CN110635707A - Three-phase LCL inverter control method and device based on harmonic interference observer - Google Patents
Three-phase LCL inverter control method and device based on harmonic interference observer Download PDFInfo
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- CN110635707A CN110635707A CN201910883318.1A CN201910883318A CN110635707A CN 110635707 A CN110635707 A CN 110635707A CN 201910883318 A CN201910883318 A CN 201910883318A CN 110635707 A CN110635707 A CN 110635707A
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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
- H02M7/539—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
Abstract
The invention discloses a three-phase LCL inverter control method and a device based on a harmonic disturbance observer, wherein the method comprises the steps of establishing a mathematical model under dq rotation coordinates; introducing capacitance current active feedback damping to obtain an equivalent controlled object mathematical model, and discretizing the equivalent controlled object mathematical model to obtain a z-domain mathematical model; on the basis of proportional negative feedback of current inner loop and direct feed forward of grid voltage, a Q (z) filter of a discrete disturbance observer is designed by adopting an infinite impulse response filter method, and G (G) of the disturbance observer is subjected topn ‑1(s) respectively introducing a first-order low-pass filter and a zero phase shift low-pass filter into the channel and the output channel to filter high-frequency noise, and introducing 2-beat lead into the output of the disturbance observer to compensate the time delay of digital control; and subtracting the output observation value of the disturbance observer from the output of the current inner loop proportion negative feedback, and compensating disturbance, so that the high-quality inverter output current is obtained, and the problem of LCL inverter output current distortion caused by disturbance such as dead zone effect, power grid voltage distortion, parameter perturbation and the like is solved.
Description
Technical Field
The invention belongs to the technical field of electricity, and particularly relates to a three-phase LCL inverter control method and device based on a harmonic interference observer.
Background
The LCL type inverter is key equipment in the fields of distributed new energy power generation, electric energy quality control and the like, and the design of a control system of the LCL type inverter mainly aims at realizing zero static error tracking of output current of the inverter, low content of grid-connected current low-order harmonic, fast dynamic response, stronger robustness and the like, and the aims are closely related to factors such as dead zone effect of a switching tube, power grid voltage distortion, parameter perturbation, control system delay and the like. Therefore, it is necessary to overcome the influence of various adverse factors when designing the controller, and to ensure that the LCL type inverter system has good steady-state and dynamic performance.
In a practical inverter system, in order to prevent the switching tubes of the same bridge arm from generating a 'through' phenomenon, a dead time t needs to be inserted into complementary PWM signalsdHowever, the dead zone effect will cause the inverter output current to be severely distorted, and the quality of the inverter system output current is reduced. On the other hand, the quality of the inverter output current is also affected by the quality of the grid voltage. In practical power distribution networks, especially in some remote areas, grid voltage distortion may exist. By usingThe voltage feed-forward method of the L-filter does not eliminate the effect of voltage distortion on the output current. In fact, adverse factors such as dead zone effect, grid voltage distortion, parameter perturbation and the like can be attributed to the total voltage disturbance of the inverter system, and can be estimated and compensated by adopting a disturbance observer. The disturbance observer has a good suppression effect on disturbance such as parameter perturbation under dq coordinates, however, the suppression capability on periodic disturbance signals needs to be further researched and improved.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a three-phase LCL inverter control method and device based on a harmonic disturbance observer, and aims to solve the problem of LCL inverter output current distortion caused by disturbances such as dead zone effect, grid voltage distortion and parameter perturbation.
