CN107528447A - A kind of switch type forecast Control Algorithm - Google Patents
A kind of switch type forecast Control Algorithm Download PDFInfo
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- CN107528447A CN107528447A CN201710620321.5A CN201710620321A CN107528447A CN 107528447 A CN107528447 A CN 107528447A CN 201710620321 A CN201710620321 A CN 201710620321A CN 107528447 A CN107528447 A CN 107528447A
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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
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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
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0012—Control circuits using digital or numerical techniques
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Abstract
The invention discloses a kind of switch type forecast Control Algorithm, belong to electric electronic current change technology, industrial control field.The invention is made up of outer voltage control and two links of current inner loop control.Wherein, outer voltage control uses a kind of switch type forecast Control Algorithm using numerical scale integration (Proportional Integral, PI) control, current inner loop control：When system is in stable state, ensure the stable state accuracy of system using track with zero error；When system is in transient state, ensure system fast transition to stable state using limited domination set Model Predictive Control.In addition, the present invention defines effective switching between a kind of two kinds of control methods of new switching function guarantee.A kind of switch type forecast Control Algorithm that the present invention announces has the advantages of high and limited domination set Model Predictive Control dynamic response of track with zero error stable state accuracy is fast concurrently, can meet the job requirement of power electronic system well.
Description
Technical field
The present invention relates to electronic power conversion and industrial control technology, more particularly to a kind of switch type forecast Control Algorithm.
Background technology
Track with zero error and limited domination set Model Predictive Control are the study hotspots of current PREDICTIVE CONTROL.Track with zero error
The digital control method of circuit discrete model is all based on limited domination set Model Predictive Control, it is not necessary to which complicated parameter is set
Meter.Track with zero error has outstanding stable state accuracy, it is possible to achieve fixed switching frequency, but the presence of modulating unit makes control
Dynamic property be restricted.Limited domination set model prediction does not need modulator, and dynamic response is fast, but switching frequency is not solid
Its steady-state behaviour of definite limitation.The advantages of how fully combining track with zero error and limited domination set Model Predictive Control each, it is real
The reasonable switching of existing two kinds of control strategies, tool are of great significance.
The content of the invention
For the deficiency of existing control strategy, present invention aims at provide a kind of switch type forecast Control Algorithm.The party
Method uses voltage x current double -loop control, wherein, outer voltage control is using numerical scale integration (Proportional-
Integral, PI) control, current inner loop control uses a kind of switch type forecast Control Algorithm：When system, (system refers to controlling party
The objective for implementation of method, generally refers to converters, and single-phase electricity die mould inverter is referred among the present invention) in steady
During state, ensure the stable state accuracy of system using track with zero error；When system is in transient state, using limited domination set model prediction
Guarantee system fast transition is controlled to stable state.In addition, the present invention defines a kind of the anti-interference of new switching function enhancing switching point
Effective switching between two kinds of control methods of ability and guarantee.
The purpose of the present invention can at least be realized one of by following technical solution.
A kind of switch type forecast Control Algorithm, key step are as follows：
(S1) system (system refers to the objective for implementation of control method, generally refers to converters) discretization is listed
State equation；
(S2) state variable of measuring system, control input variable, output variable and disturbance variable are controlled；
(S3) numerical scale integration (Proportional-Integral, PI) controller is designed, to output voltage and reference
Error between voltage is corrected and the reference signal of output current inner ring；
(S4) a kind of new switching function is defined, judges system mode；
(S5) according to the judged result of (S4), when system is in stable state, current inner loop control uses track with zero error；When
When system is in transient state, current inner loop control switches to limited domination set Model Predictive Control.
Further, in (S1), if the sampling period of system is T, system discretization state equation is obtained：X (k+1) refers to the state variable value of k+1 sampling instants；X (k) refers to
The state variable value at k sample moment；U (k) refers to the control input variate-value at k sample moment；D (k) refers to the dry of k sample moment
Disturb variate-value；yc(k) the controlled input variable value at k sample moment is referred to；A、Bu、BdAnd C1It is the coefficient of each independent variable respectively；T
It is the sampling period of system.
Further, in (S2), the state variable x (k) of measuring system, control input variable u (k), it is controlled output and becomes
Measure ycAnd disturbance variable d (k) (k).
