CN110212801B - ANPC three-level inverter and model prediction control method thereof - Google Patents

ANPC three-level inverter and model prediction control method thereof Download PDF

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CN110212801B
CN110212801B CN201910600795.2A CN201910600795A CN110212801B CN 110212801 B CN110212801 B CN 110212801B CN 201910600795 A CN201910600795 A CN 201910600795A CN 110212801 B CN110212801 B CN 110212801B
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刘兆伟
王卫星
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/483—Converters with outputs that each can have more than two voltages levels
    • H02M7/487—Neutral point clamped inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0003—Details of control, feedback or regulation circuits
    • H02M1/0012—Control circuits using digital or numerical techniques
    • 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
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    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy
    • Y02E10/56—Power conversion systems, e.g. maximum power point trackers

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Abstract

The invention discloses an ANPC three-level inverter, which comprises three-phase bridge arms, wherein each phase bridge arm comprises six IGBTs, four of the six IGBTs are connected with the positive electrode and the negative electrode of a direct-current bus, two of the IGBTs are connected in series to realize a midpoint clamping function, the input end of each bridge arm is connected with a direct-current voltage source, the midpoint is connected to the midpoint O of a direct-current side voltage-dividing capacitor, and each IGBT is controlled by a driving circuit to perform switching action. The method can be applied to the field of renewable energy power generation such as photovoltaic power generation systems.

Description

ANPC three-level inverter and model prediction control method thereof
Technical Field
The invention relates to the technical field of three-level inverters, in particular to an ANPC three-level inverter and a model prediction control method thereof.
Background
Compared with the traditional two-level inverter, the three-level inverter has the advantages of small switching loss, good output waveform quality and the like, and is widely applied to distributed voltage occasions such as photovoltaic power generation and wind power generation. Among them, a diode clamped (NPC) three-level inverter is a three-level topology which is most widely used because of its simple control. However, the NPC three-level inverter has the disadvantage of uneven power device loss, which causes serious heat generation and damage of part of switching devices, and thus the service life of the NPC inverter is greatly shortened.
The Active Neutral Point Clamped (ANPC) three-level inverter solves the problems and is known as a new choice of a photovoltaic power generation and wind power generation converter. Moreover, with the large amount of photovoltaic power generation and wind power generation connected to the power grid, the grid-connection requirements are gradually increased. When the grid connection requirement is unbalanced, the output grid connection quality of the inverter is unchanged, and the requirement is difficult to guarantee by the traditional control method. In order to eliminate the influence of power grid unbalance, a novel control method is urgently needed to meet the requirement of high-quality grid connection.
An Active Neutral Point Clamped (ANPC) three-level inverter has the problem of neutral point potential imbalance, a PI controller is adopted in the traditional method to restrain the neutral point potential imbalance, and a large number of PI parameters need to be adjusted in a system. In order to solve the problem, a novel control method is urgently needed to realize neutral point potential balance control.
Therefore, the research on the control method of the ANPC three-level inverter is of great significance.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an ANPC three-level inverter and a model prediction control method thereof, which solve the problem of neutral point potential imbalance of an Active Neutral Point Clamped (ANPC) three-level inverter.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the ANPC three-level inverter comprises three-phase bridge arms, wherein each phase bridge arm comprises six IGBTs, four IGBTs connected in series are connected with the positive electrode and the negative electrode of a direct-current bus, the two IGBTs connected in series realize a neutral-point clamping function, the input end of each bridge arm is connected with a direct-current voltage source, the neutral point is connected to the neutral point O of a direct-current side voltage-dividing capacitor, and each IGBT is controlled to be switched on and switched off by a driving circuit.
Preferably, the input direct-current power supply is connected with two voltage division capacitors, and the middle points of the two capacitors are connected with the middle point of the ANPC three-level inverter.
Preferably, the filter is a three-phase LC filter circuit.
