CN104270021A - Three-phase voltage type inverter quick prediction control method and device - Google Patents

Abstract

The invention provides a three-phase voltage type inverter quick prediction control method and device. The method includes the steps that coordinate transformation is conducted on the collected three-phase load current to obtain the current value under a d-q rotating coordinate system, then, the two-phase current output by an inverter at the next sampling moment under the rotating coordinate system d-q is estimated, and based on the performance optimization function, a switch function combination corresponding to the predicted value proximal to the controlled variable reference value is selected to act on a system; the device comprises a frequency and phase angle receiving module, a default-phase judgment module, a current value receiving module, a current coordinate transformation module, a voltage value receiving module, a reference current set module, a prediction module and a performance optimization module. The three-phase voltage type inverter quick prediction control method and device have the advantages of being small in computing amount, high in dynamic response speed and practicability and the like, and no pulse width modulation technology is needed.

Description

A kind of three-phase voltage-type inverter fast prediction control method and device

Technical field

The control method of inverter of the present invention and device, especially a kind of three-phase voltage-type inverter fast prediction control method and device, belong to power electronic technology and field of intelligent control technology.

Background technology

Along with the development of power electronic technology, power semiconductor switch performance improves constantly, facilitate developing rapidly of electronic power conversion device technique, all kinds of convertor assemblys based on pulse-width modulation (PWM) controls are there are, as frequency converter, inverter, high frequency switch power and all kinds of extraordinary inverters etc., these convertor assemblys are widely used in all fields of national economy.Wherein, the inverter circuit that band exports LC filter is widely used in distributed power generation, energy-storage system and uninterrupted power supply, and these systems have higher requirement to circuit output voltage or electric current and total harmonic distortion.

The control strategy of inverter becomes study hotspot, and many inversion control strategies are suggested, as PI control, track with zero error, Sliding mode variable structure control, STATE FEEDBACK CONTROL, Repetitive controller, fuzzy control etc., PREDICTIVE CONTROL etc.Wherein, PI control technology is simply ripe, practical, be convenient to the batch production of product, be most widely used in inverter control, but its control system needs to carry out twice coordinate transform calculating and uses space vector pulse width modulation (SVPWM) or sinusoidal pulse width modulation technology (SPWM), amount of calculation is comparatively large, and the dynamic property of system also has room for promotion.Although some other control strategy can make inverter have superior control performance in some aspects, and has stronger theory significance, there is Control system architecture complexity, limitation that amount of calculation is large, practicality shows slightly not enough.

Control at present to inverter, main way is that the mode adopting DSP technology to add software realizes, and the advantage of this method is relatively more flexible, can realize complicated algorithm, but the construction cycle of controller is long; In addition, the versatility of software mode also has problems, and the software code that User Exploitation is gone out generally can not be reused.Thus, the control method that research controls directly, realization is convenient, dynamic response is fast, reliability is high and device are very necessary.

Summary of the invention

The technical problem to be solved in the present invention is that existing inverter control amount of calculation is large, dynamic responding speed slow, practicality is not high.

In order to solve the problems of the technologies described above, the invention provides a kind of three-phase voltage-type inverter fast prediction control method, comprising the following steps:

1) read the square-wave signal that inverter outlet side voltage waveform shaping filter obtains, and analyze the frequency and the phase angle information θ that obtain the inverter outlet side voltage when the k moment ^*;

2) according to the frequency obtained and phase angle information θ ^*judge whether to there is phase shortage, if there is phase shortage, then send phase shortage alarm signal, if there is not phase shortage, then enter step 3;

3) the three-phase current i of the inverter outlet side that the k moment gathers is read in _a(k), i _b(k) and i _c(k), then by i _a(k), i _b(k) and i _ck () is converted to the biphase current i two-phase rotating coordinate system d-q from three-phase static coordinate system ABC _d(k) and i _q(k);

4) according to i _d(k), i _qk switch function combination S (k) in () and k moment calculates the i in k+2 moment in advance _dand i (k+2) _q(k+2), concrete steps are:

4.1) the inverter direct-flow side input voltage V that the k moment gathers is read in _dc(k) and inverter at switch function combination S (k) in k moment, wherein, S (k)=[S _a(k) S _b(k) S _c(k)], then the output voltage v in k moment that calculates inverter under two-phase rotating coordinate system d-q _d(k) and v _q(k) be:

