CN110460250A - A kind of Three-Phase PWM Rectifier direct Power Control method - Google Patents
A kind of Three-Phase PWM Rectifier direct Power Control method Download PDFInfo
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- CN110460250A CN110460250A CN201910432546.7A CN201910432546A CN110460250A CN 110460250 A CN110460250 A CN 110460250A CN 201910432546 A CN201910432546 A CN 201910432546A CN 110460250 A CN110460250 A CN 110460250A
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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
Abstract
The invention discloses a kind of Three-Phase PWM Rectifier direct Power Control methods, according to the three-phase current and three-phase voltage of Three-Phase PWM Rectifier net side, calculate the instantaneous active power and instantaneous reactive power of Three-Phase PWM Rectifier, construct the average-state-space model of Three-Phase PWM Rectifier, decoupling control signal is introduced in the average-state-space model of Three-Phase PWM Rectifier, indeterminate in meter and system, design the adaptive Backstepping controller of neural network of reactive power and the adaptive Backstepping controller of neural network of DC output voltage, by the adaptive Backstepping controller of neural network of the adaptive Backstepping controller of neural network of relevant parameter input reactive power and DC output voltage Corresponding output control rate is obtained, coupling transform is carried out to output control rate, the switch control signal of Three-Phase PWM Rectifier is obtained according to SVPWM model；Control method calculation amount provided by the invention is small, parameter regulation is simple, and robustness is good.
Description
Technical field
The present invention relates to a kind of Three-Phase PWM Rectifier direct Power Control methods, belong to power electronics field.
Background technique
Three-Phase PWM Rectifier is widely used in traditional industry and emerging industry, such as intelligent micro-grid.Generally, it is sent out in wind-force
In electricity, PWM rectifier realizes AC/DC transformation of electrical energy while carrying out generator speed adjusting.Another important application neck
Domain is the interface circuit as electric car and power grid, and electric car can absorb electric energy from power grid as energy storage device, simultaneously
V2G technology can also be received and feed electric energy to power grid.In addition, PWM rectifier is also widely used for Static Var Compensator
(SVG), active filter (APF) and THE UPFC (UPFC) etc..
The control of PWM rectifier is divided into two major classes, and one of which in VOC, is handed over based on voltage oriented control (VOC)
Stream side electric current is decomposed into active and reactive component in d-q coordinate system, and usual q shaft current is given to be set as zero to realize specific work
The control of rate factor, however due to current controller (stagnant ring, proportional integration (PI), ratio resonance (PR)) to Parameters variation and outside
Portion's disturbance is sensitive and influences the control performance of VOC.Since magnetic saturation and the presence of switching device make the dynamic of Three-Phase PWM Rectifier
There are non-linear and unforeseen external disturbances for state process.In recent years, sliding formwork control is widely used in nonlinearity and not
In deterministic power electronic circuit, however, the intermediate variable of controller may cause system oscillation, especially work as system switching
In the limited situation of frequency.Another kind is the direct Power Control based on instantaneous active and reactive power theory, due to wattful power
Rate and reactive power are directly as control variable, and without electric current loop, control system has better dynamic property.Look-up table according to
Power prediction value and switch list select the switch state in next period, and Model Predictive Control is according to a minimum evaluation function choosing
Voltage vector is selected to determine switch state, system structure is simple, and dynamic response is fast, but output-power fluctuation is big, Er Qiekai
It closes frequency to be not fixed, in addition to this, the direct Power Control based on look-up table also needs quick accurate power estimating.Based on S/
The direct Power Control of SVPWM fixes and controls that precision aspect is more superior, and existing direct Power Control device is big in switching frequency
It mostly uses PI control and haves the defects that as VOC.
Backstepping controls (BSC) technology and attracts attention since its nonlinear iteration designs, by each iteration step
Liapunov function in rapid, which constitutes total liapunov function, ensure that the steady of whole system and each iterative step
It is qualitative.And existing Backstepping controller design does not consider the influence of system indeterminate, when system parameter variations and
When external disturbance occurs, the control performance of system not can guarantee.
