CN106849624B - Method and system for eliminating three-phase rectification harmonic waves based on repetitive control - Google Patents

Method and system for eliminating three-phase rectification harmonic waves based on repetitive control Download PDF

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CN106849624B
CN106849624B CN201710019163.8A CN201710019163A CN106849624B CN 106849624 B CN106849624 B CN 106849624B CN 201710019163 A CN201710019163 A CN 201710019163A CN 106849624 B CN106849624 B CN 106849624B
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compensator
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CN106849624A (en
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王孝洪
高孝君
黄氏秋江
郑仁峰
苏威霖
刘守松
田联房
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South China University of Technology SCUT
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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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • 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
    • 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
    • H02M1/0003—Details of control, feedback or regulation circuits
    • 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
    • Y02E40/40—Arrangements for reducing harmonics

Abstract

The invention discloses a method based on repeated controlThe method and system for eliminating three-phase rectification harmonic wave comprises the following steps: establishing a first PI controller model and a repeated controller model with a compensator, wherein the repeated controller model is provided with a feedback loop and added with an attenuation link, and the compensator is the PI controller model; acquiring three-phase current of a PWM rectifier, and transforming coordinates to current i d 、i q The method comprises the steps of carrying out a first treatment on the surface of the Current i d And a given value i d * After subtraction operation, a first PI controller model and a repeated controller model are input, and a first value and a second value are respectively output; current i q And a given value i q * The subtraction operation is carried out and then the subtraction operation is input into a first PI controller model and a repeated controller model, and the first PI controller model and the repeated controller model respectively output a third value and a fourth value; superimposing the first value, the second value, and the harmonic disturbance to produce U d The method comprises the steps of carrying out a first treatment on the surface of the Superposition of third value, fourth value and harmonic disturbance to generate U q The method comprises the steps of carrying out a first treatment on the surface of the U is set to d 、U q Transformation of coordinates to U α 、U β The method comprises the steps of carrying out a first treatment on the surface of the U is set to α 、U β And carrying out pulse modulation and transmitting to the IGBT switching tube of the three-phase PWM rectifier. The invention has good harmonic suppression capability and can reduce the dependence on a model.

Description

Method and system for eliminating three-phase rectification harmonic waves based on repetitive control
Technical Field
The invention relates to a harmonic elimination method, in particular to a three-phase rectification harmonic elimination method and system based on repeated control.
Background
Along with the high-speed development of society, electric energy plays an increasingly important role in industrial and agricultural production and daily life of people, but various power electronic converter devices closely related to national production and life, such as a frequency converter, a high-frequency switching power supply, an inverter power supply and the like, bring a large amount of reactive power and serious harmonic pollution to a power grid in wide application. With the development of power electronics technology, a PWM rectifier which has a network side current approaching a sine wave, a power factor of approximately 1, a direct current side output voltage stable, a strong load disturbance resistance and is capable of running in four quadrants has been developed, and the PWM rectifier successfully replaces an uncontrollable diode rectifier and a phase-controlled thyristor rectifier and becomes a hot spot for power electronics technology research.
When the three-phase PWM rectifier is in an inversion state, the electric energy is fed back to the power grid. As network-entering current, the utility power grid network-entering current accords with the 'electric energy quality public power grid harmonic standard' and the international IEEE Std1547-2003 standard of the export of China. Thus, highly sinusoidal on-grid current is an important performance indicator. In theory, the current loop can realize current no-static-difference regulation by adopting a traditional PI controller, and the side-phase current waveform of the three-phase PWM rectifier in a steady state is a sine wave with the same phase as the power grid phase voltage, however, the side-phase current waveform is influenced by the traditional control algorithm, the switching characteristic of a power switch tube and a dead zone effect, the steady-state precision of the current at the alternating side is not high, and the obtained current waveform has poor sine degree and larger harmonic wave. The three-phase PWM rectifier is a half-bridge circuit, and a dead zone problem is encountered in the control process, which is caused by the characteristics of a switching tube, the switching tube is delayed in the switching on and switching off process, and the switching on time is shorter than the switching off time. To prevent the same arm from passing through, dead time needs to be added to the on and off signals. Because the switching tubes of the dead zone system are in an off state and the time is fixed, the control effect is reduced, the current harmonic content is increased, and the frequency of the harmonic is an integer multiple of the fundamental wave.
To obtain a more desirable current, improvements over conventional PI control are needed. To reduce harmonics, a method of eliminating specific harmonics is generally used, but all frequencies of integer multiples of the fundamental frequency cannot be eliminated.
Disclosure of Invention
The first aim of the invention is to overcome the defects and shortcomings of the prior art and provide a method for eliminating three-phase rectification harmonic waves based on repeated control, by which harmful harmonic components with integral multiples of fundamental wave frequency in waveforms of a three-phase power grid can be effectively restrained, so that current waveforms fed back to the power grid are approximate to sine waves; the method has the advantages of convenience in use, strong adaptability and strong robustness, so that the control quality is insensitive to the change of the controlled object, the method is suitable for industrial sites with severe environments, and the dependence on the model is reduced. The second object of the present invention is to provide a system for eliminating three-phase rectification harmonic waves based on repetitive control, by which harmful harmonic components with integral multiples of fundamental wave frequency in waveforms of a three-phase power grid can be effectively suppressed, so that current waveforms fed back to the power grid are close to sine waves; the method has the advantages of convenience in use, strong adaptability and strong robustness, so that the control quality is insensitive to the change of the controlled object, the method is suitable for industrial sites with severe environments, and the dependence on the model is reduced.
