CN110601579A - Three-level inverter model prediction direct power control method - Google Patents
Three-level inverter model prediction direct power control method Download PDFInfo
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- CN110601579A CN110601579A CN201911057372.7A CN201911057372A CN110601579A CN 110601579 A CN110601579 A CN 110601579A CN 201911057372 A CN201911057372 A CN 201911057372A CN 110601579 A CN110601579 A CN 110601579A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/483—Converters with outputs that each can have more than two voltages levels
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Inverter Devices (AREA)
Abstract
The invention discloses a model prediction direct power control method of a three-level inverter, which comprises the steps of calculating collected power grid current, power grid voltage, direct-current side current and direct-current positive and negative capacitance voltage to obtain a power error vector, obtaining sector information by superposing the phase angle of the error vector and the power grid voltage vector, obtaining an alternative vector combination which is acted by a current beat according to the obtained sector information, and generating a switch control signal in a PWM (pulse width modulation) module by using an optimal switch vector to control the on-off of each power switch tube of the three-level inverter; the method selects a specific switching vector combination according to the sector information of the power error vector, and calculates and compares the cost function value by the switching vector in the selected switching vector combination, thereby obtaining the optimal switching control signal.
Description
Technical Field
The invention belongs to the technical field of power electronics, and particularly relates to a model prediction direct power control method of a three-level inverter.
Background
In power energy consumption and new energy power generation systems, power electronic equipment with an inverter as a core is used as a bridge for energy conversion, and the method plays a vital role in ensuring smooth flow of energy and realizing high-quality electric energy supply. Compared with the traditional two-level inverter, the three-level inverter has the advantages of high voltage withstanding level, low voltage distortion rate, low harmonic content and the like. Meanwhile, the level number is moderate and easy to realize, so that the method is widely researched and applied. The direct power control method is one of the most common control methods for realizing power decoupling control of the inverter. The method has simple control structure, does not need a current control inner ring setting and modulating module, and simultaneously has the advantages of high dynamic response speed, strong robustness and the like. However, the control effect of the conventional direct power control method depends heavily on the accuracy of the switching vector table, so that the conventional direct power control method has the inherent defect of low steady-state accuracy. In order to solve the problem of low steady-state precision of the traditional direct power control method, scholars at home and abroad propose a plurality of improved methods, including the proposal of a new switch vector table and the combination of a space vector modulation technology and the like. Although these methods can improve the steady-state performance to some extent, they also increase the complexity of the algorithm. In addition, the three-level topology has the control requirement of neutral point potential balance control, so that the design of a switching vector table is more complicated.
The introduction of model predictive control into a direct power control method provides a new idea for effectively solving the problem of low steady-state accuracy, and a great deal of related research achievements aiming at a two-level inverter exist at present, and the problem can be well solved. However, the three-level inverter has the inherent problem of midpoint balance, and related research is still very rare at present.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a model prediction direct power control method of a three-level inverter, which adopts different alternative vector combinations to participate in model prediction control according to different sectors so as to achieve better steady-state performance compared with the traditional direct power control algorithm.
In order to achieve the purpose, the invention discloses a model prediction direct power control method of a three-level inverter, which adopts the following technical scheme:
a three-level inverter model prediction direct power control method comprises the following steps:
s1: collecting the current i of the power grida(k)、ib(k)、ic(k) And the network voltage ea(k)、eb(k)、ec(k) And respectively calculating the current vector i of the power grid through a vector synthesis module(k)And grid voltage vector e(k)；
S2: collecting direct side current idc(k) And DC positive and negative capacitance voltage Vc1(k)、Vc2(k) Adding the DC positive and negative capacitor voltages to obtain a DC total voltage Udc(k)；
S3, in the power calculating module, respectively calculating the network side complex power SkActive power pkAnd reactive power qkAnd the power error vector caused by the zero vector at time (k +1)
S4: determining power error vector in sector determination moduleThe sector n is located;
s5, determining candidate vector combination participating in model predictive control according to the sector information n;
s6: calculating a predicted power value and predicting positive and negative direct current capacitance voltage values in a model prediction module;
s7, calculating cost function value according to the predicted power value and the predicted DC positive and negative capacitor voltage values obtained in step S6 in the cost function module, and calculating the minimum value g in the cost function valueminAccording to the minimum value gminObtaining corresponding optimal switch vector VoptFor the next beat;
s8 according to the optimal switching vector VoptAnd obtaining the corresponding optimal switching state, and then obtaining the corresponding switching control signal, thereby controlling the on-off of each power switching tube of the three-level inverter.
