CN107769251A - Parallel inverter current control method based on modified state observer - Google Patents
Parallel inverter current control method based on modified state observer Download PDFInfo
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- CN107769251A CN107769251A CN201711085215.8A CN201711085215A CN107769251A CN 107769251 A CN107769251 A CN 107769251A CN 201711085215 A CN201711085215 A CN 201711085215A CN 107769251 A CN107769251 A CN 107769251A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
Abstract
The invention discloses a kind of parallel inverter current control method based on modified state observer, and it is as follows that it includes methods described step：S1：Modified observer model is established by the electric parameter of combining inverter；S2：Select state feedback controller；S3：Establish combining inverter model and be modified；S4：The control parameter in modified state observer model and state variable feedback controller is solved, obtains controlling variable dutycycle.The beneficial effect that the present invention obtains is：Output current value is modified using modified state observer, realizes the compensation of delay to state variable feedback controller, overcomes the shortcomings that combining inverter is not high to higher-frequency time output current tracking accuracy；The present patent application has preferable effect, has preferable practical value when combining inverter is used as Active Power Filter-APF or electric energy quality controller.
Description
Technical field
The present invention relates to combining inverter technical field, particularly a kind of parallel network reverse based on modified state observer
Device current control method.
Background technology
Delay compensation method in existing combining inverter current control is to obtain link using letter in given value of current value
The method of number prediction eliminates time-delay, to improve current tracking precision, but in state variable feedback controller still
Include this time lag amount of output current item so that control system is still time lag system, and the presence of this is caused to higher-frequency time
Output current tracking effect it is poor.And if be modified using conventional sense observer to output current, because control is prolonged
When influence, the Real-time Feedback of state variable can not be realized, therefore conventional sense observer is difficult to.
The content of the invention
In view of the drawbacks described above of prior art, it is an object of the invention to provide one kind to be based on modified state observer
Parallel inverter current control method, output current value is modified using modified state observer, realized to shape
The compensation of delay of state variable feedback controller, overcomes that combining inverter is not high to higher-frequency time output current tracking accuracy to be lacked
Point；The present patent application has preferably effect when combining inverter is used as Active Power Filter-APF or electric energy quality controller
Fruit, there is preferable practical value.
The purpose of the present invention is realized by such technical scheme, a kind of based on the grid-connected of modified state observer
Inverter current control method, it includes：
Methods described step is as follows：
S1：Modified observer model is established by the electric parameter of combining inverter；
S2：Select state feedback controller；
S3：Establish combining inverter model and be modified；
S4：The control parameter in modified state observer model and state variable feedback controller is solved, is controlled
Variable dutycycle.
Further, the modified state observer model in the step S1 is established as follows：
In formula, ifd、ifqIt is three-phase current ifa、ifb、ifcIt is transformed into the value under dq axles in MT coordinate systems；It is ifd、
ifqSet-point；Respectively and ifd、ifq、Corresponding magnetic linkage value, unit are Wb；pd、
pqBipolarity duty cycle functions respectively in MT coordinate systems under dq axles；usd、usqMT coordinate systems are transformed into for PCC point three-phase voltages
The value of middle dq axles, unit are V；λd、λqFor the control gain of modified state observer；H is delay time；To disappear
Except the magnetic linkage correction value of delay, L is that modified state observer controls gain.
Further, the selection state feedback controller in the step S2 for：
In formula,For the correction value of state variable, unit is Wb；Using signal estimation method and improvement
Item state observer is modified to related amount of delay.
Further, the combining inverter model in the step S3 is established as follows：
In formula, ifd、ifqThe value of dq axles in MT coordinate systems is transformed into for threephase load electric current, unit is A；usd、usqFor PCC
Point three-phase voltage is transformed into the value of dq axles in MT coordinate systems, V；ω is power frequency angular frequency, and unit is rad/s；wd、wq、wcFor comprising
Interference caused by the unmodel parts of dead time effect.
Further, the model of the combining inverter in the step S3 also includes：Modified state observer it is grid-connected
Inverter system H ∞ Controlling models；
In formula, X is the state variable of system, Respectively and ifd、ifq、Corresponding magnetic linkage value, unit are Wb；
A is sytem matrix,B is input matrix, B1=B2=diag (1,1)T；Z is the system of definition
Observation variable, unit are Wb；W is interference matrix；
U (t-h) be system input quantity, U (t-h)=diag (ud(t-h),uq(t-h))T,For etc.
