CN108696170B - Frequency finite aggregate model predictive control method is determined for two level three-phase inverters - Google Patents
Frequency finite aggregate model predictive control method is determined for two level three-phase inverters 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
- 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
- H02M7/53—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 using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
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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
- H02M7/483—Converters with outputs that each can have more than two voltages levels
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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
- H02M7/53—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 using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
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- Power Engineering (AREA)
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Abstract
Frequency finite aggregate model predictive control method is determined for two level three-phase inverters the invention discloses a kind of, this method makes improvement on conventional finite collection model predictive control method, each true discrete voltage vector is divided into N parts, and virtual voltage vector is synthesized by this 8N parts of reference voltage vector, optimum virtual vector is not to traverse to obtain by virtual vector table, but it is calculated in real time in 60 ° of coordinate systems by reference to voltage vector, by obtained optimum virtual vector multiplied by unique seeking time matrix of locating sector, the action time for then calculating true switching vector selector and the accounting in a switch periods, this accounting must be the integral multiple of 1/2N, the accounting generates switching signal by PWM modulator, realize fixed switching frequency, control precision is promoted simultaneously.
Description
Technical field
The present invention relates to electric electronic current change technologies, the technical field of intelligent control and two level three-phase inverters, especially
Refer to and a kind of determines frequency finite aggregate model predictive control method for two level three-phase inverters.
Background technique
Conventional finite collection Model Predictive Control only acts on a true switching vector selector in a switch periods, and really opens
Closing vector can not be essentially equal with reference voltage vector, certainly exists error, this error eventually reflects to output electricity
On stream, and error is eliminated as far as possible, then have to improve sample frequency, but the promotion of sample frequency will lead to switch damage
The increase of consumption, this generates conflicts.Further, since no correlation is controlled between two adjacent switch periods, because
And the converter of conventional finite collection Model Predictive Control has the shortcomings that switching frequency is unfixed.
At present solves the problems, such as finite aggregate Model Predictive Control switching frequency it is unfixed there are mainly two types of method, one is benefits
With modulation technique, duty ratio is calculated in finite aggregate Model Predictive Control rate, then generates on-off signal with modulator.It is this
Although method realizes fixed switching frequency, but often there is still a need for the multiple premeasurings of calculating, it is computationally intensive.Another method
It is adjustment objective function, is added in objective function and switching frequency is considered.This method is simple and effective, remains simultaneously
Rapidity, but need sample frequency more much bigger than reference switch frequency, considerably increase the burden of hardware.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology and deficiency, proposes a kind of for two level three-phase inversions
Device determines frequency finite aggregate model predictive control method, and this method makes improvement on conventional finite collection model predictive control method,
Each true discrete voltage vector is divided into N parts, and virtual voltage vector is synthesized by this 8N parts of reference voltage vector, it is optimal
Virtual vector does not traverse to obtain by virtual vector table, is calculated in real time by reference to voltage vector, by what is obtained
Optimum virtual vector multiplied by locating sector unique seeking time matrix, then calculate true switching vector selector action time and
Accounting in one switch periods, this accounting must be the integral multiples of 1/2N, which generates switch by PWM modulator and cut
Signal is changed, realizes fixed switching frequency, while promoting control precision.