Summary of the invention
The purpose of the present invention is to provide a kind of Three-Phase PWM Rectifier direct Power Control methods, to solve the prior art
In one of caused above-mentioned defects or defect.
In order to achieve the above objectives, the present invention adopts the following technical solutions realization:
The present invention provides a kind of Three-Phase PWM Rectifier direct Power Control method, method includes the following steps:
According to the three-phase current and three-phase voltage of Three-Phase PWM Rectifier net side, the instantaneous active of Three-Phase PWM Rectifier is calculated
Power and instantaneous reactive power construct the average-state-space model of Three-Phase PWM Rectifier；
Decoupling control signal is introduced in the average-state-space model of Three-Phase PWM Rectifier, it is not true in meter and system
Determine item, the neural network of the adaptive Backstepping controller of neural network and DC output voltage that design reactive power is certainly
Adapt to Backstepping controller；Indeterminate in system includes indeterminate in DC output voltage model and idle
Indeterminate in power module.
By DC output voltage VOSquare square with DC output voltage given valueError and active power it is defeated
The adaptive Backstepping controller of neural network entered to DC output voltage obtains output control rate upcon；By idle function
The given value Q of rate Q and reactive power*Error input reactive power the adaptive Backstepping controller of neural network obtain
Take output control rate uqcon；
It will be to upconAnd uqconIt carries out coupling transform and obtains coupling result in the d axis component u of space vector of voltagecondAnd q
Axis component uconqAs the input of SVPWM modulation strategy, the switch control signal switched in Three-Phase PWM Rectifier is obtained.
The indeterminate of the system includes filter parameter variation in system, power network fluctuation, load variation；
Further, using the value of indeterminate in Neural Network Observer estimation online system.
The expression formula of the indeterminate are as follows:
Wherein, △ Ls, △ C, △ rsAnd △ RlRespectively Ls, C, rsAnd RlVariable quantity； UsIt is the equivalence value of power grid phase voltage, rLFor the equivalent resistance of net side filter inductance L；C is
The filter capacitor of Three-Phase PWM Rectifier DC output end；upFor decoupling control signal；wpFor in DC output voltage model not
Determine item, wqFor the indeterminate in reactive power model；RlFor load；
wPAnd wqBoundary assume be given as | wp(t)|<ρp, | wq(t)|<ρq, wherein | | for the operation that takes absolute value, ρpWith
ρqTo give normal number.
Further, the method for the instantaneous active power and instantaneous reactive power that calculate Three-Phase PWM Rectifier includes as follows
Step:
Using constant power clark transform method and constant power park transform method, to the three-phase of Three-Phase PWM Rectifier net side
Voltage and three-phase current carry out the constant power coordinate transform of three-phase static coordinate system to two-phase rotating coordinate system, obtain two-phase rotation
The d axis component u of voltage value under coordinate systemsd, voltage value q axis component usq, current value d axis component isd, current value q axis point
Measure isq；
The instantaneous active power of Three-Phase PWM Rectifier and the calculation formula of instantaneous reactive power are as follows:
P=usdisd+usqisq
Q=usqisd-usdisq
Wherein, P is the instantaneous active power of Three-Phase PWM Rectifier, and Q is Three-Phase PWM Rectifier instantaneous reactive power.
Further, the average-state-space model of Three-Phase PWM Rectifier are as follows:
Wherein, VOFor the DC output voltage of Three-Phase PWM Rectifier, usdFor the three-phase voltage of Three-Phase PWM Rectifier net side
The d of voltage value under two-phase rotating coordinate system is obtained after carrying out three-phase static coordinate system to the constant power transformation of two-phase rotating coordinate system
Axis component, P are the instantaneous active power of Three-Phase PWM Rectifier, and Q is the instantaneous reactive power of Three-Phase PWM Rectifier, DdAnd DqPoint
Not Wei component of the duty ratio on d axis and q axis, C be Three-Phase PWM Rectifier DC output end filter capacitor, UsIt is power grid phase
The equivalence value of voltage, rLFor the equivalent resistance of net side filter inductance L；RlFor load equivalent
Resistance.
