CN109802591A - A kind of three-phase grid-connected inverter reliable tracking control method based on optimization - Google Patents
A kind of three-phase grid-connected inverter reliable tracking control method based on optimization Download PDFInfo
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Abstract
The three-phase grid-connected inverter reliable tracking control method based on optimization that the invention discloses a kind of, comprising the following steps: step 1: establish the state space equation of system；Step 2: pass through the state space equation of system, modelled signal tracking system；Step 3: the signal trace system of composition is optimized, and provides ffault matrix form, is analyzed；Step 4: it by analyzing ffault matrix, is divided into two parts and prove that the signal trace system of optimization design is stable and performance indicator is no more than preset positive number；The invention avoids by the failure bring loss in inverter, have the advantages that reliably optimize tracing control.
Description
Technical field
The present invention relates to three-phase grid-connected inverter control fields, are more particularly to a kind of three-phase grid inversion based on optimization
Device reliable tracking control method.
Background technique
Today's society, brought by the continuous consumption of environmental pollution and nonrenewable resources caused by combustion of fossil fuel
Energy crisis, so that the exploitation of renewable energy becomes extremely important.Wind energy, geothermal energy, fuel cell and solar energy etc. are new
The energy constantly rises, and more and more shares are occupied in distributed power generation.These new energy will pass through gird-connected inverter
Come to power grid energy regenerative.Gird-connected inverter generally uses the current-mode control under pulse width modulation, therefore has many containing height
The electric current of frequency harmonic wave enters power grid, influences power grid quality.In order to filter out high-frequency current, usually to add between inverter and power grid
Enter inductance.Relative to traditional L-type filter, LCL filter provides high frequency bypass by capacitive branch to which significantly decaying is flowed
Enter the high fdrequency component of power network current, therefore is widely used in powerful device.But since there are resonance by LCL itself, in reality
Control process in need damp to inhibit its resonance.Traditional damping method is usually the series resistance shape on inductance or capacitor
At DP (Passive Damping, inertia damping).
In actual life, quite a few electric energy consumption is carried out in the form of drive motor, directly with extensive
Former electric drive will unavoidably introduce series impedance and parallel impedance to control and adjust the operating status of motor, and these must not
The impedance intervened can consume electric energy in vain.For the considerable utilization of power for slatterning these, the modern times are utilized
Transformation of electrical energy technology, which carries out variable frequency regulating speed control to motor, has economize on electricity potential well.With the development of power electronics technology
And its decline of component production cost, it has gradually been pushed away in industrial application by the motor variable speed system of inverter power supply
It is wide to use.And pulse width modulation inverter obtains it due to many advantages, such as its main circuit structure is simple, control circuit is flexible
It rapidly develops, inverter circuit is the weak link most easily to break down, reliability due to its switching device and its control circuit
Problem is never effectively solved.And recent studies have shown that, the failure of power inverter accounts for entirely in frequency conversion speed-adjusting system
The 82.5% of drive system failure is most easily broken down in drive system.The permasyn morot of inverter power supply is
Permasyn morot is also widely used in space shuttle device and carries out component drive for the critical component of aircraft high-voltage direct current (DC) power system
It is dynamic, in addition with the update of power electronic devices, the development of power Semiconductor Converting Technology, modern control theory application, so that collection
Efficient electric energy conversion and high performance control will play in following industrial drives system leading in the frequency conversion speed-adjusting system of one
Effect, as one can imagine, once inverter control breaks down, entire drive system just loses the ability of normal work, Qing Zheying
Sound is industrial to be normally carried out, and severe one understands air crash or weapon system is made to lose attacking ability.For this problem, both at home and abroad specially
Family has carried out more control the Study on Fault to inverter.
China Patent Publication No. CN203104326U discloses a kind of three level hysteresis currents tracking inverter.Thirdly level
Output end after inverter bridge output end series reactor as three level hysteresis currents tracking inverter, each voltage detection unit point
Not Jian Ce voltage between the zero level supporting point and inverter three-phase output end of three-level inverters, testing result is respectively fed to
Each drive control unit, the three-phase that current detecting unit detects inverter export electric current, and testing result is respectively fed to each stagnant ring ratio
Compared with unit, three-phase instruction current signal is respectively fed to each stagnant ring comparing unit and each drive control unit, each stagnant ring comparing unit
Output terminate corresponding drive control unit, each drive control unit output terminates corresponding driving unit, each driving unit
Output termination three-level inverters driving signal input.Described device and its control method can be to three-level inverters
Output electric current carry out hysteresis loop tracking control, have many advantages, such as tracking accuracy height, speed is fast, real-time is good.But the patent also has
There is not the case where actuator failures operation when in view of inverter control and when controlling inverter not to control object
The shortcomings that optimizing control.
Summary of the invention
Technical problem to be solved by the present invention lies in the control methods of the inverter of the prior art not to consider inverter
When control the case where actuator failures operation and the shortcomings that not optimizing control to inverter.
