CN104410074A - PI adaptation based compound control method for active power filter - Google Patents

PI adaptation based compound control method for active power filter Download PDF

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Publication number
CN104410074A
CN104410074A CN201410784034.4A CN201410784034A CN104410074A CN 104410074 A CN104410074 A CN 104410074A CN 201410784034 A CN201410784034 A CN 201410784034A CN 104410074 A CN104410074 A CN 104410074A
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current
voltage
active power
module
power filter
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CN104410074B (en
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谢川
李凯
郑宏
邹见效
韩涛
徐红兵
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University of Electronic Science and Technology of China
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University of Electronic Science and Technology of China
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/01—Arrangements for reducing harmonics or ripples
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/20—Active power filtering [APF]

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Supply And Distribution Of Alternating Current (AREA)
  • Control Of Electrical Variables (AREA)

Abstract

The invention discloses a PI adaptation based compound control method for an active power filter. According to the method, inductance change of inductors L1 and L2 in an LCL filter is detected in real time, and in combination of the inductance change of the inductors L1 and L2, a control parameter table of a PI controller is inquired, so that control parameters of the PI controller are regulated in real time. The defect that the control effect of the active power filter becomes poorer during inductance change is overcome, and the active power filter is stably controlled and normally works when the inductance changes in a certain range.

