CN108429475A - A kind of control method of grid-connected inverter for wave electric power system - Google Patents
A kind of control method of grid-connected inverter for wave electric power system Download PDFInfo
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- CN108429475A CN108429475A CN201810144406.5A CN201810144406A CN108429475A CN 108429475 A CN108429475 A CN 108429475A CN 201810144406 A CN201810144406 A CN 201810144406A CN 108429475 A CN108429475 A CN 108429475A
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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
-
- 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
- H02M1/0025—Arrangements for modifying reference values, feedback values or error values in the control loop of a converter
Abstract
The invention discloses a kind of control method of grid-connected inverter for wave electric power system, the mathematical model for initially setting up wave electric power system gird-connected inverter realizes no error following of the inverter output voltage to power grid reference voltage by controlling the duty ratio of inverter power pipe switch.In order to realize quick no error following, the present invention uses the global fast terminal sliding mode control strategy based on nitrification enhancement, pass through the interaction of nitrification enhancement and environment, real-time compensation is carried out to fast terminal sliding mode control strategy, make inverter that there is self-learning capability to external interference, enhances the robustness and stability of system.
Description
Technical field
The present invention relates to wave electric power system technical field of inverter control, and in particular to nitrification enhancement, terminal
Sliding mode control algorithm.
Background technology
Wave energy is the important component of ocean energy, and reserves are very huge, and exploitation prospect is wide.China is sea
Foreign big country, available wave energy resource is extremely abundant, and the utilization of these wave energy resources are China ocean renewable energies
One of the important content that source develops and uses.The main means of wave energy exploitation are wave-activated power generations, and wave-power device is built in sea
On, electrical energy transportation is debarked by seabed composite rope.Since wavelength, wave height and wave period are all changing, the energy of wave
It is unstable, discontinuous, is particularly important by controlling inverter output voltage and grid voltage amplitude, Phase synchronization.
Traditional wave-activated power generation gird-connected inverter mostly uses greatly PI control algolithms, and PI control algolithms are realized simply, but PI parameters need
Offline adjustment, and PI control algolithm robustness is poor, application effect is bad in small-scale wave-activated power generation single-phase grid-connected inverter.
Sliding mode variable structure control method is a kind of nonlinear control method, and sliding mode can be designed and and object
Parameter and disturbance are unrelated, this allows for Sliding mode variable structure control with quick response, corresponding Parameters variation and disturbs insensitive, nothing
Need system on-line identification, the advantages that physics realization is simple.Conventional sliding-mode surface is linear function cannot make after reaching sliding-mode surface
Systematic error is in Finite-time convergence.TSM control strategy makes sliding formwork control by introducing nonlinear function in sliding-mode surface
Utensil processed has global rapidity.But after reaching sliding-mode surface, turn off gain ε sizes immobilize, and are not avoided that " buffeting " is existing
As.
Invention content
Technical problem：The present invention provides a kind of control method of grid-connected inverter for wave electric power system, will be global whole
Sliding mode controller is held to be used for the control of inverter switching device pipe duty ratio, and using nitrification enhancement come online dynamic adjustment sliding formwork
The turn off gain ε of controller largely reduced " buffeting " phenomenon, enhance the robustness and stability of system.
Technical solution：The control method of grid-connected inverter for wave electric power system of the present invention, includes the following steps：
Step 1：The evaluation e-learning rate and discount factor for initializing nitrification enhancement, according to systematic error, design
Intensified learning signal；
Step 2：Calculation Estimation network error carries out the weights for evaluating network by calculated evaluation network error
Line adjusts；
Step 3：Optimal performance index function is solved, it is adaptive to obtain the global fast terminal sliding formwork based on intensified learning principle
Answer control rate；
Step 4：According to the self adaptive control rate, the global fast terminal sliding formwork control based on intensified learning principle is generated
Algorithm controls signal, controls inverter switching device pipe turn-on time.
Further, in the method for the present invention, intensified learning signal r (t) is designed according to the following formula in the step 1：
Wherein, Uac(t) it is t moment inverter ac output voltage；For t moment network voltage；U (t) is t moment
Switching tube duty ratio is system control amount；R (t) is the intensified learning signal of t moment.
Further, in the method for the present invention, Calculation Estimation network error is carried out in the step 2 according to the following formula：
ec(t)=γ J (t)-[J (t-1)-r (t)]
Wherein, ec(t) it is the evaluation network error of t moment；J (t) is that t moment evaluates network output；When J (t-1) is t-1
Carve evaluation network output；γ is discount factor；R (t) is intensified learning signal.