The present invention is to solve a kind of above-mentioned technical problem: three-phase grid inversion based on optimization by the following technical programs
Device reliable tracking control method, comprising the following steps:
Step 1: according to actuator failures situation in the uncertain and described inverter during invertor operation,
The state space equation of system is established by inverter；
Step 2: pass through the state space equation of system, modelled signal tracking system；
Step 3: the signal trace system of composition is optimized, and provides ffault matrix form, is analyzed；
Step 4: it by analyzing ffault matrix, is divided into two parts the signal trace system for carrying out proving optimization design and stablizes
And performance indicator is no more than preset positive number:
(a) invertor operation situation when ffault matrix is unit matrix, i.e. fault-free；
(b) invertor operation situation when ffault matrix non-unity matrix, i.e. actuator failures.
Preferably, the step 1 is that the main circuit of the gird-connected inverter based on LCL filter establishes the state sky of system
Between equation, the main circuit of the gird-connected inverter based on LCL filter include capacitor C1, capacitor C2, capacitor C3, capacitor C4,
Capacitor C5, IGBT pipe VT1, IGBT pipe VT2, IGBT pipe VT3, IGBT pipe VT4, IGBT pipe VT5, IGBT pipe VT6, inductance L1, electricity
Feel L2, inductance L3, inductance L4, inductance L5, inductance L6, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, electricity
Hinder R7, resistance R8, resistance R9, alternating message source E1, alternating message source E2 and alternating message source E3；
One end of the capacitor C1 is connect with one end of the capacitor C2, and the emitter and IGBT of the IGBT pipe VT1 is managed
The collector of VT4 connects, and the emitter of the IGBT pipe VT3 is connect with the collector of IGBT pipe VT6, the transmitting of IGBT pipe VT5
Pole is connect with the collector of IGBT pipe VT2, and the collector of IGBT pipe VT1, IGBT pipe VT3 and IGBT pipe VT5 is and institute
State capacitor C1 the other end connection, the emitter of IGBT pipe VT4, IGBT pipe VT6 and IGBT pipe VT2 with the capacitor
The other end of C2 connects, IGBT pipe VT1, IGBT pipe VT2, IGBT pipe VT3, IGBT pipe VT4, IGBT pipe VT5 and IGBT
Connect on the equal input drive signal of the grid of pipe VT6, the emitter of the IGBT pipe VT1 and the line of the collector of IGBT pipe VT4
One end of inductance L1 is connect, the other end of inductance L1 is connected by the output end of resistance R1, inductance L4, resistance R4 and alternating message source E1
It connects, one end of inductance L2 is connected on the line of the collector of the emitter and IGBT pipe VT6 of the IGBT pipe VT3, inductance L2's
The other end is connect by resistance R2, inductance L5, resistance R5 with the output end of alternating message source E2, the transmitting of the IGBT pipe VT5
One end of inductance L3 is connected on the line of the collector of pole and IGBT pipe VT2, the other end of inductance L3 passes through resistance R3, inductance
L6, resistance R6 are connect with the output end of alternating message source E3, the alternating message source E1, alternating message source E2 and AC signal
The input terminal of source E3 is both connected to together；Pass through the one of capacitor C3 and resistance R7 on line between the resistance R1 and inductance L4
End connects, and is connect by capacitor C4 with one end of resistance R8 on the line between the resistance R2 and inductance L5, the resistance R3
It is connect by capacitor C5 with one end of resistance R9 on line between inductance L6, the resistance R7, resistance R8 and resistance R9
The other end be both connected to together；Voltage between the other end of the capacitor C1 and the other end of the capacitor C2 is DC side
Voltage Udc, the inductance value of the inductance L1, inductance L2 and inductance L3 are LS, the resistance R1, resistance R2 and resistance R3's
Resistance value is RS, the inductance value of the inductance L4, inductance L5 and inductance L6 are Lg, the resistance R4, resistance R5 and resistance R6's
Resistance value is Rg, the resistance value of the resistance R7, resistance R8 and resistance R9 are Rc, the alternating message source E1, alternating message source E2 with
And the signal of alternating message source E3 is e, the output current value of the resistance R1, resistance R2 and resistance R3 are iS, this is defeated
Electric current i outSThe electric current of branch is i where separately flowing into capacitor C3, capacitor C4 and capacitor C5c, output electric current iSIt separately flows into
The electric current of inductance L4, inductance L5 and the place inductance L6 branch is ig；
Preferably, the step 1, comprising:
The main circuit of gird-connected inverter based on LCL filter obtains LCL filter according to kirchhoff Current Voltage law
The differential equation of wave device, is converted by Clarke, is eliminated the common mode component in three-phase, is obtained the differential under two-phase stationary coordinate system
Equation is
In formula, iskFor inverter side electric current；igkFor current on line side；UoutkFor the output voltage of inverter；UckFor capacitor electricity
Pressure；UgkFor network voltage；
The state space equation of LCL filter is obtained according to the differential equation are as follows:Wherein,
X=[is ig Uck] it is state
Vector；
X (t) is the state of state space equation；For the derivative of x (t)；A is the system square of the state space equation
Battle array, and A ∈ Rn×n, Rn×nIt is the real number matrix of n row n column；B is the control matrix of the state space equation, and B ∈ Rn×m, Rn×m
It is the real number matrix of n row m column；C is the output matrix of default dimension, and C ∈ Rq×n, R is the real number matrix of q row n column；U (t) is
The input of system, and u (t) ∈ Rm, RmFor the square matrix of m row m column；Y (t) is system output, and y (t) ∈ R；T is the moment；
According to actuator failures situation in the uncertain and described inverter during the invertor operation, update
The state space equation of system, the updated state space equation are as follows:
Wherein: uf(t)∈RmFor the control input for considering actuator failures；Δ A be sytem matrix A uncertain parameters to
Measure the first perturbation matrices generated, and Δ A ∈ Rn×n, | | Δ A | |≤a, a are the first preset values；Δ B is the not true of control matrix B
The second perturbation matrices that qualitative parameter vector generates, and Δ B ∈ Rn×m, | | Δ B | |≤b, b are the second preset value；| | | | to take model
Numerical symbol.