Description

A kind of based on the adaptive Active Power Filter-APF composite control method of PI
Technical field
The invention belongs to automatic control technology field, more specifically say, relate to a kind of based on the adaptive Active Power Filter-APF composite control method of PI.
Background technology
Growing along with power electronic technology, widely using of nonlinear load makes the quality of power supply of distributed power grid worsen further.Parallel connection type active electric filter can well carry out the compensation of current harmonics as a kind of controlled harmonic current source, thus optimizes the quality of power supply.
Filtering PWM carrier wave and sideband harmonic wave is being come with filter based on needing in the middle of the Active Power Filter-APF of voltage-fed PWM converter.Under normal circumstances, this filter is a kind of high-order low-pass filter, as LCL filter.But the change of inductance inductance value can cause the instability of current oscillation and inverter, particularly under powerful applicable cases.Therefore, the control method of the two-way inverter of wide region filter inductance change is suggested, as bi-phase modulated is digital control, and digital forecast Current Control etc., use above method inverter can well follow the tracks of the reference current of sineization, but do not possess the follow-up control for harmonic current.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, there is provided a kind of based on the adaptive Active Power Filter-APF composite control method of PI, compound adjustment can be carried out by adaptive inner ring current control module, make Active Power Filter-APF under output filter inductance wide region situation of change, reach better compensation effect.
For achieving the above object, the present invention is a kind of based on the adaptive Active Power Filter-APF composite control method of PI, it is characterized in that, comprises the following steps:
(1) inner ring active current set-point, is calculated with neutral current set-point
The DC voltage control module of Active Power Filter-APF first obtains the voltage u of positive bus-bar to mid point N respectively from the DC side of three level VSC dc1, and mid point N is to the voltage u of negative busbar dc2, then by three level VSC DC voltage set-point with voltage u dc1, voltage u dc2with poor, the difference obtained is carried out PI control, obtains inner ring active current set-point direct voltage module is simultaneously by voltage u dc1, voltage u dc2difference carry out PI control, obtain neutral current set-point
(2), phase-locked loop pll module is according to three-phase power grid voltage u gx(x=a, b, c) obtains phase angle θ and the angular frequency of line voltage positive sequence component 0;
(3), load current harmonic detecting module is according to line voltage angular frequency 0, respectively to threephase load current i lxcarry out discrete Fourier transform (DFT) and obtain three phase harmonic current i lhx;
(4), the given electric current of inner ring is calculated
By inner ring active current set-point as the d axle input component under dq0 coordinate system, 0 as q axle input component, neutral current set-point as zero sequence input component, to above controlled quentity controlled variable from dq0 coordinate system transformation to abc coordinate system, more respectively with three phase harmonic current i lhxaddition obtains the given electric current of inner ring
(5), inner ring current control module calculates three-phase and exports controlled quentity controlled variable
(5.1) the output variable i of Repetitive controller module, is calculated ex: by given for inner ring electric current with the three-phase output current i of Active Power Filter-APF lxjointly carry out Repetitive controller, obtain the output variable i of Repetitive controller module ex;
(5.2), by the output variable i of Repetitive controller module exbe input to PI controller, through PI control after, by the final output variable of PI controller respectively with three-phase power grid voltage u gxbe added, obtain three-phase and export controlled quentity controlled variable
(6), SPWM module is according to output controlled quentity controlled variable obtain corresponding switch controlling signal, and according to this control signal control each IGBT in three level VSC open shutoff.
Goal of the invention of the present invention is achieved in that
The present invention is a kind of based on the adaptive Active Power Filter-APF composite control method of PI, by detecting inductance L in LCL filter in real time 1, L 2inductance value change, then in conjunction with inductance L 1, L 2inductance variable quantity, the controling parameters form of inquiry PI controller, thus the controling parameters of adjustment PI controller in real time.This overcome the defect controlling deleterious at Active Power Filter-APF when inductance value changes, when ensure that inductance value changes within the specific limits, the control of Active Power Filter-APF is stablized, working properly.
Meanwhile, the present invention's one also has following beneficial effect based on PI adaptive Active Power Filter-APF composite control method:
(1), in Active Power Filter-APF, when inductance value wide variation, by the controling parameters of self-adaptative adjustment PI controller, can retentive control effect be stablized by network system;
(2), the present invention directly all carried out discretization after continuous domain design, C language can be adopted to programme, the parametric controller such as DSP realize, implement simple and easy.
Accompanying drawing explanation
Fig. 1 is that the one of Active Power Filter-APF specifically implements block diagram;
Fig. 2 is the flow chart that the present invention is based on the adaptive Active Power Filter-APF composite control method of PI;
Fig. 3 is the theory diagram of DC voltage control module;
Fig. 4 is the theory diagram of Repetitive controller module;
Fig. 5 is the theory diagram of PI controller;
Fig. 6 is the simulation waveform figure of inductance value under the change of inductive current of A phase inductance L1 and L2;
Fig. 7 is K pthe simulation waveform figure regulated is carried out according to the change tread of inductive current;
Fig. 8 is the simulation waveform figure of the current harmonics compensation effect of Active Power Filter-APF;
Fig. 9 is grid side current spectrum analysis waveform figure;
Figure 10 is that load switches to the Dynamic Response Simulation oscillogram of network system underloading process from heavy duty.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described, so that those skilled in the art understands the present invention better.Requiring particular attention is that, in the following description, when perhaps the detailed description of known function and design can desalinate main contents of the present invention, these are described in and will be left in the basket here.
Embodiment
Fig. 1 is that the one of Active Power Filter-APF specifically implements block diagram.
In the present embodiment, first explain the internal structure of Active Power Filter-APF, as shown in Figure 1, Active Power Filter-APF mainly comprises main circuit and control section.
Wherein, main circuit comprises again three level VSC1, LCL filter 2, nonlinear load 3.Three level VSC1 is connected with electrical network by LCL filter 2, and nonlinear load 3 is directly connected with electrical network, thus constitutes the main circuit of a complete Active Power Filter-APF.
Control section comprises: load current harmonic detecting module 4, DC voltage control module 5, phase-locked loop pll 6, dq0-abc coordinate system transformation module 7, Repetitive controller module 8, PI controller 9, SPWM modulation module 10, constitute the control section of Active Power Filter-APF.
Be described in detail to based on the adaptive Active Power Filter-APF composite control method of PI below in conjunction with example:
In the present embodiment, as shown in Figure 2, a kind of based on the adaptive Active Power Filter-APF composite control method of PI, comprise the steps:
The DC voltage control module of S1, Active Power Filter-APF obtains the voltage u of positive bus-bar to mid point N respectively from the DC side of three level VSC dc1, and mid point N is to the voltage u of negative busbar dc2;
