CN107623449A - Eliminate the control method and device of Buck Boost matrix converter steady state output voltage errors - Google Patents
Eliminate the control method and device of Buck Boost matrix converter steady state output voltage errors Download PDFInfo
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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
- H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
- H02M5/40—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc
- H02M5/42—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters
- H02M5/44—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac
- H02M5/453—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal
- H02M5/458—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M5/4585—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only having a rectifier with controlled elements
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Abstract
The invention discloses a kind of control method and device of elimination Buck Boost matrix converter steady state output voltage errors.The control method mainly includes step 1 using capacitance voltage in Buck Boost matrix converters and the state variable of inductive current two as system control variables：The capacitance voltage control outer shroud of the inverse cascade of Buck Boost matrix converters is controlled；Step 2：The inductive current control inner ring of the inverse cascade of Buck Boost matrix converters is controlled.Described device includes BBMC rectification stages, BBMC inverse cascades, voltage on line side detection module, rectification control module, DC voltage detection module, inversion control module, state variable detection module and output electric current measure module.It is an advantage of the invention that can Buck Boost matrix converters output end obtain with the highly consistent output voltage of its reference value, so as to realize the accurate tracking to its reference output voltage.The control method has the advantages of control accuracy is high, tracking error is small, dynamic property is good.
Description
This case is the divisional application of Chinese patent application 2015101335562.
Technical field
The invention belongs to electric and electronic technical field, more particularly to a kind of elimination Buck-Boost matrix converter stable states are defeated
Go out the control method and device of voltage error.
Background technology
Matrix converter be it is a kind of there is simple topology structure and a series of preferable electrical characteristics " green " frequency converter, its
Advantage include input current is sinusoidal, input power factor is adjustable, without intermediate energy storage link, energy capable of bidirectional flowing etc., because
And the topological structure has turned into the focus of field of power electronics research always since the seventies in last century proposes.But to being at present
Only, matrix converter is not widely applied also, and one of main cause is exactly that voltage transfer ratio is low, and it is to restrict matrix
Converter realizes an important factor for numerous areas of the specified operation of electrical equipment is applied in requirements such as Electric Drives.
The defects of voltage transfer ratio is low be present for matrix converter, starting with both at home and abroad from change control strategy, it is wide to have carried out
General research, it is proposed that a variety of control methods for improving voltage transfer ratio, but effect is undesirable, as output harmonic wave is excessive.For
This, researcher proposes a kind of referred to as Buck-Boost matrix converters (Buck-Boost Matrix Converter, BBMC)
New main circuit topological structure, the topological structure not only maintains that classical matrix converter input current is sinusoidal, input power
The number of advantages such as factor adjustable, at the same it is also arbitrarily adjustable with output voltage and frequency, i.e., and its voltage transfer ratio can both be more than
1.0th, 1.0 are also smaller than, and directly exports the features such as sine wave of high-quality is without filtering link, is passed so as to efficiently solve
The low problem of matrix converter voltage transfer ratio of uniting.
And for the control of Buck-Boost matrix converters, become operating point because its inverse cascade works in, it is more difficult to control, to the greatest extent
Pipe has been studied it respectively at present employs sliding formwork control, discrete sliding mode control, Active Disturbance Rejection Control, pair closing based on PID control
The different control methods such as ring control, and achieve certain control effect, but steady-state error to be present bigger than normal for various control methods
The problem of, i.e., larger stable state be present between the actual output voltage of Buck-Boost matrix converters and its reference output voltage
Tracking error, this for the application fields such as the frequency conversion speed-adjusting system using Buck-Boost matrix converters as frequency converter,
It is difficult to the control requirement for meeting predetermined adjusting speed accuracy.
The content of the invention
In order to solve the above-mentioned technical problem, the present invention provides a kind of Buck-Boost matrix converters stable state that eliminates and exports electricity
Hold up the control method and device of difference.
According to the first aspect of the invention, there is provided one kind eliminates Buck-Boost matrix converters steady state output voltage and missed
The control method of difference, wherein the control method, including：
Step 1：The capacitance voltage control outer shroud of the inverse cascade of Buck-Boost matrix converters is controlled；
Step 2：The inductive current control inner ring of the inverse cascade of Buck-Boost matrix converters is controlled.
It is controlled by the above-mentioned complex controll closed loop that built respectively with inductive current to capacitance voltage, so as to adjust inductance
Electric current and capacitance voltage make its reference value changes by determination, thus can be obtained in Buck-Boost matrix converters output end and
The highly consistent output voltage of its reference value.
