CN109546661B - Efficient T-type three-level APF modulation method based on hybrid modulation - Google Patents
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Abstract
The invention relates to an efficient T-shaped three-level APF modulation method based on hybrid modulation, and belongs to the technical field of power grid electric energy. Determining the harmonic content i of the current on the network sidec *Obtaining a command signal i by PI control*(ii) a Determining the difference between the upper and lower capacitance voltages△udc(ii) a DPWM and SVPWM mixed modulation is adopted to control U with the voltage difference of upper and lower capacitors on the DC side within +/-0.01 timesdcWithin; DPWM adopts DPWMmaxAnd DPWMminCombined control of maximum current phase IGBT clamping to + U when positive voltaged/2, clamping to-U during positive and negative voltaged2; the loop width of DPWM and SVPWM hysteresis control is Uth(ii) a When |△udc||<UthWhen the current leakage is zero, the voltage difference of the upper and lower capacitors is determined to be in the ring, DPWM is adopted for modulation, and the current leakage is zero△udc||>UthAnd when the voltage difference of the upper capacitor and the lower capacitor is determined to be outside the ring, SVPWM modulation is adopted. The efficient T-type three-level APF modulation method based on hybrid modulation can ensure the midpoint potential balance of the direct current side of the T-type three-level APF, has high output compensation waveform quality and small harmonic distortion rate of the current of the compensated network side. Aiming at the problem of IGBT switching loss, DPWM is adopted on the premise of ensuring neutral point potential balancemaxAnd DPWMminThe combined DPWM strategy reduces the IGBT switching loss and improves the APF working efficiency.
Description
Technical Field
The invention relates to an efficient T-shaped three-level APF modulation method based on hybrid modulation, and belongs to the technical field of power grid electric energy.
Background
The use of power electronic devices in daily life is increasing day by day, which causes the power quality of a power grid to be greatly reduced; how to improve the power quality has great significance for the safety and the economy of the operation of a power grid, the guarantee of the industrial production quality and the implementation of national important experiments, the reduction of energy loss and the like; the APF can dynamically compensate the power grid harmonic wave, and is the optimal mode for harnessing the harmonic wave at present, wherein the three-level T-shaped APF is widely applied due to some inherent advantages of the topological structure. For the APF, the superior modulation strategy is one of the keys for the APF to exert the optimal performance, so that the APF has good flexibility and dynamic response. In practical application, the T-type three-level APF has certain requirements for the midpoint potential and the IGBT switching loss (APF operating efficiency), and therefore, a perfect modulation strategy should have the advantages of ensuring the midpoint potential balance and ensuring the APF operating efficiency while satisfying the flexibility and the dynamic responsiveness.
In theory, pulse width modulation for the APF can be realized by adopting the traditional SVPWM, but the point potential balance effect in the modulation strategy is not ideal, and the APF efficiency is reduced due to overhigh switching frequency, so that the method for efficiently modulating the T-type three-level APF based on the hybrid modulation has important significance.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an efficient T-type three-level APF modulation method based on hybrid modulation, which switches different modulation strategies by judging the height of the midpoint potential so as to achieve the purposes of point potential balance, good compensation effect and high working efficiency of the T-type three-level APF.
The invention is realized by the following technical scheme: a high-efficiency T-type three-level APF modulation method based on hybrid modulation is characterized in that the method comprises the following steps:
determining the harmonic content i of the network side current according to the ideal network side current and the actual network side currentc *Obtaining a command signal i by PI control*；
Determining the voltage difference delta u of the upper and lower capacitors by combining a T-shaped three-level APF direct-current side mathematical modeldc＝uc1-uc2；
The T-type three-level APF adopts a DPWM and SVPWM mixed modulation mode to control the voltage difference of the upper and lower capacitors at the DC side to be +/-0.01 times of UdcWithin;
DPWM adopts DPWMmaxAnd DPWMminThe combined strategy controls the maximum current phase IGBT to clamp to + U when being at positive voltaged/2, clamping to-U at negative and positive voltagesd/2；
DPWM and SVPWM adopt hysteresis control method with loop width of Uth；
When | | | Δ udc||<UthWhen the voltage difference between the upper capacitor and the lower capacitor is determined to be in the ring, DPWM is adopted for modulation, the action time of the positive and negative small vectors is changed according to the positive and negative of the voltage of the maximum phase of the IGBT current, and the IGBT large-current clamping is ensured;
when | | | Δ udc||>And during Uth, determining that the voltage difference between the upper capacitor and the lower capacitor is outside the loop, adopting SVPWM (space vector pulse width modulation), and adjusting the midpoint potential by using SVPWM according to the height of the midpoint potential.
