CN109672356A - The Active Fault-tolerant Control Method of ANPC three-level inverter single switch tube open circuit failure - Google Patents
The Active Fault-tolerant Control Method of ANPC three-level inverter single switch tube open circuit failure Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—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
- H02M7/483—Converters with outputs that each can have more than two voltages levels
- H02M7/487—Neutral point clamped inverters
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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
- H02M1/00—Details of apparatus for conversion
- H02M1/32—Means for protecting converters other than automatic disconnection
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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
- H02M1/00—Details of apparatus for conversion
- H02M1/32—Means for protecting converters other than automatic disconnection
- H02M1/325—Means for protecting converters other than automatic disconnection with means for allowing continuous operation despite a fault, i.e. fault tolerant converters
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Abstract
The present invention relates to a kind of Active Fault-tolerant Control Methods of ANPC three-level inverter single switch tube open circuit failure, the following steps are included: 1) establish ANPC three-level inverter state-space model: 2) according to ANPC three-level inverter topology structure, obtaining power switch tube and the three-phase fault characteristic signal f after open-circuit fault occurs；3) the three-phase fault characteristic signal f after open-circuit fault occurs according to power switch tube designs sliding mode controller；4) SVPWM fault-tolerant control module is designed, and carries out the active tolerant control of ANPC three-level inverter single switch tube open circuit failure.Compared with prior art, the present invention have many advantages, such as to improve dynamic steady-state performance and robustness, faults-tolerant control quickly, accurate, Yi Shixian, using convenient, versatile.
Description
Technical field
The present invention relates to power electronics fields, more particularly, to a kind of ANPC three-level inverter single switch tube open circuit
The Active Fault-tolerant Control Method of failure.
Background technique
With the fast development of the fields such as China's generation of electricity by new energy, high-speed electric railway power electronic technique, more level
Inverter is widely applied, and wherein ANPC three-level inverter is because its performance is stable, cleverer to the balance control of loss
The advantages that living, has been increasingly becoming the mainstream of multi-electrical level inverter.However compared with two-level inverter, topological structure and control
Mode is all increasingly complex, and the probability that internal components break down greatly increases；Especially to the function that open-circuit fault wherein most easily occurs
For rate switching tube, if cannot handle in time after breaking down, system overall output performance will affect, even result in system paralysis
Paralysis may cause personal injury when serious.Therefore the fault-toleranr technique of research ANPC three-level inverter has important reality meaning
Justice.
Many scholars study the faults-tolerant control of three-level inverter at present: Qiu Shiguang, Li Si laser accunputure are to inversion
The problem of device fault of device more difficult accurate positionin, proposes a kind of three level NPC inverter four bridge legs Fault-Tolerant Topologies；Zhou Peng
Fly, the scholars such as Chen Quan are using T-type three-level inverter as object, the faults-tolerant control strategy after it occurring open-circuit fault has carried out point
Analysis；The characteristics of scholars such as Fu Wenxuan, roc are directed to ANPC three-level converter topological structure proposes under power device open circuit
Faults-tolerant control strategy.Above method is mostly the passive fault tolerant control of structure fixed single or needs the hardware of additional redundance unit superfluous
Remaining control is difficult have preferable control effect to the ANPC tri-level inversion system of topological structure complexity, and the throwing of redundancy device
Enter, further increases the volume and cost of inverter, improve system complexity, reduce reliability.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of tri- level of ANPC is inverse
Become the Active Fault-tolerant Control Method of device single switch tube open circuit failure.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of Active Fault-tolerant Control Method of ANPC three-level inverter single switch tube open circuit failure, this method includes following
Step:
1) ANPC three-level inverter state-space model is established:
2) it according to ANPC three-level inverter topology structure, obtains power switch tube and the three-phase fault after open-circuit fault occurs
Characteristic signal f；
3) the three-phase fault characteristic signal f after open-circuit fault occurs according to power switch tube designs sliding mode controller；
4) SVPWM fault-tolerant control module is designed, and carries out the active of ANPC three-level inverter single switch tube open circuit failure
Faults-tolerant control.