In the above technical solution, in the step S3, the network side complex power SkThe expression of (a) is:
Sk＝pk+jqk＝1.5Re((ik)*ek)+j1.5Im((ik)*ek)
wherein p isk＝1.5Re((ik)*ek) And q isk＝1.5Im((ik)*ek) Respectively, the active and reactive power components at time k, and the symbol "+" indicates the conjugate of the corresponding complex vector.
In the above technical solution, in the step S3, the power error vector caused by the zero vector acting at the (k +1) time isThe expression of (a) is:
wherein (S)*)refIs the conjugate of the power command value at time (k +1), TsFor the control period, L is the filter inductance, R is the equivalent impedance, E is the amplitude of the grid voltage vector, and w is the grid angular frequency (rad/s).
In the above technical solution, in the step S4, the power error vector is determinedThe expression of the located sector n is as follows:
wherein, floor is a down-rounding function, and symbol ". quadrature" represents the phase angle of the corresponding vector. A
In the above technical solution, in the step S6, the predicted power value p is calculated according to the vectors in the switching vector group(k+1)And q is(k+1)The expression of (a) is:
wherein p iskAs the value of the active power, qkIs the reactive power value.
In the above technical solution, in the step S6, the predicted positive capacitor voltage V is calculated according to the vector in the switching vector groupc1(k +1) and a negative capacitance voltage Vc2The expression of (k +1) is:
wherein C is a positive capacitance value and a negative capacitance value; h1J(k)、H2J(k) J (J ═ a, b, c) phase current coefficients of positive and negative capacitances respectively,SJ(k) and the current applied switching vector corresponds to the J-th phase switching state value.
In the above technical solution, in step S7, the power value p is predicted according to the predicted power value(k+1)、q(k+1)And predicting DC positive and negative capacitance voltage valuesThe expression for calculating the cost function value g (k) is:
wherein p isrefAnd q isrefCommand values, lambda, representing active and reactive power, respectivelydcIs a midpoint potential adjustment factor.
According to the scheme of the invention, firstly, the collected power grid current i isa(k)、ib(k)、ic(k) And the network voltage ea(k)、eb(k)、ec(k) Calculating to obtain a power grid current vector i(k)And grid voltage vector e(k)Simultaneously collecting the direct current idc(k) And DC positive and negative capacitance voltage Vc1(k)、Vc2(k) (ii) a Then according to the grid current vector i(k)And grid voltage vector e(k)Respectively calculating active components pkA reactive component qkAnd network side complex power Sk(ii) a Then according to the network side complex power SkCalculating the conjugate of the power value after the zero vector contribution at time (k +1)Then, the conjugate (S) of the power command value at the time (k +1) is passed*)refAnddifferencing to obtain a power error vectorThen by superimposing the error vectorAnd grid voltage vector e(k)Obtaining sector information by the phase angle, and further obtaining an alternative vector combination to be acted on currently by the obtained sector information; then, the model prediction module combines the alternative vectors and the grid voltage vector e according to the current obtained alternative vectors(k)Active power component pkReactive power component qkD.c. side current idc(k) And a DC positive and negative capacitor voltage Vc1(k)、Vc2(k) Calculating to obtain 4 predicted active (reactive) power values and 4 predicted direct-current positive and negative capacitor voltage values respectively; then the cost function module calculates 4 cost function values according to the predicted power value and the predicted direct-current positive and negative capacitance voltage value, and selects a switch vector corresponding to the minimum value as an optimal switch vector; and finally, generating a switch control signal in the PWM module by the optimal switch vector to control the on-off of each power switch tube of the three-level inverter.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
the method of the invention is based on calculating the power error vectorAnd selecting a specific switching vector combination according to the sector information, and calculating and comparing the cost function value by using the switching vectors in the selected switching vector combination so as to obtain the optimal switching control signal. The method has good steady-state performance and can quickly track the amplitude step change of the power command.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a control block diagram of a three-level inverter model predictive direct power control method;
FIG. 2 is a diagram of the three-level inverter line voltage, active and reactive power, the difference between the positive and negative bus capacitor voltages, and the single-phase grid-connected current waveform using the method of the present invention.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
As shown in fig. 1, the control method of the present embodiment is:
s1, collecting the current i of the power grid at the current moment ka(k)、ib(k)、ic(k) And the network voltage ea(k)、eb(k)、ec(k) And respectively calculating the current vector i of the power grid through a vector synthesis module(k)And grid voltage vector e(k)The calculation expression is:
wherein the rotation vector
S2, collecting direct current idc(k) And DC positive and negative capacitance voltage Vc1(k)、Vc2(k) Adding the DC positive and negative capacitor voltages to obtain a DC total voltage Udc(k)；
S3, completing the related calculation in the power calculation module;
s3.1, calculating the network side complex power S of the current time kkThe calculation expression is:
Sk＝pk+jqk＝1.5Re((ik)*ek)+j1.5Im((ik)*ek)
wherein p isk＝1.5Re((ik)*ek) And q isk＝1.5Im((ik)*ek) Respectively, the active and reactive power components at time k, and the symbol "+" indicates the conjugate of the corresponding complex vector.
