CN108880301A - Single-phase PWM Rectifier control method based on generalized inner control - Google Patents
Single-phase PWM Rectifier control method based on generalized inner control 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
- H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
- H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
- H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/21—Conversion of ac power input into dc 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
- H02M7/217—Conversion of ac power input into dc 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
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Abstract
The invention discloses a kind of Single-phase PWM Rectifier control methods based on generalized inner control, with internal model control principle, the design of the nom inalcontroller of system and robust controller is separately carried out, so that system can obtain the attainable excellent performance of nom inalcontroller institute in the ideal case, robust controller is only just acted there are model error, Parameter Perturbation, input disturbance, and system is allowed still to be able to maintain stabilization in the extreme circumstances.Controller designed by the present invention has stronger robustness, situations such as especially for Parameter Perturbation, net voltage fluctuation, be still able to maintain DC voltage stability and High Power Factor.
Description
Technical field
The invention belongs to traction rectifier device control technology fields, and in particular to a kind of based on the single-phase of generalized inner control
The design of PWM rectifier control method.
Background technique
Railway is the most important transportation trade in China, and wherein electric railway is because transport capacity is strong, high speed, green ring
Protect the important component for becoming the railway network.Critical system one of of the Electric Traction Drive System as electric locomotive, performance
It is the important guarantee of the safe and stable operation of train.For traction rectifier device, High Speed Train in China mostly uses greatly single-phase arteries and veins at present
Rush the electric power change that width modulated (pulse width modulation, PWM) cascade mode of rectifier carries out AC-to DC
It changes.Based on DC voltage, alternating current (or power) twin-stage loop control structure voltage-source type rectifier (VSR) due to structure
Simply, energy storage efficiency is high, loss is low, easy to control, is always the emphasis of PWM rectifier research application.Its outer voltage only needs
It keeps DC voltage constant, can generally be met the requirements using simple PI control；And current inner loop is in order to export and draw
High quality sine wave electric current of the net voltage with frequency same-phase, control more difficulty.In recent years, for the control of current inner loop,
Domestic and foreign scholars propose many control methods, based on tradition and modern control theory for improveing the performance of rectifier.
Single-phase PWM Rectifier based on transient current testing, realization is relatively easy, and parameter is easy to set, but its office
It is limited to Linear Time-Invariant System, for model parameter wide variation and non-linear stronger system, PID control are difficult to meet high-precision
It spends, the requirement of fast-response；And due to the instantaneous value that feedback current is ac output current, for sinusoidal ac signal PID control
It can not realize zero steady state error control, therefore the steady-state error for exporting electric current is larger.Particularly, exist for net side inductance parameters and take the photograph
It is dynamic, it is worth inconsistent situation with nominal inductance, net side input current cannot track the phase of voltage on line side well, cause system
Power factor decline.
Based on the double-closed-loop control method of dq shaft current decoupling, on the basis of single-phase reference axis, construct one it is virtual
Then sinusoidal quantity under rest frame is converted to the DC quantity under rotating coordinate system and controlled by orthogonal axis.The control
Method processed can eliminate the steady-state error of control electric current by the control of the active and reactive DC component to electric current.But work as net side
When inductance value has perturbation, although being still able to maintain the unity power factor of system, net side input current can generate distortion.
Summary of the invention
The purpose of the present invention is to propose to a kind of Single-phase PWM Rectifier control methods based on generalized inner control, make to be based on
The Single-phase PWM Rectifier control system of double-closed-loop control has stronger robustness, especially for Parameter Perturbation, net voltage fluctuation
Situations such as, still it is able to maintain DC voltage stability and High Power Factor.
The technical scheme is that：Based on the Single-phase PWM Rectifier control method of generalized inner control, including following step
Suddenly：
The state equation of S1, circuit equation formulation current inner loop according to Single-phase PWM Rectifier under dq coordinate system；
S2, setting target capabilities target function, and according to Solving Equation of State Riccati equation, obtain optimal controller
Parameter；
S3, using optimal controller as the nom inalcontroller in generalized inner control, and obtained nominally according to state equation
System transter；
S4, left coprime factorization is carried out to the transmission function of nom inalcontroller and nominal system, obtains the left coprime factorization factor；
S5, robust controller is designed according to the left coprime factorization factor and system cut-off frequency；
S6, robust controller substitution analogue system is tested, when judging whether its performance meets system parameter perturbation
Robustness requirement, if then entering step S7, otherwise return step S2；
S7, Single-phase PWM Rectifier is controlled using robust controller.
