CN109347356A - Nine switching inverter control method of voltage-type - Google Patents
Nine switching inverter control method of voltage-type Download PDFInfo
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- CN109347356A CN109347356A CN201811339994.4A CN201811339994A CN109347356A CN 109347356 A CN109347356 A CN 109347356A CN 201811339994 A CN201811339994 A CN 201811339994A CN 109347356 A CN109347356 A CN 109347356A
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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
- H02M7/53873—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 with digital control
-
- 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
- H02M7/53875—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 with analogue control of three-phase output
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Abstract
The present invention provides a kind of nine switching inverter control methods of voltage-type, and steps are as follows: obtaining the ac-side current voltage equation matrix in abc three phase static symmetric coordinates system according to the topological structure of nine switching inverter of voltage-type；State equation matrix is obtained by Park transformation；Discretization is carried out to state equation matrix；Establish prediction model；Optimality criterion obtains controlling increment of nine switching inverter of voltage-type under dqo rotating coordinate system；The controlling increment under abc three phase static symmetric coordinates system is obtained by Park inverse transformation, and then obtains the control signal for controlling each switch on and off of nine switching inverter of voltage-type.It the invention has the advantages that: controlling using model prediction algorithm nine switching inverter of voltage-type, avoids the coupling of upper and lower inverter parameters to the influence of control effect, there is adaptivity and robustness；Control target and constraint for system have determined system optimization performance indicator, enhance the flexibility of control method.
Description
Technical field
The present invention relates to field of inserter control, in particular to a kind of nine switching inverter control method of voltage-type.
Background technique
For the inverter exported with upper and lower both-end AC three-phase, the inverter of nine switch topologies is to mention in recent years
A kind of circuit topology with the back-to-back double PWM inverter of less switching device substitution tradition out.It is double back-to-back compared to traditional
PWM topology, the usage amount of nine switching inverter switching devices reduces 25%, have switching device usage amount is few, volume compared with
It is small, loss it is lower the advantages that.
With the extensive use of non-linear power electronic devices, device and impact, wavy load in modern industry
And various complicated, accurate, sensitive to power quality electrical equipments is continuous universal, various electrical equipments are to voltage stabilization
The requirement of property is higher and higher.The present invention can be solved very well by using suitable control method to nine switching inverter of voltage-type
The certainly above problem, and compared to the back-to-back double PWM inverter of tradition, it reduces with the output of upper and lower both-end AC three-phase
Switching device quantity, volume, loss and the cost of inverter.
Summary of the invention
Technical problem to be solved by the invention is to provide: one kind is each opened for controlling nine switching inverter of voltage-type
Close the nine switching inverter control method of voltage-type of the control signal of on-off.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is that: a kind of nine switching inverter control of voltage-type
Method processed, nine switching inverter of voltage-type include nine switches, in which: upper inverter includes six switches, lower inverter packets
Include six switches, upper and lower inverter shares intermediate three switches, control method the following steps are included:
Step 1: obtaining the pass between nine switching inverter output voltage of voltage-type and switch function using switch function
It is matrix；According to the topological structure of nine switching inverter of voltage-type, obtain in abc three phase static symmetric coordinates system, voltage-type
Nine switching inverter ac-side current voltage equation matrixes；
Step 2: carrying out Park transformation to nine switching inverter ac-side current voltage equation matrix of voltage-type, obtain
State equation matrix under dqo rotating coordinate system；
Step 3: the state equation matrix of nine switching inverter of voltage-type is carried out discretization；
Step 4: establishing the prediction model of nine switching inverter of voltage-type；
Step 5: according to the difference of nine switching inverter output voltage of voltage-type and given voltage, system controlling increment width
It is worth the limitation of size, establishes the optimality criterion of control method, obtain nine switching inverter of voltage-type in dqo rotational coordinates
Controlling increment Δ u under systems；
Step 6: the controlling increment Δ u according to nine switching inverter of voltage-type under dqo rotating coordinate systems, pass through
Park inverse transformation obtains the controlling increment Δ u under abc three phase static symmetric coordinates systems, and then obtain for controlling voltage-type
The control signal of each switch on and off of nine switching inverters.
