CN106292283B - A kind of adaptive fuzzy integral sliding mode control method of photovoltaic combining inverter - Google Patents
A kind of adaptive fuzzy integral sliding mode control method of photovoltaic combining inverter Download PDFInfo
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- CN106292283B CN106292283B CN201610777733.5A CN201610777733A CN106292283B CN 106292283 B CN106292283 B CN 106292283B CN 201610777733 A CN201610777733 A CN 201610777733A CN 106292283 B CN106292283 B CN 106292283B
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Abstract
The invention discloses a kind of adaptive fuzzy integral sliding mode control methods of photovoltaic combining inverter, first with State-space Averaging Principle, inverter mathematical model is established, then takes into account modeling error, systematic uncertainty and external interference, establishes actual inverter equation.Choose Integral Sliding Mode face, calculate Equivalent control law, in control law interference and indeterminate, compensated using switching control item, to ensure that system stability, the boundary of distracter in switching control item then approached using fuzzy system, reduces system chatter.The present invention, which is used, removes control inverter using adaptive fuzzy integral sliding mode control rule, so that inverter has preferable grid-connected performance, harmonic content is low, strong robustness.
Description
Technical field
The invention belongs to inverter control method technical fields, and in particular to a kind of adaptive mode of photovoltaic combining inverter
Integral sliding mode control method is pasted, realizes the self adaptive control to inverter using fuzzy integral sliding formwork control technology.
Background technique
With the rise of new energy technology, photovoltaic power generation has become the indispensable a part of electric power resource.However it is real
Existing grid-connected, inverter is a necessary link.The superiority and inferiority of gird-connected inverter directly affects power quality and power grid peace
Entirely.
Inverter is a kind of electrical device by DC conversion at alternating current, and the control target of inverter is that realization is grid-connected
Tracking of the voltage to power grid reference voltage.Traditional control method has PID, Hysteresis control etc., but due to the practical fortune of photovoltaic system
Capable feature, conventional method is unsatisfactory, and anti-interference ability and robustness are poor.
Sliding formwork control is a kind of nonlinear control method, and its feature is that system structure is not fixed, but is worked as according to system
Preceding state is purposefully changed according to the sliding mode set.Compared to traditional control method, the design of sliding mode
Unrelated with image parameter and disturbance, this is allowed for, and sliding formwork control is insensitive to Parameters variation and disturbance, and physics realization is simple.It is fuzzy
Control is a kind of control method based on fuzzy logic, its main feature is that the control experience using people is dissolved into controller, is had
Fuzzy control is applied in inverter control by scholar.Almighty approaching theorem shows that fuzzy close device is except approximation by polynomi-als, mind
Through network approach it is outer another it is omnipotent approach device, it is omnipotent to approach the basis that device is Adaptive Fuzzy Control.
Summary of the invention
For the deficiency of conventional inverter control method, fuzzy control and sliding formwork control are combined and are applied to parallel network reverse
In device, propose a kind of adaptive fuzzy integral sliding mode control method of photovoltaic combining inverter, complete to inverter it is smooth simultaneously
Net.
It realizes above-mentioned technical purpose, reaches above-mentioned technical effect, the invention is realized by the following technical scheme:
A kind of adaptive fuzzy integral sliding mode control method of photovoltaic combining inverter, comprising the following steps:
Step 1: adoption status space average method, establishes the photovoltaic combining inverter mathematical model in a cycle；
Step 2: being modified to photovoltaic combining inverter mathematical model, the photovoltaic grid-connected inversion with distracter is obtained
Device mathematical model；
Step 3: establishing the Equivalent control law equation of the sliding mode controller based on photovoltaic combining inverter；
Step 4: compensating to the unknown in sliding formwork control Equivalent control law, compensated sliding mode controller is obtained
Control law equation；
Step 5: approaching the boundary of distracter using Fuzzy control system；
Step 6: design adaptive law, obtains the control law equation of final adaptive fuzzy integral sliding mode control device；
Step 7: generating control signal according to control law equation, controlling each power switch pipe of inverter.