Preferably, the step 2, comprising:
According to the updated state space equation, the tracking error of the system, the signal trace system of construction
System are as follows:
Wherein,
yrIt (t) is track reference input signal；E (t) is tracking error；For the derivative of tracking error；
The augmented system of the signal trace system equivalence is obtained,
Wherein,For the augmented system of the signal trace system；For the augmented matrix of sytem matrix；For the first perturbation matrices
Augmented matrix；For the augmented matrix for controlling matrix；For the augmented matrix of the second perturbation matrices；Z (t) is augmented system
State；For the output of augmented system；
Preferably, the step 3, comprising:
The ffault matrix of the system is obtained,
M=diag (m1,m2,m3,...,mm), 0≤mi, i=1,2,3 ... m
miIt is i-th of element in ffault matrix.Here work as miWhen=0, indicate that i-th channel of actuator is entirely ineffective；Work as mi
When=1, indicate that i-th channel of actuator works normally；As 0 < miAnd miWhen ≠ 1, indicate that i-th channel part of actuator loses
Effect, caused by the reason is that due to components aging and interference etc. factors make component output signals deviate exact value.
Then control law u (t)=Kz (t) is designed, K is feedback gain matrix；
Then actuator failures are uf(t)=Mu (t), M are ffault matrix；
So that the perturbation matrices that the parameter uncertainty vector of all permissions generates, the updated signal trace system
System augmented system of equal value is
To the augmented system of the updated signal trace system equivalence, a performance indicator is provided
Wherein the first Q > 0 given weighting matrix, R > 0 is the second given weighting matrix；
In the first default value range of the first weighting matrices Q, in the second default value range of the second weighted matrix R
It is interior, it is preset in value range in the third of parameter ε, solves function using LMI and solve inequality
Solve W and X；Wherein, X is positive definite matrix；W is coupling terms, i.e. W=KX；Then acquired according to the value of W and X, optimization
Feedback oscillator is K=WX-1, the feedback oscillator K of optimization substitutes into the augmented system of the updated signal trace system up to excellent
The signal trace system of change.
Preferably, take multiple groups different first weighting matrices Q, second weighted matrix R and the parameter ε
Value substitutes into inequality
The value of multiple groups W and X is acquired, so that the value of the feedback oscillator K of multiple optimizations is obtained, by the feedback oscillator of multiple optimizations
K substitutes into the augmented system of the updated signal trace system respectively up to the signal trace system of multiple optimizations, will be multiple
The signal trace system of optimization is compared with the signal trace system being not optimized respectively, obtains the signal trace of optimization
System, wherein the matrix of the inequality is symmetrical matrix, and asterisk * represents what the diagonal of a matrix of the inequality or less was omitted
Element, the element being omitted are identical as element identified above and diagonally symmetrical.
Preferably, the augmented system of the signal trace system equivalence meets design objective below:
(61) augmented system of the signal trace system equivalence is asymptotically stable；
(62) the performance indicator Θ of the augmented system of the signal trace system equivalence be no more than always it is preset just
Number Θ*。
The present invention is had the advantage that compared with prior art in view of inverter is in actual operation by uncertain factor
It influences, while considering the case where actuator failures are run when inverter control, construct signal trace system and to composition
Signal trace system optimize, reliable optimization tracking is carried out when occurring actuator failures in inverter control
Control.It breaks down, desired trajectory is designed to former healthy inverter by optimization tracking by the improper output of the output of inverter
Output form so that curve of output after fault of converter tracks upper desired output track, to make the inversion broken down
Device can have normal table output within a certain period of time, avoid by the failure bring loss in inverter, reach reliable excellent
Change the purpose of tracing control.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, attached drawing needed in invention description will be made below
Simply introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, common for this field
For technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of three-phase grid-connected inverter reliable tracking control method based on optimization disclosed in the embodiment of the present invention
In the gird-connected inverter based on LCL filter main circuit topological diagram；
Fig. 2 is a kind of three-phase grid-connected inverter reliable tracking control method based on optimization disclosed in the embodiment of the present invention
Control structure figure.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
A kind of three-phase grid-connected inverter reliable tracking control method based on optimization, comprising the following steps:
Step 1: according to actuator failures situation in the uncertain and described inverter during invertor operation,
The state space equation of system is established by inverter；
Step 2: pass through the state space equation of system, modelled signal tracking system；
Step 3: the signal trace system of composition is optimized, and provides ffault matrix form, is analyzed；
Step 4: it by analyzing ffault matrix, is divided into two parts the signal trace system for carrying out proving optimization design and stablizes
And performance indicator is no more than preset positive number:
(a) invertor operation situation when ffault matrix is unit matrix, i.e. fault-free；
(b) invertor operation situation when ffault matrix non-unity matrix, i.e. actuator failures.
