CN106374490B - Control Method of Active Power Filter based on dynamic surface fuzzy sliding mode tracking control - Google Patents

Control Method of Active Power Filter based on dynamic surface fuzzy sliding mode tracking control Download PDF

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CN106374490B
CN106374490B CN201610839356.3A CN201610839356A CN106374490B CN 106374490 B CN106374490 B CN 106374490B CN 201610839356 A CN201610839356 A CN 201610839356A CN 106374490 B CN106374490 B CN 106374490B
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control
derivative
function
active power
dynamic surface
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CN106374490A (en
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李思扬
梁霄
储云迪
费峻涛
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Changzhou Campus of Hohai University
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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
    • 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
    • H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
    • H02J3/1821—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators
    • H02J3/1835—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators with stepless control
    • H02J3/1842—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators with stepless control wherein at least one reactive element is actively controlled by a bridge converter, e.g. active filters
    • 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
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
    • 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)

Abstract

The invention discloses a kind of Control Method of Active Power Filter based on dynamic surface fuzzy sliding mode tracking control, first, establish the mathematical model of Three-Phase Parallel Active Power Filter-APF, filter is designed first with dynamic surface control method, Adaptive Fuzzy Control is recycled to approach, it is eventually adding sliding-mode surface control, system is made to keep stable state, by simulation results show the validity of the method for the present invention.The method of the present invention greatly strengthens the compensation performance and robust performance of system, achievees the purpose that fast and effective harmonic carcellation.