Furthermore, a T-shaped three-level APF direct current side mathematical model is a complex model of mutual correlation of a controller, a modulation strategy, circuit parameters and the like, the modulation strategy has certain influence on the midpoint potential of the direct current side, and the voltage difference of the upper capacitor and the lower capacitor of the direct current side is as follows:
ΔUdc＝U0+k1u+T++k2u-T-+k3uxTx
in the formula: u0 is the initial upper and lower capacitance voltage difference, which is generally zero; u +, u-and ux are respectively a positive vector negative vector and a medium vector; k1, K2 and K3 are respectively u +, u-and ux weight values for the action of the neutral potential; t +, T-and Tx are the vector action times, respectively. Wherein the middle vector has no redundant vector, so the middle point potential is adjusted by adjusting the action time of the positive and negative small vectors.
Further, the DPWM adopts DPWMmaxAnd DPWMminThe combined strategy is that the phase of the maximum absolute value of the current is detected through a detection network, the ideal voltage of the phase is positive and negative, the positive and negative clamping of the trigger level is determined, and the three-phase ideal voltage of the inverter circuit is as follows:
if the voltage corresponding to the maximum current is positive, K is 1, namely DPWM is adoptedmaxModulating to clamp the cross-current side output voltage to + UdAnd/2, if the voltage corresponding to the maximum current is negative, K is equal to-1, namely DPWM is adoptedminModulating, clamping the output voltage to-Ud/2。
The invention has the beneficial effects that: the efficient T-type three-level APF modulation method based on hybrid modulation can ensure the midpoint potential balance of the direct current side of the T-type three-level APF, the output compensation waveform quality is high, and the harmonic distortion rate of the current on the compensated network side is small. Aiming at the problem of IGBT switching loss, DPWM is adopted on the premise of ensuring neutral point potential balancemaxAnd DPWMminThe combined DPWM strategy reduces the IGBT switching loss and improves the APF working efficiency.
Drawings
The invention is further illustrated below with reference to the figures and examples.
FIG. 1 is a schematic diagram of a T-type three-level device for harmonic suppression of the present invention;
FIG. 2 is a system control schematic diagram of an embodiment of the present invention;
fig. 3 is a space vector distribution diagram according to an embodiment of the present invention, fig. 3(a) is a space vector distribution diagram of each sector and a three-phase switch state, and fig. 3(b) is a small sector division diagram introduced by taking a large sector i as an example;
FIG. 4 is a diagram of the DPWM operation of the present invention, and FIG. 4(a) is a diagram of the DPWM operationmaxIn the modulation, for the positive and negative small vector action time adjustment diagram, FIG. 4(b) is the DPWMminDuring modulation, a positive small vector action time adjustment chart and a negative small vector action time adjustment chart are used;
fig. 5 is a schematic diagram of a hysteresis comparator for determining a pulse width modulation operating mode according to an embodiment of the present invention, where the voltage difference between an upper capacitor and a lower capacitor Δ udc, a threshold Uth, and a T-type three-level are shown;
fig. 6 is an experimental waveform comparing a hybrid-modulated efficient T-type three-level APF modulation method with a conventional modulation method according to an embodiment of the present invention, fig. 6(a) is a grid-side current waveform and a trigger pulse waveform when SVPWM is used, fig. 6(b) is a midpoint potential waveform when SVPWM is used, and fig. 6(c) is a grid-side current spectrum analysis after SVPWM modulation strategy compensation; fig. 6(d) shows a network-side current waveform and a trigger pulse waveform when hybrid modulation is adopted, fig. 6(e) shows a midpoint potential waveform when hybrid modulation is adopted, and fig. 6(f) shows a network-side current spectrum analysis after hybrid modulation strategy compensation is adopted.
Detailed Description
As shown in fig. 1, a T-type three-level APF is connected to a three-phase three-wire system power distribution network and used for compensating harmonics generated by a harmonic source, a T-type three-level APF inverter circuit is composed of 12 IGBTs and a dc side capacitor, and the harmonic source is an uncontrolled rectification bridging load and used for generating experimental harmonic current.
As shown in fig. 2, a high-efficiency T-type three-level APF modulation method based on hybrid modulation determines a harmonic content i of a network-side current according to an ideal network-side current and an actual network-side currentc *Obtaining a command signal i by PI control*；
Determining the voltage difference delta u of the upper and lower capacitors by combining a T-shaped three-level APF direct-current side mathematical modeldc＝uc1-uc2；
The T-type three-level APF adopts a DPWM and SVPWM mixed modulation mode, and in order to ensure that the midpoint potential at the DC side of the APF keeps balance, reduce harmonic interference of the output current of an inverter circuit and control the voltage difference of upper and lower capacitors at the DC side to be +/-0.01 times of UdcWithin.