Further, in (S3), continuous ratio integration (Proportional-Integral, PI) controller is defined：S represents that time-domain function passes through a kind of plural independent variable of the Laplace transform in s domains；G (s) is represented according to property
The transmission function of energy index request and system closed loop transfer function, baud G- Design PI controllers；KpRepresent the ratio of PI controllers
Coefficient；KiThe integral coefficient of PI controllers is represented, continuous P I controllers are obtained according to the Bode diagram of system closed loop transfer function,
Parameter；After obtaining continuous P I controllers, digital PI controller is obtained using Bilinear transformation method：
Z represents to carry out the Laplace function under s domains into another plural independent variable method for expressing after z-transform；G (z) represents numeral
The pulsed transfer function in PI controller z domains；T refers to the sampling period of system；Finally by between output voltage and reference voltage
Error is inputted to digital PI controller and is corrected, the reference signal of output current inner ring.
Further, in (S4), the new switching function is：Jsw(k)=| (xr(k)-x(k))2-(xr(k-1)-
x(k-1))2|, Jsw(k) k sample moment switching function value is represented；X (k) represents the state variable value at k sample moment；xr(k) table
Show reference variable value corresponding to k sample moment x (k)；X (k-1) represents the state variable value of k-1 sampling instants；xr(k-1) represent
Reference variable value corresponding to k-1 sampling instants x (k-1), in each sampling instant by JswAnd e (k)maxIt is compared, emaxRepresent
One threshold value of definition, for judging switching condition.
Further, a threshold value e is setmax, work as Jsw(k)>emax, judge that system is in transient state；Work as Jsw(k)<emax, sentence
Disconnected system is in stable state.
Further, in (S5), J is worked assw(k)<emax, system is in stable state, and current inner loop control uses track with zero error
The stable state accuracy of guarantee system；Work as Jsw(k)>emax, system is in transient state, and current inner loop control switches to limited domination set model
PREDICTIVE CONTROL makes system fast transition to stable state.
Compared with prior art, the beneficial effects of the invention are as follows：
1. system is in stable state, the steady-state error of system can be reduced, and realize fixed switching frequency；
2. system is in dynamic, guarantee system is quickly transitioned into stable state from transient state；
3. the new switching function enhancing switching point antijamming capability of definition, ensures effective switching between two methods.
Brief description of the drawings
Fig. 1 is a kind of switch type forecast Control Algorithm schematic diagram of the present invention.
Fig. 2 is the MATLAB simulated steady state output voltage waveforms design sketch using the present invention.
Fig. 3 is the MATLAB simulation data voltage steady-state error design sketch using the present invention.
Output voltage dynamic response design sketch when Fig. 4 is the MATLAB emulation reference voltage changes using the present invention.
Embodiment
It is described further below in conjunction with the implementation of accompanying drawing and example to the present invention, but the implementation and protection of the present invention are unlimited
In this.
It is a kind of switch type forecast Control Algorithm schematic diagram proposed by the present invention shown in Fig. 1, it is inverse with single-phase electricity die mould below
Illustrated exemplified by change device, key step is as follows.
(S1) output voltage V is selected0(k), filter inductance electric current iL(k) as system, (system refers to the implementation of control method
Object, generally refer to converters, single-phase electricity die mould inverter referred among this example) state variable, root
According to Kirchhoff's second law (Kirchhoff Voltage Law, KVL) and Kirchhoff's current law (KCL) (Kirchhoff
Current Law, KCL) list the state equations of system discrete instants：
In formula：D []/dt represents the differential value of state variable；L, C represents the filter inductance of single-phase electricity die mould inverter respectively
Value and filtering capacitance；V0(k)、iL(k) output voltage values and filter inductance current value at inverter k sample moment are represented respectively,
State variable as inverter；Vin(k) k sample moment inverter bridge AC magnitude of voltage is represented；i0(k) the k sample moment is represented
Output current value, the disturbance variable as system；yc(k) the controlled input variable value at k sample moment is represented.
If the sampling period of system is T, according to advance Euler method, the state equation of discrete instants is changed to discrete form：
In formula：V0(k+1)、iL(k+1) output voltage values and filter inductance current value of k+1 sampling instants are represented respectively, are made
For the state variable of system；T is the sampling period of system；The statement of its dependent variable is identical with formula (1).
(S2) the state variable V of measuring system0(k)、iL(k), control input variable Vr(k), it is controlled output variable yc(k)
With disturbance variable i0(k)。
(S3) outer voltage control uses digital PI controller, according to the requirement of performance indications and system closed loop transfer function,
Baud G- Design continuous P I controllers：
In formula：S represents that time-domain function passes through a kind of plural independent variable of the Laplace transform in s domains；G (s) represents basis
Performance indications requirement and the transmission function of system closed loop transfer function, baud G- Design PI controllers；KpRepresent the ratio of PI controllers
Example coefficient；KiRepresent the integral coefficient of PI controllers.
Discretization is carried out to continuous P I controllers using bilinear transformation, digital PI controller is calculated：
In formula：Z represents to carry out the Laplace function under s domains into another plural independent variable method for expressing after z-transform；
G (z) represents the pulsed transfer function in digital PI controller z domains；T refers to the sampling period of system；The same formula of statement of its dependent variable
(3) it is described.
