CN110429834A - A kind of three-phase rectifier sliding-mode control based on extended state observer - Google Patents
A kind of three-phase rectifier sliding-mode control based on extended state observer Download PDFInfo
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- CN110429834A CN110429834A CN201910582392.XA CN201910582392A CN110429834A CN 110429834 A CN110429834 A CN 110429834A CN 201910582392 A CN201910582392 A CN 201910582392A CN 110429834 A CN110429834 A CN 110429834A
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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
- H02M7/2173—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 biphase or polyphase circuit arrangement
-
- 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
Abstract
The present invention relates to a kind of three-phase rectifier sliding-mode controls based on expansion observer: including three-phase rectifier main circuit, three phase rectifier main circuit are as follows: three-phase voltage realizes AC/DC transformation by filter inductance L, resistance r and three-phase bridge rectifier, and external loading and DC bus capacitor C are connected in parallel；Controller including carrying out on-off control to three-phase bridge rectifier, the controller outer ring are the Voltage loop based on extended state observer, and the controller inner ring is the power ring using super-twisting algorithm；The realization process of control method are as follows: S1 three-phase rectifier circuit Dynamic Model；The design of S2 controller: a) using the design of the power ring of super-twisting algorithm: the b) design of the Voltage loop based on extended state observer.Super-twisting algorithm and extended state observer are applied in the control of three-phase rectifier by this control method, solve the problems, such as can system chatter, improve system robustness and stability.
Description
Technical field
The invention belongs to power electronics control technology fields, are related to the control of three-phase rectifier, and in particular to one kind is based on
The three phase rectifier sliding-mode control of extended state observer.
Background technique
Three-phase rectifier has the advantages that power density is high, and current fluctuation is small, fast response time, makes it in the industrial production
Play increasingly important role, such as smart grid, electric car, energy storage system.The modulation technique of three-phase rectifier,
Topological structure, the research of control algolithm have become the research hotspot of field of power electronics.Sliding formwork control, PREDICTIVE CONTROL, Fuzzy Control
System is preferably applied in such circuit topological structure.The application of fuzzy control needs prolonged trial and error process, is suitable for
The unknown situation of system parameter.The application of PREDICTIVE CONTROL needs to guarantee that system has very strong computing capability.But this kind of control method
There are problems that high frequency buffeting.
Sliding formwork control has good robust performance, its switching characteristic is natively suitable for the control of power converter system
System, but there is high frequency buffeting in this kind of control method.Aiming at the problem that high frequency is buffeted, researcher proposed several solutions
Method, such as high_order sliding mode control.Super-twisting algorithm is one of Second Order Sliding Mode Control special applications, to the response of the system of raising
Speed, systematic steady state error have good advantage.
For the three-phase rectifier of high-precision control, the processing of system parameter variations and its external disturbance is to control system
Performance plays a crucial role.The basic thought for improving system rejection to disturbance ability is estimating system uncertainty to system
It influences, and designs controller and it is compensated.Expansion state controller (ESO) is using system interference as the new state of system
Variable is handled, and then is estimated state.
It retrieves, does not retrieve and this patent analogous technical scheme through the prior art.
Summary of the invention
The three-phase rectifier sliding-mode control based on extended state observer that the object of the present invention is to provide a kind of, with solution
Three-phase rectifier control method certainly in the prior art has that interference free performance is poor, response speed is slow, overshoot is big.
Above-mentioned purpose of the invention is realized by following technical solution:
A kind of three-phase rectifier sliding-mode control based on expansion observer, it is characterised in that: including three-phase rectifier
Main circuit, three phase rectifier main circuit are as follows: three-phase voltage realizes AC/DC by filter inductance L, resistance r and three-phase bridge rectifier
Transformation, and external loading and DC bus capacitor C are connected in parallel；Control including carrying out on-off control to three-phase bridge rectifier
Device, the controller outer ring are the Voltage loop based on extended state observer, and the controller inner ring is using super-twisting algorithm
Power ring；The realization process of control method are as follows:
S1 establishes three-phase rectifier circuit dynamic model
Three-phase input voltage van,vbn,vcn, three-phase input current ian,ibn,icn, by classical Park Transformation, { }αβ=A
{·}abcWherein,System dynamic model may be expressed as:
Wherein
Wherein: vαβ={ vα,vβ}TFor three-phase voltage under α β coordinate system；iαβ={ iα,iβ}TFor three-phase electricity under α β coordinate system
Stream；uαβ={ uα,uβ}TTo control input under α β coordinate system；L is filter inductance；C is DC side filter capacitor；R is dead resistance；
vcFor DC side output voltage；RLFor load resistance；
According to definition, active power and reactive power can be calculated by following formula
Wherein p is active power, and q is reactive power,
Write active power p and reactive power q as plural form
Wherein,J is the symbol of imaginary part in mathematics.
