CN104184149A - Voltage fluctuation stabilizing method based on sliding mode control and super-capacitor - Google Patents
Voltage fluctuation stabilizing method based on sliding mode control and super-capacitor Download PDFInfo
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- CN104184149A CN104184149A CN201410413831.1A CN201410413831A CN104184149A CN 104184149 A CN104184149 A CN 104184149A CN 201410413831 A CN201410413831 A CN 201410413831A CN 104184149 A CN104184149 A CN 104184149A
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Abstract
The invention relates to a voltage fluctuation stabilizing method based on sliding mode control and a super-capacitor. According to the voltage fluctuation stabilizing method based on sliding mode control and the super-capacitor, the super-capacitor is used as an energy storage device and is connected to the output end of a bidirectional DC-DC converter in parallel; the super-capacitor is connected to a direct-current bus through the bidirectional DC-DC converter, so that a bidirectional energy transmitting loop is formed; the inductive current of the bidirectional DC-DC converter and the capacitive voltage of the direct-current bus are used as control parameters of a sliding mode variable structure controller in the bidirectional DC-DC converter and are input into the sliding mode variable structure controller; the control parameters are processed through the sliding mode variable structure controller, so that a control signal is generated, the working mode of the bidirectional DC-DC converter and the switching-on duty ratio of a power switch tube of the bidirectional DC-DC converter are controlled, and then charging and discharging of the super-capacitor can be controlled; a direct-current dynamic voltage restorer system is formed, and voltage fluctuation on the direct-current bus is stabilized. By the adoption of the voltage fluctuation stabilizing method based on sliding mode control and the super-capacitor, the control algorithm is simplified, the robustness of the system is improved, voltage fluctuation on the direct-current bus is stabilized, and a stable and reliable voltage is provided for a load.
Description
Technical field
The present invention relates to a kind of adjustment voltage of power fluctuation technology, particularly a kind of based on sliding formwork control and super capacitor stabilize voltage fluctuation method.
Background technology
Along with socioeconomic development, the mankind's life and production are more and more higher to the demand of electric power, and meanwhile, along with the extensive use of high-tech sophisticated electronics in life and in producing, power consumer is more and more higher to the requirement of the quality of power supply.If the quality of power supply is damaged, safe operation that can serious threat electric power system, upset normal life and the production of power consumer, even causes immeasurable economic loss and social influence.
The main method of current domestic control voltage ripple of power network is to install ups power additional.The shortcomings such as but ups power has useful life short, and discharging current is little, reduce the cost performance of system.The present invention proposes to be combined with Sliding Mode Controller based on super capacitor energy storage device, forms direct current DVR system.This system not only combines the plurality of advantages of super capacitor aspect energy storage, has had both the control advantage of Sliding mode variable structure control for non linear system simultaneously.This system is by adjusting DC bus-bar voltage, for load provides high-quality, the voltage of high stability.
Ultracapacitor, as a kind of novel electric power energy-storage travelling wave tube, has the characteristics such as power density is large, the charging interval is short, long service life, efficiency for charge-discharge height; So obtained studying widely and applying aspect energy storage.Direct current DVR device based on super capacitor, can effectively protect sensitive load, makes it avoid the harm that voltage fluctuation brings; Sliding mode variable structure control can overcome the uncertainty of system; algorithm is simple, fast response time, to disturb and not modeling dynamically there is very strong robustness.Especially the control of non linear system is had to good control effect.So Sliding mode variable structure control has obtained research extensively and profoundly in recent years as the important method of nonlinear Control.
Summary of the invention
The present invention be directed to the problem that the ups power life-span is short, discharging current is little of using for overcoming voltage ripple of power network now, proposed a kind of based on sliding formwork control and super capacitor stabilize voltage fluctuation method, solution voltage ripple of power network problem.