DPWM (digital pulse Width modulation)maxAnd DPWMminThe combined strategy is to ensure that the IGBT is kept clamped when in heavy current, reduce the IGBT switching loss, improve the APF efficiency and control the IGBT of the maximum phase of current to be clamped to + U when in positive voltaged/2, clamping to-U at negative and positive voltagesd/2；
DPWM and SVPWM adopt hysteresis control method with loop width of Uth；
When | | | Δ udc||<UthDuring the process, the voltage difference between the upper and lower capacitors is determined to be in the ring, in order to reduce the switching loss of the IGBT and improve the APF working efficiency, DPWM is adopted for modulation, and the positive and negative small vectors are changed according to the positive and negative of the voltage of the maximum phase of the IGBT currentThe action time ensures the heavy current clamping of the IGBT;
when | | | Δ udc||>UthAnd in order to ensure that the midpoint potential keeps balance, SVPWM modulation is adopted, and the midpoint potential is adjusted by using SVPWM according to the height of the midpoint potential.
As shown in fig. 3, in the three-level SVPWM space vector distribution diagram, the last digit of the voltage vector in fig. 3(a) represents the switching state of each IGBT, 1 represents 1001 in the states of S1-S4, 0 represents 0011 in the states of S1-S4, and-1 represents 0110 in the states of S1-S4. At this time, the S1 is complementary to the S3 drive signal, the S2 is complementary to the S4 drive signal, and the S1 and the S2 are not turned on simultaneously.
Fig. 3(b) illustrates the division of small sectors in each sector by taking sector i as an example. Dividing the large sector into six small sectors, calculating the action time of three adjacent vectors of each small sector, and synthesizing the reference voltage vector by using the three adjacent vectors.
The vector synthesis is described by taking the small sector 1 in the sector i as an example, and the action time of each vector in the small sector 1 is as follows:
in the formula: ts is a modulation cycle time, and the invention takes 0.0001 second.
The 19 voltage space vectors (27 switching states) of the conventional SVPWM can be divided into a zero vector V0, a small vector (V1-V6), a medium vector (V7-V12) and a large vector (V13-V18) according to the magnitude.
The large vector and the zero vector do not influence the center potential, and the medium vector has no redundant vector and cannot be controlled. Therefore, the purpose of controlling the neutral point potential balance can be achieved by controlling the action time of the small vector.
Assuming that Tx is Ta, Ty is Tb, and Tz is Tc, the reference voltage vector is synthesized as follows:
VrefTs＝V+Ta/2+V﹣Ta/2+Vx1Tb+Vx2Tb
wherein: v+Is a positive small vector V in the small vectors﹣Is a negative small vector in the small vectors; vx1And Vx2The remaining neighbor vectors for the small sector.
Improve traditional SVPWM, define constant K, the value of K is as follows:
in the formula,. DELTA.udcThe difference between the upper and lower capacitance voltages; u shapethTo set the threshold, 0.01 times U is taken heredc。
The action time of the positive and negative small vectors is adjusted as follows:
when K is 1, the voltage difference delta U of the upper and lower capacitors is proveddcWhen the voltage is larger than the maximum value, the Udc1 is too much larger than the Udc2, namely the midpoint potential is lower, the midpoint potential can be adjusted to be increased by increasing the action time of the positive and small vectors, and otherwise, the same principle is applied when K is-1.
FIG. 4 is a DPWM diagram. FIG. 4(a) shows DPWMmaxSchematic strategy diagram, FIG. 4(b) is DPWMminSchematic diagram of the strategy.
DPWMmaxAnd DPWMminThe DPWM is 120 degrees, and the two methods cannot be used under normal conditions, because the action of a positive small vector or a negative small vector is independently adopted, the midpoint potential is infinitely large or infinitely small, and the compensation effect is influenced.
By using DPWMmaxAnd DPWMminThe combined modulation strategy determines the positive and negative clamping of the trigger level by detecting the phase where the maximum absolute value of the current is measured by the network and judging the ideal voltage of the phase to achieve the purposes of reducing loss and improving efficiency.
As can be seen from fig. 1, the three-phase ideal voltage of the inverter circuit is as follows:
if the voltage corresponding to the maximum current is positive, K is 1, namely DPWM is adoptedmaxAnd modulating, clamping the output voltage at the cross current side to be + Ud/2, and vice versa.
Because the system current and the system voltage have symmetry, the clamping time of positive and negative levels in each period is the same, and the neutral point potential cannot be infinitely larger or smaller.
