CN108964499A - Modified repetitive control suitable for three-phase PWM inverter - Google Patents
Modified repetitive control suitable for three-phase PWM inverter Download PDFInfo
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- CN108964499A CN108964499A CN201810705143.0A CN201810705143A CN108964499A CN 108964499 A CN108964499 A CN 108964499A CN 201810705143 A CN201810705143 A CN 201810705143A CN 108964499 A CN108964499 A CN 108964499A
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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
- H02M7/53871—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 with automatic control of output voltage or current
-
- 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
- H02M1/12—Arrangements for reducing harmonics from ac input or output
-
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Inverter Devices (AREA)
Abstract
The invention discloses a kind of modified repetitive controls suitable for three-phase PWM inverter, fractional order repetitive controller is obtained by Lagrange's interpolation, the voltage of specified vibration frequency can be exported, while can be improved device dynamic responding speed and stable state output accuracy.The resonance peak that STATE FEEDBACK CONTROL is used for compensation system is added, improves system performance, and be convenient for the design of repetitive controller；Repetitive controller realizes the no error following to command voltage, and the complete inhibition to non-command voltage, avoids introducing additional interference to systematic survey for accurately tracking input signal.Bonding state feedback control and Repetitive controller can take into account stability and response speed；And the dead time effect of switching device can be compensated using Repetitive controller, reduce dead zone to adversely affect to entire control system bring, the present invention can significantly reduce the output aberration rate of PWM inverter, improve it to the output accuracy and response speed under frequency conversion, transformation instruction.
Description
Technical field
The present invention relates to three-phase PWM inverter control field, especially a kind of three-phase PWM inverter of output pulsation frequency
Control method.
Background technique
With the development of power electronics technology, three-phase PWM inverter technology has reached its maturity, PWM inverter main circuit from
The half control type device bridge of early stage develops to wholly-controled device bridge of today；Its topological structure is sent out from single-phase, three-phase circuit
Open up more level topological circuits.Conventional inverter usually control it is relatively simple, using open loop operation also exportable preferable waveform,
But when the occasion that the output of certain high-performance requires, inverter open loop operation output performance is difficult to meet required precision.To improve
Inverter exports steady-state performance and dynamic responding speed, pass of the control strategy of full-control type three-phase PWM inverter by academia
Note, and carry out a lot of research work.
Currently, the more inverter control method of engineer application mainly includes Hysteresis control, PI control, ratio resonance (PR)
The methods of control, track with zero error, Repetitive controller.Hysteresis control is simple, and robustness is good, but switching frequency is not fixed, electric current line
Wave is big, influences the control precision of DC voltage；Conventional PI control design is simple, it is easy to accomplish, but cannot achieve to of ac
Without steady-state error tracing control；Ratio resonance (PR) controller has infinitely great gain at the resonant frequency fx, can be steady with zero
Exchange reference current is tracked to state error, but since it only has larger gain in a Frequency point, multiple frequencies can not be exported
The tracking waveform of point；Track with zero error is the control algolithm based on controlled device exact circuitry model, control fast with corresponding speed
The small feature of error processed, but need accurately to establish mathematical model, and accurate mathematical model is often difficult to
It arrives, in addition, controller often takes very violent control to reach the effect for eliminating error within a sampling period
Movement does so and effect is not only not achieved, can cause the vibration of output voltage instead when ideal model and corresponding variant reality
It swings, is unfavorable for the safe and stable operation of inverter；Repetitive controller is the control method based on internal model principle, really carries out one kind
The integration control of Cycle by Cycle is supplemented by the Cycle by Cycle to waveform error, the effect of floating can be realized in stable state, and work as
When system has disturbance, including whens nonlinear load, dead time effect etc., there is good Ability of Resisting Disturbance using Repetitive controller,
So there is preferable output effect using Repetitive controller to PWM inverter.
But when certain special occasions, the voltage for needing output frequency to fluctuate, traditional repetitive control is difficult in frequency
At the point of rate fluctuation with good tracking effect, output effect can be decreased obviously, and traditional Repetitive controller dynamic property is bad,
When output needs to be mutated, it is difficult to meet high performance requirements.Therefore, it is necessary to the PWM inverter under output pulsation frequency
Control strategy is studied.
Summary of the invention
The technical problem to be solved by the present invention is in view of the shortcomings of the prior art, provide a kind of suitable for three-phase PWM inversion
The modified repetitive control of device reduces output aberration rate.
