CN107591809A - Multicycle parallel connection Repetitive controller harmonic wave and m-Acetyl chlorophosphonazo specify time compensation method - Google Patents
Multicycle parallel connection Repetitive controller harmonic wave and m-Acetyl chlorophosphonazo specify time compensation method Download PDFInfo
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Abstract
The present invention relates to a kind of multicycle parallel connection Repetitive controller harmonic wave and m-Acetyl chlorophosphonazo to specify time compensation method.This method utilizes the three-phase current signal and three-phase voltage signal in three level parallel Active Power Filter-APFs detection power network；Then Time domain averaging is carried out, obtains the component that three-phase current filters out component and voltage d, q axle after direct current and interference；Current first harmonics component is filtered out by low pass filter again；After through harmonic detecting module and m-Acetyl chlorophosphonazo detection module extract harmonic signal and m-Acetyl chlorophosphonazo signal respectively；By command signal input offset control system, the thermal compensation signal of output inputs three level SVPWMs, drives the power electronic devices in three level parallel Active Power Filter-APFs to turn on and off, and produces expection waveform compensation power network.The present invention is detected using time domain average method to the harmonic wave in power network, m-Acetyl chlorophosphonazo, and harmonic wave, m-Acetyl chlorophosphonazo are compensated by the way of PI controls and multicycle parallel connection Repetitive controller are combined, improve its reliability and compensation precision.
Description
Technical field
The present invention relates to Harmonic Detection and compensation technique field, more particularly to a kind of multicycle parallel connection Repetitive controller are humorous
Ripple and m-Acetyl chlorophosphonazo specify time compensation method.
Background technology
In three phase network, the power electronic equipment such as high-voltage dc transmission electric installation, electric arc furnaces and frequency converter is except generation harmonic wave
Outside electric current, substantial amounts of m-Acetyl chlorophosphonazo electric current is also created.The presence of harmonic wave and m-Acetyl chlorophosphonazo causes the reduction of operation of power networks efficiency, it is also possible to
Cause voltage ripple of power network and flickering.For the influence of harmonic carcellation and m-Acetyl chlorophosphonazo, the detection of harmonic wave and m-Acetyl chlorophosphonazo is directed to both at home and abroad
Many research has been carried out with compensation.Detection method main at present has the detection method based on frequency domain, the detection side based on time domain
The method that method and frequency domain and time domain are combined.
When voltage, electric current have distortion in power network, conventional power theory has not been applied to, and existing Time-Domain Detection Method is based on
Various non-sinusoidal powers are theoretical, mainly there is two classes：Method based on Defining Instantaneous Power Components and based on Fryze power definitions.It is based on
The detection method of traditional instantaneous reactive theory (p-q theory) can not be in three-phase voltage asymmetry and generation wave distortion
When, mains by harmonics electric current is detected exactly；Detection method based on p-q-r Power Theories adds the definition of zero energy, can
In being detected for three-phase unbalance system.CPT (conservative power theory) theoretical definition is uneven in three-phase
Instantaneous power in weighing apparatus and distortion system, compared with pq Power Theories and frequency domain define theory, CPT Power Theories define physics
Clear, realizes simple, is suitable for current detecting in Nonsinusoidal Circuits, but is needed for power network in the case of containing m-Acetyl chlorophosphonazo into one
The research of step.
The improved method of monocycle Repetitive controller can cause repetitive controller to realize zero steady state error control to periodic signal.But
It is that, when control system has interference or uncertain periodic signal and m-Acetyl chlorophosphonazo signal be present, monocycle Repetitive controller is still
In the presence of limitation.The it is proposed of multicycle parallel connection Repetitive controller can solve the periodic problem of control signal and interference.But the multicycle
The presence of the low pass filter of Repetitive controller in parallel can cause bad influence to the attenuation characteristic of interference.Generally, repetitive controller
Fundamental wave can only be directed to and its integral multiple subharmonic is controlled, but in actual applications, have the presence of m-Acetyl chlorophosphonazo component.Weight
The robust performance of multiple controller can run down with the increase of m-Acetyl chlorophosphonazo quantity.
To improve system robustness, carry out specifying the method for subharmonic compensation to be carried using Shunt
Go out, it is individually designed that this method can be directed to the progress of different frequency harmonic wave.Specified subharmonic compensation at present frequently with mode be by institute
Times harmonic need to be compensated to extract in detection, controller is then fed into and compensates.But use conventional PI controls
Device processed can not accomplish zero steady state error control, error be present.Although compensation precision is improved using controllers such as Repetitive controllers, but deposited
The poor robustness the characteristics of, when ambient systems disturbance is larger, the unstable of system is easily caused.