Preferably, the control circuit comprises a DSP + CPLD main controller, a driving circuit and a signal sampling and conditioning circuit, the DSP chip is responsible for sampling voltage and current signals and calculating vector action time, and the CPLD is used for distributing PWM signals and transmitting the PWM signals to the driving circuit to drive the ANPC three-level inverter.
Preferably, the voltage of the direct current side voltage-dividing capacitor, the three-phase output current of the inverter and the three-phase output voltage are sampled and input into the AD conversion module of the DSP controller after passing through the signal conditioning circuit.
The invention also discloses a model prediction control method of the ANPC three-level inverter, which specifically comprises the following steps:
step one, establishing an equivalent relation of an inverter in an abc coordinate system according to a model of the inverter;
secondly, obtaining an equivalent relation under an alpha beta coordinate system under the condition of unbalanced inverter power grid by using clarke transformation, sending the given current and the transformed current into a cost function, deriving a voltage vector of the cost function to obtain an optimal voltage vector, and sending the optimal vector into space vector modulation;
comparing the difference value of the upper capacitor voltage and the lower capacitor voltage with 0 according to the upper capacitor voltage and the lower capacitor voltage on the direct current side, comparing and outputting the difference value to a repetitive controller, and then adjusting the state transition time of each phase of bridge arm to realize the neutral point potential balance control;
and step four, converting the action time of each vector into a duty ratio, modulating the duty ratio by the in-phase carrier to generate a PWM signal, and controlling the on or off of the IGBT by a driving circuit.
Preferably, in the first step, the grid voltage and the grid-connected current are detected, and a model expression of the ANPC three-level inverter system is obtained according to kirchhoff's law.
Preferably, in the second step, for simple calculation, clarke transformation is performed on the voltage and current of the abc axis to obtain an equivalent relation of an α β coordinate system of the ANPC three-level inverter under the condition of unbalanced power grid, then current expressions of the α axis and the β axis are obtained, the given currents of the α axis and the β axis and the obtained currents of the α axis and the β axis are sent to a cost function, derivation is performed on a voltage vector of the cost function to obtain an optimal voltage vector, and the optimal voltage vector is sent to space vector modulation to perform midpoint potential balance control.
Preferably, in the third step, when the upper capacitor voltage on the dc side is higher than the lower capacitor voltage, the output of the repetitive controller increases the P-type small vector action time, so as to reduce the upper capacitor voltage on the dc side and realize the midpoint potential balance control; when the voltage of the capacitor on the DC side is lower than that of the capacitor on the lower side, the output of the repetitive controller increases the action time of the N-type small vector, thereby reducing the voltage of the capacitor on the lower side of the DC side.
Preferably, in the fourth step, the PWM signal of the IGBT is determined by the switching state, and when the x (x ═ a, b, c) phase outputs the P state, Sx1, Sx2, Sx6 are turned on; when the x phase outputs the O state, Sx2, Sx3, Sx5 and Sx6 are switched on; when the x phase outputs the N state, Sx3, Sx4 and Sx5 are turned on.
(III) advantageous effects
The invention provides an ANPC three-level inverter and a model prediction control method thereof.
The method has the following beneficial effects:
(1) compared with the traditional control method, the novel model prediction control considers the influence of unbalanced condition of the power grid, does not need complex positive and negative sequence separation and PI parameter adjustment, is simple to control, and has better grid-connected current waveform quality.
(2) The ANPC three-level inverter and the model prediction control method thereof send alpha and beta axis currents and given currents into a cost function, conduct on a voltage vector to obtain an optimal output vector, and send the voltage vector into space vector modulation.
(3) The ANPC three-level inverter and the model prediction control method thereof adopt the repetitive controller, do not need to adjust complex PI parameters, can realize the capability of actively controlling the neutral point potential balance, greatly reduce the neutral point potential fluctuation, and can effectively inhibit the neutral point potential deviation caused by abnormal conditions.
(4) The ANPC three-level inverter and the model prediction control method thereof can be applied to the field of renewable energy power generation such as photovoltaic power generation systems.