Further, the method for designing the adaptive Backstepping controller of neural network of reactive power includes as follows
Step:
The dynamical equation of the reactive power Q model of the Three-Phase PWM Rectifier of building meter and system indeterminate:
Wherein,UsIt is the equivalence value of power grid phase voltage, rLFor net side filter inductance L
Equivalent resistance；uqFor decoupling control signal；wqFor the indeterminate in reactive power model；
According to the reactive power model dynamical equation of the Three-Phase PWM Rectifier of meter and indeterminate, reactive power is designed
The adaptive Backstepping controller of neural network.
Further, the method packet of the adaptive Backstepping controller of neural network of DC output voltage is designed
It includes:
The DC output voltage of the Three-Phase PWM Rectifier of building meter and system indeterminate moves the dynamical equation of P:
Wherein,UsIt is the equivalence value of power grid phase voltage, rLFor net side filter inductance L's
Equivalent resistance；C is the filter capacitor of Three-Phase PWM Rectifier DC output end；upFor decoupling control signal；wpFor direct current output electricity
Indeterminate in pressing mold type；RlFor load；
According to the output DC voltage dynamical equation of the Three-Phase PWM Rectifier of meter and indeterminate, design direct current output electricity
The adaptive Backstepping controller of the neural network of pressure.
Indeterminate w in DC output voltage modelpEstimated valueExpression formula are as follows:
Wherein, WpIt is observed for neural network in the adaptive Backstepping controller of neural network of DC output voltage
The weight matrix of the output layer of device and hiding interlayer, OpFor the adaptive Backstepping of neural network of DC output voltage
The output of Neural Network Observer in controller；
Indeterminate w in reactive power modelqEstimated valueExpression formula are as follows:
Wherein, WqFor the middle Neural Network Observer of the adaptive Backstepping controller of neural network of reactive power
Output layer and hiding interlayer weight matrix, OqFor in the adaptive Backstepping controller of neural network of reactive power
The output of Neural Network Observer.
The beneficial effects of the present invention are:
(1) indeterminate is introduced in the average state model of Three-Phase PWM Rectifier, raising system is to Parameters variation and outside
The robustness of boundary's interference；
(2) nerve of neural network adaptive the Backstepping controller and DC output voltage of reactive power is designed
Network self-adapting Backstepping controller；Eliminate the reforming phenomena that control system intermediate variable is likely to occur；
(3) value for introducing Neural Network Observer estimation online indeterminate, further increases the robustness of system.
Detailed description of the invention
Fig. 1 is a kind of three-phase PMW rectifier main circuit structure figure provided according to embodiments of the present invention；
Fig. 2 is a kind of Three-Phase PWM Rectifier direct Power Control system block diagram provided according to embodiments of the present invention；
Fig. 3 is the neural network structure figure provided according to embodiments of the present invention；
Fig. 4 is the adaptive Backstepping ANN Control DC output voltage provided according to embodiments of the present invention
The control block diagram of Vo；
Fig. 5 is the adaptive Backstepping ANN Control reactive power Q provided according to embodiments of the present invention
Control block diagram；
Fig. 6 is that (ratio is humorous by the adaptive Backstepping ANN Control provided according to embodiments of the present invention and PR
Vibration) control the waveform that DC voltage is exported in shock load；
Fig. 7 is that (ratio is humorous by the adaptive Backstepping ANN Control provided according to embodiments of the present invention and PR
Vibration) control net side A phase current THD variation in the variation in ± 10% range of rated value of net side filter inductance；
Fig. 8 is the adaptive Backstepping ANN Control that provides according to embodiments of the present invention in shock load
Active power and reactive power waveform；
Fig. 9 is the adaptive Backstepping ANN Control that provides according to embodiments of the present invention in net side A phase electricity
Frequency analysis result schematic diagram of the net side A to electric current when drop of pressure 5%.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
Three-Phase PWM Rectifier main circuit structure figure shown in referring to Fig.1, wherein inductance L indicates net side filter, equivalent
Resistance is rL, T1~T6Indicate six switching devices, D1~D6For with six antiparallel diodes of switching device, C is that direct current is defeated
Outlet filter capacitor, RLFor load；I is DC output end electric current, iCFor the electric current on DC output end filter capacitor, iOIt is negative
Carry RLOn electric current.