To achieve the above object, according to an aspect of the present invention, there is provided a three-phase LCL type inverter control method based on a harmonic disturbance observer, including the steps of:
step one, establishing a mathematical model of a three-phase LCL inverter under dq rotation coordinates;
secondly, introducing capacitance current active feedback damping into the LCL type inverter mathematical model under the dq rotation coordinate to obtain a three-phase LCL type inverter equivalent controlled object mathematical model, and discretizing the three-phase LCL type inverter equivalent controlled object mathematical model to obtain a z-domain mathematical model;
step three, in a z-domain mathematical model, on the basis of current inner loop proportion negative feedback and direct power grid voltage feed-forward, designing a Q (z) filter of a discrete disturbance observer by adopting an infinite impulse response filter method, and in a G (G) filter of the disturbance observerpn -1(s) respectively introducing a first-order low-pass filter and a zero phase shift low-pass filter into the channel and the output channel to filter high-frequency noise, and introducing 2-beat lead into the output of the disturbance observer to compensate the time delay of digital control;
and step four, subtracting the output observation value of the disturbance observer from the output of the current inner loop proportion negative feedback, and compensating the disturbance existing in the LCL type inverter so as to obtain the high-quality inverter output current.
Further, the mathematical model of step one is formulated as:
wherein L is1Is a side inductor of the converter, L2Is the network side inductor and C is the LCL filter capacitor. u. ofdq(s)、uCdq(s) and usdq(s) components of the inverter side voltage, the filter capacitor voltage and the grid voltage on the dq axis, i1dq(s)、i2dqAnd(s) is the component of the inversion side current and the grid side current on the dq axis, and omega is the angular frequency of the fundamental frequency of the system.
Further, the capacitance current active feedback damping in the second step is the LCL inverter capacitance current multiplied by the damping Kc. The z-domain mathematical model expression is as follows:
wherein, TsFor a sampling period, KcFor capacitive current active damping, omegarThe LCL resonant angular frequency.
According to another aspect of the present invention, there is provided a three-phase LCL type inverter control apparatus based on a harmonic disturbance observer, including:
the current inner loop proportion control regulator is used for controlling the output current tracking instruction value;
q (z) filter, is used for tracing and exchanging the periodic disturbance signal;
the zero phase shift low-pass filter is used for filtering high-frequency noise in the signal;
a 2-beat lead delay compensator for compensating the digitally controlled 2-beat delay;
first order low pass filter for suppressing Gpn -1(s) amplification of noise by the channel.
Further, q (z) filter expression is:
wherein α is Q (z) filter coefficient, and 0<α<1，N＝fs/f，fsIs the sampling frequency, and f is the fundamental frequency.
Further, the zero phase shift low pass filter and the delay compensator are formulated as:
further, a first order low pass filter suppresses Gpn -1(s) the amplification of noise by the channel is formulated as:
where τ is the time constant of the first order low pass filter, L1Is a side inductor of the converter, L2Is a net side inductor.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. according to the three-phase LCL inverter control method based on the harmonic interference observer, the disturbance observer is used for estimating and compensating the disturbance, compared with the traditional method, the disturbance compensation precision of the disturbance observer is high for dead zone effect, power grid voltage distortion, parameter perturbation and the like, the quality of output current of the LCL inverter is improved, and the steady-state tracking performance of instruction current is improved;
2. compared with the traditional dead zone compensation method, the three-phase LCL type inverter control method based on the harmonic interference observer does not need to add a special hardware detection circuit for phase current polarity.
