CN110829431A - Self-adaptive DC edge minimum voltage value control method - Google Patents

Self-adaptive DC edge minimum voltage value control method Download PDF

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CN110829431A
CN110829431A CN201910964568.8A CN201910964568A CN110829431A CN 110829431 A CN110829431 A CN 110829431A CN 201910964568 A CN201910964568 A CN 201910964568A CN 110829431 A CN110829431 A CN 110829431A
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王瑜瑜
刘少军
王曙霞
杨春
王凡
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Xian Aeronautical Polytechnic Institute
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/01—Arrangements for reducing harmonics or ripples
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/20—Active power filtering [APF]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/40—Arrangements for reducing harmonics

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Abstract

The invention discloses a self-adaptive DC edge minimum voltage value control method, which comprises the following steps: and controlling the direct-current side voltage by adopting active current and reactive current. The method not only can self-adaptively maintain the DC side voltage at the minimum reasonable value in real time according to load change, harmonic current and network side voltage, but also can enable an APF system to obtain better static and dynamic characteristics, and improve the harmonic elimination rate.

Description

Self-adaptive DC edge minimum voltage value control method
Technical Field
The invention belongs to the technical field of power electronic control methods, and relates to a self-adaptive DC side minimum voltage value control method.
Background
Because the stability of the dc side voltage of the active power filter has a great influence on the dynamic and static performance of the active power filter, research on the optimal control of the dc side voltage is strongly necessary, but most of the current researches stabilize the dc side voltage of the APF at a specific value, and focus on the control strategies of the grid voltage, the inductance of the main circuit, the capacitance of the dc side, and the current, while the research on the optimal control of the dc side voltage is performed only rarely. Even if the research is carried out, only the influence of the active power on the DC side voltage optimal control in the system dynamic process is remained, and the influence of the reactive power on the DC side voltage optimal control in the system dynamic process is not researched.
When the APF works in an inversion state, the direct current voltage at two ends of the capacitor is continuously converted into alternating current, so that the voltage at the end of the capacitor is continuously reduced, the traditional direct current side voltage control mode is not effective any more, and in addition, the situation can often occur in the APF starting or load sudden change stage. In order not to affect the normal operation of the APF, it is common practice to add a pre-charging device formed by an uncontrollable rectifier, which is used to pre-charge the capacitor, and when the dc-side voltage is large enough, the APF switches back and forth between the rectifier state and the inverter state, which basically ensures UdcConstant, but this adds significantly to system complexity and cost, and the harmonic cancellation rate is low.
Disclosure of Invention
The invention aims to provide a self-adaptive DC side minimum voltage value control method which can improve the harmonic elimination rate.
The invention adopts the technical scheme that a self-adaptive DC edge minimum voltage value control method comprises the following steps:
the active current and the reactive current are adopted to control the direct current side voltage, and then the reference compensation current is as follows:
Figure BDA0002230052800000021
in the formula:
Figure BDA0002230052800000022
for reference to the reactive control parameter of the compensation current,
Figure BDA0002230052800000023
is an active control parameter of the reference compensation current.
Figure BDA0002230052800000024
For reactive variation of power Δ Qdc：
Figure BDA0002230052800000025
In the above formula, the first and second carbon atoms are,
Figure BDA0002230052800000026
is a DC-side reference voltage, UdcIs the actual voltage of the DC side, KqIs a proportionality coefficient, KIIs an integral coefficient.
The invention is also characterized in that:
Figure BDA0002230052800000027
for active variation of power Δ Pdc：
Figure BDA0002230052800000028
In the above formula, the first and second carbon atoms are,
Figure BDA0002230052800000029
is a DC-side reference voltage, UdcIs the actual voltage of the DC side, KpIs a proportionality coefficient, KIIIs an integral coefficient.
