CN106786639A - A kind of Active Power Filter-APF improves wideband self-adapting resonance control method - Google Patents
A kind of Active Power Filter-APF improves wideband self-adapting resonance control method Download PDFInfo
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- CN106786639A CN106786639A CN201611040349.3A CN201611040349A CN106786639A CN 106786639 A CN106786639 A CN 106786639A CN 201611040349 A CN201611040349 A CN 201611040349A CN 106786639 A CN106786639 A CN 106786639A
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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
- H02J3/18—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
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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
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- 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]
Abstract
Wideband self-adapting resonance control method is improved the invention discloses a kind of Active Power Filter-APF, point of common coupling three-phase voltage is gathered first, electric voltage frequency f is obtained using phaselocked looppllAnd phase theta；Then, harmonic detecting module extracts nonlinear load electric current iLHarmonic signal instruction, and obtain output watt current by DC voltage controller and instruct to be added, then subtract each other the input error signal for obtaining current controller with output current feedback signal；Then the current controller by being made up of harmonic controller and PI controllers obtains output control amount；Finally, output control amount, point of common coupling electric voltage feed forward amount obtain PWM ripple modulation instructions signals with being added by the filter capacity current feedback amount three of active damping module.
Description
Technical field
The invention belongs to electric and electronic technical field, more specifically, it is related to a kind of Active Power Filter-APF to improve wide
Frequency self-adapting resonance control method.
Background technology
With the fast development of distributed generation technology, nonlinear load has obtained large-scale application, and this also causes
Serious harmonic pollution problems in power network.In order to improve the power network quality of power supply, Active Power Filter-APF has obtained widely should
With.At present, the Current Control Technology in Active Power Filter-APF is formed because it can effectively improve harmonic current compensation precision
For a study hotspot.
Hystersis controller can be used to improve the gain of current control loop, and then improve harmonic current compensation precision.So
And, the switching frequency of hystersis controller is change, and antijamming capability is poor.Repetitive controller can improve electric current loop increasing
Beneficial and switching frequency is fixed, and is particularly well-suited to the tracking of periodic signal and the suppression of interference signal.But, its frequency adaptability
It is poor, and there is the time delay of primitive period.Document《Frequency-Adaptive Fractional-Order
Repetitive Control of Shunt Active Power Filters》(Transaction on Industrial
Electronics,IEEE[J],2015,62(3):Dividing for parallel connection type active electric filter is proposed in 1659-1668)
Number rank repetitive controller, also has good dynamic property while frequency adaptability is improved.However, its control algolithm compared with
It is complexity, amount of calculation is larger.Document《High-Performance Digital Resonant Controllers
Implemented With Two Integrators》(Transaction on Power Electronics,IEEE[J],
2011,26(2):The resonant controller based on second order improper integral is proposed in 563-576), it whether there is at center frequency points
Limit gain, can be completely eliminated systematic steady state error.However, needing the resonance of multiple different center frequencies to control in system
Device carries out the tracking of different subharmonic, and this can greatly increase the amount of calculation of control system.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided it is adaptive that a kind of Active Power Filter-APF improves wideband
Resonance control method is answered, using drop time Generalized Integrator, to reduce the amount of calculation of control system, while being carried out at centre frequency
Phase compensation, to increase system stability margin, improves system response time and stability.