Drawings
FIG. 1 is a schematic diagram of a circuit configuration of an ANPC three-level inverter system;
FIG. 2 is a model prediction and repetitive control diagram of the present invention;
FIG. 3 is a space vector diagram used in the present invention;
FIG. 4 is a switching sequence for a reference vector in sector 1;
FIG. 5 shows the operation results of the ANPC three-level inverter in the grid balancing situation according to the proposed method of the present invention;
FIG. 6 shows the operation results of the ANPC three-level inverter in the grid imbalance mode according to the proposed method;
FIG. 7 is a control effect diagram of the proposed method when the midpoint potential is shifted due to an abnormal condition;
fig. 8 is a control block diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to solve the problems, the invention provides a model prediction control method which adopts a constant switching frequency method, calculates a current model under a static coordinate system according to a voltage model under the condition of power grid unbalance, realizes accurate current tracking, and compared with the traditional method, the method can eliminate double frequency fluctuation caused by power grid unbalance and does not need positive and negative sequence separation. And the midpoint potential control of the ANPC three-level inverter is realized through repeated control according to the capacitance difference value of the direct current side. The invention has the functions of midpoint potential control and grid-connected current tracking control, and can ensure that the ANPC works efficiently and stably.
The embodiment of the invention provides an ANPC three-level inverter and a model prediction control method thereof, wherein the ANPC three-level inverter comprises a three-phase bridge arm, the phase bridge arm comprises six IGBTs, four IGBTs connected in series are connected with the anode and the cathode of a direct-current bus, two IGBTs connected in series realize a midpoint clamping function, the input end of each bridge arm is connected with a direct-current voltage source, the midpoint is connected to the midpoint O of a direct-current side voltage-dividing capacitor, each IGBT is controlled by a driving circuit to perform switching action, a diode is connected in series with the connection side of an inductor and an input direct-current power supply. One ends of the two capacitors are connected to the connection position of the diode and the inductor, and the other ends of the two capacitors are connected to the connection position of the other inductor and the bridge arm of the ANPC three-level inverter.
Selecting the midpoint O of the DC-side capacitor1Taking A-phase bridge arm as an example as a reference point, when the power device Sa1、Sa2And Sa6When conducting, uAO1＝Vdc_link/2, definition ofThe state is P; when power device Sa2、Sa3、Sa5And Sa6When conducting, u AO10, this state is defined as O; when power device Sa3、Sa4And Sa5When conducting, uAO1＝-Vdc_linkAnd/2, defining the state as N.
Switching state and output voltage of each phase of bridge arm of Z-source ANPC three-level inverter (x ═ a, b, c)
Figure BDA0002119192740000061
Figure BDA0002119192740000071
In the invention, an input direct current power supply is connected with two voltage division capacitors, and the middle points of the two capacitors are connected with the middle point of an ANPC three-level inverter.
In the invention, the filter is a three-phase LC filter circuit.
In the invention, the control circuit comprises a DSP + CPLD main controller, a driving circuit and a signal sampling and conditioning circuit, wherein a DSP chip is responsible for sampling voltage and current signals and calculating vector action time, and the CPLD is used for distributing PWM signals and transmitting the PWM signals to the driving circuit to drive the ANPC three-level inverter.
In the invention, the voltage of a direct current side voltage-dividing capacitor, the three-phase output current of an inverter and the three-phase output voltage are sampled and input into an AD conversion module of a DSP controller after passing through a signal conditioning circuit.
The invention also discloses a model prediction control method of the ANPC three-level inverter, which specifically comprises the following steps:
step one, establishing an equivalent relation of an inverter in an abc coordinate system according to a model of the inverter;
secondly, obtaining an equivalent relation under an alpha beta coordinate system under the condition of unbalanced inverter power grid by using clarke transformation, sending the given current and the transformed current into a cost function, deriving a voltage vector of the cost function to obtain an optimal voltage vector, and sending the optimal vector into space vector modulation;
comparing the difference value of the upper capacitor voltage and the lower capacitor voltage with 0 according to the upper capacitor voltage and the lower capacitor voltage on the direct current side, comparing and outputting the difference value to a repetitive controller, and then adjusting the state transition time of each phase of bridge arm to realize the neutral point potential balance control;
and step four, converting the action time of each vector into a duty ratio, modulating the duty ratio by the in-phase carrier to generate a PWM signal, and controlling the on or off of the IGBT by a driving circuit.
