CN105915094B - LCL type control method of grid-connected inverter based on power network current single-sensor - Google Patents
LCL type control method of grid-connected inverter based on power network current single-sensor Download PDFInfo
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- CN105915094B CN105915094B CN201610255684.9A CN201610255684A CN105915094B CN 105915094 B CN105915094 B CN 105915094B CN 201610255684 A CN201610255684 A CN 201610255684A CN 105915094 B CN105915094 B CN 105915094B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
- H02M7/53873—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with digital control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/12—Arrangements for reducing harmonics from ac input or output
- H02M1/126—Arrangements for reducing harmonics from ac input or output using passive filters
Abstract
LCL type control method of grid-connected inverter based on power network current single-sensor, is related to a kind of inverter control method.In order to solve the problems, such as that LCL type gird-connected inverter active damping control sensor is of high cost, conventional observation device method is complicated.The control method includes the following steps：Step 1：Acquire power network current iG；Step 2：By the power network current i of acquisitionGIt is input to extended state observer, obtains virtual state amount；Step 3：Obtained virtual state amount is converted, true quantity of state estimated value and network voltage estimated value are obtainedThe quantity of state estimated value includes power network current estimated valueWith inverter current estimated valueStep 4：According to obtained power network current estimated valueInverter current estimated valueWith network voltage estimated valueThe drive signal for generating inverter, controls inverter using the drive signal.Control in being converted for regenerative resource to LCL type gird-connected inverter.
Description
Technical field
The present invention relates to a kind of inverter control method, more particularly to a kind of LCL type based on power network current single-sensor
Control method of grid-connected inverter.
Background technology
Using photovoltaic, wind-powered electricity generation as the extensive using being to solve the energy, environment and resource contradiction of the regenerative resource of representative, in fact
One of the approach of existing human kind sustainable development.Gird-connected inverter, which is played, to be converted to power grid by the electric energy that regenerative resource is sent out and can connect
It is acted on by alternating current.For the harmonic wave for inhibiting gird-connected inverter PWM copped waves to generate, filtering need to be added between inverter and power grid
Device.The common filter type of gird-connected inverter includes L-type and LCL type.L-type FILTER TO CONTROL is simple, and stability is good, in inversion
Be widely used in device product, the disadvantage is that larger inductance value is needed to can be only achieved satisfied filter effect, volume, weight, at
This is higher.LCL type filter can provide stronger high-frequency harmonic rejection ability with less element cost, reduce grid-connected current
Harmonic wave.
LCL filter is the third-order system of inductance and capacitance composition, and there are resonance phenomenas for itself, can lead to networking electric current
Distortion and oscillation, inverter overcurrent, busbar voltage unstability even failure.Resonance inhibition mainly has passive damping and active damping two
Class method.Passive damped method increases system damping by series and parallel compensated resistance, but resistance caused can be lost and fever, reduces system
System efficiency.Active damping realizes that resonance inhibits by control algolithm, and damping loss problem is not present.
Ripe active damping algorithm is using capacitance current Proportional Feedback structure control inner ring at present, in conjunction with power network current control
The method of outer shroud processed.The method needs three sensors to sample power network current, network voltage and capacitance current respectively, sensor at
This is higher.The method for reducing the observation of sensor serviceable condition, but the method for Legacy Status observation is only used for observation state variable
(inverter side electric current, capacitance voltage, grid side electric current) cannot effectively obtain network voltage, and parameters Choice Criteria is complicated.This
Invention uses extended state observer, using the function comprising network voltage information as new expansion state variable, it is only necessary to adopt
Sample power network current not only can accurately estimate the state variables such as inverter current and capacitance voltage, can also estimate power grid
Voltage, active damping and synchronized to realize grid-connected current with single-sensor control.The method of the present invention only needs electricity
The current sensor of net side can effectively reduce cost, and parameter selection is simpler, and ease for use is good.It is proved through emulation, this method tool
There is good performance.
Invention content
Of high cost, traditional sight that the purpose of the present invention is to solve LCL type gird-connected inverter active damping control sensors
The problem of device method complexity is surveyed, the present invention provides a kind of LCL type gird-connected inverter controlling party based on power network current single-sensor
Method.
The LCL type control method of grid-connected inverter based on power network current single-sensor of the present invention, the control method packet
Include following steps：
Step 1：Acquire power network current iG；
Step 2：By the power network current i of acquisitionGIt is input to extended state observer, obtains virtual state amount；
Step 3：Obtained virtual state amount is converted, true quantity of state estimated value is obtained and network voltage is estimated
Calculation value
The quantity of state estimated value includes power network current estimated valueWith inverter current estimated value
Step 4：According to obtained power network current estimated valueInverter current estimated valueWith network voltage estimated valueThe drive signal for generating inverter, controls inverter using the drive signal.