The content of the invention
To solve the above problems, the invention provides a kind of multicycle parallel connection Repetitive controller harmonic wave and m-Acetyl chlorophosphonazo to specify time benefit
Compensation method, this method set PI controllers and multicycle repetition in parallel simultaneously using time domain average detection harmonic wave and m-Acetyl chlorophosphonazo
Controller carries out specifying subharmonic, m-Acetyl chlorophosphonazo compensation control.
The concrete technical scheme that the present invention uses is as follows:
A kind of multicycle parallel connection Repetitive controller harmonic wave and m-Acetyl chlorophosphonazo specify time compensation method, comprise the following steps：
Step 1, utilize the three-phase current signal i in three level parallel Active Power Filter-APFs detection power networka、ib、icWith three
Phase voltage signal ea、eb、ec；
Step 2, to three-phase current signal ia、ib、icWith three-phase voltage signal eaTime domain averaging is carried out, obtains three-phase
Electric current filters out the component i after direct current and interferenceah、ibh、ichAnd the component e of voltage d, q axled、eq；
Step 3, current first harmonics component is filtered out by low pass filter；
Step 4, the electric current after fundametal compoment will be filtered out extracted respectively through harmonic detecting module and m-Acetyl chlorophosphonazo detection module
Harmonic signal ihWith m-Acetyl chlorophosphonazo signal iih, wherein harmonic wave is fundamental wave integral multiple component of degree n n, and m-Acetyl chlorophosphonazo is fundamental wave fraction times component of degree n n；
It is step 5, three level parallel Active Power Filter-APFs of obtained harmonic signal and m-Acetyl chlorophosphonazo signal and detection are straight
Side voltage signal input offset control system together is flowed, the compensation control system includes PI controllers and multicycle repetition in parallel
Controller, two wired in parallel are set；
Three level SVPWMs are inputted after step 6, the thermal compensation signal multiplication cross of output, drive three level parallel active electric powers
Power electronic devices in wave filter turns on and off, and produces expection waveform compensation power network.
Time domain averaging process is in step 2：The three-phase current signal i that step 1 is detecteda、ib、icAnd three-phase electricity
Press signal ea、eb、ecInitial filter, output initial data x (t), discrete adopt is carried out to x (t) using cycle T as time interval afterwards
Sample, N sections are intercepted, centrifugal pump is obtained after superposed average, eliminate the random disturbances in primary signal and non-designated periodic component, processing
Reconstruct output i afterwardsah、ibh、ich、ed、eq.Cycle T can be made according to the moving law of practical structures, can also ask signal it from phase
Relation number principle is made.Time domain average theory can completely inhibit fundamental wave harmonic, while pass through m-Acetyl chlorophosphonazo.Increase average value
Quantity broach can be made to narrow, and also reduce passband ripple.For exact multiple very big, except repetition rate
All frequencies at place will be detected.We can suppress fundamental wave harmonic to m-Acetyl chlorophosphonazo system with selection parameter to obtain differential signal
Several adverse effect so that can finally detect any initially covered in the case where m-Acetyl chlorophosphonazo frequency is inconsistent by harmonic wave
Harmonic component.
In order to eliminate the influence that supply voltage distorts to testing result, it is necessary to take measures to obtain with supply voltage fundamental wave just
Order components phase information.The present invention obtains reference voltage phase using phaselocked loop, therefore also using lock between step 1 and 4
Phase ring input voltage ea、eb, export the phase theta for corresponding to line voltage fundamental signal1, corresponding line voltage integral frequency harmonizing wave signal
Phase thetahAnd the phase theta of corresponding line voltage non-integer harmonics signalih.Lock is mutually exactly phase locked to be automatically controlled, real
The synchronous automatic control system of existing two signal phases claims phase-locked loop (PLL).Phase-locked loop by phase discriminator, loop filter and
Voltage controlled oscillator forms.Phase between phase discriminator comparison system input signal and output signal, produce one and correspond to two letters
The error voltage of number phase difference, an error voltage for removing high fdrequency component and noise jamming is obtained after loop filtering, with this
Voltage goes to adjust voltage controlled oscillator output signal frequency.
