CN110545042B - PWM rectifier control method and device - Google Patents

PWM rectifier control method and device Download PDF

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CN110545042B
CN110545042B CN201810535125.2A CN201810535125A CN110545042B CN 110545042 B CN110545042 B CN 110545042B CN 201810535125 A CN201810535125 A CN 201810535125A CN 110545042 B CN110545042 B CN 110545042B
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control
vector
preset
pwm rectifier
period
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CN110545042A (en
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尚敬
张少云
佘岳
徐凤星
盛建科
谭宇
戴茜茜
黄禹文
彭韬
江海啸
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Zhuzhou CRRC Times Electric Co Ltd
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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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • H02M1/088—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters for the simultaneous control of series or parallel connected semiconductor devices
    • 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

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  • Power Engineering (AREA)
  • Rectifiers (AREA)

Abstract

The invention discloses a PWM rectifier control method and a device, comprising the following steps: s1, obtaining control vector predicted values of a preset number through prediction; s2, arranging and combining the control vector predicted values to obtain different vector sequences; and S3, selecting the vector sequence with the least switching times from the vector sequences as a control sequence of the PWM rectifier. The method has the advantages of effectively limiting the switching frequency of the system under the condition of ensuring that the prediction period is not changed, ensuring the dynamic performance of the system, along with simplicity, high response speed, flexible constraint of the processing system and the like.