$\left[\begin{array}{c}{v}_d\left(k\right)\\ v_q\left(k\right)\end{array}\right]=\left[\begin{array}{cc}\cos {\mathrm{\θ}}^{*}& \sin {\mathrm{\θ}}^{*}\\ -\sin {\mathrm{\θ}}^{*}& \cos {\mathrm{\θ}}^{*}\end{array}\right]\left[\begin{array}{c}{v}_{\mathrm{\α}}\left(k\right)\\ v_{\mathrm{\β}}\left(k\right)\end{array}\right]---\left(1\right)$

$\left[\begin{array}{c}{v}_{\mathrm{\α}}\left(k\right)\\ v_{\mathrm{\β}}\left(k\right)\end{array}\right]=\frac{2}{3}{V}_{\mathrm{dc}}\left(k\right)\left[\begin{array}{ccc}1& \frac{-1}{2}& \frac{-1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{S}_a\left(k\right)\\ S_b\left(k\right)\\ S_c\left(k\right)\end{array}\right]---\left(2\right)$

In formula, v _α(k) and v _βk () is the output voltage values in inverter k moment under two-phase rest frame α β, S _a(k), S _b(k) and S _ck () is the switching signal in inverter each phase k moment;

4.2) the biphase current predicted value i under k+1 moment inverter two-phase rotating coordinate system d-q is calculated in advance _dand i (k+1) _q(k+1) be:

$i_d(k+1)=i_d\left(k\right)(1-\frac{{\mathrm{RT}}_s}{L})+\frac{T_s}{L}(v_d\left(k\right)+{\mathrm{\ω}}^{*}{\mathrm{Li}}_q\left(k\right))---\left(3\right)$

$i_q(k+1)=i_q\left(k\right)(1-\frac{{\mathrm{RT}}_s}{L})+\frac{T_s}{L}(v_q\left(k\right)-{\mathrm{\ω}}^{*}{\mathrm{Li}}_d\left(k\right))---\left(4\right)$

In formula, R and L is respectively load resistance and inductance value, T _sfor the sampling period, ω ^*for reference current angular frequency;

4.3) according to the i in the k+1 moment calculated in advance _d(k+1), i _qand all switch function combination S of inverter (k+1) _jk (), repeats each switch function combination S when step 2.1 and 2.2 calculates k+2 moment in advance _jk i that () is corresponding _djand i (k+2) _qj(k+2), wherein, j=1,2 ..., n, n are all effective switch function number of combinations of inverter, and j is the numbering of each switch function combination;

5) structural behavior majorized function G (j) is:

$G\left(j\right)=|i_d^{*}(k+2)-i_{\mathrm{dj}}(k+2)|+|i_q^{*}(k+2)-i_{\mathrm{qj}}(k+2)|---\left(5\right)$

In formula, with for the reference value of controlled electric current;

6) the switch function combination S that the value of the G (j) that sends as an envoy to is minimum is calculated _j(k+1), and in the k+1 moment by this switch function combination S _j(k+1) switching signal acts on the switching tube combination of inverter.

Utilize the feature that inverter switching device combination of function number is limited, travel through the combination of all switch functions, calculate the direct switch tube combination of most suitable control switch combination of function to control, relatively existing control method, control more direct, rapid dynamic response speed, and pulse width modulation (PWM) and relevant parameter regulate compared with existing inverter control algorithm, decrease amount of calculation, improve dynamic responding speed; Existing inverter current PREDICTIVE CONTROL normally realizes under two-phase rest frame α β, because reference current is sinusoidal wave, usually a kind of method of extrapolation is also needed, as lagrange polynomial method, predict following current error exactly, there is unnecessary vibration in the reference value that extrapolation produces, this can bring negative effect to the transient response of controller, and the inventive method realizes Current Control under rotating coordinate system d-q, synchronous with reference current, do not need the method for extrapolating, practicality is higher; By real-time judge whether phase shortage, and send alarm signal when phase shortage, remind related personnel to carry out rapid adjustment, ensure that system is normally run.

As further restriction scheme of the present invention, three-phase current i in step 3 _a(k), i _b(k) and i _ck () is converted to the biphase current i two-phase rotating coordinate system d-q successively after Clark (Clarke) conversion and Park (Parker) conversion from three-phase static coordinate system ABC _d(k) and i _q(k).