Switch function is used described in step 1, is obtained between nine switching inverter output voltage of voltage-type and switch function
Relational matrix, be by nine switching inverter of voltage-type nine switch each switch state define such as formula (1):
X=A in formula (1), B, C indicate the three-phase bridge arm of nine switching inverter of voltage-type；I=H, M, L indicate single-phase bridge arm
Upper, middle and lower three switch,
By the switch constraint condition of nine switching inverter of voltage-typeKnow the switch state f of every phase bridge arm
It is represented by formula (2):
A in formula (2), B, C indicate the three-phase bridge arm of nine switching inverter of voltage-type；H, M, L indicate single-phase bridge arm it is upper in
Lower three switching tubes, k=1,2,3 indicate that every phase bridge arm has three state,
By formula (1) and (2) available point A1,B1,C1To opening for voltage and the every phase bridge arm between DC power cathode O
Relationship between off status are as follows:
In formula (3), uX1(X=A, B, C) indicates point X1 (X=A, B, C) to the voltage between DC power cathode O, Udc
Indicate DC voltage,
Similarly, available point A2,B2,C2To the switch state of voltage and every phase bridge arm between DC power cathode O
Between relationship are as follows:
In formula (4), uX2(X=A, B, C) indicates point X2 (X=A, B, C) to the voltage between DC power cathode O, Udc
Indicate DC voltage,
Define switch function F:
A in formula (5), B, C indicate the three-phase bridge arm of nine switching inverter of voltage-type；X1It is exchanged in (X=A, B, C) expression
Side, X2(X=A, B, C) indicates lower and exchanges side, and k=1,2,3 indicate that every phase bridge arm has three state, and sgn () indicates sign function,
Composite type (3) (4) (5) obtains the relational expression between nine switching inverter output voltage of voltage-type and switch function
Matrix form:
Nine switching inverter ac-side current voltage equation matrix of voltage-type, is in abc three phase static pair described in step 1
Claim in coordinate system, ac-side current voltage equation matrix are as follows:
In formula (7) and (8), Cj、LsjAnd Rsj(j=1,2) for nine switching inverter of voltage-type exchange above and below side capacitor,
The series equivalent resistance of inductance and inductance；eAj、eBj、eCj(j=1,2) output is exchanged above and below for nine switching inverter of voltage-type
Hold the instantaneous voltage between DC power cathode O；ioAj、ioBj、ioCj(j=1,2) on nine switching inverter of voltage-type,
Lower exchange lateral load current instantaneous value；iAj、iBj、iCj(j=1,2) side filtering is exchanged above and below for nine switching inverter of voltage-type
Inductive current instantaneous value；uAj、uBj、uCjIt (j=1,2) is point A1,B1,C1,A2,B2,C2Electricity between DC power cathode O
Pressure.
State equation matrix of nine switching inverter of voltage-type under dqo rotating coordinate system described in step 2.It is in dqo
Under rotating coordinate system, nine switching inverter ac-side current voltage equation matrix of voltage-type is expressed as:
According to the form of state equation matrix, state variable X is takens=[ed1,eq1,ed2,eq2,id1,iq1,iq2,iq2]T, defeated
Enter amount us=[ud1,uq1,ud2,uq2]T, disturbance quantity uIs=[iod1,ioq1,iod2,ioq2]T, by formula (9) and formula (10) be organized into as
Lower form:
In formula (11),
Definition output quantity is ys=[ed1,eq1,ed2,eq2]T, obtain
ys=CsXs (12)
In formula (12), Cs=[E4 04]4×8
Formula (11) and formula (12) are state equation matrix of nine switching inverter of voltage-type under dqo rotating coordinate system.
Described in step 3 to state equation matrix of nine switching inverter of voltage-type under dqo rotating coordinate system carry out from
Dispersion is obtained to formula (11) and formula (12) discretization
Xs(k+1)=AsdXs(k)+Bsdus(k)+BIsduIs(k) (13)
ys(k)=CsXs(k) (14)
In formula (13),TsFor the sampling period.