S2, calculating inner ring active current set-point with neutral current set-point
In the present embodiment, as shown in Figure 3, DC voltage control module is by three level VSC DC voltage set-point with voltage u dc1, voltage u dc2with poor, the difference obtained is carried out PI control, obtains inner ring active current set-point ; Direct voltage module is simultaneously by voltage u dc1, voltage u dc2difference carry out PI control, obtain neutral current set-point
S3, phase-locked loop pll module are according to three-phase power grid voltage u gx(x=a, b, c) obtains phase angle θ and the angular frequency of line voltage positive sequence component 0;
S4, load current harmonic detecting module are according to line voltage angular frequency 0, respectively to threephase load current i lxcarry out discrete Fourier transform (DFT) and obtain three phase harmonic current i lhx;
S5, the given electric current of calculating inner ring
By inner ring active current set-point as the d axle input component under dq0 coordinate system, 0 as q axle input component, neutral current set-point as zero sequence input component, to above controlled quentity controlled variable from dq0 coordinate system transformation to abc coordinate system, more respectively with three phase harmonic current i lhxaddition obtains the given electric current of inner ring
S6, inner ring current control module calculate three-phase and export controlled quentity controlled variable
The output variable i of S6.1, calculating Repetitive controller module ex: by given for inner ring electric current with the three-phase output current i of Active Power Filter-APF lxjointly carry out Repetitive controller, obtain the output variable i of Repetitive controller module ex;
S6.2, by the output variable i of Repetitive controller module exbe input to PI controller, through PI control after, by the final output variable of PI controller respectively with three-phase power grid voltage u gxbe added, obtain three-phase and export controlled quentity controlled variable
Wherein, inner ring current control module comprises: Repetitive controller module and PI controller; In the present embodiment, be described repeating the control for electric current of control module and PI controller respectively, as follows:
As shown in Figure 4, the flow process that Repetitive controller module carries out current inner loop Repetitive controller is the theory diagram of Repetitive controller module:
(1), the given electric current of inner ring with the three-phase output current i of Active Power Filter-APF lxdo difference and obtain error signal E (z) x;
(2), by error signal E (z) xwith repeating signal generator (Q (z) z in Repetitive controller module -N) output signal addition obtain M signal U (z) x;
(3), by M signal U (z) xprimitive period delay unit (z in Repetitive controller module -N), adjuster (z ks (z)) process after, obtain adjuster output valve i' ex;
(4), by error signal E (z) xwith adjuster output valve i' exbe added, obtain the output variable i of repetitive controller ex;
In the present embodiment, three-phase error signal E (z) of generation xthere are 3 groups of signals, that is: E (z) x={ E (z) a, E (z) b, E (z) c, three grouping error signals are input to respectively 3 mutually respective Repetitive controller modules, because the structure of three replicated blocks is identical, therefore with error signal E (z) afor example, the concrete flow direction of its signal as shown in Figure 4;
As shown in Figure 5, the flow process that the PI that PI controller carries out interior circular current controls is the theory diagram of PI controller:
1), by the output variable i of Repetitive controller module exwith the Proportional coefficient K in proportional component pbe multiplied, obtain the controlled quentity controlled variable Δ i after proportional component ex; Wherein, Proportional coefficient K paccording to the given electric current of inner ring size carries out Automatic adjusument, its K pcomputational methods be:
K p＝ω c(L 1+L 2)
Wherein, L 1, L 2be respectively the inductance value in LCL filter, ω crepresent the cross-over frequency of network system;
2), by controlled quentity controlled variable Δ i exfirst by the integral element in PI controller obtain Δ i' ex, then by controlled quentity controlled variable Δ i exwith Δ i' exbe added, obtain the final output variable of PI controller;
In the present embodiment, the output variable i of Repetitive controller module exthere are 3 groups of signals, that is: i equally ex={ i ea, i eb, i ec, three of Repetitive controller module groups of output variables are input to 3 mutually respective PI controllers, respectively because the structure of three replicated blocks is identical, therefore with output variable i eafor example, the concrete flow direction of its signal as shown in Figure 5;
Wherein, inductive current (the i.e. given electric current of inner ring ) to the Proportional coefficient K of proportional component pform is obtained by experiment in advance or emulation.Inductance L in size of current and LCL filter is obtained by testing in advance or emulating 1, L 2the corresponding relation of inductance value, as shown in Figure 5.Proportionally link K in advance again pcomputing formula: K p=ω c(L 1+ L 2), proportional component K corresponding when calculating different electric current pparameter, wherein, L 1, L 2be respectively the inductance value in LCL filter, ω crepresent the cross-over frequency of control system.Thus achieve according to instruction current size, proportional component K pthe self-adaptative adjustment of parameter;
S7, SPWM module is according to output controlled quentity controlled variable obtain corresponding switch controlling signal, and according to this control signal control each IGBT in three level VSC open shutoff.。
Below by experiment simulation, further checking is done to the present invention, the object of experimental verification is: checking present embodiment can realize the dynamic conditioning of current inner loop Kp, and by the control of inner ring current control module, the compensation effect of Active Power Filter-APF is got a promotion.
In the present embodiment, as shown in Figure 6, the inductance inductance value of inductance L in LCL filter 1 and L2 constantly changes along with inductive current, and meanwhile, as shown in Figure 7, current inner loop Kp can regulate according to the carrying out of the Different Dynamic of inductive current.
In the present embodiment, in Fig. 8, Fig. 9, give the simulation waveform of Active Power Filter-APF compensation effect.The stable state waveform of the load current of Active Power Filter-APF, output current and grid side electric current is respectively in Fig. 8.And can find in the middle of Fig. 9, all eliminated significantly from the harmonic waves of 5 times to 25 times, the total harmonic distortion of load current is initially 29%, can 26.5% be reduced to after application PI controls, setting Kp can become 3.8% in conjunction with Repetitive controller after 0.3 again, is 2.2% by self-adaptative adjustment Kp and in conjunction with total harmonic distortion after Repetitive controller.Which illustrate the harmonic suppression effect that Active Power Filter-APF utilizes composite control method proposed by the invention can reach good.
Figure 10 switches to underloading process for working as load from heavy duty, the Dynamic Response Simulation waveform of Active Power Filter-APF.As seen from the figure, offset current good tracking and matching load harmonic current within the time of an approximate primitive period, in addition in load handoff procedure, because the time delay of inductance change and repeating group period of wave causes some rush of currents.
Although be described the illustrative embodiment of the present invention above; so that those skilled in the art understand the present invention; but should be clear; the invention is not restricted to the scope of embodiment; to those skilled in the art; as long as various change to limit and in the spirit and scope of the present invention determined, these changes are apparent, and all innovation and creation utilizing the present invention to conceive are all at the row of protection in appended claim.