In the step 1), ANPC three-level inverter state-space model are as follows:
X=[ia ib ic]T
U=[uan ubn ucn]T
Y=[ia ib ic]T
A=diag (- R/L ,-R/L ,-R/L)
B=diag (L, L, L)
C=diag (1,1,1)
F=[fa fb fc]T
Wherein, x is system state variables, and y is system output variables, and u is control input quantity, and f is three-phase fault feature letter
Number, fa、fb、fcFor the fault characteristic signals of a, b, c phase, ia、ib、icFor the load current of a, b, c phase, uan、ubn、ucnFor a, b, c
The load voltage of phase, A, B, C are coefficient matrix, and R is threephase load resistance, and L is threephase load inductance.
The step 2) specifically:
Failure front and back each phase bridge arm output voltage difference of ANPC three-level inverter is obtained, and to it in a fundamental frequency cycles
Interior carry out Fourier expansion chooses three-phase fundamental component as three-phase fault characteristic signal after rejecting DC component, and with
Geometrical mean is as amplitude.
The step 3) specifically includes the following steps:
31) choosing sliding formwork control target is sliding-mode surface s, then has:
S=i-iref
I=[ia ib ic]T
iref=[iaref ibref icref]T
Wherein, i is threephase load electric current, irefTo load reference current, iaref、ibref、icrefRespectively a, b, c phase is negative
Carry reference current；
32) then sliding formwork exponentially approaching rule is selectedIn conjunction with system state space model, sliding formwork control is determined
Input quantity u processed are as follows:
U=- ε sgn (s)-qs-f
Wherein, sgn () is sign function, and ε, q are sliding formwork control parameter, and ε > 0, q > 0；
33) liapunov function is definedAccording to the reachability requirements for meeting sliding formwork controlIt obtains
Take sliding-mode surface variation rule are as follows:
Sliding formwork control parameter ε adjustment are as follows:
The step 4) specifically includes the following steps:
41) signal is controlled for the three-phase voltage of sliding formwork fault-tolerant control module output, phase is obtained using SVPWM control method
The space vector of voltage answered and its action time；
42) according to φ in the fault-tolerant decision knowledge base generated offlinesMapping relations between~s are obtained in corresponding failure mould
The space vector of voltage that cannot be normally exported under formula, and it is deleted in space vector of voltage, to keep output voltage
On the basis of electric current is still three-phase symmetrical, reconstructs and form new space vector of voltage, wherein s=0,1,2 ... respectively correspond
Normal mode, fault mode 1, fault mode 2 ..., φsFor the SVPWM voltage vector that cannot be normally exported under corresponding modes
Set；
43) space vector of voltage generated for reconstruct is keeping the impregnable basis of the mutually original output state of failure
On, SVPWM method is reconstructed, original seven section space vector is sent sequence adjustment by adjustment space vector of voltage transmission sequence
Sequence is sent for five-part form vector, and generates pwm control signal.
In the step 43), corresponding space vector action time calculates and the pwm signal method of salary distribution and normal work
Make Shi Xiangtong, is not influenced by failure.
Realize this method control system include:
The fault-tolerant decision package module of multiple faults: to establish offline system normally and various fault modes under it is fault-tolerant certainly
On the basis of plan knowledge base, on-line monitoring system operating status, output phase answers the faults-tolerant control signal under fault mode to sliding formwork
Fault-tolerant control module and SVPWM fault-tolerant control module realize the active tolerant control under multiple faults mode；
Sliding formwork fault-tolerant control module: the fault characteristic signals under mode according to different faults, the inverter after combination failure
State-space model, reconstructs sliding formwork control ratio and each control parameter by adjusting controller, changes output three-phase electricity in real time
Voltage-controlled signal processed arrives SVPWM fault-tolerant control module；
SVPWM fault-tolerant control module: signal, combination failure are controlled according to the three-phase voltage of sliding formwork fault-tolerant control module output
The space vector that part can not normally export afterwards reconstructs space vector of voltage, for the original SVPWM of different faults type and distribution
Control method, adjustment space vector of voltage transmission sequence, generates fault-tolerant pwm control signal, remains to ANPC three-level inverter
It is safely operated in the case where keeping original output performance or performance slightly reduction after open-circuit fault occurs for switching tube, completes system
Active tolerant control.
Compared with prior art, the invention has the following advantages that
One, the present invention is made up of the closed loop feedback ring of inversion system design with the sliding mode controller that sliding formwork switches item
Section, so that input real-time tracking output, increases substantially the dynamic steady-state performance and robustness of system.
