CN104300812A

CN104300812A - A Direct Power Active Disturbance Rejection Control Method for Three-phase Voltage Type PWM Rectifier

Info

Publication number: CN104300812A
Application number: CN201410544994.3A
Authority: CN
Inventors: 宋战锋; 夏长亮; 陈炜
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2014-10-15
Filing date: 2014-10-15
Publication date: 2015-01-21
Anticipated expiration: 2034-10-15
Also published as: CN104300812B

Abstract

The invention discloses a direct power active disturbance rejection control method for a three-phase voltage source PWM rectifier. The method includes the following steps that the input instantaneous active power and the input instantaneous reactive power of the three-phase voltage source PWM rectifier are obtained; the instantaneous active power and the instantaneous reactive power serve as input of an expanded state observer, and based on the real-time observation value, the active power instruction value and the reactive power instruction value of system disturbance quantity, active power control quantity and reactive power control quantity can be respectively obtained according to the active power control rate and the reactive power control rate; according to the active power control quantity, the reactive power control quantity and a network voltage sampling value, the alpha-beta axis component instruction value of the input voltage on the alternating-current side of the rectifier is calculated; according to the alpha-beta axis component instruction value of the input voltage on the alternating-current side of the rectifier, a rectifier switching signal is obtained through a PWM module. Through the method, direct power control over the rectifier is achieved in a static coordinate system, no phase-locked rings are needed, and phase information of network voltage does not need to be detected in real time.

Description

A Direct Power Active Disturbance Rejection Control Method for Three-phase Voltage Type PWM Rectifier

技术领域technical field

本发明涉及三相电压型PWM整流器领域，尤其涉及一种三相电压型PWM整流器直接功率自抗扰控制方法，本方法适合在三相交流-直流功率变换器中使用。The invention relates to the field of three-phase voltage-type PWM rectifiers, in particular to a direct power active disturbance rejection control method for three-phase voltage-type PWM rectifiers. The method is suitable for use in three-phase AC-DC power converters.

背景技术Background technique

随着现代电力电子技术、微电子技术以及计算机技术的发展，以PWM技术为基础的功率变换装置受到广泛关注。与通常的二极管不控整流器相比，三相电压型PWM整流器具有电流谐波畸变率低、功率可双向流动、可获得单位功率因数等特点，消除了传统整流电路中存在谐波含量大、功率因数低和能量不能回馈等问题，可以用来实现无功功率补偿、抑制电网谐波、削弱负载对电网的冲击等，被用于抑制电网污染，提高电能利用率。此外，三相电压型PWM整流器也广泛应用于风力发电、光伏发电等可再生能源发电领域，能够以单位功率因数运行，消除谐波，并且可以提高风能等可再生能源的利用率。可见，三相电压型PWM整流器具有优越的性能，有着广泛的工程应用前景和重要的理论研究价值。With the development of modern power electronic technology, microelectronic technology and computer technology, power conversion devices based on PWM technology have attracted extensive attention. Compared with the usual diode uncontrolled rectifier, the three-phase voltage PWM rectifier has the characteristics of low current harmonic distortion rate, bidirectional flow of power, and unit power factor can be obtained, which eliminates the large harmonic content and low power in the traditional rectifier circuit. Problems such as low factor and non-feedback of energy can be used to realize reactive power compensation, suppress grid harmonics, weaken the impact of loads on the grid, etc., and are used to suppress grid pollution and improve power utilization. In addition, three-phase voltage-type PWM rectifiers are also widely used in wind power generation, photovoltaic power generation and other renewable energy generation fields. They can operate at unity power factor, eliminate harmonics, and improve the utilization rate of wind power and other renewable energy. It can be seen that the three-phase voltage-type PWM rectifier has superior performance, has a wide range of engineering application prospects and important theoretical research value.