The first object of the invention is achieved by the following technical scheme: the method for eliminating the three-phase rectification harmonic wave based on repeated control comprises the following steps:
s1, a first PI controller model and a repetitive controller model with a compensator and a feedback loop are built, wherein the compensator in the repetitive controller model is a second PI controller model with phase compensation and amplitude compensation;
s2, acquiring three-phase current i of alternating-current side of three-phase PWM rectifier a 、i b And i c ；
S3, three-phase current i a 、i b And i c Transforming the coordinates into a d-q two-phase orthogonal coordinate system to obtain two-phase current i under the d-q two-phase orthogonal coordinate system d 、i q ；
S4, acquiring a current given value i of the three-phase current on the dq axis d * And i q * ；
S5, current i d And a current setpoint i d * The subtraction operation is carried out, and then the subtraction operation is respectively input into a first PI controller model and a repetitive controller model which are established in the step S1, the first PI controller model carries out PI control and then outputs a first value, and the repetitive controller model carries out repetitive control and then outputs a second value; current i q And a current setpoint i q * Make a reduction ofAfter the method operation, the result is respectively input into a first PI controller model and a repetitive controller model which are established in the step S1, the first PI controller model carries out PI control and then outputs a third value, and the repetitive controller model carries out repetitive control and then outputs a fourth value;
S6, superposing a first value output by the first PI controller model and a second value output by the repetitive controller model, and in the superposition process, stringing harmonic disturbance generated by the three-phase PWM rectifier to generate a control quantity U d The method comprises the steps of carrying out a first treatment on the surface of the Superposing a third value output by the first PI controller model and a fourth value output by the repeated controller model, and in the superposition process, carrying out serial connection on harmonic disturbance generated by the three-phase PWM rectifier to generate a control quantity U q ；
S7, controlling the two-phase control quantity U d And a control amount U q The control quantity U in the alpha-beta two-phase coordinate system is obtained by transforming the coordinates into the alpha-beta two-phase static coordinate system α And a control amount U β ；
S8, controlling the quantity U α And a control amount U β And the signals are transmitted to IGBT switching tubes of the three-phase PWM rectifier after pulse modulation processing.
Preferably, the PI controller model and the repetitive controller model with the compensator and the attenuation link added in the feedback loop in the step S1 are built by DSP.
Preferably, the repetitive controller model comprises an addition operation link, a first delay link, a second delay link and a compensator; one of the inputs of the addition operation link is used as the input of the repetitive controller model, the output of the addition operation link is respectively transmitted to the first delay link and the second delay link, and the output of the second delay link is transmitted to the compensator; the first delay link is positioned in a feedback loop of the repetitive controller model, an attenuation link is added after the first delay link, and a feedback signal is transmitted to the other input of the addition operation link after passing through the first delay link and the attenuation link;
The compensator consists of a phase compensation link, an amplitude compensation link and a PI control link; the output of the second delay link is output to the PI control link after passing through the phase compensation link and the amplitude compensation link; the output of the PI control element is used as the output of the repetitive controller model.
Further, the discrete transfer function G (z) of the repetitive controller model is:
Figure BDA0001206925440000031
Figure BDA0001206925440000032
wherein C is PI (z) repeating the discrete transfer function of the compensator in the controller model; q (z) is the attenuation amount corresponding to the attenuation link added in the feedback loop of the repetitive controller model; said z -N The delay of N units is the delay of a first delay link and a second delay link, N sampling points in one period; z k For compensating the phase in the compensator in the repetitive controller model, i.e. the phase compensation in the phase compensation step, where k is a coefficient, 1 or 2, k r The amplitude compensation in the compensator in the repetitive controller model, namely the amplitude compensation made in the amplitude compensation link in the compensator; k (k) p For proportional factor, k of PI control link in compensator i Is the integral coefficient of the PI control link in the compensator.
Preferably, the method is characterized in that the attenuation link added in the feedback loop of the repetitive controller model is a constant attenuation link or a low-pass filter attenuation link.
Preferably, in the step S3, three-phase current i is obtained a 、i b And i c Coordinate transformation to obtain two-phase current i under d-q coordinate system d 、i q The specific process of (2) is as follows:
first, three-phase current i a 、i b And i c The two-phase current i under the alpha-beta two-phase orthogonal coordinate system is obtained by Clark transformation into the alpha-beta two-phase orthogonal coordinate system α 、i β ：
Figure BDA0001206925440000041
Then the two-phase current i α 、i β Transforming the transformation matrix to a d-q two-phase orthogonal coordinate system to obtain two-phase current i in the d-q two-phase orthogonal coordinate system d 、i q ：
Figure BDA0001206925440000042
Preferably, the pulse modulation method in step S7 is SVPWM (space vector pulse modulation).