The error of output voltage and reference voltage is inputted to digital PI controller and is corrected, output valve is as in electric current
The reference signal of ring.
(S4) rejection ability for enhancing switching point to external interference, the sensitivity and validity of switching point, definition are ensured
A kind of new switching function：
Jsw(k)=| (Vr(k)-V0(k))2-(Vr(k-1)-V0(k-1))2| (5)
In formula：Jsw(k) the switching function value at k sample moment is represented；V0(k) k sample moment inverter output voltage is represented
Value；Vr(k) k sample moment V is represented0(k) reference voltage level corresponding to；V0(k-1) k-1 sampling instant k sample moment inversions are represented
Device output voltage values；Vr(k-1) k-1 sampling instants V is represented0(k-1) reference voltage level corresponding to.
If switching point threshold value is emax, by JswAnd e (k)maxContrasted.Work as Jsw(k)>emax, judge that system is in transient state；
Work as Jsw(k)<emax, judge that system is in stable state.
(S5) system status is judged according to (S4).
When judging that system is in stable state, system uses track with zero error.
The discrete KVL equations of system can be obtained by (S1)：
In formula：iL(k+1) the filter inductance current value of k+1 sampling instants is represented；V0(k) the inverter k sample moment is represented
Output voltage values；iL(k) the filter inductance current value at inverter k sample moment is represented；Vin(k) k sample moment inverter bridge is represented
AC magnitude of voltage；L represents filter inductance value；T represents sampling period value.
And
Vin(k)=d*Vdc (7)
In formula：Vin(k) the inverter bridge AC magnitude of voltage of k sample moment inverter is represented；VdcRepresent DC voltage
Value；d*Represent modulated signal.
Then the discrete KVL equations of system are rewritten as：
According to track with zero error principle：
ir(k+1)-iL(k+1)=0 (9)
In formula：iL(k+1) the filter inductance current value of k+1 sampling instants is represented；ir(k+1) k+1 sampling instants i is representedL(k
+ 1) reference current value corresponding to.
Convolution (8) and (9) can obtain current inner loop control rate, that is, obtain modulated signal needed for modulator：
Now, by modulated signal d*To modulator compared with triangular wave, calculating switches set merging acts on inverse for input
Become device.
When judging that system is in transient state, current inner loop control switches to limited domination set Model Predictive Control.
Converters are each opened by controlling the turning on and off to realize the control of target of controlled tr tube
Close and there was only two states：On and off, all switch functions are all by both combinations of states.We define each bridge arm switch shape
State SiIt is as follows：
The alternative voltage V of inverter bridgein(k) it is as shown in table 1 with the relation of switch combination：
The alternative voltage V of table 1in(k) with the relation of switch combination
The discrete KVL equations of system are obtained by formula (6), the equation is rewritten and obtains predicted current calculating formula：
In formula：ip(k+1) the predicted current value of k+1 sampling instants is represented；V0(k) output at inverter k sample moment is represented
Magnitude of voltage；iL(k) the filter inductance current value at inverter k sample moment is represented；Vin(k) exchange of k sample moment inverter bridge is represented
Side magnitude of voltage；L represents filter inductance value；T represents sampling period value.
Objective function：
J=| ir(k+1)-ip(k+1)| (13)
ir(k+1) be the k+1 moment reference current value, ip(k+1) the predicted current value at k+1 moment is represented.
May alternative magnitude of voltage V corresponding to switch combination by systemin(k) (12) are substituted into and obtain different predicted current values,
Different predicted current values are substituted into (13), taking makes switch combination corresponding to J values minimum directly act on converter.
As shown in Figure 2, Figure 3 and Figure 4, it is using MATLAB simulated effect figures of the invention.Fig. 2 is using the present invention
MATLAB simulated steady state output voltage waveforms design sketch (abscissa represents the time, and ordinate represents output voltage values).Fig. 3 is should
With the MATLAB simulation data voltage steady-state errors design sketch of the present invention, (abscissa represents the time, and ordinate represents output voltage
With the error amount of reference voltage).Output voltage dynamic response when Fig. 4 is the MATLAB emulation reference voltage changes using the present invention
(solid line represents reference voltage to design sketch, and dotted line represents output voltage；Abscissa represents the time, and ordinate represents output voltage (ginseng
Examine voltage) value) specific simulation parameter is as shown in table 2.
The simulation parameter of table 2
Above-mentioned algorithm is programmed into MATLAB FUNTION modules by C language, the variate-value of sampling is input to
FUNTION modules, the switches set merging that current time is exported by calculating act on inverter.
