CN107689724B - Double-loop prediction control method based on dead beat control - Google Patents
Double-loop prediction control method based on dead beat control Download PDFInfo
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- CN107689724B CN107689724B CN201710618663.3A CN201710618663A CN107689724B CN 107689724 B CN107689724 B CN 107689724B CN 201710618663 A CN201710618663 A CN 201710618663A CN 107689724 B CN107689724 B CN 107689724B
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0012—Control circuits using digital or numerical techniques
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Abstract
The invention discloses a double-loop prediction control method based on dead-beat control, and belongs to the field of power electronic current transformation technology and industrial control. The invention is composed of two links of voltage outer loop control and current inner loop control. The method is based on dead beat control and adopts double loop control. The voltage outer loop control and the current inner loop control both adopt dead-beat control, the dynamic response speed of a system (the system refers to an implementation object of a control method, generally refers to a power electronic converter, and refers to a single-phase voltage type inverter in the invention) is improved, and the steady-state error of the system is reduced. The double-loop prediction control method based on the dead-beat control disclosed by the invention has the remarkable advantages of fast dynamic response, good steady-state performance and the like, and can well meet the working requirements of a power electronic system.
Description
Technical Field
The invention relates to the field of power electronic conversion and industrial control, in particular to a double-loop prediction control method based on deadbeat control.
Background
Digital control has the advantages of simplifying hardware circuits, avoiding problems caused by aging and temperature drift of analog control elements, and the like, and is gradually widely used. Common digital control methods include Proportional-Integral (PI) control, dead-beat control, repetitive control, and the like. The dead beat control has the advantages of good dynamic performance, small steady-state error, fixed switching frequency and the like, and is widely concerned.
At present, in the application process of double-loop control, dead-beat control is generally used for current inner loop control, and voltage outer loop control adopts PI control or sliding mode control. The traditional digital PI control parameter setting is difficult, the slip film control has the problem of buffeting, the steady-state precision of a system (the system refers to an implementation object of a control method, generally refers to a power electronic converter, and in the invention, refers to a single-phase voltage type inverter) is influenced, and the dynamic performance of the system is general. The performance of the system is not only dependent on the inner loop control but is also constrained by the outer loop control. The research aiming at double-loop prediction control is few, and for the current trend of high frequency of the converter, the development of double-loop prediction control is crucial to the improvement of the dynamic performance and the steady-state performance of the system.
Disclosure of Invention
Aiming at the defects of the existing control strategy, the invention aims to provide a double-loop prediction control method based on dead-beat control. The method is based on dead beat control and adopts double loop control. The voltage outer loop control and the current inner loop control both adopt dead-beat control, so that the dynamic response speed of a system (the system refers to an implementation object of a control method, and generally refers to a power electronic converter) is improved, and the steady-state error of the system is reduced.
The object of the present invention can be achieved by at least one of the following technical means.
A double-loop prediction control method based on dead beat control mainly comprises the following steps:
(S1) listing and discretizing a state equation of a system (the system refers to an implementation object of a control method, generally refers to a power electronic converter, and refers to a single-phase voltage type inverter in the invention) at discrete time;
(S2) measuring a state variable, a control input variable, a controlled output variable and a disturbance variable of the system;
(S3) listing a system discrete Kirchhoff Current Law (KCL) equation, and rewriting the equation to obtain the control rate of the voltage outer ring;
(S4) listing a Kirchhoff Voltage Law (KVL) equation of the system, rewriting the equation to obtain the current inner loop control rate, and calculating a modulation signal by using the current reference value and the current inner loop control rate of (S3);
(S5) the modulated signal obtained in (S4) is input to a modulating means, and the output switch combination is compared with the triangular wave to directly act on the system.
Further, in (S1), the state equation at discrete time of the system is listed:
d[]expression of/dtDifferential values of state variables; l, C respectively representing the filter inductance and filter capacitance of the single-phase voltage-type inverter; v0(k)、iL(k) Respectively representing an output voltage value and a filter inductance current value of the inverter k at the sampling moment as state variables of the inverter; vin(k) Representing the AC side voltage value of the inverter bridge at the k sampling moment as an interference variable of the system; i.e. i0(k) Representing the output current value at the k sampling time as the interference variable of the system; y isc(k) The controlled output variable value of k sampling time is represented; setting the sampling period of the system as T, discretizing the state equation to obtain:
V0(k+1)、iL(k +1) respectively representing the output voltage value and the filter inductance current value at the sampling moment of k +1 as state variables of the system; v0(k)、iL(k) Respectively representing an output voltage value and a filter inductance current value of the inverter k at the sampling moment as state variables of the inverter; vin(k) Representing the AC side voltage value of the inverter bridge at the k sampling moment as an interference variable of the system; i.e. i0(k) Representing the output current value at the k sampling time as the interference variable of the system; y isc(k) The controlled output variable value of k sampling time is represented; l, C respectively representing the filter inductance and filter capacitance of the single-phase voltage-type inverter; t is the sampling period of the system.
