CN109301828A - A kind of Active Disturbance Rejection Control system of the power limitation control of shunt active power filter - Google Patents
A kind of Active Disturbance Rejection Control system of the power limitation control of shunt active power filter Download PDFInfo
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- CN109301828A CN109301828A CN201811299874.6A CN201811299874A CN109301828A CN 109301828 A CN109301828 A CN 109301828A CN 201811299874 A CN201811299874 A CN 201811299874A CN 109301828 A CN109301828 A CN 109301828A
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/01—Arrangements for reducing harmonics or ripples
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
- H02J3/1821—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators
- H02J3/1835—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators with stepless control
- H02J3/1842—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators with stepless control wherein at least one reactive element is actively controlled by a bridge converter, e.g. active filters
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/20—Active power filtering [APF]
Abstract
The invention discloses a kind of Active Disturbance Rejection Control systems of the power limitation control of shunt active power filter, including from anti-interference controller, it include differential tracker, extended state observer and observer feedback control loop from anti-interference controller, wherein differential tracker is responsible for filtering out the disturbance for the nonlinear properties ignored；Extended state observer is responsible for acquisition control electric current and DC voltage actual value, exports the quantity of state and disturbance quantity of three phase active electric power filter；Observer feedback control loop acquires the quantity of state and disturbance quantity of DC voltage reference value and three phase active electric power filter, generates control current feedback to extended state observer；It will be separately mounted to from anti-interference controller at low-pass filter and DC voltage.The present invention can filter out external interference by joined Auto Disturbances Rejection Control Technique by Nonlinear Tracking Differentiator, and estimate to disturb by extended state observer, to solve the problems, such as that precision is not accurate enough.
Description
Technical field
The present invention relates to a kind of automation, field of power electronics, in particular to the permanent function of a kind of shunt active power filter
The Active Disturbance Rejection Control system of rate control.
Background technique
In recent years, with a large amount of uses of nonlinear load, the harmonic pollution in electric system is got worse, the problem meeting
Power equipment overheat is generated, voltage waveform distortion, flickering interfere a series of problems, such as communicating, and therefore, eliminate the harmonic wave in power grid
Pollution is the important topic improved in power quality, and Active Power Filter-APF is as inhibition harmonic pollution in electric power net, idle benefit
The power electronic equipment of power quality is repaid, improved by more and more extensive research and concern；
Three phase active electric power filter is a kind of power electronics for real-time compensation reactive power and inhibition harmonic current
Device can carry out real-time compensation to the reactive power of frequency and the size harmonic wave all changed and variation, can overcome filter
The shortcomings that equal conventional harmonics inhibition and Non Power Compensation Process, however, having strong coupling between parallel power filter three-phase current
Non-linear relation is closed, so that the electric current (or power) actually compensated and command signal generate error, load compensation effect is by tight
Ghost image is rung, and is even unable to reach compensation effect when serious, is made to load cisco unity malfunction, is based on there are mainly two types of control mode
The control mode and double circle controling mode of Harmonic currents detection；
Control mode basic principle based on Harmonic currents detection be first detect load current in harmonic wave and idle point
Then amount makes converter export equal in magnitude therewith, contrary compensation electric current to offset, so that in grid side electric current
Harmonic content reduces and with network voltage with the same phase of frequency, realizes the purpose of harmonics restraint and reactive power compensation, but this side
Method needs to detect load current, power network current, compensation electric current and network voltage, while needing complicated algorithm to handle load electricity
Stream needs multiple current transformers and higher processing chip, equipment investment larger to extract harmonic wave and reactive component；
It is proposed for the complexity and operating lag of active filter harmonic current detection according to instantaneous power theory
Shunt active power filter power limitation control strategy, the control strategy is by realizing inverter active power and reactive power
Decoupling, isolates power component to be compensated, using space vector modulation algorithm, realizes the power limitation control of system, but function
The control of rate compensated decoupling eliminates coordinate inverse transformation link, simplifies Control system architecture, reduces intermediate system operating lag,
The response speed of system is improved, but compared with current decoupled control, there is also the gaps on compensation precision, it is therefore desirable at this
It is proposed can solve the control method of this problem on the basis of kind thinking.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the defect of the prior art, a kind of shunt active power filter is provided
The Active Disturbance Rejection Control system of power limitation control, joined Auto Disturbances Rejection Control Technique can filter out external do by Nonlinear Tracking Differentiator
It disturbs, and estimates to disturb by extended state observer, to solve the problems, such as that precision is not accurate enough.