为了使三相电压型PWM整流器在工作时输入电流为正弦波且与电压同相或反相，其控制技术也在不断地发展，目前已涌现出多种控制方法。其中，以基于电网电压定向的矢量控制应用最为广泛。基于电网电压定向的矢量控制是一种基于同步旋转坐标变换的控制方式，该方法将三相静止坐标系下的电压和电流转化为两相旋转坐标系下的对应值。在此基础上，基于PI控制器及前馈补偿，实现对整流器的解耦控制与稳态无静差调节。In order to make the input current of the three-phase voltage-type PWM rectifier work as a sine wave and in-phase or inverse-phase with the voltage, its control technology is also constantly developing, and a variety of control methods have emerged. Among them, the vector control based on grid voltage orientation is the most widely used. Vector control based on grid voltage orientation is a control method based on synchronous rotating coordinate transformation. This method converts the voltage and current in the three-phase stationary coordinate system into corresponding values in the two-phase rotating coordinate system. On this basis, based on PI controller and feed-forward compensation, the decoupling control and steady-state non-static adjustment of the rectifier are realized.

基于电网电压定向的矢量控制策略需要设计锁相环，对电网电压相位信息进行实时检测，检测误差会对整流器的动静态运行特性带来不利影响。此外，采用矢量控制策略时，需要对电流轴间耦合项进行前馈补偿。系统参数漂移及建模不准确等因素将影响前馈补偿质量及解耦控制效果，降低系统运行稳定性。此外，繁琐的旋转坐标变换增大了整流器控制系统的运算量，在一定程度上制约了整流器控制性能的进一步提升。The vector control strategy based on the grid voltage orientation needs to design a phase-locked loop to detect the phase information of the grid voltage in real time, and the detection error will have a negative impact on the dynamic and static operating characteristics of the rectifier. In addition, when the vector control strategy is adopted, it is necessary to perform feed-forward compensation for the current inter-axis coupling term. Factors such as system parameter drift and inaccurate modeling will affect the quality of feedforward compensation and the effect of decoupling control, reducing the stability of system operation. In addition, the cumbersome transformation of the rotating coordinates increases the computational load of the rectifier control system, which restricts the further improvement of the rectifier control performance to a certain extent.

发明内容Contents of the invention

本发明提供了一种三相电压型PWM整流器直接功率自抗扰控制方法，本发明实现了整流器的直接功率控制，无需锁相环，避免了相位检测误差对整流器动静态运行特性的不利影响，详见下文描述：The invention provides a direct power active disturbance rejection control method of a three-phase voltage type PWM rectifier. The invention realizes the direct power control of the rectifier without a phase-locked loop, and avoids the adverse effects of phase detection errors on the dynamic and static operating characteristics of the rectifier. See the description below for details:

一种三相电压型PWM整流器直接功率自抗扰控制方法，所述方法包括以下步骤：A method for direct power active disturbance rejection control of a three-phase voltage-type PWM rectifier, the method comprising the following steps:

获取三相电压型PWM整流器输入的瞬时有功功率和瞬时无功功率；Obtain the instantaneous active power and instantaneous reactive power input by the three-phase voltage type PWM rectifier;

将所述瞬时有功功率和瞬时无功功率作为扩张状态观测器的输入，基于系统扰动量的实时观测值、有功功率指令值以及无功功率指令值，根据有功功率控制率和无功功率控制率分别得到有功功率控制量和无功功率控制量；The instantaneous active power and instantaneous reactive power are used as the input of the extended state observer, based on the real-time observation value of the system disturbance, active power command value and reactive power command value, according to the active power control rate and reactive power control rate Obtain active power control quantity and reactive power control quantity respectively;

根据有功功率控制量、无功功率控制量以及电网电压采样值，计算整流器交流侧输入电压α-β轴分量指令值；According to the active power control quantity, reactive power control quantity and grid voltage sampling value, calculate the rectifier AC side input voltage α-β axis component command value;

根据整流器交流侧输入电压α-β轴分量指令值，经PWM调制模块获取整流器开关信号。According to the command value of the α-β axis component of the input voltage on the AC side of the rectifier, the switch signal of the rectifier is obtained through the PWM modulation module.