Technical scheme of the present invention is: a kind of based on sliding formwork control and super capacitor stabilize voltage fluctuation method, super capacitor is connected in the output of bidirectional DC-DC converter in parallel as energy storage device, super capacitor is connected on DC bus by bidirectional DC-DC converter, forming energy transmitted in both directions loop; Control parameter using the capacitance voltage on the inductive current of bidirectional DC-DC converter and DC bus as bidirectional DC-DC converter inside Sliding Mode Controller, is input in Sliding Mode Controller; Through Sliding Mode Controller, process, produce control signal, control the mode of operation of bidirectional DC-DC converter and the conducting duty ratio of power switch pipe thereof, can control discharging and recharging of super capacitor; Super capacitor and bidirectional DC-DC converter form direct current dynamic electric voltage recovery device system, realize and stabilize the voltage fluctuation on DC bus.
Described bidirectional DC-DC converter adopts bi-directional half bridge converter topology structure, the power switch pipe of electric capacity two ends two series connection in parallel on DC bus, two series connection power switch pipe intermediate points connect super capacitor by inductance, position based on Reaching Law is followed the tracks of Sliding Mode Controller and is output a control signal to two power switch pipe control ends, Sliding Mode Controller adopts dicyclo to control, interior ring is followed the tracks of the inductive current of controlling bidirectional DC-DC converter, and outer shroud is followed the tracks of the capacitance voltage of controlling on DC bus.
Described Sliding Mode Controller comprises outer loop voltag sliding mode controller and interior circular current sliding mode controller,
Reference voltage signal
v ref with dc-link capacitance voltage
v c difference as input, supply with outer loop voltag sliding mode controller, through the calculating of sliding mode controller, outputting inductance current reference signal
i ref ; Inductive current reference signal
i ref inductive current with bidirectional DC-DC converter
i l difference as input, offer interior circular current sliding mode controller, through sliding mode controller, calculate the duty cycle control signal of power output switching tube
u; Duty cycle control signal
ucontrol the turn-on and turn-off of two power switchs of bidirectional DC-DC converter, thereby regulate inductive current
i l , make the reference current signal of its tracing preset; Outer loop voltag sliding mode controller outputting inductance current reference signal
i ref through stagnant ring controlling unit, control the working method of bidirectional DC-DC converter, regulate the capacitance voltage on DC bus.
Beneficial effect of the present invention is: the present invention is based on that sliding formwork is controlled and super capacitor stabilize voltage fluctuation method, the method is to use Sliding Mode Controller and super capacitor energy-storage system to realize direct current DVR system, suppress the voltage fluctuation on DC bus, for load provides reliable and stable voltage.Adopt sliding mode variable structure control method, simplified control algolithm, strengthened the robustness of system.Adopt super capacitor as energy-storage travelling wave tube simultaneously, combined the plurality of advantages of super capacitor and Sliding mode variable structure control, made the present invention there is applicability widely.
Accompanying drawing explanation
Fig. 1 is direct current VAR system block diagram of the present invention;
Fig. 2 be the present invention is based on that sliding formwork is controlled and super capacitor stabilize voltage fluctuation system architecture diagram;
Fig. 3 is bidirectional DC-DC converter Energy Transfer schematic diagram of the present invention.
Embodiment
Direct current VAR system block diagram of the present invention, selects super capacitor as energy accumulating device as shown in Figure 1, and super capacitor is connected on DC bus by bidirectional DC-DC converter, forming energy transmitted in both directions loop.Control parameter using the capacitance voltage on the inductive current of bidirectional DC-DC converter and DC bus as Sliding Mode Controller, is input in Sliding Mode Controller.Through Sliding Mode Controller, process, produce control signal, control the mode of operation of bidirectional DC-DC converter and the conducting duty ratio of power switch pipe thereof, can control discharging and recharging of super capacitor; Form direct current dynamic electric voltage recovery device system, realize and stabilize the voltage fluctuation on DC bus.