In order to by determining that inductive current controls the reference value i of inner ringL1ref, and Buck-Boost squares are changed by control inner ring
The dutycycle d of power switch is corresponded in battle array converter1To adjust inductive current and capacitance voltage, make ginseng of the capacitance voltage by setting
Value changes are examined, reach the purpose of control output voltage.
Preferably, the control of outer shroud is controlled to the capacitance voltage of the inverse cascade of Buck-Boost matrix converters in step 1,
The step of specifically including be：
Step 1a：According to the reference output voltage signal of Buck-Boost matrix converters and transformed acquisition capacitance voltage
Reference value uC1ref；
Step 1b：Detect the actual value u of capacitance voltageC1, by its reference value u with capacitance voltageC1refIt is compared, obtains
To the deviation delta u of capacitance voltageC1；
Step 1c：By the deviation delta u of capacitance voltageC1As the input of composite controller, composite controller output capacitance electricity
The reference value i of streamC1ref；
Step 1d：The DC voltage of Buck-Boost matrix convertersInverse cascade output current i1, capacitance voltage it is real
Actual value uC1And the reference value i of capacitance currentC1refHandled to obtain the reference value of inductive current in numerical value processing module
iL1ref；
Step 1e：Reference value iL1refReference input after amplitude limit link amplitude limit as inductive current control inner ring.
Here, the purpose of amplitude limit is to avoid inductive current from exceptional value occur in amplitude limit link.
It is further preferred that step 1a is specially：The reference output voltage of given Buck-Boost matrix converters, takes it
1.5 times of amplitude are used as direct current biasing, then by the direct current biasing and reference output voltage Signal averaging, obtain corresponding capacitance voltage
Reference value uC1ref。
It is further preferred that step 1c is specially：By the deviation delta u of capacitance voltageC1Input as composite controller；It is multiple
Hop controller includes repetitive controller and PI controllers, deviation signal Δ uC1Repeated delaying time of controller compensation is again through PI controllers
The reference value i of capacitance current is obtained after calculation processC1ref。
Still more preferably, repetitive controller be a time lag being made up of cycle time delay process and low pass filter just
Feedback control link.
Still more preferably, the mathematical modeling of cycle time delay process is e-Ls, time lag constant L takes Buck-Boost in formula
The cycle of matrix converter reference output voltage.
Still more preferably, low pass filter is low-pass first order filter, and its mathematical modeling isIn formula
ωC1For cut-off frequency.
Still more preferably, the mathematical modeling of PI controllers isK in formulaPC1、kIC1Respectively PI controllers
Ratio and integral coefficient.
It is further preferred that in step 1d：Processing mode is specially formula described in numerical value processing module：
By above-mentioned formula be calculated the reference value i of inductive currentL1ref。
In order to be obtained in Buck-Boost matrix converters output end with it with reference to highly consistent output voltage is exported, in fact
Now to the accurate tracking of reference output voltage.
Preferably, the control of inner ring is controlled to the inductive current of the inverse cascade of Buck-Boost matrix converters in step 2,
The step of specifically including be：
Step 2a：Capacitance voltage is controlled into inductive current reference value i caused by outer shroudL1refWith its actual value iL1Compared
Compared with obtaining deviation delta iL1；
Step 2b：Deviation delta iL1As the input of composite controller, the reference value of composite controller outputting inductance voltage
uL1ref；
Step 2c：Buck-Boost matrix converter DC voltagesCapacitance voltage actual value uC1, inductive drop
Reference value uL1refHandled to obtain dutycycle d in numerical value processing module1；
Step 2d：Dutycycle d1Buck-Boost DC/ are determined after amplitude limit link amplitude limit and according to corresponding switch periods
The service time of power switch is corresponded in DC converters.
The purpose of dutycycle amplitude limit is to avoid inductive current from exceptional value occur wherein in amplitude limit link.
It is further preferred that step 2b is specially：By the deviation delta i of inductive currentL1Input as composite controller；Should
Composite controller includes repetitive controller and PI controllers, deviation signal Δ iL1Repeated delaying time of controller compensation controls through PI again
The reference value u of inductive drop is obtained after device calculation processL1ref。
Still more preferably, repetitive controller be a time lag being made up of cycle time delay process and low pass filter just
Feedback control link.
Still more preferably, the mathematical modeling of cycle time delay process is e-Ls, time lag constant L takes Buck-Boost in formula
The cycle of matrix converter reference output voltage.