Two, when single switch tube open circuit failure occurs for inverter, on-line tuning system control law and control parameter, faults-tolerant control
Quickly, the operational reliability of inversion system accurately, is improved.
Three, power device quantity of the present invention, increased costs are limited, and cost performance is high, Yi Shixian, certain using conveniently, having
Practical application value.
Four, in view of open-circuit fault may all occur for power switch tube each in inversion system, the present invention is to each bridge arm list
Tube open circuit failure has versatility, strong flexibility.
Detailed description of the invention
Fig. 1 is ANPC three-level inverter active tolerant control system construction drawing.
Fig. 2 is ANPC three-level inverter main circuit structure figure.
Fig. 3 is Sa1Current flow paths schematic diagram before and after open-circuit fault.
Fig. 4 is Sa1Voltage control signal space vector distribution map before and after failure.
Fig. 5 is Sa1Defective space vector distribution map.
Fig. 6 is Sa1Open-circuit fault faults-tolerant control threephase load current simulations waveform.
Fig. 7 is Sa1Open-circuit fault faults-tolerant control threephase load voltage simulation waveform.
Fig. 8 is Sa1Open-circuit fault faults-tolerant control three-phase voltage controls signal simulation waveform.
Fig. 9 is Sa1Open-circuit fault faults-tolerant control quadrature axis current output response curve.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
The active for the ANPC three-level inverter single switch tube open circuit failure based on sliding formwork control that the present invention provides a kind of
Fault-tolerant control system, system construction drawing is as shown in Figure 1, the system mainly includes the fault-tolerant decision package module of multiple faults, sliding formwork
Fault-tolerant control module and SVPWM fault-tolerant control module three parts.
The fault-tolerant decision package module of multiple faults establish offline system normally and various fault modes under fault-tolerant decision know
On the basis of knowing library, on-line monitoring system operating status, safeguards system carries out fault-tolerant switching control in failure, and output phase answers event
Control signal function under barrier mode realizes the active tolerant control function under multiple faults mode in the unit that need to carry out fault-tolerant reconstruct
Can, it, can be according to existing research achievement or practical operating experiences due to during ANPC three-level inverter active tolerant control
System Fault Tolerance decision knowledge base needed for establishing fault-tolerant reconfigurable control for system normal mode and various fault modes, thus it is of the invention
It is not for further study to this module contents.
Sliding formwork fault-tolerant control module fault characteristic signals under mode according to different faults, the inverter shape after combination failure
State space model, reconstructs sliding formwork control ratio and each control parameter by adjusting controller, changes output three-phase voltage in real time
Signal is controlled, the adjustment for SVPWM faults-tolerant control strategy provides given reference voltage.
SVPWM fault-tolerant control module controls signal, combination failure according to the three-phase voltage that sliding formwork fault-tolerant control module exports
The space vector that part can not normally export afterwards reconstructs space vector of voltage, this reconstruction attractor vector is based on, for different faults
The original SVPWM control algolithm of type and distribution, adjustment space vector of voltage transmission sequence, generates fault-tolerant pwm control signal, makes ANPC
Three-level inverter is remained in the case where keeping original output performance or performance slightly to reduce after open-circuit fault occurs for switching tube
System active tolerant control is completed in safe operation.
According to the control method of active tolerant control system the following steps are included:
(1) ANPC three-level inverter state-space model is established:
ANPC Three-Level Inverter System with resistance inductive load is as shown in Fig. 2, wherein every phase bridge arm includes six power
Switching tube Sx1~Sx6, six antiparallel diode VD therewithx1~VDx6(x=a, b, c), load resistance and inductance.
It can thus be concluded that its three-phase output equation are as follows:
In formula, uxn(x=a, b, c) indicates each phase load voltage, ix(x=a, b, c) indicates each phase load electric current.
After open-circuit fault occurs for the power switch tube IGBT of certain phase bridge arm in ANPC three-level inverter, it will be directly changed
The working condition of system, to influence the threephase load voltage u of inverterxn(x=a, b, c), if introducing under certain fault mode
Three-phase fault characteristic signal f (t)=[fa fb fc]T, definition status variable x is the vector that threephase load electric current is constituted, and is controlled defeated
Entering amount u is the vector that threephase load voltage is constituted, R=Ra=Rb=Rc, L=La=Lb=Lc, ANPC three-level inverter can be obtained
State-space model under failure are as follows:
Wherein x=[ia ib ic]T, u=[uan ubn ucn]T, system output variables y=[ia ib ic]T, coefficient matrices A,
B, C can be expressed as A=diag (- R/L ,-R/L ,-R/L), B=diag (L, L, L), C=diag (1,1,1).