To achieve the above object, technical solution provided by the present invention are as follows: the frequency of determining for two level three-phase inverters has
Limit collection model predictive control method, comprising the following steps:
S1, electric current (i is exported using current Hall sensor difference sampling three-phasea、ib、ic), and be converted to digital signal；
S2, the three-phase reference current instantaneous value (i that current time is obtained according to the reference current amplitude of setting* a、i* b、i* c)；
S3, after completing step S1 and S2, utilize changes in coordinates from three-phase ABC coordinate system obtained sampled value and reference value
It is transformed into α β coordinate system, obtains the sampled current value i in α β coordinate systemα(k),iβ(k) and reference current value i* α(k+1),i* β
(k+1), wherein i indicates the magnitude of current, and subscript α and β are illustrated respectively in corresponding α coordinate and β coordinate in α β coordinate system, subscript * table
Show that the value is reference quantity, k and k+1 respectively indicate kth TsMoment and (k+1) TsMoment, TsFor switch periods；
S4, foundation track with zero error principle, are made (k+1) TsMoment exports the reference voltage that electric current is equal to reference current
Vector (U* α(k+1),U* β(k+1)), wherein U indicates voltage；
S5, obtained reference voltage vector is transformed into 60 ° of coordinate systems, i.e., in gh coordinate system, obtains reference voltage arrow
Measure Uref(k+1)=[U* g(k+1),U* h(k+1)]T, wherein UrefIndicate that reference voltage vector, subscript g and h are indicated in gh coordinate system
In corresponding g coordinate and h coordinate, and according to this calculate select three virtual voltage vectors nearest from reference voltage vector, wherein
Virtual voltage vector is to be based on each true switching voltage vector being divided into N parts, and N is positive integer；
S6, the target function value for calculating separately three virtual voltage vectors, and select and make the smallest virtual electricity of objective function
Press vector Uopt(k+1)=[Uopt,g(k+1),Uopt,h(k+1)]T, wherein subscript opt indicates optimal amount；
S7, obtained optimum virtual voltage vector is transformed into α β coordinate system, judges the sector locating for it, and multiplied by this
The corresponding seeking time matrix in sector obtains the action time of two true non-zero vectors of the sector, which is 1/2N
Integral multiple；
S8, three switching time t are calculated according to step S7 obtained action time and sectorcm1,tcm2,tcm3, wherein
T indicates the time, and subscript cm1, cm2 and cm3 are labelled amount, send to PWM modulator and generates switching signal function in inverter.
In step s 5, the virtual vector obtained is based on each true switching voltage vector is divided into N parts, with virtual
Vector removes the reference vector of approaching to reality, thus N is bigger, and Approximation effect is better, and error is smaller；In addition, the choosing of nearest three vector
Taking no longer is to obtain in 90 ° of traditional coordinate systems, but be calculated in 60 ° of coordinate systems by reference to voltage vector,
To avoid complicated trigonometric function from calculating, calculation amount is saved.
In the step s 7, it needs by optimum virtual vector obtained in step S6 into α β coordinate system, due to virtual
Vector is that two neighboring true vector synthesizes under the action time of the integral multiple of 1/2N, thus exists for each sector
One unique seeking time matrix, multiplies the seeking time matrix for the coordinate value right side of the optimum virtual vector in α β coordinate system and then can
Obtain the action time of each true vector.
In step s 8, pass through the switching time of judgement of the true vector action time switch calculated in sector and step S7
tcm1,tcm2,tcm3, and converter is controlled by PWM modulator, frequency finite aggregate Model Predictive Control is determined in realization.
Compared with prior art, the present invention have the following advantages that with the utility model has the advantages that
The method of the present invention is on the basis of conventional finite collection Model Predictive Control, and artificial is divided into a switch periods
2N parts, then 8 true discrete voltage vectors have been also divided into N number of equal small vector, can then be closed by this 8N small vector
At multiple virtual vectors, it is necessarily located at due to reference voltage vector endpoint in the equilateral triangle of certain three virtual vector formation,
Therefore, three can be calculated most in 60 ° of coordinate systems by reference to voltage vector in the case where not constructing vector table
Close virtual vector, then choosing in three vectors makes the smallest virtual vector of objective function, positions the optimized switch vector and exists
Sector in two-phase stationary coordinate system α β coordinate system, and calculate by the unique seeking time matrix in each sector the effect of true vector
Time may determine that the state switching time of each bridge arm switch then to get the duty ratio for arriving each bridge arm, which is adjusting
Converter is set to realize fixed switching frequency under the action of device processed.This compared with prior art, the method for the present invention remains tradition
While finite aggregate Model Predictive Control advantage, offline storage virtual vector table is not needed, saves calculation amount, and only
Three candidate vectors participate in searching process, accelerate arithmetic speed, realize fixed switching frequency (sample frequency and switch frequency
Rate is consistent) control precision is improved simultaneously, and N is bigger, precision is higher, has actual promotional value.