Still more preferably, low pass filter uses low-pass first order filter, and its mathematical modeling isIn formula
ωL1For cut-off frequency.
Still more preferably, the mathematical modeling of PI controllers isK in formulaPL1、kIL1Respectively ratio and product
Divide coefficient.
It is further preferred that in step 2c：The specific formula of processing mode described in numerical value processing module is：
Carried out that dutycycle d is calculated by above-mentioned formula1。
Missed to reduce capacitance voltage in Buck-Boost matrix converters with tracking of the inductive current to its reference signal
Difference：
Preferably, the present invention uses inherent immunity particle swarm optimization by capacitance voltage deviation signal Δ uC1It is inclined with inductive current
Difference signal Δ iL1As optimization adaptive value, with deviation integrationWithTarget as system optimization
Function.
It is further preferred that in the inherent immunity particle swarm optimization, if population scale is M, the position of each population particle
Put vector XiBy low pass filter cutoff frequency ω in capacitance voltage control ringC1, PI controllers ratio and integral coefficient kPC1With
kIC1, low pass filter cutoff frequency ω in inductive current control ringL1, PI controllers ratio and integral coefficient kPL1And kIL1Composition,
Comprise the following steps：
Step 3a：Centered on the control parameter that hunting zone is obtained by trial and error procedure, spread to surrounding, if optimum results connect
The edge of nearly search space, then can further expand, the LPF that will be obtained after optimization on the basis of the optimum results
Device cut-off frequency and PI controllers ratio substitute into capacitance voltage control outer shroud composite controller and inductance electricity respectively with integral coefficient
In flow control inner ring composite controller, the adaptive value capacitance voltage difference signal Δ u of particulate is obtainedC1With inductive current difference signal
ΔiL1；
Step 3b：By the adaptive value of each particulate compared with its respective individual optimal solution and group optimal solution, more
New individual optimal solution and group optimal solution, and judge whether optimal；
Step 3c：Optimal solution is taken out as optimal control parameter.
According to the second aspect of the invention, there is provided a kind of control device of Buck-Boost matrix converters：
Described device includes BBMC rectification stages, BBMC inverse cascades, voltage on line side detection module, rectification control module, direct current
Voltage detection module, inversion control module, state variable detection module and output electric current measure module, the BBMC rectification stages
Input is connected with the input of voltage on line side detection module；The output end of voltage on line side detection module and rectification control module
Input is connected；The output end of rectification control module is connected with BBMC rectification stages, rectification control module control BBMC rectification stages；Institute
The output end of BBMC rectification stages is stated with the input of BBMC inverse cascades, the input of DC voltage detection module to be connected；Direct current
The output end of pressure detection module is connected with the input of inversion control module；The output end of inversion control module and BBMC inverse cascades
It is connected, inversion control module control BBMC inverse cascades；The output end of BBMC inverse cascades and the input of state variable detection module
It is connected with the input of output electric current measure module；The output end of state variable detection module and output electric current measure module it is defeated
Go out end with inversion control module to be connected.
Preferably, the inversion control module also includes：Hybrid control module, numerical value processing module, clipping module；It is compound
Control module, numerical value processing module and clipping module are linked in sequence, and inversion control module becomes DC voltage detection module, state
The signal of output control BBMC inverse cascades after amount detection module and the signal of output electric current measure module input are handled.
It is further preferred that the hybrid control module includes the composite controller and inductance electricity of capacitance voltage control outer shroud
Composite controller in flow control inner ring；In the composite controller and inductive current control inner ring of the capacitance voltage control outer shroud
Composite controller include repetitive controller and PI controllers respectively；The repetitive controller includes cycle time delay process and low pass
Wave filter.
It is further preferred that the low pass filter is low-pass first order filter.
Still more preferably, the low-pass first order filter mathematical modeling in the composite controller of capacitance voltage control outer shroud
For：
ω in formulaC1For cut-off frequency.
Still more preferably, the low-pass first order filter mathematical modulo in the composite controller in inductive current control inner ring
Type is：
ω in formulaL1For cut-off frequency.