In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions:
A kind of Active Disturbance Rejection Control system of the power limitation control of shunt active power filter of the present invention, including from anti-interference control
Device processed, it is described from anti-interference controller include differential tracker, extended state observer and observer feedback control loop,
Middle differential tracker is responsible for filtering out the disturbance for the nonlinear properties ignored；Extended state observer is responsible for acquisition control electric current and straight
Side voltage actual value is flowed, the quantity of state and disturbance quantity of three phase active electric power filter are exported；The acquisition of observer feedback control loop
The quantity of state and disturbance quantity of DC voltage reference value and three phase active electric power filter generate control current feedback and give expansion shape
State observer；It will be separately mounted to from anti-interference controller at low-pass filter and DC voltage, by Active Disturbance Rejection Control system
System applies on the power limitation control of Shunt that specific step is as follows:
(1) passes through e according to Instantaneous Power Theorya,eb,ecAnd iLa,iLb,iLcThe active-power P of real-time computational load and
Reactive power Q；
(2) constant portion of power and concussion are partially separated out as power control instruction by by low-pass filter
Signal；
(3) utilizes the calculated inverter actual power signal of same method；
(4) exports control electric current according to DC bus capacitor both end voltage, voltage reference value, quantity of state and disturbance quantity；
(5) generates practical control signal by automatic disturbance rejection controller, utilizes the dynamic of the final control switch pipe of SVPWM algorithm
Make.
As a preferred technical solution of the present invention, the extended state observer real-time estimation go out internal system disturb and
The real value that outside is disturbed, extended state observer determine the quality of entire automatic disturbance rejection controller.
As a preferred technical solution of the present invention, control parameter, ratio is arranged in the observer feedback control loop
Gain parameter and integral gain parameter work, the value for generating control current control parameter meet controlled three phase active electric power filter
Control requirement, proportional gain parameter value meet observer feedback control loop feedback time requirement, integral gain parameter
Value meets the requirement of observer feedback control loop feedback time and feedback stability simultaneously.
Compared with prior art, beneficial effects of the present invention are as follows:
1, the Active Disturbance Rejection Control used, does not depend on the accurate mathematical model of system, neglects when during control by modeling
Non-linear factor slightly, uncertain parameter and exterior disturbance observe to come via extended state observer, and by anti-
Feedback link is eliminated, so as to avoid error caused by due to ignoring non-linear factor；Increase certainly after low-pass filter
Disturbance rejection control has random noise or discontinuous amount into the extraction of differential signal and continuous signal via Nonlinear Tracking Differentiator, can
To improve the precision of system；
2, the response speed in the highly effective power limitation control for improving traditional Shunt with
Contradiction between precision ensure that in the case where response speed improves, handle accuracy when corresponding power quality problem
Also corresponding raising, so that the voltage and current for needing to compensate is not too big or too small；
3, Unmarried pregnancy and external disturbance are uncertain inside estimating system, avoid causing because ignoring non-linear factor
Error.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the power limitation control schematic diagram of parallel connection type active electric filter of the invention；
Fig. 2 is of the invention from anti-interference controller ADRC structure chart；
Fig. 3 is TD structure structural schematic diagram of the invention；
Fig. 4 is extended state observer ESO structure chart of the invention；
Fig. 5 is the traditional schematic diagram of the power limitation control of parallel connection type active electric filter of the invention；
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Embodiment 1
As shown in Figs. 1-5, the present invention provides a kind of Active Disturbance Rejection Control system of the power limitation control of shunt active power filter
System, including include that differential tracker, extended state observer and observer are anti-from anti-interference controller from anti-interference controller
