CN110112940A - A kind of PWM rectifier adaptive sliding mode QPIR control method under the β coordinate system based on α - Google Patents
A kind of PWM rectifier adaptive sliding mode QPIR control method under the β coordinate system based on α Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/01—Arrangements for reducing harmonics or ripples
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/26—Arrangements for eliminating or reducing asymmetry in polyphase networks
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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
- H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
- H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
- H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/21—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/217—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M7/219—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only in a bridge configuration
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
- Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/40—Arrangements for reducing harmonics
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/50—Arrangements for eliminating or reducing asymmetry in polyphase networks
Abstract
The invention discloses the PWM rectifier adaptive sliding mode QPIR control methods under a kind of β coordinate system based on α, belong to power electronics and its control technology field.Control strategy of the invention are as follows: one, using the DC bus-bar voltage of rectification side as outer ring, i is exported by adaptive sliding-mode observerdref；Two, the i that will be obtaineddrefAs the given value of inner ring watt current, idle given iqrefIt is set as zero, is exported by the static α β coordinate system of two-phaseThree, willWith the i of grid sideα、iβIt is compared, current error is obtained through QPIR controllerWithFour, it will obtainVSR operation is controlled by SVPWM.The present invention uses adaptive sliding-mode observer, and variation when load sudden change can not be tracked compared to traditional sliding mode controller, improves the response characteristic of system；Inner ring overcomes the problems such as conventional PI control device is slow to current inner loop reference instruction tracking adjustment speed, the rejection ability disturbed that distorts there are static error, simultaneously to network voltage is weak using quasi- proportional integration resonant regulator.
Description
Technical field
The invention belongs to power electronics and its control technology fields, more specifically to one kind based under α β coordinate system
PWM rectifier adaptive sliding mode QPIR control method.
Background technique
Control algolithm is the core of PWM rectifier, and the superiority and inferiority of control algolithm directly determines the operational effect of rectifier.PWM
The main purpose of rectifier is to maintain DC voltage stability and net side input current sine.Traditional control strategy mainly has electricity
Flow closed-loop vector control strategy (VOC) and direct Power Control strategy (DPC).Vector control strategy dynamic based on current closed-loop
Response is slower, poor to the interference free performance of the disturbances such as mains by harmonics and load variation.The power inner ring of DPC control strategy has
The advantage that state response is fast and algorithm is simple, but make system there is switching frequency to be not fixed using hysteresis comparator and be stranded with filter design
The disadvantages of difficult.In addition, having also been proposed three-phase voltage according to the imbalance of three-phase voltage and the difference of filtering mode, the prior art
Control method when uneven and the control method etc. using LCL, LC filter.In order to obtain the PWM rectifier of higher performance,
Scholars successively propose following methods:
(1) it is controlled based on Lyapunov Theory of Stability
Liapunov exponent describes the convergence property of adjacent track in system space.Since Three-Phase PWM Rectifier has
There is the characteristic of close coupling, multivariable, traditional analysis is difficult to meet the needs of rectifier is for stability in large.Hasan
Komurcugil establishes the Liapunov side of PWM rectifier using rectifier filter inductance and DC side storage capacitor as variable
Journey can intuitively judge the stability of system according to Liapunov exponent.Ruo Liyapu is greater than zero shakiness with regard to index
Fixed, on the contrary then system is stablized.Li Yapu can effectively solve the problem that the control problem of VSR global stability with regard to theory.The controlling party
For method according to constructed specific mathematical model, the precision of model is higher, and the performance of system will be better, but due to energy letter
Several construction methods is not unique, thus how to construct energy function the most suitable by be the control method key point, and
The dynamic property deviation of the control method.
(2) Sliding mode variable structure control (SMC)
SMC is a kind of nonlinear Control, and feature is the being not fixed property of " structure ", is constantly become according to the current state of system
Change, it is made to advance according to preset " sliding mode " track.It can be effectively suppressed using Sliding mode variable structure control PWM rectifier
The interference of mains by harmonics and the fluctuation of load has the advantages that strong robustness, dynamic response are fast, control structure is simple.But due to
The factors such as system inertia and system control finite energy, buffeting can be generated when state point passes through diverter surface, to system stability
It impacts.Buffeting be it is inherent, may only weaken and cannot eliminate.