For achieving the above object, a kind of Active Power Filter-APF of the invention improves wideband self-adapting resonance controlling party
Method, it is characterised in that comprise the following steps：
(1) the three-phase voltage u of point of common coupling, is gatheredpcc, horizontal lock is entered to it using phaselocked loop, obtain point of common coupling
The frequency f of voltagepllAnd phase angle θ；
(2), collection nonlinear load electric current iL, abc- α β coordinate transforms are carried out to it, obtain under stationary reference coordinate system
Load current iLαβ, then current controller harmonic reference signal i is obtained by Harmonic currents detection modulerefαβ；
(3), collection active electric power filter to output current iO, abc- α β coordinate transforms are carried out to it, obtain stationary reference
Output current i under coordinate systemOαβ；
(4) the output watt current instruction Δ i under stationary reference coordinate system, is calculateddαβ：
(4.1), DC voltage specified rate udcrefWith the DC voltage u for collectingdcMake the difference, gained difference passes through direct current
Pressure controller obtains the output watt current Δ i under synchronous rotating framed；
(4.2), by the output watt current Δ i under synchronous rotating framedDq- α β coordinate transforms are carried out, obtains static
Output watt current instruction Δ i under reference framedαβ；
(5), the output control amount u of calculating current controllerpiαβ：
(5.1), calculating current controller error signal delta iLαβ：By current controller harmonic reference signal irefαβWith it is static
Output current i under reference frameOαβDiffer from, then Δ i is instructed with the output watt current under stationary reference coordinate systemdαβAsk
With obtain current controller error signal Δ iLαβ：
ΔiLαβ=irefαβ-iOαβ+Δidαβ；
(5.2), frequency f of the current controller according to obtained by step (1)pll, by error signal Δ iLαβIt is sequentially sent to humorous
Wave controller and PI controllers, obtain output control amount upiαβ；
(6) PWM command value V, is calculateda Vb Vc：
(6.1), by the three-phase voltage u of point of common couplingpccBy abc- α β coordinate transforms, stationary reference coordinate system is obtained
Under point of common coupling voltage upccαβ；
(6.2), collection LCL filter capacitance current iC, obtained under stationary reference coordinate system by abc- α β coordinate transforms
Capacitance current iCαβ, then by active damping gain module, obtain the active damping feedback quantity under stationary reference coordinate system
uCαβ：
uCαβ=kD·iCαβ；
Wherein, kDIt is active damping gain；
(6.3), by current controller output control amount upiαβ, point of common coupling voltage u under stationary reference coordinate systempccαβWith
And active damping feedback quantity uCαβThree is added, then by α β-abc coordinate transforms, obtains PWM command value Va Vb Vc；
(7), modulation instructions value V of the PWM module according to obtained by step (6)a Vb VcCorresponding switch controlling signal is obtained,
And then control the break-make of each IGBT of Active Power Filter-APF.
What goal of the invention of the invention was realized in：
A kind of Active Power Filter-APF of the present invention improves wideband self-adapting resonance control method, and point of common coupling is gathered first
Three-phase voltage, electric voltage frequency f is obtained using phaselocked looppllAnd phase theta；Then, harmonic detecting module extracts nonlinear load electricity
Stream iLHarmonic signal instruction, with by DC voltage controller obtain output watt current instruct be added, then with output current
Feedback signal subtracts each other the input error signal for obtaining current controller；Then by being made up of harmonic controller and PI controllers
Current controller obtains output control amount；Finally, output control amount, point of common coupling electric voltage feed forward amount and by active damping mould
The filter capacity current feedback amount three of block is added and obtains PWM ripple modulation instructions signals.Harmonic controling in the inventive method
Device is made up of the corresponding modified resonant controller of one group of different rd harmonic signal with parallel form, and changes h rd harmonic signals
, using the drop time improper integral mode based on phase compensation, which algorithm is simple, calculates for corresponding modified resonant controller
Amount is small, reduces algorithm in radio frequency system and calculates the time, while modified resonant controller also introduces phase compensation, increased and is
System stability margin, improves system response time and stability.
Meanwhile, a kind of Active Power Filter-APF of the invention improves wideband self-adapting resonance control method also with following beneficial
Effect：
(1), the algorithm structure is simple, can be programmed using C language, is easily achieved on the controller chips such as DSP；
(2), using depression of order Generalized Integrator, amount of calculation is smaller, shortens controller and calculates the time, saves control chip and deposits
Storage space；
(3), can be applied to Active Power Filter-APF carries out harmonic wave control in power network, micro-capacitance sensor, and with higher humorous
Ripple current compensation precision, frequency adaptability is higher.