Control loop is presented, wherein differential tracker is responsible for filtering out the disturbance for the nonlinear properties ignored；Extended state observer is responsible for adopting
Collection control electric current and DC voltage actual value, export the quantity of state and disturbance quantity of three phase active electric power filter；Observer is anti-
The quantity of state and disturbance quantity for presenting control loop acquisition DC voltage reference value and three phase active electric power filter generate control electricity
Stream feeds back to extended state observer；It will be separately mounted to from anti-interference controller at low-pass filter and DC voltage,
Low-pass filter is used to be partially separated out as power control instruction signal by the constant portion of power and concussion, will have first
The PI control technology of the DC voltage of active power filter has changed Auto Disturbances Rejection Control Technique into, again by low pass filter
PI controller be changed to automatic disturbance rejection controller, since Active Disturbance Rejection Control is the accurate mathematical model of the system that do not depend on, controlling
During by modeling when non-linear factor, uncertain parameter and the exterior ignored disturb via extended state observer
It observes and, and eliminated by feedback element, so as to avoid error caused by due to ignoring non-linear factor, is based on
The constant-power control method of the parallel connection type active electric filter of Instantaneous Power Theory adds the schematic diagram of Active Disturbance Rejection Control system,
Schematic diagram i.e. plus invention is as shown in Figure 1, to system input signal transition process arranging and the part of extracting differential signal claims
For differential tracker (TD), quickly tracking is realized to input signal, and inhibits the generation of overshoot, automatic disturbance rejection controller is internal
It disturbs (uncertainty of system itself is called internal disturbance) and external disturbance regards total disturbance of system, directly detect them
Total influence on system, and always disturbing is estimated by extended state observer (ESO), nonlinear state error feedback
(NLSEF) it is mainly inputted using extended state observer and provides the control strategy of controlled device with the difference exported, and then disappeared
Except total disturbance, as shown in Figure 2 from the structure chart of anti-interference controller ADRC: active disturbance rejection is used in two ground in this system
The constant portion of power and concussion mainly are partially separated out as power control by side, the ADRC after low-pass filter
Command signal input, and then the corresponding nonlinear disturbance that we ignore can be eliminated, and then accuracy can be improved, and put
Acquisition DC bus capacitor both end voltage and Voltage Reference are configured as from anti-interference controller ADRC in DC voltage part
Value, detects the quantity of state and disturbance quantity of three phase active electric power filter, and according to DC bus capacitor both end voltage, Voltage Reference
Value, quantity of state and disturbance quantity output control electric current, are brought with eliminating the non-linear and external disturbance of three phase active electric power filter
Influence, Active Disturbance Rejection Control system applied on the power limitation control of Shunt to specific step is as follows:
(1) passes through e according to Instantaneous Power Theorya,eb,ecAnd iLa,iLb,iLcThe active-power P of real-time computational load and
Reactive power Q；
(2) constant portion of power and concussion are partially separated out as power control instruction by by low-pass filter
Signal；
(3) utilizes the calculated inverter actual power signal of same method；
(4) exports control electric current according to DC bus capacitor both end voltage, voltage reference value, quantity of state and disturbance quantity；
(5) generates practical control signal by automatic disturbance rejection controller, utilizes the dynamic of the final control switch pipe of SVPWM algorithm
Make, SVPWM algorithm is the movement of control switch pipe.
Extended state observer real-time estimation goes out the real value that internal system is disturbed and outside is disturbed, and extended state observer determines
The quality of entire automatic disturbance rejection controller.
Control parameter, proportional gain parameter and integral gain parameter work is arranged in observer feedback control loop, generates control
The value of current control parameter meets the control requirement of controlled three phase active electric power filter, and proportional gain parameter value, which meets, to be seen
The feedback time requirement of device feedback control loop is surveyed, integral gain parameter value meets observer feedback control loop feedback simultaneously
The requirement of time and feedback stability.