(3) PWM rectifier controls under the conditions of unbalanced power supply
The reason of causing unbalanced power supply mainly has: threephase load is uneven, (single-phase earthing is short for power grid asymmetric fault
The failures such as road and two-phase phase fault), the non-three phase transposition of the operation of great power single phase load and transmission line of electricity etc..Power grid is uneven
Under the conditions of weighing apparatus, conventional method is difficult to meet PWM rectifier performance requirement, and negative sequence voltage can generate low-order harmonic (with secondary humorous
Based on wave), the normal operation of rectifier is not only influenced, or even cause equipment damage.Positive-negative sequence is generallyd use to decompose or using humorous
The method of vibration adjuster eliminates the negative-sequence current of rectifier, and then eliminates low order current harmonics, improves rectifier performance.But because
This method needs to carry out positive and negative sequence component to network voltage and electric current and harmonic component extracts, and needs largely to filter
Device and calculating link, implementation method is complicated, and because control system delay causes control effect to be difficult to be guaranteed.
Summary of the invention
1. technical problems to be solved by the inivention
It is an object of the invention to overcome, conventional PI control device is slow to current inner loop reference instruction tracking adjustment speed, exists
Static error, the rejection ability disturbed that distorts simultaneously to network voltage are weak, poor to the interference free performance of the disturbances such as load variation；Together
When, for when load sudden change occurs, traditional sliding mode controller can not track this variation, so that the response for influencing system is special
The problem of property；Provide the PWM rectifier adaptive sliding mode QPIR control method under a kind of β coordinate system based on α.The present invention uses
Adaptive sliding mode controller with switching characteristic improves the response characteristic of system well.
2. technical solution
In order to achieve the above objectives, technical solution provided by the invention are as follows:
PWM rectifier adaptive sliding mode QPIR control method under a kind of β coordinate system based on α of the invention, including it is following
Step:
Step 1:, by adaptive sliding mode controller, obtaining watt current using the DC bus-bar voltage of rectification side as outer ring
Given value idref；
Step 2: the given value i that will be obtaineddrefWith given iqrefCurrent instruction value is obtained by coordinate transformation module
Step 3: the current instruction value that will be obtainedWith the i of grid sideα、iβIt is compared, current error is through QPIR
Controller obtainsWith
Step 4: will finally obtainVSR operation is controlled by SVPWM.
Further, outer voltage is constituted using adaptive sliding mode controller in step 1, by reference value and actual value
State variable of the error as control system, i.e. selection state variable error ev=vdcref-vdc, the selection of sliding-mode surface switching function is such as
Under:
In formula, vdcrefTo give reference voltage, vdcFor DC side output voltage, β is the feedback factor of variable-structure control,
It is and DC side output voltage vdcThe related time constant of first-order kernel；
Pass through real-time detection load current iLTo reconstruct load resistance RLValue, formula are as follows:
It willAbove formula is substituted into obtain:
When the operation of Three-Phase PWM Rectifier unity power factor, iq=0, eq=0, diq/ dt=0, then sq=-ω Lid/
vdc；Under steady state conditions, a reactor, idFor DC quantity, Ldi is enabledd/ dt=0 can obtain sd=-(ed-Rid)/vdc；In constant power coordinate transform
Under,UrmsPhase voltage virtual value is inputted for net side, and because giving reference voltage vdcrefFor definite value, then dvdcref/
Dt=0, by sd、sqSubstituting into above formula abbreviation can obtain
Thus obtain outer loop voltag and adjust equation, output result as current inner loop given reference value i.e.:
In formula, iLFor load current, C represents DC bus capacitor, and R indicates the stray impedance on inductance and route.
Further, the given value i that will be obtained in step 2drefWith given iqrefPass through synchronously rotating reference frame inversion
I.e. 2r/2s is changed to convert to obtain the value fastened in two-phase α β static coordinateWithTransformation for mula is as follows:
Wherein, θ is the angle of d axis and α axis in transformed coordinate system.