所述获取三相电压型PWM整流器输入的瞬时有功功率和瞬时无功功率的步骤具体为：The steps of obtaining the instantaneous active power and instantaneous reactive power input by the three-phase voltage type PWM rectifier are specifically:

通过交流电压与交流电流采样电路得到电网三相电压值以及整流器输入三相电流值，三相电压值及三相电流值分别经坐标变换后得到电网相电压α-β轴分量以及整流器输入电流α-β轴分量，进而获取所述瞬时有功功率和所述瞬时无功功率。Through the AC voltage and AC current sampling circuit, the three-phase voltage value of the grid and the input three-phase current value of the rectifier are obtained, and the three-phase voltage value and the three-phase current value are respectively transformed to obtain the α-β axis component of the grid phase voltage and the input current α of the rectifier - a β-axis component, and then obtain the instantaneous active power and the instantaneous reactive power.

所述有功功率控制量和无功功率控制量分别为：The active power control quantity and the reactive power control quantity are respectively:

有功功率控制量u_P：Active power control u _P :

${u u}_{P P} = = \frac{{ω ω}_{cP CP} (({P P}_{g g__ref ref} - - {P P}_{g g})) - - {z z}_{22 P P}}{{b b}_{00}}$

式中，ω_cP为有功功率自抗扰控制器的控制带宽，P_{g_ref}为有功功率指令值，P_g为瞬时有功功率，z_2P为扰动量w_P的估计值；In the formula, ω _cP is the control bandwidth of the active power ADRC controller, P _{g_ref} is the active power command value, P _g is the instantaneous active power, and z _2P is the estimated value of the disturbance w _P ;

无功功率控制量u_Q：Reactive power control quantity u _Q :

${u u}_{Q Q} = = \frac{{ω ω}_{cQ cQ} (({Q Q}_{g g__ref ref} - - {Q Q}_{g g})) - - {z z}_{22 Q Q}}{{b b}_{00}}$

式中，ω_cQ为无功功率自抗扰控制器的控制带宽，Q_{g_ref}为无功功率指令值，Q_g为瞬时无功功率，z_2Q为扰动量w_Q的估计值；In the formula, _ωcQ is the control bandwidth of reactive power active disturbance rejection controller, _{Qg_ref} is the command value of reactive power, _Qg is the instantaneous reactive power, z _2Q is the estimated value of disturbance w _Q ;

上述的b₀取为1.5/L_g，L_g为交流侧电抗。The above b ₀ is taken as 1.5/L _g , and L _g is the AC side reactance.

本发明提供的技术方案的有益效果是：该方法基于扩张状态观测器实时观测系统扰动，并根据功率控制率得出整流器交流侧输入电压指令值。该方法在静止坐标系下实现整流器的直接功率控制，无需锁相环，不需对电网电压相位信息进行实时检测，避免了相位检测误差对整流器动静态运行特性的不利影响。此外，本方法不需对电流轴间耦合项进行前馈补偿，在降低控制复杂程度的同时，显著提升系统的抗扰性能及动态响应快速性，有效抑制了因系统参数漂移及建模不准确等因素对前馈补偿质量及解耦控制效果的影响，改善了系统的运行与控制效果。The beneficial effect of the technical solution provided by the invention is: the method observes the system disturbance in real time based on the extended state observer, and obtains the input voltage command value of the AC side of the rectifier according to the power control rate. The method realizes the direct power control of the rectifier in the static coordinate system, does not need a phase-locked loop, and does not need real-time detection of grid voltage phase information, and avoids the adverse effects of phase detection errors on the dynamic and static operating characteristics of the rectifier. In addition, this method does not need to perform feed-forward compensation for the current inter-axis coupling item, while reducing the complexity of the control, it can significantly improve the system's anti-disturbance performance and rapid dynamic response, and effectively suppress the system parameter drift and inaccurate modeling. The influence of factors such as feedforward compensation quality and decoupling control effect improves the operation and control effect of the system.

附图说明Description of drawings

图1为三相电压型PWM整流器主电路图；Figure 1 is a main circuit diagram of a three-phase voltage type PWM rectifier;

图2为本发明提供的三相电压型PWM整流器直接功率自抗扰控制系统框图。Fig. 2 is a block diagram of the direct power active disturbance rejection control system of the three-phase voltage type PWM rectifier provided by the present invention.