S3.2, calculating a power error vector caused by zero vector action at the (k +1) momentThe calculation expression is:
wherein (S)*)refIs the conjugate of the power command value at time (k + 1); t issIs a control period; l is the filter inductance, and R is the equivalent impedance; e is the amplitude of the grid voltage vector and w is the grid angular frequency (rad/s). In this example, Ts＝100us，L＝12.5mH，R＝1.2Ω，E＝160V，w＝100π。
S4, judging power error vector in sector judging moduleThe expression of the located sector n is as follows:
wherein, floor is a down-rounding function, and symbol ". quadrature" represents the phase angle of the corresponding vector.
S5, determining candidate vector combinations participating in model predictive control according to the sector information n obtained in the step S4, wherein the candidate vector combinations are specifically shown in Table 1;
TABLE 1 alternative vector combinations for different sectors
| Sector n | 1 | 2 | 3 | 4 |
| Alternative vector combinations | Vs1Vm1VL1V0 | Vs2Vm1VL2V0 | Vs2Vm2VL2V0 | Vs3Vm2VL3V0 |
| Sector area | 5 | 6 | 7 | 8 |
| Alternative vector combinations | Vs3Vm3VL3V0 | Vs4Vm3VL4V0 | Vs4Vm4VL4V0 | Vs5Vm4VL5V0 |
| Sector n | 9 | 10 | 11 | 12 |
| Alternative vector combinations | Vs5Vm5VL5V0 | Vs6Vm5VL6V0 | Vs6Vm6VL6V0 | Vs1Vm6VL1V0 |
S6, calculating a predicted power value and predicting a positive direct current capacitor voltage value and a negative direct current capacitor voltage value in a model prediction module:
s6.1, according to all the switch vectors in the switch vector group to be used in the current beat and the power grid voltage vector e obtained in the step S1(k)And the real and reactive power components p obtained in step S3kAnd q iskCalculating the predicted values (4 respectively) of the active power and the reactive power corresponding to all the switch vectors in the switch vector group;
wherein the predicted power value p is calculated from the vectors in the set of switching vectors(k+1)And q is(k+1)The expression of (a) is:
wherein the inverter output voltage vector can be seen in table 2;
TABLE 2 three-level inverter output Voltage vector
S6.2, in the group of switching vectors to be used according to the current beatAll switching vectors and the dc-side current i obtained in step S2dc(k) And DC positive and negative capacitance voltage Vc1(k)、Vc2(k) Calculating the predicted values (4 each) of the direct current positive and negative capacitor voltages corresponding to all the switch vectors in the switch vector group;
wherein the predicted positive and negative capacitor voltages V are calculated from vectors in the switching vector groupc1(k +1) and Vc2The expression of (k +1) is:
where C is a positive dc bus capacitance value and a negative dc bus capacitance value, and in this embodiment, C is 520 uF; h1J(k)、H2J(k) J (J ═ a, b, c) phase current coefficients of positive and negative dc bus capacitors, respectively,SJ(k) the switching vector is a J-th phase switching state value corresponding to the currently acting switching vector;
s7, the cost function module calculates 4 cost function values according to the 4 predicted active and reactive power values and the 4 predicted direct current positive and negative capacitance voltage values obtained in the step S6, and then obtains the minimum value g in the 4 cost function valuesminAccording to the minimum value gminObtaining corresponding optimal switch vector VoptFor the next beat;
wherein, according to the predicted power value p(k+1)、q(k+1)And predicting DC positive and negative capacitance voltage valuesThe expression for calculating the cost function value g (k) is:
wherein p is*And q is*Command values, lambda, representing active and reactive power, respectivelydcFor the midpoint potential adjustment factor for adjusting the balance of the midpoint potential, in the present embodiment, the power command p*And q is*Are respectively 1000W and 0Var, and a midpoint potential adjusting factor lambdadcTaking 0.125; .
