的交流两相电流和步骤三的虚拟磁链,计算瞬时有功和瞬时无功,见图6。 [0049] Step 5 The calculated instantaneous power theory, the step of a two-phase alternating currents and flux virtual three steps, calculating the instantaneous active and instantaneous reactive power, see Figure 6.

[0050] 根据式(4),由电角度ω,电网两相坐标系下磁链Ψα、,整流器交流侧两相坐标系下电流ia、ie可以计算得到整流器的有功功率P和无功功率Q。 [0050] The formula (4), the electrical angle [omega], the power flux Ψα two-phase coordinate system ,, current ia, ie can be calculated by the following two-phase rectifier AC side of the rectifier coordinate system obtained active power P and reactive power Q .

Figure CN103001246AD00061

[0052] 步骤六、采样直流母线实际电压,把直流母线实际电压和指令电压的误差进行PID调节计算,计算结果作为有功功率分量的指令。 [0052] Step six, the actual DC link voltage is sampled, the error voltage and the actual DC link voltage command PID regulation calculation, the calculation result as a command active component.

[0053] 步骤七、对有功功率分量的指令和步骤五得到的有功功率分量之间的误差进行PID调节计算,并对计算结果进行坐标变换(优选为iPark坐标变换),得到变换后的电压指令。 [0053] Step VII, the active component of the error between the active component instruction step five will be obtained PID adjustment calculation, and the results are coordinate transformation (coordinate transformation preferably iPark), to obtain voltage command converted .

[0054] 根据该变换后的电压指令利用空间矢量脉冲宽度调制生成PWM脉冲。 [0054] using space vector pulse width modulation generates a PWM pulse in accordance with the converted voltage command.

[0055] 当直流母线电压高于指令值,PWM整流工作在逆变状态,往电网注入功率因素为I的电流,直至直流母线电压稳定在指令值。 [0055] When the DC bus voltage is higher than the command value, the PWM rectifier inverter work state, injected into the grid power factor of the current I, until a stable DC bus voltage value in the instruction. 当直流母线电压小于指令值,PWM整流工作在电动状态,从电网吸收功率因素为I的电流,直至直流母线电压稳定在指令值。 When the DC bus voltage is less than the command value, the PWM rectifying the electric working status, current I from the grid power factor of the absorbent, stabilize the DC bus voltage until the value in the instruction.

Claims (3)

1. 一种基于虚拟磁链的PWM整流型能量回馈装置的控制方法,包括如下步骤:(1)采样获得与三相电网连接的能量回馈装置的交流侧的任意两相电流,以及该能量回馈装置直流侧的母线电压;(2)根据所述能量回馈装置当前空间矢量信息、所述两相交流电流以及所述直流侧的母线电压,对所述三相电网电压的磁链进行估算,获得虚拟磁链;(3)利用所述虚拟磁链,获得所述三相电网电压的相位;(4)根据所述两相交流电流和所述虚拟磁链,计算得到所述能量回馈装置的瞬时有功和瞬时无功;(5)采样所述直流母线的实际电压,将该直流母线实际电压和指令电压之间的误差进行PID调节计算,并将计算结果乘以直流母线电压,结果作为瞬时有功的指令;(6)对所述瞬时有功的指令和步骤(4)得到的瞬时有功之间的误差进行PID调节计算, 并将计算结果进行坐标变换,得 A feedback control method of a PWM rectifier based on virtual flux energy, comprising the steps of: (1) energy obtained by sampling three-phase network connected to arbitrary two-phase current of the AC side of the feedback device, and energy feedback bus voltage of the DC-side of the device; (2) the current space vector information feedback apparatus according to the energy, and the two-phase alternating current side of the DC bus voltage, the flux of the estimated three-phase grid voltage is obtained virtual flux; (3) using the virtual flux, the phase of the three-phase grid voltage is obtained; and (4) according to the two-phase AC currents and the virtual flux, calculates the instantaneous energy feedback device the instantaneous active and reactive power; (5) sampling the actual DC bus voltage, a DC link error between the actual voltage and the command voltage regulation PID calculation, and the calculation result is multiplied by the DC bus voltage, as a result of instantaneous active instructions; error between the active (6) obtained by the instantaneous active and an instruction step (4) instantaneously PID control calculation, and the calculation results are coordinate transformation to give 变换后的电压指令;根据该变换后的电压指令利用空间矢量脉冲宽度调制生成PWM脉冲,动态调节瞬时有功功率和瞬时无功功率,S卩可实现动态调节电流的输入输出。 Conversion voltage command; The generation of the PWM pulse, the instantaneous real power and instantaneous dynamic adjustment reactive power voltage command by using the converted space vector pulse width modulation, S Jie can dynamically adjust the current input and output.
2.根据权利要求1所述的一种基于虚拟磁链的PWM整流型能量回馈装置的控制方法, 其特征在于,所述步骤(2)中对电网电压的磁链进行估算具体过程如下:首先,计算整流器交流侧对应的两相交流电压Usa、Use,其中 According to one of the claim 1, feedback control method PWM rectifier based on virtual flux energy, wherein said step (2) of the grid voltage flux is estimated using the following procedure: First, calculating the AC side of the rectifier corresponding to the two-phase AC voltage Usa, Use, wherein
Figure CN103001246AC00021
式中,Ud。 Where, Ud. 为直流母线电压,SA、SB、S。 DC bus voltage, SA, SB, S. 为能量回馈装置中整流器的开关状态;然后,由整流器交流侧两相交流电压Usa、Use,整流器交流侧两相交流电流ia、ie,计算得到三相电网的两相磁链Va和Ve,具体为: Rectifier means switching state feedback energy; Then, the AC side of the rectifier a two-phase AC voltage Usa, the Use, Rectifier under the two-phase AC currents ia, ie, the calculated two-phase flux Va and Ve three-phase network, particularly for:
Figure CN103001246AC00022
式中,L为滤波电感。 Formula, L is the inductance of the filter.
3.根据权利要求1和2所述的一种基于虚拟磁链的PWM整流型能量回馈装置的控制方法,其特征在于,所述的能量回馈装置的有功功率P和无功功率Q通过如下公式计算得到: The 1 and 2, one of the feedback control method for a PWM rectifier based on virtual flux energy, wherein the energy active power P and reactive power feedback device according to claim Q by the following equation calculated:
Figure CN103001246AC00023
式中,ω为电网电压角频率,ia、ie分别为整流器交流侧两相交流电流,Usa、Use分别为整流器交流侧对应的两相交流电压,Ψα和Ψβ分别为三相电网上对应的两相磁链,L为滤波电感。 Wherein the two-phase AC voltage, ω is the angular frequency of the grid voltage, ia, ie the AC side of the rectifier respectively two phase alternating current, Usa, Use respectively corresponding to the AC side of the rectifier, Ψα and Ψβ respectively corresponding to the two three-phase supply phase interlinkage magnetic flux, L is the inductance of the filter.
CN2012104505608A 2012-11-12 2012-11-12 Method for controlling a PWM (pulse width modulation) rectifying type energy feeding device on basis of virtual flux linkage CN103001246A (en)

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