If three-phase electricity is balance, to vsDerivation can obtain
Wherein, ω is three-phase electricity electric frequency.
And then have:
In formula, | vs|2For imaginary number νsMould it is long,
Convolution (3) (4) (6), can obtain
In formula, Re is to take real part operation, and Im is to take imaginary-part operation.
The design of S2 controller
A) as follows using the design of super-twisting algorithm power ring:
To make active power and reactive power follow given value, two sliding-mode surface s are designedp,sq, it is defined as follows:
In formula: P*Active power reference value, q* are reactive power reference qref.
sp,sqFirst derivative be
It enables formula (9) to be equal to zero, control equivalent operation point can be obtained
At equivalent operation point, have
According to sliding mode control theory, at equivalent control point, control input can be equivalent are as follows:
Wherein,Meet following formula
Wherein, λi、αiFor controller parameter, need to adjust in the application；
By formula (11), (12) substitute into formula (9) and can obtain
And because
Formula (13) are substituted into formula (12), can be obtained
Mode is calculated with same, can be obtained
Above-mentioned derivation is summarized to get following equation is arrived:
As can be seen from the above equation, under STA (super-twisting algorithm) control law, sp,sqIt is effectively decoupled；
B) design based on extended state observer Voltage loop:
To adjust output capacitance voltage, using PI controller, ESO (extended state observer) estimation interference is designed,
And compensate interference；In general, filter inductance value L < < 1, thereforeShow current variation speeds much larger than voltage change
Speed, under this condition, it is believed that p → p*, q → 0, according to Kirchhoff's second law, output voltage dynamical equation can be as follows
It indicates:
Wherein,
Define u=p*, d (t)=pload, above formula can be written as
z1=z, z2=d (t),Then have
Obtain a linear ESO (extended state observer)；
Here β1,β2It can be byIt obtains, as long as β1,β2So thatIt is less than 0
Can,It is z1Estimated value,It is the estimated value of interference volume d (t), so that
The present invention has the advantage that and good effect:
1. inner ring of the present invention uses super-twisting algorithm, the responding ability of electric current is improved.
2. the present invention is controlled in outer ring using voltage, and is observed to external disturbance with expansion state observation method, improve
System rejection to disturbance ability.
4, super-twisting algorithm and extended state observer are applied in the control of three-phase rectifier by the present invention, and solution can be
System buffeting problem, improves system robustness and stability.
Detailed description of the invention
Fig. 1 is the three-phase rectifier circuit structure diagram in the present invention；
Fig. 2 is serials control structure chart of the present invention；
Fig. 3 is super-twisting algorithm schematic diagram of the present invention；
Fig. 4 is power inner ring structure chart of the present invention；
Fig. 5 is outer voltage structure chart of the present invention；
Fig. 6 is DC side output voltage variation diagram of the present invention: (a) is the output under ESO-based STA controller in figure
Voltage change figure；It (b) is the output voltage variation diagram under conventional PI control device；Abscissa is the time, and ordinate is expressed as voltage
Value, unit are (V)；
Fig. 7 is that the present invention is active power tracing figure: (a) is the active power under ESO-based STA controller in figure
Tracing figure；It (b) is the active power tracing figure under conventional PI control device；Abscissa is the time, and ordinate is expressed as performance number, single
Position is (KW)；
Fig. 8 is that the present invention is reactive power tracing figure: (a) is the reactive power under ESO-based STA controller in figure
Tracing figure；It (b) is the reactive power tracing figure under conventional PI control device；Abscissa is the time, and ordinate is expressed as performance number, single
Position is (Var)；
Fig. 9 is ESO output performance curve graph in the present invention: horizontal seat is shown as the time in figure, and ordinate is expressed as performance number, single
Position is (KW)；
Figure 10 is active power of the present invention and reactive power error figure: horizontal seat is shown as the time in figure, and ordinate is expressed as missing
Difference；
Figure 11 is phase current i of the present inventionaWith network voltage vaFigure: (a) is the phase under ESO-based STA controller in figure
Electric current iaWith network voltage vaFigure；It (b) is the phase current i under conventional PI control deviceaWith network voltage vaFigure.