Drawings
Fig. 1 is a schematic structural diagram of a three-phase LCL inverter according to an embodiment of the present invention;
FIG. 2 is a control block diagram of a three-phase LCL inverter based on a harmonic disturbance observer provided by an embodiment of the invention;
FIG. 3 is a simulation diagram of the output current of a prior art LCL inverter using PI control;
fig. 4 is a simulation diagram of the three-phase LCL inverter control based on the harmonic disturbance observer according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a three-phase LCL inverter control method based on a harmonic disturbance observer, as shown in FIG. 1, a system comprises a three-phase inverter, an LCL filter connected with the inversion side of the three-phase inverter and a controller connected with the control end of the three-phase inverter, the LCL filter parameters of the embodiment are as follows: inverter side inductor L1Is 1mH, network side inductance L20.6mH, filter capacitance CfTo 20uF, a dead time t is setdIs 4 us. The control method is shown in fig. 2 and comprises the following steps:
step one, establishing a mathematical model of a three-phase LCL inverter under dq rotation coordinates;
secondly, introducing capacitance current active feedback damping into the LCL type inverter mathematical model under the dq rotation coordinate to obtain a three-phase LCL type inverter equivalent controlled object mathematical model, and discretizing the three-phase LCL type inverter equivalent controlled object mathematical model to obtain a z-domain mathematical model;
step three, in a z-domain mathematical model, on the basis of current inner loop proportion negative feedback and direct power grid voltage feed-forward, designing a Q (z) filter of a discrete disturbance observer by adopting an infinite impulse response filter method, and in a G (G) filter of the disturbance observerpn -1(s) respectively introducing a first-order low-pass filter and a zero phase shift low-pass filter into the channel and the output channel to filter high-frequency noise, and introducing 2-beat lead into the output of the disturbance observer to compensate the time delay of digital control;
and step four, subtracting the output observation value of the disturbance observer from the output of the current inner loop proportion negative feedback, and compensating the disturbance existing in the LCL type inverter so as to obtain the high-quality inverter output current.
Further, the mathematical model of step one is formulated as:
wherein L is1Is a side inductor of the converter, L2Is the network side inductor and C is the LCL filter capacitor. u. ofdq(s)、uCdq(s) and usdq(s) components of the inverter side voltage, the filter capacitor voltage and the grid voltage on the dq axis, i1dq(s)、i2dqAnd(s) is the component of the inversion side current and the grid side current on the dq axis, and omega is the angular frequency of the fundamental frequency of the system.
Further, the capacitance current active feedback damping in the second step is the LCL inverter capacitance current multiplied by the damping Kc. The z-domain mathematical model expression is as follows:
wherein, TsFor a sampling period, KcFor capacitive current active damping, omegarThe LCL resonant angular frequency.
According to another aspect of the present invention, there is provided a three-phase LCL type inverter control apparatus based on a harmonic disturbance observer, including:
the current inner loop proportion control regulator is used for controlling the output current tracking instruction value;
q (z) filter, is used for tracing and exchanging the periodic disturbance signal;
the zero phase shift low-pass filter is used for filtering high-frequency noise in the signal;
a 2-beat lead delay compensator for compensating the digitally controlled 2-beat delay;
first order low pass filter for suppressing Gpn -1(s) amplification of noise by the channel.
Further, q (z) filter expression is:
wherein α is Q (z) filter coefficient, and 0<α<1，N＝fs/f，fsIs the sampling frequency, and f is the fundamental frequency.
Further, the zero phase shift low pass filter and the delay compensator are formulated as:
further, a first order low pass filter suppresses Gpn -1(s) the amplification of noise by the channel is formulated as:
where τ is the time constant of the first order low pass filter, L1Is a side inductor of the converter, L2Is a net side inductor.