Referring to Fig. 2, the direct function of Three-Phase PWM Rectifier of the adaptive Backstepping of neural network provided in this embodiment
Rate control system includes DC output voltage model and two, reactive power model independent adaptive Backstepping, control
System executes on the DSP of microcontroller TMS320F28335.The present embodiment provides a kind of Three-Phase PWM Rectifier Direct Power controls
A kind of Three-Phase PWM Rectifier direct Power Control method of method processed, described method includes following steps:
Step 1: construct the average-state-space model of Three-Phase PWM Rectifier:
Step 1.1: three-phase current, the three-phase voltage of acquisition Three-Phase PWM Rectifier net side；
Net side three phase sine voltage u is detected by Hall voltage sensor and current sensorsa、usb、usc, net side three-phase
Sinusoidal current isa、isb、isc, Hall voltage sensor detection DC output voltage VO。
Step 1.2: to the constant power of three-phase voltage, three-phase current progress three-phase static coordinate system to two-phase rotating coordinate system
Transformation；
Step 1.2.1: convert to obtain net side three phase sine voltage and current in two-phase static coordinate using constant power clark
Value u under systemsα、usβAnd isα、isβ；
Step 1.2.2: convert to obtain the d axis component u of voltage value under two-phase rotating coordinate system using constant power parksd, electricity
The q axis component u of pressure valuesq, current value d axis component isd, current value q axis component isq；
Wherein, the π f of ω=2, wherein f is mains frequency；T is that system executes the moment.
Step 1.3: calculating has Three-Phase PWM Rectifier instantaneous active power and reactive power；
The calculation formula of Three-Phase PWM Rectifier instantaneous active power P and reactive power Q are as follows:
P=usdisd+usqisq (3a)
Q=usqisd-usdisq (3b)
Step 1.4: the instantaneous power dynamic model of the Three-Phase PWM Rectifier after establishing decoupling and moving for DC output voltage
State equation；
Step 1.4.1: the average-state-space model of Three-Phase PWM Rectifier instantaneous power expression is established；
Based on voltage oriented, consideration rectifier input power and output power conservation, Three-Phase PWM Rectifier instantaneous power table
The average-state-space model shown may be expressed as:
Wherein, DdAnd DqFor component of the duty ratio on d-q axis, C is the filter capacitor of DC output end, RLFor load, rL
The equivalent resistance of net side filter inductance L；
In formula (4b) and formula (4c),Wherein UsIt is having for power grid phase voltage
Valid value.
Step 2: designing the neural network adaptive Backstepping controller and DC output voltage of reactive power
The adaptive Backstepping controller of neural network:
Step 2.1: the instantaneous power dynamic model of the Three-Phase PWM Rectifier after establishing decoupling and moving for DC output voltage
State equation；
Design decoupling control signal upAnd uq:
up=(usd-LsωQ-DdVO)/Ls (5a)
uq=(LsωP+DqVO)/Ls (5b)
It brings formula 5a into 4b, formula 5b is substituted into formula 4c, the instantaneous power of the Three-Phase PWM Rectifier after being decoupled
The expression formula of dynamic model:
By formula (4a) equal sign both sides differentiation, and formula (6a) is brought into, the dynamical equation of DC output voltage model can be obtained:
It introduces decoupling control signal and simplifies design so that DC output voltage and reactive power realize mutually indepedent design
With controller parameter debugging process.