(2) it according to ANPC three-level inverter topology structure, extracts its power switch tube and the three-phase after open-circuit fault occurs
Fault characteristic signals f (t).
When open-circuit fault occurs for the single-phase bridge arm power switch tube of ANPC three-level inverter, the output voltage of failure phase is real
Difference will be present in actual value and desired value:
Δuxo=u 'xo-uxo(x=a, b, c) (3)
U in formulaxo(x=a, b, c) indicates each phase bridge arm output voltage of inverter before failure, u 'xo(x=a, b, c) indicates event
Each phase bridge arm output voltage of inverter after barrier.
And mutually the output voltage difference before and after failure is 0 to non-faulting.
According to three-phase bridge arm output voltage difference obtained as above, can further obtain after failure with failure first three phase load electricity
The difference of pressure are as follows:
In a fundamental frequency cycles, difference signal Δ u before and after above-mentioned load voltage failurexnBe periodic function, to its into
Row Fourier expansion after rejecting DC component, chooses three-phase fundamental component as three-phase fault feature according to its parity
Signal, and using geometrical mean as its amplitude, three-phase fault characteristic signal expression formula f can be obtaineda(t)、fb(t)、fc(t)。
(3) it in order to enable ANPC Three-Level Inverter System to be steadily switched to new steady-state operation as early as possible after a failure, keeps away
Exempt from system and be in runaway condition, based on three-phase fault characteristic signal f (t) obtained by step (2), sliding mode controller need to be carried out fault-tolerant
Configuration design specifically includes following sub-step:
(301) according to sliding mode controller design principle, selection sliding formwork control target is sliding-mode surface:
S=i-iref (5)
Wherein i=[ia ib ic]TFor threephase load electric current, iref=[iaref ibref icref]TIt is threephase load with reference to electricity
Stream.
(302) sliding formwork exponentially approaching rule is selectedSgn () is sign function, sliding formwork control in formula
Parameter ε > 0, q > 0, in conjunction with system state space model, so that it is determined that sliding formwork control signal (control law) are as follows:
U=- ε sgn (s)-qs-f (6)
(303) liapunov function is definedAccording to the reachability requirements for meeting sliding formwork control
Sliding-mode surface variation rule can be obtained are as follows:
Therefore, sliding formwork control parameter ε and q can be adjusted to:
(4) signal u is controlled according to three-phase voltage obtained by step (3), further SVPWM fault-tolerant control module is set
Meter, specifically includes following sub-step:
(401) signal is controlled for the three-phase voltage of sliding formwork fault-tolerant controller output, using basic SVPWM control algolithm,
Determine corresponding space vector of voltage and its action time.
(402) φ in the fault-tolerant decision knowledge base that analysis generates offlinesMapping relations between~s determine the fault mode
The space vector of voltage that cannot normally export down, and it is deleted in the space vector generated by step 1；Keeping defeated
On the basis of voltage and current is still three-phase symmetrical out, reconstructs and form new space vector of voltage.
(403) for the space vector of voltage for having reconstructed generation, keeping the mutually original output state of failure impregnable
On the basis of, original SVPWM algorithm is reconstructed, adjustment space vector of voltage transmission sequence sends original seven section space vector
Sequence is adjusted to five-part form vector and sends sequence, generates pwm control signal.Wherein corresponding space vector action time calculate with
And the pwm signal method of salary distribution is identical as when working normally, and is not influenced by failure.
(5) with ANPC three-level inverter a phase bridge arm outer tube Sa1Open-circuit fault is that real case is analyzed, and illustrates this hair
Bright validity.
(501) handicapping sense loads R=15 Ω, L=33mH, establishes state space mould under ANPC three-level inverter failure
Type:
Wherein (- 15/0.033, -15/0.033, -15/0.033) A=diag, B=diag (0.033,0.033,
0.033), (1,1,1) C=diag.
(502) S is extracteda1Three-phase fault characteristic signal f (t) after open-circuit fault occurs.