Brief description of the drawings
Fig. 1 is that Active Power Filter-APF improves wideband self-adapting resonance control method system schematic；
Fig. 2 is current controller control block diagram；
Fig. 3 compensates load harmonic effect oscillogram to be provided without the inventive method；
Fig. 4 is to compensate load harmonic effect oscillogram using the inventive method；
Load harmonic current and power network current spectrogram when Fig. 5 is for compensation load harmonic；
Fig. 6 compensates load harmonic dynamic response oscillogram to be provided without the inventive method；
Fig. 7 is to compensate load harmonic dynamic response oscillogram using the inventive method；
Fig. 8 is that load harmonic effect oscillogram is compensated when mains frequency rises using the inventive method；
Fig. 9 is that load harmonic effect oscillogram is compensated when mains frequency declines using the inventive method.
Specific embodiment
Specific embodiment of the invention is described below in conjunction with the accompanying drawings, so as to those skilled in the art preferably
Understand the present invention.Requiring particular attention is that, in the following description, when known function and design detailed description perhaps
When can desalinate main contents of the invention, these descriptions will be ignored herein.
Embodiment
Describe for convenience, the present embodiment is humorous with the load generation of Three-Phase Parallel Active Power Filter-APF compensating non-linear
As a example by ripple, narration is in control frequency fsIn the case of=10KHz, 5,7,11,13 rd harmonic signals of electric current in compensation network
Specific method：
In the present embodiment, as shown in figure 1, a kind of Active Power Filter-APF of the invention improves wideband self-adapting resonance controlling party
Method, comprises the following steps：
(1) the three-phase voltage u of point of common coupling, is gatheredpcc, horizontal lock is entered to it using phaselocked loop, obtain point of common coupling
The frequency f of voltagepllAnd phase angle θ；
(2), collection nonlinear load electric current iL, abc- α β coordinate transforms are carried out to it, obtain under stationary reference coordinate system
Load current iLαβ, then current controller harmonic reference signal i is obtained by Harmonic currents detection modulerefαβ；
(3), collection active electric power filter to output current iO, abc- α β coordinate transforms are carried out to it, obtain stationary reference
Output current i under coordinate systemOαβ；
In the present embodiment, abc- α β coordinates are transformed to
(4) the output watt current instruction Δ i under stationary reference coordinate system, is calculateddαβ：
(4.1), DC voltage specified rate udcrefWith the DC voltage u for collectingdcMake the difference, gained difference passes through direct current
Pressure controller obtains the output watt current Δ i under synchronous rotating framed；
Wherein, using PI control modes, PI control mode transmission functions are DC voltage controller：
Wherein KpvAnd KivProportionality coefficient and integral coefficient are represented respectively, and z represents Z domains operator.In the present embodiment, according to
To the modeling analysis in DC voltage control loop, obtain working as Kpv=1.6 and KivWhen=0.005, the DC voltage controller have compared with
Good static state and dynamic effect.