As further restriction scheme of the present invention, inverter direct-flow side input voltage V in step 4.1 _dc(k) and the three-phase current i in step 3 _a(k), i _b(k) and i _c(k) synchronous acquisition.Due to inverter direct-flow side input voltage V _dck can there is pulsation in (), all by V _dc(k) and i _a(k), i _b(k) and i _c(k) synchronous acquisition, thus pulsation when effectively balancing out collection.

The invention also discloses a kind of three-phase voltage-type inverter fast prediction control device, comprise frequency and phase angle receiver module, phase shortage judge module, current value receiver module, electric current coordinate transformation module, magnitude of voltage receiver module, reference current setting module, forecast model and performance optimization module, wherein

The square-wave signal that frequency and phase angle receiver module obtain for reading inverter outlet side voltage waveform shaping filter, and analyze the frequency and the phase angle information θ that obtain the inverter outlet side voltage when the k moment ^*;

Phase shortage judge module is used for according to the frequency that obtains and phase angle information θ ^*judge whether to there is phase shortage, if there is phase shortage, then send phase shortage alarm signal, if there is not phase shortage, then by phase angle information θ ^*send to electric current coordinate transformation module;

The three-phase current i of inverter outlet side of current value receiver module for reading current sensor and gathering in the k moment _a(k), i _b(k) and i _c(k);

Electric current coordinate transformation module is used for i _a(k), i _b(k) and i _ck () is converted to the biphase current i two-phase rotating coordinate system d-q from three-phase static coordinate system ABC _d(k) and i _q(k);

The inverter direct-flow side input voltage V that magnitude of voltage receiver module gathers for reading in k moment voltage sensor _dc(k);

Reference current setting module is for setting the reference value of controlled electric current with

Forecast model is for reading in the inverter direct-flow side input voltage V that the k moment gathers _dcand inverter is at switch function combination S (k) in k moment, wherein, S (k)=[S _a(k) S _b(k) S _c(k)], then the output voltage v in k moment that calculates inverter under two-phase rotating coordinate system d-q _d(k) and v _q(k) be:

$\left[\begin{array}{c}{v}_d\left(k\right)\\ v_q\left(k\right)\end{array}\right]=\left[\begin{array}{cc}\cos {\mathrm{\θ}}^{*}& \sin {\mathrm{\θ}}^{*}\\ -\sin {\mathrm{\θ}}^{*}& \cos {\mathrm{\θ}}^{*}\end{array}\right]\left[\begin{array}{c}{v}_{\mathrm{\α}}\left(k\right)\\ v_{\mathrm{\β}}\left(k\right)\end{array}\right]---\left(1\right)$

$\left[\begin{array}{c}{v}_{\mathrm{\α}}\left(k\right)\\ v_{\mathrm{\β}}\left(k\right)\end{array}\right]=\frac{2}{3}{V}_{\mathrm{dc}}\left(k\right)\left[\begin{array}{ccc}1& \frac{-1}{2}& \frac{-1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{S}_a\left(k\right)\\ S_b\left(k\right)\\ S_c\left(k\right)\end{array}\right]---\left(2\right)$

In formula, v _α(k) and v _βk () is the output voltage values in inverter k moment under two-phase rest frame α β, S _a(k), S _b(k) and S _ck () is the switching signal in inverter each phase k moment, then calculate the biphase current predicted value i under k+1 moment inverter two-phase rotating coordinate system d-q in advance _dand i (k+1) _q(k+1) be:

$i_d(k+1)=i_d\left(k\right)(1-\frac{{\mathrm{RT}}_s}{L})+\frac{T_s}{L}(v_d\left(k\right)+{\mathrm{\ω}}^{*}{\mathrm{Li}}_q\left(k\right))---\left(3\right)$

$i_q(k+1)=i_q\left(k\right)(1-\frac{{\mathrm{RT}}_s}{L})+\frac{T_s}{L}(v_q\left(k\right)-{\mathrm{\ω}}^{*}{\mathrm{Li}}_d\left(k\right))---\left(4\right)$

In formula, R and L is respectively load resistance and inductance value, T _sfor the sampling period, ω ^*for reference current angular frequency, finally again according to the i in the k+1 moment calculated in advance _d(k+1), i _qand all switch function combination S of inverter (k+1) _j(k), each switch function combination S when recurring formula 1-formula 4 calculates k+2 moment in advance _jk i that () is corresponding _djand i (k+2) _qj(k+2), wherein, j=1,2 ..., n, n are all effective switch function number of combinations of inverter, and j is the numbering of each switch function combination;

Performance optimization module is used for structural behavior majorized function G (j):

$G\left(j\right)=|i_d^{*}(k+2)-i_{\mathrm{dj}}(k+2)|+|i_q^{*}(k+2)-i_{\mathrm{qj}}(k+2)|---\left(5\right)$

In formula, with for the reference value of controlled electric current, then the switch function combination S that the value calculating the G (j) that sends as an envoy to is minimum _j(k+1), and in the k+1 moment by this switch function combination S _j(k+1) switching signal acts on the switching tube combination of inverter.