Utilize the energy in bidirectional flow characteristic of energy storage characteristic and the bidirectional DC-DC converter of super capacitor, adopt sliding formwork to control, according to the value of DC bus-bar voltage, control discharging and recharging of super capacitor, to reach the object of stable DC busbar voltage fluctuation.
Bidirectional DC-DC converter adopts bi-directional half bridge converter topology structure.Can realize energy transmitted in both directions between input and output, power not only can flow to output from input, also can flow to input from output.DC bus is connected to the input of bidirectional DC-DC converter; Super capacitor is connected to the output of bidirectional DC-DC converter.The annexation of bidirectional DC-DC converter and DC bus and super capacitor is system architecture diagram as shown in Figure 2.
Super capacitor is connected to the output of bidirectional DC-DC converter as energy storage device.When bi-directional DC-DC converter is operated in step-down (Buck) pattern, super capacitor, as load, absorbs rich electric energy from DC bus and charges, and stores rich electric energy.Bi-directional DC-DC converter is operated in while boosting (Boost) pattern, and super capacitor, as power supply, provides electric energy to DC bus, the voltage on stable DC bus.
Position based on Reaching Law is followed the tracks of Sliding Mode Controller and is adopted dicyclo to control; Interior ring is followed the tracks of the inductive current of controlling bidirectional DC-DC converter, and outer shroud is followed the tracks of the capacitance voltage of controlling on DC bus.
Wherein, reference voltage signal
v ref with dc-link capacitance voltage
v c difference as input, supply with outer loop voltag sliding mode controller, through the calculating of sliding mode controller, outputting inductance current reference signal
i ref .
Inductive current reference signal
i ref inductive current with bidirectional DC-DC converter
i l difference as input, offer interior circular current sliding mode controller, through sliding mode controller, calculate the duty cycle control signal of output main circuit power switch pipe
u.
Duty cycle control signal
ucontrol the turn-on and turn-off of bidirectional DC-DC converter power switch, thereby regulate inductive current
i l , make the reference current signal of its tracing preset, form current inner loop controller.On this basis, outer shroud voltage controller regulates the capacitance voltage on DC bus, makes it equal reference voltage signal, forms outer voltage controller.
Meanwhile, reference current signal
i ref through stagnant ring controlling unit, control the working method of bidirectional DC-DC converter: Buck working method (reference current
i ref > 0) and Boost working method (reference current
i ref < 0).The working method of bidirectional DC-DC converter and Energy Transfer direction are as shown in Figure 3.
Specific embodiment of the invention is as follows:
1, bidirectional DC-DC converter modeling analysis
According to State-space Averaging Principle, to the modeling of power stage main circuit, set up respectively the state space equation of bidirectional DC-DC converter under Buck and Boost mode of operation.
When 2, super capacitor is charged, bidirectional DC-DC converter works in step-down (Buck) pattern.If the conducting duty ratio of power switch pipe VT1 is D
1, the duty ratio D of power switch pipe VT2 now
2be 0.Simultaneously power taking inducing current and dc-link capacitance terminal voltage are state variable, and set electric current, voltage direction is associated reference direction.According to State-space Averaging Principle, the state space equation of setting up Buck circuit is:
(1-1)
v uc super capacitor both end voltage,
i bus for DC bus current,
lthe inductance value of bidirectional DC-DC converter,
cit is super capacitor value.
When 3, super capacitor discharges, bidirectional DC-DC converter works in (Boost) pattern of boosting.Now establish the conducting duty ratio D of power switch pipe VT2
2, the duty ratio D of power switch pipe VT1
1be 0.According to State-space Averaging Principle, the Boost circuit state space equation of foundation is:
(1-2)
4, convolution (1-1) and formula (1-2) can obtain the unified state space equation of bi-directional DC-DC:
(1-3)
Wherein:
(1-4)
5, sliding mode controller design
Select the Reaching Law of sliding mode controller to be:
(1-5)
Wherein: sgn (s) is sign function.