(4.2), by the output watt current Δ i under synchronous rotating framedDq- α β coordinate transforms are carried out, obtains static
Output watt current instruction Δ i under reference framedαβ；
In the present embodiment, in order to output watt current Δ idDq- α β coordinate transforms are carried out, under synchronous rotating frame
Reactive current Δ iq0, dq- α β coordinates are taken to be transformed to
(5), the output control amount u of calculating current controllerpiαβ：
(5.1), calculating current controller error signal delta iLαβ：By current controller harmonic reference signal irefαβWith it is static
Output current i under reference frameOαβDiffer from, then Δ i is instructed with the output watt current under stationary reference coordinate systemdαβAsk
With obtain current controller error signal Δ iLαβ：
ΔiLαβ=irefαβ-iOαβ+Δidαβ；
(5.2), current controller, the frequency f according to obtained by step (1)pll, by error signal Δ iLαβIt is sequentially sent to humorous
Wave controller and PI controllers, obtain output control amount upiαβ, current controller control loop block diagram is as shown in Figure 2；
Wherein, harmonic controller by the corresponding modified resonant controller of one group of different rd harmonic signal with parallel form structure
Into the expression formula of harmonic controller is：
H represents overtone order；X is sign, and x is expressed as positive sequence for "+", and x is expressed as negative phase-sequence for "-", in the present embodiment
In, overtone order h=1,5,7,11,13, harmonic controller expression formula is HC (z)=G1+(z)+G5-(z)+G7+(z)+G11-(z)+
G13+(z)；
Wherein, the corresponding modified resonant controller of h rd harmonic signals is using the drop time Generalized Product based on phase compensation
Point mode, the transmission function of the corresponding modified resonant controller of h rd harmonic signals is：
KIhRepresent storage gain；T is the controlling cycle of system；θhIt is phase compensation angle；ω1=2 π fpllRepresent fundamental wave angle
Frequency, in the present embodiment, T=1/fs=1/10KHz, KI1=KI5=KI7=KI11=KI13=100, θ1=θ5=θ7=θ11=
θ13=π/4.
Wherein, PI controller transfer functions are：
KpiAnd KiiProportionality coefficient and integral coefficient, in the present embodiment, K are represented respectivelypv=5.56 and Kiv=9.05, when
Kpv=5.56 and KivWhen=9.05, controller has good dynamic property and stability.
(6) PWM command value V, is calculateda Vb Vc：
(6.1), by the three-phase voltage u of point of common couplingpccBy abc- α β coordinate transforms, stationary reference coordinate system is obtained
Under point of common coupling voltage upccαβ；
(6.2), collection LCL filter capacitance current iC, obtained under stationary reference coordinate system by abc- α β coordinate transforms
Capacitance current iCαβ, then by active damping gain module, obtain the active damping feedback quantity under stationary reference coordinate system
uCαβ：
uCαβ=kD·iCαβ；
Wherein, kDIt is active damping gain, in the present embodiment, kD=9；
(6.3), by current controller output control amount upiαβ, point of common coupling voltage u under stationary reference coordinate systempccαβWith
And active damping feedback quantity uCαβThree is added, then by α β-abc coordinate transforms, obtains PWM command value Va Vb Vc；
In the present embodiment, abc- α β coordinates are transformed to
(7), modulation instructions value V of the PWM module according to obtained by step (6)a Vb VcCorresponding switch controlling signal is obtained,
And then control the break-make of each IGBT of Active Power Filter-APF.
Fig. 3 is the compensation load harmonic effect ripple of the resonant controller based on second order improper integral for being provided without the inventive method
Shape figure, Fig. 4 is to compensate load harmonic effect oscillogram using the resonant controller based on depression of order improper integral of the inventive method：
From figs. 3 and 4 it can be seen that after Active Power Filter-APF compensation harmonic electric current, grid side current waveform is close to just
String ripple, and active electric power filter to output current is smaller to tracking error that reference current is instructed, illustrates based on second order Generalized Product
The resonant controller divided and the resonant controller based on depression of order improper integral for using the inventive method all have good compensation
Effect and compensation precision higher, but can be seen that the resonance based on second order improper integral from both transmission function expression formulas
The exponent number of controller is second order, and the exponent number of the resonant controller based on depression of order improper integral is single order, and the amount of calculation of the latter is obvious
Less than with the former.
Load harmonic current and power network current spectrogram when Fig. 5 is for compensation load harmonic：
From figure 5 it can be seen that harmonic current is by after Active Power Filter-APF compensating action, power network current each harmonic
Content is substantially reduced, and illustrates reducing amount of calculation using the resonant controller based on depression of order improper integral of the inventive method
Also there is good harmonic current compensation performance simultaneously.