Photovoltaic combining inverter mathematical model in a cycle in the step 1 are as follows:
Wherein, uacFor grid-connected inverters voltage, udcFor DC voltage, D is the switching tube on inverter in diagonal relationship
S1、S4Duty ratio, Cac、LacRespectively inverter ac lateral capacitance and inductance, RLTo exchange lateral load.
Revised photovoltaic combining inverter mathematical model in the step 2 are as follows:
Wherein, g (t) representative model uncertainty and external interference.
In the step 3, Equivalent control law equation are as follows:
Wherein,For uacSecond derivative, uacrFor power grid reference voltage,For the second derivative of power grid reference voltage,
Tracking error between e output voltage and reference voltage, g are model uncertainty and external interference, k1、k2It is adjustability coefficients,
It can set according to actual needs.
In the step 4, the control law equation of compensated sliding mode controller are as follows:
D=Deq+Dsw (5)
Wherein, gEFor the boundary of distracter g, meet | g |≤gE, sgn is sign function, and s is sliding formwork function,E=uac-uacr,
In the step 5, the boundary g of distracter is approached using fuzzy systemE, specifically:
Wherein,For distracter circle gEEstimated value,For adjustable parameter, []TIndicate that transposition, ξ are fuzzy base vector.
The adaptive law are as follows:
Wherein, η is a normal number, and s is sliding formwork function, and ξ is fuzzy base vector；
The control law equation of final adaptive fuzzy integral sliding mode control device are as follows:
Beneficial effects of the present invention:
The present invention is due to having used sliding formwork control, so that system has the characteristic insensitive to Parameters variation and interference；Mould
The use of fuzzy controllers enables the system to adaptively compensate for interfering, and system robustness is stronger；Inverter output voltage is by DC side
Voltage influence very little, it is not necessary to carry out stable DC side voltage using bulky capacitor.
Detailed description of the invention
Fig. 1 show a kind of main circuit structure schematic diagram of specific implementation of the present invention.
Fig. 2 show a kind of method structural schematic diagram of specific implementation of the present invention.
Fig. 3 show grid-connected inverters voltage oscillogram.
Fig. 4 show voltage-tracing effect picture.
Fig. 5 show valtage following figure.
Fig. 6 is shown with grid-connected voltage spectrogram.
In Fig. 1, udc- DC voltage, uac- grid-connected voltage, uacr- power grid reference voltage, Cdc- DC bus capacitor,
Lac- Inductor, Cac- exchange lateral capacitance, RL- load, S1-S4- power switch pipe.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Application principle of the invention is explained in detail with reference to the accompanying drawing.
Referring to Fig. 1, inverter control structures of the invention use full bridge structure, by 4 power switch (S1~S4) pipe groups
At two groups of bridge arms.Cac、LacRespectively inverter ac lateral capacitance and inductance, RLTo exchange lateral load, CdcFor DC bus capacitor.
Pass through control switch pipe duty ratio (S2、S3Duty ratio is 1-D, S1、S4Duty ratio is D), inverter output voltage is completed to power grid
The tracking of voltage.
Referring to fig. 2, a kind of adaptive fuzzy integral sliding mode control method of photovoltaic combining inverter, comprising the following steps:
Step 1: adoption status space average method, establishes the photovoltaic combining inverter mathematical model in a cycle；
Step 2: being modified to photovoltaic combining inverter mathematical model, the photovoltaic grid-connected inversion with distracter is obtained
Device mathematical model；
Step 3: establishing the Equivalent control law equation of the sliding mode controller based on photovoltaic combining inverter；
Step 4: compensating to the unknown in sliding formwork control ratio, the control law of compensated sliding mode controller is obtained
Equation；
Step 5: approaching the boundary of distracter using Fuzzy control system；
Step 6: design adaptive law, obtains the control law equation of final adaptive fuzzy sliding mode controller；
Step 7: generating control signal using resulting control law equation, controlling each power switch pipe of inverter.