As shown in Figure 1, the step 1 is that the main circuit of the gird-connected inverter based on LCL filter establishes the state of system
Space equation, the main circuit of the gird-connected inverter based on LCL filter include capacitor C1, capacitor C2, capacitor C3, capacitor
C4, capacitor C5, IGBT pipe VT1, IGBT pipe VT2, IGBT pipe VT3, IGBT pipe VT4, IGBT pipe VT5, IGBT pipe VT6, inductance L1,
Inductance L2, inductance L3, inductance L4, inductance L5, inductance L6, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6,
Resistance R7, resistance R8, resistance R9, alternating message source E1, alternating message source E2 and alternating message source E3；
One end of the capacitor C1 is connect with one end of the capacitor C2, and the emitter and IGBT of the IGBT pipe VT1 is managed
The collector of VT4 connects, and the emitter of the IGBT pipe VT3 is connect with the collector of IGBT pipe VT6, the transmitting of IGBT pipe VT5
Pole is connect with the collector of IGBT pipe VT2, and the collector of IGBT pipe VT1, IGBT pipe VT3 and IGBT pipe VT5 is and institute
State capacitor C1 the other end connection, the emitter of IGBT pipe VT4, IGBT pipe VT6 and IGBT pipe VT2 with the capacitor
The other end of C2 connects, IGBT pipe VT1, IGBT pipe VT2, IGBT pipe VT3, IGBT pipe VT4, IGBT pipe VT5 and IGBT
Connect on the equal input drive signal of the grid of pipe VT6, the emitter of the IGBT pipe VT1 and the line of the collector of IGBT pipe VT4
One end of inductance L1 is connect, the other end of inductance L1 is connected by the output end of resistance R1, inductance L4, resistance R4 and alternating message source E1
It connects, one end of inductance L2 is connected on the line of the collector of the emitter and IGBT pipe VT6 of the IGBT pipe VT3, inductance L2's
The other end is connect by resistance R2, inductance L5, resistance R5 with the output end of alternating message source E2, the transmitting of the IGBT pipe VT5
One end of inductance L3 is connected on the line of the collector of pole and IGBT pipe VT2, the other end of inductance L3 passes through resistance R3, inductance
L6, resistance R6 are connect with the output end of alternating message source E3, the alternating message source E1, alternating message source E2 and AC signal
The input terminal of source E3 is both connected to together；Pass through the one of capacitor C3 and resistance R7 on line between the resistance R1 and inductance L4
End connects, and is connect by capacitor C4 with one end of resistance R8 on the line between the resistance R2 and inductance L5, the resistance R3
It is connect by capacitor C5 with one end of resistance R9 on line between inductance L6, the resistance R7, resistance R8 and resistance R9
The other end be both connected to together；Voltage between the other end of the capacitor C1 and the other end of the capacitor C2 is DC side
Voltage Udc, the inductance value of the inductance L1, inductance L2 and inductance L3 are LS, the resistance R1, resistance R2 and resistance R3's
Resistance value is RS, the inductance value of the inductance L4, inductance L5 and inductance L6 are Lg, the resistance R4, resistance R5 and resistance R6's
Resistance value is Rg, the resistance value of the resistance R7, resistance R8 and resistance R9 are Rc, the alternating message source E1, alternating message source E2 with
And the signal of alternating message source E3 is e, the output current value of the resistance R1, resistance R2 and resistance R3 are iS, this is defeated
Electric current i outSThe electric current of branch is i where separately flowing into capacitor C3, capacitor C4 and capacitor C5c, output electric current iSIt separately flows into
The electric current of inductance L4, inductance L5 and the place inductance L6 branch is ig；
Fig. 2 is a kind of three-phase grid-connected inverter reliable tracking control method based on optimization disclosed in the embodiment of the present invention
Control structure figure.Below as method described in step 1 to step 4, describe in detail to each step:
The step 1, comprising:
The main circuit of gird-connected inverter based on LCL filter obtains LCL filter according to kirchhoff Current Voltage law
The differential equation of wave device, is converted by Clarke, is eliminated the common mode component in three-phase, is obtained the differential under two-phase stationary coordinate system
Equation are as follows:
In formula, iskFor inverter side electric current；igkFor current on line side；UoutkFor the output voltage of inverter；UckFor capacitor electricity
Pressure；UgkFor network voltage；
The state space equation of LCL filter is obtained according to the differential equation are as follows:Wherein,
X=[is ig Uck] it is state
Vector；
X (t) is the state of state space equation；For the derivative of x (t)；A is the system square of the state space equation
Battle array, and A ∈ Rn×n, Rn×nIt is the real number matrix of n row n column；B is the control matrix of the state space equation, and B ∈ Rn×m, Rn×m
It is the real number matrix of n row m column；C is the output matrix of default dimension, and C ∈ Rq×n, Rq×nIt is the real number matrix of q row n column；u(t)
For the input of system, and u (t) ∈ Rm, RmFor the square matrix of m row m column；Y (t) is system output, and y (t) ∈R, t is the moment.