Further, the current instruction value that step 3 will obtainWith the i of grid sideα、iβIt is compared, specifically
Are as follows:
Current error is obtained through QPIR controllerWithSpecially
In above formula, resonance frequency omega0=2 π f ≈ 314rad/s, KPAnd KIIt is ratio and integral coefficient, K respectivelyRIt is resonance
Gain coefficient, ωcFor cutoff frequency.
Further, step 4 passes through and obtainsJudge sector locating for space vector and calculates space arrow
The action time of amount:
Wherein, T is PWM cycle, T1For the action time of space vector V1, T2For the action time of space vector V2；
Similarly, also action time of available other sector space vectors；Then space is determined further according to locating sector
Vectors switching point Tcm1, Tcm2, Tcm3 are finally connected IGBT according to space vector switching point and generate PWM waveform, to control
VSR operation.
3. beneficial effect
Using technical solution provided by the invention, compared with existing well-known technique, there is following remarkable result:
(1) the PWM rectifier adaptive sliding mode QPIR control method under a kind of β coordinate system based on α of the invention, by QPIR
Controller is expanded into rectifier closed-loop control, realizes that the error free tracking to AC signal is adjusted, while when network voltage is sent out
When raw distortion, it can effectively inhibit current disturbing；
(2) the PWM rectifier adaptive sliding mode QPIR control method under a kind of β coordinate system based on α of the invention, passes through control
Quantity method processed and definition harmonic impedance give QPIR controller parameter selection gist, while introducing adaptive sliding moding structure control
The dynamic property of raising system processed enhances anti-disturbance ability；
(3) the PWM rectifier adaptive sliding mode QPIR control method under a kind of β coordinate system based on α of the invention, overcomes
Conventional PI control device is slow to current inner loop reference instruction tracking adjustment speed, distorts there are static error, simultaneously to network voltage
The problem of weak, to disturbances such as load variations the interference free performance difference of the rejection ability of disturbance；Meanwhile for traditional sliding formwork control
Device can not track variation when load sudden change occurs, the problem of influencing the response characteristic of system, using with switching characteristic from
Sliding mode controller is adapted to, improves the response characteristic of system well.
Detailed description of the invention
Fig. 1 is Three-Phase PWM Rectifier main circuit structure figure in the present invention；
Fig. 2 is the root locus diagram of PIR controller in the present invention；
Fig. 3 is PIR and quasi- PIR controller bode figure in the present invention, wherein (a) is ideal PIR controller bode figure, (b)
Compare figure for PIR and quasi- PIR controller frequency characteristic；
Fig. 4 is quasi- PIR controller functional block diagram in the present invention；
Fig. 5 is Parameters variation in the present invention to the amplitude-frequency characteristic influence diagram of PIR controller, wherein (a) is KPChange time control
Device amplitude-frequency characteristic figure processed (b) is KIController amplitude-frequency characteristic figure when variation (c) is KRController amplitude-frequency characteristic figure when variation, (d)
For WCController amplitude-frequency characteristic figure when variation；
Fig. 6 is adaptive sliding mode variable structure control device functional block diagram in the present invention；
Fig. 7 is Three-Phase PWM Rectifier control system block diagram in the present invention；
(a) in Fig. 8 is the quasi- PIR controller block diagram of harmonic compensation；(b) in Fig. 8 is harmonic compensation bode figure；
Fig. 9 is that DC side output voltage and net side are defeated when network voltage normally descends system starting and load sudden change in the present invention
Enter current simulations waveform diagram；Wherein, figure (a) is DC side output voltage and net side when tradition sliding formwork QPR controls lower system starting
Input current simulation waveform；Scheming (b) is DC side output voltage and net side input when tradition sliding formwork QPR controls lower load sudden change
Current simulations waveform diagram；Scheming (c) is DC side output voltage and net side input when adaptive sliding mode QPIR controls lower system starting
Current simulations waveform diagram；Scheming (d) is DC side output voltage and net side input when adaptive sliding mode QPIR controls lower load sudden change
Current simulations waveform diagram.