Specific embodiment
The invention will be further described with reference to the accompanying drawing and by specific embodiment, and following embodiment is descriptive
, it is not restrictive, this does not limit the scope of protection of the present invention.
A kind of three-phase rectifier sliding-mode control based on expansion observer, referring to Figure 1-11, inventive point are as follows: real
Existing process is as follows:
S1: three-phase rectifier circuit Dynamic Model
Three-phase rectifier model (three-phase rectifier topological structure) in the present invention is as shown in Figure 1:
Three-phase voltage passes through filter inductance L and resistance r, and three-phase bridge rectifier realizes AC/DC (AC-DC) transformation,
External loading and DC bus capacitor C are connected in parallel, and system parameter is as shown in table 1:
1 system parameter of table
Three-phase input voltage van,vbn,vcn, three-phase input current ian,ibn,icn, by Park Transformation, { }αβ=A { }abc
Wherein,System dynamic model may be expressed as:
Wherein
According to definition, active power and reactive power can be calculated by following formula
Wherein p is active power, and q is reactive power,
Write active power p and reactive power q as plural form
Wherein,J is the symbol of imaginary part in mathematics.
If three-phase electricity is balance, to vsDerivation can obtain
Wherein, ω is three-phase electricity electric frequency.
And then have:
In formula, | vs|2For imaginary number νsMould it is long,
Convolution (3) (4) (6), can obtain
In formula, Re is to take real part operation, and Im is to take imaginary-part operation.
S2: the design of controller
A) as follows using the design of super-twisting algorithm power ring:
To make active power and reactive power follow given value, two sliding-mode surface s are designedp,sq, it is defined as follows:
In formula: P*Active power reference value, q* are reactive power reference qref.
sp,sqFirst derivative be
It enables formula (9) to be equal to zero, control equivalent operation point can be obtained
At equivalent operation point, have
According to sliding mode control theory, at equivalent control point, control input can be equivalent are as follows:
Wherein,Meet following formula
Wherein, λi、αiFor controller parameter, need to adjust in the application.
By formula (11), (12) substitute into formula (9) and can obtain
And because
Formula (13) are substituted into formula (12), can be obtained
Mode is calculated with same, can be obtained
Above-mentioned derivation is summarized to get following equation is arrived:
As can be seen from the above equation, under STA (super-twisting algorithm) control law, sp,sqIt is effectively decoupled.
The specific implementation module map of power ring is as shown in Figure 4.
B) design of the Voltage loop based on extended state observer
To adjust output capacitance voltage, PI controller can be used.Different types of interference, such as parameter uncertainty and negative
Carry mutation, the performance for the closed-loop system that can all influence.If controller does not have enough abilities to resist interference, the controlling of system
It can will reduce.The control target of the design is 1 to enable output capacitance voltage to adjust reference value and system power factor.
This requires system external portion to interfere fast reaction.Therefore one ESO estimation interference of design, and compensate interference.In general, filter inductance
Value L < < 1.ThereforeThis means that current variation speeds are much larger than voltage change speed.Under this condition, I
It is believed that p → p*, q → 0.According to Kirchhoff's second law, output voltage dynamical equation can indicate as follows:
Wherein,
Define u=p*, d (t)=pload, above formula can be written as
z1=z, z2=d (t),Then have
Obtain a linear ESO (extended state observer)；
Here β1,β2It can be byIt obtains, as long as β1,β2So thatIt is less than 0
Can,It is z1Estimated value,It is the estimated value of interference volume d (t), so that
Although disclosing the embodiment of the present invention and attached drawing for the purpose of illustration, those skilled in the art can be managed
Solution: do not departing from the present invention and spirit and scope of the appended claims in, various substitutions, changes and modifications be all it is possible,
Therefore, the scope of the present invention is not limited to the embodiment and attached drawing disclosure of that.