In order to solve the above technical problems, the technical scheme adopted by the invention is that: it is a kind of suitable for three-phase PWM inverter
Modified repetitive control, the specific steps of this method are as follows:
1) according to three-phase output voltage instantaneous value v12、v23、v31, by the three-phase voltage signal v of acquisitiona、vb、vcIt is sat by α β
Mark transformation, obtains the three-phase output voltage instantaneous value v under two-phase stationary coordinate systemαAnd vβ, vαAnd vβRespectively and in signal generator
The reference voltage signal v* of generationαAnd v*βAfter being compared, by error signal Δ vαWith Δ vβIt is transferred to modified Repetitive controller
Device is tracked, and the input quantity e (z) of modified repetitive controller is generated；
2) by filter capacitor voltage i1、i2、i3With the three-phase voltage v of PWM inverter outputab、vbc、vca, anti-as state
Present the quantity of state of controller；E (z) generates signal x (z) after the tracking of modified repetitive controller, is sent into STATE FEEDBACK CONTROL
Device carries out system closed-loop pole to obtain tune of the output signal u (z) as pwm converter of state feedback controller with postponing
Signal processed；
3) by α β coordinate inverse transformation by signal u (z)=[ua ub uc]TIt is transformed under three-phase static coordinate system, using
The modulation wave signal d of PWM Drive Protecting Circuit generation SPWMa、db、dc, control the shutdown of 6 IGBT of three-phase PWM inverter.
In step 1), three-phase voltage from three-phase static coordinate system be transformed into two-phase stationary coordinate system under formula are as follows:
In step 1), the mentality of designing of modified repetitive controller are as follows:
Modified repetitive controller is based on the basis of ± 1 repetitive controller of 6k, can not to traditional repetitive controller
In the system of fixed sample rate, the improvement that fractional order N is carried out is realized.
The transmission function of ± 1 repetitive controller of modified 6k is
Wherein kRCIt is Repetitive controller gain；Q (z), Gf(z) all it is filter, for adjusting RC performance, improves whole system
Stability, wherein Q (z) is for filtering out high frequency components, GfIt (z) is the phase realized zero phase characteristic and keep closed-loop system stable
Position compensating filter.
When the voltage for needing output frequency to fluctuate, traditional Repetitive controller pole cannot be exactly in the frequency of needs
Place.In order to improve this defect of Repetitive controller, 6k ± 1 time Repetitive controller is improved using Lagrange's interpolation.It will
6k ± 1 time Repetitive controllerWithIt is replaced, whereinForNumber after being rounded, Δ are small less than 1
Number.So Δ can be clapped approximate clap score using integer and be indicated by Lagrange's interpolation.zΔN rank glug it is bright
Day interpolation formula is
Wherein h (n) is coefficient, can be expressed as
In step 2), state feedback controller uses capacitor current feedback, models, can obtain to three-phase inverting circuit
To shown in state space description such as formula (5).
X (k+1)=Ax (k)+Bu (k) (5)
Wherein x (k) is state vector, and u (k) is input vector, and A is coefficient matrix, and B is control matrix.
The control target of three-phase inverting circuit is to make v12, v23And v31Correctly track its reference voltage varef, vbrefAnd vcref,
Without static error under various loads.The state feedback controller as shown in formula (6) is added in the present invention, wherein k1And k2For
Feedback oscillator, vrefIt (k) is reference input, h is reference input coefficient.
U (k)=[- k1 -k2]x(k)+hvref(k) (6)
In step 3), signal u (z) is transformed into the formula under three-phase static coordinate system from two-phase stationary coordinate system are as follows:
Compared with prior art, the advantageous effect of present invention is that: the present invention mentioned based on state feedback changing
The resonance peak of inverter can effectively be inhibited into type repetitive control, output aberration rate is small when with nonlinear load, and dynamic is rung
Answer speed fast, the repetitive controller output aberration rate than not increasing state feedback reduces by 50% aberration rate；What the present invention was mentioned
The output of frequency fluctuation voltage may be implemented in modified repetitive control based on state feedback, and improves systematic entirety
Energy.