Compared with the prior art, the present invention is using capacitance voltage in Buck-Boost matrix converters and inductive current as system control
Variable processed, and build the complex controll combined based on Repetitive controller and PI controls respectively for the two system control variables and close
Ring, wherein using capacitance voltage as control outer shroud, inductive current is control inner ring, i.e., first according to Buck-Boost matrix converters
Reference output voltage signal and obtain the reference value of capacitance voltage through correlating transforms, then for the reference value and its actual value
The complex control algorithm that deviation is combined using Repetitive controller and PI controls is handled and combines correlation values computing, is obtained corresponding
The reference value of inductive current, equally controlled again for the deviation of the inductive current reference value and its actual value using Repetitive controller and PI
The complex control algorithm that system combines is handled and combines correlation values computing, is obtained corresponding in Buck-Boost matrix converters
The duty cycle control signal of power switch, according to the duty, when corresponding switch periods determine to correspond to power switch in converter
Service time, make its reference value changes by determination so as to adjust inductive current and capacitance voltage, thus can be in Buck-
Boost matrix converters output end obtains and the highly consistent output voltage of its reference value, so as to realize to it with reference to output electricity
The accurate tracking of pressure.The present invention has the advantages that control accuracy is high, tracking error is small, dynamic property is good, is greatly improved Buck-
The dynamic and steady-state behaviour of Boost matrix converter control systems.
Brief description of the drawings
Fig. 1 is the main circuit topological structure figure of Buck-Boost matrix converters of the present invention.
Fig. 2 is the structured flowchart of control system of the present invention.
Fig. 3 is that the capacitance voltage in the present invention controls outer shroud theory diagram.
Fig. 4 is that the inductive current in the present invention controls inner ring theory diagram.
Fig. 5 is the inversion control modular structure block diagram of control system of the present invention.
Fig. 6 is the composite controller theory diagram in capacitance voltage of the present invention control outer shroud.
Fig. 7 is the composite controller theory diagram in inductive current of the present invention control inner ring.
Fig. 8 is to use inherent immunity swarm optimization algorithm composite controller control parameter structured flowchart in the present invention.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
Referring to Fig. 1, Fig. 1 is the main circuit topological structure figure of Buck-Boost matrix converters of the present invention.The structure uses
The structure type of AC-DC-AC 2 stage converters, its rectification stage is a 3/2 phase matrix converter, using the space without zero vector
Vector Modulation strategy is controlled (non-present patent application protection domain, here is omitted)；And inverse cascade is by three structure phases
Same Buck-Boost DC/DC converters are formed, thus its control system will be directed to per phase Buck-Boost DC/DC converters
One single control unit of structure is (for simplicity, following with the because the control unit structure of every phasing commutator is identical
Exemplified by one phase control unit), each control unit is included for capacitance voltage and inductive current two systems control variable point again
The complex controll closed loop combined based on Repetitive controller and PI (Proportional Integral) controls not built；In view of its
The output voltage of middle capacitance voltage and Buck-Boost matrix converters is directly associated that (its AC compounent is Buck-Boost
Matrix converter requires the alternating voltage of output), therefore (control outer shroud is that the voltage of electric capacity is controlled as control outer shroud
System, the electric capacity of such as the first phase is C1, then the phase control outer shroud is exactly to electric capacity C1The voltage at both ends is controlled, make the voltage with
Its reference voltage is consistent), and inductance plays intermediate energy transfer in Buck-Boost matrix converters, to its electric current
The dynamic and steady-state behaviour and the reliability of system of system can be effectively improved by carrying out directly control, therefore as control inner ring
(control inner ring is that the electric current of inductance is controlled, and the inductance of such as the first phase is L1, then the phase control inner ring is exactly to inductance L1
Electric current be controlled, make inductance L1In electric current and its reference current be consistent)；The control strategy passes through in capacitance voltage
With carrying out compensation of delay to variable deviation signal using Repetitive controller in two control closed loops of inductive current, to reach elimination electric capacity
Voltage and inductive current are to the purpose of its reference signal tracking error, so as to realize that the reality of Buck-Boost matrix converters is defeated
Go out accurate tracking of the voltage to its reference output voltage.
Referring to Fig. 2, Fig. 2 is the structured flowchart of control system of the present invention.Including BBMC (Buck-Boost Matrix
Converter) rectification stage, BBMC inverse cascades, voltage on line side detection module, rectification control module, DC voltage detection module, inverse
Become control module, state variable detection module and output electric current measure module, input and the net side electricity of the BBMC rectification stages
The input of pressure detection module is connected；The output end of voltage on line side detection module is connected with the input of rectification control module；It is whole
The output end of flow control module is connected with BBMC rectification stages, rectification control module control BBMC rectification stages；The BBMC rectification stages
Output end be connected with the input of BBMC inverse cascades, the input of DC voltage detection module；DC voltage detection module
Output end is connected with the input of inversion control module；The output end of inversion control module is connected with BBMC inverse cascades, inversion control
Molding block controls BBMC inverse cascades；The output end of BBMC inverse cascades is examined with the input of state variable detection module and output current
The input for surveying module is connected；The output end of state variable detection module and the output end of output electric current measure module and inversion control
Molding block is connected.