The second object of the invention is achieved by the following technical scheme: the system for eliminating the three-phase rectification harmonic waves based on the repetitive control comprises a first coordinate transformation module, a first subtracter module, a second subtracter module, a first PI controller module, a second PI controller module, a first repetitive controller module, a second repetitive controller module, a first adder module, a second coordinate transformation module and a pulse modulation module;
the first coordinate transformation module is used for transforming the three-phase current i acquired from the alternating-current side of the three-phase PWM rectifier a 、i b And i c Transforming the coordinates into a d-q two-phase orthogonal coordinate system to obtain two-phase current i under the d-q two-phase orthogonal coordinate system d 、i q ；
The first subtracter module is used for converting the current i d And a current setpoint i d * The first PI controller module and the first repetitive controller module are respectively input after subtraction operation;
the first PI controller module is used for receiving the result output by the first subtracter module, performing PI control and outputting a first value;
the first repetitive controller module is provided with a first compensator module, a first attenuation link is added in the feedback loop and is used for receiving the result output by the first subtracter module, and a second value is output after repetitive control is performed; the first compensator module comprises a first phase compensation link, a first amplitude compensation link and a first PI control link which are sequentially connected in a communication way;
the first adder module is configured to perform a superposition operation on a first value output by the first PI controller module, a second value output by the first repetitive controller module, and a series of harmonic disturbances, to obtain a control amount U d ；
The second subtracter module is used for converting the current i q And a current setpoint i q * The subtraction operation is respectively input into a second PI controller module and a second repetition controller module;
the second PI controller module is used for receiving the result output by the second subtracter module, performing PI control and outputting a third value;
The second repetitive controller module is provided with a second compensator module, a second attenuation link is added in the feedback loop and is used for receiving the result output by the second subtracter module, and a fourth value is output after repetitive control is performed; the second compensator module comprises a second phase compensation link, a second amplitude compensation link and a second PI control link which are sequentially connected in a communication way;
the second adder module is configured to perform a superposition operation on the third value output by the second PI controller module, the fourth value output by the second repetition controller module, and the harmonic disturbance that is input in series, so as to obtain a control amount U q ；
The second coordinate transformation module is used for receiving the control quantity U output by the first adder module d And a control amount U output by the second adder module q Then the two-phase control amount U d And a control amount U q The control quantity U in the alpha-beta two-phase coordinate system is obtained by transforming the coordinates into the alpha-beta two-phase static coordinate system α And a control amount U β ；
The pulse modulation module is used for receiving the U of the output control quantity of the second coordinate transformation module α And a control amount U β And (3) pulse modulation processing is carried out and then the pulse modulation processing is transmitted to an IGBT switching tube of the three-phase PWM rectifier.
Preferably, the first coordinate transformation module, the first subtractor module, the second subtractor module, the first PI controller module, the second PI controller module, the first repetition controller module, the second repetition controller module, the first adder module, the second coordinate transformation module and the pulse modulation module are all realized by DSP internal programming.
Preferably, the first repeater control module consists of a first addition operation link, a first delay link, a second delay link and a first compensator module; one input of the first addition operation link is used as the input of the first repetitive controller module, the output of the first addition operation link is transmitted to the first delay link and the second delay link, the output of the second delay link is transmitted to the first compensator module, the first delay link is positioned in a feedback loop of the first repetitive controller, the second attenuation link is added after the third delay link in the feedback loop of the first repetitive controller, and the feedback signal is transmitted to the other input of the first addition operation link after passing through the first delay link and the first attenuation link, wherein the first attenuation link added by the first delay link is a constant attenuation link or a low-pass filter attenuation link;
the first PI control link in the first compensator comprises a first differential link and a first integral link; the output of the second delay link is output to the first PI control link after passing through the first phase compensation link and the first amplitude compensation link; the output of the first PI control link is used as the output of the first repetitive controller module;
The discrete transfer function G' (z) of the first repetitive controller module is:
Figure BDA0001206925440000051
Figure BDA0001206925440000052
wherein C' PI (z) a discrete transfer function of a first compensator module in the first repetitive controller module; q' (z) is the attenuation amount corresponding to the first attenuation link added in the feedback loop of the first repetitive controller module, wherein z is -N Is N unitsIs used for the time delay of the (a), N for the number of samples in a period, z k′ The phase compensation in a first compensator module in the first repetitive controller module, namely the phase compensation made by a first phase compensation link, wherein k' is a coefficient, and 1 or 2 is taken; k' r For amplitude compensation in a first compensator module of the first repetitive controller modules, i.e. for amplitude compensation by a first amplitude compensation link, k' p For the scaling factor, k ', of the first PI control loop in the first compensator module' i An integral coefficient of a first PI control link in the first compensator module;
the second repeater control module consists of a second addition operation link, a third delay link, a fourth delay link and a second compensator module; one of the inputs of the second addition link is used as an input of a second repeating controller module, the output of the second addition link is transmitted to a third delay link and a fourth delay link, the output of the fourth delay link is transmitted to a second compensator module, the third delay link is positioned in a feedback loop of the second repeating controller, a second attenuation link is added after the third delay link in the feedback loop of the second repeating controller, and a feedback signal is transmitted to the other input of the second addition link after passing through the third delay link and the second attenuation link, wherein the second attenuation link is a constant attenuation link or a low-pass filter attenuation link;
The second PI control link in the second compensator module comprises a second differential link and a second integral link; the output of the fourth delay link is output to the second PI control link after passing through the second phase compensation link and the second amplitude compensation link; the output of the second PI control link is used as the output of a second repetitive controller module;
the discrete transfer function G "(z) of the second repetitive controller module is:
Figure BDA0001206925440000061
Figure BDA0001206925440000062
wherein C PI (z) a discrete transfer function of a second compensator module in the second repetitive controller module; q' (z) is the attenuation amount corresponding to the second attenuation link added in the feedback loop of the second repetitive controller module, wherein z is -N With a delay of N units, N for the number of samples in a period, z k″ Phase compensation in a second compensator module in the second repetitive controller module, wherein k' is a coefficient, taking 1 or 2; k' r For amplitude compensation in a second compensator module in a second repetitive controller module, k p Is the proportionality coefficient, k', of the second PI control link in the second compensator module i And the integral coefficient of the second PI control link in the second compensator module.
Compared with the prior art, the invention has the following advantages and effects:
(1) The invention combines PI control and repeated control to realize automatic control of the alternating current side of the three-phase PWM rectifier on the basis of traditional PI control; the invention ensures the steady-state performance of the whole system after adding the repeated control, has good inhibiting capability on current harmonic waves, and repeatedly controls the discretized transfer function of the internal model part to be a periodic function, thereby effectively inhibiting harmful harmonic components of integral multiples of fundamental wave frequency in the waveform of a three-phase power grid, and leading the current waveform fed back to the power grid to be close to sine waves. The compensator is realized by PI control with phase compensation and amplitude compensation in the repeated control, and after the internal mold output in the repeated control contains instructions and disturbance information, the compensator can enable the output of a control object to perfectly track instruction signals, has the advantages of convenient use, strong adaptability and strong robustness, ensures that the control quality is insensitive to the change of the controlled object, is suitable for industrial sites with severe environments, and reduces the dependence on the models. Meanwhile, the PI parameter is set to have a set of complete theoretical system, so that the design of the compensator is simplified to a certain extent.