具体实施方式Detailed ways

为使本发明的目的、技术方案和优点更加清楚，下面对本发明实施方式作进一步地详细描述。In order to make the purpose, technical solution and advantages of the present invention clearer, the implementation manners of the present invention will be further described in detail below.

101：获取三相电压型PWM整流器输入的瞬时有功功率P_g和瞬时无功功率Q_g；101: Obtain the instantaneous active power P _g and instantaneous reactive power Q _g input by the three-phase voltage type PWM rectifier;

该步骤具体为：通过交流电压与交流电流采样电路得到电网三相电压值以及整流器输入三相电流值，三相电压值及三相电流值分别经坐标变换后得到电网相电压α-β轴分量以及整流器输入电流α-β轴分量，进而获取瞬时有功功率P_g和瞬时无功功率Q_g。This step is specifically as follows: the three-phase voltage value of the power grid and the three-phase current value input by the rectifier are obtained through the AC voltage and current sampling circuit, and the three-phase voltage value and the three-phase current value are respectively transformed by coordinates to obtain the α-β axis component of the grid phase voltage And the α-β axis component of the input current of the rectifier, and then obtain the instantaneous active power P _g and the instantaneous reactive power Q _g .

参见图1，u_ga、u_gb、u_gc为电网三相电压，L_g和R_g分别为交流侧电抗和等效电阻；i_ga、i_gb、i_gc为整流器输入电流，u_ca、u_cb、u_cc为整流器交流侧输入电压，u_dc为直流母线电压，C为直流母线电容。Refer to Fig. 1, u _ga , u _gb , u _gc are the three-phase voltages of the grid, L _g and R _g are the AC side reactance and equivalent resistance respectively; i _ga , i _gb , i _gc are the rectifier input currents, u _ca , u _cb and u _cc are the input voltage of the AC side of the rectifier, u _dc is the voltage of the DC bus, and C is the capacitance of the DC bus.

两相静止坐标系下三相电压型PWM整流器的电压平衡方程为The voltage balance equation of the three-phase voltage-type PWM rectifier in the two-phase static coordinate system is

$\{\begin{matrix} {u u}_{gα gα} = = {L L}_{g g} \frac{{di di}_{gα gα}}{dt dt} + + {R R}_{g g} {i i}_{gα gα} + + {u u}_{cα cα} \\ {u u}_{gβ gβ} = = {L L}_{g g} \frac{{di di}_{gβ gβ}}{dt dt} + + {R R}_{g g} {i i}_{gβ gβ} + + {u u}_{cβ cβ} \end{matrix} - - - - - - ((11))$

式中，i_gα、i_gβ分别为整流器输入电流α-β轴分量；u_gα、u_gβ分别为电网相电压α-β轴分量；u_cα、u_cβ分别为整流器交流侧输入电压α-β轴分量。In the formula, i _gα and i _gβ are the α-β axis components of the rectifier input current; u _gα and u _gβ are the α-β axis components of the grid phase voltage; u _cα and u _cβ are the rectifier AC side input voltage α-β axis component.

三相电压型PWM整流器输入的瞬时有功功率P_g和瞬时无功功率Q_g可写为The instantaneous active power P _g and instantaneous reactive power Q _g input by the three-phase voltage-type PWM rectifier can be written as

$\{\begin{matrix} {P P}_{g g} = = 1.5 1.5 (({u u}_{gα gα} {i i}_{gα gα} + + {u u}_{gβ gβ} {i i}_{gβ gβ})) \\ {Q Q}_{g g} = = 1.5 1.5 (({u u}_{gβ gβ} {i i}_{gα gα} - - {u u}_{gα gα} {i i}_{gβ gβ})) \end{matrix} - - - - - - ((22))$

瞬时功率随时间的变化率可写为The rate of change of instantaneous power with time can be written as