S8 according to the optimal switching vector VoptAnd obtaining the corresponding optimal switching state, and then obtaining the corresponding switching control signal, thereby controlling the on-off of each power switching tube of the three-level inverter.
Fig. 2 is a graph of common mode voltage waveform without the method of the present invention, in this embodiment, the dc bus voltage of the three-level inverter is 320V, and the fundamental frequency of the power grid is 50 Hz. It can be seen from the waveforms shown in fig. 2 that both the active power and the reactive power of the three-level inverter can effectively track the command values of the three-level inverter when the method is adopted, the power pulsation in a steady state is small, and meanwhile, the grid-connected current tracking and the neutral potential balance control can achieve a good control effect.
The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed.
Claims (5)
1. A three-level inverter model prediction direct power control method is characterized by comprising the following steps:
s1: collecting the current i of the power grida(k)、ib(k)、ic(k) And the network voltage ea(k)、eb(k)、ec(k) And respectively calculating the current vector i of the power grid through a vector synthesis module(k)And grid voltage vector e(k)；
S2: collecting direct side current idc(k) And DC positive and negative capacitance voltage Vc1(k)、Vc2(k) Adding the DC positive and negative capacitor voltages to obtain a DC total voltage Udc(k)；
S3 in power calculation modeIn the block, the network side complex power S is calculated respectivelykActive power pkAnd reactive power qkAnd the power error vector caused by the zero vector at time (k +1)
Wherein (S)*)refIs the conjugate of the power command value at time (k +1), TsFor the control period, L is the filter inductance, R is the equivalent impedance, E is the amplitude of the grid voltage vector, and w is the grid angular frequency (rad/s);
s4: determining power error vector in sector determination moduleLocated in sector n
Wherein, floor is a down rounding function, and symbol 'angle' represents the phase angle of the corresponding vector;
s5, determining candidate vector combination participating in model predictive control according to the sector information n;
s6: calculating a predicted power value and predicting positive and negative direct current capacitance voltage values in a model prediction module;
s7, calculating cost function value according to the predicted power value and the predicted DC positive and negative capacitor voltage values obtained in step S6 in the cost function module, and calculating the minimum value g in the cost function valueminAccording to the minimum value gminObtaining corresponding optimal switch vector VoptFor the next beat;
s8 according to the optimal switching vector VoptObtaining the corresponding optimal switch state, and then obtaining the corresponding switch control signal to control the threeAnd switching on and off of each power switch tube of the level inverter.
2. The method of claim 1, wherein in step S3, the grid-side complex power S is calculatedkThe expression of (a) is:
Sk＝pk+jqk＝1.5Re((ik)*ek)+j1.5Im((ik)*ek)
wherein p isk＝1.5Re((ik)*ek) And q isk＝1.5Im((ik)*ek) Respectively, the active and reactive power components at time k, and the symbol "+" indicates the conjugate of the corresponding complex vector.
3. The method of claim 1, wherein in step S6, the predicted power value p is calculated according to the vectors in the switching vector group(k+1)And q is(k+1)The expression of (a) is:
wherein p iskAs the value of the active power, qkIs the reactive power value.
4. The method of claim 1, wherein in step S6, the predicted positive capacitor voltage V is calculated according to a vector in the switching vector groupc1(k +1) and a negative capacitance voltage Vc2The expression of (k +1) is:
wherein C is a positive capacitance value and a negative capacitance value; h1J(k)、H2J(k) J (J ═ a, b, c) phase current coefficients of positive and negative capacitances respectively,SJ(k) and the current applied switching vector corresponds to the J-th phase switching state value.
5. The method of claim 3 or 4, wherein in step S7, the predicted power value p is used as a basis for predicting the direct power control(k+1)、q(k+1)And predicting DC positive and negative capacitance voltage valuesThe expression for calculating the cost function value g (k) is:
wherein p isrefAnd q isrefCommand values, lambda, representing active and reactive power, respectivelydcIs a midpoint potential adjustment factor.
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