Embodiment one
(1) according to Circuit theory, adoption status space average method establishes the photovoltaic combining inverter mathematics in a cycle
Model:
Wherein, uacFor grid-connected inverters voltage, udcFor DC voltage, D is the switching tube on inverter in diagonal relationship
S1、S4Duty ratio, Cac、LacRespectively inverter ac lateral capacitance and inductance, RLTo exchange lateral load.
(2) Modifying model
It, need to be to the grid-connected of (1) formula since in actual motion, inverter is influenced by modeling error and external interference
The amendment of inverter mathematical model.Consider the actual inverter mathematical model of systematic uncertainty and external interference are as follows:
Wherein, g (t) is model uncertainty and external interference.
(3) sliding mode controller is designed
By control switch pipe duty ratio D, make inverter ac side voltage uacUpper power grid reference voltage u can be trackedacr。
Sliding mode controller design defines sliding-mode surface first, then designs Equivalent control law, arrives system mode track convergence
Sliding-mode surface simultaneously rests on sliding-mode surface.
It defines in sliding formwork function (i.e. Integral Sliding Mode face):
Wherein: tracking error e=uac-uacr, uacrFor power grid reference voltage；
To sliding formwork function s derivation, and enableObtain Equivalent control law:
Wherein,For uacSecond derivative, uacrFor power grid reference voltage,For the second derivative of power grid reference voltage,
Tracking error between e output voltage and reference voltage, g are model uncertainty and external interference, k1、k2It is adjustability coefficients.
(4) for the unknown g in the control law equation of sliding mode controller, using switching control item DswIt compensates
The control law equation of compensated sliding mode controller are as follows:
D=Deq+Dsw (5)
Wherein, gEFor the boundary of distracter g, meet | g |≤gE, sgn sign function, s is sliding formwork function,E=uac-uacr,
(5) the boundary g of distracter is approached using fuzzy systemE, specifically:
Wherein,For distracter circle gEEstimated value,For adjustable parameter, ξ is fuzzy base vector.
(6) it is based on Lyapunov theorem of stability design adaptive law are as follows:
Wherein, η is a normal number, and s is sliding formwork function, and ξ is fuzzy base vector；
The control law equation of final adaptive fuzzy sliding mode controller are as follows:
(7) compared according to step 6 gained control law (i.e. duty ratio D) and triangular carrier, generate 4 tunnel PWM waves control letter
Number, 4 switching tubes of inverter are controlled, inverter output voltage are obtained, to realize grid-connected.
(8) pass through emulation, verifying invention
Simulation model is established in simulink, inverter direct-flow side connects photovoltaic system, and main circuit is as shown in Figure 1, emulation
As a result as shown in Figures 3 to 6, simulation parameter such as table 1.
Table 1
Shown in Fig. 3, inverter output voltage sine is fine, and waveform is smooth.
Shown in Fig. 4, inverter output voltage waveform tracks network voltage quickly, and is overlapped with grid voltage waveform.
Shown in Fig. 5, inverter tracking error converges to 0 quickly.
It shown in Fig. 6, can be seen that by spectrogram, grid-connected voltage harmonic content is very low, and the THD of 35 cycles is only 0.55%；
In figure, horizontal axis represents overtone order, and the longitudinal axis represents harmonic content；Fundamental frequency is 50Hz.