Step 2.2: establishing the dynamical equation of the actual Three-Phase PWM Rectifier of meter and indeterminate；
The presence of the indeterminates such as circuit parameter in consideration system, is counted and the Three-Phase PWM Rectifier of indeterminate
Dynamical equation may be expressed as:
Wherein assume the indeterminate w in DC output voltage modelpWith the indeterminate w in reactive power modelqIt is to have
Boundary, it may be expressed as:
Wherein △ Ls, △ C, △ rsAnd △ RlRespectively Ls, C, rsAnd RlVariable quantity.In DC output voltage model
Indeterminate wPWith the indeterminate w in reactive power modelqBoundary assume be given as | wp(t)|<ρp, | wq(t)|<ρq,
In | | for the operation that takes absolute value, ρpAnd ρqTo give normal number.
Using the value of indeterminate in Neural Network Observer estimation online system, referring to Fig. 3, neural network includes input
Layer, hidden layer and output layer three parts, input layer and the excitation function hidden all select sigmiod function.
The input signal that i layers of input layer is neti=xi, the output O of input layeriAre as follows:
Oi=f (neti)=[1+exp (- neti)]-1 (10)
F is excitation function, i=1,2 ... R in formulai。
The input net of the output of input layer being added by weight as j layers of hidden layerj=∑ WjiOi, j=1,2 ... Rj, hidden
Hide the output of layer are as follows:
Oj=f (netj)=[1+exp (- netj)]-1 (11)
The input net of hidden layer output being added by weight as k layers of output layerk=∑ WkjOk, k=1, output layer is direct
Output.
Indeterminate w in DC output voltage modelpEstimated value expression formula are as follows:
W in formulapIt is observed for neural network in the adaptive Backstepping controller of neural network of DC output voltage
The weight matrix of the output layer of device and hiding interlayer, OpFor the adaptive Backstepping of neural network of DC output voltage
The output of Neural Network Observer in controller.
Indeterminate w in reactive power modelqEstimated value obtain expression formula are as follows:
W in formulaqFor the middle Neural Network Observer of the adaptive Backstepping controller of neural network of reactive power
Output layer and hiding interlayer weight matrix, OqFor in the adaptive Backstepping controller of neural network of reactive power
The output of Neural Network Observer.
In order to improve the on-line study ability of neural network, using gradient descent method on-line training weight, with direct current output
For voltage Neural Network Observer (reactive power Neural Network Observer method is identical), minimal error is constructedWp *When for error being 0, the weighted value of output layer and hiding interlayer in neural network,For EPEstimation
Value.
W in formulapjiAnd wpkjHidden layer and input layer and output layer respectively in DC output voltage neural network estimator
Weighted value between hidden layer, n are n-th of sampling period, and η indicates learning rate.
Step 2.3: design DC output voltage VOThe adaptive Backstepping controller of neural network, output control
System rule is upcon；
According to the DC output voltage dynamic side of the Three-Phase PWM Rectifier of meter and indeterminate as shown in formula (8a)
Journey designs DC output voltage VOThe adaptive Backstepping controller of neural network；
DC output voltage VOThe adaptive Backstepping controller of neural network export control law upconExpression formula
Are as follows:
α in formula1For the stability function in Backstepping controller recursive procedure, the error of DC output voltageVirtual controlling errorkv、ksFor normal number,For wpEstimated value,With
Adaptive law expression formula are as follows:
γ in formulapAnd βpFor normal number.
Take liapunov function are as follows:
The derivative of liapunov function are as follows:
If the adaptive Backstepping controller control rate of the neural network of DC output voltage takes (17)-(19),
ThenI.e.For a negative definite function, according to Lyapunov stability theorem and Barbalat ' s theorem error
(evAnd es) by it is progressive be zero, WpBy progressive in Wp *,By it is progressive be zero, it is possible thereby to guarantee DC output voltage control
Stability.