Referring to Fig. 3, Fig. 3 is that the capacitance voltage of Buck-Boost matrix converters of the present invention controls outer shroud theory diagram.Should
The effect of control ring is by determining that inductive current controls the reference value i of inner ringL1ref, and Buck- is changed by control inner ring
The dutycycle d of power switch is corresponded in Boost matrix converters1To adjust inductive current and capacitance voltage (with the first phase Buck-
For exemplified by Boost DC/DC converters, dutycycle d1Corresponding control power switch T1ON time, power switch T2And T1
In complementary duty state, i.e. T1During conducting, T2Cut-off, otherwise T1During cut-off, T2Conducting), make reference of the capacitance voltage by setting
Value changes, so as to reach the purpose of control output voltage.
The control ring obtains according to the reference output voltage signal of Buck-Boost matrix converters and through correlating transforms first
Obtain the reference value u of capacitance voltageC1ref, that is, take 1.5 times of the reference output voltage amplitude of its Buck-Boost matrix converter to make
For direct current biasing, then by the direct current biasing and reference output voltage Signal averaging, the reference value u of capacitance voltage is just obtainedC1ref。
Then by capacitance voltage reference value uC1refWith its actual value uC1It is compared, its deviation delta uC1As complex controll
The input of device；The composite controller includes repetitive controller and PI controllers, deviation signal Δ uC1Repeated delaying time of controller is mended
Repay and obtain the reference value i of capacitance current after PI controller calculation process againC1ref；By detecting Buck-Boost matrix converters
DC voltageInverse cascade output current i1And capacitance voltage actual value uC1And the reference value i of capacitance currentC1ref
Handled in numerical value processing module, processing mode is formula：By above-mentioned formula
The reference value i of inductive current can be calculatedL1ref；By reference value iL1refInductive current is used as after amplitude limit link amplitude limit
The reference input of inner ring is controlled, the purpose of amplitude limit is to avoid inductive current from exceptional value occur in amplitude limit link.
Referring to Fig. 4, Fig. 4 is that Buck-Boost matrix converters inductive current of the present invention controls inner ring theory diagram.The control
Capacitance voltage is controlled inductive current reference value i caused by outer shroud by ring processedL1refWith its actual value iL1It is compared, its deviation delta
iL1Input as composite controller；The same composite controller also includes repetitive controller and PI controllers, deviation signal Δ
iL1Repeated delaying time of controller compensation obtains the reference value u of inductive drop after PI controller calculation process againL1ref；Pass through inspection
Survey Buck-Boost matrix converter DC voltagesCapacitance voltage actual value uC1And the reference value u of inductive dropL1ref
Handled in numerical value processing module, processing mode is formulaIt is by above-mentioned formula
Dutycycle d can be calculated1；Buck- is determined by the dutycycle after amplitude limit link amplitude limit and according to corresponding switch periods
Power switch T is corresponded in Boost DC/DC converters1Service time, so as to adjust inductive current and capacitance voltage make its by
The reference value changes of determination.Thus can be obtained in Buck-Boost matrix converters output end highly consistent with reference to exporting with it
Output voltage, so as to realize the accurate tracking to reference output voltage.To the purpose of dutycycle amplitude limit wherein in amplitude limit link
It is to avoid inductive current from exceptional value occur.
Referring to Fig. 5, Fig. 5 is the inversion control modular structure block diagram of control system of the present invention.Inversion control module includes multiple
Close control module, numerical value processing module, clipping module；Hybrid control module, numerical value processing module and clipping module are linked in sequence,
Inversion control module enters the signal that DC voltage detection module, state variable detection module and output electric current measure module input
The signal of output control BBMC inverse cascades after row processing.What the processing procedure in above-mentioned inversion control module was handled with Fig. 3 and Fig. 4
Step is corresponding, signal detection corresponding states variable detection module and output electric current measure module wherein in Fig. 3 and Fig. 4.