Fig. 6 is that the compensation load harmonic of the resonant controller based on second order improper integral for being provided without the inventive method dynamically rings
Oscillogram is answered, Fig. 7 is dynamically to be rung using the compensation load harmonic of the resonant controller based on depression of order improper integral of the inventive method
Answer oscillogram：
It can be seen from figures 6 and 7 that after Active Power Filter-APF starts compensation, the resonance based on depression of order improper integral
The dynamic response time of controller is considerably less than the dynamic response time of the resonant controller based on second order improper integral, illustrates base
After the resonant controller of depression of order improper integral introduces compensation phase, dynamic responding speed accelerates, with more preferable dynamic property.
Fig. 8 is that load harmonic effect oscillogram is compensated when mains frequency rises using the inventive method, and Fig. 9 is using this
Inventive method compensates load harmonic effect oscillogram when mains frequency declines：
From Fig. 8 and Fig. 9 as can be seen that after mains frequency raising and lowering reaches stable state, grid current harmonic content
Very low level is stilled remain in, and dynamic process is very short, illustrates using the inventive method based on the humorous of depression of order improper integral
The controller that shakes can ensure harmonic compensation precision higher in mains frequency fluctuation, with good mains frequency adaptability,
And frequency adaptation wider range, it is ± 5HZ.
Although being described to illustrative specific embodiment of the invention above, in order to the technology of the art
Personnel understand the present invention, it should be apparent that the invention is not restricted to the scope of specific embodiment, to the common skill of the art
For art personnel, as long as various change is in appended claim restriction and the spirit and scope of the present invention for determining, these
Change is it will be apparent that all utilize the innovation and creation of present inventive concept in the row of protection.
Claims (4)
1. a kind of Active Power Filter-APF improves wideband self-adapting resonance control method, it is characterised in that comprise the following steps：
(1) the three-phase voltage u of point of common coupling, is gatheredpcc, horizontal lock is entered to it using phaselocked loop, obtain point of common coupling voltage
Frequency fpllAnd phase angle θ；
(2), collection nonlinear load electric current iL, abc- α β coordinate transforms are carried out to it, obtain the load under stationary reference coordinate system
Electric current iLαβ, then current controller harmonic reference signal i is obtained by Harmonic currents detection modulerefαβ；
(3), collection active electric power filter to output current iO, collection nonlinear load electric current iL, the change of abc- α β coordinates is carried out to it
Change, obtain the static load current i examined under coordinate systemLαβ, then current controller harmonic wave ginseng is obtained by Harmonic currents detection module
Examine signal irefαβ；
(4) the output watt current instruction Δ i under stationary reference coordinate system, is calculateddαβ：
(4.1), DC voltage specified rate udcrefWith the DC voltage u for collectingdcMake the difference, gained difference passes through DC voltage control
Device obtains the output watt current Δ i under synchronous rotating framed；
(4.2), by the output watt current Δ i under synchronous rotating framedDq- α β coordinate transforms are carried out, stationary reference seat is obtained
Output watt current instruction Δ i under mark systemdαβ；
(5), the output control amount u of calculating current controllerpiαβ：
(5.1), calculating current controller error signal delta iLαβ：By current controller harmonic reference signal irefαβWith stationary reference
Output current i under coordinate systemOαβDiffer from, then Δ i is instructed with the output watt current under stationary reference coordinate systemdαβSummation, obtains
To current controller error signal Δ iLαβ：
ΔiLαβ=irefαβ-iOαβ+Δidαβ；
(5.2), frequency f of the current controller according to obtained by step (1)pl, by error signal Δ iLαβIt is sequentially sent to harmonic controling
Device and PI controllers, obtain output control amount upiαβ；
(6) PWM command value V, is calculatedaVbVc：
(6.1), by the three-phase voltage u of point of common couplingpccBy abc- α β coordinate transforms, obtain under stationary reference coordinate system
Point of common coupling voltage upccαβ；
(6.2), collection LCL filter capacitance current iC, the electric capacity under stationary reference coordinate system is obtained by abc- α β coordinate transforms
Electric current iCαβ, then by active damping gain module, obtain the active damping feedback quantity u under stationary reference coordinate systemCαβ：
uCαβ=kD·iCαβ；
(6.3), by current controller output control amount upiαβ, point of common coupling voltage u under stationary reference coordinate systempccαβAnd have
Source damps feedback quantity uCαβThree is added, then by α β-abc coordinate transforms, obtains PWM command value VaVbVc；
(7), modulation instructions value V of the PWM module according to obtained by step (6)aVbVcCorresponding switch controlling signal is obtained, and then is controlled
It is formed with the break-make of each IGBT of active power filter.