Further, in the method for the present invention, the weights for evaluating network are carried out online according to following rule in the step 2
Adjustment：
Wherein, Wc(t) it is that t moment evaluates network weight matrix；Wc(t+1) it is to evaluate network weight matrix at the t+1 moment；Δ
Wc(t) it is that t moment evaluates network weight matrix variable quantity；lcTo evaluate e-learning rate；Ec(t) it is the flat of evaluation network error
Side.
Further, it is fast that the overall situation based on intensified learning principle is obtained in the method for the present invention, in the step 3 according to the following formula
Fast terminal sliding mode self adaptive control rate：
Wherein, laFor autoadapted learning rate；Uac(t) it is t moment inverter ac output voltage；ec(t) it is evaluation network
Error；Ec(t) it is square for evaluating network error, Δ ε (t) is the global fast terminal Sliding Mode Adaptive Control rate of t moment；ε
(t) it is t moment sliding formwork turn off gain.
Further, in the method for the present invention, in the step 4, control signal is generated according to the following formula：
Wherein, UdcFor DC side voltage of converter；L is inverter ac inductance；C is inverter ac capacitance；R is inversion
Device AC resistance；U (t+1) is t+1 moment switching tube duty ratios；Electricity is exported for t moment inverter
The difference of pressure and actual electric network voltage；E (t+1) is the difference of t+1 moment inverter output voltage and actual electric network voltage；For t moment network voltage；For t+1 moment network voltages；For t-1 moment network voltages；Uac
(t) it is t moment inverter ac output voltage；Uac(t-1) it is t-1 moment inverter ac output voltages；Uac(t+1) it is t+1
Moment inverter ac output voltage；S is terminal sliding mode face；TsFor the sampling time；α, β, q, p, k be sliding formwork adjusting parameter, α,
β, k are positive number, and q, p are positive integer；ε (t) is t moment sliding formwork turn off gain；Δ ε (t) be t moment overall situation fast terminal sliding formwork from
Suitable solution rate.
Advantageous effect：Compared with prior art, the present invention haing the following advantages：
Traditional wave-activated power generation gird-connected inverter mostly uses greatly PI control algolithms, and PI control algolithms are realized simply, with wide
It is general, but PI control algolithm parameters need offline adjustment, and there are the inherent shortcomings of classical control theory, to system parameter variations
Excessively sensitive with external disturbance, robustness is poor, and application effect is bad in small-scale wave-activated power generation single-phase grid-connected inverter.
Sliding mode variable structure control method is a kind of nonlinear control method, and sliding mode can be designed and and object
Parameter and disturbance are unrelated, this allows for Sliding mode variable structure control with quick response, corresponding Parameters variation and disturbs insensitive, nothing
Need system on-line identification, the advantages that physics realization is simple.Conventional sliding-mode surface is linear function cannot make after reaching sliding-mode surface
Systematic error is in Finite-time convergence.TSM control strategy makes sliding formwork control by introducing nonlinear function in sliding-mode surface
Utensil processed has global rapidity.But after reaching sliding-mode surface, turn off gain ε sizes immobilize, and are not avoided that " buffeting " is existing
As.
The present invention is adjusted using global TSM control strategy as master controller, using nitrification enhancement come online dynamic
The turn off gain ε of whole sliding mode controller can make inverter obtain control strategy according to environmental characteristic constantly self-adjusting, cut significantly
Weak " buffeting " phenomenon, enhances the robustness and stability of system.
Description of the drawings
Fig. 1 is the global fast terminal sliding mode control algorithm structural schematic diagram based on intensified learning principle.
Fig. 2 is that hardware implements main circuit structure schematic diagram.
Specific implementation mode
In order to understand the present invention in further detail, detailed retouch is made to the specific implementation step of the present invention in conjunction with attached drawing
It states.
A kind of control method of grid-connected inverter for wave electric power system, entire algorithm structure is as shown in Figure 1, specific real
It applies and includes the following steps：
Step 1：The evaluation e-learning rate and discount factor for initializing nitrification enhancement, according to systematic error, design
Intensified learning signal；
Design intensified learning signal r (t) according to the following formula：
Wherein, Uac(t) it is t moment inverter ac output voltage；For t moment network voltage；U (t) is the f moment
Switching tube duty ratio is system control amount；R (t) is the intensified learning signal of t moment；Evaluation e-learning rate is set as 0.3,
Discount factor is set as 0.95.