Detailed description of the invention
Fig. 1 is the control block diagram of the method for the present invention.
Fig. 2 is the algorithm flow chart of the method for the present invention.
Fig. 3 is to divide each true vector etc. to the virtual vector figure synthesized after N=3 parts in the method for the present invention.
Fig. 4 a, 4b are two level, three contrary using conventional finite collection Model Predictive Control and the present invention (N=100) respectively
Become the effect picture of the matlab emulation three-phase output electric current of device.
Fig. 5 a, 5b are two level, three contrary using conventional finite collection Model Predictive Control and the present invention (N=100) respectively
Become the effect picture of the matlab emulation line voltage of device.
Fig. 6 a, 6b are two level, three contrary using conventional finite collection Model Predictive Control and the present invention (N=100) respectively
The matlab emulation A phase for becoming device exports the frequency analysis figure of electric current.
Specific embodiment
The present invention is further explained in the light of specific embodiments.
As depicted in figs. 1 and 2, provided by the present embodiment for two level three-phase inverters to determine frequency finite aggregate model pre-
Control method is surveyed, is embodied as follows:
1) assume that circuit is linear load, the filter inductance for exchanging outlet side is L, ohmic load R, ABC triphase parameter
It is equal, system sampling frequency Fs, then the period is Ts=1/Fs.Three-phase ABC rest frame lower switch function S is defined as S=
{ Sa, Sb, Sc }, S when bridge arm conducting in every phasei(i=a, b, c)=1, S when lower bridge arm is connectedi(i=a, b, c)=0；We can
8 kinds, i.e. S=[000 are shared to obtain switch function S；001；011；010；110；100；101；111]；It also assumes that and currently adopts
The sample moment is the k moment, and a upper sampling instant is the k-1 moment.
2) mathematical model of two level three-phase inverters is transformed into two α β phase static coordinates from three-phase ABC rest frame
System, obtains ac-side current relationship such as formula (1) according to Kirchhoff's second law:
Wherein, iαAnd iβFor the input current value (i of three-phase invertera、ib、ic) transform to two-phase α β rest frame
Value；UαAnd UβIt is value of the corresponding switching voltage vector of switch function S to two-phase α β rest frame.
Formula (1) discretization is obtained into the current expression (2) of k+1 sampling instant:
Wherein, iα(k) and iβIt (k) is the input current measurement of three-phase inverter under k sample moment two-phase α β rest frame
Value；iα(k+1) and iβIt (k+1) is the predicted current value of three-phase inverter under k+1 sampling instant two-phase α β rest frame.
3) in order to be calculated under the same coordinate system, by i* a、i* b、i* cIt is transformed under two-phase α β rest frame and obtains
To i* αAnd i* β, to make the good track reference electric current i of k+1 moment predicted current* αAnd i* β, enable the pre- of k+1 moment in (2) formula
Survey current value iα(k+1) and iβ(k+1) it is respectively equal to i* α(k+1) and i* β(k+1), it is hereby achieved that the reference electricity at k+1 moment
Press vector:
Wherein U* α(k+1),U* β(k+1) coordinate value of the reference voltage vector as obtained under α β rest frame.
4) the switching function value S at k sample moment is utilizedi(k) (i=1,2 ..., 8) and Hall sensor sample three
Phase output current value calculates reference voltage vector value with formula (3) under two-phase α β rest frame.