Beneficial effect of the present invention is: the feature that (1) utilizes inverter switching device combination of function number limited, travel through the combination of all switch functions, calculate the direct switch tube combination of most suitable control switch combination of function to control, relatively existing control method, control more direct, rapid dynamic response speed, and pulse width modulation (PWM) and relevant parameter regulate compared with existing inverter control algorithm, decrease amount of calculation, improve dynamic responding speed; (2) existing inverter current PREDICTIVE CONTROL normally realizes under two-phase rest frame α β, because reference current is sinusoidal wave, usually a kind of method of extrapolation is also needed, as lagrange polynomial method, predict following current error exactly, there is unnecessary vibration in the reference value that extrapolation produces, this can bring negative effect to the transient response of controller, and the inventive method realizes Current Control under rotating coordinate system d-q, synchronous with reference current, do not need the method for extrapolating, practicality is higher; (3) by real-time judge whether phase shortage, and send alarm signal when phase shortage, remind related personnel to carry out rapid adjustment, ensure that system is normally run.

Accompanying drawing explanation

Fig. 1 is method flow diagram of the present invention;

Fig. 2 is system configuration schematic diagram of the present invention.

Embodiment

As shown in Figure 1, three-phase voltage-type inverter fast prediction control method provided by the invention, comprises the following steps:

1) after the switching signal executing the k-1 moment, the square-wave signal obtained by controller reading inverter outlet side voltage waveform shaping filter, and analyze the frequency and the phase angle information θ that obtain the inverter outlet side voltage when the k moment ^*;

2) controller is according to the frequency obtained and phase angle information θ ^*judge whether to there is phase shortage, if there is phase shortage, then send phase shortage alarm signal, if there is not phase shortage, then enter step 3;

3) the three-phase current i of the inverter outlet side that the k moment gathers is read in by controller _a(k), i _b(k) and i _c(k), then by three-phase current i _a(k), i _b(k) and i _ck () is converted to the biphase current i two-phase rotating coordinate system d-q successively after Clark (Clarke) conversion and Park (Parker) conversion from three-phase static coordinate system ABC _d(k) and i _q(k);

4) according to i _d(k), i _qk switch function combination S (k) in () and k moment calculates the i in k+2 moment in advance _dand i (k+2) _q(k+2), concrete steps are:

4.1) read in by controller the inverter direct-flow side input voltage V that the k moment gathers _dc(k) and inverter at switch function combination S (k) in k moment, wherein, input voltage V _dc(k) and three-phase current i _a(k), i _b(k) and i _ck () can synchronously gather, S (k)=[S _a(k) S _b(k) S _c(k)], then the output voltage v in k moment that calculates inverter under two-phase rotating coordinate system d-q _d(k) and v _q(k) be:

$\left[\begin{array}{c}{v}_d\left(k\right)\\ v_q\left(k\right)\end{array}\right]=\left[\begin{array}{cc}\cos {\mathrm{\θ}}^{*}& \sin {\mathrm{\θ}}^{*}\\ -\sin {\mathrm{\θ}}^{*}& \cos {\mathrm{\θ}}^{*}\end{array}\right]\left[\begin{array}{c}{v}_{\mathrm{\α}}\left(k\right)\\ v_{\mathrm{\β}}\left(k\right)\end{array}\right]---\left(1\right)$

$\left[\begin{array}{c}{v}_{\mathrm{\α}}\left(k\right)\\ v_{\mathrm{\β}}\left(k\right)\end{array}\right]=\frac{2}{3}{V}_{\mathrm{dc}}\left(k\right)\left[\begin{array}{ccc}1& \frac{-1}{2}& \frac{-1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{S}_a\left(k\right)\\ S_b\left(k\right)\\ S_c\left(k\right)\end{array}\right]---\left(2\right)$