6, dc-link capacitance outer voltage Sliding Mode Controller design
On the basis that ring is controlled in inductive current, design the dc-link capacitance outer voltage Sliding Mode Controller of bi-directional DC-DC.If
.According to formula (1-3), can obtain:
（1-6）
According to the method for designing of current controller, in like manner can derive the control law of voltage controller.If reference voltage is
v ref .Getting error is:
, the single order of voltage error lead into:
。
Difference vector is held up in power taking:
7, power taking presses switching function to be:
（1-7）
Have:
（1-8）
Wherein:
for coefficient.
State equation (1-3) is brought into
s1in, can calculate
θcontrol law.That is:
（1-9）
8, determine the parameter in control law
value.By
θcontrol law can derive inductive current reference value
i ref :
.Thereby can there be outer voltage to control, generate the reference signal that current inner loop is controlled
i ref .
9, ring Sliding Mode Controller design in inductive current
If reference current is
i ref , current error is:
; The single order of error lead into:
.
Getting error vector is:
, the switching function of inductive current is:
(1-10)
:
（1-11）
Wherein:
for coefficient.
10, state equation (1-3) is brought into
in, the control law that can calculate duty ratio u is:
（1-12）
Determine the parameter in control law
value.In realizing, ring sliding formwork is controlled.
By according to the sliding mode controller of above-mentioned setting loop by way of compensation, be connected with bidirectional DC-DC converter, form closed-loop system, discharging and recharging of super capacitor energy storage device controlled, form direct current dynamic electric voltage recovery device (VAR) system, thereby stabilize the voltage fluctuation on DC bus.
Claims (3)
- One kind based on sliding formwork, control and super capacitor stabilize voltage fluctuation method, it is characterized in that, super capacitor is connected in the output of bidirectional DC-DC converter in parallel as energy storage device, super capacitor is connected on DC bus by bidirectional DC-DC converter, forming energy transmitted in both directions loop; Control parameter using the capacitance voltage on the inductive current of bidirectional DC-DC converter and DC bus as bidirectional DC-DC converter inside Sliding Mode Controller, is input in Sliding Mode Controller; Through Sliding Mode Controller, process, produce control signal, control the mode of operation of bidirectional DC-DC converter and the conducting duty ratio of power switch pipe thereof, can control discharging and recharging of super capacitor; Super capacitor and bidirectional DC-DC converter form direct current dynamic electric voltage recovery device system, realize and stabilize the voltage fluctuation on DC bus.
- 2. based on sliding formwork, control according to claim 1 and super capacitor stabilize voltage fluctuation method, it is characterized in that, described bidirectional DC-DC converter adopts bi-directional half bridge converter topology structure, the power switch pipe of electric capacity two ends two series connection in parallel on DC bus, two series connection power switch pipe intermediate points connect super capacitor by inductance, position based on Reaching Law is followed the tracks of Sliding Mode Controller and is output a control signal to two power switch pipe control ends, Sliding Mode Controller adopts dicyclo to control, interior ring is followed the tracks of the inductive current of controlling bidirectional DC-DC converter, outer shroud is followed the tracks of the capacitance voltage of controlling on DC bus.
- 3. based on sliding formwork, control according to claim 2 and super capacitor stabilize voltage fluctuation method, it is characterized in that, described Sliding Mode Controller comprises outer loop voltag sliding mode controller and interior circular current sliding mode controller,Reference voltage signal v ref with dc-link capacitance voltage v c difference as input, supply with outer loop voltag sliding mode controller, through the calculating of sliding mode controller, outputting inductance current reference signal i ref ; Inductive current reference signal i ref inductive current with bidirectional DC-DC converter i l difference as input, offer interior circular current sliding mode controller, through sliding mode controller, calculate the duty cycle control signal of power output switching tube u; Duty cycle control signal ucontrol the turn-on and turn-off of two power switchs of bidirectional DC-DC converter, thereby regulate inductive current i l , make the reference current signal of its tracing preset; Outer loop voltag sliding mode controller outputting inductance current reference signal i ref through stagnant ring controlling unit, control the working method of bidirectional DC-DC converter, regulate the capacitance voltage on DC bus.