$\{\begin{matrix} \frac{{dP dP}_{g g}}{dt dt} = = 1.5 1.5 (({u u}_{gα gα} \frac{{di di}_{gα gα}}{dt dt} + + {i i}_{gα gα} \frac{{du du}_{gα gα}}{dt dt} + + {u u}_{gβ gβ} \frac{{di di}_{gβ gβ}}{dt dt} + + {i i}_{gβ gβ} \frac{{du du}_{gβ gβ}}{dt dt})) \\ \frac{{dQ wxya}_{g g}}{dt dt} = = 1.5 1.5 (({u u}_{gβ gβ} \frac{{di di}_{gα gα}}{dt dt} + + {i i}_{gα gα} \frac{{du du}_{gβ gβ}}{dt dt} - - {u u}_{gα gα} \frac{{di di}_{gβ gβ}}{dt dt} - - {i i}_{gβ gβ} \frac{{du du}_{gα gα}}{dt dt})) \end{matrix} - - - - - - ((33))$

电网相电压α-β轴分量随时间的变化率可写为The change rate of the grid phase voltage α-β axis component with time can be written as

$\{\begin{matrix} \frac{{du du}_{gα gα}}{dt dt} = = - - {ωu ωu}_{gβ gβ} \\ \frac{{du du}_{gβ gβ}}{dt dt} = = {ωu ωu}_{gα gα} \end{matrix} - - - - - - ((44))$

式中，ω为电网角频率。In the formula, ω is the grid angular frequency.

将式(1)、式(4)代入式(3)可得Substituting formula (1) and formula (4) into formula (3) can get

$\{\begin{matrix} \frac{{dP dP}_{g g}}{dt dt} = = \frac{1.5 1.5}{{L L}_{g g}} (({u u}_{gα gα} {u u}_{cα cα} + + {u u}_{gβ gβ} {u u}_{cβ cβ})) - - \frac{{R R}_{g g}}{{L L}_{g g}} {P P}_{g g} - - {ωQ ωQ}_{g g} + + \frac{1.5 1.5}{{L L}_{g g}} (({u u}_{gα gα}^{22} + + {u u}_{gβ gβ}^{22})) \\ \frac{{dQ wxya}_{g g}}{dt dt} = = \frac{1.5 1.5}{{L L}_{g g}} (({u u}_{gα gα} {u u}_{cβ cβ} - - {u u}_{gβ gβ} {u u}_{cα cα})) - - \frac{{R R}_{g g}}{{L L}_{g g}} {Q Q}_{g g} + + {ωP ωP}_{g g} \end{matrix} - - - - - - ((55))$

令make

$\{\begin{matrix} {w w}_{P P} = = \frac{{R R}_{g g}}{{L L}_{g g}} {P P}_{g g} - - {ωQ ωQ}_{g g} + + \frac{1.5 1.5}{{L L}_{g g}} (({u u}_{gα gα}^{22} + + {u u}_{gβ gβ}^{22})) \\ {w w}_{Q Q} = = - - \frac{{R R}_{g g}}{{L L}_{g g}} {Q Q}_{g g} = = {ωP ωP}_{g g} \end{matrix} - - - - - - ((66))$

式中，w_P、w_Q分别表示有功功率和无功功率控制过程中所受到的扰动。In the formula, w _P and w _Q represent the disturbances received in the process of active power and reactive power control, respectively.

式(5)可写为Formula (5) can be written as

$\{\begin{matrix} \frac{{dP dP}_{g g}}{dt dt} = = - - \frac{1.5 1.5}{{L L}_{g g}} (({u u}_{gα gα} {u u}_{cα cα} + + {u u}_{gβ gβ} {u u}_{cβ cβ})) + + {w w}_{P P} = = \frac{1.5 1.5}{{L L}_{g g}} {u u}_{P P} + + {w w}_{P P} \\ \frac{{dQ wxya}_{g g}}{dt dt} = = \frac{1.5 1.5}{{L L}_{g g}} (({u u}_{gα gα} {u u}_{cβ cβ} - - {u u}_{gβ gβ} {u u}_{cα cα})) + + {w w}_{Q Q} = = \frac{1.5 1.5}{{L L}_{g g}} {u u}_{Q Q} + + {w w}_{Q Q} \end{matrix} - - - - - - ((77))$