Step 2.4: designing the adaptive Backstepping controller of neural network of reactive power Q, export control law
For uqcon；
According to the reactive power model dynamic side of the Three-Phase PWM Rectifier of meter and indeterminate as shown in formula (8b)
Journey designs the adaptive Backstepping controller of neural network of reactive power Q；
The adaptive Backstepping controller of the neural network of reactive power Q exports control law uqconExpression formula are as follows:
K in formulaqFor normal number, reactive power error eq=Q-Q*, Q*For the given value of reactive power,For wqEstimation
Value constructs minimal error For EqEstimated value.
WithAdaptive law expression formula are as follows:
γ in formulaqAnd βqFor normal number.
Take liapunov function are as follows:
The derivative of liapunov function are as follows:
If the adaptive Backstepping controller control rate of the neural network of reactive power Q takes (20)-(22),I.e.For a negative definite function, according to Lyapunov stability theorem and Barbalat ' s theorem error eqIt will
Progressive is zero, WqBy progressive in Wq *,By it is progressive be zero, it is possible thereby to guarantee the stability of Reactive Power Control.
Based on liapunov function and Barbalat ' the guarantee control variable convergence of s theorem, system is stable, is realizing directly
While flowing the adjusting of zero static difference of output voltage, guarantees the sineization of current on line side, reduce the aberration rate of current on line side, active and nothing
Function power may be implemented zero static difference and directly adjust.
Step 3: obtain the switch control signal of six switches in Three-Phase PWM Rectifier:
Step 3.1: by DC output voltage VOSquare square with DC output voltage given valueError and have
The adaptive Backstepping controller of the neural network of function power input to DC output voltage obtains output control rate
upcon；By the given value Q of reactive power Q and reactive power*Error input reactive power neural network it is adaptive
Backstepping controller obtains output control rate uqcon；
Step 3.2: to upconAnd uqconIt carries out couple variations and obtains coupling result in the d axis component of space vector of voltage
ucondWith q axis component uconqExpression formula are as follows:
ucond=usd-LsωQ-Lsup (24a)
uconq=LsωP-Lsuq (24b)
Step 3.3: by ucondAnd uconqAs the input of SVPWM modulation strategy, generates six road pwm signals control six and open
The switch control signal for closing device, so that DC output voltage VOTrack given valueReactive power Q tracks given value Q*。
Using SVPWM modulation strategy, switching frequency is equal to sample frequency, and switching frequency is fixed, and is conducive to three-phase PWM and rectifies
The design of device filter parameter.
Test analysis is carried out to the effect of method provided in an embodiment of the present invention:
Referring to Fig. 6, in 1s shock load, 1.5 is prominent when unloading load, and a kind of Three-Phase PWM Rectifier proposed by the invention is direct
Under Poewr control method and PR control method, output DC voltage waveform comparison, contrast simulation experimental result can be obtained: institute of the present invention
The control method of proposition, when adding unloading, not only overshoot is small for DC voltage, and it is also more many fastly than PR control method to stablize the time；
When Fig. 7 is that net side filter inductance changes in ± 10% range of rated value 5mH, a kind of three-phase proposed by the invention
The comparison diagram of the THD value of net side A phase current under PWM rectifier direct Power Control method and PR control method, comparing result can
: when net side filter inductance is converted into 6.5mH from 4.5mH, the THD value variation of net side A phase current under PR control method
17.5%, and under the method for the present invention control, the THD value variation 3% of net side A phase current, while under control method of the present invention, net side
The low PR control method 52.47% of the THD value of A phase current；
When Fig. 8 unloads load in 1s shock load, 1.5 dash forward, a kind of Three-Phase PWM Rectifier Direct Power proposed by the invention
Under control method, the waveform diagram of active power and reactive power, when adding unloading, active power fast response time, non-overshoot；And
When adding unloading, reactive power is responded without influence.