It, will be inverse according to actuator failures situation in the uncertain and described inverter during the invertor operation
The control input of the failure of the actuator become in device and due to the uncertain perturbation matrices generated of inverter be added to it is logical
It crosses inverter to establish in the state space equation of system, the updated state space equation are as follows:
Wherein: uf(t)∈RmFor the control input for considering actuator failures；Δ A be sytem matrix A uncertain parameters to
Measure the first perturbation matrices generated, and Δ A ∈ Rn×n, | | Δ A | |≤a, a are the first preset values；Δ B is the not true of control matrix B
The second perturbation matrices that qualitative parameter vector generates, and Δ B ∈ Rn×m, | | Δ B | |≤b, b are the second preset value；| | | | to take model
Numerical symbol.
It is understood that being root according to the process for obtaining the first perturbation matrices in the uncertain matrix of sytem matrix A
The matrix operation process carried out according to Matrix Perturbation.
The step 2, comprising:
According to the updated state space equation, the tracking error of the system, the signal trace system of construction
System are as follows:
Wherein,
yrIt (t) is track reference input signal；E (t) is tracking error；For the derivative of tracking error；
According to the signal trace system of construction, mathematic(al) manipulation, the increasing of the available signal trace system equivalence are carried out
Wide system:
Wherein,For the augmentation system of the signal trace system
System；For the augmented matrix of sytem matrix；For the augmented matrix of the first perturbation matrices；For the augmented matrix for controlling matrix；For the augmented matrix of the second perturbation matrices；Z (t) is the state of augmented system；For the output of augmented system；
The step 3, comprising:
Obtain the ffault matrix of the system, M=diag (m1,m2,m3,...,mm), wherein obtain the side of ffault matrix
Formula is the prior art, i.e., is measured the fault data in each channel of actuator using multiple sensors and write fault data as matrix
Form.
Wherein miIt is i-th of element in ffault matrix.Here work as miWhen=0, indicate that i-th channel of actuator is entirely ineffective；
Work as miWhen=1, indicate that i-th channel of actuator works normally；As 0 < miAnd miWhen ≠ 1, i-th channel part of actuator is indicated
Failure, caused by the reason is that due to components aging and interference etc. factors make component output signals deviate exact value.
Then control law u (t)=Kz (t) is designed, K is feedback gain matrix；
Then actuator failures are uf(t)=Mu (t), M are ffault matrix；
So that the perturbation matrices that the parameter uncertainty vector of all permissions generates, the updated signal trace system
System augmented system of equal value is
To the augmented system of the updated signal trace system equivalence, a performance indicator is provided
Wherein the first Q > 0 given weighting matrix, R > 0 is the second given weighting matrix；
In the first default value range of the first weighting matrices Q, in the second default value range of the second weighted matrix R
It is interior, it is preset in value range in the third of parameter ε, solves function using LMI and solve inequality
Solve W and X；Wherein, X is positive definite matrix；W is coupling terms, i.e. W=KX；Then acquired according to the value of W and X, optimization
Feedback oscillator is K=WX-1, the feedback oscillator K of optimization substitutes into the augmented system of the updated signal trace system up to excellent
The signal trace system of change.K is feedback in feedback oscillator K of the present invention and previously mentioned control law u (t)=Kz (t)
Gain matrix indicates same meaning, the i.e. form that feedback oscillator K is feedback gain matrix；It should be noted that the matrix differs
The matrix of formula is symmetrical matrix, and asterisk * represents the element that the diagonal of a matrix of the inequality or less is omitted, the element being omitted
Identical as element identified above and diagonally symmetrical, the asterisk * appeared below is similarly represented as it in affiliated symmetrical matrix
The element being omitted below diagonal line, the element being omitted are identical as element identified in affiliated symmetrical matrix and diagonally
Symmetrically.
To the value that first weighting matrices Q, second weighted matrix R and the parameter ε take multiple groups different, substitute into
Inequality
The value of multiple groups W and X is acquired, so that the value of the feedback oscillator K of multiple optimizations is obtained, by the feedback oscillator of multiple optimizations
K substitutes into the augmented system of the updated signal trace system respectively up to the signal trace system of multiple optimizations, will be multiple
The signal trace system of optimization is compared with the signal trace system being not optimized respectively, obtains the signal trace of optimization
System.
Specifically, the augmented system of the signal trace system equivalence meets design objective below:
(61) augmented system of the signal trace system equivalence is asymptotically stable；
(62) the performance indicator Θ of the augmented system of the signal trace system equivalence be no more than always it is preset just
Number Θ*。
The proof of asymptotically stability inside the augmented system of the signal trace system equivalence is given below, specific steps are such as
Under:
The lemma for needing to use in proof procedure is listed first and definition facilitates the reference of subsequent proof procedure, is defined and is drawn
It manages as follows:
Define 1: for the augmented system of the signal trace system equivalenceWith
Performance indicator Θ is considering actuator failures model, that is, updated state space equationIn the case where, make system output y (t) gradually if there is control law u (t)=Kz (t)
Close tracking reference-input signal yr(t), that is, haveIt sets up, then the augmentation system of the signal trace system equivalence
It is referred to as reliable Optimal Control System, control law u (t)=Kz (t) is reliable optimization tracing control rule.