Nine switching inverter prediction model of voltage-type is established described in step 4, defines operation △, and corresponding operation rule is
△ f (k)=f (k)-f (k-1) carries out △ operation to formula (13) and obtains:
△Xs(k+1)=Asd△Xs(k)+Bsd△us(k)+BIsd△uIs(k) (15)
It enablesConvolution (14) and formula (15) obtain
Zs(k+1)=GsZs(k)+Hs△us(k)+HIs△uIs(k) (16)
ys(k)=CzsXs(k) (17)
In formula (16),04For 4 dimensions zero
Battle array；08×4For 8 × 4 zero gust of dimensions；C in formula (17)zs=(Cs E4)4×12；E4For 4 rank unit matrix；
By formula (16), (17) it can be concluded that nine switching inverter prediction model preliminary form of voltage-type:
In formula (18), p=1,2......P-1, P；P is prediction time domain；K+p | the k expression k moment is pre- to the k+p moment
It surveys；M is to control time domain, P > M, and right△us(k+p-1)=04×1；△uIs(k+p-1)=04×1；04×1It is 4 × 1
Zero gust of dimension；
In the present invention, P=5, M=2 are taken, then formula (18) can be expressed as
YPs(k)=ΦsZs(k)+Ψs△UMs(k)+ΨIs△UIMs(k) (19)
In formula (19),
In view of controlling time domain (M=2), in so short control time domain, it is believed that load current does not change, i.e.,
System disturbance inputs in formula (19):
And in k moment △ uIs(k) it can measure, thus the △ U in formula (19)IMs(k) it is known quantity, thus constructs voltage
Nine switching inverter controlling increment △ U of typeMs(k) with output quantity YPs(k) relational model between, i.e. formula (19) are constructed
Nine switching inverter prediction model of voltage-type.
The optimality criterion that control method is established described in step 5 obtains nine switching inverter of voltage-type and rotates in dqo
Controlling increment Δ u under coordinate systems.It is difference, the system according to voltage-type nine switching inverter output voltages and given voltage
The limitation of controlling increment amplitude size, establishes the optimality criterion of control method:
In formula (21), w is error weight coefficient；R is control weight coefficient,
1st ∑ item is to predict in time domain, the difference of nine switching inverter reference voltage of voltage-type and output voltage
Square weighting and, whereinFor the k+p moment output voltage component on d axis, q axis respectively；2nd
∑ item be control time domain in, the square weighting of controlling increment and, it is therefore an objective to avoid controlling increment variation it is too fast；
System output voltage gives phasor in definition prediction time domain:
In formula (22),P=1,2,3,4,5,
Define operationThe equation for so solving the minimum of index J (k) can indicate are as follows:
In formula (23), QP=wE20；E20For 20 rank unit matrix；R=rE8；E8For 8 rank unit matrix,
Formula (19) are substituted into formula (23), are solved
It enablesThen current control increment is represented by
△us=d1V*(k)-d2Zs(k)-d3△UIMs(k) (25)
In formula (25), d1=d；d2=d Φs；d3=d ΨIs
By formula (19) and formula (25) it is found that Cj、LsjAnd Rsj(j=1,2) is the intrinsic parameter of system, is given value；Prediction
Control method parameter (w, r, P, M) can be obtained by characteristic equation method, sampling period TsIt is given by man, and then can calculates
Constant matrix d1~d3；And V*It (k) is known quantity, quantity of state ZsIt (k) can voltage-type according to formula (11) and formula (16) by measuring
Nine switching inverter output voltages and three-phase filter inductance electric current obtain；Disturbance input Δ UIMs(k) it can be used as according to formula (20)
Thus known quantity obtains the controlling increment Δ u under dqo rotating coordinate systems。
The control signal for controlling each switch on and off of nine switching inverter of voltage-type is obtained described in step 6.It is root
According to the controlling increment Δ u under abc three phase static symmetric coordinates systems, obtained by formula (1)~formula (6) for controlling voltage-type
The control signal of each switch on and off of nine switching inverters.