Specifically, the basic schematic diagram of power limitation control mode passes through e as shown in figure 5, according to Instantaneous Power Theorya,eb,
ecAnd iLa,iLb,iLcThe active-power P and reactive power Q of real-time computational load, and pass through low-pass filter for the constant of power
Part and concussion are partially separated out as power control instruction signal, in addition, a small wattful power need to be absorbed from power grid
RateApply it to P*, for compensating the switching loss and ohmic losses of inverter, to keep the electricity of direct current capacitors
Pressure is stablized.Then with utilize the calculated inverter actual power signal of same methodCompare with-Q, increasing negative sign herein is
In order to which sense of current is consistent, practical control signal finally is generated by pi regulator, is finally controlled and is opened using SVPWM algorithm
Close the movement of pipe；
Solves traditional current compensation decoupling due to eliminating the link of coordinate inverse transformation using the method for invariable power
The slow problem of response speed, but occur corresponding problem on compensation precision, so that compensation effect is bad, in order to solve
The above problem we introduce Auto Disturbances Rejection Control Technique；
Automatic disturbance rejection controller and is absorbed based on depending on the self-examination of system mathematic model too much to modern control theory
The thought marrow of industry control and a kind of control method for not depending on system accurate model proposed, it is non-can be used to processing system
Linearly, the problem of uncertain greatly and external disturbance, automatic disturbance rejection controller forms Nonlinear Tracking Differentiator, expansion by three key links
State observer and feedback control based on extended state observer；
Nonlinear Tracking Differentiator is proposed to improve the D in PID, due in many cases, all existing in system and disturbing
It is dynamic, and D can amplify disturbance, and then will lead to noise and flood signal required for us, this work for allowing for us cannot
It is normal to carry out, and Nonlinear Tracking Differentiator can overcome this disadvantage to the robustness of noise, can track disturbing signal in real time,
So that the data sample accuracy that we take improves；
Extended state observer is obtained from being promoted on the basis of normal state observer, with common observer
Difference be that ESO is the partial status that exports by system to estimate remaining state, extended state observer then not only can be with
The state of estimating system, can be uncertain with estimating system inside Unmarried pregnancy and external disturbance, this is that expansion state is seen
The origin of device name is surveyed, while also explaining automatic disturbance rejection controller to a certain extent independent of accurate mathematical model；
The design uses automatic disturbance rejection controller in two places, one is at DC voltage, the second is in low pass filtered
It is used after wave device；
We analyze the Active Disturbance Rejection Control system at DC voltage first, do not depend on the accurate mathematical modulo of system
Type, non-linear factor, uncertain parameter and the exterior ignored when during control by modeling are disturbed via expansion
State observer, which observes, to be come, and is then eliminated by feedback element, therefore can eliminate due to ignoring non-linear factor
Caused by error, and then improve accuracy；
Since the reference value of DC voltage is a constant value, we ignore tracking differential during design
Device, therefore extended state observer is compensated to the Compensation Design of response speed according to this math block:
Enable each state of input signal y (t) to the state after expansionIt carries out
It tracks respectively, it may be assumed that z1(t)→x1(t),…,zn(t)→xn(t),zn+1(t)→xn+1(t)=f (x1,x2,…,xn)。
If the tracking purpose more than realizing, by zn+1It (t) can real-time estimation disturbance outAnd we are specifically built according to the actual conditions of power quality problem in actual application
Mould research, verifies its accuracy；
We analyze the part that Active Disturbance Rejection Control system is added after low-pass filter again, since we open
Beginning is calculated using Instantaneous Power Theory, and then is carried out constant-power control method using corresponding mathematical modeling and decoupled,
Then corresponding result is input among low-pass filter, since in the meantime, we are by various nonlinear disturbance situations
The information inaccuracy that the obtained needs for neglecting, and then us may being made final compensate, and we will overcome this shape
Condition mainly uses timing tracking differentiator, therefore we carry out extended state observer in the design process of this part
Ignore, thus we design corresponding Nonlinear Tracking Differentiator by mathematical modeling,
Nonlinear function is used in formula, in actual power quality problem, we carry out according to this mathematical model
Modeling, designs corresponding Nonlinear Tracking Differentiator, and then filter out corresponding disturbance；
Compared with traditional Current Decoupling, method is started with from power control angle, eliminates coordinate inverse transformation link, is simplified
Control system architecture, reduces intermediate system operating lag, improves anti-interference ability, while also restrained effectively system
Harmonic wave, the operation of guarantor unit's power factor, but its DC side and last controlling unit use PI controller that control is imitated
Fruit is undesirable, influences compensation precision, for this problem, devises the power limitation control of parallel connection type active electric filter oneself
Disturbance rejection control can reach good control effect, improve compensation precision.
