CN107404250B - A kind of dead beat grid-connected control method of pulsewidth modulation - Google Patents

A kind of dead beat grid-connected control method of pulsewidth modulation Download PDF

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CN107404250B
CN107404250B CN201710701014.XA CN201710701014A CN107404250B CN 107404250 B CN107404250 B CN 107404250B CN 201710701014 A CN201710701014 A CN 201710701014A CN 107404250 B CN107404250 B CN 107404250B
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grid
voltage
pulsewidth modulation
current
control
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CN107404250A (en
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罗安
杨苓
陈燕东
周乐明
周小平
伍文华
谢志为
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Hunan University
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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
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal 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
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal 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, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal 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, e.g. single switched pulse inverters in a bridge configuration
    • H02J3/383—
    • 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
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/40—Synchronising a generator for connection to a network or to another generator
    • 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
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy
    • Y02E10/56—Power conversion systems, e.g. maximum power point trackers

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)

Abstract

The invention discloses a kind of dead beat grid-connected control methods of pulsewidth modulation, including outer voltage current inner loop double-closed-loop control and fast robust pulsewidth modulation.Outer voltage is controlled using PI, stablizes inverter DC capacitor voltage；Current inner loop uses parameters revision track with zero error, reduces distortion caused by changing because of filter inductance value grid-connected current；Fast robust pulsewidth modulation efficiently solves lag one and claps the latency issue that control introduces, and improves the stability and dynamic responding speed of system.