Detailed description of the invention
Fig. 1 is the modified repetitive control schematic diagram proposed by the present invention suitable for three-phase PWM inverter；
Fig. 2 is the master control block diagram of the modified repetitive controller proposed by the present invention suitable for three-phase PWM inverter；
Fig. 3 is the control block diagram of modified repetitive control proposed by the present invention；
Fig. 4 is the output effect figure using modified repetitive control proposed by the present invention；Wherein:
(a) for PWM inverter using modified repetitive control band linear load when, export 1000V when it is single-phase defeated
Voltage, output current wave schematic diagram out；
(b) for PWM inverter using modified repetitive control band nonlinear load when, export 1000V when it is single-phase
Output voltage, output current wave schematic diagram；
Fig. 5 is one embodiment of the invention using traditional Repetitive controller control method and uses modified weight proposed by the present invention
Multiple control method using effect comparison diagram；Wherein:
(a) by PWM inverter using traditional repetitive controller and when proposing control method, output voltage frequency is dashed forward by 50Hz
Become the output three-phase voltage waveform and A phase voltage error waveform schematic diagram when 48Hz；
(b) when using modified repetitive control proposed by the present invention for PWM inverter, output voltage frequency is by 50Hz
Sport the output three-phase voltage waveform and A phase voltage error waveform schematic diagram when 48Hz.
Specific embodiment
Such as Fig. 1, converter main circuit of the present invention includes three-phase voltage type PWM inverter topological structure 1,2 He of LC filter
Load 3, control system includes sampling module 4, Clark conversion module 5, signal generator module 6, modified repetitive controller
7, state feedback controller 8, Clark inverse transform module 9 and PWM Drive Protecting Circuit 10.The three-phase voltage type PWM inverter
It is connected by the LC filter with the load；The load includes linear load and two kinds of nonlinear load；The sampling
Module input is connect with the three-phase voltage type PWM inverter output end；The Clark converter and the sampling module are defeated
Outlet connection；The Clark converter output terminal signal three-phase output voltage instantaneous value vαAnd vβIt is exported with the signal generator
Reference voltage signal v*αAnd v*βIt is compared and difference is sent into the modified repetitive controller, the modified repeats
Controller output passes to the state feedback controller, the state feedback controller output end and the Clark inverse transformation
Module input is connected, and the Clark inverse transform module output end is connected with PWM protection driving circuit input terminal, described
PWM protection driving circuit output pwm pulse is for driving the three-phase voltage type PWM inverter.
Fig. 2 is the master control block diagram of the modified repetitive controller proposed by the present invention suitable for three-phase PWM inverter,
In, GpIt (z) is control object, GcIt (z) is state feedback controller, GRCIt (z) is modified repetitive controller, r (z) comes self-confident
The reference of number generator, e (z) are tracking errors, and u (z) is control signal, and d (z) is interference signal, and y (z) is output modulation letter
Number；GRC(z) it is directly embedded into the system for having already passed through STATE FEEDBACK CONTROL, inverter system is matched by state feedback controller
A stable system is obtained after setting pole, simplifies its design procedure after repetitive controller insertion, does not need the compensation such as trapper
Device.
Fig. 3 is the control block diagram of modified repetitive control proposed by the present invention, and wherein N/6 is time delay process, e (z)
It is tracking error, kRCIt is Repetitive controller gain；Q (z), Gf(z) it is filter, for adjusting repetitive controller performance, improves
The stability of whole system, wherein Q (z) is to realize zero phase characteristic and keep closed-loop system steady for filtering out high frequency components, Gf (z)
Fixed phase compensation filter.
When the voltage for needing output frequency to fluctuate, traditional Repetitive controller pole cannot be exactly in the frequency of needs
Place.In order to improve this defect of Repetitive controller, 6k ± 1 time Repetitive controller is improved using Lagrange's interpolation.It will
6k ± 1 time Repetitive controllerWithIt is replaced, whereinForNumber after being rounded, Δ are small less than 1
Number.So Δ can be clapped approximate clap score using integer and be indicated by Lagrange's interpolation.
Fig. 4 is the output effect figure using modified repetitive control proposed by the present invention；Wherein:
Figure (a), (b) are respectively that PWM inverter uses modified repetitive control band linear load and nonlinear load
When, single-phase output voltage, output current wave schematic diagram when exporting 1000V, experimental result can obtain: inverter band linear load
Or under nonlinear load, the output equal aberration rate of steady state voltage is small, and when dynamically cutting load, fast response time shows that the present invention is mentioned
Modified repetitive control can make inverter have good dynamic response performance and stable state output performance.