Description

PWM rectifier control method and device
Technical Field
The invention relates to the technical field of PWM rectifier control, in particular to a PWM rectifier control method and device.
Background
The voltage of the direct current side is controlled, the voltage of the direct current bus is kept constant, the output of the direct current side is used as an alternating current (or power) instruction of an alternating current (or power) inner ring, the current of the alternating current side is quickly and timely adjusted by the alternating current (or power) inner ring, the influence of load disturbance is restrained, the actual alternating current can quickly track the alternating current instruction, and the unit power factor control is realized. In dual loop control, the voltage outer loop must be matched in speed with the current (or power) inner loop, the outer loop being much slower than the inner loop. Such controls include primarily voltage-directed vector control (VOC) and Direct Power Control (DPC).
VOC is one of control strategies widely applied in PWM rectifier control at present, the static performance of a system is good, but the dynamic performance is limited by a PI regulator, and the dynamic performance cannot reach a high index.
The traditional DPC does not need current inner ring setting, so that the dynamic response is quick, the robustness is better, and the control structure is simple. And the DPC directly selects a proper vector to implement bang-bang control on active power and reactive power through a correlation vector table. DPC control effect relies on the accurate degree of vector table, and switching frequency is unset, and system steady state performance is poor, and the ripple is great during the steady state, needs very high sampling frequency just can obtain better steady state performance, and is higher to the hardware requirement, and the current waveform is also not enough sinusoidal simultaneously, has more high-frequency harmonic component.
Model Predictive Control (MPC) was first proposed by scholars richlet and Cutler in 1978. After more than 30 years of development, great success is achieved in the field of complex industrial process control, and the obvious advantage of processing a complex constraint optimization control problem is shown. In the 21 st century, with the development of DSP and FPGA technologies and the increasing requirements of people for system control targets and constraints, MPC is gradually applied to the fields of power electronics and motion control.
In 2007, the Jose Rodriguez of chile scholars utilizes the inherent characteristics of the existence of a power electronic converter containing limited switch states, proposes a finite control set model predictive control (FCS-MPC) scheme of the converter, introduces the complete MPC scheme into the converter control, and the control system comprises two parts of model prediction and rolling optimization. In the scheme, the prediction and optimization mode is used for correcting the optimal control, and the modeling is convenient; by adopting a rolling optimization strategy, uncertainty caused by model mismatch, distortion, interference and the like is timely compensated, and the interference resistance and the adaptability are improved; but because of no fixed switching frequency and high switching frequency, the high-power PWM rectifier is difficult to be applied in engineering.
Patent application No. 201610983876.1 entitled "a flux linkage vector-based torque control strategy for a permanent magnet synchronous motor" is a background document of the present application, which implements a flux linkage vector-based torque control strategy by calculating and using an optimal duty cycle of each candidate voltage vector when another cost function is minimized in order to reduce switching frequency loss, but since the switching combination is updated every prediction period, the reduction of the switching frequency is very limited by using this method.
The defects in the prior art mainly comprise: 1. each calculation outputs an optimal switching combination, and when the prediction period is short, the switching frequency is too high; 2. the switching frequency can be reduced by adopting the method of lengthening the prediction period, but when the prediction period is lengthened, harmonic waves are increased, so that the control performance of the system is influenced.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the PWM rectifier control method and the device which can effectively limit the switching frequency of the system under the condition of ensuring that the prediction period is not changed, can ensure the dynamic performance of the system, are simple, have high response speed and are flexible in processing system constraint.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: a PWM rectifier control method comprises the following steps:
s1, obtaining control vector predicted values of a preset number through prediction;
s2, arranging and combining the control vector predicted values to obtain different vector sequences;
and S3, selecting the vector sequence with the least switching times from the vector sequences as a control sequence of the PWM rectifier.
Further, the specific step of step S1 includes:
s1.1, calculating to obtain the output of the current action period according to the output of the previous action period and the control vector predicted value of the current action period through a preset prediction model;
s1.2, predicting a control vector possible value of a next action cycle according to the control vector predicted value of the current action cycle and the output of the current action cycle through the preset prediction model;
and S1.3, selecting a value closest to a preset reference value from the possible values of the control vector as a predicted value of the control vector of the next action period.
Further, in step S2, the predicted values of the control vectors are arranged and combined to satisfy a preset constraint condition; the constraint includes at least any one of:
A. in any control period, the number of the changed switches is less than or equal to a first preset value;
B. in any action period, the number of the changed switches is less than or equal to a second preset value;
C. the last switching state of the previous active period is the first switching state of the next active period.
Further, the constraint condition further includes:
D. and the zero vector in the vector sequence is the starting position or the ending position in the vector sequence.
Further, the constraint condition further includes:
E. for each phase, the arrangement is based on the principle of first conducting and then switching off.
Further, the constraint condition further includes:
F. for each phase, switching is only once.
Further, the first preset value is 1, and the second preset value is 3.
A PWM rectifier control apparatus comprising a processor and a memory, the processor for executing a control program stored on the memory; the memory stores a control program which, when executed, implements a control method as defined in any one of the above.
A PWM rectifier control device comprises a prediction module, a sorting module and a selection module;
the prediction module is used for obtaining the control vector prediction values of a preset number through prediction;
the sorting module is used for carrying out permutation and combination on the control vector predicted values to obtain different vector sequences;