In conclusion the Active Disturbance Rejection Control that the present invention uses, does not depend on the accurate mathematical model of system, in the process of control
The middle non-linear factor, uncertain parameter and exterior that will ignore when modeling is disturbed to be observed via extended state observer
Come, and eliminated by feedback element, so as to avoid error caused by due to ignoring non-linear factor；In low-pass filtering
Increase Active Disturbance Rejection Control after device, via Nonlinear Tracking Differentiator, has random noise or discontinuous amount into differential signal and continuous letter
Number extraction, the precision of system can be improved；The highly effective invariable power for improving traditional Shunt
The contradiction between response speed and precision in control ensure that in the case where response speed improves, handle corresponding electric energy
Accuracy when quality problems also corresponding raising, so that the voltage and current for needing to compensate is not too big or too small；Estimation
Internal system Unmarried pregnancy and external disturbance are uncertain, avoid error caused by due to ignoring non-linear factor.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (3)
1. a kind of Active Disturbance Rejection Control system of the power limitation control of shunt active power filter, which is characterized in that including being done from anti-
Disturb controller, described from anti-interference controller includes that differential tracker, extended state observer and observer feedback control are returned
Road, wherein differential tracker is responsible for filtering out the disturbance for the nonlinear properties ignored；Extended state observer is responsible for acquisition control electricity
Stream and DC voltage actual value, export the quantity of state and disturbance quantity of three phase active electric power filter；Observer feedback control is returned
Road acquires the quantity of state and disturbance quantity of DC voltage reference value and three phase active electric power filter, generates control current feedback and gives
Extended state observer；It will be separately mounted to from anti-interference controller at low-pass filter and DC voltage, by active disturbance rejection
Specific step is as follows on the power limitation control of Shunt for control system:
(1) passes through e according to Instantaneous Power Theorya,eb,ecAnd iLa,iLb,iLcThe active-power P of real-time computational load and idle
Power Q；
(2) constant portion of power and concussion are partially separated out as power control instruction signal by by low-pass filter；
(3) utilizes the calculated inverter actual power signal of same method；
(4) exports control electric current according to DC bus capacitor both end voltage, voltage reference value, quantity of state and disturbance quantity；
(5) generates practical control signal by automatic disturbance rejection controller, utilizes the movement of the final control switch pipe of SVPWM algorithm.
2. a kind of Active Disturbance Rejection Control system of the power limitation control of shunt active power filter according to claim 1,
It is characterized in that, the extended state observer real-time estimation goes out the real value that internal system is disturbed and outside is disturbed, expansion state observation
Device determines the quality of entire automatic disturbance rejection controller.
3. a kind of Active Disturbance Rejection Control system of the power limitation control of shunt active power filter according to claim 1,
It is characterized in that, control parameter, proportional gain parameter and integral gain parameter work is arranged in the observer feedback control loop, generates
The value for controlling current control parameter meets the control requirement of controlled three phase active electric power filter, and proportional gain parameter value is full
The feedback time requirement of sufficient observer feedback control loop, integral gain parameter value meet observer feedback control loop simultaneously
The requirement of feedback time and feedback stability.
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