Figure 10 is that DC side is defeated when network voltage distorts grid side voltage and current waveform and load sudden change in the present invention
Voltage and net side input current simulation waveform out；Wherein, figure (a) is DC side when tradition sliding formwork QPR controls lower load sudden change
Output voltage and net side input current simulation waveform；Scheming (b) is that tradition sliding formwork QPR controls lower grid side voltage and current waveform
Figure；Scheming (c) is DC side output voltage and net side input current simulation waveform when adaptive sliding mode QPIR controls lower load sudden change
Figure；Scheming (d) is that adaptive sliding mode QPIR controls lower grid side voltage and current waveform diagram.
Figure 11 is network voltage distortion lower net side input voltage, electric current THD in the present invention；Wherein, figure (a) is grid side electricity
Pressure；Scheming (b) is that tradition sliding formwork QPIR controls lower grid side electric current；Scheming (c) is that adaptive sliding mode QPIR controls lower grid side electric current.
Figure 12 is the schematic diagram of Three-Phase PWM Rectifier control system in the present invention.
Label declaration in schematic diagram:
I, adaptive sliding mode controller；II, coordinate transformation module；III, quasi- PIR controller；IV, space vector modulation module
(SVPWM)；V, rectifier bridge.
Specific embodiment
To further appreciate that the contents of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment 1
PWM rectifier adaptive sliding mode QPIR controlling party in conjunction with attached drawing, under a kind of β coordinate system based on α of the present embodiment
Method, in power grid, Control system architecture is as shown in figure 12 under normal circumstances.Including adaptive sliding mode controller I, coordinate transform mould
Block (2r/2s) II, quasi- PIR controller III, space vector modulation module (SVPWM) IV and rectifier bridge V.The present embodiment is first with whole
The DC bus-bar voltage for flowing side is outer ring, exports i by adaptive sliding-mode observerdref；The i that will be obtaineddrefAs the active electricity of inner ring
The given value of stream, idle given iqrefIt is set as zero, is exported by the static α β coordinate system of two-phaseAgain willAnd electricity
The i of net sideα、iβIt is compared, current error is obtained through QPIR controllerWithIt will finally obtainPass through
SVPWM controls VSR operation.
The control method of the present embodiment is that inventor is controlling research for the double PI and tradition sliding formwork QPR of tradition and improving
A kind of new method invented in the process.Inventor points out that the new type of control method is needed in use by adaptive sliding mode control
Three device processed, coordinate transform (2r/2s), quasi- PIR controller block coupled in series use, and it is noted that parameter cooperation, otherwise may be used
It can lead to the failure of control.
Below by the present embodiment adaptive sliding mode QPIR control method and principle be specifically described.
PWM rectifier topological structure and mathematical model
Two level PWM rectifier main circuit topological structure of three-phase voltage type is as shown in Figure 1.In Fig. 1, main circuit is by IGBT structure
At net side input voltage ea、ebAnd ecUsing three-phase symmetrical without neutral conductor connection type；ia、ibAnd icFor three-phase input current；L
For filter inductance, inductance is indicated with the stray impedance on route with resistance R；C represents DC bus capacitor；vdcElectricity is exported for DC side
Pressure；RLFor the load of DC side equivalent load namely rectifier, iLFor load current.For simplied system structure, it is assumed that institute is active
Rate switching device is ideal element, and switching frequency is much larger than net side fundamental frequency.
Mathematical model of the Three-phase PWM Voltage Rectifier under three-phase static coordinate system are as follows:
Sa, Sb, ScFor the unipolarity two-valued function state of each phase bridge arm switching tube, expression formula are as follows:
SkWhen=1, the upper bridge arm of VSR is connected, lower bridge arm shutdown；
SkWhen=- 1, the lower bridge arm of VSR is connected, upper bridge arm shutdown, (k ∈ { a, b, c }).