Lemma 1: there are x and y vectors, set up following inequality:
±2xy≤xTQx+yTQ-1y
Wherein Q is the positive definite matrix of any default dimension.
Lemma 2: for the augmented system of the signal trace system equivalence
If there is feedback gain matrix K, makeInternal Asymptotic Stability, then the signal trace system
The augmented system for equivalence of unitingOutput signal y (t) asymptotic tracking reference signal yr
(t)。
Lemma 3: setting A is any square matrix, then there is matrix P > 0, so that ATPA-P+T < 0 is and if only if there are matrix X >
0, so that
Define 2: for the augmented system of the updated signal trace system equivalenceWith performance indicator Θ, if there is a control law u*With a positive number Θ*, so that right
The uncertainty of all permissions, the augmented system of the updated signal trace system equivalenceIt is asymptotically stable, and closed-loop characteristic index value meets Θ < Θ*, then Θ*It is referred to as described
The augmented system of signal trace system equivalenceA performance upper bound, u*With regard to claiming
For the augmented system of the signal trace system equivalenceAn optimal control
It restrains (Optimal control law).
Lemma 4: for signal trace systemWith performance indicator Θ, one if it exists
A feedback gain matrix K and positive definite symmetric matrices P, so that the system mode z (t) of all non-zeros hasThen meet control law u (t)=Kz of the formula
(t) it may make the augmented system of the updated signal trace system equivalenceIt is secondary
Stable, and corresponding closed-loop characteristic index value meets Θ≤x0 TPx0, x0It is the original state of system.
By analyzing ffault matrix, it is divided into two parts carry out analytical proof:
Situation i: invertor operation situation when ffault matrix non-unity matrix, i.e. actuator failures；
In view of the augmented system of the updated signal trace system equivalence of inverterActuator break down, i.e. ffault matrix M ≠ I provides reliable optimization tracing control
Adequate condition, it is described optimization tracing control adequate condition are as follows:
Augmented system of the theorem 1 for the signal trace system equivalenceIf
There are any positive real numbersPositive definite matrix X and Y meet inequality
Then make internal system asymptotically stability, while output signal y (t) in the presence of Feedback Control Laws u (t)=Kz (t) of optimization
Asymptotic tracking reference signal yr(t)。
Specific proof is given below: according to definition 2, the augmented system of the updated signal trace system equivalenceThere are control law u (t)=Kz (t) and if only if there are feedback gain matrix K and
One symmetrical matrix P > 0, takes liapunov function V (t)=zT(t) Pz (t), then:
In order to facilitate statement can by multinomial,
It is indicated, can be obtained with symbol S:
Above formula can be equivalent to there are symmetrical matrix X > 0, X=P by lemma 3-1, so that
Define matrix
ThenFormula can be write as again
MATRIX INEQUALITIESIt sets up, then there is control law u (t)=Kz (t), make
Obtain the augmented system of the updated signal trace system equivalenceStablize, and signal with
Track service systemOutput signal y (t) asymptotic tracking reference-input signal yr(t).When
And if only if there are a constant ε > 0, so that
I.e.
Wherein
Mending property according to the Schur of matrix can obtain
S < 0 is obtained, i.e.,W is coupling terms, that is, W=KX in formula, can obtain optimization problem theorem 1, that is, feed back
Gain K=WX-1, so that the augmented system of the updated signal trace system equivalenceIt is interior
Portion's Asymptotic Stability, i.e.,Known again by lemma 2, signal trace systemOutput letter
Number y (t) asymptotic tracking reference-input signal yr(t), card is finished.Wherein, forUsing matlab, solve to obtain W, X by LMI, thus
Feedback gain matrix K and the optimizing feedback control rule u (t) optimized, substitutes into updated described signal trace system etc.
The augmented system of valenceThe signal trace system optimized.To first weighting matrix
Q, the value that second weighted matrix R and the parameter ε take multiple groups different substitutes into the value that inequality acquires multiple groups W and X, from
And obtain the value of the feedback oscillator K of multiple optimizations, by the feedback oscillator K of multiple optimizations substitute into respectively the updated signal with
The augmented system of track system up to multiple optimizations signal trace system, by the signal trace system of multiple optimizations respectively with not into
The signal trace system of row optimization is compared, and obtains the signal trace system of optimization.