The beneficial effects of the present invention are: the present invention controls nine switching inverter of voltage-type using model prediction algorithm
System, avoids influence of the coupling to control effect of upper and lower inverter parameters, has adaptivity and robustness.And it is directed to
The control target of system and constraint have determined system optimization performance indicator, enhance the flexibility of control method.
Detailed description of the invention
Fig. 1 is the topology diagram of nine switching inverter of voltage-type；
Fig. 2 is the control block diagram of nine switching inverter of voltage-type.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and detailed description: as shown in Figure 1, a kind of electricity
Nine switching inverter of die mould is made of nine controllable switches altogether.Upper and lower two three-phase inverters, upper three contrary can be regarded as
Become the switch that device includes are as follows: SAH, SBH,SCH,SAM,SBMAnd SCM, switch that lower three-phase inverter includes are as follows: SAM,SBM,SCM,
SAL,SBLAnd SCL, the shared intermediate S of upper and lower two three-phase invertersAM,SBM,SCMThree switches.Upper and lower two three-phase inversions
Circuit on the right side of device is RLC filter circuit.The purpose of nine switching inverter of voltage-type is eAX, eBX, eCX(x=1,2) it puts
Voltage follow given voltage is constant.
As shown in Fig. 2, nine switching inverter control method of voltage-type the following steps are included:
Step 1: obtaining the pass between nine switching inverter output voltage of voltage-type and switch function using switch function
It is matrix；According to the topological structure of nine switching inverter of voltage-type, obtain in abc three phase static symmetric coordinates system, voltage-type
Nine switching inverter ac-side current voltage equation matrixes.As shown in Figure 1, nine switching inverter of voltage-type includes nine switches,
The state of each switch is defined such as formula (1):
X=A in formula (1), B, C indicate the three-phase bridge arm of nine switching inverter of voltage-type；I=H, M, L indicate single-phase bridge arm
Upper, middle and lower three switch.
By the switch constraint condition of nine switching inverter of voltage-typeKnow that the switch state f of every phase bridge arm can
It is expressed as formula (2):
A in formula (2), B, C indicate the three-phase bridge arm of nine switching inverter of voltage-type；H, M, L indicate single-phase bridge arm it is upper in
Lower three switching tubes, k=1,2,3 indicate that every phase bridge arm has three state.
By formula (1) and (2) available point A1,B1,C1To opening for voltage and the every phase bridge arm between DC power cathode O
Relationship between off status are as follows:
In formula (3), uX1(X=A, B, C) indicates point X1 (X=A, B, C) to the voltage between DC power cathode O, Udc
Indicate DC voltage,
Similarly, available point A2,B2,C2To the switch state of voltage and every phase bridge arm between DC power cathode O
Between relationship are as follows:
In formula (4), uX2(X=A, B, C) indicates point X2 (X=A, B, C) to the voltage between DC power cathode O, Udc
Indicate DC voltage.
Define switch function F:
A in formula (5), B, C indicate the three-phase bridge arm of nine switching inverter of voltage-type；X1It is exchanged in (X=A, B, C) expression
Side, X2(X=A, B, C) indicates lower and exchanges side, and k=1,2,3 indicate that every phase bridge arm has three state, and sgn () indicates sign function.
Composite type (3) (4) (5) obtains the relational expression between nine switching inverter output voltage of voltage-type and switch function
Matrix form:
In abc three phase static symmetric coordinates system, ac-side current voltage equation matrix are as follows:
In formula (7) and (8), Cj、LsjAnd Rsj(j=1,2) for nine switching inverter of voltage-type exchange above and below side capacitor,
The series equivalent resistance of inductance and inductance；eAj、eBj、eCj(j=1,2) output is exchanged above and below for nine switching inverter of voltage-type
Hold the instantaneous voltage between DC power cathode O；ioAj、ioBj、ioCj(j=1,2) on nine switching inverter of voltage-type,
Lower exchange lateral load current instantaneous value；iAj、iBj、iCj(j=1,2) side filtering is exchanged above and below for nine switching inverter of voltage-type
Inductive current instantaneous value；uAj、uBj、uCjIt (j=1,2) is point A1,B1,C1,A2,B2,C2Electricity between DC power cathode O
Pressure.