The detailed process of step 3 is：
If three-phase mains voltage is symmetrically undistorted, it is by standardization processing
Wherein, ea、eb、ecThree-phase mains voltage respectively after standardization processing, ω is angular frequency,For a phases power supply electricity
Press starting phase angle；
If threephase load electric current is
Wherein, ia、ib、icRespectively threephase load electric current, h are overtone order, I1hFor positive-sequence component in h subharmonic currents
Amplitude,For the starting phase angle of positive-sequence component in a phase h subharmonic currents, I2hFor negative sequence component in h subharmonic currents
Amplitude,For the starting phase angle of negative sequence component in a phase h subharmonic currents, I0hFor the width of zero-sequence component in h subharmonic currents
Value,For the starting phase angle of zero-sequence component in a phase h subharmonic currents；
Instantaneous active power can be obtained according to formula (1), (2)：
Section 1 is DC component in formula (3), relevant with current first harmonics positive-sequence component, and Section 2 is that frequency is fundamental wave frequency
The AC compounent that 2 times of rate, relevant with fundamental current negative sequence component, other items are the exchange relevant with harmonic current components point
Amount, AC compounent is filtered out, can obtain linear active power,
Can obtain instantaneous active conductance according to formula (4) is
Formula (5) Section 1 is corresponding with current first harmonics active component, filters out the of ac in formula (5), and can obtain fundamental wave has
Work(conductance
Meanwhile if set three-phase mains voltage as
The same formula of load current formula (2), instantaneous active power can be obtained according to formula (7), (2)
Formula (8) Section 1 is DC component, and relevant with current first harmonics positive-sequence component, its remainder is AC compounent, if
Filtering out AC compounent can obtain
The component corresponds to current first harmonics reactive component, then definable instantaneous reactive conductance and fundamental wave reactive power conductance are respectively
Fundamental active conductance obtains fundamental positive sequence active component i in load current with fundamental voltage phase multiplicationdf, fundamental wave without
Work(conductance obtains fundamental positive sequence reactive component i in load current with fundamental voltage phase multiplicationqf, fundamental positive sequence active component idf
With fundamental positive sequence reactive component iqfAddition obtains fundamental positive sequence, from load current iah、ibh、ichMiddle removal fundamental positive sequence point
Amount obtains harmonic wave and m-Acetyl chlorophosphonazo total amount i in load currenth+ih。
Compared with the harmonic detecting method based on instantaneous reactive power theory, coordinate transform of the inventive method without complexity
And inverse transformation, therefore algorithm is simpler than the detection method based on instantaneous reactive power theory, and application is also than wide, can
To detect fundamental positive sequence active component, fundamental positive sequence reactive component, fundamental wave negative sequence component, each harmonic component etc..But with based on
The detection method of instantaneous reactive power theory is identical, in order to eliminate influence of the supply voltage distortion to accuracy of detection, it is necessary to use
Phaselocked loop (PLL), in order to filter out AC compounent, it is necessary to using low pass filter (LPF).
The harmonic wave and m-Acetyl chlorophosphonazo total amount that step 3 obtains respectively enter harmonic detecting module and m-Acetyl chlorophosphonazo detection module, and tie
Close respective voltage-phase and harmonic signal i is extracted using the step identical with step 3 respectivelyhWith m-Acetyl chlorophosphonazo signal iih。
After obtaining current harmonics, m-Acetyl chlorophosphonazo signal above, as the command signal of compensation control system, design control
The purpose of device is for the output of three level parallel Active Power Filter-APFs of control and instruction same waveform.Due to individually being controlled using repetition
System, controller tracking velocity are relatively low.The present invention improves controller using the compound form of PI Repetitive controllers in parallel with the multicycle
Processing speed.Wherein, PI controller architectures are identical with conventional PI control device, and controller ratio, storage gain enter according to stability
Row selection, and multicycle parallel connection repetitive controller needs to redesign, design process is as follows：
(1) based on internal model principle selection basic function, determine that basic function uses Generalized Integrator, basic function formula is：
In formula, r (s) is controller function, and s is control variable, and ω is angular frequency；
(2) basic function is improved according to actual conditions, the basic function formula after improvement is
In formula, KiFor integral coefficient, ωcFor cut-off frequency, it is integral coefficient K to thereby determine that basic function control parameteriWith cut
Only frequencies omegac；
(3) being directed to according to formula (16) specifies subharmonic to design multicycle parallel connection repetitive controller, the basic function of controller
For：
N is harmonic wave, the m-Acetyl chlorophosphonazo number specified；
(4) stability based on small gain theorem analysis multicycle parallel connection repetitive controller, according to controller analysis of stability
Analysis determines the selection of above-mentioned each parameter of multicycle parallel connection repetitive controller.
On the basis of the error signal in a upper cycle, next cycle mainly was obtained by controller for Repetitive controller principle
Control output.The input control signal of repetitive controller be probably the different sine-wave superimposed of some frequencies together, wherein wrapping
Containing fundamental wave and its integral multiple subharmonic, also comprising m-Acetyl chlorophosphonazo component.Multicycle parallel connection Repetitive controller is from full frequency band angle to except quilt
Remaining all cycle beyond the high fdrequency component that wave filter filters out are controlled.When the various frequency harmonics compositions of control signal are more
When, the advantage of multicycle parallel connection Repetitive controller will embody.But the design of existing repetitive controller is complex.The present invention exists
On the basis of basic function concept, multicycle parallel connection Repetitive controller is proposed, for the individually designed repetitive controller of each frequency, is applicable
In the Setting signal control that harmonic components are limited.This method designs multiple frequencies in a straightforward manner, reduces the multicycle
The complexity of Repetitive controller in parallel, and the individually designed controller of m-Acetyl chlorophosphonazo can be directed to, improve the control performance to m-Acetyl chlorophosphonazo.