Description

Control Method of Active Power Filter based on dynamic surface fuzzy sliding mode tracking control
Technical field
The present invention relates to a kind of control methods of active filter, more particularly to one kind to be based on dynamic surface fuzzy sliding mode tracking control Control Method of Active Power Filter.
Background technique
Using power filter device absorb harmonic source caused by harmonic current, be it is a kind of inhibit harmonic pollution it is effective Measure.Active Power Filter-APF has fast-response and high controllability, can not only compensate each harmonic, can also compensate for Reactive power, inhibition flickering etc..Non-linear and uncertain due to electric system, adaptive and intelligent control has modeling simple List controls the advantages that precision is high, non-linear adaptive is strong, can apply harmonious for utility power quality control in active filter Wave is administered, and has important research significance and market value.
Summary of the invention
It is an object of the invention to overcome deficiency in the prior art, provide a kind of based on dynamic surface fuzzy sliding mode tracking control Control Method of Active Power Filter, is more suitable compensation circuit harmonic wave, improves system robust property and power quality.
In order to achieve the above objectives, the technical scheme adopted by the invention is that：Based on the active of dynamic surface fuzzy sliding mode tracking control Electric-power filter control method, includes the following steps：
Step 1：Establish Active Power Filter-APF mathematical model；
Step 2：Controller is designed using Li Ya spectrum promise husband function, dynamic surface control, fuzzy control and sliding formwork control.
Step 1 specifically includes following steps：
Establishing Active Power Filter-APF mathematical model is：
Wherein：x1For reference signal,For x1Derivative,For x2Derivative, U=dk, LcFor inductance, RcFor resistance, vcdFor DC capacitor voltage, vkFor three phase active electric power filtering Device end voltage, ikElectric current, d are compensated for three-phasekFor switch state function,Then dkDependent on the logical of kth phase IGBT Disconnected state, is the nonlinear terms of system；ck、cmFor switch function, m, k are the constant greater than 0.
Step 2 specifically includes following steps：
Define location error e1=x1-x1d (12)
Wherein：x1dFor command signal, formula (12) derivation is obtained：
Wherein：For x1dDerivative；
It defines Li Ya and composes promise husband function：
Derivation is carried out to liapunov function (14)：
Wherein：α1ForLow-pass filterOutput, τ is time constant, and S is Laplace operator；e2For void Quasi- error；
If virtual error e2=x2-α1 (16)
Definition：
Wherein：z1For the normal number greater than 0；For α1Derivative；y2For filtering error；
Consider location error, virtual error, filtering error, defines liapunov function：
Formula (19) derivation is obtained：
WhereinFor y2Derivative,ForDerivative；
Formula (16), (17), (18) are substituted into formula (20) and obtained：
Wherein：ForDerivative；
To makeTherefore design control rate is：
Define sliding-mode surface s=e2, use ambiguity functionIt goes to approach f (x), designing final control rate is：
Wherein, z2For the normal number greater than 0, η is constant, and η >=| D |, D is the upper bound constant of η, and sgn is sign function.
Compared with prior art, the beneficial effects obtained by the present invention are as follows being：Have extensively studied the filter of parallel three phase active electric power The principle of wave device, founding mathematical models, utilize Three-Phase Parallel Active Power Filter-APF linear state equations, wound on this basis New property it joined dynamic surface control method；Active Power Filter-APF model reference self-adapting control is studied, dynamic surface is proposed Fuzzy sliding mode adaptive control algorithm, the harmonic compensation applied to Three-Phase Parallel Active Power Filter-APF control.Pass through MATLAB emulation, simulation result is compared with Hysteresis control result, by comparing, is demonstrated and is increased the control of dynamic surface fuzzy sliding mode The self-adaptation control method of system is more suitable compensation circuit harmonic wave, improves power quality.
Detailed description of the invention
Fig. 1 is the main circuit structure of parallel connection type APF.
Fig. 2 is dynamic surface fuzzy sliding mode adaptive controller block diagram.
Fig. 3 is compensation electric current time history plot.
Fig. 4 is systematic error time history plot.
Fig. 5 is the α value time history plot of dynamic surface output.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention Technical solution, and not intended to limit the protection scope of the present invention.
Based on the Control Method of Active Power Filter of dynamic surface fuzzy sliding mode tracking control, include the following steps.
(1) Active Power Filter-APF model is established
The basic functional principle of Active Power Filter-APF is to detect the voltage and current of target compensation, is transported through instruction current Calculate the command signal i that circuit counting obtains compensation electric current* c, the signal compensated current occuring circuit amplification obtains compensation electric current ic, the harmonic wave to be compensated in electric current and load current and idle equal current cancelings are compensated, desired source current is finally obtained.
Following formula can be obtained according to Circuit theory and Kirchhoff's theorem：
v1,v2,v3Respectively three phase active electric power filter end voltage, i1,i2,i3Respectively three-phase compensates electric current, v1M, v2M,v3M,vMNM point is respectively indicated in Fig. 1 to a, b, c, N point voltage；LcFor inductance, RcFor resistance.
Assuming that exchange side supply voltage is stablized, it is available
And define ckFor switch function, indicates the working condition of IGBT, be defined as follows：
Wherein, k=1,2,3.
Meanwhile vkM=ckvdc, so formula (1) can be rewritten as
Define dkFor switch state function, it is defined as follows：
Then dkIt is the nonlinear terms of system dependent on the on off operating mode of kth phase IGBT.
And have
So (4) can be rewritten as
Definition
So
Wherein,ForDerivative,For ikDerivative.
So formula (7) can be rewritten into following form
Wherein,U=dk
(2) dynamic surface control
Define location error：
e1=x1-x1d (12)
Wherein x1dFor command signal, formula (12) derivation is obtained：
It defines Li Ya and composes promise husband function：
Derivation is carried out to liapunov function (14)：
If virtual error：
e2=x2-α1 (16)
Take α1ForLow-pass filterOutput, τ is time constant, and S is Laplace operator；
Definition
Consider location error, virtual controlling error, filtering error, defines liapunov function：
Formula (19) derivation is obtained：
Formula (16), (17), (18) are substituted into formula (20) and obtained：
WhereinForDerivative.
To makeTherefore design control rate is：
It proves：
IfB2Bounded is denoted as M2,
Consider location error, virtual controlling error, filtering error, formula (21) can abbreviation be：
Above formula abbreviation is obtained：
Take z1≥1+r,R is the normal number greater than 0；
Above-mentioned value is brought into formula (24) to obtain：
If
It takesIt substitutes into formula (25)：
It obtains
So stablizing.
(3) adaptive dynamic surface fuzzy sliding mode tracking control
Ri:If x1 isand….xn isthen y is Bi(i=1,2 ..., N)
Wherein,For xj(j=1,2 ..., n) subordinating degree function, then the output of fuzzy system is：
Wherein ξ=[ξ1(x) ξ2(x)...ξN(x)]T,
For the fuzzy close of f (x, y), using the form for approaching f (1) and f (2) respectively, corresponding Design of Fuzzy Systems For：
Ambiguity in definition function is following form：
Wherein,
Define best approximation constant θ*：
Ω is the set of θ in formula, then：
F (x)=θ*Tξ(x)+ε
ε is the approximate error of fuzzy system,ForTransposition, θ*TFor θ*Transposition.For given arbitrarily small constant ε (ε>0), as lower inequality is set up：|f(x,y)-ξT(x)θ*|≤ε is enabledAnd make
Define sliding-mode surface s=e2, use ambiguity functionIt goes to approach f (x), designing final control rate is：
It proves：
Consider the error of location error, virtual controlling error, filtering error, fuzzy system, defines liapunov function For：
Wherein γ is design parameter.
Above formula derivation is obtained：
Wherein,ForDerivative；
It willIt substitutes into (34), wherein setting
Assuming that B2Bounded is denoted as M2, so：Formula (35) after substitution is as follows：
Formula (35) abbreviation is obtained：
Take z1≥1+r,Wherein r is the normal number greater than 0.
If(36) are substituted into obtain：
WhenWhen, formula (37) abbreviation is：
WhenWhen, design adaptive law(38) are substituted into obtain：
So adaptive dynamic surface fuzzy sliding mode tracking control system is stable.
(4) simulating, verifying
In order to verify the feasibility of above-mentioned theory, emulation experiment has been carried out at Matlab.Simulation results show set Count the effect of controller.
Simulation parameter is chosen as follows：
The selection of dynamic surface filter parameter is as follows：z1=z2=50000, τ=0.00001.
Fuzzy Sliding Model Controller parameter selection is as follows：
γ=10000000, b=0.85
Fig. 3, Fig. 4 show respectively compensation electric current and systematic error, and the two abscissa is time t, and unit is the second, and t >= 0.Compared by two width figures it is found that about since 0.05 second, compensation current is stably held in the left side 20A after system is stablized The right side, systematic error is almost 0 at this time, but at about 0.13 second, compensation electric current increased suddenly, and error is caused to have by a small margin Sharply increase, after this, compensation electric current restore stable again, but stationary value promoted arrived 60A, at this point, error also starts Restore to stablize, does not occur significantly fluctuating.
Fig. 5 is expressed as the α value of the output of dynamic surface.As seen from the figure, α value maintained always 0 after about 0.05 second, occasional There is fluctuation by a small margin.Illustrate the stable state that can promote closed-loop system after dynamic surface control method is added.
Specific example the results show that the active electric power based on dynamic surface fuzzy sliding mode self adaptive control that the present invention designs Filter control method can effectively overcome non-linear factor, and external disturbance etc. influences, to the steady of improvement active filter system Qualitative and dynamic property, it is feasible for improving power transmission and distribution, power grid security guarantee and power quality.
The above is only the preferred embodiment of the present invention, it should be pointed out that：Without departing from the principle of the present invention, may be used also To make several improvements and modifications, these modifications and embellishments should also be considered as the scope of protection of the present invention.