The extended state observer is：
Wherein, [z1 z2 z3 z4] it is the virtual state amount that extended state observer exports, [β1 β2 β3 β4] it is expansion shape
The coefficient of state observer, e are intermediate variable, and h is the sampling time of discrete logarithm, coefficientLIIndicate LCL filtering
The inductance of inverter side, L in deviceGIndicate that the inductance of grid side in LCL filter, C indicate the capacitance in LCL filter, uIIt indicates
The voltage of inverter output.
[β in the extended state observer1 β2 β3 β4] be：
In the step 3, obtained virtual state amount is converted, obtains true quantity of state estimated value and power grid
Voltage estimate valueMethod be：
Wherein,For LCL filter capacitance voltage uCEstimated value, RGFor the parasitism electricity of LCL filter grid side inductance
Resistance, RIFor the dead resistance of LCL filter inverter side inductance；
For network voltageImplicit differential equation form, network voltage estimated value can be obtained by numerical integration
It is described that network voltage estimated value can be obtained by numerical integrationSpecific method be：
To describedUsing single order Euler's numerical integration algorithm, can obtain
Sampling time when wherein t is using single order Euler's numerical integration algorithm, T are the period, and k is the quantity in period,
ForFirst derivative,ForSecond dervative.
The step 4 includes：
Step 4 one：By network voltage estimated valueIt is input to phaselocked loop, is obtainedPhase information, and according to the phase
Position information generates grid-connected current reference value
Step 4 two：According to power network current estimated valueInverter current estimated valueWith grid-connected current reference valueUsing
Active damping algorithm obtains drive signal, is controlled inverter according to the drive signal.
The beneficial effects of the present invention are grid side current sensor is used only in the present invention, need not sample network voltage
Or the information of other state variables, you can realize the active damping and phase controlling of grid-connected current, can effectively save LCL type it is grid-connected
The sensor cost of inverter enhances reliability.In addition, the present invention is simple, extended state observer coefficient can be determined directly, be expanded
It opens the virtual state amount that state observer obtains and directly carries out the observed result that simple algebraic operation can be obtained time of day amount,
Observer tuning process is related to the equation group of Higher-order Determinants without solving.
Description of the drawings
Fig. 1 is the principle schematic of LCL type gird-connected inverter；
Fig. 2 is the LCL type control method of grid-connected inverter based on power network current single-sensor described in specific implementation mode
Principle schematic；Wherein, GC(s) conventional PI control device, H can be used to indicate sampling for the transmission function for indicating current controller
The transmission function of ratio and delay, H are considered in the processCIndicate the depth of feedback of the active damping algorithm based on capacitance current.
Fig. 3 includes Fig. 3 (a), Fig. 3 (b), Fig. 3 (c), Fig. 3 (d) and Fig. 3 (e)；
Fig. 3 (a) be using the control method in specific implementation mode, after state estimation, inverter current iIWaveform show
It is intended to；
Fig. 3 (b) be using the control method in specific implementation mode, after state estimation, capacitance voltage uCWaveform signal
Figure；
Fig. 3 (c) be using the control method in specific implementation mode, after state estimation, grid side electric current iGWaveform show
It is intended to；
Fig. 3 (d) be using the control method in specific implementation mode, after state estimation, network voltage uGWaveform signal
Figure；
Fig. 3 (e) is using the control method in specific implementation mode, and after state estimation, the waveform of electric network voltage phase θ shows
It is intended to；
In Fig. 3 (a) to Fig. 3 (e), suffix EST indicates that estimated result, MES are measured result, and ERR indicates error；
Fig. 4 is using the control method in specific implementation mode, the waveform diagram of stable state control effect.
Specific implementation mode
With reference to attached drawing 1, the model of LCL type gird-connected inverter is represented by：
With reference to attached drawing 2, present embodiment includes generating with reference to letter to the control structure of the LCL type gird-connected inverter in Fig. 1
Number, phaselocked loop, active damping algorithm, extended state observer and become scaling method.Described in present embodiment based on power network current
The LCL type control method of grid-connected inverter of single-sensor includes：
It generates reference signal and passes through the amplitude I to constant currentAMP, using the phase theta of network voltage, generate power network current
Reference waveformIts phase value may be alternatively provided as having certain phase difference with network voltage with realize power because
Several control.Phaselocked loop is used for extracting the phase information of the signal of network voltage.Active damping algorithm uses capacitance current ratio
The strategy of feedback, i.e., the Proportional Feedback that capacitance current is introduced in the inside of power network current closed loop carry out the output of modifier controller, from
And inhibit the resonance of LCL.Present embodiment introduces extended state observer and becomes scaling method, the power grid only measured by sensor
Electric current obtains whole state variables and the estimated value of network voltage, and the control of grid-connected current is realized using these estimated values.