(2) The invention repeatedly controls the attenuation loop added in the feedback loop, can attenuate the gain of harmonic disturbance to a certain extent, and ensures the stability of the system.
Drawings
Fig. 1 is a control schematic diagram of the harmonic cancellation method of the present invention.
Fig. 2 is a control schematic diagram of the repetitive controller model of the present invention.
Fig. 3 is a block diagram of the harmonic cancellation system of the present invention.
Fig. 4 is a structural diagram of a conventional repetitive controller.
Fig. 5 is a schematic diagram of a conventional compensator structure in a conventional repetitive controller.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Examples
The embodiment discloses a method for eliminating three-phase rectification harmonic waves based on repeated control, which comprises the following steps:
s1, a first PI controller model and a repetitive controller model with a compensator are firstly established in a DSP, and an attenuation link is added in a feedback loop, wherein the compensator in the repetitive controller model is a second PI controller model with phase compensation and amplitude compensation.
The first PI controller model in this embodiment includes a differential link and an integral link.
As shown in fig. 1, the repetitive controller model in this embodiment includes an addition link 1, a first delay link 2, a second delay link 3, and a compensator; one of the inputs of the addition operation link 1 is used as the input of the repetitive controller model, the output of the addition operation link 1 is respectively transmitted to the first delay link 2 and the second delay link 3, and the output of the second delay link 3 is transmitted to the compensator; the first delay link 2 is positioned in a feedback loop of the repetitive controller model, an attenuation link 4 is added after the first delay link 2, and a feedback signal is transmitted to the other input of the addition link 1 after passing through the first delay link 2 and the attenuation link 4; the added attenuation link is a constant attenuation link or a low-pass filter attenuation link. The compensator in the embodiment consists of a phase compensation link 5, an amplitude compensation link 6 and a PI control link 7, wherein the PI control link 7 comprises a differential link and an integral link; the output of the second delay link 3 sequentially passes through the phase compensation link 5 and the amplitude compensation link 6 and then is output to the PI control link 7; the output of the PI control element 7 serves as the output of the repetitive controller model.
The discrete transfer function G (z) of the repetitive controller model of this embodiment is:
Figure BDA0001206925440000081
Figure BDA0001206925440000082
wherein C is PI (z) repeating the discrete transfer function of the compensator in the controller model; q (z) is the attenuation amount corresponding to the attenuation link added in the feedback loop of the repetitive controller model, when the attenuation link is a constant attenuation link, Q (z) is a constant, and in the embodiment, Q (z) takes 0.96; said z -N The delay of N units is the delay corresponding to the first delay link and the second delay link, and N is the sampling point number in one period; z k The phase compensation in the compensator in the repetitive controller model, namely the phase compensation made in the phase compensation link, wherein k is a coefficient, and 1 or 2 is taken; k (k) r The amplitude compensation in the compensator in the repetitive controller model, namely the amplitude compensation made in the amplitude compensation link in the compensator; k (k) p For proportional factor, k of PI control link in compensator i Is the integral coefficient of the PI control link in the compensator. In this embodiment k=2, k p ＝8,k i ＝150。
S2, acquiring three-phase current i of alternating-current side of three-phase PWM rectifier a 、i b And i c ；
S3, three-phase current i a 、i b And i c Transforming the coordinates into a d-q two-phase orthogonal coordinate system to obtain two-phase current i under the d-q two-phase orthogonal coordinate system d 、i q The method comprises the steps of carrying out a first treatment on the surface of the The specific process is as follows:
First, three-phase current i a 、i b And i c Respectively transforming the two-phase currents into an alpha-beta two-phase orthogonal coordinate system through Clark to obtain the two-phase current i under the alpha-beta two-phase orthogonal coordinate system α 、i β ：
Figure BDA0001206925440000083
Then the two-phase current i α 、i β Transforming the transformation matrix to a d-q two-phase orthogonal coordinate system to obtain two-phase current i in the d-q two-phase orthogonal coordinate system d 、i q ：
Figure BDA0001206925440000091
S4, acquiring a current given value i of the three-phase current on the dq axis d * And i q * ；
S5, as shown in FIG. 1, the current i is calculated d And a current setpoint i d * The subtraction operation is carried out, and then the subtraction operation is respectively input into a first PI controller model and a repetitive controller model which are established in the step S1, the first PI controller model carries out PI control and then outputs a first value, and the repetitive controller model carries out repetitive control through a discrete transfer function G (z) and then outputs a second value; current i q And a current setpoint i q * The subtraction operation is carried out, and then the subtraction operation is respectively input into a first PI controller model and a repetitive controller model which are established in the step S1, operation is carried out, PI control is carried out by the first PI controller model, a third value is output, and the repetitive controller model carries out repetitive control through a discrete transfer function G (z) and then a fourth value is output;
s6, outputting a first value output by the first PI controller model and a first value output by the repeated controller model The two values are overlapped, and in the overlapping process, harmonic disturbance generated by the three-phase PWM rectifier is connected in series to generate a control quantity U d The method comprises the steps of carrying out a first treatment on the surface of the Superposing a third value output by the first PI controller model and a fourth value output by the repeated controller model, and in the superposition process, carrying out serial connection on harmonic disturbance generated by the three-phase PWM rectifier to generate a control quantity U q ；
S7, controlling the two-phase control quantity U d And a control amount U q The control quantity U in the alpha-beta two-phase coordinate system is obtained by transforming the coordinates into the alpha-beta two-phase static coordinate system α And a control amount U β ；
S8, controlling the quantity U α And a control amount U β And the signals are transmitted to IGBT switching tubes of the three-phase PWM rectifier after pulse modulation processing. The pulse modulation scheme adopted in the present embodiment is SVPWM (space vector pulse modulation).