Fig. 9 is net side A phase voltage landing 5%, when asymmetric with B, C phase, the frequency analysis of current on line side, by simulation result
Can obtain: in network voltage allowable fluctuation range, control method of the present invention still ensures that current on line side harmonic wave lower than 2%.
A kind of Three-Phase PWM Rectifier direct Power Control method provided in an embodiment of the present invention, according to instantaneous power theory
The reactive power and active power of calculating Three-Phase PWM Rectifier, the value of Neural Network Online estimating system indeterminate, direct current are defeated
The adaptive Backstepping controller of voltage neural network exports control law u outp, reactive power neural network is adaptive
Backstepping controller exports control law uq, to upAnd uqIt carries out coupling transform and obtains the d axis component of space vector of voltage
ucondWith q axis component uconq, two space vector of voltage are sent into SVPWM module and generate PWM control signal, realize VOWith Q's
Zero static difference is adjusted, and scheme provided in an embodiment of the present invention has stronger robustness to system parameter and external disturbance.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of Three-Phase PWM Rectifier direct Power Control method, which is characterized in that described method includes following steps:
According to the three-phase current and three-phase voltage of Three-Phase PWM Rectifier net side, the instantaneous active power of Three-Phase PWM Rectifier is calculated
And instantaneous reactive power, construct the average-state-space model of Three-Phase PWM Rectifier；
In the average-state-space model of Three-Phase PWM Rectifier introduce decoupling control signal, meter and system in indeterminate,
The neural network of the adaptive Backstepping controller of neural network and DC output voltage that design reactive power is adaptive
Backstepping controller；Indeterminate in the system includes indeterminate in DC output voltage model and idle
Indeterminate in power module；
By DC output voltage VOSquare square with DC output voltage given valueError and active power be input to
The adaptive Backstepping controller of the neural network of DC output voltage obtains output control rate upcon；By reactive power Q
With the given value Q of reactive power*The adaptive Backstepping controller of neural network of error input reactive power obtain
Export control rate uqcon；
It will be to upconAnd uqconD axis component u of the coupling result that progress coupling transform obtains in space vector of voltagecondWith q axis point
Measure uconqAs the input of SVPWM modulation strategy, the switch control signal switched in Three-Phase PWM Rectifier is obtained.
2. Three-Phase PWM Rectifier direct Power Control method according to claim 1, which is characterized in that calculate three-phase PWM
The instantaneous active power of rectifier and the method for instantaneous reactive power include the following steps:
Using constant power clark transform method and constant power park transform method, to the three-phase voltage of Three-Phase PWM Rectifier net side
Three-phase static coordinate system is carried out to the constant power coordinate transform of two-phase rotating coordinate system with three-phase current, obtains two cordic phase rotators
It is the d axis component u of lower voltage valuesd, voltage value q axis component usq, current value d axis component isd, current value q axis component isq；
The instantaneous active power of Three-Phase PWM Rectifier and the calculation formula of instantaneous reactive power are as follows:
P=usdisd+usqisq
Q=usqisd-usdisq
Wherein, P is the instantaneous active power of Three-Phase PWM Rectifier, and Q is Three-Phase PWM Rectifier instantaneous reactive power.
3. Three-Phase PWM Rectifier direct Power Control method according to claim 1, which is characterized in that three-phase PWM rectification
The average-state-space model of device are as follows:
Wherein, VOFor the DC output voltage of Three-Phase PWM Rectifier, usdIt is carried out for the three-phase voltage of Three-Phase PWM Rectifier net side
The d axis point of voltage value under two-phase rotating coordinate system is obtained after three-phase static coordinate system to the constant power transformation of two-phase rotating coordinate system
Amount, P are the instantaneous active power of Three-Phase PWM Rectifier, and Q is the instantaneous reactive power of Three-Phase PWM Rectifier, DdAnd DqRespectively
Component of the duty ratio on d axis and q axis, C are the filter capacitor of Three-Phase PWM Rectifier DC output end, UsIt is power grid phase voltage
Equivalence value, rLFor the equivalent resistance of net side filter inductance L；RlFor load equivalent electricity
Resistance.