Step 2: carrying out Park transformation to nine switching inverter ac-side current voltage equation matrix of voltage-type, obtain
State equation matrix under dqo rotating coordinate system；It is under dqo rotating coordinate system, nine switching inverter of voltage-type exchanges side electricity
Stream voltage equation matrix is expressed as:
According to the form of state equation matrix, state variable X is takens=[ed1,eq1,ed2,eq2,id1,iq1,iq2,iq2]T, defeated
Enter amount us=[ud1,uq1,ud2,uq2]T, disturbance quantity uIs=[iod1,ioq1,iod2,ioq2]T, by formula (9) and formula (10) be organized into as
Lower form:
In formula (11),
Definition output quantity is ys=[ed1,eq1,ed2,eq2]T, obtain
ys=CsXs (12)
In formula (12), Cs=[E4 04]4×8
Formula (11) and formula (12) are state equation matrix of nine switching inverter of voltage-type under dqo rotating coordinate system.
Step 3: the state equation matrix of nine switching inverter of voltage-type is carried out discretization: to formula (11) and formula (12)
Discretization obtains
Xs(k+1)=AsdXs(k)+Bsdus(k)+BIsduIs(k) (13)
ys(k)=CsXs(k) (14)
In formula (13),TsFor the sampling period；
Step 4: establishing the prediction model of nine switching inverter of voltage-type: defining operation △, corresponding operation rule is
△ f (k)=f (k)-f (k-1) carries out △ operation to formula (13) and obtains:
△Xs(k+1)=Asd△Xs(k)+Bsd△us(k)+BIsd△uIs(k) (15)
It enablesConvolution (14) and formula (15) obtain
Zs(k+1)=GsZs(k)+Hs△us(k)+HIs△uIs(k) (16)
ys(k)=CzsXs(k) (17)
In formula (16),04For 4 dimensions zero
Battle array；08×4For 8 × 4 zero gust of dimensions；C in formula (17)zs=(Cs E4)4×12；E4For 4 rank unit matrix.
By formula (16), (17) it can be concluded that nine switching inverter prediction model preliminary form of voltage-type:
In formula (18), p=1,2......P-1, P；P is prediction time domain；K+p | the k expression k moment is pre- to the k+p moment
It surveys；M is to control time domain, P > M, and right△us(k+p-1)=04×1；△uIs(k+p-1)=04×1；04×1It is 4 × 1
Zero gust of dimension；
In the present invention, P=5, M=2 are taken, then formula (18) can be expressed as
YPs(k)=ΦsZs(k)+Ψs△UMs(k)+ΨIs△UIMs(k) (19)
In formula (19),
In view of controlling time domain (M=2), in so short control time domain, it is believed that load current does not change, i.e.,
System disturbance inputs in formula (19):
And in k moment △ uIs(k) it can measure, thus the △ U in formula (19)IMsIt (k) is known quantity.
Thus nine switching inverter controlling increment △ U of voltage-type is constructedMs(k) with output quantity YPs(k) relationship between
Model, i.e. formula (19) are constructed nine switching inverter prediction model of voltage-type.