Description

A kind of dead beat grid-connected control method of pulsewidth modulation
Technical field
The present invention relates to new energy distributed power generation field, the dead beat cutting-in control side of especially a kind of pulsewidth modulation Method.
Background technique
With the continuous failure of fossil energy, new energy distributed generation technology is increasingly valued by people, wherein Gird-connected inverter is the core of distributed generation system, and effect is that the electric energy from distributed generation resource is converted to power grid Acceptable AC energy.And reality of the dead beat current control based on gird-connected inverter mathematical model, dependent on main circuit Border electric parameter, theoretically may be implemented zero steady state error control.Because of its quick current transient response, accurate current tracking characteristic And full-digital control, become its ideal Current Control Strategy.
But there is rely on accurate electrical model and control delay to track with zero error.On the one hand, filtered electrical Inductance value can not be detected accurately, or even as grid-connected current increases, filter inductance enters saturation state, so as to cause filter inductance value Reduce, these can all lead to filter inductance value in model and practical filter inductance value, and there are certain deviations, influence dead beat control The control precision of system, causes grid-connected current to distort；On the other hand, under dead beat current control, sampling and the intrinsic of calculating prolong When will lead to gird-connected inverter and there is a problem of that maximum duty cycle is limited, therefore system mostly uses lag one to clap control.And it lags One, which claps control bring control delay, will increase the pole number of system open loop pulsed transfer function, cause Close-Loop Pulse Transfer Function The variation of pole, this not only influences the stability of system, can also have an impact to the dynamic of system.Therefore, how to improve Stability, response speed and the distortion for reducing grid-connected current of system, it has also become the research emphasis and target of gird-connected inverter.
Summary of the invention
The present invention is intended to provide a kind of dead beat grid-connected control method of pulsewidth modulation, efficiently solves lag one and claps control The latency issue introduced is made, the stability and dynamic responding speed of system are improved.
In order to solve the above technical problems, the technical scheme adopted by the invention is that: a kind of dead beat of pulsewidth modulation is grid-connected Control method, comprising the following steps:
1) in the starting point in each sampling period, to gird-connected inverter DC voltage Udc, network voltage ugjWith grid-connected electricity Flow igjIt is sampled respectively, gives the data after converter is converted to dsp controller and handle；Wherein, j=a, b, C, a, b, c respectively correspond the three-phase of network voltage；
2) by DC side reference voltage UdcrWith DC voltage UdcSubtract each other, obtains difference ue；
3) by difference ueWith the transmission function G of outer voltage PI controlleru(s) it is multiplied, after clipping, obtains grid-connected electricity It flows amplitude and instructs Igr；
4) by network voltage ugjAfter phaselocked loop, power grid fundamental wave frequency ω is obtained1, by power grid fundamental wave frequency ω1 It is configured to sin (ω1π/3 t+2k), wherein k=0,1,2 ...；
5) grid-connected current amplitude is instructed into IgrWith sin (ω1π/3 t+2k) it is multiplied, obtain grid-connected current instruction igjr；
6) grid-connected current is instructed into igjr, grid-connected current igjWith network voltage ugjAfter dead beat current control, obtain Equivalent duty ratio Dj；
7) by equivalent duty ratio DjAfter fast robust pulsewidth modulation, gird-connected inverter filter inductance L and resistance r are obtained The voltage u at both endsLj。
In step 3), the transmission function G of outer voltage PI controlleru(s) expression formula is Gu(s)=kp+ki/ s, wherein kpIt is the proportionality coefficient of PI controller, kiIt is the integral coefficient of PI controller, s=j ω, j are imaginary part unit symbols, and ω is power grid Angular frequency.
kpValue range is 1.4≤kp≤ 1.6, kiValue range is 0.2≤ki≤0.4。
In step 6), the process of dead beat current control is as follows: grid-connected current is instructed igjrWith esTsBe multiplied, then with it is grid-connected Electric current igjSubtract each other, obtains difference iej；By difference iejBy synchronized sampling switch S, with katL/TsAfter multiplication, obtained product with Grid-connected current i after resistance r multiplicationgjBe added, then again with network voltage ugjIt is added, obtains gird-connected inverter output voltage uinvj；By gird-connected inverter output voltage uinvjTransmission function G by synchronized sampling switch S, with zero-order holderh(s) it and controls Make the transmission function G of delayd(s) be multiplied, obtained product again with network voltage ugjSubtract each other, obtains filter inductance L and resistance r two Hold voltage uLj, wherein s=j ω, j are imaginary part unit symbols, and ω is electrical network angular frequency；TsIt is sampling period, Ts=1/fs, fsFor 10kHz；katIt is filter inductance deviation factor, kat=L1/L*, katValue range is 0.4≤kat≤ 1.1, L1It is to be filtered in control Inductance, L*It is the actual inductance amount of filter inductance L；The transmission function G of zero-order holderh(s) expression formula is Gh(s)=(1- e-sTs)/s；Control the transmission function G of delayd(s) expression formula is Gd(s)=1.
In step 7), the process of fast robust pulsewidth modulation is as follows: starting to sample in the wave crest of k-th of triangular carrier, together When duty ratio d (k-1) by -1 carrier cycle of kth corresponding to fast robust pulse width modulated wave be loaded so that first half The turn-on time of a carrier cycle is 0.5Tsd(k-1)；In the trough of k-th of triangular carrier, the duty that sampling is calculated It subtracts fast robust pulse width modulated wave corresponding to the difference of d (k-1) than 2 times of d (k) to be loaded, so that rear half of carrier wave The turn-on time in period is Ts(d (k) -0.5d (k-1)), therefore, the expression formula of the equivalent duty ratio D (k) of k-th of carrier cycle For D (k)=d (k), wherein d (k) is the calculated duty ratio of sampled value according to k-th of triangular carrier wave crest；TsIt is sampling Period.
Compared with prior art, the advantageous effect of present invention is that: outer voltage of the present invention using PI control, stablize Inverter direct-flow side capacitance voltage；Current inner loop uses parameters revision track with zero error, reduces because of filter inductance value variation pair It distorts caused by grid-connected current；Fast robust pulsewidth modulation efficiently solves lag one and claps the latency issue that control introduces, and mentions The high stability and dynamic responding speed of system.
Detailed description of the invention
Fig. 1 is the structure of one embodiment of the invention photovoltaic parallel in system；
Fig. 2 is the dead beat grid-connection control system block diagram of one embodiment of the invention fast robust pulsewidth modulation；