102：获取有功功率控制量u_P和无功功率控制量u_Q；102: Obtain active power control quantity u _P and reactive power control quantity u _Q ;

其中，该步骤具体为：瞬时功率计算值作为扩张状态观测器的输入对系统扰动进行实时观测。基于系统扰动量的实时观测值z_2P与z_2Q、瞬时功率计算值P_g与Q_g、有功功率指令值P_{g_ref}以及无功功率指令值Q_{g_ref}，根据有功功率控制率和无功功率控制率分别得到有功功率控制量u_P和无功功率控制量u_Q。Wherein, this step specifically includes: the instantaneous power calculation value is used as the input of the extended state observer to observe the system disturbance in real time. Based on the real-time observed values z _2P and z _2Q of the system disturbance, the calculated values of instantaneous power P _g and Q _g , the command value of active power P _{g_ref} and the command value of reactive power Q _{g_ref} , according to the control rate of active power and control rate of reactive power Get active power control quantity u _P and reactive power control quantity u _Q respectively.

在设计三相电压型PWM整流器直接功率自抗扰控制器时，首先以P_g为输入量构造有功功率扩张状态观测器观测系统扰动w_P，有功功率扩张状态观测器如下：When designing a direct power active disturbance rejection controller for a three-phase voltage-type PWM rectifier, first construct an active power expansion state observer with _Pg as the input to observe the system disturbance w _P , and the active power expansion state observer is as follows:

$\{\begin{matrix} \frac{{dz dz}_{11 P P}}{dt dt} = = {z z}_{22 P P} - - {22 ω ω}_{00 P P} (({z z}_{11 P P} - - {P P}_{g g})) + + {b b}_{00} {u u}_{P P} \\ \frac{{dz dz}_{22 P P}}{dt dt} = = - - {ω ω}_{00 P P}^{22} (({z z}_{11 P P} - - {P P}_{g g})) \end{matrix} - - - - - - ((88))$

式中，b₀取为1.5/L_g，z_1P为有功功率的跟踪值，z_2P为扰动量w_P的估计值，ω_0P为有功功率扩张状态观测器的观测带宽。In the formula, b ₀ is taken as 1.5/L _g , z _1P is the tracking value of active power, z _2P is the estimated value of disturbance w _P , and ω _0P is the observation bandwidth of active power expansion state observer.

根据扩张状态观测器的观测输出、有功功率计算值及参考值，由如下控制率得出有功功率的控制量u_P：According to the observed output of the extended state observer, the calculated value of the active power and the reference value, the control value u _P of the active power is obtained from the following control rate:

${u u}_{P P} = = \frac{{ω ω}_{cP CP} (({P P}_{g g__ref ref} - - {P P}_{g g})) - - {z z}_{22 P P}}{{b b}_{00}} - - - - - - ((99))$

式中，ω_cP为有功功率自抗扰控制器的控制带宽。In the formula, _ωcP is the control bandwidth of active power active disturbance rejection controller.

以Q_g为输入量构造无功功率扩张状态观测器观测系统扰动w_Q，有功功率扩张状态观测器如下：Taking Q _g as the input quantity to construct the reactive power expansion state observer to observe the system disturbance w _Q , the active power expansion state observer is as follows:

$\{\begin{matrix} \frac{{dz dz}_{11 Q Q}}{dt dt} = = {z z}_{22 Q Q} - - {22 ω ω}_{00 Q Q} (({z z}_{11 Q Q} - - {Q Q}_{g g})) + + {b b}_{00} {u u}_{Q Q} \\ \frac{{dz dz}_{22 Q Q}}{dt dt} = = - - {ω ω}_{00 Q Q}^{22} (({z z}_{11 Q Q} - - {Q Q}_{g g})) \end{matrix} - - - - - - ((1010))$

式中，z_1Q为无功功率的跟踪值，z_2Q为扰动量w_Q的估计值，ω_0Q为无功功率扩张状态观测器的观测带宽。In the formula, z _1Q is the tracking value of reactive power, z _2Q is the estimated value of disturbance w _Q , ω _0Q is the observation bandwidth of reactive power expansion state observer.