Further, in (S2), the state variable V of the system is measured0(k)、iL(k) Controlling the input variable Vr(k) Controlled output variable yc(k) And a disturbance variable Vin(k)、i0(k)。
Further, in (S3), the system discrete KCL equation is listed:
according to the dead beat control principle: vr(k+1)-V0(k+1)＝0，V0(k +1) represents an output voltage value at the sampling time of k + 1; vr(k +1) denotes the sampling time V of k +10Substituting the reference voltage value corresponding to (k +1) into the KCL equation to obtain the final productControl rate of voltage outer loop:
ir(k) representing the filtered inductor current i at the time of k samplingL(k) A reference current value of (d); vr(k +1) denotes the sampling time V of k +10(k +1) a corresponding reference voltage value; v0(k) The output voltage value at the sampling moment of k is represented; i.e. i0(k) An output current value representing a sampling time k; c represents a filter capacitance value; t denotes the sampling period of the system.
Further, in (S4), the system discrete KVL equation is listed:
iL(k +1) represents a filter inductance current value at the sampling time of k + 1; i.e. iL(k) Representing the value of the filter inductance current at the sampling moment k; v0(k) The output voltage value at the sampling moment of k is represented; vin(k) Representing the voltage value of the alternating current side of the inverter bridge at the k sampling moment; l represents a filter inductance value; t represents the sampling period of the system; according to the dead beat control principle: i.e. ir(k+1)-iL(k+1)＝0(iL(k +1) represents a filter inductance current value at the sampling time of k + 1; i.e. ir(k +1) denotes the sampling time i of k +1L(k +1) corresponding reference current value), and combining the current reference value obtained in (S3) to calculate a modulation signal:
d*represents a modulated signal; i.e. ir(k +1) denotes the sampling time i of k +1L(k +1) a corresponding reference current value; i.e. iL(k) Representing the value of the filter inductance current at the sampling moment k; v0(k) The output voltage value at the sampling moment of k is represented; vdcRepresenting a direct current side voltage value; l represents a filter inductance value; t denotes the sampling period of the system.
Further, in (S5), the modulation signal obtained in (S4) is input to the modulation means, and compared with the triangular wave, the output switch combination acts on the system.
Compared with the prior art, the invention has the beneficial effects that:
1. the algorithm is simple, complex parameter setting is avoided, and the method is suitable for the field of industrial control;
2. the steady-state error of the system is favorably reduced;
3. the dynamic response capability of the system is improved;
4. the switching frequency is fixed.
Drawings
Fig. 1 is a schematic diagram of a dual-loop prediction control method based on dead-beat control according to the present invention.
Fig. 2 is a diagram showing the effect of MATLAB simulation of steady-state output voltage waveform by applying the present invention.
FIG. 3 is a diagram showing the effect of MATLAB simulation of the steady-state output voltage THD applied by the present invention.
FIG. 4 is a diagram showing the effect of the dynamic response of the output voltage when the MATLAB simulation reference voltage of the invention is applied to change.
Detailed Description
The practice of the present invention will be further illustrated, but is not limited, by the accompanying drawings and examples.
Fig. 1 is a schematic diagram of a double-loop prediction control method based on dead-beat control, and the following description takes a single-phase voltage-type inverter as an example, and the main steps are as follows.
(S1) selecting the filter inductor current iL(k) An output voltage V0(k) As state variables of the system (system refers to an implementation object of the control method, generally referred to as a power electronic converter, and referred to as a single-phase voltage-type inverter in this example), state equations of the system at discrete time are listed according to KVL and KCL:
in the formula: d 2]The differential value of the state variable is represented by/dt; l, C respectively representing the filter inductance and filter capacitance of the single-phase voltage-type inverter; v0(k)、iL(k) Respectively representing the output voltage value and the filter inductance current value of the inverter at the k sampling time as the state variables of the inverter；Vin(k) Representing the AC side voltage value of the inverter bridge at the k sampling moment as an interference variable of the system; i.e. i0(k) Representing the output current value at the k sampling time as the interference variable of the system; y isc(k) Representing the controlled output variable value at the k sample time.