Harmonic disturbance generated by the three-phase PWM rectifier comes from nonlinearity of a control object behind a dead zone of a switching tube, and the harmonic disturbance is equivalent to D (z) which is connected in series in the output superposition process of the first PI controller model and the repetitive controller model.
Fig. 2 is a control schematic diagram of the repetitive controller model according to the present embodiment when controlling the control object P (z). As can be seen from fig. 2, when the repetitive controller is input R (Z) =0, the error output of the repetitive controller model system according to the present embodiment can be derived as follows:
Figure BDA0001206925440000092
Wherein D (z) is harmonic disturbance generated by the three-phase PWM rectifier, is a periodic signal, has a frequency which is an integer multiple of the fundamental wave frequency, and P (z) is a control object.
The discrete transfer function G (z) of the repetitive controller model according to the present embodiment can derive the error output of the repetitive controller model system as:
Figure BDA0001206925440000093
as can be derived from the above equation, when t.fwdarw. +.infinity, z.fwdarw.1, D (z) are typically sine wave discrete expressions, at this time, the system E (z) =0, i.e. the output current i of the ac side of the three-phase PWM rectifier d Infinitely close to a current setpoint i d * Current i q Infinitely close to a current setpoint i q * Therefore, after the repetitive controller model is added, the steady-state performance of the whole system is ensured, and the current harmonic wave suppression method has good current harmonic wave suppression capability.
As can be seen from the control schematic diagram of fig. 2, the transfer function of the internal model partial discretization of the repetitive controller model is:
G C (z)＝z -N /(1-z -N )；
from the above, the discretized transfer function of the internal model part of the repetitive controller model is a periodic function, so that the harmful harmonic component of integral multiple of the fundamental wave frequency in the waveform of the three-phase power grid can be effectively restrained, and the current waveform fed back to the power grid is close to a sine wave.
In addition, the compensator is realized by a PI controller model with phase compensation and amplitude compensation, after the internal model output contains instructions and disturbance information in repeated control, the compensator can enable the output of a control object to perfectly track instruction signals, has the advantages of convenience in use, strong adaptability and strong robustness, ensures that the control quality is insensitive to the change of the controlled object, is suitable for industrial sites with severe environments, and reduces the dependence on the model. Meanwhile, the PI parameter is set to have a set of complete theoretical system, so that the design of the compensator is simplified to a certain extent.
The embodiment also discloses a system for eliminating three-phase rectification harmonic waves based on repetitive control, which comprises a first coordinate transformation module 10, a first subtracter module 11, a second subtracter module 21, a first PI controller module, a second PI controller module, a first repetitive controller module, a second repetitive controller module, a first adder module 30, a second adder module 31, a second coordinate transformation module 19 and a pulse modulation module 20 as shown in FIG. 3;
the first coordinate transformation module 10 is used forThree-phase current i obtained from alternating-current side of three-phase PWM rectifier a 、i b And i c Transforming the coordinates into d-q two-phase orthogonal coordinate system to obtain two-phase current i under d-q two-phase orthogonal coordinate system d 、i q ；
The first subtractor module 11 is configured to output a current i d And a current setpoint i d * The first PI controller module and the first repetitive controller module are respectively input after subtraction operation;
the first PI controller module is used for receiving the result output by the first subtracter module, performing PI control and outputting a first value;
the first repetitive controller module is provided with a first compensator module, a first attenuation link is added in the feedback loop and is used for receiving the result output by the first subtracter module, and a second value is output after repetitive control is performed; the first compensator module comprises a first phase compensation link 16, a first amplitude compensation link 17 and a first PI control link 18 which are sequentially connected in a communication way;
The first adder module 30 is configured to perform a superposition operation on the first value output by the first PI controller module, the second value output by the first repetitive controller module, and the series harmonic disturbance, thereby obtaining a control amount U d ；
The second subtractor module 21 is configured to output a current i q And a current setpoint i q * The subtraction operation is respectively input into a second PI controller module and a second repetition controller module;
the second PI controller module is used for receiving the result output by the second subtracter module, performing PI control and outputting a third value;
the second repetitive controller module is provided with a second compensator module, a second attenuation link is added in the feedback loop and is used for receiving the result output by the second subtracter module, and a fourth value is output after repetitive control is performed; the second compensator module comprises a second phase compensation link 26, a second amplitude compensation link 27 and a second PI control link 28 which are connected in sequence in communication;
the second adder module 31 is configured toPerforming superposition operation on the third value output by the second PI controller module, the fourth value output by the second repetition controller module and the serial harmonic disturbance to obtain a control quantity U q ；
The second coordinate transformation module 19 is configured to receive the control amount U output by the first adder module d And a control amount U output by the second adder module q Then the two-phase control amount U d And a control amount U q The control quantity U in the alpha-beta two-phase coordinate system is obtained by transforming the coordinates into the alpha-beta two-phase static coordinate system α And a control amount U β ；
The pulse modulation module 20 is configured to receive the U of the control amount output by the second coordinate transformation module α And a control amount U β And (3) pulse modulation processing is carried out and then the pulse modulation processing is transmitted to an IGBT switching tube of the three-phase PWM rectifier. The pulse modulation module in this embodiment is a space vector pulse modulator (SVPWM).
Harmonic disturbance generated by the three-phase PWM rectifier comes from nonlinearity of a control object behind a dead zone of a switching tube, and the equivalent harmonic disturbance is D (z) which is respectively connected in series in the input of the first adder module and the input of the second adder module. As shown in fig. 3.