VSR has the advantages of intuitive, clear physics conception based on the general mathematics model of rest frame, but its function
Expression formula is non-linear, time-varying parameter, to increase the analysis difficulty of VSR control strategy.If three phase mains is desirable balance
PWM rectifier is transformed to two-phase stationary coordinate system α β, mathematical model by three-phase static coordinate system by power supply are as follows:
In formula, eα、eβFor the voltage on line side under α β coordinate system, iα、iβFor the current on line side under α β coordinate system；vα、vβFor α β
Switching tube both end voltage under coordinate system.Wherein, vα、vβIt can be indicated with the relationship of switch state are as follows:
The mathematical model under rotating coordinate system dq is transformed to through Park by two-phase stationary coordinate system α β are as follows:
In formula, ed、eqRespectively phase voltage；id、iqRespectively phase current；sd、sqRespectively switch function is in coordinate system dq
Under variable.
Adaptive sliding mode QPIR control method
The operation of its unity power factor and current on line side sine are mainly realized for the control of PWM rectifier, and protected
Demonstrate,prove DC-side Voltage Stabilization output.DAZ gene exchange instruction, dynamic response are difficult to slowly for traditional controller and are resisted dry
Immunity can be poor, while bad and when load sudden change occurs to the rejection ability of network voltage distortion disturbance in current inner loop, biography
The problems such as sliding mode controller of system can not track this variation, influence the response characteristic of system.The present embodiment proposes QPIR control
The Novel Control combined with adaptive sliding-mode observer, i.e. outer voltage are stablized straight using adaptive sliding mode variable structure control
Side output voltage is flowed, improves system anti-disturbance ability, and reference current is instructed into idrefIt is supplied to current inner loop；In electric current
Ring is controlled using quasi- PIR, without Rotating Transition of Coordinate, cross-couplings item and feedforward compensation term is not present, in rest frame
The lower DAZ gene adjusting that can reach to AC signal, to realize the good control to rectifier current on line side.
The quasi- PIR controller design of current inner loop
PIR control is put forward on the basis of conventional PI control, it is intended to which net is realized in DAZ gene control exchange instruction
Side current sinusoidal and unity power factor operation.
Conventional PI control device transmission function are as follows:
Gain at power grid fundamental frequency is
In formula, KPFor proportionality coefficient；KIFor integral coefficient；ω0For cutoff frequency.
According to internal model principle, in order to realize the zero steady state error control of signal, it is necessary to the model of signal is covered in controller,
Gain of the conventional PI control device at power grid fundamental frequency is finite value it can be seen from formula (6), therefore it is sinusoidal electric in tracking
It will appear steady-state error when flowing signal, it is difficult to realize the DAZ gene to electric current.
PIR controller is different from PI controller, transmission function are as follows:
Gain at power grid fundamental frequency is
In formula, resonance frequency omega0=2 π f ≈ 314rad/s, KPAnd KIIt is ratio and integral coefficient, K respectivelyRIt is that resonance increases
Beneficial coefficient.The root locus diagram of the transmission function is obtained, as shown in Figure 2.
It can thus be seen that being controlled based on the PIR under α β two-phase stationary coordinate system due to the j ω in controller transfer function
The open loop pole of two fixed frequencies is added on axis, keeps its gain at fundamental frequency infinitely great, therefore system is realized in the frequency
Zero steady-state error tracking under rate, can directly control of ac.
Fig. 3 (a) is the amplitude-versus-frequency curve of ideal PIR controller, shown in transmission function such as formula (7), but in reality
In, PIR controller gain very little, mains frequency at non-fundamental frequency once shift, and cannot effectively inhibit power grid
Harmonic wave, therefore a kind of quasi- PIR controller being easily achieved, transmission function are proposed on the basis of PIR control are as follows:
Wherein ωcFor cutoff frequency, it is mainly used for increasing the bandwidth of R adjuster, to reduce it to mains frequency fluctuation
Sensitivity.
From Fig. 3 (b) as can be seen that quasi- PIR control is larger compared to PIR control gain at non-fundamental frequency, this is special
Property meets the problem that disresonance dot gains are small when mains frequency fluctuates, and can effectively inhibit mains by harmonics.Following
In discussion, PIR controller is replaced with quasi- PIR controller.
Functional block diagram subject to Fig. 4 when PIR controller tracking net side sinusoidal current signal.In figure, iαFor the static seat of two-phase
Current on line side under mark system α β,For inner ring reference current.During quasi- PIR controller parameter designing, it can be seen by formula (9)
Influence its control performance out has KP、KI、KRAnd ωcFour parameters successively analyze this four control parameters by control variate method
Influence for rectifier systems performance, the amplitude-frequency characteristic that Parameters variation is directed at PIR controller influence as shown in Figure 5.