The discontinuous pulse width modulation strategy does not cause infinite deviation of the midpoint potential, but cannot actively adjust the action time of positive and negative small vectors according to the midpoint voltage.
Fig. 5 shows the working principle of the hysteresis comparator for implementing SVPWM and DPWM hybrid modulation, in which SVPWM and the proposed DPWM method are applied to the APF modulation strategy together in a hysteresis comparison manner.
And Vth is a switching condition value of the SVPWM and the DPWM, and when the voltage difference exceeds the switching condition value, the system is switched to the SVPWM to perform self-regulation. When the voltage difference is smaller than the value, the DPWM is adopted by the system, the switching loss is greatly reduced, and the APF working efficiency is improved.
The DPWM used in the method is improved from SVPWM, and the space vector sequence of the DPWM is not different from the SVPWM except the independent action of positive and negative small vectors, so that the problem of switch damage caused by discontinuous action of a switch when the SVPWM and the DPWM are switched does not need to be considered.
The above calculation and judgment are both realized by the DSP.
Fig. 6 is an experimental waveform of a T-type three-level APF, a circuit shown in fig. 1 is built in a laboratory, a DSP control board chip adopts TMS320F28335, an IGBT adopts a BSM50GB120DLC model produced by the infinitesimal company, a harmonic source is an uncontrolled rectifying bridge 10 Ω load, an ac side filter inductor is 3mH, C1C2 are all 1.8mF, a dc side voltage Udc is 700V, an agilent oscilloscope is used to observe the experimental waveform of the APF, fig. 6(a) is a network side current waveform and a trigger pulse waveform when pwm is adopted, fig. 6(b) is a network side current waveform and a trigger pulse waveform when hybrid modulation is adopted, comparing a known hybrid modulation strategy, the number of switching actions in each modulation period can be reduced, and the IGBT is kept clamped when a large current flows, which greatly reduces the working loss of the APF and improves the working efficiency. FIG. 6(c) is a diagram showing a midpoint potential waveform using SVPWM; fig. 6(d) shows the midpoint potential waveform when the hybrid modulation is adopted, and it can be known by comparison that both SVPWM and hybrid modulation can achieve the control of the midpoint potential, and have a good control effect. FIG. 6(e) is a net side current spectrum analysis after compensation by SVPWM modulation strategy; fig. 6(f) shows that the grid-side current spectrum analysis after compensation by using the hybrid modulation strategy shows that compared with the grid-side compensated current THD of SVPWM and hybrid modulation, both meet the national requirements and have a good compensation effect. Table 1 shows the APF operating efficiency detected by the power quality analyzer, and it can be seen that the T-type three-level APF operating efficiency can be improved by about 0.6% by the hybrid modulation.
TABLE 1
Claims (1)
1. A high-efficiency T-type three-level APF modulation method based on hybrid modulation is characterized in that:
determining the harmonic content i of the network side current according to the ideal network side current and the actual network side currentc *Obtaining a command signal i by PI control*；
Determining the voltage difference delta u of the upper and lower capacitors by combining a T-shaped three-level APF direct-current side mathematical modeldc＝uc1-uc2；
The T-type three-level APF adopts a DPWM and SVPWM mixed modulation mode to control the voltage difference of the upper and lower capacitors at the DC side to be +/-0.01 times of UdcWithin;
DPWM adopts DPWMmaxAnd DPWMminThe combined strategy is that the phase of the maximum absolute value of the current is on the network side is detected, the ideal voltage of the phase is judged to be positive and negative, the positive and negative clamping of the trigger level is determined, and the three-phase ideal voltage of the inverter circuit is as follows:
if the voltage corresponding to the maximum current is positive, K is 1, namely DPWM is adoptedmaxModulating, clamping the cross-current side output voltage to + UdAnd/2, if the voltage corresponding to the maximum current is negative, K is equal to-1, namely DPWM is adoptedminModulating, clamping the output voltage to-Ud/2；
DPWM and SVPWM adopt hysteresis control method with loop width of Uth；
When | | | Δ udc||<UthWhen the voltage difference between the upper capacitor and the lower capacitor is determined to be in the ring, DPWM is adopted for modulation, the action time of the positive and negative small vectors is changed according to the positive and negative of the voltage of the maximum phase of the IGBT current, and the IGBT large-current clamping is ensured;
when | | | Δ udc||>UthAnd when the voltage difference between the upper capacitor and the lower capacitor is determined to be outside the loop, SVPWM modulation is adopted, and the midpoint potential is adjusted by using SVPWM according to the height of the midpoint potential.
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