LCL type control method of grid-connected inverter of the present embodiment based on power network current single-sensor specifically includes following step
Suddenly：
Step 1：Acquire power network current iG；
Step 2：By the power network current i of acquisitionGIt is input to extended state observer, obtains virtual state amount：
Extended state observer is：
Wherein, [z1 z2 z3 z4] it is the virtual state amount that extended state observer exports, [β1 β2 β3 β4] it is expansion shape
The coefficient of state observer, unrelated with LCL type gird-connected inverter model, e is intermediate variable, and h is the sampling time of discrete logarithm, is
NumberLIIndicate the inductance of inverter side in LCL filter, LGIndicate the inductance of grid side in LCL filter, C tables
Show the capacitance in LCL filter, uIIndicate the voltage of inverter output.
The determination method of coefficient can determine that the method and LCL type of the determination parameter are grid-connected inverse by Fei Bona odd column methods
The design parameter for becoming device model is unrelated, i.e.,：
Step 3：Obtained virtual state amount is converted, true quantity of state estimated value is obtained and network voltage is estimated
Calculation valueQuantity of state estimated value includes power network current estimated valueWith inverter current estimated value
Obtained virtual state amount is converted, true quantity of state estimated value and network voltage estimated value are obtained's
Method is：
Wherein,For LCL filter capacitance voltage uCEstimated value, RGFor the parasitism electricity of LCL filter grid side inductance
Resistance, RIFor the dead resistance of LCL filter inverter side inductance；
For network voltageImplicit differential equation form, network voltage estimated value can be obtained by numerical integrationSingle order Euler's numerical integration algorithm is such as used, can be obtained
Sampling time when wherein t is using single order Euler's numerical integration algorithm, T are the period, and k is the quantity in period,
ForFirst derivative,ForSecond dervative.
Step 4：According to obtained power network current estimated valueInverter current estimated valueWith network voltage estimated valueThe drive signal for generating inverter, controls inverter using the drive signal：Step 4 one：By network voltage
Estimated valueIt is input to phaselocked loop, is obtainedPhase information, and according to the phase information generate grid-connected current reference value
Step 4 two：According to power network current estimated valueInverter current estimated valueWith grid-connected current reference valueUsing
Active damping algorithm obtains drive signal, is controlled inverter according to the drive signal.
Active damping algorithm in present embodiment, the side to feedover using capacitance current ratio more ripe at present
Method.In addition, POLE PLACEMENT USING can also be used, other algorithms such as model reference adaptive.
Present embodiment difference with the prior art point is：
1. the difference of observation procedure and observational variable.Existing LCL type gird-connected inverter state observation method mostly uses imperial shellfish
Lattice observer or Kalman Filter observer, directly using system state variables as observed quantity, and this method uses expansion state
Observer, using virtual state variable as observed quantity.
2. it is different with the adaptability of parameter that observer coefficient chooses complexity.Conventional observation method observer coefficient it is whole
Surely it is related to system model, the method for mostly using zero-pole assignment needs to solve the equation group for being related to system design parameter determinant,
Operation is complicated, and need to determine the coefficient of observer again through complicated calculations when LCL filter parameter change.This method is made
Extended state observer coefficient can be determined directly by systematic education and sampling time, unrelated with systematic parameter.Expansion state
It observes obtained observed result and true state variable value directly can be obtained by simple algebraic operation, without solving complexity
Equation group, when LCL filter Parameters variation, only change becomes the corresponding coefficient of algebraic manipulation in scaling method.
3. the consistency of state variable observation is different.The method of POLE PLACEMENT USING originates from the sound to single-input single-output system
The adjustment answered only can guarantee the response of a single state variable, and the response of other internal state variables is difficult to maintain consistency.It passes
There are cross-couplings between each variable of system method.Extended state observer used herein, each state variable only include this shape
State variable and NextState variable, are not present cross-couplings phenomenon, and estimation consistency is good.
4. the existing grid-connected FILTER TO CONTROL of LCL type is seldom related to sensorless control, a small amount of document gives
The method of estimation of network voltage, is different from the present invention.Such as, document [Malinowski, M.and S.Bernet (2008) " A
Simple Voltage Sensorless Active Damping Scheme for Three-Phase PWM
Converters With an LCL Filter. " Industrial Electronics, IEEE Transactions on 55
(4)：1876-1880.] under based on the negligible assumed condition of capacitance current, a kind of calculating network voltage method is given,
But there are relatively large deviations with actual conditions for this assumed condition；And document [Mariethoz, S.and M.Morari (2009) "
Explicit Model-Predictive Control of a PWM Inverter With an LCL Filter.″
Industrial Electronics, IEEE Transactions on 56 (2)：389-399.] provided using routine observation device
A method of estimating that network voltage, algorithm are complicated by 14 state variables.