It can be seen that Proportional coefficient K from Fig. 5 aPFor system harmonic impedance ZPIRIt is affected, with KPIncrease and increase,
ZPIRBigger, system rejection to disturbance performance is better；But if KPIt is excessive, it will cause to vibrate, it is unstable so as to cause system.Fig. 5 b
The different K in Fig. 5 cI、KRHave an impact to controller gain, and bandwidth is not influenced or is influenced it is smaller, and controller increase
Benefit and KI、KRProportional, gain is bigger, and steady-state error is smaller, but harmonic component also can be with KI、KRIncrease and increase,
Network side current waveform is influenced instead.Therefore, K is selectedIAnd KRWhen to combine steady-state error and harmonic component, guarantee that system exists
Fundamental frequency gain nearby is sufficiently large, and has certain attenuation at non-fundamental frequency.With ω in Fig. 5 dcIncrease, controller is non-
Gain and bandwidth at fundamental frequency also increase.Due to the fluctuation of network voltage frequency permission ± 0.5Hz at fundamental frequency, i.e. ωc/ π=
1.0Hz, then ωc≈3.14rad/s。
It can be seen from the above, when designing PIR controller parameter, should first according to the permitted frequency fluctuation range of power grid come
Determine ωc；Secondly according to the gain requirement and side harmonics size selection K near fundamental frequencyIAnd KR；Finally according to harmonic impedance,
And consider that systematic steady state performance and anti-interference can determine that KP.In addition, also to comprehensively consider KP、KIAnd KRBetween influence each other,
To make control system be optimal working performance.
The design of outer voltage adaptive sliding mode controller
Outer voltage mainly controls DC side output voltage vdc, guarantee that it follows given reference voltage vdcrefStablize output
And do not influenced by external disturbance, in conjunction with voltage control scheme more mature at present, keep control effect more perfect.By to three
Phase PWM rectifier dq mathematical modulo pattern (4) analysis it is found that the system there are two degree of control: 1. sdControl DC voltage vdc；②
sqControl system working condition (unity power factor), i.e. control reactive current iq.Select vdcAnd iqIt is exported as control system,
System governing equation can be released according to PWM rectifier state model formula are as follows:
Using reference value and actual value error as the state variable of control system, i.e. selection state variable error ev=
vdcref- vdc,Then sliding-mode surface switching function is chosen as follows:
In formula, k is gain amplifier, and the purpose is to obtain ideal dynamic response in the case where ensuring that system is stablized；β is
The feedback factor of variable-structure control is and output voltage vdcThe related time constant of first-order kernel.
It is well known that sliding formwork coefficient directly decides the performance characteristics of a sliding mode controller.In traditional sliding formwork control
In device, sliding formwork coefficient is aboutIts value is determined that, when load sudden change occurs, system can not track this change by load resistance
Change, thus influences the response characteristic of system.The present embodiment passes through detection load current iLTo reconstruct load resistance RLValue.It is public
Formula is
It willSubstitution formula (11)
Formula (12) are substituted into formula (13), are obtained
When the operation of Three-Phase PWM Rectifier unity power factor, iq=0, eq=0, diq/ dt=0, then sq=-ω Lid/
vdc；Under steady state conditions, a reactor, idFor DC quantity, Ldi is enabledd/ dt=0 can obtain sd=-(ed-Rid)/vdc；In constant power coordinate transform
Under,UrmsPhase voltage virtual value is inputted for net side, and because of DC side reference voltage vdcrefFor definite value, then
dvdcref/ dt=0, by sd、sqSubstitution formula (14) abbreviation can obtain
Thus it obtains outer loop voltag and adjusts equation, export given reference value of the result as current inner loop, i.e.,
It can thus be concluded that outer ring sliding formwork voltage controller functional block diagram is as shown in Figure 6.Convolution (16) and iqref=0
Obtain the outer voltage output for meeting DC side output voltage and net side input unity power factor.