Setting the sampling period of the system as T, and rewriting the state equation of the discrete time into a discrete form according to a forward Euler method:
in the formula: v0(k+1)、iL(k +1) respectively representing the output voltage value and the filter inductance current value at the sampling moment of k +1 as state variables of the system; v0(k)、iL(k) Respectively representing an output voltage value and a filter inductance current value of the inverter k at the sampling moment as state variables of the inverter; vin(k) Representing the AC side voltage value of the inverter bridge at the k sampling moment as an interference variable of the system; i.e. i0(k) Representing the output current value at the k sampling time as the interference variable of the system; y isc(k) The controlled output variable value of k sampling time is represented; l, C respectively representing the filter inductance and filter capacitance of the single-phase voltage-type inverter; t is the sampling period of the system.
(S2) measuring the state variable V of the system0(k)、iL(k) Controlling the input variable Vr(k) Controlled output variable yc(k) And a disturbance variable Vin(k)、i0(k)；
(S3) from (S1), the KCL equation in the system discrete form can be obtained:
according to the dead beat control principle:
Vr(k+1)-V0(k+1)＝0 (4)
in the formula: v0(k +1) represents an output voltage value at the sampling time of k + 1; vr(k +1) represents k +1 samplingCarving V0(k +1) corresponding to the reference voltage value.
The control rate of the voltage outer ring can be obtained by combining the formulas (3) and (4), namely the reference signal of the current inner ring is obtained:
in the formula: i.e. ir(k) Representing the filtered inductor current i at the time of k samplingL(k) A reference current value of (d); vr(k +1) denotes the sampling time V of k +10(k +1) a corresponding reference voltage value; v0(k) The output voltage value at the sampling moment of k is represented; i.e. i0(k) An output current value representing a sampling time k; c represents a filter capacitance value; t denotes the sampling period of the system.
(S4) according to (S1), we can obtain the KVL equation of the system discrete form:
in the formula: i.e. iL(k +1) represents a filter inductance current value at the sampling time of k + 1; i.e. iL(k) Representing the value of the filter inductance current at the sampling moment k; v0(k) The output voltage value at the sampling moment of k is represented; vin(k) Representing the voltage value of the alternating current side of the inverter bridge at the k sampling moment; l represents a filter inductance value; t denotes the sampling period of the system.
According to the dead beat control principle:
ir(k+1)-iL(k+1)＝0 (7)
in the formula: i.e. iL(k +1) represents a filter inductance current value at the sampling time of k + 1; i.e. ir(k +1) denotes the sampling time i of k +1L(k +1) corresponding reference current value.
And is
Vin(k)＝d*Vdc (8)
In the formula: vin(k) Representing the voltage value of the AC side of an inverter bridge of the inverter at the k sampling moment; vdcRepresenting a direct current side voltage value; d*Representing a modulated signal.
The current inner loop reference value i calculated by (S3) is used in combination with equations (6), (7) and (8)r(k) (because the sampling frequency is much greater than irCan be regarded as ir(k+1)＝ir(k) Expected inverter bridge output voltages can be obtained as follows:
substituting equation (8) for equation (9) to obtain a modulated signal:
(S5) according to (S4), a modulation signal d can be obtained*Will modulate signal d*The output switch combination is input into the modulation unit and compared with the triangular wave, and the output switch combination directly acts on the inverter.
As shown in fig. 2, 3 and 4, the MATLAB simulation effect graph of the present invention is applied. Fig. 2 is a diagram showing the effect of the MATLAB simulation of the steady-state output voltage waveform to which the present invention is applied (the abscissa represents time and the ordinate represents the output voltage value). FIG. 3 is a diagram showing the effect of MATLAB simulation of the steady-state output voltage THD (the abscissa represents the frequency value, and the ordinate represents the voltage value at the corresponding frequency value after Fourier decomposition). Fig. 4 is a diagram showing the effect of the dynamic response of the output voltage when the MATLAB of the present invention is applied to simulate the variation of the reference voltage (the abscissa represents time and the ordinate represents the value of the output voltage; the solid line represents the reference voltage and the dotted line represents the actual output voltage). The specific simulation parameters are shown in table 1.
TABLE 1 simulation parameters
The algorithm is written into an FUNTION module of MATLAB through C language, sampled variable values are input into the FUNTION module, and the switch combination at the current moment is output through calculation and acts on a switch converter.
As shown in fig. 2 and 3, the output voltage waveform in the steady state is good, and the voltage THD is small. As described in fig. 4, when the reference voltage changes, the output voltage can quickly track the change, and the oscillation is small and the dynamic performance is good.
Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit and scope of the invention, which is within the ambit of the following claims. The technical scope of the present invention is not limited to the above-described embodiments.
Claims (3)
1. A double-loop prediction control method based on dead-beat control is characterized by comprising the following steps:
(S1) listing and discretizing the state equation of the system at the discrete time; the state equation of the system at discrete time is listed as follows:
d[]the differential value of the state variable is represented by/dt; l, C respectively representing the filter inductance and filter capacitance of the single-phase voltage-type inverter; v0(k)、iL(k) Respectively representing an output voltage value and a filter inductance current value of the inverter k at the sampling moment as state variables of the inverter; vin(k) Representing the AC side voltage value of the inverter bridge at the k sampling moment as an interference variable of the system; i.e. i0(k) Representing the output current value at the k sampling time as the interference variable of the system; y isc(k) The controlled output variable value of k sampling time is represented; setting the sampling period of the system as T, discretizing the state equation to obtain:
V0(k+1)、iL(k +1) respectively representing the output voltage value and the filter inductance current value at the sampling moment of k +1 as state variables of the system; v0(k)、iL(k) Respectively representing an output voltage value and a filter inductance current value of the inverter k at the sampling moment as state variables of the inverter; vin(k) Representing the AC side voltage value of the inverter bridge at the k sampling moment as an interference variable of the system; i.e. i0(k) Representing the output current value at the k sampling time as the interference variable of the system; y isc(k) The controlled output variable value of k sampling time is represented; l, C respectively representing the filter inductance and filter capacitance of the single-phase voltage-type inverter; t is the sampling period of the system;
(S2) measuring a state variable, a control input variable, a controlled output variable and a disturbance variable of the system; measuring system state variable V0(k)、iL(k) Controlling the input variable Vr(k) Controlled output variable yc(k) And a disturbance variable Vin(k)、i0(k)；
(S3) listing a system discrete Kirchhoff Current Law (KCL) equation, and rewriting the equation to obtain the voltage outer loop control rate; listing the system discrete KCL equation:
according to the dead beat control principle: vr(k+1)-V0(k+1)＝0，V0(k +1) represents an output voltage value at the sampling time of k + 1; vr(k +1) denotes the sampling time V of k +10Substituting the reference voltage value corresponding to the (k +1) into the KCL equation to obtain the control rate of the voltage outer ring:
ir(k) representing the filtered inductor current i at the time of k samplingL(k) A reference current value of (d); vr(k +1) denotes the sampling time V of k +10(k +1) a corresponding reference voltage value; v0(k) The output voltage value at the sampling moment of k is represented; i.e. i0(k) An output current value representing a sampling time k; c represents a filter capacitance value; t represents the sampling period of the system;
(S4) listing a Kirchhoff Voltage Law (KVL) equation of the system, rewriting the equation to obtain the current inner loop control rate, and calculating a modulation signal by using the current reference value and the current inner loop control rate of (S3); (S5) the modulated signal obtained in (S4) is input to a modulating means, and the output switch combination is compared with the triangular wave to directly act on the system.
2. The double-loop prediction control method based on the dead-beat control as claimed in claim 1, wherein: in (S4), the system discrete KVL equation is listed:
iL(k +1) represents a filter inductance current value at the sampling time of k + 1; i.e. iL(k) Representing the value of the filter inductance current at the sampling moment k; v0(k) The output voltage value at the sampling moment of k is represented; vin(k) Representing the voltage value of the alternating current side of the inverter bridge at the k sampling moment; l represents a filter inductance value; t represents the sampling period of the system; according to the dead beat control principle: i.e. ir(k+1)-iL(k+1)＝0，iL(k +1) represents a filter inductance current value at the sampling time of k + 1; i.e. ir(k +1) denotes the sampling time i of k +1LCalculating a modulation signal by combining the reference current value corresponding to (k +1) with the current reference value obtained in (S3):
d*represents a modulated signal; i.e. ir(k +1) denotes the sampling time i of k +1L(k +1) a corresponding reference current value; i.e. iL(k) Representing the value of the filter inductance current at the sampling moment k; v0(k) The output voltage value at the sampling moment of k is represented; vdcRepresenting a direct current side voltage value; l represents a filter inductance value; t denotes the sampling period of the system.
3. The double-loop prediction control method based on the dead-beat control as claimed in claim 1, wherein: in (S5), the modulated signal obtained in (S4) is input to the modulation means, and compared with the triangular wave, the output switch combination acts on the system.
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