Effect input；C is coefficient matrix, C=diag (1/L, 1/L)T。
Further, the control parameter of the step S4 modifieds state observer model includes：Modified state observer
Control gain L value；Method for solving is as follows：
By solving LMI (5), type state observer control gain L value, wherein L can be improved
=WP-1。
Further, the control parameter in the step S4 in state variable feedback controller includes：State feedback controller
Gain k, method for solving are as follows：
By solving LMI (6), state feedback controller gain k value can obtain；Wherein, k=GX-1。
Further, gain L value is controlled according to state feedback controller gain k and modified state observer；Finally
The variable dutycycle calculating formula can must be controlled to be：
By adopting the above-described technical solution, the present invention has the advantage that：
(1) output current value is modified using modified state observer, realizes and state variable feedback is controlled
The compensation of delay of device, overcome the shortcomings that combining inverter is not high to higher-frequency time output current tracking accuracy；The present patent application
When combining inverter is used as Active Power Filter-APF or electric energy quality controller, there is preferable effect, have preferable
Practical value；
(2) can realize in combining inverter current control delay (comprising digital signal processor computation delay and
Equivalent PWM delays) compensation so that the output current of the output current of combining inverter particularly higher-frequency time has
More preferable tracking accuracy；
(3) present invention compensates in given value of current value obtains link and state variable feedback control to system delay；
Wherein the present invention is modified using signal estimation method to given value of current value, using improving state observer to feedback of status control
Output current value in device processed is modified, and realizes the compensation of delay to state variable feedback controller, is overcome grid-connected inverse
Become the shortcomings that device is not high to higher-frequency time output current tracking accuracy.
Other advantages, target and the feature of the present invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.The target and other advantages of the present invention can be wanted by following specification and right
Book is sought to realize and obtain.
Brief description of the drawings
The brief description of the drawings of the present invention is as follows：
Fig. 1 is the schematic flow sheet of the parallel inverter current control method based on modified state observer.
Fig. 2 is the principle control block diagram of the parallel inverter current control method based on modified state observer.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Embodiment：As shown in Figure 1 to Figure 2；A kind of combining inverter current control side based on modified state observer
Method, it includes：
Methods described step is as follows：
S1：Modified observer model is established by the electric parameter of combining inverter；
S2：Select state feedback controller；
S3：Establish combining inverter model and be modified；
S4：The control parameter in modified state observer model and state variable feedback controller is solved, is controlled
Variable dutycycle；So that system is stablized and has preferable dynamic and static state performance.
Modified state observer model in the step S1 is established as follows：
In formula, ifd、ifqIt is three-phase current ifa、ifb、ifcIt is transformed into the value under dq axles in MT coordinate systems；It is ifd、
ifqSet-point；Respectively and ifd、ifq、Corresponding magnetic linkage value, unit are Wb；pd、
pqBipolarity duty cycle functions respectively in MT coordinate systems under dq axles；usd、usqMT coordinate systems are transformed into for PCC point three-phase voltages
The value of middle dq axles, unit are V；λd、λqFor the control gain of modified state observer；H is delay time；To eliminate
The magnetic linkage correction value of delay, L are that modified state observer controls gain.It can be seen that can be if asymptotically stability if formula (1)
Modified state observer is compared with routine observation device, it is possible to achieve the component in future is observed using the component with delay.
Selection state feedback controller in the step S2 for：
In formula,For the correction value of state variable, unit is Wb；Using signal estimation method and improvement
Item state observer is modified to related amount of delay.
Combining inverter model in the step S3 is established as follows：
In formula, ifd、ifqThe value of dq axles in MT coordinate systems is transformed into for threephase load electric current, unit is A；usd、usqFor PCC
Point three-phase voltage is transformed into the value of dq axles in MT coordinate systems, V；ω is power frequency angular frequency, and unit is rad/s；wd、wq、wcFor comprising
Interference caused by the unmodel parts of dead time effect.
The model of combining inverter in the step S3 also includes：The combining inverter system of modified state observer
System H ∞ Controlling models；
In formula, X is the state variable of system, Respectively and ifd、ifq、Corresponding magnetic linkage value, unit are Wb；
A is sytem matrix,B is input matrix, B1=B2=diag (1,1)T；Z is the system of definition
Observation variable, unit are Wb；W is interference matrix；
U (t-h) be system input quantity, U (t-h)=diag (ud(t-h),uq(t-h))T,For etc.
Effect input；C is coefficient matrix, C=diag (1/L, 1/L)T。
In formula (4), due to have selected amendment state feedback controller shown in formula (2), therefore only do not include in solemnity (2)
Amount of delay is then system converting for a no-delay control system as shown in formula (4).
Signal estimation method pair is used firstValue is modified, and can use existing phase compensation or linear
The methods of prediction.
Then, ask for so that formula (1) modified state observer accuracy of observation highest so that combining inverter current tracking
The associated control parameters of precision highest.For formula (4), LMI as follows (5) and linear matrix are asked for not
Equation (6), it can obtain state feedback controller gain k and modified state observer control gain L value.
