CN107196506A - A kind of three-level Boost converter repeats dead beat Compound Control Strategy - Google Patents
A kind of three-level Boost converter repeats dead beat Compound Control Strategy Download PDFInfo
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- CN107196506A CN107196506A CN201710550587.7A CN201710550587A CN107196506A CN 107196506 A CN107196506 A CN 107196506A CN 201710550587 A CN201710550587 A CN 201710550587A CN 107196506 A CN107196506 A CN 107196506A
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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
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
Abstract
The invention discloses a kind of repetition dead beat Compound Control Strategy of three-level Boost converter, design track with zero error algorithm, inductive current predictor calculation formula is derived, and then draws current time dutycycle, it is ensured that actual current tracks reference current in two controlling cycles；Design repetitive controller, including cycle time delay process and compensation tache etc.；Track with zero error device is embedded into repetitive controller, three-level Boost converter is obtained and repeats dead beat Compound Control Strategy.The invention is based on advanced three-level Boost converter, and more traditional two level Boost converter has lower pulsation of current, can be applied to the DC boosting occasion of more Large Copacity；The invention combines the advantage of track with zero error and Repetitive controller, not only the fast dynamic response speed with track with zero error, simultaneously because the effect of Repetitive controller, can eliminate the steady-state error of track with zero error presence.
Description
Technical field
The present invention relates to a kind of repetition track with zero error strategy based on three-level Boost converter, wherein dead beat
Control item realizes the quick response to input side electric current, and Repetitive controller is used to eliminate input side electric current steady-state error, this control
Strategy is applied to the occasions such as high power UPS, PFC.
Background technology
The advantage of three-level DC converter is that the voltage stress of switching tube is the half of input direct voltage, in identical electricity
In the case that inducing current is pulsed, switching frequency is only the half of traditional two level Boost, and this just efficiently solves general direct current and become
The problem of parallel operation switch tube voltage stress is too high, while the design of filter inductance can be optimized.Traditional two level Boosts conversion
Device control strategy comparative maturity, for three-level Boost converter, its operation mode is various, and control strategy is complex.
There are a variety of methods, including PI (proportional integration) control, fuzzy control, ANN Control, dead beat control to the control of converter
System, Repetitive controller etc..Traditional PI control methods that what is be most widely used will belong to, this method has that algorithm is simple, control effect
Really good the advantages of, but the parameter designing of PI controllers and selection course are comparatively laborious, the direct shadow of experience and level of designer
Ring to performances such as tracking accuracy, the response speeds of converter；The modern control methods such as fuzzy control, ANN Control have dynamic
The characteristics of state property energy is good, robustness is high, but control strategy is more complicated, it is higher to processor requirement；Track with zero error is to adopt
A kind of distinctive control mode of sample control system, normal numerical control system typically has one or a delay clapped more, and nothing
The command signal of beat control is obtained by circuit parameter and suitable current prediction method, can be real in a controlling cycle
The tracking of existing command signal, dynamic response is fast, but track with zero error belongs to opened loop control, there is steady-state error, its good electricity
Stream tracking effect needs suitable current forecasting scheme to ensure, the track with zero error for being not previously predicted scheme is actual for a poor bat
Or poor two bat is controlled, conventional current forecasting scheme has horizontal sliding prediction, repeats prediction, second order extrapolation interpolative prediction and by the above
The Forecasting Methodology that prediction scheme is combined；It is to influence other one big original of track with zero error application more by force on systematic parameter dependence
There is error in cause, the acquisition of actual parameter, and as the change of extraneous factor, parameter can change, these factors will necessarily
The tracking accuracy of influence compensation electric current.Repetitive controller is based on internal model principle, if that is, comprising defeated in stable closed-loop control system
Enter the model of signal, then the system can be realized tracks to input signal without static error, and repetitive controller is to circular error
The Cycle by Cycle of signal adds up so that the error signal in a upper cycle reappears in next cycle, so as to eliminate error, repeats to control
The shortcoming of system is also that dynamic response is slow it will be apparent that periodic error signal can only be eliminated, therefore Repetitive controller is generally made
It is that a kind of control strategy of auxiliary and other control strategies are used in combination, to eliminate systematic steady state error.By track with zero error
It is combined with Repetitive controller, track with zero error is used for the quick response of system, using in repetitive controller amendment track with zero error
Periodic control deviation, so as to reach good control effect.
The content of the invention
The invention aims to solve drawbacks described above of the prior art, there is provided a kind of three-level Boost converter
Dead beat Compound Control Strategy is repeated, three-level Boost converter inductor current value is controlled, track with zero error is eliminated and there is stable state
The problem of error, poor robustness and slow Repetitive controller response speed.