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| CN105098786A (en) * | 2015-09-18 | 2015-11-25 | 许昌学院 | System and method for stabilizing voltage fluctuation of wind power micro-grid employing super capacitors |
| CN105720801A (en) * | 2016-03-14 | 2016-06-29 | 上海理工大学 | Smooth sliding-mode control based series voltage-sharing method of insulated gate bipolar transistor |
| CN107196506A (en) * | 2017-07-07 | 2017-09-22 | 华南理工大学 | A kind of three-level Boost converter repeats dead beat Compound Control Strategy |
| CN107732893A (en) * | 2017-10-27 | 2018-02-23 | 许继电气股份有限公司 | A kind of straight-flow system dynamic electric voltage recovery device based on energy storage |
| CN108566086A (en) * | 2018-04-13 | 2018-09-21 | 杭州电子科技大学 | Two close cycles RBF neural sliding moding structure adaptive control system |
| CN108695996A (en) * | 2018-06-26 | 2018-10-23 | 重庆大学 | Radio energy transmission system sliding-mode control based on Buck links |
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| CN105098786A (en) * | 2015-09-18 | 2015-11-25 | 许昌学院 | System and method for stabilizing voltage fluctuation of wind power micro-grid employing super capacitors |
| CN105720801A (en) * | 2016-03-14 | 2016-06-29 | 上海理工大学 | Smooth sliding-mode control based series voltage-sharing method of insulated gate bipolar transistor |
| CN105720801B (en) * | 2016-03-14 | 2018-03-13 | 上海理工大学 | A kind of insulated gate bipolar transistor series average-voltage method based on Smooth Sliding-Mode control |
| CN107196506A (en) * | 2017-07-07 | 2017-09-22 | 华南理工大学 | A kind of three-level Boost converter repeats dead beat Compound Control Strategy |
| CN107732893A (en) * | 2017-10-27 | 2018-02-23 | 许继电气股份有限公司 | A kind of straight-flow system dynamic electric voltage recovery device based on energy storage |
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| CN108946353A (en) * | 2018-03-13 | 2018-12-07 | 南京理工大学 | DC converter control method based on the single-ended constant pressure of elevator |
| CN108566086A (en) * | 2018-04-13 | 2018-09-21 | 杭州电子科技大学 | Two close cycles RBF neural sliding moding structure adaptive control system |
| CN108695996A (en) * | 2018-06-26 | 2018-10-23 | 重庆大学 | Radio energy transmission system sliding-mode control based on Buck links |
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| CN112217219A (en) * | 2019-07-11 | 2021-01-12 | 华北电力大学（保定） | Direct-current transient power quality control and recovery strategy based on super capacitor |
| CN112217219B (en) * | 2019-07-11 | 2023-11-10 | 华北电力大学（保定） | DC transient power quality control and recovery method based on super capacitor |
| CN111355372A (en) * | 2020-03-22 | 2020-06-30 | 北京工业大学 | Buck converter linear and nonlinear hybrid control method |
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| CN112186845A (en) * | 2020-09-23 | 2021-01-05 | 中南大学 | Sliding mode guide control method and device for super capacitor energy storage system |
| CN115065238A (en) * | 2022-08-18 | 2022-09-16 | 南京信息工程大学 | Integral sliding mode control method and system for DC buck converter with constant power load |
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| CN115693632A (en) * | 2022-09-07 | 2023-02-03 | 广东工业大学 | Control method for direct-current micro-grid power oscillation suppression device |
| CN115693632B (en) * | 2022-09-07 | 2023-06-16 | 广东工业大学 | Control method for DC micro-grid power oscillation suppression device |
| CN118473017A (en) * | 2023-03-20 | 2024-08-09 | 曲阜师范大学 | Current synchronous control method for parallel converters |
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