In formula, v _α(k) and v _βk () is the output voltage values in inverter k moment under two-phase rest frame α β, S _a(k), S _b(k) and S _ck switching signal (being calculated by the k-1 moment) that () is inverter each phase k moment;

4.2) the biphase current predicted value i under k+1 moment inverter two-phase rotating coordinate system d-q is calculated again in advance _dand i (k+1) _q(k+1) be:

$i_d(k+1)=i_d\left(k\right)(1-\frac{{\mathrm{RT}}_s}{L})+\frac{T_s}{L}(v_d\left(k\right)+{\mathrm{\ω}}^{*}{\mathrm{Li}}_q\left(k\right))---\left(3\right)$

$i_q(k+1)=i_q\left(k\right)(1-\frac{{\mathrm{RT}}_s}{L})+\frac{T_s}{L}(v_q\left(k\right)-{\mathrm{\ω}}^{*}{\mathrm{Li}}_d\left(k\right))---\left(4\right)$

In formula, R and L is respectively load resistance and inductance value, T _sfor the sampling period, ω ^*for reference current angular frequency;

4.3) again according to the i in the k+1 moment calculated in advance _d(k+1), i _qand all switch function combination S of inverter (k+1) _jk (), repeats each switch function combination S when step 2.1 and 2.2 calculates k+2 moment in advance _jk i that () is corresponding _djand i (k+2) _qj(k+2), wherein, j=1,2 ..., n, n are all effective switch function number of combinations of inverter, and j is the numbering of each switch function combination;

5) structural behavior majorized function G (j) is:

$G\left(j\right)=|i_d^{*}(k+2)-i_{\mathrm{dj}}(k+2)|+|i_q^{*}(k+2)-i_{\mathrm{qj}}(k+2)|---\left(5\right)$

In formula, with for the reference value of controlled electric current, and think that its change is slowly for the systematic sampling time;

6) the switch function combination S that the value of the G (j) that sends as an envoy to is minimum is calculated _j(k+1), because switch combination number is limited, so existing bubbling method, back-and-forth method and insertion sort etc. can be adopted to obtain the value doing little performance optimization function G (j) rapidly, and switch function combination S that the value of performance optimization function G (j) will be made minimum in the k+1 moment _j(k+1) switching signal acts on the switching tube combination of inverter.

As shown in Figure 2, three-phase voltage-type inverter fast prediction control device of the present invention, comprise frequency and phase angle receiver module, phase shortage judge module, current value receiver module, electric current coordinate transformation module, magnitude of voltage receiver module, reference current setting module, forecast model and performance optimization module, these modules all design at FPGA inner, and frequency and phase angle receiver module are connected with the phase detecting circuit of outside by FPGA pin, phase shortage judge module is connected with the alarm of outside by FPGA pin, current value receiver module is connected with the current sensor of outside by FPGA pin, magnitude of voltage receiver module is connected with the voltage sensor of outside by FPGA pin, performance optimization module to be connected with the converter main circuit power switch pipe of outside by FPGA pin and to control,

The square-wave signal that frequency and phase angle receiver module obtain for reading inverter outlet side voltage waveform shaping filter, and analyze the frequency and the phase angle information θ that obtain the inverter outlet side voltage when the k moment ^*;

Phase shortage judge module is used for according to the frequency that obtains and phase angle information θ ^*judge whether to there is phase shortage, if there is phase shortage, then send phase shortage alarm signal, arresting stop runs further simultaneously, no longer performs switching signal, if there is not phase shortage, then by frequency and phase angle information θ ^*send to electric current coordinate transformation module;

The three-phase current i of inverter outlet side of current value receiver module for reading current sensor and gathering in the k moment _a(k), i _b(k) and i _c(k);

Electric current coordinate transformation module is used for i _a(k), i _b(k) and i _ck () is converted to the biphase current i two-phase rotating coordinate system d-q from three-phase static coordinate system ABC _d(k) and i _q(k);

The inverter direct-flow side input voltage V that magnitude of voltage receiver module gathers for reading in k moment voltage sensor _dc(k);

Reference current setting module is for setting the reference value of controlled electric current with

Forecast model is for reading in the inverter direct-flow side input voltage V that the k moment gathers _dcand inverter the k moment switch function combination S (k (, wherein, S (k)=[S _a(k) S _b(k) S _c(k)], then the output voltage v in k moment that calculates inverter under two-phase rotating coordinate system d-q _d(k) and v _q(k) be:

$\left[\begin{array}{c}{v}_d\left(k\right)\\ v_q\left(k\right)\end{array}\right]=\left[\begin{array}{cc}\cos {\mathrm{\θ}}^{*}& \sin {\mathrm{\θ}}^{*}\\ -\sin {\mathrm{\θ}}^{*}& \cos {\mathrm{\θ}}^{*}\end{array}\right]\left[\begin{array}{c}{v}_{\mathrm{\α}}\left(k\right)\\ v_{\mathrm{\β}}\left(k\right)\end{array}\right]---\left(1\right)$

$\left[\begin{array}{c}{v}_{\mathrm{\α}}\left(k\right)\\ v_{\mathrm{\β}}\left(k\right)\end{array}\right]=\frac{2}{3}{V}_{\mathrm{dc}}\left(k\right)\left[\begin{array}{ccc}1& \frac{-1}{2}& \frac{-1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{S}_a\left(k\right)\\ S_b\left(k\right)\\ S_c\left(k\right)\end{array}\right]---\left(2\right)$

In formula, v _α(k) and v _βk () is the output voltage values in inverter k moment under two-phase rest frame α β, S _a(k), S _b(k) and S _ck () is the switching signal in inverter each phase k moment, then calculate the biphase current predicted value i under k+1 moment inverter two-phase rotating coordinate system d-q in advance _dand i (k+1) _q(k+1) be:

$i_d(k+1)=i_d\left(k\right)(1-\frac{{\mathrm{RT}}_s}{L})+\frac{T_s}{L}(v_d\left(k\right)+{\mathrm{\ω}}^{*}{\mathrm{Li}}_q\left(k\right))---\left(3\right)$

$i_q(k+1)=i_q\left(k\right)(1-\frac{{\mathrm{RT}}_s}{L})+\frac{T_s}{L}(v_q\left(k\right)-{\mathrm{\ω}}^{*}{\mathrm{Li}}_d\left(k\right))---\left(4\right)$

In formula, R and L is respectively load resistance and inductance value, T _sfor the sampling period, ω ^*for reference current angular frequency, finally again according to the i in the k+1 moment calculated in advance _d(k+1), i _qand all switch function combination S of inverter (k+1) _j(k), each switch function combination S when recurring formula 1-formula 4 calculates k+2 moment in advance _jk i that () is corresponding _djand i (k+2) _qj(k+2), wherein, j=1,2 ..., n, n are all effective switch function number of combinations of inverter, and j is the numbering of each switch function combination;

Performance optimization module is used for structural behavior majorized function G (j):

$G\left(j\right)=|i_d^{*}(k+2)-i_{\mathrm{dj}}(k+2)|+|i_q^{*}(k+2)-i_{\mathrm{qj}}(k+2)|---\left(5\right)$

In formula, with for the reference value of controlled electric current, then the switch function combination S that the value calculating the G (j) that sends as an envoy to is minimum _j(k+1), and in the k+1 moment by this switch function combination S _j(k+1) switching signal acts on the switching tube combination of inverter.

This device realizes based on the realization technology of field programmable gate array (FPGA) and electric design automation (EDA).Because it realizes parallel processing in the mode of pure hardware, and do not take the resource of CPU, so its speed can reach the highest ranking that chip itself has, and substantially irrelevant with the complexity of algorithm, make entire system performance increase.In addition, because its structure is simple, reliability is high, be convenient to produce, with low cost, be suitable for promoting in application inverter device field.

The above; be only the present invention's preferably embodiment; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.

Claims (4)

1. a three-phase voltage-type inverter fast prediction control method, is characterized in that, comprises the following steps:

1) read the square-wave signal that inverter outlet side voltage waveform shaping filter obtains, and analyze the frequency and the phase angle information θ that obtain the inverter outlet side voltage when the k moment ^*;

2) according to the frequency obtained and phase angle information θ ^*judge whether to there is phase shortage, if there is phase shortage, then send phase shortage alarm signal, if there is not phase shortage, then enter step 3;

3) the three-phase current i of the inverter outlet side that the k moment gathers is read in _a(k), i _b(k) and i _c(k), then by i _a(k), i _b(k) and i _ck () is converted to the biphase current i two-phase rotating coordinate system d-q from three-phase static coordinate system ABC _d(k) and i _q(k);