Claims (4)

1., based on the adaptive Active Power Filter-APF composite control method of PI, it is characterized in that, comprise the following steps:
(1) inner ring active current set-point, is calculated with neutral current set-point
The DC voltage control module of Active Power Filter-APF first obtains the voltage u of positive bus-bar to mid point N respectively from the DC side of three level VSC dc1, and arrive the voltage u of negative busbar dc2, then by three level VSC DC voltage set-point with voltage u dc1, voltage u dc2with poor, the difference obtained is carried out PI control, obtains inner ring active current set-point ; Direct voltage module is simultaneously by voltage u dc1, voltage u dc2difference carry out PI control, obtain neutral current set-point ;
(2), phase-locked loop pll module is according to three-phase power grid voltage u gx(x=a, b, c) obtains phase angle θ and the angular frequency of line voltage positive sequence component 0;
(3), load current harmonic detecting module is according to line voltage angular frequency 0, respectively to threephase load current i lxcarry out discrete Fourier transform (DFT) and obtain three phase harmonic current i lhx;
(4), the given electric current of inner ring is calculated
By inner ring active current set-point as the d axle input component under dq0 coordinate system, 0 as q axle input component, neutral current set-point as zero sequence input component, to above controlled quentity controlled variable from dq0 coordinate system transformation to abc coordinate system, more respectively with three phase harmonic current i lhxaddition obtains the given electric current of inner ring ;
(5), inner ring current control module calculates three-phase and exports controlled quentity controlled variable ;
(5.1) the output variable i of Repetitive controller module, is calculated ex: by given for inner ring electric current with the three-phase output current i of Active Power Filter-APF lxjointly carry out Repetitive controller, obtain the output variable i of Repetitive controller module ex;
(5.2), by the output variable i of Repetitive controller module exbe input to PI controller, through PI control after, by the final output variable of PI controller respectively with three-phase power grid voltage u gbe added, obtain three-phase and export controlled quentity controlled variable
(6), SPWM module is according to output controlled quentity controlled variable obtain corresponding switch controlling signal, and according to this control signal control each IGBT in three level VSC open shutoff.
2. according to claim 1 based on the adaptive Active Power Filter-APF composite control method of PI, it is characterized in that: described inner ring current control module comprises: Repetitive controller module and PI controller.
3. according to claim 1 based on the adaptive Active Power Filter-APF composite control method of PI, it is characterized in that: described Repetitive controller module to the method that electric current controls is:
(3.1), the given electric current of inner ring with the three-phase output current i of Active Power Filter-APF lxdo difference and obtain error signal E (z) x;
(3.2), by error signal E (z) xwith repeating signal generator (Q (z) z in Repetitive controller module -N) output signal addition obtain M signal U (z) x;
(3.3), by M signal U (z) xprimitive period delay unit (z in Repetitive controller module -N), adjuster (z ks (z)) process after, obtain adjuster output valve i' ex;
(3.4), by error signal E (z) xwith adjuster output valve i' exbe added, obtain the output variable i of repetitive controller ex;
Described PI controller to the method that electric current controls is:
3.1), by the output variable i of Repetitive controller module exwith the Proportional coefficient K in proportional component pbe multiplied, obtain the controlled quentity controlled variable Δ i after proportional component ex;
3.2), by controlled quentity controlled variable Δ i exfirst by the integral element in PI controller obtain Δ i' ex, then by controlled quentity controlled variable Δ i exwith Δ i' exbe added, obtain the final output variable of PI controller.
4. according to claim 3 based on the adaptive Active Power Filter-APF composite control method of PI, it is characterized in that: the Proportional coefficient K in described proportional component pcomputational methods be:
K p＝ω c(L 1+L 2)
Wherein, L 1, L 2be respectively the inductance value in LCL filter, ω crepresent the cross-over frequency of network system.
CN201410784034.4A 2014-12-17 2014-12-17 A kind of based on PI adaptive Active Power Filter-APF composite control method Expired - Fee Related CN104410074B (en)