the selection module is used for selecting the vector sequence with the least switching times from the vector sequences as the control sequence of the PWM rectifier.
Further, the prediction module is specifically configured to: calculating to obtain the output of the current action period according to the output of the previous action period and the control vector predicted value of the current action period through a preset prediction model; predicting a control vector possible value of a next action cycle according to the control vector predicted value of the current action cycle and the output of the current action cycle through the preset prediction model; and selecting a value closest to a preset reference value from the control vector possible values as a control vector predicted value of the next action period.
Further, the sorting module performs permutation and combination on the control vector predicted values to meet a preset constraint condition; the constraint includes at least any one of:
A. in any control period, the number of the changed switches is less than or equal to a first preset value;
B. in any action period, the number of the changed switches is less than or equal to a second preset value;
C. the last switching state of the previous active period is the first switching state of the next active period.
Further, the constraint condition further includes:
D. and the zero vector in the vector sequence is the starting position or the ending position in the vector sequence.
Further, the constraint condition further includes:
E. for each phase, the arrangement is based on the principle of first conducting and then switching off.
Further, the constraint condition further includes:
F. for each phase, switching is only once.
Further, the first preset value is 1, and the second preset value is 3.
Compared with the prior art, the invention has the advantages that:
1. the invention obtains the control vector predicted value through the calculation of the preset prediction model, rearranges and combines the control vector predicted values to obtain a new vector sequence, and selects the vector sequence with the least switching times from the vector sequence to control the PWM rectifier, thereby effectively reducing the switching frequency of the PWM rectifier system.
2. In the invention, in an action period, under the condition that the conduction time of each phase of switching tube is determined, the conduction time of the switching tube is different, and the average output voltage is not influenced, so that the method can effectively ensure the dynamic performance of the system under the condition of effectively reducing the switching frequency of the PWM rectifier system.
3. The control algorithm of the invention is simple, the response speed is fast, and the constraint mode of the processing system is flexible.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of the present invention.
Fig. 2 is a schematic diagram of the prediction principle of the control vector predictor according to the embodiment of the present invention.
Fig. 3 is a schematic diagram of an arrangement and combination of control vector predictors according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of different pulse arrangements under the same average output voltage according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a vector predictor sequence obtained by prediction according to an embodiment of the present invention.
Fig. 6 is a schematic diagram illustrating rearrangement and combination of vector predictor sequences according to an embodiment of the present invention.
FIG. 7 is a schematic diagram of 4 kinds of characteristic voltage vector sequences after sequence rearrangement according to the embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments of the description, without thereby limiting the scope of protection of the invention.
As shown in fig. 1, the PWM rectifier control method of the present embodiment includes the following steps: s1, obtaining control vector predicted values of a preset number through prediction; s2, arranging and combining the control vector predicted values to obtain different vector sequences; and S3, selecting the vector sequence with the least switching times from the vector sequences as a control sequence of the PWM rectifier.
In this embodiment, the specific step of step S1 includes: s1.1, calculating to obtain the output of the current action period according to the output of the previous action period and the control vector predicted value of the current action period through a preset prediction model; s1.2, predicting a control vector possible value of a next action period according to a control vector predicted value of the current action period and the output of the current action period through a preset prediction model; and S1.3, selecting a value closest to a preset reference value from the possible values of the control vector as a predicted value of the control vector of the next action period.
In this embodiment, a multi-step prediction is performed to obtain a preset number of control vector prediction values. As shown in FIG. 2, there are n prediction periods per active period, and in FIG. 2, each vertical line is used to divide the control period, where tk0、tk1、tk2But also for dividing the respective action periods. t is tk0The time can be directly obtained by detecting the previous action period (t) of the current timek0Previous active period) rectifier output, and the current active period (t) can be derived from previous predictionsk0To tk1Action period of (d) { S (t) }k0)、S(tk0+1)、…、S(tk0+n-1) According to the two parameters, the preset value is presetThe test model can calculate the output { x (t) of the rectifier with the current action periodk0+1)、x(tk0+2)、…、x(tk0+n-1)、x(tk1) Where x (t)k0+1)、x(tk0+2)、…、x(tk0+n-1) Is to calculate x (t)k1) The amount of intermediate processes of (1); next, the output x (t) of the rectifier is calculated according to the current action periodk1) Calculating the predicted value { S (t) of the control vector in the current action period through a preset prediction modelk0)、S(tk0+1)、…、S(tk0+n-1) In the case of different combinations of (t), in the next active period (t)k1To tk2Duty cycle) of the control vector, e.g. at t in fig. 2k1+1At one time, the control vector has a possible value S1、S2、…、Sn(ii) a Similarly, for the remaining control periods to tk1+2To tk1+n-1The corresponding control vector possible value S can be obtained through a prediction model1、S2、…、Sn(ii) a Next, a control vector possible value S for each control cycle1、S2、…、SnAll can be screened by presetting a reference value from a control vector possible value S1、S2、…、SnAnd selecting a value closest to the preset reference value as the control vector predicted value of the corresponding control period, and obtaining the control vector predicted value of the whole next action period according to the method. In this embodiment the controller needs to be at tk1Combining the switching function in the next action period before the moment by the sequence S (t)k1)、S(tk1+1)、…、S(tk1+n-1) It is well calculated.