根据扩张状态观测器的观测输出、无功功率计算值及参考值，由如下控制率得出无功功率控制量u_Q According to the observed output of the extended state observer, the reactive power calculation value and the reference value, the reactive power control quantity u _Q is obtained from the following control rate

${u u}_{Q Q} = = \frac{{ω ω}_{cQ cQ} (({Q Q}_{g g__ref ref} - - {Q Q}_{g g})) - - {z z}_{22 Q Q}}{{b b}_{00}} - - - - - - ((1111))$

式中，ω_cQ为无功功率自抗扰控制器的控制带宽。In the formula, _ωcQ is the control bandwidth of reactive power active disturbance rejection controller.

103：根据有功功率控制量u_P、无功功率控制量u_Q以及电网电压采样值u_gα和u_gβ，计算整流器交流侧输入电压α-β轴分量指令值u_{cα_ref}和u_{cβ_ref}；103: Calculate the input voltage α-β axis component command values u _{cα_ref and u cβ_ref} _of the AC side of the rectifier according to the active power control quantity u _P , the reactive power control quantity u _Q and the grid voltage sampling values u _gα and u _gβ ;

其中，具体的计算公式见公式(12)Among them, the specific calculation formula is shown in formula (12)

$[\begin{matrix} {u u}_{cα cα__ref ref} \\ {u u}_{cβ cβ__ref ref} \end{matrix}] = = {[\begin{matrix} - - {u u}_{gα gα} & - - {u u}_{gβ gβ} \\ - - {u u}_{gβ gβ} & {u u}_{gα gα} \end{matrix}]}^{- - 11} [\begin{matrix} {u u}_{P P} \\ {u u}_{Q Q} \end{matrix}] - - - - - - ((1212))$

104：根据整流器交流侧输入电压α-β轴分量指令值，经PWM调制模块获取整流器开关信号。104: According to the command value of the α-β axis component of the AC side input voltage of the rectifier, the switch signal of the rectifier is obtained through the PWM modulation module.

下面结合图2，详细说明本发明提供的三相电压型PWM整流器直接功率自抗扰控制方法的操作流程，详见下文描述：Below in conjunction with Fig. 2, the operation process of the direct power active disturbance rejection control method of the three-phase voltage type PWM rectifier provided by the present invention is described in detail, see the following description for details:

通过直流母线采样电路得到直流母线电压值u_dc，u_dc与其给定值u_dc的误差经PI调节器得到有功参考电流，它与直流母线电压u_dc的乘积作为有功功率的指令值P_{g_ref}，为使PWM整流器的功率因数为1，无功功率的指令值Q_{g_ref}为零。The DC bus voltage value u _dc is obtained through the DC bus sampling circuit, the error between u _dc and its given value u _dc is obtained through the PI regulator to obtain the active reference current, and the product of it and the DC bus voltage u _dc is used as the command value of active power P _{g_ref} , In order to make the power factor of the PWM rectifier 1, the command value Q _{g_ref} of reactive power is zero.