As shown in Figures 2 and 3, output voltage waveforms are good during stable state, and steady-state error is small.Described according to Fig. 4, work as reference voltage
When changing, output voltage quickly can be transitioned into stable state from transient state, and vibration is small, and dynamic property is good.
Those skilled in the art can do on the premise of the principle and essence without prejudice to the present invention to this specific embodiment
Go out various modifications or supplement or substituted using similar mode, but these changes each fall within protection scope of the present invention.Cause
This technology of the present invention scope is not limited to above-described embodiment.
Claims (7)
1. a kind of switch type forecast Control Algorithm, it is characterised in that comprise the following steps：(S1) discretization state equation is listed；
(S2) state variable of measuring system, control input variable, output variable and disturbance variable are controlled；(S3) numerical scale product is designed
Divide (Proportional-Integral, PI) controller, the error between output voltage and reference voltage is corrected and defeated
Go out the reference signal of current inner loop；(S4) a kind of new switching function is defined, judges system mode；(S5) according to the judgement of (S4)
As a result, when system is in stable state, current inner loop control uses track with zero error；When system is in transient state, current inner loop control
System switches to limited domination set Model Predictive Control.
A kind of 2. switch type forecast Control Algorithm according to claim 1, it is characterised in that：In (S1), if system
Sampling period is T, obtains system discretization state equation：X (k+1) is
Refer to the state variable value of k+1 sampling instants；X (k) refers to the state variable value at k sample moment；U (k) refers to the control at k sample moment
Input variable value processed；D (k) refers to the disturbance variable value at k sample moment；yc(k) the controlled output variable at k sample moment is referred to
Value；A、Bu、BdAnd C1It is the coefficient of each independent variable respectively；T is the sampling period of system.
A kind of 3. switch type forecast Control Algorithm according to claim 1, it is characterised in that：In (S2), measuring system
State variable x (k), control input variable u (k), be controlled output variable ycAnd disturbance variable d (k) (k).
A kind of 4. switch type forecast Control Algorithm according to claim 1, it is characterised in that：In (S3), definition is continuous
Proportional integration (Proportional-Integral, PI) controller：S represents that time-domain function passes through La Pula
A kind of plural independent variable of this conversion in s domains；G (s) is represented according to performance indications requirement and system closed loop transfer function, Bode diagram
Design the transmission function of PI controllers；KpRepresent the proportionality coefficient of PI controllers；KiThe integral coefficient of PI controllers is represented, according to
The Bode diagram of system closed loop transfer function, obtains the parameter of continuous P I controllers；After obtaining continuous P I controllers, bilinearity is utilized
Converter technique obtains digital PI controller：Z represents the Laplace function under s domains carrying out z changes
Another plural independent variable method for expressing after changing；G (z) represents the pulsed transfer function in digital PI controller z domains；T refers to
The sampling period of system；Finally the error between output voltage and reference voltage is inputted to digital PI controller and is corrected, it is defeated
Go out the reference signal of current inner loop.
A kind of 5. switch type forecast Control Algorithm according to claim 1, it is characterised in that：It is described new in (S4)
Switching function be：Jsw(k)=| (xr(k)-x(k))2-(xr(k-1)-x(k-1))2|, Jsw(k) k sample moment switching letter is represented
Numerical value；X (k) represents the state variable value at k sample moment；xr(k) reference variable value corresponding to k sample moment x (k) is represented；x
(k-1) state variable value of k-1 sampling instants is represented；xr(k-1) reference variable corresponding to k-1 sampling instants x (k-1) is represented
Value, in each sampling instant by JswAnd e (k)maxIt is compared, emaxA threshold value of definition is represented, for judging switching condition.
A kind of 6. switch type forecast Control Algorithm according to claim 5, it is characterised in that：Set a threshold value emax, when
Jsw(k)>emax, judge that system is in transient state；Work as Jsw(k)<emax, judge that system is in stable state.
A kind of 7. switch type forecast Control Algorithm according to claim 1, it is characterised in that：In (S5), work as Jsw(k)<
emax, system is in stable state, and current inner loop control ensures the stable state accuracy of system using track with zero error；Work as Jsw(k)>emax, it is
System is in transient state, and current inner loop control, which switches to limited domination set Model Predictive Control, makes system fast transition to stable state.
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| CN113726239A (en) * | 2020-05-21 | 2021-11-30 | 北京机械设备研究所 | Control method and system for prediction of current loop of permanent magnet synchronous motor |
| CN117559460A (en) * | 2023-11-17 | 2024-02-13 | 国网吉林省电力有限公司长春供电公司 | Middle-low voltage cloud edge cooperative voltage control method based on fusion terminal |
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Application publication date: 20171229 |