CN104184149B - 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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- CN104184149B CN104184149B CN201410413831.1A CN201410413831A CN104184149B CN 104184149 B CN104184149 B CN 104184149B CN 201410413831 A CN201410413831 A CN 201410413831A CN 104184149 B CN104184149 B CN 104184149B
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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
It is more particularly to a kind of to be based on sliding formwork control and super capacitor the present invention relates to one kind adjustment voltage of power fluctuation technology
Stabilize voltage pulsation method.
Background technology
With the development of social economy, the life and production of the mankind to the demand more and more higher of electric power, meanwhile, with high-tech
Extensive use of the skill sophisticated electronics in life and production, requirement more and more higher of the power consumer to the quality of power supply.Electric energy
Quality if subjected to destruction, then can seriously threaten power system safe operation, upset power consumer normal life and production,
Even cause immeasurable economic loss and social influence.
The main method of domestic preventing and treating voltage ripple of power network is to install ups power additional at present.But ups power has service life
Short, the shortcomings of discharge current is small, making the cost performance of system reduces.The present invention proposes to become with sliding formwork based on super capacitor energy storage device
Structure controller is combined, and constitutes direct current DVR system.The system not only combines plurality of advantages of the super capacitor in terms of energy storage,
Control advantage of the Sliding mode variable structure control for nonlinear system is had both simultaneously.The system by adjusting DC bus-bar voltage,
For load provides high-quality, the voltage of high stability.
Ultracapacitor as a kind of new power energy storage element, with power density it is big, the charging interval is short, use the longevity
The characteristic such as life is long, efficiency for charge-discharge is high；So extensive research and application have been obtained in terms of energy storage.Based on the straight of super capacitor
Stream DVR devices, can effectively protect sensitive load, protect it from the harm that voltage pulsation brings, and Sliding mode variable structure control can
Overcome the uncertainty of system, algorithm is simple, fast response time, there is very strong robustness to interference and Unmarried pregnancy.Especially
It is that have good control effect to the control of nonlinear system.So weight of the Sliding mode variable structure control as nonlinear Control
Method is wanted to obtain research extensively and profoundly in recent years.
The content of the invention
The present invention be directed to now to overcome ups power short life that voltage ripple of power network uses, discharge current is small asks
Topic, it is proposed that a kind of to stabilize voltage pulsation method based on sliding formwork control and super capacitor, solves the problems, such as voltage ripple of power network.
The technical scheme is that：It is a kind of that voltage pulsation method is stabilized based on sliding formwork control and super capacitor, it is super
Electric capacity is connected in the output end of bidirectional DC-DC converter in parallel as energy storage device, and super capacitor passes through bidirectional DC-DC converter
It is connected on dc bus, forms energy two-way transmission loop；By on the inductive current and dc bus of bidirectional DC-DC converter
Capacitance voltage as bidirectional DC-DC converter inside Sliding Mode Controller controling parameter, be input to sliding moding structure
In controller；Through Sliding Mode Controller process, produce control signal, control bidirectional DC-DC converter mode of operation and
The conducting dutycycle of its power switch pipe, you can the discharge and recharge of control super capacitor；Super capacitor and bidirectional DC-DC converter shape
Into direct current dynamic electric voltage recovery device system, the voltage pulsation on dc bus is stabilized in realization.
The bidirectional DC-DC converter uses bi-directional half bridge converter topology structure, and the electric capacity two ends on dc bus are simultaneously
Two power switch pipes of series connection of connection, two series power switch pipe intermediate points connect super capacitor by inductance, based on Reaching Law
Position tracking Sliding Mode Controller output a control signal to two power switch pipe control ends, Sliding Mode Controller
Using double -loop control, the inductive current of inner ring tracing control bidirectional DC-DC converter, the electricity on outer shroud tracing control dc bus
Hold voltage.