4. Three-Phase PWM Rectifier direct Power Control method according to claim 1, which is characterized in that design idle function
The method of the adaptive Backstepping controller of the neural network of rate includes the following steps:
The dynamical equation of the reactive power Q model of the Three-Phase PWM Rectifier of building meter and system indeterminate:
Wherein,UsIt is the equivalence value of power grid phase voltage, rLFor net side filter inductance L's
Equivalent resistance；uqFor decoupling control signal；wqFor the indeterminate in reactive power model；
According to the reactive power model dynamical equation of the Three-Phase PWM Rectifier of meter and indeterminate, the nerve of reactive power is designed
Network self-adapting Backstepping controller.
5. Three-Phase PWM Rectifier direct Power Control method according to claim 1, which is characterized in that design direct current is defeated
The method of the adaptive Backstepping controller of the neural network of voltage includes: out
The dynamical equation of the DC output voltage model of the Three-Phase PWM Rectifier of building meter and system indeterminate:
Wherein,UsIt is the equivalence value of power grid phase voltage, rLFor net side filter inductance L's
Equivalent resistance；C is the filter capacitor of Three-Phase PWM Rectifier DC output end；upFor decoupling control signal；wpFor direct current output electricity
Indeterminate in pressing mold type；RlFor load；VOFor the DC output voltage of Three-Phase PWM Rectifier；
According to the DC output voltage dynamical equation of the Three-Phase PWM Rectifier of meter and indeterminate, DC output voltage is designed
The adaptive Backstepping controller of neural network.
6. Three-Phase PWM Rectifier direct Power Control method according to claim 1, which is characterized in that in the system
The expression formula of indeterminate are as follows:
Wherein, Δ Ls, Δ C, Δ rsAnd Δ RlRespectively Ls, C, rsAnd RlVariable quantity； UsIt is the equivalence value of power grid phase voltage, rLFor the equivalent resistance of net side filter inductance L；C is three-phase PWM rectification
The filter capacitor of device DC output end；upFor decoupling control signal；wpFor the indeterminate in DC output voltage model, wqFor
Indeterminate in reactive power model；RlFor load；VOFor the DC output voltage of Three-Phase PWM Rectifier；
wPAnd wqBoundary assume be given as | wp(t) | < ρp, | wq(t) | < ρq, wherein | | for the operation that takes absolute value, ρpAnd ρq
To give normal number.
7. Three-Phase PWM Rectifier direct Power Control method according to claim 1, which is characterized in that the method is also
Including using Neural Network Observer to obtain indeterminate w in DC output voltage modelpEstimated value and reactive power model
The estimated value of middle indeterminate.
8. Three-Phase PWM Rectifier direct Power Control method according to claim 7, which is characterized in that
Indeterminate w in DC output voltage modelpEstimated valueExpression formula are as follows:
Wherein, WpFor Neural Network Observer in the adaptive Backstepping controller of neural network of DC output voltage
The weight matrix of output layer and hiding interlayer, OpFor the adaptive Backstepping controller of neural network of DC output voltage
The output of middle Neural Network Observer；
Indeterminate w in reactive power modelqEstimated valueExpression formula are as follows:
Wherein, WqFor the adaptive Backstepping controller of neural network of reactive power middle Neural Network Observer it is defeated
The weight matrix of layer and hiding interlayer out, OqIt is neural in the adaptive Backstepping controller of neural network of reactive power
The output of network observations device.
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Application publication date: 20191115 Assignee: HUAI'AN HUATAI ELECTRONIC TECHNOLOGY Co.,Ltd. Assignor: HUAIYIN INSTITUTE OF TECHNOLOGY Contract record no.: X2021980015115 Denomination of invention: A direct power control method for three-phase PWM rectifier Granted publication date: 20210316 License type: Common License Record date: 20211222 |