Fig. 3 (a) to Fig. 3 (e) gives the experiment effect that state estimation is carried out in present embodiment, wherein suffix EST tables
Show that estimated result, MES are measured result, ERR indicates error.It can be seen that single-sensor is used only in present embodiment, you can
Each variable is effectively estimated in realization.
Fig. 4 gives the current waveform under stable state control, shows the good steady-state behaviour of present embodiment.
Present embodiment is proposed to observe dummy variable by single-sensor with extended state observer, then be restored true
The method of state variable and disturbance information can use the active damping method of traditional capacitance current feedback, be passed on a skill from a master to a single disciple in the present invention
Other control methods are used on the basis of sensor observation, and the method for this patent is applied to other than LCL type gird-connected inverter
Other control objects, also belong to the protection domain of this patent.
Claims (5)
1. the LCL type control method of grid-connected inverter based on power network current single-sensor, which is characterized in that the control method packet
Include following steps：
Step 1：Acquire power network current iG；
Step 2：By the power network current i of acquisitionGIt is input to extended state observer, obtains virtual state amount；
Step 3：Obtained virtual state amount is converted, true quantity of state estimated value and network voltage estimated value are obtained
The quantity of state estimated value includes power network current estimated valueWith inverter current estimated value
Step 4：According to obtained power network current estimated valueInverter current estimated valueWith network voltage estimated valueProduction
The drive signal of raw inverter, controls inverter using the drive signal；
In the step 4, first by network voltage estimated valueIt is input to phaselocked loop, is obtainedPhase information, generate reference
Signal passes through the amplitude I to constant currentAMP, using the phase theta of network voltage, generate the reference waveform of power network currentFurther according to power network current estimated valueInverter current estimated valueWith grid-connected current reference valueUsing
Active damping algorithm obtains drive signal.
2. the LCL type control method of grid-connected inverter according to claim 1 based on power network current single-sensor, feature
It is, the extended state observer is：
Wherein, [z1 z2 z3 z4] it is the virtual state amount that extended state observer exports, [β1 β2 β3 β4] it is that expansion state is seen
The coefficient of device is surveyed, e is intermediate variable, and h is the sampling time of discrete logarithm, coefficientLIIt indicates in LCL filter
The inductance of inverter side, LGIndicate that the inductance of grid side in LCL filter, C indicate the capacitance in LCL filter, uIIndicate inversion
The voltage of device output.
3. the LCL type control method of grid-connected inverter according to claim 2 based on power network current single-sensor, feature
It is, [the β in the extended state observer1 β2 β3 β4] be：
4. the LCL type control method of grid-connected inverter according to claim 2 or 3 based on power network current single-sensor,
It is characterized in that, in the step 3, obtained virtual state amount is converted, obtains true quantity of state estimated value and power grid
Voltage estimate valueMethod be：
Wherein,For LCL filter capacitance voltage uCEstimated value, RGFor the dead resistance of LCL filter grid side inductance, RI
For the dead resistance of LCL filter inverter side inductance；uGFor network voltage；
For network voltage estimated valueImplicit differential equation form, by numerical integration can obtain network voltage estimate
Value
5. the LCL type control method of grid-connected inverter according to claim 4 based on power network current single-sensor, feature
It is, it is described that network voltage estimated value can be obtained by numerical integrationSpecific method be：
To describedUsing single order Euler's numerical integration algorithm, can obtain
Sampling time when wherein t is using single order Euler's numerical integration algorithm, T are the period, and k is the quantity in period,For
First derivative,ForSecond dervative.
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| CN106452140A (en) * | 2016-11-10 | 2017-02-22 | 厦门大学 | Method for controlling single-phase inverters by aid of adaptive current models in predictive manner |
| CN111245004B (en) * | 2018-11-28 | 2023-06-16 | 哈尔滨工业大学 | Composite robust control method of high-frequency SiC photovoltaic grid-connected inverter under weak current network |
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| CN102882446A (en) * | 2012-10-26 | 2013-01-16 | 哈尔滨工业大学 | Topological structure of brushless direct-current motor driving circuit |
| CN103731058A (en) * | 2013-12-20 | 2014-04-16 | 浙江大学 | Control method for photovoltaic grid-connected inverter based on LCL filter |
| CN104578143A (en) * | 2014-12-15 | 2015-04-29 | 浙江大学 | Compensation method suitable for uncertain large time delay of new energy electric generator |
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| CN102882446A (en) * | 2012-10-26 | 2013-01-16 | 哈尔滨工业大学 | Topological structure of brushless direct-current motor driving circuit |
| CN103731058A (en) * | 2013-12-20 | 2014-04-16 | 浙江大学 | Control method for photovoltaic grid-connected inverter based on LCL filter |
| CN104578143A (en) * | 2014-12-15 | 2015-04-29 | 浙江大学 | Compensation method suitable for uncertain large time delay of new energy electric generator |
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