Referring to Fig. 6, Fig. 6 controls composite controller theory diagram in outer shroud for capacitance voltage in the present invention.The complex controll
Device includes repetitive controller and PI controllers, wherein based on internal model principle (internal model principle：The kinetic simulation of external action signal
Type implant controller forms the design principle of high-precision feedback control system) repetitive controller system can be made to realize floating
Ground follows the change of input signal, the repetitive controller be a time lag being made up of cycle time delay process and low pass filter just
Feedback control link.As shown in Fig. 6 dotted line frames；The effect of wherein cycle time delay process is capacitance voltage deviation signal Δ uC1
It is delayed after a signal period, then be superimposed with the deviation signal of next cycle.The purpose is to by by the control of upper a cycle
System input is added in the control input in this cycle, adjusts and produces the control input in this cycle, and electric capacity electricity is eliminated so as to reach
Press uC1To the purpose of its reference signal tracking error.Here the mathematical modeling of cycle time delay process is e-Ls, time lag constant L in formula
Take the cycle of Buck-Boost matrix converter reference output voltages.
The gain that the effect of low pass filter is to act on high band by reducing Repetitive controller is stablized with improving system
Property.The present invention uses low-pass first order filter, and its mathematical modeling isω in formulaC1For cut-off frequency；Electric capacity in Fig. 6
Voltage deviation signal Δ uC1It is Δ u to produce corresponding output signal after repeated delaying time of controller compensationC1b, the signal is re-used as
The input of PI controllers；According to Capacitance derivative equationUnderstand, the rate of change of capacitance current and capacitance voltage
It is proportional, as capacitance voltage uC1Deviation delta u occurs between its reference signalC1bWhen, it can be reached by adjusting corresponding capacitance current
Reduce until eliminating the deviation.
The present invention uses PI control algolithm artificial capacitor electric currents iC1With capacitance voltage deviation delta uC1bBetween functional relation, effect
Fruit is very good.By the capacitance voltage deviation signal Δ u after repeated controller correction-compensationC1bThrough PI controller calculation process
Afterwards, the reference value i of capacitance current is obtainedC1ref；The mathematical modeling of PI controllers is in the present inventionK in formulaPC1、kIC1Respectively
For the ratio and integral coefficient of PI controllers.In the present invention, the cut-off frequency ω of low pass filterC1, PI controllers ratio and
Integral coefficient kPC1And kIC1Determination be on the premise of ensureing that whole system is stable, by using inherent immunity particle swarm optimization
Make performance indicationsReach minimum come what is be determined, its basic structure block diagram is as shown in Figure 8.
Referring to Fig. 7, Fig. 7 controls composite controller theory diagram in inner ring for inductive current in the present invention.It is similar to Fig. 6,
The composite controller equally includes repetitive controller and PI controllers, wherein repetitive controller be one by cycle time delay process and
The time lag positive feedback controlling unit that low pass filter is formed, as shown in Fig. 7 dotted line frames；The effect of wherein cycle time delay process is
By inductive current deviation signal Δ iL1It is delayed after a signal period, then is superimposed with the deviation signal of next cycle, passes through benefit
Repay control input and reach elimination inductive current iL1To the purpose of its reference signal tracking error.Cycle time delay process in the present invention
Mathematical modeling is e-Ls, time lag constant L takes the cycle of Buck-Boost matrix converter reference output voltages in formula；LPF
The effect of device is lain also in acts on the gain of high band to improve the stability of a system by reducing Repetitive controller.
The low pass filter equally uses low-pass first order filter in the present invention, and its mathematical modeling isIn formula
ωL1For cut-off frequency；The deviation signal Δ i of inductive current in figureL1Corresponding output is produced after repeated delaying time of controller compensation
Signal is Δ iL1b, the signal is re-used as the input of PI controllers；Also according to the inductance differential equationUnderstand,
Inductive drop is proportional to the rate of change of inductive current, as inductive current iL1Deviation delta i occurs between its reference signalL1bWhen, can
Reach reduction until eliminating the deviation by adjusting corresponding inductive drop.
The present invention uses PI control algolithm simulaed inductance voltages uL1With inductive current deviation delta iL1bBetween functional relation, effect
Fruit is very good, inductive current deviation signal Δ iL1bThe reference value u of inductive drop is obtained after PI controller calculation processL1ref；
The exponential model of the PI controllers is in the present inventionK in formulaPL1、kIL1Respectively ratio and integral coefficient.
In the present invention, the cut-off frequency ω of low pass filterL1, PI controllers ratio and integral coefficient kPL1And kIL1Really
On the premise of the fixed whole system stabilization also in guarantee, make performance indications by using inherent immunity particle swarm optimizationReach minimum come what is be determined, its basic structure block diagram is as shown in Figure 8.