通过交流电压与交流电流采样电路得到电网三相电压值u_ga、u_gb、u_gc以及整流器输入三相电流值i_ga、i_gb、i_gc，电压及电流采样值分别经坐标变换后得到电网相电压α-β轴分量u_gα、u_gβ以及整流器输入电流α-β轴分量i_gα、i_gβ。根据式(2)计算瞬时有功功率P_g，瞬时无功功率Q_g。瞬时功率计算值作为扩张状态观测器的输入对系统扰动进行实时观测。基于系统扰动量的实时观测值z_2P与z_2Q、瞬时功率计算值P_g与Q_g、有功功率指令值P_{g_ref}以及无功功率指令值Q_{g_ref}，根据式(9)、式(11)所述的功率控制率得到有功功率控制量u_P和无功功率控制量u_Q。结合电网相电压α-β轴分量u_gα、u_gβ，根据式(12)得到整流器交流侧输入电压α-β轴分量指令值，经PWM调制模块得到整流器开关信号，最终实现三相电压型PWM整流器的直接功率自抗扰控制。The grid three-phase voltage values u _ga , u _gb , u _gc and the input three-phase current values i _ga , i _gb , i _gc of the rectifier are obtained through the AC voltage and current sampling circuit, and the voltage and current sampling values are respectively transformed to obtain the grid Phase voltage α-β axis components u _gα , u _gβ and rectifier input current α-β axis components i _gα , i _gβ . Calculate the instantaneous active power P _g and the instantaneous reactive power Q _g according to formula (2). The instantaneous power calculation value is used as the input of the extended state observer to observe the system disturbance in real time. Based on the real-time observed values z _2P and z _2Q of the system disturbance, the calculated values of instantaneous power P _g and Q _g , the command value of active power P _{g_ref} and the command value of reactive power Q _{g_ref} , according to formula (9) and formula (11) According to the above power control rate, the active power control quantity u _P and the reactive power control quantity u _Q are obtained. Combined with the grid phase voltage α-β axis components u _gα , u _gβ , according to formula (12), the rectifier AC side input voltage α-β axis component command value is obtained, and the rectifier switch signal is obtained through the PWM modulation module, and finally the three-phase voltage PWM Direct Power Active Disturbance Rejection Control for Rectifiers.

本领域技术人员可以理解附图只是一个优选实施例的示意图，上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。Those skilled in the art can understand that the accompanying drawing is only a schematic diagram of a preferred embodiment, and the serial numbers of the above-mentioned embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims

1. a three-phase voltage type PWM rectifier direct power active disturbance rejection control method, is characterized in that, described method comprises the following steps:

Obtain the instantaneous active power and instantaneous reactive power input by the three-phase voltage type PWM rectifier;

The instantaneous active power and instantaneous reactive power are used as the input of the extended state observer, based on the real-time observation value of the system disturbance, active power command value and reactive power command value, according to the active power control rate and reactive power control rate Obtain active power control quantity and reactive power control quantity respectively;

According to the active power control quantity, reactive power control quantity and grid voltage sampling value, calculate the rectifier AC side input voltage α-β axis component command value;

According to the command value of the α-β axis component of the input voltage on the AC side of the rectifier, the switch signal of the rectifier is obtained through the PWM modulation module.

2. a kind of three-phase voltage type PWM rectifier direct power active disturbance rejection control method according to claim 1, is characterized in that, the step of described acquisition three-phase voltage type PWM rectifier input instantaneous active power and instantaneous reactive power Specifically:

Through the AC voltage and AC current sampling circuit, the three-phase voltage value of the grid and the input three-phase current value of the rectifier are obtained, and the three-phase voltage value and the three-phase current value are respectively transformed to obtain the α-β axis component of the grid phase voltage and the input current α of the rectifier - a β-axis component, and then obtain the instantaneous active power and the instantaneous reactive power.

3. a kind of three-phase voltage type PWM rectifier direct power active disturbance rejection control method according to claim 1, is characterized in that, described active power control quantity and reactive power control quantity are respectively:

Active power control u _P :

{u u}_{P P} = = \frac{{ω ω}_{cP CP} (({P P}_{g g__ref ref} - - {P P}_{g g})) - - {z z}_{22 P P}}{{b b}_{00}}

In the formula, ω _cP is the control bandwidth of the active power ADRC controller, P _{g_ref} is the active power command value, P _g is the instantaneous active power, and z _2P is the estimated value of the disturbance w _P ;

Reactive power control quantity u _Q :

{u u}_{Q Q} = = \frac{{ω ω}_{cQ cQ} (({Q Q}_{g g__ref ref} - - {Q Q}_{g g})) - - {z z}_{22 Q Q}}{{b b}_{00}}

In the formula, _ωcQ is the control bandwidth of reactive power active disturbance rejection controller, _{Qg_ref} is the command value of reactive power, _Qg is the instantaneous reactive power, z _2Q is the estimated value of disturbance w _Q ;

The above b ₀ is taken as 1.5/L _g , and L _g is the AC side reactance.