Step 5: according to the difference of nine switching inverter output voltage of voltage-type and given voltage, system controlling increment width
It is worth the limitation of size, establishes the optimality criterion of control method:
In formula (21), w is error weight coefficient；R is control weight coefficient；
1st ∑ item is to predict in time domain, the difference of nine switching inverter reference voltage of voltage-type and output voltage
Square weighting and, whereinFor the k+p moment output voltage component on d axis, q axis respectively；2nd
∑ item be control time domain in, the square weighting of controlling increment and, it is therefore an objective to avoid controlling increment variation it is too fast；
System output voltage gives phasor in definition prediction time domain:
In formula (22),P=1,2,3,4,5,
Define operationThe equation for so solving the minimum of index J (k) can indicate are as follows:
In formula (23), QP=wE20；E20For 20 rank unit matrix；R=rE8；E8For 8 rank unit matrix；
Formula (19) are substituted into formula (23), are solved
It enablesThen current control increment is represented by
△us=d1V*(k)-d2Zs(k)-d3△UIMs(k) (25)
In formula (25), d1=d；d2=d Φs；d3=d ΨIs
By formula (19) and formula (25) it is found that Cj、LsjAnd Rsj(j=1,2) is the intrinsic parameter of system, is given value；Prediction
Control method parameter (w, r, P, M) can be obtained by characteristic equation method, sampling period TsIt is given by man, and then can calculates
Constant matrix d1~d3；And V*It (k) is known quantity, quantity of state ZsIt (k) can voltage-type according to formula (11) and formula (16) by measuring
Nine switching inverter output voltages and three-phase filter inductance electric current obtain；Disturbance input Δ UIMs(k) it can be used as according to formula (20)
Thus known quantity obtains the controlling increment Δ u under dqo rotating coordinate systems。
Step 6: the controlling increment Δ u according to nine switching inverter of voltage-type under dqo rotating coordinate systems, pass through
Park inverse transformation obtains the controlling increment Δ u under abc three phase static symmetric coordinates systems, and then obtain for controlling voltage-type
The control signal of each switch on and off of nine switching inverters.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, thus the present invention
It is all by those skilled in the art's technology according to the present invention including being not limited to embodiment described in specific embodiment
The other embodiments that scheme obtains, also belong to the scope of protection of the invention.
Claims (8)
1. a kind of nine switching inverter control method of voltage-type is opened it is characterized in that: nine switching inverter of voltage-type includes nine
Pass, in which: upper inverter includes six switches, lower inverter is switched including six, upper and lower inverter shares intermediate three switches,
Control method the following steps are included:
Step 1: obtaining the relationship square between nine switching inverter output voltage of voltage-type and switch function using switch function
Battle array；According to the topological structure of nine switching inverter of voltage-type, obtain in abc three phase static symmetric coordinates system, voltage-type nine is opened
Close inverter ac side current-voltage equation matrix；
Step 2: carrying out Park transformation to nine switching inverter ac-side current voltage equation matrix of voltage-type, obtains and revolved in dqo
Turn the state equation matrix under coordinate system；
Step 3: the state equation matrix of nine switching inverter of voltage-type is carried out discretization；
Step 4: establishing the prediction model of nine switching inverter of voltage-type；
Step 5: big according to difference, the system controlling increment amplitude of nine switching inverter output voltage of voltage-type and given voltage
The optimality criterion of control method is established in small limitation, obtains nine switching inverter of voltage-type under dqo rotating coordinate system
Controlling increment Δ us；
Step 6: the controlling increment Δ u according to nine switching inverter of voltage-type under dqo rotating coordinate systems, pass through Park contravariant
Get the controlling increment Δ u under abc three phase static symmetric coordinates system in returns, and then obtain for control voltage-type nine switch it is inverse
Become the control signal of each switch on and off of device.