As shown in figure 3, working as Sa1When open-circuit fault occurs, from the current path of inverter flow direction load shown in dotted line in figure
It is cut off；And due to S at this timea6In on state, then electric current forces freewheeling diode VDa3Conducting, forms shown in solid in figure
Current path, therefore output end be zero level, i.e., the switch state of a phase bridge arm becomes O from P after failure.Therefore fault of converter
Phase a phase bridge arm output voltage ua′oWith u before failureaoDifference are as follows:
Δuao=u 'ao-uao=-Ud/2 (9)
And non-faulting phase (b, c phase) output voltage difference before and after failure are as follows:
The then difference after failure with failure three-phase load voltage are as follows:
In a fundamental frequency cycles, Δ uxn(x=a, b, c) is periodic function, therefore can approximate expression are as follows:
N is nonnegative integer in formula, and T is fundamental frequency cycles.
To difference signal Δ u before and after above-mentioned a phase load voltage failureanFourier expansion is carried out, according to its parity,
And it can be obtained after ignoring its DC component:
B, c phase calculating process is similar therewith.Three-phase fundamental component is chosen as three-phase fault characteristic signal, and flat with geometry
Mean value is as its amplitude, i.e.,It can be by three-phase fault characteristic signal fa(t)、fb
(t)、fc(t) it indicates are as follows:
(503) above-mentioned fault characteristic signals are based on, reconstruct fault-tolerant to sliding mode controller is designed.To simplify sliding formwork control
The design of device, each parameter of sliding mode controller under abc three-phase coordinate system transformation to dq coordinate system by being calculated.
(5031) sliding-mode surface constructs:
(5032) control law reconstruction:
Sliding formwork exponentially approaching rule is selected, thereby determines that sliding formwork control signal (control law) are as follows:
(5033) according to the liapunov function of definitionIn the reachability requirements for meeting sliding formwork controlUnder the premise of, sliding-mode surface variation rule can be obtained are as follows:
Therefore sliding formwork control parameter ε and q can be adjusted to:
(504) it is based on above-mentioned voltage control signal ud、uq, further SVPWM fault-tolerant control module is designed.
Three-phase fault characteristic signal is coordinately transformed, the fault characteristic signals under dq coordinate system can be obtained are as follows:
It can thus be concluded that sliding mode controller three-phase output voltage control signal is respectively as follows: after failure
Above formula is the voltage control signal exported to SVPWM fault-tolerant controller.By this signal from dq coordinate system transformation to
It is found that the three-phase input reference voltage amplitude of SVPWM fault-tolerant controller reduces after failure after tri- phase coordinate system of abcTherefore, when SVPWM controller is modulated based on this, available S shown in Fig. 4a1Voltage control before and after failure
Signal space vector distribution map, wherein dotted line outer circle is failure three-phase voltage control signal track in vector space, solid line
Inner circle is three-phase voltage control signal track in vector space after failure；On the other hand, Sa1After open-circuit fault, held by analysis
Zero vector PPP, small vector PPO, POO, POP, middle vector PON, PNO known to after wrong decision knowledge base, and big vector PPN,
This 9 vectors of PNN, PNP cannot be exported normally, and space vector changes in distribution at this time is as shown in Figure 5.To guarantee faults-tolerant control
Fundamental voltage output of voltage remains as sinusoidal signal afterwards, can be obtained according to vector reconstruction control strategy: space vector of voltage can only after reconstruct
It is distributed in small hexagonal area, i.e., volume operation need to drop in inverter, just can guarantee its preferable output performance.
After reconstructing space vector of voltage based on above two parts, and space vector of voltage transmission sequence is adjusted, weight
Structure SVPWM control algolithm, the transmission sequence after reconstruct are as shown in table 1.