Beneficial effects of the present invention：The present invention is theoretical using time domain average, and the harmonic wave in power network, m-Acetyl chlorophosphonazo are examined
Survey, detect its positive-sequence component and negative sequence component, and by the way of PI controls and multicycle parallel connection Repetitive controller are combined, to electricity
Net harmonic wave, m-Acetyl chlorophosphonazo compensate, and suppress Active Power Filter-APF (SAPF) chaos phenomenon, improve SAPF reliability and
Compensation precision.
Brief description of the drawings
Fig. 1 is the system flow schematic diagram of the present invention；
Fig. 2 is three level parallel Active Power Filter-APF schematic diagrames；
Fig. 3 is time domain average detection principle diagram；
Fig. 4 is harmonic detecting module principle figure；
Fig. 5 is m-Acetyl chlorophosphonazo detection module schematic diagram；
Fig. 6 is multicycle parallel connection repetitive controller design flow diagram；
Fig. 7 is internal model principle illustraton of model；
Fig. 8 is exchange positive-sequence signals Controlling model figure；
Fig. 9 is exchange negative-sequence signals Controlling model figure；
Figure 10 is AC signal Controlling model figure；
Figure 11 is the frequency characteristic curve diagram of basic function (1)；
Figure 12 is the frequency characteristic curve diagram of basic function (2)；
Figure 13 is controller with KiThe basic function frequency characteristic curve diagram of change；
Figure 14 is controller with ωcThe basic function frequency characteristic curve diagram of change；
Figure 15 is multicycle parallel connection repetitive controller complex vector signal flow graph；
Figure 16 is basic function frequency characteristic curve diagram of the controller for 5,7,11,13 subharmonic；
Figure 17 is basic function frequency characteristic curve diagram of the controller for 1.5 m-Acetyl chlorophosphonazos.
Embodiment
The present invention program is described in detail with reference to the accompanying drawings and examples.
A kind of multicycle parallel connection Repetitive controller harmonic wave and m-Acetyl chlorophosphonazo specify time compensation method, as shown in figure 1, including following step
Suddenly：
Step 1, as shown in Fig. 2 set three level parallel Active Power Filter-APFs in power network, detected using it in power network
Three-phase current signal ia、ib、icWith three-phase voltage signal ea、eb、ec(because of ea=eb=ec, use eaRepresent three-phase voltage).
Step 2, to three-phase current signal ia、ib、icWith three-phase voltage signal eaTime domain averaging is carried out, obtains three-phase
Electric current filters out the component i after direct current and interferenceah、ibh、ichAnd the component e of voltage d, q axled、eq。
After primary current and voltage signal are filtered, initial data x (t) is exported, afterwards using certain cycle T between the time
Every carrying out discrete sampling to x (t), intercept N sections, centrifugal pump obtained after superposed average, eliminate random disturbances in primary signal and
Non-designated periodic component, reconstruct output i after processingah、ibh、ich、ed、eq。
Meanwhile choose two-phase voltage ea、ebPhaselocked loop is inputted, obtains the phase theta of corresponding line voltage fundamental wave1, corresponding power network
The phase theta of voltage harmonich, corresponding line voltage m-Acetyl chlorophosphonazo phase thetaih, wherein θ1Equal to voltage eaPhase, θhFor voltage ea
The integral multiple of phase, θihFor voltage eaThe fraction of phase times.
Step 3, current first harmonics component is filtered out by low pass filter, as shown in figure 3, Power Theory is applied into three-phase electricity
In the detection of road, detailed process is as follows：
If three-phase mains voltage is symmetrically undistorted, it is by standardization processing
Wherein, ea、eb、ecThree-phase mains voltage respectively after standardization processing, ω is angular frequency,For a phases power supply electricity
Press starting phase angle.
If threephase load electric current is
Wherein, ia、ib、icRespectively threephase load electric current, h are overtone order, I1hFor positive-sequence component in h subharmonic currents
Amplitude,For the starting phase angle of positive-sequence component in a phase h subharmonic currents, I2hFor negative sequence component in h subharmonic currents
Amplitude,For the starting phase angle of negative sequence component in a phase h subharmonic currents, I0hFor the width of zero-sequence component in h subharmonic currents
Value,For the starting phase angle of zero-sequence component in a phase h subharmonic currents.