In this embodiment, the first coordinate transformation module 10, the first subtractor module 11, the second subtractor module 21, the first PI controller module, the second PI controller module, the first repetition controller module, the second repetition controller module, the first adder module 30, the second adder module 31, the second coordinate transformation module 19, and the pulse modulation module 20 are all implemented by DSP internal programming.
As shown in fig. 3, the first repeater control module in this embodiment is composed of a first addition section 12, a first delay section 14, a second delay section 15, and a first compensator module; the input of the first addition link 12 is used as the input of the first repetitive controller module, the output of the first addition link 12 is transmitted to the first delay link 14 and the second delay link 15, the output of the second delay link 15 is transmitted to the first compensator module, the first delay link 14 is added with the first attenuation link 13 and then is output to the addition link, wherein the first attenuation link 13 is a constant attenuation link or a low-pass filter attenuation link;
The first compensator module consists of a first phase compensation link, a first amplitude compensation link and a first PI control link; the first PI control link comprises a first differential link and a first integral link; the output of the second delay link is output to the first PI control link after passing through the first phase compensation link and the first amplitude compensation link; the output of the first PI control link is used as the output of the first repetitive controller module;
the discrete transfer function G' (z) of the first repetitive controller module is:
Figure BDA0001206925440000121
Figure BDA0001206925440000122
wherein C' PI (z) a discrete transfer function of a first compensator module in the first repetitive controller module; q' (z) is the attenuation amount corresponding to the first attenuation link added in the feedback loop of the first repetitive controller module, wherein z is -N With a delay of N units, N for the number of samples in a period, z k′ For phase compensation in a first compensator module in a first repetitive controller module, i.e. for phase compensation by a first phase compensation stage, where k 'is a coefficient, 1 or 2, k' p For the scaling factor, k ', of the first PI control loop in the first compensator module' i For the integral coefficient, k ', of the second PI control loop in the first compensator module' r Amplitude compensation in a first compensator module in the first repetitive controller module, namely amplitude compensation made by a first amplitude compensation link;
As shown in fig. 3, the second repeater control module in this embodiment is composed of a second addition link 22, a third delay link 24, a fourth delay link 25, and a second compensator module; one of the inputs of the second addition link 22 is used as an input of a second repeating controller module, the output of the second addition link 22 is transmitted to a third delay link 24 and a fourth delay link 25, the output of the fourth delay link 25 is transmitted to a second compensator module, the third delay link 24 is positioned in a feedback loop of the second repeating controller, in the feedback loop of the second repeating controller, a second attenuation link 23 is added after the third delay link 24, a feedback signal is transmitted to the other input of the second addition link after passing through the third delay link 24 and the second attenuation link 23, and the second attenuation link 23 is a constant attenuation link or a low-pass filter attenuation link;
the second compensator module consists of a second phase compensation link, a second amplitude compensation link and a second PI control link; the second PI control link comprises a second differential link and a second integral link; the output of the fourth delay link is output to the second PI control link after passing through the second phase compensation link and the second amplitude compensation link; the output of the second PI control link is used as the output of a second repetitive controller module;
The discrete transfer function G "(z) of the second repetitive controller module is:
Figure BDA0001206925440000123
Figure BDA0001206925440000124
wherein C PI (z) a discrete transfer function of a second compensator module in the second repetitive controller module; q' (z) is the attenuation amount corresponding to the second attenuation link added in the feedback loop of the second repetitive controller module, wherein z is -N With a delay of N units, N for the number of samples in a period, z k″ Phase compensation in a second compensator module in the second repetitive controller module, wherein k' is a coefficient, taking 1 or 2; k' r For amplitude compensation in a second compensator module in a second repetitive controller module, k p Is the proportionality coefficient, k', of the second PI control link in the second compensator module i For the second compensator moduleIntegral coefficient of PI control link.
The embodiment adds repeated control on the basis of the traditional PI control to realize the three-phase current i output by the alternating-current side of the three-phase PWM rectifier a 、i b And i c And (5) performing automatic control. As shown in fig. 4, the gain of the conventional repetitive controller for harmonic disturbance is infinite, and the system is in a critical stable state at this time, which is not beneficial to the design of the control system and the stable operation of the system. The repetitive controller module can attenuate the gain of harmonic disturbance to a certain extent through the attenuation ring, so that the control effect of the repetitive controller module is improved while the stability of the system is ensured.
As shown in fig. 5, a conventional compensator C (z) is provided for the control object P (z) and directly determines the performance of the repetitive control system. When the internal model output of the repetitive controller contains command and disturbance information, the compensator mainly enables the output of the control object to perfectly track the command signal. In the ideal internal mold case, take C (z) =p -1 In the form (z), the system has both the best stability, the fastest error convergence speed and the smallest steady state error. However, there are many factors that restrict the inability of C (z) to take P -1 For example, when P (z) includes a zero outside the unit circle, C (z) includes a pole outside the unit circle, which may cause instability of the controller. Typically, the denominator order of P (z) is equal to or greater than the order of the numerator, which also results in the order of C (z) being greater than the denominator order, making the controller impractical. Secondly, to obtain an accurate model P (z), it is also a difficulty in practical engineering applications, especially for high frequency characteristics.
The compensator module comprises phase compensation, amplitude compensation and PI control functions, the repetitive controller module enables harmonic disturbance to be subjected to error superposition in an internal model of the repetitive controller through an addition link, and the harmonic disturbance is sent to the PI control link of the compensator after delay, phase compensation and amplitude compensation of a fundamental wave period. Meanwhile, the PI parameter is set to have a set of complete theoretical system, so that the design of the compensator is simplified to a certain extent.
When the time tends to infinity, the system output error of the repetitive controller module of the embodiment is almost zero, so that after the repetitive controller module is added, the steady-state performance of the whole system is ensured, the current harmonic has good inhibiting capability, and in addition, the discretized transfer function of the internal mold part of the repetitive controller module is a periodic function, so that harmful harmonic components with integral multiples of fundamental wave frequency in the waveform of the three-phase power grid can be effectively inhibited, and the current waveform fed back to the power grid is close to a sine wave.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.