Adaptive sliding mode QPIR controller design
The available Three-Phase PWM Rectifier double-closed-loop control principle based on adaptive sliding mode QPIR control from the above analysis
Block diagram, as shown in Figure 7.
According to the supply voltage and electric current detected, current on line side is acquired in α β using the formula (2) under rest frame
Component under coordinate system, outer ring sliding formwork control export idrefAs the given value of inner ring watt current, idle given iqrefIt is set as
Zero, it converts to obtain the value fastened in two-phase α β static coordinate by synchronously rotating reference frame inverse transformation, that is, 2r/2sWithTransformation is public
Formula is as follows:
Wherein, θ is the angle of d axis and α axis in transformed coordinate system.The current instruction value that will be obtainedWith grid side
iα、iβIt is compared, specifically:
Current error is obtained through QPIR controllerWithSpecially
Pass through what is obtainedJudge sector locating for space vector and calculate the action time of space vector:
Wherein, T is PWM cycle, T1For the action time of space vector V1, T2For the action time of space vector V2；
Similarly, also action time of available other sector space vectors；Then space is determined further according to locating sector
Vectors switching point Tcm1, Tcm2, Tcm3 are finally connected IGBT according to space vector switching point and generate PWM waveform, to control
VSR operation.
Harmonic compensation
Incomplete sine wave signal has harmonic wave, and harmonic compensation is then that the sinusoidal ac signal with harmonic wave is compensated
For complete sine AC signal.Current inner loop is controlled using quasi- PIR, can be while calculation amount is small to specific low-order harmonic
It compensates.Fig. 8 (a) is the functional block diagram of the quasi- PIR controller of harmonic compensation.It is only needed using the harmonic compensator that quasi- PIR is controlled
Corresponding each harmonic compensation is superimposed on the basis of original.As shown in Fig. 8 (b), respectively in fundamental wave, 5 subharmonic, 7 subharmonic
Place generates resonance and phase angle is all 0 °, the influence very little at other frequencies to harmonic wave.The transmitting letter of harmonic compensation in Fig. 8 (a)
Number is
According to aforementioned the present embodiment based on PWM rectifier adaptive sliding mode QPIR control method under α β coordinate system,
Three-Phase PWM Rectifier model is built in MATLAB/Simulink, to verify under the conditions of network voltage distorts based on adaptive sliding mode
The feasibility of structure changes QPIR control method.It is compared simultaneously with traditional sliding formwork QPR control strategy, simulation result is as follows:
System emulation parameter are as follows: ideal three-phase symmetrical power 220V/50Hz (5 times, 7 subharmonic are added) exports direct current
Pressure refers to given value 720V, exchange side input inductance L=4mH (equivalent resistance R=0.1 Ω), DC side filter capacitor C=3000
μ F, load resistance RL=100 Ω, switching frequency 10kHz.
Fig. 9 be two kinds of control methods when network voltage normally descend system starting and load sudden change DC side output voltage with
Net side input current response wave shape figure.When it can be seen from Fig. 9 (a) and (b) using traditional sliding formwork QPR control method, voltage is arrived
Up to stationary value required time about 0.025s, and stablize preceding non-overshoot amount, ripple very little after stablizing；But in load sudden change, pass
The sliding mode controller of system can not track this variation, influence the response characteristic of system.And it is provided adaptively using the present embodiment
When sliding formwork QPIR control method, about 0.025s the time required to reaching stationary value by voltage it can be seen from Fig. 9 (c) and (d), and
Non-overshoot amount can quickly track this variation, reach stable state, this demonstrates outer ring adaptive sliding in load sudden change before stablizing
Mould control method can effectively improve the response speed of system, load sudden change process effectively be tracked, so that system be made quickly to reach
Stable state.