Instantaneous active power can be obtained according to formula (1), (2)：
Section 1 is DC component in formula (3), relevant with current first harmonics positive-sequence component, and Section 2 is that frequency is fundamental wave frequency
The AC compounent that 2 times of rate, relevant with fundamental current negative sequence component, other items are the exchange relevant with harmonic current components point
Amount, AC compounent is filtered out, can obtain linear active power,
Can obtain instantaneous active conductance according to formula (4) is
Formula (5) Section 1 is corresponding with current first harmonics active component, filters out the of ac in formula (5), and can obtain fundamental wave has
Work(conductance
Meanwhile if set three-phase mains voltage as
The same formula of load current formula (2), instantaneous active power can be obtained according to formula (7), (2)
Formula (8) Section 1 is DC component, and relevant with current first harmonics positive-sequence component, its remainder is AC compounent, if
Filtering out AC compounent can obtain
The component corresponds to current first harmonics reactive component, then definable instantaneous reactive conductance and fundamental wave reactive power conductance are respectively
Fundamental active conductance obtains fundamental positive sequence active component i in load current with fundamental voltage phase multiplicationdf, fundamental wave without
Work(conductance obtains fundamental positive sequence reactive component i in load current with fundamental voltage phase multiplicationqf, fundamental positive sequence active component idf
With fundamental positive sequence reactive component iqfAddition obtains fundamental positive sequence, from load current iah、ibh、ichMiddle removal fundamental positive sequence point
Amount obtains harmonic wave and m-Acetyl chlorophosphonazo total amount i in load currenth+ih。
Step 4, the electric current after fundametal compoment will be filtered out extracted respectively through harmonic detecting module and m-Acetyl chlorophosphonazo detection module
Harmonic signal ihWith m-Acetyl chlorophosphonazo signal iih, wherein harmonic wave is fundamental wave integral multiple component of degree n n, and m-Acetyl chlorophosphonazo is fundamental wave fraction times component of degree n n.
The schematic diagram of harmonic detecting module as shown in figure 4, harmonic wave extraction process with step 3, by harmonic wave m-Acetyl chlorophosphonazo total amount
ih+ihHarmonic voltage-phase θhDetection module is inputted, first draws instantaneous active power, instantaneous reactive power, and then draw base again
The active conductance of ripple and fundamental wave reactive power conductance, after obtaining fundamental positive sequence afterwards, remove fundametal compoment and obtain harmonic component ih.Between
The schematic diagram of harmonic detecting module is as shown in figure 5, the extraction process of m-Acetyl chlorophosphonazo is same above, by harmonic wave m-Acetyl chlorophosphonazo total amount ih+ihWith
Harmonic voltage phase thetaihAfter input, m-Acetyl chlorophosphonazo component i is drawnih。
Step 5, the harmonic signal i that will be obtainedhWith m-Acetyl chlorophosphonazo signal iihWith three level parallel active power filterings of detection
Input offset control system, the compensation control system include PI controllers and multicycle parallel connection to device DC voltage signal together
Repetitive controller, two wired in parallel are set.The structure of PI controllers will not be repeated here with traditional PI controller.Such as Fig. 6 institutes
Show, the design process of multicycle parallel connection repetitive controller is as follows：
(1) based on internal model principle selection basic function.
During controller design, if to realize to the DAZ gene of control signal, it is necessary to meet internal model principle.Internal model is former
The model of reason is as shown in fig. 7, G (s) is the generating function that target inputs control signal in figure, and r (s) is controller function, P (s)
For controlled device.
According to internal model principle, in order to realize controller that DAZ gene step signal inputs as target, it is necessary to control
Include integrator 1/s transmission function in device processed.Equally, if the control signal of target input is AC signal, such as angle
Frequency is ω sine wave sin ω t, then should just include ω/(s in controller2+ω2) control function.Sine and cosine
The pull-type conversion expression formula of function is as shown in table 1, and two kinds of expression formulas can be selected as the biography that controller meets internal model principle
Delivery function, it is contemplated that the reason for phase difference, frequently with second of form.
The Laplace transform of table 1
Among the control of Three-Phase PWM Converter, fundamental positive sequence is transformed to straight after by rotating coordinate transformation
Flow component, according to internal model principle, DC component can reach DAZ gene control by integral controller.But for SAPF
For current loop control, contain harmonic component in its control signal, after rotating coordinate transformation merely using integration control without
Method meets to control the DAZ gene of control signal.If the integral controller under two-phase dq rotating coordinate systems is transformed to two
Under phase α β rest frames, it can obtain：
Similar to the integration control for DC component after conversion, control mould of the AC signal under two-phase rest frame
Type is as shown in Figure 8,9, 10.Fig. 8 show the Controlling model of exchange positive-sequence signals, and Fig. 9 show the control of exchange negative-sequence signals
Model.Positive-sequence component is added with negative sequence component, balances out coupling terms therein, obtains AC signal Controlling model, such as Figure 10
It is shown.If neglecting the Section 2 exported in Figure 10, Figure 10 can be regarded as the integration to AC signal, be defined as broad sense
Integrator, transmission function are as follows：
In formula, r (s) is controller function, and s is control variable, and ω is angular frequency.