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Cited By (6)

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Publication number Priority date Publication date Assignee Title
CN104836231A (en) * 2015-05-14 2015-08-12 电子科技大学 H-infinity repetition control method of active power filter
CN104882886A (en) * 2015-05-15 2015-09-02 电子科技大学 LLCL filtering-based active power filter compound control method
CN106208142A (en) * 2016-08-26 2016-12-07 太原理工大学 A kind of LCL type combining inverter repeats double-closed-loop control method
CN106532702A (en) * 2016-11-25 2017-03-22 电子科技大学 Improved broadband adaptive repetitive control method of active power filter
CN107546967A (en) * 2017-09-27 2018-01-05 成都麦隆电气有限公司 A kind of APF output current control methods based on multistage filtering repetitive controller
WO2022262065A1 (en) * 2021-06-18 2022-12-22 苏州大学 Method for controlling inverter on basis of cascaded repetitive controller, and related device

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104836231A (en) * 2015-05-14 2015-08-12 电子科技大学 H-infinity repetition control method of active power filter
CN104882886A (en) * 2015-05-15 2015-09-02 电子科技大学 LLCL filtering-based active power filter compound control method
CN106208142A (en) * 2016-08-26 2016-12-07 太原理工大学 A kind of LCL type combining inverter repeats double-closed-loop control method
CN106532702A (en) * 2016-11-25 2017-03-22 电子科技大学 Improved broadband adaptive repetitive control method of active power filter
CN106532702B (en) * 2016-11-25 2018-12-18 电子科技大学 A kind of Active Power Filter-APF improvement adaptive repetitive control of wideband
CN107546967A (en) * 2017-09-27 2018-01-05 成都麦隆电气有限公司 A kind of APF output current control methods based on multistage filtering repetitive controller
WO2022262065A1 (en) * 2021-06-18 2022-12-22 苏州大学 Method for controlling inverter on basis of cascaded repetitive controller, and related device

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