4) according to i _d(k), i _qk switch function combination S (k) in () and k moment calculates the i in k+2 moment in advance _dand i (k+2) _q(k+2), concrete steps are:

4.1) the inverter direct-flow side input voltage V that the k moment gathers is read in _dc(k) and inverter at switch function combination S (k) in k moment, wherein, S (k)=[S _a(k) S _b(k) S _c(k)], then the output voltage v in k moment that calculates inverter under two-phase rotating coordinate system d-q _d(k) and v _q(k) be:

$\left[\begin{array}{c}{v}_d\left(k\right)\\ v_q\left(k\right)\end{array}\right]=\left[\begin{array}{cc}\cos {\mathrm{\θ}}^{*}& \sin {\mathrm{\θ}}^{*}\\ -\sin {\mathrm{\θ}}^{*}& \cos {\mathrm{\θ}}^{*}\end{array}\right]\left[\begin{array}{c}{v}_{\mathrm{\α}}\left(k\right)\\ v_{\mathrm{\β}}\left(k\right)\end{array}\right]---\left(1\right)$

$\left[\begin{array}{c}{v}_{\mathrm{\α}}\left(k\right)\\ v_{\mathrm{\β}}\left(k\right)\end{array}\right]=\frac{2}{3}{V}_{\mathrm{dc}}\left(k\right)\left[\begin{array}{ccc}1& \frac{-1}{2}& \frac{-1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{S}_a\left(k\right)\\ S_b\left(k\right)\\ S_c\left(k\right)\end{array}\right]---\left(2\right)$

In formula, v _α(k) and v _βk () is the output voltage values in inverter k moment under two-phase rest frame α β, S _a(k), S _b(k) and S _ck () is the switching signal in inverter each phase k moment;

4.2) the biphase current predicted value i under k+1 moment inverter two-phase rotating coordinate system d-q is calculated in advance _dand i (k+1) _q(k+1) be:

$i_d(k+1)=i_d\left(k\right)(1-\frac{{\mathrm{RT}}_s}{L})+\frac{T_s}{L}(v_d\left(k\right)+{\mathrm{\ω}}^{*}{\mathrm{Li}}_q\left(k\right))---\left(3\right)$

$i_q(k+1)=i_q\left(k\right)(1-\frac{{\mathrm{RT}}_s}{L})+\frac{T_s}{L}(v_q\left(k\right)-{\mathrm{\ω}}^{*}{\mathrm{Li}}_d\left(k\right))---\left(4\right)$

In formula, R and L is respectively load resistance and inductance value, T _sfor the sampling period, ω ^*for reference current angular frequency;

4.3) according to the i in the k+1 moment calculated in advance _d(k+1), i _qand all switch function combination S of inverter (k+1) _jk (), repeats each switch function combination S when step 2.1 and 2.2 calculates k+2 moment in advance _jk i that () is corresponding _djand i (k+2) _qj(k+2), wherein, j=1,2 ..., n, n are all effective switch function number of combinations of inverter, and j is the numbering of each switch function combination;

5) structural behavior majorized function G (j) is:

$G\left(j\right)=|i_d^{*}(k+2)-i_{\mathrm{dj}}(k+2)|+|i_q^{*}(k+2)-i_{\mathrm{qj}}(k+2)|---\left(5\right)$

In formula, with for the reference value of controlled electric current;

6) the switch function combination S that the value of the G (j) that sends as an envoy to is minimum is calculated _j(k+1), and in the k+1 moment by this switch function combination S _j(k+1) switching signal acts on the switching tube combination of inverter.

2. three-phase voltage-type inverter fast prediction control method according to claim 1, is characterized in that: three-phase current i in described step 3 _a(k), i _b(k) and i _ck () is converted to the biphase current i two-phase rotating coordinate system d-q successively after Clark conversion and Park conversion from three-phase static coordinate system ABC _d(k) and i _q(k).

3. three-phase voltage-type inverter fast prediction control method according to claim 1 and 2, is characterized in that: inverter direct-flow side input voltage V in described step 4.1 _dc(k) and the three-phase current i in step 3 _a(k), i _b(k) and i _c(k) synchronous acquisition.