The frequency characteristic of above-mentioned basic function is as shown in figure 11, it can be seen that in selected 50Hz resonant frequencies
Place, Generalized Integrator gain approaches infinity, and before and after 50Hz resonant frequencies, the phase of controller are prominent in the presence of 180 °
Become.According to the frequency characteristic of Generalized Integrator, it has good control performance at resonant frequency, can realize and resonant frequency is believed
Number control, therefore, choose basic function of the Generalized Integrator as multicycle parallel connection repetitive controller.
(2) basic function control parameter is selected.
Above-described basic function frequency characteristic is existed only in preferable controller, relatively difficult to achieve in reality.First, by
Unlimited gain is difficult to be realized in analog or digital system caused by Generalized Integrator；Secondly, integrator is in other frequencies of electric current
The reduction of place's gain can not eliminate the harmonic effects as caused by voltage.So being improved on the basis of formula (1), base is selected
Shown in function such as formula (2)：
In formula, KiFor integral coefficient, ωcFor cut-off frequency.
The frequency characteristic of the basic function is as shown in figure 12, it can be seen that now gain foot of the basic function at resonant frequency
It is enough big, and certain bandwidth be present, the influence brought by electric voltage frequency change etc. can be avoided.
In basic function controller designed by the present invention, two control parameters, respectively integral coefficient K be presenti, cutoff frequency
Rate ωc.In order to observe influence of the parameters to controller performance, one of parameter constant is kept, selects a parameter to enter
Row change, obtains influence of the parameter to controller as shown in Figure 13,14.
Set ωc=15, system is obtained with KiThe frequency characteristic of change is as shown in figure 13.As can be seen that KiChange
Change has a great influence to system gain, and is influenceed less for system bandwidth, with KiIncrease, system gain at resonant frequency
Become big.
Set Ki=200, system is obtained with ωcThe frequency characteristic of change is as shown in figure 14.As can be seen that ωc's
Change all has an impact to system gain and phase, with ωcIncrease, system gain and phase have increase, still, in resonance
At frequency, system gain and phase place change are little.
(3) multicycle parallel connection repetitive controller is designed.
In industrial and mining enterprises, harmonic current caused by the similar harmonic source of the harmonic characterisitic such as frequency converter is mainly 5 times, 7 times, 11
Secondary and 13 subharmonic, SAPF are also designed mainly for low-order harmonic.Basic function uses formula (2) form in controller, can
With for specifying subharmonic individually to carry out the basic function design that resonant frequency meets.For 5 times, 7 times, 11 times and 13 subharmonic and
1.5 m-Acetyl chlorophosphonazos, the transmission function of controller are：
N is harmonic wave, the m-Acetyl chlorophosphonazo number specified.
The complex vector signal flow graph of controller obtains the frequency under above-mentioned basic function of controller referring to Figure 15
Characteristic curve, such as Figure 16,17.It can be seen that the controller of design has preferably at 5,7,11,13 subfrequencies
Control performance；In 75Hz, i.e., there is preferable control performance at 1.5 m-Acetyl chlorophosphonazo frequencies, and certain bandwidth be present, can meet
The needs of m-Acetyl chlorophosphonazo frequency change, are unlikely to have an impact fundamental wave and 2 subharmonic again.
(4) stability based on small gain theorem analysis multicycle parallel connection repetitive controller.
For above-mentioned multicycle parallel connection repetitive controller, providing its proper polynomial is：
k[a0r0(z)+a1r1(z)+…+aNrN(z)] G (z)=- 1 (18).
It is assumed that controlled device G (z) is systems stabilisation in itself, i.e., its characteristic root is located in unit circle.For different base letters
Number rN(z) a common proper polynomial, can be combined on the left of formula (18), proper polynomial limit is basic function limit
Combination.K=0 is set, the limit of now multicycle parallel connection repetitive controller is basic function limit.When z is arbitrarily close to wherein
One limit pNWhen, basic function a in proper polynomialNInclude z-pNItem is close to 0, and other basic functions aM(M ≠ N) is then remote
Zero point.Now, proper polynomial can be write as：
k[a0r0(z)+…+aN-1rN-1(z)]G(z)+kaNrN(z)G(z)+k[aN+1rN+1(z)+…+aMrM(z)] G (z)=-
1 (19)。
As k=0, first and Section 3 in formula (19) are multiplied for arbitrary function with zero, are as a result zero.Meet formula (19)
Condition is then completed by middle entry.Basic function aNItem includes k=0, and contains z-p in denominatorN=0.Formula (19) now can be with
Write as：
kaNrN(z) G (z)=- 1 (20).