In the first step, the voltage and the grid-connected current of a power grid are detected, and a model expression of the ANPC three-level inverter system is obtained according to kirchhoff's law.
In the second step, for simple calculation, clarke transformation is performed on the voltage and current of the abc axis to obtain an equivalent relation of an alpha-beta coordinate system of the ANPC three-level inverter under the condition of unbalanced power grid, then current expressions of the alpha axis and the beta axis are obtained, given currents of the alpha axis and the beta axis and the obtained currents of the alpha axis and the beta axis are sent to a cost function, derivation is performed on a voltage vector of the cost function to obtain an optimal voltage vector, and the optimal voltage vector is sent to space vector modulation to perform midpoint potential balance control.
In the third step, when the upper capacitor voltage on the direct current side is higher than the lower capacitor voltage, the output of the repetitive controller increases the action time of the P-type small vector, so that the upper capacitor voltage on the direct current side is reduced, and the midpoint potential balance control is realized; when the voltage of the capacitor on the DC side is lower than that of the capacitor on the lower side, the output of the repetitive controller increases the action time of the N-type small vector, thereby reducing the voltage of the capacitor on the lower side of the DC side.
In the fourth step, the PWM signal of the IGBT is determined by the switching state, and when the x (x ═ a, b, c) phase outputs the P state, Sx1, Sx2, Sx6 are turned on; when the x phase outputs the O state, Sx2, Sx3, Sx5 and Sx6 are switched on; when the x phase outputs the N state, Sx3, Sx4 and Sx5 are turned on.
Three-phase unbalanced grid voltages and currents may be represented as
Figure BDA0002119192740000091
Wherein
Figure BDA0002119192740000092
Positive, negative, and zero components of voltage and current, respectively. The voltage and current imbalances transformed by Clark and Park can be expressed as
Figure BDA0002119192740000093
Wherein
Figure BDA0002119192740000094
The components of the unbalanced voltage and current in the α β stationary frame and the dq rotating frame, respectively.
The complex power transmitted by the three-level ANPC inverter may be expressed as
Figure BDA0002119192740000095
Wherein i*For the conjugation of the current, the equation (2) is substituted into (3) to obtain
s＝[po+ps2 sin(2ωt)+pc2 cos(2ωt)]+j[qo+qs2 sin(2ωt)+qc2 cos(2ωt)]
(4)
Wherein
Figure BDA0002119192740000096
In order to avoid the complexity of calculation brought by positive and negative sequence separation, phase locking and power calculation, the currents of the alpha axis and the beta axis are obtained as follows:
Figure BDA0002119192740000101
the current reference value and the actual value of equation (6) are then brought into the cost function as:
G＝(iα,ref-iα)2+(iβ,ref-iβ)2
(7)
the voltage vector is derived as:
Figure BDA0002119192740000102
the optimal voltage vector is obtained in equation (8), and the voltage vector is fed into the space vector.
And comparing the difference value of the upper capacitor voltage and the lower capacitor voltage with 0 according to the upper capacitor voltage and the lower capacitor voltage on the direct current side, comparing and outputting the comparison result to a repetitive controller, and then adjusting the state transition time of each phase of bridge arm to realize the neutral point potential balance control.