The Sliding Mode Controller includes outer loop voltag sliding mode controller and interior circular current sliding mode controller,
Reference voltage signalv ref With dc-link capacitance voltagev c Difference as input, supply outer loop voltag sliding formwork control
Device processed, by the calculating of sliding mode controller, outputting inductance current reference signali ref ；Inductive current reference signali ref With it is two-way
The inductive current of DC-DC converteri L Difference as input, there is provided to interior circular current sliding mode controller, through sliding mode controller meter
Calculate, the duty cycle control signal of power output switching tubeu；Duty cycle control signaluControl two power of bidirectional DC-DC converter
The turn-on and turn-off of switch, so as to adjust inductive currenti L , the reference current signal for making its tracking given；Outer loop voltag sliding formwork control
Device outputting inductance current reference signal processedi ref By Hysteresis control link, the working method of bidirectional DC-DC converter is controlled, adjusted
Capacitance voltage on section dc bus.
The beneficial effects of the present invention are：The present invention stabilizes voltage pulsation method based on sliding formwork control and super capacitor,
The method is to realize direct current DVR system using Sliding Mode Controller and super capacitor energy-storage system, is suppressed on dc bus
Voltage pulsation, for load provides reliable and stable voltage.Using sliding mode variable structure control method, control algolithm is simplified, increased
The strong robustness of system.Super capacitor is employed as energy-storage travelling wave tube simultaneously, combines super capacitor and sliding moding structure control
The plurality of advantages of system so that the present invention has wide applicability.
Brief description of the drawings
Fig. 1 is direct current VAR system block diagrams of the present invention；
Fig. 2 is that the present invention stabilizes voltage pulsation system architecture diagram based on sliding formwork control and super capacitor；
Fig. 3 is that bidirectional DC-DC converter energy of the present invention transmits schematic diagram.
Specific embodiment
Direct current VAR system block diagrams of the present invention as shown in Figure 1, from super capacitor as energy accumulating device, super capacitor
It is connected on dc bus by bidirectional DC-DC converter, forms energy two-way transmission loop.By bidirectional DC-DC converter
Capacitance voltage on inductive current and dc bus is input to sliding moding structure as the controling parameter of Sliding Mode Controller
In controller.Through Sliding Mode Controller process, produce control signal, control bidirectional DC-DC converter mode of operation and
The conducting dutycycle of its power switch pipe, you can the discharge and recharge of control super capacitor；Direct current dynamic electric voltage recovery device system is formed,
The voltage pulsation on dc bus is stabilized in realization.
Using the energy storage characteristic and the energy in bidirectional flow characteristic of bidirectional DC-DC converter of super capacitor, using sliding formwork
Control, according to the value of DC bus-bar voltage, controls the discharge and recharge of super capacitor, to reach the mesh of stable DC busbar voltage fluctuation
's.
Bidirectional DC-DC converter uses bi-directional half bridge converter topology structure.Energy can be realized in input and output
Transmitted in both directions between end, power not only can flow to output end from input, also can flow to input from output end.Dc bus
It is connected to the input of bidirectional DC-DC converter；Super capacitor is connected to the output end of bidirectional DC-DC converter.Bi-directional DC-DC
Converter and the annexation of dc bus and super capacitor system architecture diagram as shown in Figure 2.
Super capacitor is connected to the output end of bidirectional DC-DC converter as energy storage device.Bi-directional DC-DC converter work
Make in step-down（Buck）During pattern, super capacitor absorbs rich electric energy and is charged as load, from dc bus, and storage is rich
Electric energy.Bi-directional DC-DC converter is operated in boosting（Boost）During pattern, super capacitor is provided as power supply to dc bus
Electric energy, the voltage on stable DC bus.
Position tracking Sliding Mode Controller based on Reaching Law uses double -loop control；The two-way DC- of inner ring tracing control
The inductive current of DC converters, the capacitance voltage on outer shroud tracing control dc bus.