Claims (2)

1. the Control Method of Active Power Filter based on dynamic surface fuzzy sliding mode tracking control, which is characterized in that include the following steps：
Step 1：Establish Active Power Filter-APF mathematical model；
Step 2：Controller is designed using Li Ya spectrum promise husband function, dynamic surface control, fuzzy control and sliding formwork control；
Step 2 specifically includes following steps：
Define location error e1=x1-x1d (12)
Wherein：x1dFor command signal, formula (12) derivation is obtained：
Wherein：For x1dDerivative；
It defines Li Ya and composes promise husband function：
Derivation is carried out to liapunov function (14)：
Wherein：α1ForLow-pass filterOutput, τ is time constant, and S is Laplace operator；e2Virtually to miss Difference；
If virtual error e2=x2-α1 (16)
Definition：
Wherein：z1For the normal number greater than 0；For α1Derivative；y2For filtering error；
Consider location error, virtual error, filtering error, defines liapunov function：
Formula (19) derivation is obtained：
WhereinFor y2Derivative,ForDerivative；
Formula (16), (17), (18) are substituted into formula (20) and obtained：
Wherein：ForDerivative；
To makeTherefore design control rate is：
Define sliding-mode surface s=e2, use ambiguity functionIt goes to approach f (x), designing final control rate is：
Wherein, z2For the normal number greater than 0, η is constant, and η >=| D |, D is the upper bound constant of η, and sgn is sign function.
2. the Control Method of Active Power Filter according to claim 1 based on dynamic surface fuzzy sliding mode tracking control, special Sign is that step 1 specifically includes following steps：
Establishing Active Power Filter-APF mathematical model is：
Wherein：x1For reference signal,For x1Derivative,For x2Derivative, U=dk, LcFor inductance, RcFor resistance, vdcFor DC capacitor voltage, vkFor three phase active electric power filtering Device end voltage, ikElectric current, d are compensated for three-phasekFor switch state function,Then dkDependent on the logical of kth phase IGBT Disconnected state, is the nonlinear terms of system；ck、cmFor switch function, m, k are the constant greater than 0.
CN201610839356.3A 2016-09-21 2016-09-21 Control Method of Active Power Filter based on dynamic surface fuzzy sliding mode tracking control Expired - Fee Related CN106374490B (en)

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CN107240921A (en) * 2017-06-13 2017-10-10 李昊昊 Based on the SVC sliding-mode controls for integrating adaptive backstepping
CN110501912B (en) * 2019-04-01 2022-09-27 东北电力大学 Self-adaptive fuzzy dynamic surface sliding mode control method for multi-machine power system meeting preset output tracking performance
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CN102856904A (en) * 2012-09-26 2013-01-02 河海大学常州校区 Self-adaption fuzzy sliding control method for active filter based on fuzzy approximation
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