The beneficial effects of the invention are as follows：The present invention controls the current inner loop control of Single-phase PWM Rectifier with GIMC
Theory carries out the design of robust controller after the design for completing nom inalcontroller, enables the system in model error, ginseng
Relatively good performance is still able to maintain when number perturbation, input disturbance.
Detailed description of the invention
Fig. 1 show the Single-phase PWM Rectifier controlling party process provided in an embodiment of the present invention based on generalized inner control
Figure.
Fig. 2 show Single-phase PWM Rectifier circuit diagram provided in an embodiment of the present invention.
Fig. 3 show the control drawing of current inner loop after completion controller design provided in an embodiment of the present invention.
Fig. 4 show unit feedback circuit diagram provided in an embodiment of the present invention.
Fig. 5 show generalized inner control structure schematic diagram provided in an embodiment of the present invention.
Fig. 6 show the control drawing of current inner loop after completion robust Controller Design provided in an embodiment of the present invention.
Fig. 7 show voltage on line side and electric current, dq axis when current inner loop provided in an embodiment of the present invention is dq decoupling control
Electric current and system power factor are in nominal AC side inductance value and change curve when exchanging survey inductance value perturbation.
Fig. 8 show voltage on line side and electricity when current inner loop provided in an embodiment of the present invention is Linear quadratic gaussian control
Stream, dq shaft current and system power factor are in nominal AC side inductance value and change curve when exchanging survey inductance value perturbation
Figure.
Fig. 9 show voltage on line side and electric current, dq axis electricity when current inner loop provided in an embodiment of the present invention is LQR+GIMC
Stream and system power factor are in nominal AC side inductance value and change curve when exchanging survey inductance value perturbation.
Specific embodiment
Carry out detailed description of the present invention illustrative embodiments with reference to the drawings.It should be appreciated that shown in attached drawing and
The embodiment of description is only exemplary, it is intended that is illustrated the principle and spirit of the invention, and is not limited model of the invention
It encloses.
The embodiment of the invention provides a kind of Single-phase PWM Rectifier control methods based on generalized inner control, such as Fig. 1 institute
Show, includes the following steps S1~S7：
The state equation of S1, circuit equation formulation current inner loop according to Single-phase PWM Rectifier under dq coordinate system.
In the embodiment of the present invention, analysis object is Single-phase PWM Rectifier circuit, as shown in Fig. 2, the mathematical modulo of its main circuit
Type is：
U in formulaNFor net side input voltage, iNFor net side input current, udcFor DC side output voltage, ioIt is defeated for DC side
Electric current out, uabFor H bridge input voltage, isFor resonant tank current, R is load impedance, RNFor net side equivalent resistance, LNFor net
Side equivalent inductance value.
In the embodiment of the present invention, for Single-phase PWM Rectifier circuit, outer voltage uses PI controller；In order to make to be
System has preferable performance under nominal conditions, and current inner loop uses Linear-Quadratic Problem feedback control (LQR) for nom inalcontroller, so
The design of robust controller is carried out with generalized inner control (GIMC) control principle afterwards.
For current inner loop, establishing circuit equation of the Single-phase PWM Rectifier under dq coordinate system is：
I in formulad、IqRespectively component of the current on line side under dq coordinate system, Ud、UqRespectively rectifier bridge input voltage exists
Component under dq coordinate system, Usd、UsqRespectively component of the net side input voltage under dq coordinate system, R are net side resistance, and L is net
Side inductance, ω are network voltage frequency.
State variable x, the output variable y and control input u of definition system are as follows：
U in formulasd=Us, Usq=0, UsInput voltage amplitude, v are surveyed for netd、vqIt is the element in control input u, then
State equation to current inner loop is：
In formulaIndicate the first derivative of state variable x, then system parameter matrix is：
S2, setting target capabilities target function, and according to Solving Equation of State Riccati equation, obtain optimal controller
Parameter.
If reference vectorError e (t)=r-y is controlled, whereinFor current reference instruction, then mesh is defined
Mark performance index function and corresponding Riccati equation are：
J is target capabilities target function, Q in formula0、R0For weight coefficient matrix,For feedback matrix to be solved, subscript T is indicated
The transposition of matrix.
Select weight coefficient matrixAnd substitute into the system parameter matrix A of state equation, B,
C, the solution that solution Riccati equation obtains feedback matrix are：
Cast out non-positive definite result P2, takeThen feedback matrixIn parameter be optimal controller parameter.As a result,
The Single-phase PWM Rectifier design based on optimum control can be completed, the control loop of current inner loop is as shown in Figure 3.