Fig. 3 is the dead beat current control block diagram of one embodiment of the invention gird-connected inverter；
Fig. 4 is one embodiment of the invention fast robust pulse duration modulation method；
Fig. 5 is modulating wave and triangular carrier simulation waveform when one embodiment of the invention claps control using lag one；
Fig. 6 is by one embodiment of the invention using modulating wave and triangular carrier simulation waveform when proposing method；
Fig. 7 is the waveform of grid-connected current when one embodiment of the invention claps control using lag one；
Fig. 8 is the aberration rate of grid-connected current when one embodiment of the invention claps control using lag one；
Fig. 9 is by one embodiment of the invention using the waveform of grid-connected current when proposing method；
Figure 10 is by one embodiment of the invention using the aberration rate of grid-connected current when proposing method.
Specific embodiment
Fig. 1 is the structure of photovoltaic parallel in system, including photovoltaic array, inverter circuit and LC filter.CdcFor DC side storage Energy capacitor, is used to stable DC side voltage Udc.Power tube Q1-Q6Three-phase full-bridge inverting circuit is constituted, by DC voltage Udc It is converted to and network voltage ugThe close inverter output voltage identical with frequency of amplitude.LC filter is by inductance L and capacitor C structure At, under grid-connect mode, the filter effect of LC filter is equal to single inductance L filter, make electric current with lower aberration rate simultaneously Enter power grid, resistance r is the sum of dead resistance and line equivalent resistance of filter inductance L.IdcIt is DC side electric current, iinvj(j=a, B, c) it is inverter output current, igjIt is grid-connected current.It is negligible in order to simplify due to flowing through the electric current very little of filter capacitor C Disregard, iinvj≈igj。
Fig. 2 is the dead beat grid-connection control system block diagram of fast robust pulsewidth modulation, in the starting point in each sampling period, To DC voltage Udc, network voltage ugj(j=a, b, c) and grid-connected current igjIt is sampled, will be turned by converter respectively Data after changing are given dsp controller and are handled；By DC side reference voltage UdcrWith DC voltage UdcSubtract each other, obtains difference Value ue；By difference ueWith the transmission function G of outer voltage PI controlleru(s) it is multiplied, after clipping, obtains grid-connected current amplitude Instruct Igr.Wherein, the transmission function G of outer voltage PI controlleru(s) expression formula is Gu(s)=kp+ki/ s, wherein kpIt is The proportionality coefficient of PI controller, kpValue range is 1.4≤kp≤ 1.6, kiIt is the integral coefficient of PI controller, kiValue range For 0.2≤ki≤ 0.4, s=j ω, j are imaginary part unit symbols, and ω is electrical network angular frequency；By network voltage ugjBy phaselocked loop Afterwards, power grid fundamental wave frequency ω is obtained1, it is configured to sin (ω1π/3 t+2k) (k=0,1,2 ...)；By grid-connected current amplitude Instruct IgrWith sin (ω1π/3 t+2k) it is multiplied, obtain grid-connected current instruction igjr；Grid-connected current is instructed into igjr, grid-connected current igj With network voltage ugjAfter dead beat current control, equivalent duty ratio D is obtainedj；By equivalent duty ratio DjBy fast robust After pulsewidth modulation, filter inductance L and resistance r both end voltage u are obtainedLj。
Fig. 3 is the dead beat current control block diagram of gird-connected inverter, and grid-connected current is instructed igjrWith esTsBe multiplied, then with simultaneously Net electric current igjSubtract each other, obtains difference iej；By difference iejBy synchronized sampling switch S, with katL/TsAfter multiplication, obtained product Grid-connected current i after being multiplied with resistance rgjBe added, then again with network voltage ugjIt is added, obtains gird-connected inverter output voltage uinvj；By gird-connected inverter output voltage uinvjTransmission function G by synchronized sampling switch S, with zero-order holderh(s) it and controls Make the transmission function G of delayd(s) be multiplied, obtained product again with network voltage ugjSubtract each other, obtains filter inductance L and resistance r two Hold voltage uLj, wherein s=j ω, j are imaginary part unit symbols, and ω is electrical network angular frequency；TsIt is sampling period, Ts=1/fs, fsFor 10kHz；katIt is filter inductance deviation factor, kat=L1/L*, katValue range is 0.4≤kat≤ 1.1, L1It is to be filtered in control Inductance, L*It is the actual inductance amount of filter inductance L；The transmission function G of zero-order holderh(s) expression formula is Gh(s)=(1- e-sTs)/s；Control the transmission function G of delayd(s) expression formula is Gd(s)=1.
Fig. 4 is fast robust pulse duration modulation method, starts to sample in the wave crest of k-th of triangular carrier, while by kth -1 Fast robust pulse width modulated wave corresponding to the duty ratio d (k-1) of carrier cycle is loaded, so that preceding half of carrier cycle Turn-on time is 0.5Tsd(k-1)；In the trough of k-th of triangular carrier, 2 demultiplications for the duty ratio d (k) that sampling is calculated Fast robust pulse width modulated wave corresponding to the difference of d (k-1) is gone to be loaded, so that the turn-on time of rear half of carrier cycle For Ts(d (k) -0.5d (k-1)), therefore, the expression formula of the equivalent duty ratio D (k) of k-th of carrier cycle are D (k)=d (k), Wherein, d (k) is the calculated duty ratio of sampled value according to k-th of triangular carrier wave crest；TsIt is the sampling period.
Fig. 5 and Fig. 6 is respectively when clapping control using lag one and modulating wave and triangular carrier simulation waveform when mentioned method, When clapping control using lag one, is sampled, calculated according to sampled value, at k-th in the wave crest of -1 triangular carrier of kth The wave crest of triangular carrier, by the modulating wave u of -1 carrier cycle of kthm(k-1) it is loaded.When using mentioned method, in kth The wave crest of a triangular carrier starts to sample, while controlling fast robust corresponding to the duty ratio d (k-1) in period for kth -1 Pulse width modulated wave is loaded, so that the turn-on time of preceding half of carrier cycle is 0.5Tsd(k-1)；In k-th of triangular carrier Trough, 2 times of duty ratio d (k) that sampling is calculated subtract fast robust pulsewidth tune corresponding to the difference of d (k-1) Wave processed is loaded, so that the turn-on time of rear half of carrier cycle is Ts(d(k)-0.5d(k-1)).Mentioned method disappears completely In addition to lag one claps the delay of control, the stability and dynamic responding speed of system are improved.
Fig. 7 and Fig. 8 is respectively to clap grid-connected current waveform and aberration rate, Fig. 9 and Figure 10 when controlling using lag one to be respectively Grid-connected current waveform and aberration rate when mentioned method, in filter inductance deviation factor kat=0.5 and the identical item of other control parameters Under part, the aberration rate that lag one claps control method is 2.8%, and the aberration rate of mentioned method is 2.4%, and current distortion rate is more It is low.