The model prediction control method provided by the invention can realize the functions of grid connection, neutral point potential balance control and the like of the ANPC three-level inverter under the condition of unbalanced power grid. Compared with the traditional control direction, the method does not need positive and negative sequence separation and PI parameter adjustment. Compared with an NPC three-level inverter, the loss of the power device is relatively balanced, the improvement of the power level of the system is facilitated, and the power device has wide application prospect in the field of renewable energy power generation such as a high-capacity photovoltaic power generation system.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (1)

1. An ANPC three-level inverter, includes three-phase bridge arm, its characterized in that: the phase bridge arms comprise six IGBTs, wherein four IGBTs connected in series are connected with the anode and the cathode of a direct current bus, two IGBTs connected in series realize a midpoint clamping function, the input end of each bridge arm is connected with a direct current voltage source, the midpoint is connected to the midpoint O of a direct current side voltage-dividing capacitor, each IGBT is controlled by a driving circuit to perform switching action, an input direct current power source is connected with two voltage-dividing capacitors, the midpoints of the two capacitors are connected with the midpoint of an ANPC three-level inverter, a filter is a three-phase LC filter circuit, a control circuit comprises a DSP + CPLD main controller, a driving circuit and a signal sampling and conditioning circuit, a DSP chip is responsible for sampling voltage and current signals and calculating vector action time, and the CPLD is used for distributing PWM signals and transmitting the PWM; sampling the voltage of a direct current side voltage-dividing capacitor, the three-phase output current of an inverter and the three-phase output voltage, and inputting the voltage, the three-phase output current and the three-phase output voltage into an AD conversion module of a DSP controller after passing through a signal conditioning circuit;
the model prediction control method of the ANPC three-level inverter comprises the following steps:
step one, establishing an equivalent relation of an inverter in an abc coordinate system according to a model of the inverter;
secondly, obtaining an equivalent relation under an alpha beta coordinate system under the condition of unbalanced inverter power grid by using clarke transformation, sending the given current and the transformed current into a cost function, deriving a voltage vector of the cost function to obtain an optimal voltage vector, and sending the optimal vector into space vector modulation;
comparing the difference value of the upper capacitor voltage and the lower capacitor voltage with 0 according to the upper capacitor voltage and the lower capacitor voltage on the direct current side, comparing and outputting the difference value to a repetitive controller, and then adjusting the state transition time of each phase of bridge arm to realize the neutral point potential balance control;
step four, converting the action time of each vector into a duty ratio, modulating the duty ratio by an in-phase carrier to generate a PWM signal, and controlling the on or off of the IGBT by a driving circuit;
in the first step, the voltage and the grid-connected current of a power grid are detected, and a model expression of the ANPC three-level inverter system is obtained according to kirchhoff's law;
in the second step, for simple calculation, clarke transformation is carried out on the voltage and the current of the abc axis to obtain an equivalent relational expression of an alpha-beta coordinate system of the ANPC three-level inverter under the condition of unbalanced power grid, then current expressions of the alpha axis and the beta axis are solved, given currents of the alpha axis and the beta axis and the solved currents of the alpha axis and the beta axis are sent into a cost function, derivation is carried out on a voltage vector of the cost function to obtain an optimal voltage vector, the optimal voltage vector is sent into space vector modulation, and midpoint potential balance control is carried out;
in the second step, the selection of the cost function adopts a vector machine SVM mechanism, and the cost function is G ═ i (i)α,ref-iα)2+(iβ,ref-iβ)2Wherein i isα,ref、iβ,refGiven currents, i, of the alpha and beta axes, respectivelyα,、iβ,Currents of the alpha and beta axes, respectively;
in the third step, when the upper capacitor voltage on the direct current side is higher than the lower capacitor voltage, the output of the repetitive controller increases the action time of the P-type small vector, so that the upper capacitor voltage on the direct current side is reduced, and the neutral point potential balance control is realized; when the voltage of the upper capacitor on the direct current side is lower than that of the lower capacitor, the output of the repetitive controller increases the action time of the N-type small vector, so that the voltage of the lower capacitor on the direct current side is reduced;
in the fourth step, the PWM signal of the IGBT is determined by the switching state, and when the x (x ═ a, b, c) phase outputs the P state, Sx1, Sx2, Sx6 are turned on; when the x phase outputs the O state, Sx2, Sx3, Sx5 and Sx6 are switched on; when the x phase outputs the N state, Sx3, Sx4 and Sx5 are turned on.
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