The purpose of the present invention can be reached by adopting the following technical scheme that：
A kind of three-level Boost converter repeats dead beat Compound Control Strategy, and the control strategy comprises the following steps：
Based on State-space Averaging Principle, transmission function of the three-level Boost converter dutycycle to output current is derived；
Track with zero error algorithm is designed, according to the Boost input and output voltage and inductive current of sampling, is derived
The inductive current predictor calculation formula of lower two controlling cycles；
Allow reference current to be equal to the inductive current of lower two controlling cycles, so as to obtain current control period dutycycle, protect
Card actual current tracks reference current in two controlling cycles；
With reference to the three level Boost transmission functions above derived, repetitive controller transmission function is derived, Repetitive controller is designed
Device, including cycle time delay process and compensation tache；
The track with zero error algorithm is embedded into repetitive controller, three level Boosts repetition dead beat is obtained and is combined
Control strategy.
Further, the three-level Boost converter dutycycleTo output currentTransmission function it is as follows：
In formula, ILFor inductive current steady-state value, d is stable state dutycycle, and L is that Boost inputs inductance, and R is output loading etc.
Resistance is imitated, wherein load resistor value is equal above and below assuming, C is capacitance above and below outlet side, wherein capacitance is equal above and below assuming.
Further, the derivation of the inductive current predictor calculation formula of lower two controlling cycles is as follows：
iLkFor current control period electric current actual sample value,For next controlling cycle current forecasting value, iLrefTo be current
Controlling cycle current reference value,For lower two controlling cycles current forecasting value, iLk+2It is actual for lower two controlling cycle electric currents
Value, input and output voltage fluctuates very little in two controlling cycles, it is believed that constant, current forecasting valueIt can lead to
Formula below is crossed to calculate：
In formula, vinFor Boost input voltages, voFor Boost output voltages, dk-1For upper controlling cycle dutycycle, dkFor
Current control period dutycycle, TsFor controlling cycle.
Further, the process for obtaining current control period dutycycle is as follows：
In order that electric current tracks reference current after two controlling cycles, predicted current is madeEqual to reference current
iLref, current control period dutycycle d can be calculatedk:
Further, the derivation of the repetitive controller transmission function is as follows：
First design compensation link S (Z)=krZkF (Z), derives the transmission function and whole Repetitive controller of repetitive controller
The open-loop transfer function of system is：
Go(Z)=GRE(Z)G(Z)
In formula, GRE(Z) to repeat controller transfer function, G (Z) is controlled device, GoPassed for whole control system open loop
Delivery function, time delay process N is equal to 67, and attenuation coefficient Q takes 0.95, krFor proportionality coefficient, ZkFor phase lead compensation link, k=N
θ/360, θ is system phase delay angle, and F (Z) is used for correcting controlled device, increases the stability margin of system.
Further, compensation tache S (Z) design process is as follows：
Require that design compensation link S (Z), F (Z) are designed as step low-pass filter according to the dynamic property of system and steady-state behaviour
Ripple device, F (s) parameter, natural angular frequency ω are designed by continuous domainnTake 3000rad/s, damped coefficient ξ to take 0.707, F can be obtained
(s) transmission function, carries out Tustin discretizations to F (s) and can obtain F (Z), wherein, F (s) continuous domain transmission functions are：
F (s) discrete domain transmission functions are：
The present invention has the following advantages and effect relative to prior art：
1st, compared to traditional two level Boost converter, the pulsation of three-level Boost converter DC current is smaller, but number
Learn model increasingly complex, the present invention has derived three level on the basis of three-level Boost converter mathematical modeling is analyzed
Track can in two controlling cycles in the track with zero error algorithm of Boost, the theory of algorithm actual current
Reference current；
2nd, on the basis of above-mentioned three-level Boost converter track with zero error, repetitive controller is devised, by dead beat control
System is embedded into repetitive controller, obtains three level and repeats dead beat Compound Control Strategy, the Compound Control Strategy not only has
The fast dynamic response speed of track with zero error, simultaneously because the effect of Repetitive controller, can eliminate track with zero error presence
Periodic steady state error.The three-level Boost converter repeat track with zero error strategy be applied to control system dynamic property and
Steady-state behaviour requires higher high-capacity direct current boosting occasion.