In this embodiment, the control vector prediction values are arranged and combined in step S2 to satisfy the preset constraint condition; the constraint includes at least any one of: A. in any control period, the number of the changed switches is less than or equal to a first preset value; B. in any action period, the number of the changed switches is less than or equal to a second preset value; C. the last switching state of the preceding active cycle being the first of the next active cycleA switch state. The first preset value is 1 and the second preset value is 3. Through the constraint conditions, the switching device of the PWM rectifier can work according to a certain rule, and the switching frequency is controlled. Constraints a and B define the number of state changes and the number of changes of the switching device within each action period (sampling period), and constraint C avoids the state change at the beginning or end of the action period. Both of these constraints reduce switching losses and extend rectifier life. As shown in FIG. 3, let control vector predicted value u*Within an action period T are (100), (110) and zero vectors, respectively, the zero vector comprising (000) and (111). The possible voltage vector application sequences in sector I include the four possible scenarios shown in fig. 3, and the control of which rectifier is specifically selected may be determined according to constraint C. Each control vector predictor includes three bits, each representing three phases, where 1 represents the phase on and 0 represents the phase off.
In this embodiment, the constraint condition further includes: the final effective voltage of the zero vectors (000) and (111) is the same, and the average output voltage of the period is the same under various vector arrangements in an action period. Therefore, in the vector control, SPWM, SVPWM, and various DPWM can be used as the modulation method. In an action period, under the condition that the conduction time of each phase of switch tube is determined, the average output voltage is not influenced by the different conduction time of the switch tube (although the effective vector of the output possibly changes). As shown in fig. 4 (1) a and (1) b, although the action vectors are different, the average output voltage of the period is the same because the on-time corresponding to each phase is the same; similarly, (2) a and (2) b in fig. 4 have the same characteristics.
In this embodiment, the constraint condition for permutation and combination of the control vector prediction values further includes: D. the zero vector in the vector sequence is the starting position or the ending position in the vector sequence. And/or E, for each phase, arranging according to the principle of switching on first and then switching off. And/or, f. only switching once for each phase. In fig. 3, the zero vector (111) is arranged at the start position in fig. 1, the zero vector (111) is arranged at the end position in fig. 2, the zero vector (000) is arranged at the start position in fig. 3, and the zero vector (000) is arranged at the end position in fig. 4.
In this embodiment, if the constraint condition C cannot be satisfied, that is, it cannot be guaranteed that the last switching state of the previous active cycle is the first switching state of the next active cycle, the vector sequence is selected as the control sequence of the PWM rectifier according to the principle that the number of switching operations is the minimum.
In the present embodiment, for better explanation of the control process, a case of 6-step prediction, that is, one action period (sampling period) including 6 prediction periods is taken as an example for explanation. Setting 6 control vector predicted values obtained by calculation of a prediction module as { u }1、u2、u1、u2、u0、u3The value of its prediction vector is: u. of0(000)、u1(100)、u2(110)、u3(010). The pulse sequence is shown in fig. 5. The on-time of each phase in the period is counted and arranged according to the sequence of 1 (on) and 0 (off), so that the sequence shown in fig. 6 can be obtained. It can be seen that the original pulse sequence has a large number of switches and contains 3 effective vectors u1、u2、u3After rearrangement, only 2 effective vectors and 1 zero vector are contained. Then, the zero vector is 000 or 111, the zero vector is located at the initial position or the end position, and the total of 4 features are arranged, and the obtained sequence is shown as 4 sub-graphs in fig. 7. And finally, selecting the pulse arrangement sequence with the least switching times according to the last switching state of the previous period, and taking the pulse arrangement sequence as a control sequence of the PWM rectifier, namely the final effective pulse.
In this embodiment, as can be seen from fig. 7, each sampling period has only two switching actions, and the average sampling frequency is 3 times of the switching frequency due to the three-phase circuit. Therefore, after the switching frequency is determined according to the system performance and the heat dissipation capacity, the sampling period of the system can be determined, and then the prediction period and the prediction period number in each sampling period can be determined.
The PWM rectifier control device of the embodiment comprises a processor and a memory, wherein the processor is used for executing a control program stored in the memory; the memory stores a control program that, when executed, implements the control method as described above.
The PWM rectifier control device comprises a prediction module, a sequencing module and a selection module; the prediction module is used for obtaining the control vector prediction values of a preset number through prediction; the sorting module is used for carrying out permutation and combination on the control vector predicted values to obtain different vector sequences; the selection module is used for selecting the vector sequence with the least switching times from the vector sequences as the control sequence of the PWM rectifier.
In this embodiment, the prediction module is specifically configured to: calculating to obtain the output of the current action period according to the output of the previous action period and the control vector predicted value of the current action period through a preset prediction model; predicting a control vector possible value of a next action period according to a control vector predicted value of the current action period and the output of the current action period through a preset prediction model; and selecting the value closest to the preset reference value from the possible values of the control vector as the predicted value of the control vector of the next action period.
In this embodiment, the sorting module performs permutation and combination on the control vector predicted values to meet a preset constraint condition; the constraint includes at least any one of: A. in any control period, the number of the changed switches is less than or equal to a first preset value; B. in any action period, the number of the changed switches is less than or equal to a second preset value; C. the last switching state of the previous active period is the first switching state of the next active period. The constraints further include: D. the zero vector in the vector sequence is the starting position or the ending position in the vector sequence. The constraints further include: E. for each phase, the arrangement is based on the principle of first conducting and then switching off. The constraints further include: F. for each phase, switching is only once. In the present embodiment, the above-mentioned constraint condition may be selected as needed. In the present embodiment, the first preset value is 1, and the second preset value is 3.
The foregoing is considered as illustrative of the preferred embodiments of the invention and is not to be construed as limiting the invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.