Figure 10 is two kinds of control methods DC side output voltage in system starting under network voltage distorts and load sudden change
With net side input current response wave shape figure.When network voltage is distorted, as shown in Figure 11 (a), grid side voltage THD is
13.64%, by Figure 10 (a) and (b) it is found that not can guarantee grid side current sinusoidal when using traditional sliding formwork QPR control method
Change, while there are 6 frequencys multiplication to pulse for DC side output voltage, ripple is larger after stablizing, and grid side electric current THD content is larger, reaches
7.9%, as shown in Figure 11 (b)；And when using the proposed adaptive sliding mode QPIR control method of the present embodiment, in network voltage generation
When distortion, grid side current sinusoidal is realized, as shown in Figure 10 (c) and (d)；Due to the addition of harmonic compensator, eliminate straight
6 frequencys multiplication for flowing side output voltage are pulsed, grid side electric current THD content very little, and only 2.01%, as shown in Figure 11 (c).
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (5)
1. the PWM rectifier adaptive sliding mode QPIR control method under a kind of β coordinate system based on α, which is characterized in that including following
Step:
Step 1: using the DC bus-bar voltage of rectification side as outer ring, by adaptive sliding mode controller, obtain watt current to
Definite value idref；
Step 2: the given value i that will be obtaineddrefWith given iqrefCurrent instruction value is obtained by coordinate transformation module
Step 3: the current instruction value that will be obtainedWith the i of grid sideα、iβIt is compared, current error is controlled through QPIR
Device obtainsWith
Step 4: will finally obtainVSR operation is controlled by SVPWM.
2. the PWM rectifier adaptive sliding mode QPIR control method under a kind of β coordinate system based on α according to claim 1,
It is characterized by: constitute outer voltage using adaptive sliding mode controller in step 1, using reference value and actual value error as
The state variable of control system, i.e. selection state variable error ev=vdcref-vdc, sliding-mode surface switching function is chosen as follows:
In formula, vdcrefTo give reference voltage, vdcFor DC side output voltage, β is the feedback factor of variable-structure control, be with directly
Flow side output voltage vdcThe related time constant of first-order kernel；
Pass through real-time detection load current iLTo reconstruct load resistance RLValue, formula are as follows:
It willAbove formula is substituted into obtain:
When the operation of Three-Phase PWM Rectifier unity power factor, iq=0, eq=0, diq/ dt=0, then sq=-ω Lid/vdc；?
Under limit, idFor DC quantity, Ldi is enabledd/ dt=0 can obtain sd=-(ed-Rid)/vdc；Under constant power coordinate transform,UrmsPhase voltage virtual value is inputted for net side, and because giving reference voltage vdcrefFor definite value, then dvdcref/ dt=
0, by sd、sqSubstituting into above formula abbreviation can obtain
Thus obtain outer loop voltag and adjust equation, output result as current inner loop given reference value i.e.:
In formula, iLFor load current, C represents DC bus capacitor, and R indicates the stray impedance on inductance and route.
3. the PWM rectifier adaptive sliding mode QPIR controlling party under a kind of β coordinate system based on α according to claim 1 or 2
Method, it is characterised in that: the given value i that will be obtained in step 2drefWith given iqrefIt is by synchronously rotating reference frame inverse transformation
2r/2s converts to obtain the value fastened in two-phase α β static coordinateWithTransformation for mula is as follows:
Wherein, θ is the angle of d axis and α axis in transformed coordinate system.
4. the PWM rectifier adaptive sliding mode QPIR control method under a kind of β coordinate system based on α according to claim 3,
It is characterized by: the current instruction value that step 3 will obtainWith the i of grid sideα、iβIt is compared, specifically:
Current error is obtained through QPIR controllerWithSpecially
In above formula, resonance frequency omega0=2 π f ≈ 314rad/s, KPAnd KIIt is ratio and integral coefficient, K respectivelyRIt is resonance gain system
Number, ωcFor cutoff frequency.
5. the PWM rectifier adaptive sliding mode QPIR control method under a kind of β coordinate system based on α according to claim 4,
It is obtained it is characterized by: step 4 passes throughJudge sector locating for space vector and calculates the effect of space vector
Time:
Wherein, T is PWM cycle, T1For the action time of space vector V1, T2For the action time of space vector V2；
Similarly, also action time of available other sector space vectors；Then space vector is determined further according to locating sector
Switching point Tcm1, Tcm2, Tcm3 are finally connected IGBT according to space vector switching point and generate PWM waveform, to control VSR fortune
Row.
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