Step 2：Calculation Estimation network error carries out the weights for evaluating network by calculated evaluation network error
Line adjusts；
Evaluating network error is：ec(t)=γ J (t)-[J (t-1)-r (t)]
Wherein, ec(t) it is the evaluation network error of t moment；J (t) is that t moment evaluates network output；When J (t-1) is t-1
Carve evaluation network output；γ is discount factor；R (t) is intensified learning signal.
On-line tuning is carried out to the weights for evaluating network according to following rule：Wc(t+1)=Wc(t)+ΔWc(t),
Wherein, Wc(t) it is that t moment evaluates network weight matrix；Wc(t+1) it is to evaluate network weight matrix at the t+1 moment；Δ
Wc(t) it is that t moment evaluates network weight matrix variable quantity；lcTo evaluate e-learning rate；Ec(t) it is the flat of evaluation network error
Side.
Step 3：Optimal performance index function is solved, it is adaptive to obtain the global fast terminal sliding formwork based on intensified learning principle
Answer control rate；
Optimal performance index function solution procedure is：
Wherein, laFor autoadapted learning rate；Uac(t) it is t moment inverter ac output voltage；ec(t) it is evaluation network
Error；Ec(t) it is square for evaluating network error, Δ ε (t) is the global fast terminal Sliding Mode Adaptive Control rate of t moment；ε
(t) it is t moment sliding formwork turn off gain.
Step 4：According to the self adaptive control rate, the global fast terminal sliding formwork control based on intensified learning principle is generated
Algorithm controls signal, controls inverter switching device pipe turn-on time.
Wave electric power system gird-connected inverter mathematical model is：
Wherein, UdcFor DC side voltage of converter；L is inverter ac inductance；C is inverter ac capacitance；R is inversion
Device AC resistance；U (t) is t moment switching tube duty ratio, is system control amount；Uac(t) it is t moment inverter ac output electricity
Pressure；Uac(t-1) it is t-1 moment inverter ac output voltages；TsFor the sampling time；Uac(t-2) it is t-2 moment inverter acs
Output voltage.
TSM control face is：
Wherein,For the difference of t moment inverter output voltage and actual electric network voltage；Uac
(t) it is t moment inverter ac output voltage；For t moment network voltage；E (t-1) is moment t-1 inverter output electricity
The difference of pressure and actual electric network voltage；TsFor the sampling time；S is terminal sliding mode face；α, β, q, p are sliding formwork adjusting parameter, and α, β are
Positive number, q, p are positive integer.
Liapunov function is：
Wherein, s is terminal sliding mode face；V1For liapunov function；
It differentiates, obtains to liapunov function
Wherein,For the derivative in terminal sliding mode face；For the derivative of liapunov function；
In order to make liapunov function meet stability conditionObtain t+1 moment inverter control rates
For：
Wherein, UdcFor DC side voltage of converter；L is inverter ac inductance；C is inverter ac capacitance；R is inversion
Device AC resistance；U (t+1) is t+1 moment switching tube duty ratios；Electricity is exported for t moment inverter
The difference of pressure and actual electric network voltage；E (t+1) is the difference of t+1 moment inverter output voltage and actual electric network voltage；For t moment network voltage；For t+1 moment network voltages；For t-1 moment network voltages；Uac
(t) it is t moment inverter ac output voltage；Uac(t-1) it is t-1 moment inverter ac output voltages；Uac(t+1) it is t+1
Moment inverter ac output voltage；S is terminal sliding mode face；TsFor the sampling time；α, β, q, p, k be sliding formwork adjusting parameter, α,
β, k are positive number, and q, p are positive integer；It is larger that k is adjusted at this time, motor point can be made quickly to level off to diverter surface, but k takes
Value should not be too large；After reaching sliding formwork diverter surface, tetra- parameters of α, β, q, p determine convergent rate, according to many experiments tune
It is whole；Δ ε (t) is t moment overall situation fast terminal Sliding Mode Adaptive Control rate.
Hardware algorithm is implemented, as shown in Fig. 2, the alternating current that wave-activated generator is sent out, becomes direct current by rectification circuit
Press Udc, the global fast terminal sliding mode control algorithm based on intensified learning principle programs realization on DSP28335, adopted by AD
Sample circuit acquires network voltageWith DC voltage Udc, controlled quentity controlled variable is PWM output duty cycles, four switches of control inverter
Pipe, makes inverter output voltage and grid voltage amplitude, Phase synchronization.