, can be single separately for the specified cycle for multicycle parallel connection repetitive controller it can be seen from formula (20)
Solely design repetitive controller, and the stability that is independent of each other between each repetitive controller.
Three level SVPWMs are inputted after step 6, the thermal compensation signal multiplication cross of output, drive three level parallel active electric powers
Power electronic devices in wave filter turns on and off, and produces expection waveform compensation power network.
Claims (6)
1. a kind of multicycle parallel connection Repetitive controller harmonic wave and m-Acetyl chlorophosphonazo specify time compensation method, it is characterised in that including following step
Suddenly：
Step 1, utilize the three-phase current signal i in three level parallel Active Power Filter-APFs detection power networka、ib、icAnd three-phase electricity
Press signal ea、eb、ec；
Step 2, to three-phase current signal ia、ib、icWith three-phase voltage signal eaTime domain averaging is carried out, obtains three-phase current filter
Except the component i after direct current and interferenceah、ibh、ichAnd the component e of voltage d, q axled、eq；
Step 3, current first harmonics component is filtered out by low pass filter；
Step 4, the electric current after fundametal compoment will be filtered out extract harmonic wave respectively through harmonic detecting module and m-Acetyl chlorophosphonazo detection module
Signal ihWith m-Acetyl chlorophosphonazo signal iih, wherein harmonic wave is fundamental wave integral multiple component of degree n n, and m-Acetyl chlorophosphonazo is fundamental wave fraction times component of degree n n；
Step 5, by obtained harmonic signal and m-Acetyl chlorophosphonazo signal and three level parallel Active Power Filter-APF DC sides of detection
Input offset control system, the compensation control system include PI controllers and multicycle parallel connection Repetitive controller to voltage signal together
Device, two wired in parallel are set；
Three level SVPWMs are inputted after step 6, the thermal compensation signal multiplication cross of output, drive three level parallel active power filterings
Power electronic devices in device turns on and off, and produces expection waveform compensation power network.
2. multicycle parallel connection Repetitive controller harmonic wave according to claim 1 and m-Acetyl chlorophosphonazo specify time compensation method, its feature
It is, Time domain averaging process is in step 2：The three-phase current signal i that step 1 is detecteda、ib、icBelieve with three-phase voltage
Number ea、eb、ecInitial filter, output initial data x (t), discrete sampling is carried out to x (t) using cycle T as time interval afterwards, cut
N sections are taken, centrifugal pump is obtained after superposed average, eliminate the random disturbances in primary signal and non-designated periodic component, weight after processing
Structure exports iah、ibh、ich、ed、eq。
3. multicycle parallel connection Repetitive controller harmonic wave according to claim 2 and m-Acetyl chlorophosphonazo specify time compensation method, its feature
It is, also using phaselocked loop input voltage e between step 1 and 4a、eb, export the phase for corresponding to line voltage fundamental signal
θ1, corresponding line voltage integral frequency harmonizing wave signal phase thetahAnd the phase theta of corresponding line voltage non-integer harmonics signalih。
4. multicycle parallel connection Repetitive controller harmonic wave according to claim 1 and m-Acetyl chlorophosphonazo specify time compensation method, its feature
It is, the detailed process of step 3 is：
If three-phase mains voltage is symmetrically undistorted, it is by standardization processing
Wherein, ea、eb、ecThree-phase mains voltage respectively after standardization processing, ω is angular frequency,For at the beginning of a phase supply voltages
Beginning phase angle；
If threephase load electric current is
Wherein, ia、ib、icRespectively threephase load electric current, h are overtone order, I1hFor the width of positive-sequence component in h subharmonic currents
Value,For the starting phase angle of positive-sequence component in a phase h subharmonic currents, I2hFor the amplitude of negative sequence component in h subharmonic currents,For the starting phase angle of negative sequence component in a phase h subharmonic currents, I0hFor the amplitude of zero-sequence component in h subharmonic currents,
For the starting phase angle of zero-sequence component in a phase h subharmonic currents；
Instantaneous active power can be obtained according to formula (1), (2)：
Section 1 is DC component in formula (3), relevant with current first harmonics positive-sequence component, and Section 2 is that frequency is fundamental frequency 2
AC compounent again, relevant with fundamental current negative sequence component, other items are the AC compounent relevant with harmonic current components, will
AC compounent filters out, and can obtain linear active power,