S3, using optimal controller as the nom inalcontroller in generalized inner control, and obtained nominally according to state equation
System transter G：
G=C (sI-A)-1B+D (7)
G is the transmission function of nominal system in formula, and A, B, C, D are system parameter matrix, and I is unit matrix, s La Pula
This operator.
S4, left coprime factorization is carried out to the transmission function of nom inalcontroller and nominal system, obtains the left coprime factorization factor.
If new reference input is r '=- (GT)-1CTQ0× r, new system output areOriginal state is fed back
Circuit is converted to unit feedback circuit, as shown in Figure 4.
At this point, the transmission function to nom inalcontroller and nominal system carries out left coprime factorization：
Wherein K0For nominal performance controller function, P0For controlled device nominal model function, P is the practical mould of controlled device
Type function, G are the transmission function of nominal system,Respectively K0The left coprime factorization factor,Respectively P0A left side
The coprime factorization factor.
S5, robust controller is designed according to the left coprime factorization factor and system cut-off frequency.
The design of robust controller, GIMC are carried out in the embodiment of the present invention with generalized inner control (GIMC) control principle
Structure as shown in figure 5, P and P0The realistic model and nominal model of controlled device are respectively indicated, r, d in figure are respectively to refer to
Input and external disturbance；K0For nominal performance controller, Q is robust controller, and K is equivalent robust controller.Point
It Wei not P0And K0The left coprime factorization factor；If P=P0, and without external disturbance and in the case where measuring noise, inner loop feedback
Signal f=0, then system is controlled by nominal performance controller；Only unmatched models, Parameter Perturbation and the external disturbance the case where
Under, inner loop feedback can just come into force, and system is controlled by equivalent robust controller at this time.So the control system based on GIMC control structure
The system that system can guarantee perturb in no model, external disturbance and when measuring noise, obtains good nominal performance；There is model
When perturbation, external disturbance and measurement noise, system has strong robustness.
In Fig. 5, the output of system can be expressed as：
WhereinBy formula (11) it is found that if can make in low-frequency rangeSystem is just
The influence that can preferably inhibit low-frequency excitation and model to perturb.
In the embodiment of the present invention, for being converted to the transmitting letter of the nom inalcontroller behind unit feedback circuit and nominal system
Number, due to K0,P0∈RH∞And stablize, R-1BT,G∈RH∞, RH∞Expression defines H∞The normed space of norm, therefore can chooseObtaining robust controller is：
Wherein N is P0The fight coprime factorization factor, parameter τ and n is according to the low-frequency cut-off frequency of system and high frequency by frequency
Rate is calculated.According to the frequency range of low-frequency excitation under normal circumstances and high-frequency noise, chooses and be greater than low-frequency excitation frequency
Low-frequency cut-off frequency chooses the high-frequency cut-off frequency for being less than high-frequency noise, and assume robust controller Q in low-frequency cut-off frequency and
Gain at high-frequency cut-off frequency is -3dB, then can obtain two equations according to formula (9), find out corresponding τ and n.
At this time system control loop as shown in fig. 6, due toIt is stable and reversible, it can use N=0, it is contemplated that China's power grid electricity
Voltage-frequency rate be 50Hz, in order to the low-frequency excitation of filtering appts influence and allow system to be easily achieved, select
S6, robust controller substitution analogue system is tested, when judging whether its performance meets system parameter perturbation
Robustness requirement, if then entering step S7, otherwise return step S2.
In the embodiment of the present invention, in order to verify the performance of robust controller, emulation mould is built in matlab/simulink
The alternating current that input voltage is virtual value 1550V, frequency 50Hz, DC side output are surveyed in type, the exchange that Single-phase PWM Rectifier is arranged
Voltage is 3000V, and exchange measuring resistance value is 0.06 Ω, and exchange mark inductance value is referred to as 0.004H, DC bus capacitor 0.018F,
Switching frequency is 1500Hz, and outer voltage is controlled using general PI.Due to being mainly to the parameter that system performance is affected
Inductance is surveyed in exchange, and it is in dq decoupling control, Linear quadratic gaussian control and electric current that Fig. 7~Fig. 9 tests current inner loop respectively
When ring is LQR+GIMC, voltage on line side and electric current, dq shaft current and system power factor are in nominal AC side inductance value and friendship
Stream surveys the case where when inductance value perturbs.Wherein, although the method based on dq decoupling control is still able to maintain Gao Gong when inductance perturbs
Rate factor, but its current on line side produces apparent distortion；Based on the control method of LQR when net side inductance value fluctuates, system
Power factor is declined；And current on line side sine and and voltage on line side can still be maintained in the control method based on LQR+GIMC
With frequency same-phase.It demonstrates the single-phase PWM based on optimum control and generalized inner control designed by the present invention and rectifies controlling party
Method has stronger robustness compared to general control method.