Wherein, reference voltage signalv ref With dc-link capacitance voltagev c Difference as input, supply outer loop voltag cunning
Mould controller, by the calculating of sliding mode controller, outputting inductance current reference signali ref 。
Inductive current reference signali ref With the inductive current of bidirectional DC-DC converteri L Difference as input, there is provided
To interior circular current sliding mode controller, calculated through sliding mode controller, export the duty cycle control signal of main circuit power switch pipeu。
Duty cycle control signaluThe turn-on and turn-off of bidirectional DC-DC converter power switch are controlled, so as to adjust inductance electricity
Streami L , the reference current signal for making its tracking given, formation current inner loop controller.On this basis, outer shroud voltage controller
Capacitance voltage on regulation dc bus, makes it equal to reference voltage signal, constitutes outer voltage controller.
Meanwhile, reference current signali ref By Hysteresis control link, the working method of bidirectional DC-DC converter is controlled：
Buck working methods（Reference currenti ref > 0）With Boost working methods（Reference currenti ref < 0）.Bidirectional DC-DC converter
Working method and energy transmission direction are as shown in Figure 3.
Specific implementation of the invention is as follows：
1st, bidirectional DC-DC converter modeling analysis
According to State-space Averaging Principle, power stage main circuit is modeled, bidirectional DC-DC converter is set up respectively in Buck and
State space equation under Boost mode of operations.
When the 2nd, being charged to super capacitor, bidirectional DC-DC converter works in step-down（Buck）Pattern.If power switch
The conducting dutycycle of pipe VT1 is D1, the now dutycycle D of power switch pipe VT22It is 0.While power taking inducing current and dc bus
Electric capacity terminal voltage is state variable, and setting electric current, voltage direction are associated reference direction.According to State-space Averaging Principle, build
The state space equation of vertical Buck circuits is：
(1-1)
v uc It is super capacitor both end voltage,i bus It is DC bus current,LIt is the inductance value of bidirectional DC-DC converter,C
It is super capacitor value.
3rd, when super capacitor is discharged, bidirectional DC-DC converter works in boosting（Boost）Pattern.Now set power
The conducting dutycycle D of switching tube VT22, the dutycycle D of power switch pipe VT11It is 0.According to State-space Averaging Principle, foundation
Boost circuit state space equation is：
(1-2)
4th, convolution（1-1）And formula（1-2）Can obtain the unified state space equation of bi-directional DC-DC：
(1-3)
Wherein： (1-4)
5th, sliding mode controller design
Reaching Law from sliding mode controller is：
(1-5)
Wherein：Sgn (s) is sign function.
6th, dc-link capacitance outer voltage Sliding Mode Controller design
The dc-link capacitance outer voltage sliding formwork that bi-directional DC-DC is designed on the basis of the control of inductive current inner ring becomes knot
Structure controller.If.Can be obtained according to formula (1-3)：
（1-6）
According to the method for designing of current controller, the control law of voltage controller can be similarly derived.If reference voltage isv ref .Taking error is：, the single order of voltage error lead for：
。
Difference vector is held up in power taking：
7th, power taking pressure switching function is：
（1-7）
Then have：
（1-8）
Wherein：It is coefficient.
By state equation（1-3）Bring intoS1In, can calculateθControl law.I.e.：
（1-9）
8th, the parameter in control law is determinedValue.ByθControl law can derive inductive current refer to
Valuei ref ：.So as to there is outer voltage to control the reference signal of generation current inner loop controli ref 。
9th, inductive current inner ring Sliding Mode Controller design
If reference current isi ref , then current error be：；The single order of error lead for：。
Taking error vector is：, then the switching function of inductive current be：
(1-10)
Then：
（1-11）
Wherein：It is coefficient.
10th, by state equation（1-3）Bring intoIn, the control law that can calculate dutycycle u is：
（1-12）
Determine the parameter in control lawValue.Realize inner ring sliding formwork control.