1 S of tablea1Open-circuit fault fault-tolerant operation vector sends sequence table
Fig. 6-Fig. 8 is bridge arm power outside the ANPC tri-level inversion system a phase built under MATLAB/Simulink environment
Switching tube open-circuit fault active tolerant control output waveform figure.By Fig. 6-Fig. 8 it is found that when S occurs for systema1It is defeated after open-circuit fault
Waveform generates distortion out, by the effect of sliding formwork fault-tolerant controller and SVPWM fault-tolerant controller, by less than half fundamental frequency week
After the adjustment of phase, system steps into new stable state；It is further known that system is switched to from normal operation to fault-tolerant operation rank
Section, system output voltage, current signal amplitude be reduced to original 1/2, and phase remains unchanged.Show inverter in master
The operation of drop volume has been carried out under visibly moved mistake control strategy effect, to keep output signal three-phase symmetrical, has reached faults-tolerant control
Purpose, the result are consistent with above-mentioned theory analysis.Fig. 9 is that system carries out the quadrature axis current output response curve after faults-tolerant control,
Corresponding dynamic is as shown in table 2 with steady-state response index calculated result.
2 S of tablea1Faults-tolerant control dynamic and steady-state response index under open-circuit fault
| Fault type | Output signal | Rise time (s) | Regulating time (s) | Steady-state error |
| Sa1Open-circuit fault | Quadrature axis load current | 0.0016 | 0.0029 | 2.8% |
By Fig. 9 and table 2 it is found that system is in reconstruct sliding formwork control ratio and after adjusting controller parameter, system output current
It can be quickly switched into new steady-state current, and the error between its steady-state response of steady state operation phase and intended response is equal
It is maintained in a lesser range, there is preferable stability.The mentioned active tolerant control strategy principle of the present invention is simple, no
Dependent on other hardware, high performance requirements can be met well, there is good practicability.
By the above-mentioned adjustment for sending sequence to sliding formwork control ratio, control parameter and SVPWM vector, it ensure that system in Sa1
Output characteristics under failure preferably realizes active tolerant control function.
Active tolerant control of the invention passes through the parameter or tune of change controller on the basis of not increasing redundant hardware
The structure of whole controller, handles failure, and fault-tolerant ability is stronger, and all has the ability of faults-tolerant control to unknown failure,
Guarantee the stability of system after failure occurs, therefore the present invention has good practicability.
Claims (7)
1. a kind of Active Fault-tolerant Control Method of ANPC three-level inverter single switch tube open circuit failure, which is characterized in that the party
Method the following steps are included:
1) ANPC three-level inverter state-space model is established:
2) it according to ANPC three-level inverter topology structure, obtains power switch tube and the three-phase fault feature after open-circuit fault occurs
Signal f；
3) the three-phase fault characteristic signal f after open-circuit fault occurs according to power switch tube designs sliding mode controller；
4) SVPWM fault-tolerant control module is designed, and carries out the Active Fault Tolerant of ANPC three-level inverter single switch tube open circuit failure
Control.
2. a kind of active tolerant control side of ANPC three-level inverter single switch tube open circuit failure according to claim 1
Method, which is characterized in that in the step 1), ANPC three-level inverter state-space model are as follows:
X=[ia ib ic]T
U=[uan ubn ucn]T
Y=[ia ib ic]T
A=diag (- R/L ,-R/L ,-R/L)
B=diag (L, L, L)
C=diag (1,1,1)
F=[fa fb fc]T
Wherein, x is system state variables, and y is system output variables, and u is control input quantity, and f is three-phase fault characteristic signal, fa、
fb、fcFor the fault characteristic signals of a, b, c phase, ia、ib、icFor the load current of a, b, c phase, uan、ubn、ucnFor the negative of a, b, c phase
Voltage is carried, A, B, C are coefficient matrix, and R is threephase load resistance, and L is threephase load inductance.
3. a kind of active tolerant control side of ANPC three-level inverter single switch tube open circuit failure according to claim 2
Method, which is characterized in that the step 2) specifically:
Failure front and back each phase bridge arm output voltage difference of ANPC three-level inverter is obtained, and to it in a base
Fourier expansion is carried out in the frequency period, chooses three-phase fundamental component as three-phase fault feature after rejecting DC component
Signal, and using geometrical mean as amplitude.