To sum up:
The present invention is due to having used sliding formwork control, so that system has the characteristic insensitive to Parameters variation and interference；Mould
The use of fuzzy controllers enables the system to adaptively compensate for interfering, and system robustness is stronger；Inverter output voltage is by DC side
Voltage influence very little, it is not necessary to carry out stable DC side voltage using bulky capacitor.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (3)
1. a kind of adaptive fuzzy integral sliding mode control method of photovoltaic combining inverter, it is characterised in that: the following steps are included:
Step 1: adoption status space average method, establishes the photovoltaic combining inverter mathematical model in a cycle；
The photovoltaic combining inverter mathematical model are as follows:
Wherein, uacFor grid-connected inverters voltage, udcFor DC voltage, D is the switching tube S on inverter in diagonal relationship1、S4
Duty ratio, Cac、LacRespectively inverter ac lateral capacitance and inductance, RLTo exchange lateral load；
Step 2: being modified to photovoltaic combining inverter mathematical model, the photovoltaic combining inverter number with distracter is obtained
Learn model；The revised photovoltaic combining inverter mathematical model are as follows:
Wherein, g (t) representative model uncertainty and external interference；
Step 3: establishing the Equivalent control law equation of the sliding mode controller based on photovoltaic combining inverter；
In the step 3, Equivalent control law equation are as follows:
Wherein,For uacSecond derivative, uacrFor power grid reference voltage,For the second derivative of power grid reference voltage, g is mould
Type uncertainty and external interference, k1、k2It is adjustability coefficients；
Step 4: compensating to the unknown in the Equivalent control law of sliding mode controller, compensated sliding mode controller is obtained
Control law equation；
In the step 4, the control law equation of compensated sliding mode controller are as follows:
D=Deq+Dsw (5)
Wherein, gEFor the boundary of distracter g, meet | g |≤gE, sgn is sign function, and s is sliding formwork function,
Step 5: approaching the boundary of distracter using Fuzzy control system；
Step 6: design adaptive law, obtains the control law equation of final adaptive fuzzy integral sliding mode control device；
Step 7: utilizing gained control law equation, control signal is generated, each power switch pipe of inverter is controlled.
2. a kind of adaptive fuzzy integral sliding mode control method of photovoltaic combining inverter according to claim 1, special
Sign is: in the step 5, the boundary g of distracter is approached using fuzzy systemE, specifically:
Wherein,For distracter circle gEEstimated value,For adjustable parameter, []TIndicate that transposition, ξ are fuzzy base vector.
3. a kind of adaptive fuzzy integral sliding mode control method of photovoltaic combining inverter according to claim 2, special
Sign is: the adaptive law are as follows:
Wherein, η is a normal number, and s is sliding formwork function, and ξ is fuzzy base vector；
The control law equation of final adaptive fuzzy integral sliding mode control device are as follows:
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| CN106707763B (en) * | 2017-02-23 | 2019-10-25 | 河海大学常州校区 | The fuzzy neural overall situation fast terminal sliding-mode control of photovoltaic combining inverter |
| CN107482677B (en) * | 2017-08-15 | 2020-04-28 | 河海大学常州校区 | Fuzzy sliding mode control method for photovoltaic grid-connected inverter based on disturbance observer |
| CN111812984B (en) * | 2020-07-20 | 2022-06-03 | 温州大学 | Model-based robust filtering method for inverter control system |
| CN114928251B (en) * | 2022-05-17 | 2024-05-10 | 华南理工大学 | Phase-shifting full-bridge power supply controlled by self-adaptive integral sliding mode |
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| US8199545B2 (en) * | 2009-05-05 | 2012-06-12 | Hamilton Sundstrand Corporation | Power-conversion control system including sliding mode controller and cycloconverter |
| JP5343230B2 (en) * | 2009-05-13 | 2013-11-13 | 新電元工業株式会社 | Inverter |
| CN101604848B (en) * | 2009-07-07 | 2011-05-25 | 东南大学 | Modified fuzzy sliding mode controlling method of monopole three-phase photovoltaic grid-connected system |
| CN103916039B (en) * | 2014-03-20 | 2016-07-13 | 天津科技大学 | A kind of control method of the photovoltaic combining inverter controlled based on contragradience sliding formwork |
| CN105141164A (en) * | 2015-08-11 | 2015-12-09 | 河海大学常州校区 | Sliding-mode control method for inverse global rapid terminal of single-phase photovoltaic grid-connected inverter |
| CN105244914B (en) * | 2015-11-05 | 2018-01-23 | 国家电网公司 | A kind of sliding formwork direct voltage/Poewr control method for photovoltaic combining inverter |
| CN105375522B (en) * | 2015-11-30 | 2017-10-27 | 河海大学常州校区 | A kind of photovoltaic combining inverter control method |
| CN105846470B (en) * | 2016-06-07 | 2018-03-20 | 河海大学常州校区 | The fuzzy self-adaption sliding-mode control of single-phase photovoltaic grid-connected inverter |
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