If 5) directly establish offline virtual vector table, with the increase of N, exponentially form increases the quantity of virtual vector
Greatly, a large amount of memory can be occupied, and the searching process of algorithm can be extended, increases hardware cost.The present invention is based on using one kind
The method that reference voltage vector calculates virtual vector and omits offline vector table seeks optimal vector, first by reference voltage vector
It is transformed into gh coordinate system from two-phase α β rest frame by coordinate transform, converts principle are as follows:
Wherein T is transition matrix.
[the U that formula (3) is obtained* α(k+1),U* β(k+1)]TPremultiplication transition matrix T can be obtained under gh coordinate system
Reference voltage vector Uref(k+1)=[U* g(k+1),U* h(k+1)]T, synthesized after dividing N parts for each true vector etc.
Virtual vector figure (N=3 in Fig. 3) in, reference voltage vector is necessarily located in some small triangle, ifWherein gref,hrefFor any real number, then can count
Calculation obtains four alternative virtual vectors:
WhereinIt respectively indicates and is rounded and rounds up downwards.
Then UluAnd UulNecessarily two in three nearest vectors, remaining Liang Ge vector branch are right in diagonal line two sides
Linea angulata equation are as follows:
G+h=Ulu,g+Ulu,h (6)
Wherein, subscript g and h respectively indicates their g coordinates and h coordinate under gh coordinate system.
Remaining two vector U can be then judged according to following formulallAnd UuuIn which be remaining nearest vector:
NU* g(k+1)+NU* h(k+1)-(Ulu,g+Ulu,h) (7)
If the calculated result of above formula is positive, the last one nearest vector is Uuu, it is otherwise Ull.Most by three obtained
Nearly vector is denoted as U respectively1(k+1),U2(k+1) and U3(k+1)。
6) the nearest virtual vector of three obtained is calculated by the objective function of definition, selecting keeps objective function the smallest
That virtual vector, objective function is defined as:
Wherein, subscript i=1,2,3 be three nearest vector U1(k+1),U2(k+1) and U3(k+1) serial number.
7) the optimum virtual vector selected is denoted as Uopt(k+1)=[Uopt,g(k+1),Uopt,h(k+1)]T=(x/N, y/N),
Then x and y necessarily integer value, is remapped to two-phase α β rest frame, i.e., multiplied by the inverse matrix of T in formula (3), and it is every
A virtual vector is all by its two adjacent true Vector modulation of non-zero, according to the true vector sum optimum virtual vector of non-zero
Coordinate value in two-phase α β rest frame can be found out to fan where the accounting and optimum virtual vector of each true vector
Area, and each true vector corresponds to a kind of switch state, then its accounting it is corresponding be switch state duration, and time
Three switching time t are consequently formed in the necessarily integral multiple of 1/2Ncm1,tcm2,tcm3, switching is generated by PWM modulator
Signal function is in inverter.
Preferably, the dsp processor that 2000 series of Texas Instruments can be selected carries out algorithm calculating.
As shown in Fig. 4 a, 4b, using the present invention and two level three-phase inverters of conventional finite collection Model Predictive Control
The output three-phase current that matlab is emulated, it can be seen that have dynamic response fast, the strong feature of stability.
As shown in Fig. 5 a, 5b, using the present invention and two level three-phase inverters of conventional finite collection Model Predictive Control
The waveform diagram harmony wavelength-division Butut for the line voltage that matlab is emulated, it can be seen that line voltage harmonic wave distribution of the invention in figure
More concentrate.
As shown in Fig. 6 a, 6b, using the present invention and two level three-phase inverters of conventional finite collection Model Predictive Control
The A phase that matlab is emulated exports the frequency analysis of electric current, it can be seen that traditional control method harmonic wave is larger, and distribution does not collect
In, and it is smaller that harmonic wave is realized in control method of the invention, and high-frequency harmonic concentrates on switching frequency nearby and its frequency multiplication is attached
Closely.
Embodiment described above is only the preferred embodiments of the invention, and but not intended to limit the scope of the present invention, therefore
All shapes according to the present invention change made by principle, should all be included within the scope of protection of the present invention.