2. Active Power Filter-APF according to claim 1 improves wideband self-adapting resonance control method, it is characterised in that
In described step (4), DC voltage controller is using PI control modes, PI control mode transmission functions：
Wherein, KpvAnd KivProportionality coefficient and integral coefficient are represented respectively, and z represents Z domains operator.
3. Active Power Filter-APF according to claim 1 improves wideband self-adapting resonance control method, it is characterised in that
In described step (5), harmonic controller is by the corresponding modified resonant controller G of one group of different rd harmonic signalhxZ () is with simultaneously
Connection form is constituted, and the expression formula of harmonic controller HC (z) is：
Wherein, h represents overtone order；X is sign, and x is expressed as positive sequence for "+", and x is expressed as negative phase-sequence for "-".
4. Active Power Filter-APF according to claim 3 improves wideband self-adapting resonance control method, it is characterised in that
The corresponding modified resonant controller of h rd harmonic signals is using the drop time improper integral mode based on phase compensation, its transmission
Function is：
Wherein, KIhRepresent storage gain；T is the controlling cycle of system；θhIt is phase compensation angle；ω1=2 π fpllRepresent fundamental wave angle
Frequency.
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| CN107968406A (en) * | 2017-12-19 | 2018-04-27 | 电子科技大学 | A kind of adaptive repetitive control of Active Power Filter-APF anti-saturation frequency |
| CN108039706A (en) * | 2017-12-19 | 2018-05-15 | 电子科技大学 | A kind of Active Power Filter-APF anti-saturation frequency self-adapting resonance control method |
| CN109067193A (en) * | 2018-08-17 | 2018-12-21 | 燕山大学 | A kind of cascade connection type electric power electric transformer and its imbalance compensation control method |
| CN109755941A (en) * | 2019-03-27 | 2019-05-14 | 清华大学 | A kind of LCL filter active damping control method and system |
| CN110266009A (en) * | 2019-07-05 | 2019-09-20 | 华中科技大学 | A kind of exchange micro-capacitance sensor higher hamonic wave active stabilization device and method |
| CN112701941A (en) * | 2019-10-21 | 2021-04-23 | 广东美的白色家电技术创新中心有限公司 | Inverter compensation method and device, electrical equipment and storage medium |
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| CN107968406A (en) * | 2017-12-19 | 2018-04-27 | 电子科技大学 | A kind of adaptive repetitive control of Active Power Filter-APF anti-saturation frequency |
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| CN110266009A (en) * | 2019-07-05 | 2019-09-20 | 华中科技大学 | A kind of exchange micro-capacitance sensor higher hamonic wave active stabilization device and method |
| CN112701941A (en) * | 2019-10-21 | 2021-04-23 | 广东美的白色家电技术创新中心有限公司 | Inverter compensation method and device, electrical equipment and storage medium |
| CN112701941B (en) * | 2019-10-21 | 2022-04-05 | 广东美的白色家电技术创新中心有限公司 | Inverter compensation method and device, electrical equipment and storage medium |
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