Reactive variable power Δ QdcAnd active change power Δ PdcThe specific calculation method is as follows:
step 1, adopting proportional integral to carry out self-adaption and self-charging function control on the direct-current side voltage, and obtaining a corresponding closed-loop transfer function as follows:
Figure BDA00022300528000000210
in the above formula, VinvxfqFor an equivalent fundamental reactive voltage of the inverter, ICxfpFor active compensation of current, V, of equivalent fundamental waveinvxfq＝|ICxfp||XPPFf|≈|ICxfp|Z；
Step 2, controlling the direct current side voltage when the compensation system is damaged by adopting proportional integral, and obtaining a corresponding closed loop transfer function as follows:
Figure BDA0002230052800000031
in the above formula, IHCompensates for current loss of the system, and
Figure BDA0002230052800000032
delta u is a direct current side voltage fluctuation value, and if the fundamental frequency of the power grid is 50Hz and the delta u is assumed to be 5V, the method can be deduced
And 3, judging the stability of the closed-loop transfer function of the formula (15) by using a Laus stability criterion, and deducing the value range of the direct-current side voltage control parameter as follows:
Figure BDA0002230052800000034
taking a DC side reference voltage
Figure BDA0002230052800000035
The minimum value of (a) is determined,
Figure BDA0002230052800000036
then the corresponding equation (16) has:
Figure BDA0002230052800000037
selection of Kp＝0.5，K II50, obtainable from formula (15):
Figure BDA0002230052800000038
when a bode plot is made according to equation (20), it is possible to obtain: i isCxfp≈IH，Udcmax720V, the active compensation current of fundamental wave is ICxfp≈6.1A，Vinvxfq＝|ICxfp||XPPFfIf | ≈ 1.63V, the equation (14) can be obtained:
Figure BDA0002230052800000041
in the above formula, Kq＝1244，KI＝1489；
Then the reactive power delta Q can be obtaineddcAnd active change power Δ Pdc。
DC edge reference voltage in equation (16)Is calculated according to the following formula:
Figure BDA0002230052800000043
the invention has the beneficial effects that: the self-adaptive control method for the minimum voltage value of the direct current side can not only self-adaptively maintain the minimum reasonable value of the direct current side voltage according to load change, harmonic current and network side voltage in real time, but also enable an APF system to obtain better static and dynamic characteristics and improve the harmonic elimination rate.
Drawings
FIG. 1 is a diagram of the DC-side voltage adaptive control and self-charging function control of an adaptive DC-side minimum voltage control method according to the present invention;
FIG. 2 is a block diagram of DC-side voltage control in compensating for system losses according to the adaptive DC-side minimum voltage control method of the present invention;
FIG. 3 is a diagram of a transfer function Baud of a method for adaptive DC-side minimum voltage control in accordance with the present invention;
FIG. 4 is a waveform diagram of a simulation compensated by a conventional adaptive control method;
FIG. 5 is a simulation waveform compensated by the adaptive DC-side minimum voltage control method according to the present invention;
FIG. 6 is a waveform of a simulation compensated by a conventional adaptive control method after a sudden change in load;
fig. 7 is a simulation waveform diagram after compensation by the adaptive dc-side minimum voltage value control method according to the present invention after load sudden change.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Harmonic current compensation was analyzed as follows:
(1) the instantaneous active power and the instantaneous reactive power of a single-phase circuit can be expressed as follows:
Figure BDA0002230052800000051
wherein: v isSα、νSβIs the corresponding voltage, i, in the α - β coordinate systemLα、iLβIs the corresponding load current in the α - β coordinate system, when the original single-phase system is defined as a pseudo two-phase system, the instantaneous active power and the instantaneous reactive power can be expressed as follows, respectively:
Figure BDA0002230052800000052
Figure BDA0002230052800000053
wherein:
Figure BDA0002230052800000054
respectively representing a direct current part of instantaneous fundamental wave active power and a direct current part of instantaneous fundamental wave reactive power;respectively representing the alternating part of the instantaneous fundamental active power for compensating harmonics and the alternating part of the instantaneous fundamental reactive power for compensating harmonics.
Since the actual compensation current can be drawn according to:
Figure BDA0002230052800000056
in the above formula, icαFor the actual compensation current of α axes, icβThe actual compensation current is β axis, therefore, the actual compensation current can be obtained by the following equation:
in the formula:
Figure BDA0002230052800000058
most of the time, the active power filter is designed to have the function of compensating only the reactive power of the load or only the harmonic current according to different requirements by using the active power filter in the above formula (5)
Figure BDA0002230052800000061
Or
Figure BDA0002230052800000062
The actual compensation current under corresponding conditions can be obtained by respectively setting zero and substituting calculation, and the active power filter researched in the invention mainly aims at harmonic treatment, so that the active power filter in the formula can be used forZero, so equation (5) can be rewritten as:
Figure BDA0002230052800000064
as can be seen from equation (6), even if the active power filter is set to perform only the harmonic compensation function, it is used to compensate the ac part of the corresponding instantaneous reactive power component for the harmonic
Figure BDA0002230052800000065
Is always present and this component should not be ignored because of the active power filter's desire to do soThe method has the advantages that good performance is obtained, and good dynamic reactive power compensation performance is required to be achieved during harmonic current compensation.