Claims (4)
1. determining frequency finite aggregate model predictive control method for two level three-phase inverters, which is characterized in that including following step
It is rapid:
S1, electric current (i is exported using current Hall sensor difference sampling three-phasea、ib、ic), and be converted to digital signal；
S2, the three-phase reference current instantaneous value (i that current time is obtained according to the reference current amplitude of setting* a、i* b、i* c)；
S3, after completing step S1 and S2, obtained sampled value and reference value are converted using changes in coordinates from three-phase ABC coordinate system
Into α β coordinate system, the sampled current value i in α β coordinate system is obtainedα(k),iβ(k) and reference current value i* α(k+1),i* β(k+
1), wherein i indicates that the magnitude of current, subscript α and β are illustrated respectively in corresponding α coordinate and β coordinate in α β coordinate system, and subscript * is indicated should
Value is reference quantity, and k and k+1 respectively indicate kth TsMoment and (k+1) TsMoment, TsFor switch periods；
S4, foundation track with zero error principle, are made (k+1) TsMoment exports the reference voltage vector that electric current is equal to reference current
(U* α(k+1),U* β(k+1)), wherein U indicates voltage；
S5, obtained reference voltage vector is transformed into 60 ° of coordinate systems, i.e., in gh coordinate system, obtains reference voltage vector Uref
(k+1)=[U* g(k+1),U* h(k+1)]T, wherein UrefIndicate that reference voltage vector, subscript g and h indicate right in gh coordinate system
The g coordinate and h coordinate answered, and calculate select three virtual voltage vectors nearest from reference voltage vector according to this, wherein it is virtual
Voltage vector is to be based on each true switching voltage vector being divided into N parts, and N is positive integer；
S6, the target function value for calculating separately three virtual voltage vectors, and selecting swears the smallest virtual voltage of objective function
Measure Uopt(k+1)=[Uopt,g(k+1),Uopt,h(k+1)]T, wherein subscript opt indicates optimal amount；
S7, obtained optimum virtual voltage vector is transformed into α β coordinate system, judges the sector locating for it, and multiplied by the sector
Corresponding seeking time matrix obtains the action time of two true non-zero vectors of the sector, which is the integer of 1/2N
Times；
S8, three switching time t are calculated according to step S7 obtained action time and sectorcm1,tcm2,tcm3, wherein t table
Show the time, subscript cm1, cm2 and cm3 are labelled amount, send to PWM modulator and generate switching signal function in inverter.
2. it is according to claim 1 be used for two level three-phase inverters determine frequency finite aggregate model predictive control method,
Be characterized in that: in step s 5, obtained virtual vector is to be based on each true switching voltage vector being divided into N parts, with void
Quasi- vector removes the reference vector of approaching to reality, thus N is bigger, and Approximation effect is better, and error is smaller；In addition, nearest three vector
Selection is no longer to obtain in 90 ° of coordinate systems, but be calculated in 60 ° of coordinate systems by reference to voltage vector, from
And complicated trigonometric function is avoided to calculate, save calculation amount.
3. it is according to claim 1 be used for two level three-phase inverters determine frequency finite aggregate model predictive control method,
It is characterized in that: in the step s 7, needing by optimum virtual vector obtained in step S6 into α β coordinate system, due to virtual
Vector is that two neighboring true vector synthesizes under the action time of the integral multiple of 1/2N, thus exists for each sector
One unique seeking time matrix, multiplies the seeking time matrix for the coordinate value right side of the optimum virtual vector in α β coordinate system and then can
Obtain the action time of each true vector.
4. it is according to claim 1 be used for two level three-phase inverters determine frequency finite aggregate model predictive control method,
It is characterized in that: in step s 8, when judging the switching of switch by the true vector action time calculated in sector and step S7
Between tcm1,tcm2,tcm3, and converter is controlled by PWM modulator, frequency finite aggregate Model Predictive Control is determined in realization.
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