Situation ii: invertor operation situation when ffault matrix is unit matrix, i.e. fault-free；
For the augmented system of the signal trace system equivalenceIn the presence of
Positive definite matrix X, actuator failures matrix M and feedback gain matrix K meet following inequality (r > 0, r are constant)
It can be obtained above by lemma 2 and the proof of lemma 3, there are control law u (t)=Kz (t), so that the updated letter
The augmented system of number tracking system equivalenceStablize, and signal trace systemOutput signal y (t) asymptotic tracking reference signal yr(t)。
For fault-free normal system, that is, when taking ffault matrix M=I it can be seen that: for the signal trace system equivalence
Augmented systemCorresponding fault-free normal system, there are any positive real number ε >
0, positive definite matrix X and Y meet inequality (specific derivation process are referring to hereinafter situation i)
Q-1Indicate the inverse matrix of Q, then the augmented system of the updated signal trace system equivalenceCorresponding fault-free normal system, the feedback optimized control law u (t) of existence=Kz
(t), so that fault-free normal system closed-loop stabilization, and signal trace systemOutput
Signal y (t) asymptotic tracking reference signal yr(t)。
By above technical scheme, a kind of three-phase grid-connected inverter based on optimization provided by the present invention reliably tracks control
Method processed occurs carrying out reliable optimization tracing control when actuator failures in inverter control, break down, inverter
Output be improper output, desired trajectory is designed to the output form of former healthy inverter by optimization tracking, so that inverse
Curve of output after becoming device failure tracks upper desired output track, to enable the inverter to break down within a certain period of time
There is normal table output, avoids by the failure bring loss in inverter, achieve the purpose that reliably to optimize tracing control.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (7)
1. a kind of three-phase grid-connected inverter reliable tracking control method based on optimization, which comprises the following steps:
Step 1: it according to actuator failures situation in the uncertain and described inverter during invertor operation, establishes
The state space equation of system；
Step 2: pass through the state space equation of system, modelled signal tracking system；
Step 3: providing ffault matrix form, optimizes to the signal trace system of composition；
Step 4: by analyzing ffault matrix, the signal trace system stabilization and property for prove optimization design are divided into two parts
Energy index is no more than preset positive number:
(a) invertor operation situation when ffault matrix is unit matrix, i.e. fault-free；
(b) invertor operation situation when ffault matrix non-unity matrix, i.e. actuator failures.
2. a kind of three-phase grid-connected inverter reliable tracking control method based on optimization according to claim 1, feature
It is, the step 1 is that the main circuit of the gird-connected inverter based on LCL filter establishes the state space equation of system, described
The main circuit of gird-connected inverter based on LCL filter includes capacitor C1, capacitor C2, capacitor C3, capacitor C4, capacitor C5, IGBT
Pipe VT1, IGBT pipe VT2, IGBT pipe VT3, IGBT pipe VT4, IGBT pipe VT5, IGBT pipe VT6, inductance L1, inductance L2, inductance L3,
Inductance L4, inductance L5, inductance L6, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance R7, resistance R8,
Resistance R9, alternating message source E1, alternating message source E2 and alternating message source E3；
One end of the capacitor C1 is connect with one end of the capacitor C2, and the emitter of the IGBT pipe VT1 is with IGBT pipe VT4's
Collector connection, the emitter of the IGBT pipe VT3 connect with the collector of IGBT pipe VT6, the emitter of IGBT pipe VT5 and
The collector of IGBT pipe VT2 connects, the collector of IGBT pipe VT1, IGBT pipe VT3 and IGBT pipe VT5 with the electricity
Hold the other end connection of C1, the emitter of IGBT pipe VT4, IGBT pipe VT6 and IGBT pipe VT2 is with the capacitor C2's
Other end connection, IGBT pipe VT1, IGBT pipe VT2, IGBT pipe VT3, IGBT pipe VT4, IGBT pipe VT5 and IGBT pipe VT6
The equal input drive signal of grid, connect inductance on the line of the collector of the emitter and IGBT pipe VT4 of the IGBT pipe VT1
The other end of one end of L1, inductance L1 is connect by resistance R1, inductance L4, resistance R4 with the output end of alternating message source E1, institute
State one end that inductance L2 is connected on the line of the emitter of IGBT pipe VT3 and the collector of IGBT pipe VT6, the other end of inductance L2
Connect by resistance R2, inductance L5, resistance R5 with the output end of alternating message source E2, the emitter of the IGBT pipe VT5 with
One end of inductance L3 is connected on the line of the collector of IGBT pipe VT2, the other end of inductance L3 passes through resistance R3, inductance L6, electricity
Resistance R6 is connect with the output end of alternating message source E3, the alternating message source E1, alternating message source E2 and alternating message source E3
Input terminal be both connected to together；Connected on line between the resistance R1 and inductance L4 by one end of capacitor C3 and resistance R7
It connects, is connect by capacitor C4 with one end of resistance R8 on the line between the resistance R2 and inductance L5, the resistance R3 and electricity
It is connect with one end of resistance R9 on line between sense L6 by capacitor C5, the resistance R7, resistance R8 and resistance R9's is another
One end is both connected to together；Voltage between the other end of the capacitor C1 and the other end of the capacitor C2 is DC voltage
Udc, the inductance value of the inductance L1, inductance L2 and inductance L3 are LS, the resistance value of the resistance R1, resistance R2 and resistance R3
For RS, the inductance value of the inductance L4, inductance L5 and inductance L6 are Lg, the resistance value of the resistance R4, resistance R5 and resistance R6
For Rg, the resistance value of the resistance R7, resistance R8 and resistance R9 are Rc, the alternating message source E1, alternating message source E2 and friendship
The signal for flowing signal source E3 is e, and the output current value of the resistance R1, resistance R2 and resistance R3 are iS, output electricity