Referring to Fig. 8, Fig. 8 is to use inherent immunity particle swarm optimization (PSO in the present invention：Particle Swarm
Optimization the structured flowchart of composite controller control parameter) is optimized.In view of electric capacity in Buck-Boost matrix converters
Voltage is directly related to the tracking error of its reference signal and the control parameter of composite controller with inductive current, and the control is joined
Number was difficult to obtain Optimal Control effect due to being obtained using trial and error procedure in the past, and the present invention is real using inherent immunity particle swarm optimization
Now above-mentioned control parameter is optimized, then effectively overcomes the existing limitation of trial and error procedure；The algorithm is a kind of with good
Global search and the optimized algorithm of multiple-objection optimization ability, suitable for joining to Buck-Boost matrix converters composite controller is related
Several optimizing.
The present invention uses inherent immunity particle swarm optimization to reduce capacitance voltage and electricity in Buck-Boost matrix converters
For the purpose of inducing current is to the tracking error of its reference signal, by capacitance voltage deviation signal Δ uC1With inductive current deviation signal Δ
iL1As optimization adaptive value, with deviation integrationWithObject function as system optimization.If kind
Group's scale is M, the position vector X of each population particleiBy low pass filter cutoff frequency ω in capacitance voltage control ringC1、PI
Controller ratio and integral coefficient kPC1And kIC1, low pass filter cutoff frequency ω in inductive current control ringL1, PI controllers ratio
Example and integral coefficient kPL1And kIL1Composition, i.e. particle vector dimension D=6, the control parameter that its hunting zone is obtained with trial and error procedure
Centered on, spread to surrounding, if optimum results can enter close to the edge of search space on the basis of the optimum results
One step is extended, and the low pass filter cutoff frequency obtained after optimization and PI controllers ratio are substituted into electric capacity respectively with integral coefficient
Voltage is controlled in outer shroud composite controller and inductive current control inner ring composite controller, obtains the adaptive value capacitance voltage of particulate
Difference signal Δ uC1With inductive current difference signal Δ iL1；Then it is the adaptive value of each particulate and its respective individual is optimal
Solution and group optimal solution are compared, and update individual optimal solution and group optimal solution, and judge whether optimal, are finally taken out optimal
Solve the optimal control parameter as the present invention.
Claims (10)
1. eliminate the control method of Buck-Boost matrix converter steady state output voltage errors, it is characterised in that the control
Method includes：
Step 1：The capacitance voltage control outer shroud of the inverse cascade of Buck-Boost matrix converters is controlled；
Step 2：The inductive current control inner ring of the inverse cascade of Buck-Boost matrix converters is controlled.
2. the control method of Buck-Boost matrix converter steady state output voltage errors is eliminated as claimed in claim 1, its
It is characterised by, the step 1 controls the control of outer shroud specific the capacitance voltage of the inverse cascade of Buck-Boost matrix converters
For：
Step 1a：According to the reference output voltage signal of Buck-Boost matrix converters and the transformed ginseng for obtaining capacitance voltage
Examine value uC1ref；
Step 1b：Detect the actual value u of capacitance voltageC1, by its reference value u with capacitance voltageC1refIt is compared, obtains electric capacity
The deviation delta u of voltageC1；
Step 1c：By the deviation delta u of capacitance voltageC1As the input of composite controller, composite controller output capacitance electric current
Reference value iC1ref；
Step 1d：The DC voltage of Buck-Boost matrix convertersInverse cascade output current i1, capacitance voltage actual value
uC1And the reference value i of capacitance currentC1refHandled to obtain the reference value i of inductive current in numerical value processing moduleL1ref；
Step 1e：Reference value iL1refReference input after amplitude limit link amplitude limit as inductive current control inner ring.
3. the control method of Buck-Boost matrix converter steady state output voltage errors is eliminated as claimed in claim 2, its
It is characterised by, the step 1a is specially：The reference output voltage of given Buck-Boost matrix converters, takes its amplitude
1.5 times are used as direct current biasing, then by direct current biasing and reference output voltage Signal averaging, obtain the reference value of corresponding capacitance voltage
uC1ref。
4. the control method of the elimination Buck-Boost matrix converter steady state output voltage errors described in claim 1, it is special
Sign is that control of the step 2 to the inductive current control inner ring of the inverse cascade of Buck-Boost matrix converters is specially：
Step 2a：Capacitance voltage is controlled into inductive current reference value i caused by outer shroudL1refWith its actual value iL1It is compared, obtains
To deviation delta iL1；
Step 2b：Deviation delta iL1As the input of composite controller, the reference value u of composite controller outputting inductance voltageL1ref；
Step 2c：Buck-Boost matrix converter DC voltagesCapacitance voltage actual value uC1, inductive drop reference value
uL1refHandled to obtain dutycycle d in numerical value processing module1；
Step 2d：Dutycycle d1Determine that Buck-Boost DC/DC become after amplitude limit link amplitude limit and according to corresponding switch periods
The service time of power switch is corresponded in parallel operation.