Can obtain instantaneous active conductance according to formula (4) is
Formula (5) Section 1 is corresponding with current first harmonics active component, filters out the of ac in formula (5), can obtain fundamental active electricity
Lead
Meanwhile if set three-phase mains voltage as
The same formula of load current formula (2), instantaneous active power can be obtained according to formula (7), (2)
Formula (8) Section 1 is DC component, and relevant with current first harmonics positive-sequence component, its remainder is AC compounent, if filtering out
AC compounent can obtain
The component corresponds to current first harmonics reactive component, then definable instantaneous reactive conductance and fundamental wave reactive power conductance are respectively
Fundamental active conductance obtains fundamental positive sequence active component i in load current with fundamental voltage phase multiplicationdf, fundamental wave reactive power electricity
Lead and obtain fundamental positive sequence reactive component i in load current with fundamental voltage phase multiplicationqf, fundamental positive sequence active component idfAnd base
Ripple positive sequence reactive component iqfAddition obtains fundamental positive sequence, from load current iah、ibh、ichIt is middle removal fundamental positive sequence be
Obtain harmonic wave and m-Acetyl chlorophosphonazo total amount i in load currenth+ih。
5. multicycle parallel connection Repetitive controller harmonic wave according to claim 4 and m-Acetyl chlorophosphonazo specify time compensation method, its feature
It is, the harmonic wave and m-Acetyl chlorophosphonazo total amount that step 3 obtains respectively enter harmonic detecting module and m-Acetyl chlorophosphonazo detection module, and combine each
Harmonic signal i is extracted using the step identical with step 3 respectively from corresponding voltage-phasehWith m-Acetyl chlorophosphonazo signal iih。
6. multicycle parallel connection Repetitive controller harmonic wave according to claim 1 and m-Acetyl chlorophosphonazo specify time compensation method, its feature
It is, the design process of described multicycle parallel connection repetitive controller is as follows：
(1) based on internal model principle selection basic function, determine that basic function uses Generalized Integrator, basic function formula is：
<mrow>
<mi>r</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<mn>2</mn>
<mi>s</mi>
</mrow>
<mrow>
<msup>
<mi>s</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mi>&omega;</mi>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>15</mn>
<mo>)</mo>
</mrow>
<mo>,</mo>
</mrow>
In formula, r (s) is controller function, and s is control variable, and ω is angular frequency；
(2) basic function is improved according to actual conditions, the basic function formula after improvement is
<mrow>
<mi>r</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<mn>2</mn>
<msub>
<mi>K</mi>
<mi>i</mi>
</msub>
<msub>
<mi>&omega;</mi>
<mi>c</mi>
</msub>
<mi>s</mi>
</mrow>
<mrow>
<msup>
<mi>s</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<mn>2</mn>
<msub>
<mi>&omega;</mi>
<mi>c</mi>
</msub>
<mi>s</mi>
<mo>+</mo>
<msup>
<mi>&omega;</mi>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>16</mn>
<mo>)</mo>
</mrow>
<mo>,</mo>
</mrow>
In formula, KiFor integral coefficient, ωcFor cut-off frequency, it is integral coefficient K to thereby determine that basic function control parameteriAnd cutoff frequency
Rate ωc；
(3) being directed to according to formula (16) specifies subharmonic to design multicycle parallel connection repetitive controller, and the basic function of controller is：
N is harmonic wave, the m-Acetyl chlorophosphonazo number specified；
(4) stability based on small gain theorem analysis multicycle parallel connection repetitive controller, it is true according to controller stability analysis
The selection of fixed above-mentioned each parameter of multicycle parallel connection repetitive controller.
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| CN111900755A (en) * | 2020-08-07 | 2020-11-06 | 哈尔滨工业大学 | Power control and current harmonic compensation method for bidirectional AC/DC converter |
| CN113517724A (en) * | 2021-04-09 | 2021-10-19 | 国网山西省电力公司电力科学研究院 | Method for suppressing voltage ripple on direct current side of alternating current-direct current hybrid micro-grid |
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| CN115589208A (en) * | 2022-10-31 | 2023-01-10 | 中国科学院高能物理研究所 | Harmonic compensation control method for magnetic alloy cavity and related equipment |
| CN115589208B (en) * | 2022-10-31 | 2023-11-14 | 中国科学院高能物理研究所 | Magnetic alloy cavity harmonic compensation control method and related equipment |
| CN116520022A (en) * | 2023-06-29 | 2023-08-01 | 武汉纺织大学 | Dynamic detection method and device for power harmonic wave, electronic equipment and medium |
| CN116520022B (en) * | 2023-06-29 | 2023-09-15 | 武汉纺织大学 | Dynamic detection method and device for power harmonic wave, electronic equipment and medium |
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