Flow iSThe electric current of branch is i where separately flowing into capacitor C3, capacitor C4 and capacitor C5c, output electric current iSSeparately flow into inductance
The electric current of L4, inductance L5 and the place inductance L6 branch is ig。
3. a kind of three-phase grid-connected inverter reliable tracking control method based on optimization according to claim 2, feature
It is, the step 1, comprising:
The main circuit of gird-connected inverter based on LCL filter obtains LCL filter according to kirchhoff Current Voltage law
The differential equation, converted by Clarke, eliminate three-phase in common mode component, obtain the differential equation under two-phase stationary coordinate system
Are as follows:
In formula, iskFor inverter side electric current；igkFor current on line side；UoutkFor inverter output voltage；UckFor capacitance voltage；Ugk
For network voltage；
The state space equation of LCL filter is obtained according to the differential equation are as follows:Wherein,
X=[is ig Uck] it is state vector；
X (t) is the state of state space equation；For the derivative of x (t)；A is the sytem matrix of the state space equation, and A ∈
Rn×n, Rn×nIt is the real number matrix of n row n column；B is the control matrix of the state space equation, and B ∈ Rn×m, Rn×mIt is n row m column
Real number matrix；C is the output matrix of default dimension, and C ∈ Rq×n, Rq×nIt is the real number matrix of q row n column；U (t) is system
Input, and u (t) ∈ Rm, RmFor the square matrix of m row m column；Y (t) is system output, and y (t) ∈ R, t are the moment；
According to actuator failures situation, more new system in the uncertain and described inverter during the invertor operation
State space equation, the updated state space equation are as follows:
Wherein: uf(t)∈RmFor the control input for considering actuator failures；Δ A is sytem matrix A uncertain parameters to volume production
The first raw perturbation matrices, and Δ A ∈ Rn×n, | | Δ A | |≤a, a are the first preset value；Δ B is the uncertainty for controlling matrix B
The second perturbation matrices that parameter vector generates, and Δ B ∈ Rn×m, | | Δ B | |≤b, b are the second preset value；| | | | to take norm
Symbol.
4. a kind of three-phase grid-connected inverter reliable tracking control method based on optimization according to claim 3, feature
It is, the step 2, comprising:
According to the updated state space equation, the tracking error of the system, the signal trace system of construction are as follows:
Wherein,
yrIt (t) is track reference input signal；E (t) is tracking error；For the derivative of tracking error；
The augmented system of the signal trace system equivalence obtained is,
Wherein,
For the augmented system of the signal trace system；For the augmented matrix of sytem matrix；For the first perturbation matrices
Augmented matrix；For the augmented matrix for controlling matrix；For the augmented matrix of the second perturbation matrices；Z (t) is augmented system
State；For the output of augmented system；
5. a kind of three-phase grid-connected inverter reliable tracking control method based on optimization according to claim 4, feature
It is, the step 3, comprising:
The ffault matrix of the system is obtained,
M=diag (m1,m2,m3,...,mm), 0≤mi, i=1,2,3 ... m
Wherein, miIt is i-th of element in ffault matrix, works as miWhen=0, indicate that i-th channel of actuator is entirely ineffective；Work as mi=1
When, indicate that i-th channel of actuator works normally；As 0 < miAnd miWhen ≠ 1, i-th channel part failure of actuator is indicated；
Then control law u (t)=Kz (t) is designed, K is feedback gain matrix；
Then actuator failures are uf(t)=Mu (t), M are ffault matrix；
So that the perturbation matrices that the parameter uncertainty vector of all permissions generates, updated described signal trace system etc.
The augmented system of valence is
To the augmented system of the updated signal trace system equivalence, using formula,
The performance indicator of the augmented system of updated signal trace system equivalence is obtained,
Wherein, Θ is the performance indicator of the augmented system of updated signal trace system equivalence；Q is the first given weighting matrix,
And Q > 0；()TFor transposed matrix；R > 0 is the second given weighting matrix；And uf(t)=Mu (t), u (t)=Kz (t)；
In the first default value range of the first weighting matrix battle array Q, in the second default value range of the second weighted matrix R
It is interior, it is preset in value range in the third of parameter ε, solves function using LMI and solve inequality
Solve W and X；Wherein, X is positive definite matrix；W is coupling terms；
Formula, K=WX are utilized according to the value of W and X-1, the feedback oscillator of calculation optimization, and by the feedback oscillator K of the optimization of calculating
It substitutes into the augmented system of the updated signal trace system, the signal trace system optimized；Wherein, the inequality
Matrix be symmetrical matrix, asterisk * represents the element that the diagonal of a matrix of the inequality or less is omitted, the element being omitted with
Element identified above is identical and diagonally symmetrical.
6. a kind of three-phase grid-connected inverter reliable tracking control method based on optimization according to claim 5, feature
It is, the feedback oscillator K of the optimization by calculating is substituted into the augmented system of the updated signal trace system, is obtained
The signal trace system of optimization, comprising:
According to the value of several groups W and X, the value of the feedback oscillator K of optimization is calculated separately, and by the feedback oscillator K of the optimization of acquisition
The augmented system for substituting into the updated signal trace system respectively obtains the signal trace system of several optimizations, and will
The signal trace system of the smallest optimization of tracking error is as the signal trace system optimized.
7. a kind of three-phase grid-connected inverter reliable tracking control method based on optimization according to claim 6, feature
It is, the augmented system of the signal trace system equivalence meets design objective below:
(61) augmented system of the signal trace system equivalence is asymptotically stable；
(62) the performance indicator Θ of the augmented system of the signal trace system equivalence is no more than preset positive number Θ always*。
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