(2) The influence of harmonic current compensation on the magnitude of the direct-current side voltage is analyzed in detail in two situations, and the specific association process among the direct-current side voltage, the harmonic compensation current and the switch state is analyzed in detail. The method specifically comprises the following steps:
when the DC side voltage value is high enough, the actual compensation current iCxCan accurately track the reference compensation currentChange, p and q respectively indicate active power and reactive power, and 'x' indicates three phases of a, b and c and finally can meet the requirement
Figure BDA0002230052800000067
Wherein: when the active current control mode is adopted for the DC side voltage control mode, the method comprises the following steps
Figure BDA0002230052800000068
Is established, icxαFor the actual compensation current of the a-phase under the α -axis, when the reactive current control mode is adopted for the DC side voltage control mode
Figure BDA0002230052800000069
It holds that when the dc-side dc voltage is sufficiently high, the operating state of the APF will be constantly switched between rectification and inversion, and in this case the dc-side voltage can be kept substantially constant.
The harmonic current compensation under the condition that the direct current side voltage value is not high enough is specifically carried out according to the following steps:
in this case, the actual compensation current i is used as a function ofCxSize, analyzed in two cases:
iCx＞iCxα
the relationship between them is as follows:
iCx＞(iCxα+hb) iCx＞0 (7)；
iCx＜(iCxα-hb) iCx＜0 (8)；
wherein: h isbIs the hysteresis width.
In this case, the APF operates in the rectifier state, the voltage on the dc-side capacitor increases continuously, and when a sufficiently high voltage value is reached, the APF will switch the operation state from iCx＞iCxαSwitch to iCx≈iCxαThe dc-side voltage is then kept stable, i.e. in this case the APF has a self-charging function to keep the dc-side voltage stable in order to keep up with the reference compensation current in time.
iCx＜iCxα
The relationship between them is as follows:
iCx＜(iCxα+hb) iCx＞0 (9)；
iCx＞(iCxα-hb) iCx＜0 (10)；
in this case, the APF operates in the inverter state, the voltage on the dc side capacitor is continuously decreased, and thus the conventional voltage control method will fail, and this is often the case, for example, during the start-up phase or the load sudden change phase, in order to operate the APF normally, a pre-charging device is usually added, and usually an uncontrollable rectifying device is used to pre-charge the dc side capacitor, and the APF will not operate normally until a sufficiently high voltage value is reached, but this additional device will increase the system complexity and the overall device cost.
Because the reactive current is selected as the direct current side voltage control signal to be compared with the active current in the APF starting or load sudden change stage to obtain better control effect, the invention discloses a self-adaptive direct current side minimum voltage value control method, which comprises the following steps:
the active current and the reactive current are adopted to control the direct current side voltage, and then the reference compensation current is as follows:
Figure BDA0002230052800000081
in the formula:
Figure BDA0002230052800000082
for reference to the reactive control parameter of the compensation current,
Figure BDA0002230052800000083
is an active control parameter of the reference compensation current.
From the previous analysis it follows that: if iCx＞iCxαIf the APF is in the rectification state, the direct current voltage at the two ends of the filter capacitor is increased; if iCx＜iCxαThen the APF operates in an inverted state, resulting in a reduction of the dc voltage across the filter capacitor. In order to increase the voltage value of the direct current side, negative-polarity reactive power delta Q is introduceddc，ΔQdcAndcorrespondingly:
Figure BDA0002230052800000085
in the above formula, the first and second carbon atoms are,
Figure BDA0002230052800000086
is a DC-side reference voltage, UdcIs the actual voltage of the DC side, KqIs a proportionality coefficient, KIIs an integral coefficient.
Similarly, when the value of the direct current side voltage is large enough, active power delta P is introduced for maintaining the voltage stabilitydcIt is and
Figure BDA0002230052800000087
the method comprises the following steps:
Figure BDA0002230052800000088
in the above formula, the first and second carbon atoms are,
Figure BDA0002230052800000089
is a DC-side reference voltage, UdcIs the actual voltage of the DC side, KpIs a proportionality coefficient, KIIIs an integral coefficient.