The control parameter of the step S4 modifieds state observer model includes：Modified state observer controls gain
L value；Method for solving is as follows：
By solving LMI (5), type state observer control gain L value, wherein L can be improved
=WP-1。
Control parameter in the step S4 in state variable feedback controller includes：State feedback controller gain k, is asked
Solution method is as follows：
By solving LMI (6), state feedback controller gain k value can obtain；Wherein, k=GX-1。
According to state feedback controller gain k and modified state observer control gain L value；It must can finally control
Variable dutycycle calculating formula is：
The present invention is by introducing modified state observer, and to output current in state feedback controller, this time lag amount is entered
Row amendment, amendment of the binding signal Forecasting Methodology to given value of current value, so as to completely eliminate the delay in control system so that
Combining inverter current follow-up control is converted into a no-delay control system, improves combining inverter to the defeated of upper frequency
Go out the ability of tracking of electric current, and it is easy and effective with good static state, dynamic property, controller parameter design method.The present invention
When combining inverter is used as Active Power Filter-APF or electric energy quality controller, there is preferable effect, have preferable
Practical value.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of the technical program, it all should cover in the present invention
Right among.
Claims (8)
1. a kind of parallel inverter current control method based on modified state observer, it is characterised in that methods described walks
It is rapid as follows：
S1：Modified observer model is established by the electric parameter of combining inverter；
S2：Select state feedback controller；
S3：Establish combining inverter model and be modified；
S4：The control parameter in modified state observer model and state variable feedback controller is solved, obtains controlling variable
Dutycycle.
2. the parallel inverter current control method as claimed in claim 1 based on modified state observer, its feature exist
In the modified state observer model in the step S1 is established as follows：
In formula, ifd、ifqIt is three-phase current ifa、ifb、ifcIt is transformed into the value under dq axles in MT coordinate systems；It is ifd、ifq's
Set-point；Respectively and ifd、ifq、Corresponding magnetic linkage value, unit are Wb；pd、pqPoint
Bipolarity duty cycle functions that Wei be in MT coordinate systems under dq axles；usd、usqIt is transformed into for PCC point three-phase voltages in MT coordinate systems
The value of dq axles, unit are V；λd、λqFor the control gain of modified state observer；H is delay time；To eliminate
The magnetic linkage correction value of delay, L are that modified state observer controls gain.
3. the parallel inverter current control method as claimed in claim 2 based on modified state observer, its feature exist
In, selection state feedback controller in the step S2 for：
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In formula,For the correction value of state variable, unit is Wb；Using signal estimation method and improve item shape
State observer is modified to related amount of delay.
4. the parallel inverter current control method as claimed in claim 3 based on modified state observer, its feature exist
In the combining inverter model in the step S3 is established as follows：
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In formula, ifd、ifqThe value of dq axles in MT coordinate systems is transformed into for threephase load electric current, unit is A；usd、usqFor PCC points three
Phase voltage is transformed into the value of dq axles in MT coordinate systems, V；ω is power frequency angular frequency, and unit is rad/s；wd、wq、wcTo include dead band
Interference caused by the unmodel parts of effect.
5. the parallel inverter current control method as claimed in claim 4 based on modified state observer, its feature exist
In the model of the combining inverter in the step S3 also includes：The grid-connected inverter system H ∞ of modified state observer
Controlling model；
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In formula, X is the state variable of system, Respectively and ifd、ifq、Corresponding magnetic linkage value, unit are Wb；
A is sytem matrix,B is input matrix, B1=B2=diag (1,1)T；Z is the system observation of definition
Variable, unit are Wb；W is interference matrix；
U (t-h) be system input quantity, U (t-h)=diag (ud(t-h),uq(t-h))T,To be equivalent defeated
Enter；C is coefficient matrix, C=diag (1/L, 1/L)T。
6. the parallel inverter current control method as claimed in claim 5 based on modified state observer, its feature exist
In the control parameter of the step S4 modifieds state observer model includes：Modified state observer control gain L's takes
Value；Method for solving is as follows：
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By solving LMI (5), type state observer control gain L value, wherein L=WP can be improved-1。
7. the parallel inverter current control method as claimed in claim 6 based on modified state observer, its feature exist
In the control parameter in the step S4 in state variable feedback controller includes：State feedback controller gain k, solution side
Method is as follows：
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By solving LMI (6), state feedback controller gain k value can obtain；Wherein, k=GX-1。
8. the parallel inverter current control method as claimed in claim 7 based on modified state observer, its feature exist
According to state feedback controller gain k and modified state observer control gain L value；It can must finally control variable
Dutycycle calculating formula is：
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