Claims (8)

1. The method for eliminating the three-phase rectification harmonic wave based on the repetitive control is characterized by comprising the following steps:
s1, a first PI controller model and a repetitive controller model with a compensator and a feedback loop are built, wherein the compensator in the repetitive controller model is a second PI controller model with phase compensation and amplitude compensation;
S2, acquiring three-phase current i of alternating-current side of three-phase PWM rectifier a 、i b And i c ；
S3, three-phase current i a 、i b And i c Transforming the coordinates into a d-q two-phase orthogonal coordinate system to obtain two-phase current i under the d-q two-phase orthogonal coordinate system d 、i q ；
S4, acquiring a current given value i of the three-phase current on the dq axis d * And i q * ；
S5, current i d And a current setpoint i d * The subtraction operation is carried out, and then the subtraction operation is respectively input into a first PI controller model and a repetitive controller model which are established in the step S1, the first PI controller model carries out PI control and then outputs a first value, and the repetitive controller model carries out repetitive control and then outputs a second value; current i q And a current setpoint i q * The subtraction operation is carried out, and then the subtraction operation is respectively input into a first PI controller model and a repetitive controller model which are established in the step S1, the first PI controller model carries out PI control and then outputs a third value, and the repetitive controller model carries out repetitive control and then outputs a fourth value;
s6, superposing a first value output by the first PI controller model and a second value output by the repetitive controller model, and in the superposition process, stringing harmonic disturbance generated by the three-phase PWM rectifier to generate a control quantity U d The method comprises the steps of carrying out a first treatment on the surface of the Superposing a third value output by the first PI controller model and a fourth value output by the repeated controller model, and in the superposition process, carrying out serial connection on harmonic disturbance generated by the three-phase PWM rectifier to generate a control quantity U q ；
S7, controlling the two-phase control quantity U d And a control amount U q The control quantity U in the alpha-beta two-phase coordinate system is obtained by transforming the coordinates into the alpha-beta two-phase static coordinate system α And a control amount U β ；
S8, controlling the quantity U α And a control amount U β And the signals are transmitted to IGBT switching tubes of the three-phase PWM rectifier after pulse modulation processing.
2. The method for eliminating three-phase rectification harmonic waves based on repetitive control according to claim 1, wherein the PI controller model and the repetitive controller model with compensator and attenuation link added in the feedback loop in the step S1 are established by DSP.
3. The method for eliminating three-phase rectification harmonic waves based on repeated control according to claim 1, wherein the repeated controller model comprises an addition operation link, a first delay link, a second delay link and a compensator; one of the inputs of the addition operation link is used as the input of the repetitive controller model, the output of the addition operation link is respectively transmitted to the first delay link and the second delay link, and the output of the second delay link is transmitted to the compensator; the first delay link is positioned in a feedback loop of the repetitive controller model, an attenuation link is added after the first delay link, and a feedback signal is transmitted to the other input of the addition operation link after passing through the first delay link and the attenuation link;
The compensator consists of a phase compensation link, an amplitude compensation link and a PI control link; the output of the second delay link is output to the PI control link after passing through the phase compensation link and the amplitude compensation link; the output of the PI control element is used as the output of the repetitive controller model.
4. A method of cancellation of repetitive control-based three-phase rectified harmonics according to claim 3, wherein the discrete transfer function G (z) of the repetitive controller model is:
Figure FDA0004105523540000021
Figure FDA0004105523540000022
wherein C is PI (z) repeating the discrete transfer function of the compensator in the controller model; q (z) is the attenuation amount corresponding to the attenuation link added in the feedback loop of the repetitive controller model; said z -N The delay of N units is the delay of a first delay link and a second delay link,n is the sampling point number in one period; z k For compensating the phase in the compensator in the repetitive controller model, i.e. the phase compensation in the phase compensation step, where k is a coefficient, 1 or 2, k r The amplitude compensation in the compensator in the repetitive controller model, namely the amplitude compensation made in the amplitude compensation link in the compensator; k (k) p For proportional factor, k of PI control link in compensator i Is the integral coefficient of the PI control link in the compensator.
5. A method of cancellation of repetitive control based three phase rectified harmonics according to any one of claims 1 to 3, wherein the attenuation elements added to the repetitive controller model feedback loop are constant attenuation elements or low pass filter attenuation elements.
6. The method for eliminating three-phase rectification harmonic waves based on repetitive control according to claim 1, wherein said step S3 is characterized by adding three-phase current i a 、i b And i c Coordinate transformation to obtain two-phase current i under d-q coordinate system d 、i q The specific process of (2) is as follows:
first, three-phase current i a 、i b And i c The two-phase current i under the alpha-beta two-phase orthogonal coordinate system is obtained by Clark transformation into the alpha-beta two-phase orthogonal coordinate system α 、i β ：
Figure FDA0004105523540000023
Then the two-phase current i α 、i β Transforming the transformation matrix to a d-q two-phase orthogonal coordinate system to obtain two-phase current i in the d-q two-phase orthogonal coordinate system d 、i q ：
Figure FDA0004105523540000031
7. The method for eliminating three-phase rectification harmonic waves based on repetitive control according to claim 1, wherein the pulse modulation mode in the step S7 is space vector pulse modulation.