Brief description of the drawings
Fig. 1 is three level Boost code converter topological structures；
Fig. 2 (a) is d<Three level Boost inductive current pulsation schematic diagram when 0.5；
Fig. 2 (b) is d>Three level Boost inductive current pulsation schematic diagram when 0.5；
Fig. 3 is Boost inductive current track with zero error schematic diagrames；
Fig. 4 is repeated controlling system control block diagram；
Fig. 5 is to repeat track with zero error system control block figure；
Fig. 6 is Boost inductive currents reference value and actual value.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
First, three level Boost code converters are as shown in figure 1, two switching tubes use phase-shift control mode, phase mutual deviation
180 °, according to dutycycle d<0.5 and d>0.5, converter has four kinds of operation modes, shown in such as Fig. 2 (a) and Fig. 2 (b)：
A1)S1Conducting, S2Close, now electric current is through S1And C1Form loop；
B1)S1Close, S2Close, now electric current is through C1And C2Form loop；
C1)S1Close, S2Conducting, now electric current is through C1And S2Form loop；
D1)S1Conducting, S2Conducting, now electric current is through S1And S2Form loop；
Based on small-signal analysis method, for each operation mode, state equation is listed respectively, then carries out state space and is put down
, Boost type transducer status equation can be arrived：
In formula, L is Boost filter inductances, and C is capacitance, R above and below Boost outputs1For resistance in Boost output loadings,
R2For lower resistance, d is Boost stable state dutycycles, VC1For upper capacitance voltage steady-state value, VC2For lower capacitance voltage steady-state value, ILFor
Inductive current steady-state value,WithThe electric capacity voltage disturbance value for above and below,For inductive current disturbed value,For input voltage
Disturbed value,For dutycycle disturbed value.
According to above-mentioned state equation, it can obtainTo output currentTransmission function：
In above formula, it is assumed that R=R1=R2, C=C1=C2。
The mathematical modeling is used for the design of compensator S (Z) in repetitive controller.
2nd, track with zero error algorithm is designed：Because numerically controlled one claps time-delay characteristics, what current time calculating was obtained accounts for
Sky compares dkIt can only be worked in next controlling cycle, therefore the current error at current time was at least needed by two control weeks
Phase could eliminate, as shown in Figure 3：
iLkFor current control period electric current actual sample value,For next controlling cycle current forecasting value, iLrefTo be current
Controlling cycle current reference value,For lower two controlling cycles current forecasting value, iLk+2It is actual for lower two controlling cycle electric currents
Value, input and output voltage fluctuates very little in two controlling cycles, it is believed that constant, current forecasting valueIt can lead to
Formula below is crossed to calculate：
In formula, vinFor current control period input voltage, voFor current control period output voltage, dkWeek is controlled for kth
Phase dutycycle, dk-1For k-1 controlling cycle dutycycles, TsFor controlling cycle.
In order that electric current tracks reference current after two controlling cycles, predicted current is madeEqual to reference current
iLref, d can be calculated according to above formulak:
3rd, repetitive controller is designed.
As shown in figure 4, G (Z) is controlled device, because DC input voitage exports for three-phase rectifier, with 6 pulse waves
300Hz periodic perturbation, controlling cycle TsWhen taking 50us, time delay process N is approximately equal to 67；Attenuation coefficient Q takes 0.95 according to document
It is advisable.
Design compensation link S (Z)=krZkF (Z), wherein krFor proportionality coefficient, ZkFor phase lead compensation link, it is used for
The control delay of controlled device is compensated, k=N θ/360, θ are system phase delay angle；F (Z) is used for correcting controlled device, increases
The stability margin of system.The transmission function of repetitive controller is：
Repeated controlling system open-loop transfer function is：
Go(Z)=GRE(Z)G(Z)
Design compensation link S (Z) is required according to the dynamic property of system and steady-state behaviour, it is low that wherein F (Z) is designed as second order
Bandpass filter, F (s) parameter, natural angular frequency ω are designed by continuous domainn3000rad/s, damped coefficient ξ is taken to take 0.707, can
F (s) transmission function is obtained, carrying out Tustin discretizations to F (s) can obtain F (z).
F (s) continuous domain transmission functions are：
F (s) discrete domain transmission functions：
4th, Compound Control Strategy, as shown in figure 5, track with zero error is embedded among Repetitive controller, can obtain three level
Boost type converter repeats dead beat Compound Control Strategy.
5th, simulating, verifying is carried out to above-mentioned Compound Control Strategy with electromagnetism Transient State Simulation Software PSCAD, be illustrated in figure 6
Boost inductance reference current and actual current waveform, it can be seen that repeating dead beat complex controll has preferable dynamic property
And steady-state behaviour.