S7, Single-phase PWM Rectifier is controlled using robust controller.
Those of ordinary skill in the art will understand that the embodiments described herein, which is to help reader, understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such specific embodiments and embodiments.This field
Those of ordinary skill disclosed the technical disclosures can make according to the present invention and various not depart from the other each of essence of the invention
The specific variations and combinations of kind, these variations and combinations are still within the scope of the present invention.
Claims (6)
1. the Single-phase PWM Rectifier control method based on generalized inner control, which is characterized in that include the following steps：
The state equation of S1, circuit equation formulation current inner loop according to Single-phase PWM Rectifier under dq coordinate system；
S2, setting target capabilities target function, and according to Solving Equation of State Riccati equation, obtain optimal controller parameter；
S3, using optimal controller as the nom inalcontroller in generalized inner control, and nominal system is obtained according to state equation
Transmission function；
S4, left coprime factorization is carried out to the transmission function of nom inalcontroller and nominal system, obtains the left coprime factorization factor；
S5, robust controller is designed according to the left coprime factorization factor and system cut-off frequency；
S6, robust controller substitution analogue system is tested, Shandong when whether its performance meets system parameter perturbation is judged
Stick requirement, if then entering step S7, otherwise return step S2；
S7, Single-phase PWM Rectifier is controlled using robust controller.
2. Single-phase PWM Rectifier control method according to claim 1, which is characterized in that the step S1 is specially：
Establishing circuit equation of the Single-phase PWM Rectifier under dq coordinate system is：
I in formulad、IqRespectively component of the current on line side under dq coordinate system, Ud、UqRespectively rectifier bridge input voltage is in dq coordinate
Component under system, Usd、UsqRespectively component of the net side input voltage under dq coordinate system, R are net side resistance, and L is net side electricity
Sense, ω are network voltage frequency；
State variable x, the output variable y and control input u of definition system are as follows：
U in formulasd=Us, Usq=0, UsInput voltage amplitude, v are surveyed for netd、vqIt is the element in control input u, then obtains electricity
Stream inner ring state equation be：
In formulaIndicate the first derivative of state variable x, then system parameter matrix is：
3. Single-phase PWM Rectifier control method according to claim 2, which is characterized in that the step S2 is specially：
If reference vectorError e (t)=r-y is controlled, whereinFor current reference instruction, then Objective is defined
Energy target function and corresponding Riccati equation are：
J is target capabilities target function, Q in formula0、R0For weight coefficient matrix,For feedback matrix to be solved, subscript T representing matrix
Transposition；
Select weight coefficient matrixAnd the system parameter matrix A of state equation, B, C are substituted into, it asks
Solution Riccati equation obtains the solution of feedback matrix and is：
Cast out non-positive definite result P2, takeThen feedback matrixIn parameter be optimal controller parameter.
4. Single-phase PWM Rectifier control method according to claim 3, which is characterized in that be nominally in the step S3
The transmission function formula of system is：
G=C (sI-A)-1B+D (7)
G is the transmission function of nominal system in formula, and A, B, C, D are system parameter matrix, and I is unit matrix, and s is Laplce's calculation
Son.
5. Single-phase PWM Rectifier control method according to claim 4, which is characterized in that the step S4 is specially：
Left coprime factorization is carried out to the transmission function of nom inalcontroller and nominal system：
Wherein K0For nominal performance controller function, P0For controlled device nominal model function, P is controlled device realistic model letter
Number, G are the transmission function of nominal system,Respectively K0The left coprime factorization factor,Respectively P0A left side mutually
Matter factoring.
6. Single-phase PWM Rectifier control method according to claim 5, which is characterized in that the step S5 is specially：
It enablesObtaining robust controller is：
Wherein N is P0The fight coprime factorization factor, parameter τ and n calculate according to the low-frequency cut-off frequency of system and high frequency by frequency
It obtains.
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| CN111948947A (en) * | 2020-08-25 | 2020-11-17 | 哈尔滨工业大学（威海） | Nonlinear current simulation and robust control method of motor simulator |
| CN113110021A (en) * | 2021-03-17 | 2021-07-13 | 华南理工大学 | Method for identifying servo system and designing controller |
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| CN111948947A (en) * | 2020-08-25 | 2020-11-17 | 哈尔滨工业大学（威海） | Nonlinear current simulation and robust control method of motor simulator |
| CN113110021A (en) * | 2021-03-17 | 2021-07-13 | 华南理工大学 | Method for identifying servo system and designing controller |
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Application publication date: 20181123 |