Above-described embodiment is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill of the art
For personnel, without departing from the principle of the present invention, several improvement and equivalent replacement can also be made, these are to the present invention
Claim be improved with the technical solution after equivalent replacement, each fall within protection scope of the present invention.
Claims (6)
1. a kind of control method of grid-connected inverter for wave electric power system, which is characterized in that this approach includes the following steps：
Step 1：The evaluation e-learning rate and discount factor for initializing nitrification enhancement, according to systematic error, design is strengthened
Learning signal；
Step 2：Calculation Estimation network error adjusts the weights for evaluating network by calculated evaluation network error online
It is whole；
Step 3：Optimal performance index function is solved, it is self-adaptive controlled to obtain the global fast terminal sliding formwork based on intensified learning principle
Rate processed；
Step 4：According to the self adaptive control rate, the global fast terminal sliding mode control algorithm based on intensified learning principle is generated
Signal is controlled, inverter switching device pipe turn-on time is controlled.
2. a kind of control method of grid-connected inverter for wave electric power system according to claim 1, which is characterized in that
Intensified learning signal r (t) is designed according to the following formula in the step 1：
Wherein, Uac(t) it is t moment inverter ac output voltage；For t moment network voltage；U (t) switchs for t moment
Pipe duty ratio is system control amount；R (t) is the intensified learning signal of t moment.
3. a kind of control method of grid-connected inverter for wave electric power system according to claim 1, which is characterized in that
Calculation Estimation network error is carried out in the step 2 according to the following formula：
ec(t)=γ J (t)-[J (t-1)-r (t)]
Wherein, ec(t) it is the evaluation network error of t moment；J (t) is that t moment evaluates network output；J (t-1) is to comment at the t-1 moment
Valence network exports；γ is discount factor；R (t) is intensified learning signal.
4. a kind of control method of grid-connected inverter for wave electric power system according to claim 1,2 or 3, feature
It is, on-line tuning is carried out to the weights for evaluating network according to following rule in the step 2：
Wherein, Wc(t) it is that t moment evaluates network weight matrix；Wc(t+1) it is to evaluate network weight matrix at the t+1 moment；ΔWc(t)
Network weight matrix variable quantity is evaluated for t moment；lcTo evaluate e-learning rate；Ec(t) it is square for evaluating network error.
5. a kind of control method of grid-connected inverter for wave electric power system according to claim 1,2 or 3, feature
It is, obtains the global fast terminal Sliding Mode Adaptive Control rate based on intensified learning principle in the step 3 according to the following formula：
Wherein, laFor autoadapted learning rate；Uac(t) it is t moment inverter ac output voltage；ec(t) it is evaluation network error；
Ec(t) it is square for evaluating network error, Δ ε (t) is the global fast terminal Sliding Mode Adaptive Control rate of t moment；ε (t) is t
Moment sliding formwork turn off gain.
6. a kind of control method of grid-connected inverter for wave electric power system according to claim 5, which is characterized in that
In the step 4, control signal is generated according to the following formula：
Wherein, UdcFor DC side voltage of converter；L is inverter ac inductance；C is inverter ac capacitance；R hands over for inverter
Leakage resistance；U (t+1) is t+1 moment switching tube duty ratios；For t moment inverter output voltage with
The difference of actual electric network voltage；E (t+1) is the difference of t+1 moment inverter output voltage and actual electric network voltage；For t
Moment network voltage；For t+1 moment network voltages；For t-1 moment network voltages；Uac(t) it is t moment
Inverter ac output voltage；Uac(t-1) it is t-1 moment inverter ac output voltages；Uac(t+1) it is t+1 moment inverters
Ac output voltage；S is terminal sliding mode face；TsFor the sampling time；α, β, q, p, k are sliding formwork adjusting parameter, and α, β, k are positive number,
Q, p is positive integer；ε (t) is t moment sliding formwork turn off gain；Δ ε (t) is t moment overall situation fast terminal Sliding Mode Adaptive Control
Rate.
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| CN111416384A (en) * | 2020-03-18 | 2020-07-14 | 天津大学 | Inverter control method for direct drive type wave power generation system |
| CN113113928A (en) * | 2021-04-12 | 2021-07-13 | 国网江苏省电力有限公司电力科学研究院 | Flexible-direct system direct-current bus voltage control method and device based on deep reinforcement learning |
| CN117767778A (en) * | 2024-02-22 | 2024-03-26 | 中国人民解放军空军预警学院 | Self-adaptive intelligent control method and system for inverter |
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