2. nine switching inverter control method of voltage-type according to claim 1 is opened it is characterized in that: using described in step 1
Function is closed, the relational matrix between nine switching inverter output voltage of voltage-type and switch function is obtained, is to open voltage-type nine
The state for closing each switch of inverter nine switches is defined such as formula (1):
X=A in formula (1), B, C indicate the three-phase bridge arm of nine switching inverter of voltage-type；I=H, M, L indicate the upper of single-phase bridge arm
In it is lower three switch,
By the switch constraint condition s of nine switching inverter of voltage-typeXM=sXH⊕sXLKnow that the switch state f of every phase bridge arm can table
It is shown as formula (2):
A in formula (2), B, C indicate the three-phase bridge arm of nine switching inverter of voltage-type；H, M, L indicate the upper, middle and lower three of single-phase bridge arm
A switching tube, k=1,2,3 indicate that every phase bridge arm has three state,
By formula (1) and (2) available point A1,B1,C1To the switch shape of voltage and every phase bridge arm between DC power cathode O
Relationship between state are as follows:
In formula (3), uX1(X=A, B, C) indicates point X1 (X=A, B, C) to the voltage between DC power cathode O, UdcIndicate straight
Side voltage is flowed,
Similarly, available point A2,B2,C2To between the voltage and the switch state of every phase bridge arm between DC power cathode O
Relationship are as follows:
In formula (4), uX2(X=A, B, C) indicates point X2 (X=A, B, C) to the voltage between DC power cathode O, UdcIndicate straight
Side voltage is flowed,
Define switch function F:
A in formula (5), B, C indicate the three-phase bridge arm of nine switching inverter of voltage-type；X1Side, X are exchanged in (X=A, B, C) expression2(X
=A, B, C) indicate lower exchange side, k=1,2,3 indicate that every phase bridge arms have three state, and sgn () indicates sign function,
Composite type (3) (4) (5) obtains the matrix of the relational expression between nine switching inverter output voltage of voltage-type and switch function
Form:
3. nine switching inverter control method of voltage-type according to claim 1, it is characterized in that: voltage-type described in step 1
Nine switching inverter ac-side current voltage equation matrixes are the ac-side current voltage in abc three phase static symmetric coordinates system
Equation matrix are as follows:
In formula (7) and (8), Cj、LsjAnd Rsj(j=1,2) capacitor of side, inductance are exchanged above and below for nine switching inverter of voltage-type
And the series equivalent resistance of inductance；eAj、eBj、eCjIt (j=1,2) is the upper and lower ac output end of nine switching inverter of voltage-type to directly
Flow the instantaneous voltage between power cathode O；ioAj、ioBj、ioCj(j=1,2) it is exchanged above and below for nine switching inverter of voltage-type
Lateral load current instantaneous value；iAj、iBj、iCj(j=1,2) side filter inductance electric current is exchanged above and below for nine switching inverter of voltage-type
Instantaneous value；uAj、uBj、uCjIt (j=1,2) is point A1,B1,C1,A2,B2,C2Voltage between DC power cathode O.
4. nine switching inverter control method of voltage-type according to claim 1, it is characterized in that: voltage-type described in step 2
Nine switching inverters are under dqo rotating coordinate system in the state equation matrix under dqo rotating coordinate system, and voltage-type nine switchs inverse
Become device ac-side current voltage equation matrix to be expressed as:
According to the form of state equation matrix, state variable X is takens=[ed1,eq1,ed2,eq2,id1,iq1,iq2,iq2]T, input quantity us
=[ud1,uq1,ud2,uq2]T, disturbance quantity uIs=[iod1,ioq1,iod2,ioq2]T, following form is organized by formula (9) and formula (10):
In formula (11),
Definition output quantity is ys=[ed1,eq1,ed2,eq2]T, obtain
ys=CsXs (12)
In formula (12), Cs=[E4 04]4×8
Formula (11) and formula (12) are state equation matrix of nine switching inverter of voltage-type under dqo rotating coordinate system.
5. nine switching inverter control method of voltage-type according to claim 1, it is characterized in that: to voltage described in step 3
State equation matrix of nine switching inverter of type under dqo rotating coordinate system carries out discretization, be to formula (11) and formula (12) from
Dispersion obtains
Xs(k+1)=AsdXs(k)+Bsdus(k)+BIsduIs(k) (13)
ys(k)=CsXs(k) (14)
In formula (13),TsFor the sampling period.