Claims (13)

1. A PWM rectifier control method is characterized in that: the method comprises the following steps:
s1, obtaining control vector predicted values of a preset number through prediction;
s2, arranging and combining the control vector predicted values to obtain different vector sequences;
s3, selecting the vector sequence with the least switching times from the vector sequences as a control sequence of the PWM rectifier;
in step S2, the control vector prediction values are arranged and combined to satisfy a preset constraint condition; the constraint includes at least any one of:
A. in any control period, the number of the changed switches is less than or equal to a first preset value;
B. in any action period, the number of the changed switches is less than or equal to a second preset value;
C. the last switching state of the previous active period is the first switching state of the next active period.
2. The PWM rectifier control method according to claim 1, characterized in that: the specific steps of step S1 include:
s1.1, calculating to obtain the output of the current action period according to the output of the previous action period and the control vector predicted value of the current action period through a preset prediction model;
s1.2, predicting a control vector possible value of a next action cycle according to the control vector predicted value of the current action cycle and the output of the current action cycle through the preset prediction model;
and S1.3, selecting a value closest to a preset reference value from the possible values of the control vector as a predicted value of the control vector of the next action period.
3. The PWM rectifier control method according to claim 2, characterized in that: the constraint further comprises:
D. and the zero vector in the vector sequence is the starting position or the ending position in the vector sequence.
4. The PWM rectifier control method according to claim 3, characterized in that: the constraint further comprises:
E. for each phase, the arrangement is based on the principle of first conducting and then switching off.
5. The PWM rectifier control method according to claim 3, characterized in that: the constraint further comprises:
F. for each phase, switching is only once.
6. The PWM rectifier control method according to claim 2, characterized in that: the first preset value is 1, and the second preset value is 3.
7. A PWM rectifier control device, characterized in that: the system comprises a processor and a memory, wherein the processor is used for executing a control program stored on the memory; the memory stores a control program which, when executed, implements the control method of any one of claims 1 to 6.
8. A PWM rectifier control device, characterized in that: the device comprises a prediction module, a sorting module and a selection module;
the prediction module is used for obtaining the control vector prediction values of a preset number through prediction;
the sorting module is used for carrying out permutation and combination on the control vector predicted values to obtain different vector sequences;
the selection module is used for selecting the vector sequence with the least switching times from the vector sequences as a control sequence of the PWM rectifier;
the sorting module is used for carrying out permutation and combination on the control vector predicted values to meet a preset constraint condition; the constraint includes at least any one of:
A. in any control period, the number of the changed switches is less than or equal to a first preset value;
B. in any action period, the number of the changed switches is less than or equal to a second preset value;
C. the last switching state of the previous active period is the first switching state of the next active period.
9. The PWM rectifier control apparatus according to claim 8, wherein: the prediction module is specifically configured to: calculating to obtain the output of the current action period according to the output of the previous action period and the control vector predicted value of the current action period through a preset prediction model; predicting a control vector possible value of a next action cycle according to the control vector predicted value of the current action cycle and the output of the current action cycle through the preset prediction model; and selecting a value closest to a preset reference value from the control vector possible values as a control vector predicted value of the next action period.
10. The PWM rectifier control apparatus according to claim 9, wherein: the constraint further comprises:
D. and the zero vector in the vector sequence is the starting position or the ending position in the vector sequence.
11. The PWM rectifier control apparatus according to claim 10, wherein: the constraint further comprises:
E. for each phase, the arrangement is based on the principle of first conducting and then switching off.
12. The PWM rectifier control apparatus according to claim 10, wherein: the constraint further comprises:
F. for each phase, switching is only once.
13. The PWM rectifier control apparatus according to claim 9, wherein: the first preset value is 1, and the second preset value is 3.
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