4. a kind of active tolerant control side of ANPC three-level inverter single switch tube open circuit failure according to claim 2
Method, which is characterized in that the step 3) specifically includes the following steps:
31) choosing sliding formwork control target is sliding-mode surface s, then has:
S=i-iref
I=[ia ib ic]T
iref=[iaref ibref icref]T
Wherein, i is threephase load electric current, irefTo load reference current, iaref、ibref、icrefThe respectively load ginseng of a, b, c phase
Examine electric current；
32) then sliding formwork exponentially approaching rule is selectedIn conjunction with system state space model, determine that sliding formwork control is defeated
Enter amount u are as follows:
U=- ε sgn (s)-qs-f
Wherein, sgn () is sign function, and ε, q are sliding formwork control parameter, and ε > 0, q > 0；
33) liapunov function is definedAccording to the reachability requirements for meeting sliding formwork controlIt obtains and slides
Die face variation rule are as follows:
Sliding formwork control parameter ε adjustment are as follows:
5. a kind of active tolerant control side of ANPC three-level inverter single switch tube open circuit failure according to claim 1
Method, which is characterized in that the step 4) specifically includes the following steps:
41) signal is controlled for the three-phase voltage of sliding formwork fault-tolerant control module output, is obtained using SVPWM control method corresponding
Space vector of voltage and its action time；
42) according to the SVPWM that cannot be normally exported under operating mode s in the fault-tolerant decision knowledge base generated offline and associative mode
Voltage vector set φsBetween mapping relations, obtain the space vector of voltage that cannot normally export under corresponding fault mode, and
It is deleted in space vector of voltage, on the basis of keeping output voltage electric current is still three-phase symmetrical, to reconstruct simultaneously shape
The space vector of voltage of Cheng Xin；
43) space vector of voltage generated for reconstruct, on the basis of keeping the mutually original output state of failure unaffected, weight
Original seven section space vector transmission sequence is adjusted to five sections by structure SVPWM method, adjustment space vector of voltage transmission sequence
Formula vector sends sequence, and generates pwm control signal.
6. a kind of active tolerant control side of ANPC three-level inverter single switch tube open circuit failure according to claim 5
Method, which is characterized in that in the step 43), corresponding space vector action time calculate and the pwm signal method of salary distribution with
It is identical when normal work, it is not influenced by failure.
7. the Active Fault Tolerant control of ANPC three-level inverter single switch tube open circuit failure according to claim 1-6
Method processed, which is characterized in that the control system for realizing this method includes:
The fault-tolerant decision package module of multiple faults: know to establish offline in fault-tolerant decision of the system normally and under various fault modes
On the basis of knowing library, on-line monitoring system operating status, output phase answers the faults-tolerant control signal under fault mode fault-tolerant to sliding formwork
Control module and SVPWM fault-tolerant control module realize the active tolerant control under multiple faults mode；
Sliding formwork fault-tolerant control module: the fault characteristic signals under mode according to different faults, the inverter state after combination failure
Spatial model, reconstructs sliding formwork control ratio and each control parameter by adjusting controller, and it is voltage-controlled to change output three-phase electricity in real time
Signal processed arrives SVPWM fault-tolerant control module；
SVPWM fault-tolerant control module: signal, combination failure rear portion are controlled according to the three-phase voltage of sliding formwork fault-tolerant control module output
Divide the space vector that can not normally export, reconstruct space vector of voltage, is controlled for the original SVPWM of different faults type and distribution
Method, adjustment space vector of voltage transmission sequence, generates fault-tolerant pwm control signal, ANPC three-level inverter is made to remain to opening
It closes after open-circuit fault occurs for pipe and keeps being safely operated in the case where the slightly reduction of original output performance or performance, complete system actively
Faults-tolerant control.
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| CN111697539B (en) * | 2020-06-05 | 2022-05-24 | 中国科学院电工研究所 | Three-level ANPC inverter open-circuit fault tolerance method based on carrier modulation |
| CN111697539A (en) * | 2020-06-05 | 2020-09-22 | 中国科学院电工研究所 | Three-level ANPC inverter open-circuit fault tolerance method based on carrier modulation |
| CN111664062A (en) * | 2020-06-16 | 2020-09-15 | 湖南科技大学 | Double-fed induction motor fault detection method based on novel switchable approach rate |
| CN112104214A (en) * | 2020-08-19 | 2020-12-18 | 同济大学 | Self-adaptive fault-tolerant control method for compound open-circuit fault of three-level inverter switching tube |
| CN113315400A (en) * | 2021-06-02 | 2021-08-27 | 河北工业大学 | Time-sharing dynamic redundancy control method for four bridge arms of three-phase two-level inverter |
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| CN115047305A (en) * | 2022-05-12 | 2022-09-13 | 河北工业大学 | Inverter open-circuit fault identification method based on signal processing reconstruction |
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