Fig. 5 is one embodiment of the invention using traditional Repetitive controller control method and uses modified weight proposed by the present invention
Multiple control method using effect comparison diagram；Wherein:
Figure (a), (b) are respectively that PWM inverter repeats to control using traditional repetitive controller and modified proposed by the present invention
Under method processed, output three-phase voltage waveform and A phase voltage error waveform when output voltage frequency is sported 48Hz by 50Hz show
It is intended to, experimental result can obtain: using the output error u under traditional repetitive controllererrAfter stabilization still close to 400V, error
It is larger, and based on the inverter output error u under modified repetitive controllererrAlmost without error after stabilization, and stabilized speed
Fastly, it can realize that frequency is switched fast in 100ms or so, the experimental results showed that repeating to control using the modified that the present invention is mentioned
Device processed can effectively realize frequency discontinuity.
Claims (5)
1. a kind of modified repetitive control suitable for three-phase PWM inverter, which comprises the following steps:
1) according to three-phase output voltage instantaneous value v12、v23、v31, by the three-phase voltage signal v of acquisitiona、vb、vcBecome by α β coordinate
It changes, obtains the three-phase output voltage instantaneous value v under two-phase stationary coordinate systemαAnd vβ, vαAnd vβRespectively with generated in signal generator
Reference voltage signal v*αAnd v*βAfter being compared, by error signal Δ vαWith Δ vβBe transferred to modified repetitive controller into
Line trace generates the input quantity e (z) of modified repetitive controller；
2) by filter capacitor voltage i1、i2、i3With the three-phase voltage v of PWM inverter outputab、vbc、vcaAs STATE FEEDBACK CONTROL
The quantity of state of device；E (z) generates signal x (z) after the tracking of modified repetitive controller, state feedback controller is sent into, to being
System closed-loop pole carries out obtaining modulation of the output signal u (z) as three-phase PWM inverter of state feedback controller with postponing
Signal；
3) signal u (z) is transformed under three-phase static coordinate system by α β coordinate inverse transformation, is produced using PWM Drive Protecting Circuit
The modulation wave signal d of raw SPWMa、db、dc, control the shutdown of 6 IGBT of three-phase PWM inverter.
2. the modified repetitive control according to claim 1 suitable for three-phase PWM inverter, which is characterized in that
Formula of the three-phase voltage signal Jing Guo α β coordinate transform are as follows:
3. the modified repetitive control according to claim 1 suitable for three-phase PWM inverter, which is characterized in that
In step 1), the transmission function of modified repetitive controller are as follows:Wherein
kRCIt is Repetitive controller gain；GfIt (z) is to realize filter；Δ is the decimal less than 1；N is the time delay process of repetitive controller.
4. the modified repetitive control according to claim 1 suitable for three-phase PWM inverter, which is characterized in that
In step 2), the state feedback controller uses capacitor current feedback, models to three-phase inverting circuit, obtains state sky
Between formula is described are as follows: x (k+1)=Ax (k)+Bu (k)；
Wherein x (k) is the state vector at k moment, and u (k) is the input vector at k moment, and A is coefficient matrix, and B is control matrix；
State feedback controller formula is added are as follows: u (k)=[- k1 -k2]x(k)+hvref(k)；Wherein, k1And k2For feedback oscillator, vref
It (k) is reference input, h is reference input coefficient.
5. requiring a kind of modified repetitive control suitable for three-phase PWM inverter according to right 1, feature exists
In, in step 3), signal u (z)=[ua ub uc]TFrom two-phase stationary coordinate system be transformed into three-phase static coordinate system under formula
Are as follows:
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| CN110995044A (en) * | 2019-12-25 | 2020-04-10 | 深圳第三代半导体研究院 | Nonlinear correction device for power switch device |
| CN111464041A (en) * | 2020-05-18 | 2020-07-28 | 华夏天信（北京）智能低碳技术研究院有限公司 | Three-phase frequency converter control system and method |
| CN114244170A (en) * | 2021-11-18 | 2022-03-25 | 湖南工程学院 | Control method for current loop of Z-source grid-connected inverter |
| CN116314309A (en) * | 2023-05-23 | 2023-06-23 | 四川奥库科技有限公司 | Back gate structure of reverse-conduction IGBT device and processing method thereof |
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| CN116314309A (en) * | 2023-05-23 | 2023-06-23 | 四川奥库科技有限公司 | Back gate structure of reverse-conduction IGBT device and processing method thereof |
| CN116314309B (en) * | 2023-05-23 | 2023-07-25 | 四川奥库科技有限公司 | Back gate structure of reverse-conduction IGBT device and processing method thereof |
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Application publication date: 20181207 |