Claims (4)

1. a kind of dead beat grid-connected control method of pulsewidth modulation, comprising the following steps:
1) in the starting point in each sampling period, to gird-connected inverter DC voltage Udc, network voltage ugjWith grid-connected current igj It is sampled respectively, gives the data after converter is converted to dsp controller and handle；Wherein, j=a, b, c, a, B, c respectively correspond the three-phase of network voltage；
2) by DC side reference voltage UdcrWith DC voltage UdcSubtract each other, obtains difference ue；
3) by difference ueWith the transmission function G of outer voltage PI controlleru(s) it is multiplied, after clipping, obtains grid-connected current width Value instruction Igr；
4) by network voltage ugjAfter phaselocked loop, power grid fundamental wave frequency ω is obtained1, by power grid fundamental wave frequency ω1It is configured to sin(ω1π/3 t+2k), wherein k=0,1,2,；
5) grid-connected current amplitude is instructed into IgrWith sin (ω1π/3 t+2k) it is multiplied, obtain grid-connected current instruction igjr；
6) grid-connected current is instructed into igjr, grid-connected current igjWith network voltage ugjAfter dead beat current control, equivalent account for is obtained Sky ratio Dj；
7) by equivalent duty ratio DjAfter fast robust pulsewidth modulation, gird-connected inverter filter inductance L and the both ends resistance r are obtained Voltage uLj；
It is characterized in that, the process of dead beat current control is as follows in step 6): grid-connected current is instructed igjrWith esTsIt is multiplied, Again with grid-connected current igjSubtract each other, obtains difference iej；By difference iejBy synchronized sampling switch S, with katL/TsAfter multiplication, obtain Product be multiplied with resistance r after grid-connected current igjBe added, then again with network voltage ugjIt is added, it is defeated to obtain gird-connected inverter Voltage u outinvj；By gird-connected inverter output voltage uinvjTransmission function G by synchronized sampling switch S, with zero-order holderh (s) the transmission function G being delayed with controld(s) be multiplied, obtained product again with network voltage ugjSubtract each other, obtain filter inductance L and Resistance r both end voltage uLj, wherein s=j ω, j are imaginary part unit symbols, and ω is electrical network angular frequency；TsIt is sampling period, Ts= 1/fs, fsFor 10kHz；katIt is filter inductance deviation factor, kat=L1/L*, katValue range is 0.4≤kat≤ 1.1, L1It is control Filtering inductance in system, L*It is the actual inductance amount of filter inductance L；The transmission function G of zero-order holderh(s) expression formula is Gh (s)=(1-e-sTs)/s；Control the transmission function G of delayd(s) expression formula is Gd(s)=1.
2. the dead beat grid-connected control method of pulsewidth modulation according to claim 1, which is characterized in that in step 3), electricity Press the transmission function G of outer ring PI controlleru(s) expression formula is Gu(s)=kp+ki/ s, wherein kpIt is the ratio system of PI controller Number, kiIt is the integral coefficient of PI controller, s=j ω, j are imaginary part unit symbols, and ω is electrical network angular frequency.
3. the dead beat grid-connected control method of pulsewidth modulation according to claim 2, which is characterized in that kpValue range is 1.4≤kp≤ 1.6, kiValue range is 0.2≤ki≤0.4。
4. the dead beat grid-connected control method of pulsewidth modulation according to claim 1, which is characterized in that in step 7), fastly The process of fast robust pulsewidth modulation is as follows: starting to sample in the wave crest of k-th of triangular carrier, while by -1 carrier cycle of kth Duty ratio d (k-1) corresponding to fast robust pulse width modulated wave be loaded so that the turn-on time of preceding half of carrier cycle It is 0.5Tsd(k-1)；In the trough of k-th of triangular carrier, d (k-1) is subtracted by 2 times of the duty ratio d (k) that sampling is calculated Difference corresponding to fast robust pulse width modulated wave be loaded so that the turn-on time of rear half of carrier cycle be Ts(d (k) -0.5d (k-1)), therefore, the expression formula of the equivalent duty ratio D (k) of k-th of carrier cycle is D (k)=d (k), wherein d (k) it is the calculated duty ratio of sampled value according to k-th of triangular carrier wave crest；TsIt is the sampling period.
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