Above-described embodiment is preferably embodiment, but embodiments of the present invention are not by above-described embodiment of the invention
Limitation, other any Spirit Essences without departing from the present invention and the change made under principle, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (6)
1. a kind of three-level Boost converter repeats dead beat Compound Control Strategy, it is characterised in that the control strategy includes
The following steps：
Based on State-space Averaging Principle, transmission function of the three-level Boost converter dutycycle to output current is derived；
Track with zero error algorithm is designed, according to the Boost input and output voltage and inductive current of sampling, two are derived down
The inductive current predictor calculation formula of individual controlling cycle；
Reference current is allowed to be equal to the inductive current of lower two controlling cycles, so as to obtain current control period dutycycle, it is ensured that real
Border electric current tracks reference current in two controlling cycles；
With reference to the three level Boost transmission functions above derived, repetitive controller transmission function is derived, repetitive controller is designed,
Including cycle time delay process and compensation tache；
The track with zero error algorithm is embedded into repetitive controller, three level Boosts is obtained and repeats dead beat complex controll
Strategy.
2. a kind of three-level Boost converter according to claim 1 repeats dead beat Compound Control Strategy, its feature exists
In the three-level Boost converter dutycycleTo output currentTransmission function it is as follows：
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In formula, ILFor inductive current steady-state value, d is stable state dutycycle, and L is that Boost inputs inductance, and R is output loading equivalent electric
Resistance, wherein load resistor value is equal above and below assuming, C is capacitance above and below outlet side, wherein capacitance is equal above and below assuming.
3. a kind of three-level Boost converter according to claim 1 repeats dead beat Compound Control Strategy, its feature exists
In the derivation of the inductive current predictor calculation formula of lower two controlling cycles is as follows：
iLkFor current control period electric current actual sample value,For next controlling cycle current forecasting value, iLrefFor current control
Periodic current reference value,For lower two controlling cycles current forecasting value, iLk+2For lower two controlling cycle current actual values,
Input and output voltage fluctuates very little in two controlling cycles, it is believed that constant, current forecasting valueIt can pass through
Formula below is calculated：
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In formula, vinFor Boost input voltages, voFor Boost output voltages, dk-1For upper controlling cycle dutycycle, dkTo be current
Controlling cycle dutycycle, TsFor controlling cycle.
4. a kind of three-level Boost converter according to claim 3 repeats dead beat Compound Control Strategy, its feature exists
In the process for obtaining current control period dutycycle is as follows：
In order that electric current tracks reference current after two controlling cycles, predicted current is madeEqual to reference current iLref, can
To calculate current control period dutycycle dk:
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5. a kind of three-level Boost converter according to claim 1 repeats dead beat Compound Control Strategy, its feature exists
In the derivation of the repetitive controller transmission function is as follows：
First design compensation link S (Z)=krZkF (Z), derives the transmission function and whole repeated controlling system of repetitive controller
Open-loop transfer function be：
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Go(Z)=GRE(Z)G(Z)
In formula, GRE(Z) to repeat controller transfer function, G (Z) is controlled device, GoLetter is transmitted for whole control system open loop
Number, time delay process N is equal to 67, and attenuation coefficient Q takes 0.95, krFor proportionality coefficient, ZkFor phase lead compensation link, k=N θ/
360, θ be system phase delay angle, and F (Z) is used for correcting controlled device, increases the stability margin of system.
6. a kind of three-level Boost converter according to claim 5 repeats dead beat Compound Control Strategy, its feature exists
In compensation tache S (Z) design process is as follows：
Require that design compensation link S (Z), F (Z) are designed as second-order low-pass filter according to the dynamic property of system and steady-state behaviour
Device, F (s) parameter, natural angular frequency ω are designed by continuous domainnTake 3000rad/s, damped coefficient ξ to take 0.707, F (s) can be obtained
Transmission function, to F (s) carry out Tustin discretizations can obtain F (Z), wherein, F (s) continuous domain transmission functions are：
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F (s) discrete domain transmission functions are：
<mrow>
<mi>F</mi>
<mrow>
<mo>(</mo>
<mi>Z</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<mn>0.005012</mn>
<msup>
<mi>z</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<mn>0.01002</mn>
<mi>z</mi>
<mo>+</mo>
<mn>0.005012</mn>
</mrow>
<mrow>
<msup>
<mi>z</mi>
<mn>2</mn>
</msup>
<mo>-</mo>
<mn>1.79</mn>
<mi>z</mi>
<mo>+</mo>
<mn>0.8101</mn>
</mrow>
</mfrac>
<mo>.</mo>
</mrow>
2
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| CN113422526A (en) * | 2021-08-11 | 2021-09-21 | 大连海事大学 | Single-phase three-level rectifier control method based on repeated prediction current control |
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