Reactive variable power Δ QdcAnd active change power Δ PdcThe specific calculation method is as follows:
step 1, as shown in fig. 1, the proportional-integral is adopted to perform adaptive and self-charging function control on the dc side voltage, and the obtained corresponding closed-loop transfer function is:
Figure BDA00022300528000000810
in the above formula, VinvxfqFor an equivalent fundamental reactive voltage of the inverter, ICxfpFor active compensation of current, V, of equivalent fundamental waveinvxfq＝|ICxfp||XPPFf|≈|ICxfp|Z，CdcIs a DC side capacitor, XPPFfIs an inverter equivalent reactance, Z is an inverter equivalent complex impedance, VxIs the inverter equivalent voltage, s is the complex domain.
Step 2, as shown in fig. 2, the direct current side voltage when the compensation system is damaged is controlled by adopting proportional integral, and the obtained corresponding closed loop transfer function is as follows:
Figure BDA0002230052800000091
in the above formula, IHCompensates for current loss of the system, and
Figure BDA0002230052800000092
Usfor the phase voltage of the power grid, delta u is the fluctuation value of the direct-current side voltage, if the fundamental frequency of the power grid is 50Hz and delta u is assumed to be 5V, the method can be deduced
Figure BDA0002230052800000093
L is the equivalent inductance of the APF main circuit, R is the equivalent resistance of the main circuit, and C is the equivalent capacitance of the direct current side.
And 3, judging the stability of the closed-loop transfer function of the formula (15) by using a Laus stability criterion, and deducing the value range of the direct-current side voltage control parameter as follows:
Figure BDA0002230052800000094
taking a DC side reference voltage
Figure BDA0002230052800000095
Can be calculated according to the following formula:
Figure BDA0002230052800000096
in the above formula, UsnFor the effective value of the voltage of the power grid, omega is the fundamental frequency angular frequency of the power grid, ILnEffective value of n-th harmonic current of load current, Uc-maxThe maximum mode length of the output voltage of the inverter is represented, L represents an equivalent inductance of an APF main circuit, R represents an equivalent resistance of the main circuit, n represents n-th harmonic of a power grid, m is a modulation coefficient of an SVPWM modulation mode, and therefore m is 1.1547;
Figure BDA0002230052800000101
calculating the DC edge reference voltage by the above formula
Figure BDA0002230052800000102
The minimum value of (a) is determined,
Figure BDA0002230052800000103
then the corresponding equation (16) has:
selection of Kp＝0.5，K II50, obtainable from formula (15):
Figure BDA0002230052800000105
making a bode plot according to equation (20), as shown in fig. 3, can obtain: i isCxfp≈IH，Udcmax720V, the active compensation current of fundamental wave is ICxfp≈6.1A，Vinvxfq＝|ICxfp||XPPFfIf | ≈ 1.63V, the equation (14) can be obtained:
in the above formula, Kq＝1244，KI＝1489；
Substituting the result of the formula (21) into the formulas (12) and (13), and obtaining the reactive variable power Delta QdcAnd active change power Δ Pdc。
The method of the invention is subjected to simulation verification:
MATLAB simulation software is used for simulating the novel minimum direct current edge voltage self-adaptive control, and simulation and experiment parameters are shown in 1.
TABLE 1 Circuit parameters
For ease of analysis and comparison, the single order harmonic elimination ratio is defined as follows:
Figure BDA0002230052800000112
wherein: i isBefore-compensatoinIs the effective value of a certain single-order harmonic current before corresponding compensation, IAfter-compensatoinIs the compensated corresponding single-order harmonic current effective value.
When the load resistance is RLThe dc-side reference voltage at this time is calculated from equation (17) at 15 ΩThe minimum value of (a) is determined,
Figure BDA0002230052800000114
the magnitude and elimination ratio of each harmonic current obtained after the initial harmonic current is compensated by the conventional adaptive method and the new adaptive method proposed herein are shown in table 1 below, in which even harmonic currents and harmonic currents of more than 30 times are ignored.
TABLE 1 harmonic cancellation effect of the conventional and novel adaptive control method
Simulation waveforms for the compensation effect of the conventional adaptive method and the new adaptive method proposed herein on the dc-side voltage, the compensation current and the net-side current are shown in fig. 4 and 5 below.
When the load is 0.3s, the mutant is changed into RLWhen 7.5 Ω, the dc-side reference voltage is calculated from equation (17) as well
Figure BDA0002230052800000122
The minimum value of (a) is determined,
Figure BDA0002230052800000123
the fundamental current and the harmonic current corresponding to table 1 are increased after sudden load change, the magnitude and the elimination rate of each harmonic current obtained after the initial harmonic current is compensated by the conventional adaptive method and the new adaptive method proposed herein are shown in table 3 below, and the simulation waveforms of the compensation effect on the dc side voltage, the compensation current and the grid side current are shown in fig. 6 and 7 below.