Fig. 3 and 4 show simulation results of a controller designed according to the above steps. The grid voltage is set to contain 0.06pu fifth harmonic and 0.03pu seventh harmonic, and the dead time of the PWM signal is 4 us. Fig. 4 is a simulation result of three-phase output current by using the conventional PI control, and fig. 4 is a simulation result of three-phase output current by using the inverter control method of the present invention. Comparing fig. 3 and fig. 4, it can be known that the output current waveform sine degree is greatly improved after the inverter control is performed by the method of the present invention, the total harmonic distortion rate is reduced from 10.44% to 1.98%, and the dynamic response is good.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A three-phase LCL inverter control method based on a harmonic disturbance observer is characterized by comprising the following steps:
step one, establishing a mathematical model of a three-phase LCL inverter under dq rotation coordinates;
secondly, introducing capacitance current active feedback damping into the LCL type inverter mathematical model under the dq rotation coordinate to obtain a three-phase LCL type inverter equivalent controlled object mathematical model, and discretizing the three-phase LCL type inverter equivalent controlled object mathematical model to obtain a z-domain mathematical model;
thirdly, designing a Q (z) filter of the discrete disturbance observer by adopting an infinite impulse response filter method on the basis of the current inner loop proportion negative feedback and the direct power grid voltage feed-forward in the z-domain mathematical model, and designing a G (gain) filter of the discrete disturbance observer in the G (gain) filter of the disturbance observerpn -1(s) respectively introducing a first-order low-pass filter and a zero phase shift low-pass filter into the channel and the output channel to filter high-frequency noise, and introducing 2-beat lead into the output of the disturbance observer to compensate the time delay of digital control;
and step four, subtracting the output observation value of the disturbance observer from the output of the current inner loop proportion negative feedback, and compensating the disturbance existing in the LCL type inverter so as to obtain the high-quality inverter output current.
2. The control method of claim 1, wherein the mathematical model of step one is formulated as:
wherein L is1Is a side inductor of the converter, L2Is the network side inductor and C is the LCL filter capacitor. u. ofdq(s)、uCdq(s) and usdq(s) components of the inverter side voltage, the filter capacitor voltage and the grid voltage on the dq axis, i1dq(s)、i2dqAnd(s) is the component of the inversion side current and the grid side current on the dq axis, and omega is the angular frequency of the fundamental frequency of the system.
3. The control method according to claim 1, wherein the capacitive current active feedback damping in step two is the LCL inverter capacitive current multiplied by damping Kc。
4. The control method according to claim 1, wherein the z-domain mathematical model expression in the second step is:
wherein, TsFor a sampling period, KcFor capacitive current active damping, omegarThe LCL resonant angular frequency.
5. A three-phase LCL inverter control device based on a harmonic disturbance observer is characterized by comprising:
the current inner loop proportion control regulator is used for controlling the output current tracking instruction value;
q (z) filter, is used for tracing and exchanging the periodic disturbance signal;
the zero phase shift low-pass filter is used for filtering high-frequency noise in the signal;
a 2-beat lead delay compensator for compensating the digitally controlled 2-beat delay;
first order low pass filter for suppressing Gpn -1(s) amplification of noise by the channel.
6. The control apparatus of claim 5, wherein said Q (z) filter expression is:
wherein α is Q (z) filter coefficient, and 0<α<1，N＝fs/f，fsIs the sampling frequency, and f is the fundamental frequency.
7. The control apparatus of claim 5, wherein the zero phase shift low pass filter and delay compensator are formulated as:
8. the control device of claim 5, wherein the first order low pass filter suppresses Gpn -1(s) the amplification of noise by the channel is formulated as:
where τ is the time constant of the first order low pass filter, L1Is a side inductor of the converter, L2Is a net side inductor.
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| CN112187119A (en) * | 2020-09-10 | 2021-01-05 | 东南大学 | Permanent magnet motor double-ring current control method for output filter with LCL |
| CN112491276A (en) * | 2020-11-20 | 2021-03-12 | 西安热工研究院有限公司 | Method for improving anti-interference capability of high-frequency power supply |
| CN113131777A (en) * | 2021-04-21 | 2021-07-16 | 北京航空航天大学 | Harmonic anti-interference control method for current control in power grid inversion process |
| CN113156229A (en) * | 2021-04-30 | 2021-07-23 | 广东电网有限责任公司电力科学研究院 | Online measuring device and method for noise interference level of second-order advanced observer |
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| CN113629711A (en) * | 2021-07-27 | 2021-11-09 | 江苏固德威电源科技股份有限公司 | Grid voltage feedforward control method and system of grid-connected inverter |
| CN114142761A (en) * | 2020-09-04 | 2022-03-04 | 罗克韦尔自动化技术公司 | Dynamic resonance control of grid-connected power converters |
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