Using according to the sliding mode controller of above-mentioned setting as compensation loop, it is connected with bidirectional DC-DC converter, forms closed loop
System, the discharge and recharge to super capacitor energy storage device is controlled, and forms direct current dynamic electric voltage recovery device（VAR）System, so that
Stabilize the voltage pulsation on dc bus.
Claims (1)
1. a kind of to stabilize voltage pulsation method based on sliding formwork control and super capacitor, super capacitor is in parallel even as energy storage device
The output end of bidirectional DC-DC converter is connected on, super capacitor is connected on dc bus by bidirectional DC-DC converter, is formed
Energy two-way transmission loop；Bidirectional DC-DC converter uses bi-directional half bridge converter topology structure, by bidirectional DC-DC converter
Inductive current and dc bus on capacitance voltage as bidirectional DC-DC converter inside Sliding Mode Controller control
Parameter, is input in Sliding Mode Controller；Processed through Sliding Mode Controller, produce control signal, control two-way DC-
The mode of operation of DC converters and its conducting dutycycle of power switch pipe, you can the discharge and recharge of control super capacitor；Super electricity
Hold and bidirectional DC-DC converter forms direct current dynamic electric voltage recovery device system, the voltage pulsation on dc bus is stabilized in realization；
The bidirectional DC-DC converter, the power switch pipe of electric capacity two ends two series connection in parallel on dc bus, two series connection
Power switch pipe intermediate point connects super capacitor by inductance, the position tracking Sliding Mode Controller output control based on Reaching Law
To two power switch pipe control ends, Sliding Mode Controller uses double -loop control, the two-way DC- of inner ring tracing control to signal processed
The inductive current of DC converters, the capacitance voltage on outer shroud tracing control dc bus；
The Sliding Mode Controller includes outer loop voltag sliding mode controller and interior circular current sliding mode controller,
Reference voltage signal vrefWith dc-link capacitance voltage vcDifference as input, supply outer loop voltag sliding mode controller,
By the calculating of sliding mode controller, outputting inductance current reference signal iref；Inductive current reference signal irefBecome with bi-directional DC-DC
The inductive current i of parallel operationLDifference as input, there is provided to interior circular current sliding mode controller, calculated through sliding mode controller, output
The duty cycle control signal u of power switch pipe；Duty cycle control signal u control two power switch of bidirectional DC-DC converter
Turn-on and turn-off, so as to adjust inductive current iL, the reference current signal for making its tracking given；Outer loop voltag sliding mode controller is defeated
Go out inductive current reference signal irefBy Hysteresis control link, the working method of bidirectional DC-DC converter is controlled, adjust direct current
Capacitance voltage on bus；
Characterized in that, designing the dc-link capacitance outer voltage of bi-directional DC-DC on the basis of the control of inductive current inner ring
Sliding Mode Controller, if θ=uiL, outer voltage choose switching function be：s1=c1(vref-vc)+v′ref-v′c, by referring to
Number Reaching LawRelease control law：
Current inner loop choose switching function be：
s2=c2(iref-iL)+i′ref-i′L, byReleasing converter switches control law is：
Wherein, vucIt is super capacitor both end voltage, ibusIt is DC bus current, C is super capacitor output capacitance value, and L is conversion
Device inductance value；v′cIt is output voltage vcDerivative；i′LIt is inductive current iLDerivative；WithRespectively switching function s1With
s2Derivative；vrefIt is busbar voltage reference value, irefIt is converter inductive current reference value；v′refWith v "refRespectively bus is joined
Examine voltage vrefFirst derivative and second dervative；i′refWith i "refThe respectively first derivative of converter inductive current reference value
And second dervative；Outer voltage controlled output θ and inductive current reference value irefRelation is：k1、k2、ε1、ε2、
c1、c2It is sliding mode controller parameter, sgn () is sign function.
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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 |
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| CN112186845B (en) * | 2020-09-23 | 2022-04-01 | 中南大学 | Sliding mode guide control method and device for super capacitor energy storage system |
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