Claims (1)
1. a kind of three-phase rectifier sliding-mode control based on expansion observer, it is characterised in that: including three-phase rectifier master
Circuit, three phase rectifier main circuit are as follows: three-phase voltage realizes that AC/DC becomes by filter inductance L, resistance r and three-phase bridge rectifier
It changes, and external loading and DC bus capacitor C are connected in parallel；Controller including carrying out on-off control to three-phase bridge rectifier,
The controller outer ring is the Voltage loop based on extended state observer, and the controller inner ring is the function using super-twisting algorithm
Rate ring；The realization process of control method are as follows:
S1 establishes three-phase rectifier circuit dynamic model
Three-phase input voltage van,vbn,vcn, three-phase input current ian,ibn,icn, by classical Park Transformation, { }αβ=A { }abc
Wherein,System dynamic model may be expressed as:
Wherein
Wherein: vαβ={ vα,vβ}TFor three-phase voltage under α β coordinate system；iαβ={ iα,iβ}TForαβThree-phase current under coordinate system；uαβ=
{uα,uβ}TForαβInput is controlled under coordinate system；L is filter inductance；C is DC side filter capacitor；R is dead resistance；vcFor direct current
Side output voltage；RLFor load resistance；
According to definition, active power and reactive power can be calculated by following formula
Wherein p is active power, and q is reactive power,
Write active power p and reactive power q as plural form
Wherein,vs=vα+jvβ, j is the symbol of imaginary part in mathematics
If three-phase electricity is balance, to vsDerivation can obtain
Wherein, ω is three-phase electricity electric frequency
And then have:
In formula, | vs|2For imaginary number νsMould it is long,
Convolution (3) (4) (6), can obtain
In formula, Re is to take real part operation, and Im is to take imaginary-part operation；
The design of S2 controller
A) as follows using the design of super-twisting algorithm power ring:
To make active power and reactive power follow given value, two sliding-mode surface s are designedp,sq, it is defined as follows:
In formula: P*Active power reference value, q* are reactive power reference qref.
sp,sqFirst derivative be
It enables formula (9) to be equal to zero, control equivalent operation point can be obtained
At equivalent operation point, have
According to sliding mode control theory, at equivalent control point, control input can be equivalent are as follows:
Wherein,Meet following formula
Wherein, λi、αiFor controller parameter, need to adjust in the application；
By formula (11), (12) substitute into formula (9) and can obtain
And because
Formula (13) are substituted into formula (12), can be obtained
Mode is calculated with same, can be obtained
Above-mentioned derivation is summarized to get following equation is arrived:
As can be seen from the above equation, under STA control law, sp,sqIt is effectively decoupled；
B) design based on extended state observer Voltage loop:
To adjust output capacitance voltage, using PI controller, an ESO estimation interference is designed, and compensate interference；In general, filtering
Inductance value L < < 1, thereforeShow that current variation speeds are recognized under this condition much larger than voltage change speed
For p → p*, q → 0, according to Kirchhoff's second law, output voltage dynamical equation can indicate as follows:
Wherein,
Define u=p*, d (t)=pload, above formula can be written as
z1=z, z2=d (t),Then have
Obtain a linear ESO；
Here β1,β2It can be byIt obtains, as long as β1,β2So thatLess than 0,
It is z1Estimated value,It is the estimated value of interference volume d (t), so that
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| CN111293942A (en) * | 2020-03-07 | 2020-06-16 | 西南交通大学 | Performance improvement method for vehicle network system under multi-working-condition operation |
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|---|---|---|---|---|
| CN103647490A (en) * | 2013-09-27 | 2014-03-19 | 天津大学 | Permanent magnet motor sliding mode control strategy |
| CN105552959A (en) * | 2015-12-30 | 2016-05-04 | 哈尔滨工业大学 | Predictive direct power control method of three-phase grid connected rectifier based on extended state observer |
| CN109194222A (en) * | 2018-08-09 | 2019-01-11 | 江苏大学 | A kind of magnetic suspension switched reluctance motor Second Order Sliding Mode Control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103647490A (en) * | 2013-09-27 | 2014-03-19 | 天津大学 | Permanent magnet motor sliding mode control strategy |
| CN105552959A (en) * | 2015-12-30 | 2016-05-04 | 哈尔滨工业大学 | Predictive direct power control method of three-phase grid connected rectifier based on extended state observer |
| CN109194222A (en) * | 2018-08-09 | 2019-01-11 | 江苏大学 | A kind of magnetic suspension switched reluctance motor Second Order Sliding Mode Control method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111293942A (en) * | 2020-03-07 | 2020-06-16 | 西南交通大学 | Performance improvement method for vehicle network system under multi-working-condition operation |
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