TABLE 2 comparison of harmonic current magnitudes after two different adaptive control methods after load mutation
As can be seen from Table 2, after the load changes, the DC-side reference voltage is applied under the method of the present inventionMinimum value of (2)Compared with the table 1, the harmonic elimination rates before and after the load change are almost consistent from 630V to 645V, but for the harmonic elimination rates, the method of the invention is superior to the traditional self-adaptive method no matter before and after the load change.
As can be seen from fig. 6 and 7, after the load changes, the method of the present invention can stabilize the system again within 1 cycle, whereas the conventional adaptive method requires about 2 cycles to stabilize the system again, so the method of the present invention has better dynamic response speed than the conventional adaptive method.
Through the mode, the self-adaptive control method for the minimum voltage value of the direct current side can not only self-adaptively maintain the minimum reasonable value of the direct current side voltage according to load change, harmonic current and network side voltage in real time, but also enable an APF system to obtain better dynamic performance and harmonic treatment effect.

Claims (5)

1. A self-adaptive DC edge minimum voltage value control method is characterized by comprising the following steps:
the active current and the reactive current are adopted to control the direct current side voltage, and then the reference compensation current is as follows:
Figure FDA0002230052790000011
in the formula:
Figure FDA0002230052790000012
for reference to the reactive control parameter of the compensation current,is an active control parameter of the reference compensation current.
2. The adaptive DC-side minimum voltage value control method according to claim 1, wherein the adaptive DC-side minimum voltage value control method is characterized in that
Figure FDA0002230052790000014
For reactive variation of power Δ Qdc：
Figure FDA0002230052790000015
In the above formula, the first and second carbon atoms are,
Figure FDA0002230052790000016
is a DC-side reference voltage, UdcIs the actual voltage of the DC side, KqIs a proportionality coefficient, KIIs an integral coefficient.
3. The adaptive DC-side minimum voltage value control method according to claim 2, wherein the adaptive DC-side minimum voltage value control method is characterized in thatFor active variation of power Δ Pdc：
Figure FDA0002230052790000018
In the above formula, the first and second carbon atoms are,is a DC-side reference voltage, UdcIs the actual voltage of the DC side, KpIs a proportionality coefficient, KIIIs an integral coefficient.
4. The adaptive DC-side minimum voltage control method according to claim 3, wherein the reactive variable power Δ QdcAnd active change power Δ PdcThe specific calculation method is as follows:
step 1, adopting proportional integral to carry out self-adaption and self-charging function control on the direct-current side voltage, and obtaining a corresponding closed-loop transfer function as follows:
Figure FDA0002230052790000021
in the above formula, VinvxfqFor an equivalent fundamental reactive voltage of the inverter, ICxfpFor active compensation of current, V, of equivalent fundamental waveinvxfq＝|ICxfp||XPPFf|≈|ICxfp|Z；
Step 2, controlling the direct current side voltage when the compensation system is damaged by adopting proportional integral, and obtaining a corresponding closed loop transfer function as follows:
Figure FDA0002230052790000022
in the above formula, IHCompensates for current loss of the system, and
Figure FDA0002230052790000023
delta u is a direct current side voltage fluctuation value, and if the fundamental frequency of the power grid is 50Hz and the delta u is assumed to be 5V, the method can be deduced
And 3, judging the stability of the closed-loop transfer function of the formula (15) by using a Laus stability criterion, and deducing the value range of the direct-current side voltage control parameter as follows:
Figure FDA0002230052790000025
taking a DC side reference voltage
Figure FDA0002230052790000026
The minimum value of (a) is determined,
Figure FDA0002230052790000027
then the corresponding equation (16) has:
Figure FDA0002230052790000028
selection of Kp＝0.5，KII50, obtainable from formula (15):
Figure FDA0002230052790000029
when a bode plot is made according to equation (20), it is possible to obtain: i isCxfp≈IH，Udcmax720V, the active compensation current of fundamental wave is ICxfp≈6.1A，Vinvxfq＝|ICxfp||XPPFfIf | ≈ 1.63V, the equation (14) can be obtained:
Figure FDA0002230052790000031
in the above formula, Kq＝1244，KI＝1489；
Then the reactive power delta Q can be obtaineddcAnd active change power Δ Pdc。
5. The adaptive DC-side minimum voltage control method according to claim 4, wherein the DC-side reference voltage in equation (16)
Figure FDA0002230052790000032
Is calculated according to the following formula:
Figure FDA0002230052790000033
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