4. a three-phase voltage-type inverter fast prediction control device, it is characterized in that: comprise frequency and phase angle receiver module, phase shortage judge module, current value receiver module, electric current coordinate transformation module, magnitude of voltage receiver module, reference current setting module, forecast model and performance optimization module, wherein

The square-wave signal that frequency and phase angle receiver module obtain for reading inverter outlet side voltage waveform shaping filter, and analyze the frequency and the phase angle information θ that obtain the inverter outlet side voltage when the k moment ^*;

Phase shortage judge module is used for judging whether to there is phase shortage according to the frequency obtained and phase angle information, if there is phase shortage, then sends phase shortage alarm signal, if there is not phase shortage, then by phase angle information θ ^*send to electric current coordinate transformation module;

The three-phase current i of inverter outlet side of current value receiver module for reading current sensor and gathering in the k moment _a(k), i _b(k) and i _c(k);

Electric current coordinate transformation module is used for i _a(k), i _b(k) and i _ck () is converted to the biphase current i two-phase rotating coordinate system d-q from three-phase static coordinate system ABC _d(k) and i _q(k);

The inverter direct-flow side input voltage V that magnitude of voltage receiver module gathers for reading in k moment voltage sensor _dc(k);

Reference current setting module is for setting the reference value of controlled electric current with

Forecast model is for reading in the inverter direct-flow side input voltage V that the k moment gathers _dcand inverter is at switch function combination S (k) in k moment, wherein, S (k)=[S _a(k) S _b(k) S _c(k)], then the output voltage v in k moment that calculates inverter under two-phase rotating coordinate system d-q _d(k) and v _q(k) be:

$\left[\begin{array}{c}{v}_d\left(k\right)\\ v_q\left(k\right)\end{array}\right]=\left[\begin{array}{cc}\cos {\mathrm{\θ}}^{*}& \sin {\mathrm{\θ}}^{*}\\ -\sin {\mathrm{\θ}}^{*}& \cos {\mathrm{\θ}}^{*}\end{array}\right]\left[\begin{array}{c}{v}_{\mathrm{\α}}\left(k\right)\\ v_{\mathrm{\β}}\left(k\right)\end{array}\right]---\left(1\right)$

$\left[\begin{array}{c}{v}_{\mathrm{\α}}\left(k\right)\\ v_{\mathrm{\β}}\left(k\right)\end{array}\right]=\frac{2}{3}{V}_{\mathrm{dc}}\left(k\right)\left[\begin{array}{ccc}1& \frac{-1}{2}& \frac{-1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{S}_a\left(k\right)\\ S_b\left(k\right)\\ S_c\left(k\right)\end{array}\right]---\left(2\right)$

In formula, v _α(k) and v _βk () is the output voltage values in inverter k moment under two-phase rest frame α β, S _a(k), S _b(k) and S _ck () is the switching signal in inverter each phase k moment, then calculate the biphase current predicted value i under k+1 moment inverter two-phase rotating coordinate system d-q in advance _dand i (k+1) _q(k+1) be:

$i_d(k+1)=i_d\left(k\right)(1-\frac{{\mathrm{RT}}_s}{L})+\frac{T_s}{L}(v_d\left(k\right)+{\mathrm{\ω}}^{*}{\mathrm{Li}}_q\left(k\right))---\left(3\right)$

$i_q(k+1)=i_q\left(k\right)(1-\frac{{\mathrm{RT}}_s}{L})+\frac{T_s}{L}(v_q\left(k\right)-{\mathrm{\ω}}^{*}{\mathrm{Li}}_d\left(k\right))---\left(4\right)$

In formula, R and L is respectively load resistance and inductance value, T _sfor the sampling period, ω ^*for reference current angular frequency, finally again according to the i in the k+1 moment calculated in advance _d(k+1), i _qand all switch function combination S of inverter (k+1) _j(k), each switch function combination S when recurring formula 1-formula 4 calculates k+2 moment in advance _jk i that () is corresponding _djand i (k+2) _qj(k+2), wherein, j=1,2 ..., n, n are all effective switch function number of combinations of inverter, and j is the numbering of each switch function combination;

Performance optimization module is used for structural behavior majorized function G (j):

$G\left(j\right)=|i_d^{*}(k+2)-i_{\mathrm{dj}}(k+2)|+|i_q^{*}(k+2)-i_{\mathrm{qj}}(k+2)|---\left(5\right)$

In formula, with for the reference value of controlled electric current, then the switch function combination S that the value calculating the G (j) that sends as an envoy to is minimum _j(k+1), and in the k+1 moment by this switch function combination S _j(k+1) switching signal acts on the switching tube combination of inverter.