5. the control method of Buck-Boost matrix converter steady state output voltage errors is eliminated as claimed in claim 4, its
It is characterised by, step 2b is specially：By the deviation delta i of inductive currentL1Input as composite controller；The composite controller bag
Include repetitive controller and PI controllers, deviation signal Δ iL1Repeated delaying time of controller compensation is again after PI controller calculation process
Obtain the reference value u of inductive dropL1ref。
6. the control method of the elimination Buck-Boost matrix converter steady state output voltage errors as described in claim 2 or 4,
It is characterized in that：Inherent immunity particle swarm optimization is used by capacitance voltage deviation signal Δ u in the composite controllerC1And inductance
Current deviation signal delta iL1As optimization adaptive value, with deviation integrationWithAs system optimization
Object function.
7. the control method of Buck-Boost matrix converter steady state output voltage errors is eliminated as claimed in claim 6, its
It is characterised by：In the inherent immunity particle swarm optimization, if population scale is M, the position vector X of each population particleiBy electricity
Hold low pass filter cutoff frequency ω in voltage control loopC1, PI controllers ratio and integral coefficient kPC1And kIC1, inductive current control
Low pass filter cutoff frequency ω in ring processedL1, PI controllers ratio and integral coefficient kPL1And kIL1Composition, comprises the following steps：
Step 3a：Centered on the control parameter that hunting zone is obtained by trial and error procedure, spread to surrounding, searched if optimum results are close
It the edge in rope space, then can be further expanded on the basis of the optimum results, the low pass filter obtained after optimization is cut
Only frequency and PI controllers ratio substitute into capacitance voltage control outer shroud composite controller and inductive current control respectively with integral coefficient
In inner ring composite controller processed, the adaptive value capacitance voltage difference signal Δ u of particulate is obtainedC1With inductive current difference signal Δ
iL1；
Step 3b：By the adaptive value of each particulate compared with its respective individual optimal solution and group optimal solution, renewal
Body optimal solution and group optimal solution, and judge whether optimal；
Step 3c：Optimal solution is taken out as optimal control parameter.
8. eliminate the control device of Buck-Boost matrix converter steady state output voltage errors, it is characterised in that：The control
Device include BBMC rectification stages, BBMC inverse cascades, voltage on line side detection module, rectification control module, DC voltage detection module,
Inversion control module, state variable detection module and output electric current measure module, the input and net side of the BBMC rectification stages
The input of voltage detection module is connected；The output end of voltage on line side detection module is connected with the input of rectification control module；
The output end of rectification control module is connected with BBMC rectification stages, rectification control module control BBMC rectification stages；The BBMC rectifications
The output end of level is connected with the input of BBMC inverse cascades, the input of DC voltage detection module；DC voltage detection module
Output end be connected with the input of inversion control module；The output end of inversion control module is connected with BBMC inverse cascades, inversion
Control module controls BBMC inverse cascades；The output end of BBMC inverse cascades and the input and output current of state variable detection module
The input of detection module is connected；Output end and the inversion of the output end and output electric current measure module of state variable detection module
Control module is connected.
9. the control device of Buck-Boost matrix converter steady state output voltage errors is eliminated as claimed in claim 8, its
It is characterised by, the inversion control module also includes：Hybrid control module, numerical value processing module, clipping module；Complex controll mould
Block, numerical value processing module and clipping module are linked in sequence, and inversion control module detects DC voltage detection module, state variable
The signal of output control BBMC inverse cascades after module and the signal of output electric current measure module input are handled.
10. the control device of Buck-Boost matrix converter steady state output voltage errors is eliminated as claimed in claim 9, its
It is characterised by：The hybrid control module is included in the composite controller and inductive current control inner ring of capacitance voltage control outer shroud
Composite controller；Composite controller in the composite controller and inductive current control inner ring of the capacitance voltage control outer shroud
Include repetitive controller and PI controllers respectively；The repetitive controller includes cycle time delay process and low pass filter.
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