6. nine switching inverter control method of voltage-type according to claim 1, it is characterized in that: establishing electricity described in step 4
Nine switching inverter prediction model of die mould defines operation △, and corresponding operation rule is △ f (k)=f (k)-f (k-1), to formula
(13) △ operation is carried out to obtain:
△Xs(k+1)=Asd△Xs(k)+Bsd△us(k)+BIsd△uIs(k) (15)
It enablesConvolution (14) and formula (15) obtain
Zs(k+1)=GsZs(k)+Hs△us(k)+HIs△uIs(k) (16)
ys(k)=CzsXs(k) (17)
In formula (16),04For 4 zero gust of dimensions；08×4
For 8 × 4 zero gust of dimensions；C in formula (17)zs=(Cs E4)4×12；E4For 4 rank unit matrix；
By formula (16), (17) it can be concluded that nine switching inverter prediction model preliminary form of voltage-type:
In formula (18), p=1,2......P-1, P；P is prediction time domain；K+p | k indicates prediction of the k moment to the k+p moment；M is
Control time domain, P > M, and it is right△us(k+p-1)=04×1；△uIs(k+p-1)=04×1；04×1For 4 × 1 dimensions zero
Battle array；
In the present invention, P=5, M=2 are taken, then formula (18) can be expressed as
YPs(k)=ΦsZs(k)+Ψs△UMs(k)+ΨIs△UIMs(k) (19)
In formula (19),
In view of controlling time domain (M=2), in so short control time domain, it is believed that load current does not change, i.e. formula (19)
Middle system disturbance input:
And in k moment △ uIs(k) it can measure, thus the △ U in formula (19)IMs(k) it is known quantity, thus constructs voltage-type nine
Switching inverter controlling increment △ UMs(k) with output quantity YPs(k) relational model between, i.e. formula (19) are constructed voltage
Nine switching inverter prediction model of type.
7. nine switching inverter control method of voltage-type according to claim 1, it is characterized in that: establishing control described in step 5
The optimality criterion of method processed obtains controlling increment Δ u of nine switching inverter of voltage-type under dqo rotating coordinate systems.It is
According to the limitation of the difference of nine switching inverter output voltage of voltage-type and given voltage, system controlling increment amplitude size, build
The optimality criterion of vertical control method:
In formula (21), w is error weight coefficient；R is control weight coefficient,
1st ∑ item is square of the difference of nine switching inverter reference voltage of voltage-type and output voltage in prediction time domain
Weighted sum, whereinFor the k+p moment output voltage component on d axis, q axis respectively；2nd ∑ item be
Control time domain in, the square weighting of controlling increment and, it is therefore an objective to avoid controlling increment variation it is too fast；
System output voltage gives phasor in definition prediction time domain:
In formula (22),
Define operationThe equation for so solving the minimum of index J (k) can indicate are as follows:
In formula (23), QP=wE20；E20For 20 rank unit matrix；R=rE8；E8For 8 rank unit matrix,
Formula (19) are substituted into formula (23), are solved
It enablesThen current control increment is represented by
△us=d1V*(k)-d2Zs(k)-d3△UIMs(k) (25)
In formula (25), d1=d；d2=d Φs；d3=d ΨIs
By formula (19) and formula (25) it is found that Cj、LsjAnd Rsj(j=1,2) is the intrinsic parameter of system, is given value；PREDICTIVE CONTROL
Method parameter (w, r, P, M) can be obtained by characteristic equation method, sampling period TsIt is given by man, and then constant matrix can be calculated
d1~d3；And V*It (k) is known quantity, quantity of state Zs(k) it can be switched according to formula (11) and formula (16) by the voltage-type nine measured inverse
Become device output voltage and three-phase filter inductance electric current obtains；Disturbance input Δ UIMs(k) known quantity can be used as according to formula (20), by
This obtains the controlling increment Δ u under dqo rotating coordinate systems。
8. nine switching inverter control method of voltage-type according to claim 1, it is characterized in that: being used described in step 6
In the control signal of the control each switch on and off of nine switching inverter of voltage-type.It is according in abc three phase static symmetric coordinates system
Under controlling increment Δ us, obtained by formula (1)~formula (6) for controlling each switch on and off of nine switching inverter of voltage-type
Control signal.
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| CN107769595A (en) * | 2017-11-21 | 2018-03-06 | 中国矿业大学 | A kind of three-level PWM rectifier model predictive control method |
| CN108233783A (en) * | 2018-01-19 | 2018-06-29 | 长安大学 | A kind of bi-motor three-leg inverter and its control method |
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