8. The system for eliminating the three-phase rectification harmonic wave based on the repetitive control is characterized by comprising a first coordinate transformation module, a first subtracter module, a second subtracter module, a first PI controller module, a second PI controller module, a first repetitive controller module, a second repetitive controller module, a first adder module, a second coordinate transformation module and a pulse modulation module;
The first coordinate transformation module is used for transforming the three-phase current i acquired from the alternating-current side of the three-phase PWM rectifier a 、i b And i c Transforming the coordinates into a d-q two-phase orthogonal coordinate system to obtain two-phase current i under the d-q two-phase orthogonal coordinate system d 、i q ；
The first subtracter module is used for converting the current i d And a current setpoint i d * The first PI controller module and the first repetitive controller module are respectively input after subtraction operation;
the first PI controller module is used for receiving the result output by the first subtracter module, performing PI control and outputting a first value;
the first repetitive controller module is provided with a first compensator module, a first attenuation link is added in the feedback loop and is used for receiving the result output by the first subtracter module, and a second value is output after repetitive control is performed; the first compensator module comprises a first phase compensation link, a first amplitude compensation link and a first PI control link which are sequentially connected in a communication way;
the first adder module is configured to perform a superposition operation on a first value output by the first PI controller module, a second value output by the first repetitive controller module, and a series of harmonic disturbances, to obtain a control amount U d ；
The second subtracter module is used for converting the current i q And current supplyConstant i q * The subtraction operation is respectively input into a second PI controller module and a second repetition controller module;
the second PI controller module is used for receiving the result output by the second subtracter module, performing PI control and outputting a third value;
the second repetitive controller module is provided with a second compensator module, a second attenuation link is added in the feedback loop and is used for receiving the result output by the second subtracter module, and a fourth value is output after repetitive control is performed; the second compensator module comprises a second phase compensation link, a second amplitude compensation link and a second PI control link which are sequentially connected in a communication way;
the second adder module is configured to perform a superposition operation on the third value output by the second PI controller module, the fourth value output by the second repetition controller module, and the harmonic disturbance that is input in series, so as to obtain a control amount U q ；
The second coordinate transformation module is used for receiving the control quantity U output by the first adder module d And a control amount U output by the second adder module q Then the two-phase control amount U d And a control amount U q The control quantity U in the alpha-beta two-phase coordinate system is obtained by transforming the coordinates into the alpha-beta two-phase static coordinate system α And a control amount U β ；
The pulse modulation module is used for receiving the U of the output control quantity of the second coordinate transformation module α And a control amount U β， Pulse modulation processing is carried out and then the pulse modulation processing is transmitted to an IGBT switching tube of a three-phase PWM rectifier;
the first coordinate transformation module, the first subtracter module, the second subtracter module, the first PI controller module, the second PI controller module, the first repetition controller module, the second repetition controller module, the first adder module, the second coordinate transformation module and the pulse modulation module are all realized by DSP internal programming;
the first repetitive controller module consists of a first addition operation link, a first delay link, a second delay link and a first compensator module; one input of the first addition operation link is used as the input of the first repetitive controller module, the output of the first addition operation link is transmitted to the first delay link and the second delay link, the output of the second delay link is transmitted to the first compensator module, the first delay link is positioned in a feedback loop of the first repetitive controller, the second attenuation link is added after the third delay link in the feedback loop of the first repetitive controller, and the feedback signal is transmitted to the other input of the first addition operation link after passing through the first delay link and the first attenuation link, wherein the first attenuation link added by the first delay link is a constant attenuation link or a low-pass filter attenuation link;
The first PI control link in the first compensator comprises a first differential link and a first integral link; the output of the second delay link is output to the first PI control link after passing through the first phase compensation link and the first amplitude compensation link; the output of the first PI control link is used as the output of the first repetitive controller module;
the discrete transfer function G' (z) of the first repetitive controller module is:
Figure FDA0004105523540000041
Figure FDA0004105523540000042
wherein C' PI (z) a discrete transfer function of a first compensator module in the first repetitive controller module; q' (z) is the attenuation amount corresponding to the first attenuation link added in the feedback loop of the first repetitive controller module, wherein z is -N Delay of N units, N is the sampling point number in one period, z k′ The phase compensation in a first compensator module in the first repetitive controller module, namely the phase compensation made by a first phase compensation link, wherein k' is a coefficient, and 1 or 2 is taken; k (k) r ' is the amplitude compensation in the first compensator module in the first repetitive controller module, i.e. the amplitude compensation made by the first amplitude compensation link, k p ' is the scaling factor, k, of the first PI control element in the first compensator module i ' is the integral coefficient of the first PI control link in the first compensator module;
The second repetitive controller module consists of a second addition operation link, a third delay link, a fourth delay link and a second compensator module; one of the inputs of the second addition link is used as an input of a second repeating controller module, the output of the second addition link is transmitted to a third delay link and a fourth delay link, the output of the fourth delay link is transmitted to a second compensator module, the third delay link is positioned in a feedback loop of the second repeating controller, a second attenuation link is added after the third delay link in the feedback loop of the second repeating controller, and a feedback signal is transmitted to the other input of the second addition link after passing through the third delay link and the second attenuation link, wherein the second attenuation link is a constant attenuation link or a low-pass filter attenuation link;
the second PI control link in the second compensator module comprises a second differential link and a second integral link; the output of the fourth delay link is output to the second PI control link after passing through the second phase compensation link and the second amplitude compensation link; the output of the second PI control link is used as the output of a second repetitive controller module;
the discrete transfer function G "(z) of the second repetitive controller module is:
Figure FDA0004105523540000051
Figure FDA0004105523540000052
Wherein C' P ′ I (z) a discrete transfer function of a second compensator module in the second repetitive controller module; q' (z) is the attenuation amount corresponding to the second attenuation link added in the feedback loop of the second repetitive controller module, wherein z is -N Delay of N units, N being oneSampling points in each period, z k″ Phase compensation in a second compensator module in the second repetitive controller module, wherein k' is a coefficient, taking 1 or 2; k (k) r "compensating for amplitude in a second compensator module in a second repetitive controller module, k p "is the scaling factor, k, of the second PI control loop in the second compensator module i "is the integral coefficient of the second PI control element in the second compensator module.
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