CN111190056A - Online estimation method for inductance parameter of LC alternating current filter of power converter - Google Patents

Online estimation method for inductance parameter of LC alternating current filter of power converter Download PDF

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CN111190056A
CN111190056A CN202010017759.6A CN202010017759A CN111190056A CN 111190056 A CN111190056 A CN 111190056A CN 202010017759 A CN202010017759 A CN 202010017759A CN 111190056 A CN111190056 A CN 111190056A
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inductance
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CN111190056B (en
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孙向东
刘江
郝卓
任碧莹
张琦
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Xian University of Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
    • G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
    • G01R27/26—Measuring inductance or capacitance; Measuring quality factor, e.g. by using the resonance method; Measuring loss factor; Measuring dielectric constants ; Measuring impedance or related variables
    • G01R27/2611—Measuring inductance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • 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

Abstract

The invention discloses an online estimation method of inductance parameters of a power converter LC alternating current filter, which specifically comprises the following steps: sampling three-phase power grid voltage, three-phase filter inductive current, reconstructing through direct-current side voltage and three-phase duty ratio to obtain three-phase converter port voltage, then changing the sampled voltage and current into corresponding d-axis and q-axis components under synchronous rotation coordinates, establishing a reference model and an adjustable model, selecting a proper self-adaption rate to adjust inductive parameters in the adjustable model in real time, ensuring two-phase inductive current of the adjustable model, namely adjusting the current model to be consistent with actual two-phase inductive current of the reference model, namely the reference current model, and obtaining the inductive parameters estimated on line. The online estimation method for inductance parameters of the LC alternating-current filter of the power converter solves the problem that the control precision of grid-connected current is reduced when the error between the actual filter inductance value under the actual working condition and the inductance nominal value adopted in the control method is larger.

Description

Online estimation method for inductance parameter of LC alternating current filter of power converter
Technical Field
The invention belongs to the technical field of power electronics, and relates to an online estimation method for inductance parameters of an LC (inductance-capacitance) alternating current filter of a power converter.
Background
The power converter converts the electric energy to meet the power supply requirement of related loads, and no matter the power converter has a rectification function or an inversion function, an LC filter is usually used for filtering power frequency alternating current on the alternating current network side, so that the current harmonic content on the alternating current side meets the national standard, and the harmonic pollution to a power grid is reduced. In the control of the power converter, three-phase filter inductor current is often used as a control object, and the effect of current control is closely related to the size of the inductor. The inductance in an actual circuit often shifts from the nominal value due to process, operating temperature, frequency, etc. When the control method adopted in the actual control includes an inductance value, once the actual inductance value deviates from the nominal value of the inductance used in the control method by a large error, the control precision of the current can be directly influenced, even the stability of the system is influenced, and certain influence is caused on the current quality of the power grid.
Disclosure of Invention
The invention aims to provide an on-line estimation method for inductance parameters of an LC (inductance-capacitance) alternating-current filter of a power converter, which solves the problem that the control precision of grid-connected current is reduced when the error between the actual filter inductance value under the actual working condition and the inductance nominal value adopted in the control method is larger.
The technical scheme adopted by the invention is that the online estimation method of inductance parameters of the LC and AC filter of the power converter comprises a DC-AC grid-connected inverter circuit or an AC-DC rectifier circuit with the LC filter, the DC side of the power converter is connected with DC with the property of a DC voltage source, the AC side of the power converter is connected with an AC power grid, the main circuit of the power converter is a three-phase conversion circuit, and the online estimation method of the inductance parameters comprises the following steps: sampling three-phase grid voltage ea、eb、ecThree-phase filter inductor current ia、ib、icAnd reconstructing through direct current side voltage and three-phase duty ratioObtaining the port voltage u of the three-phase convertera、ub、ucThen the three-phase network voltage ea、eb、ecThree-phase filter inductor current ia、ib、icAnd reconstructed three-phase converter port voltage ua、ub、ucThe method comprises the steps of converting the current into corresponding d-axis and q-axis components under synchronous rotation coordinates through coordinate transformation, setting actual two-phase inductive currents on the d-axis and the q-axis as a reference model, establishing an adjustable model of the inductive currents by using two-phase power grid voltages on the d-axis and the q-axis and two-phase reconstruction port voltages, approximating the actual d-phase and q-phase inductive currents of the reference model by using the d-phase and q-phase inductive currents of the adjustable model, respectively subtracting the actual d-phase and q-phase inductive currents of the reference model from the d-phase and q-phase inductive currents of the corresponding adjustable model, selecting a proper self-adaption rate to adjust inductive parameters in the adjustable model in real time, ensuring that the two-phase inductive currents of the adjustable model are consistent with the actual two-phase inductive currents of the reference model, namely the reference current model, and obtaining.
The present invention is also characterized in that,
the main circuit is a three-phase two-level conversion circuit or a three-phase T-type or I-type three-level conversion circuit.
The method for reconstructing the port voltage of the three-phase converter specifically comprises the following steps:
DC side voltage U by samplingdcAnd the duty ratio d of the three-phase modulated wave calculated by one beat on the controllera、db、dcReconstructing according to the formula (1) to obtain the port voltage u of the three-phase convertera、ubAnd uc：
Figure BDA0002359553890000021
Will three-phase network voltage ea、eb、ecThree-phase filter inductor current ia、ib、icAnd reconstructed three-phase converter port voltage ua、ub、ucIs changed into corresponding under synchronous rotation coordinates through coordinate transformationThe d and q axis components of (a) are specifically transformed according to equations (2) to (4):
Figure BDA0002359553890000031
in the formula ud、uqIs the voltage component of the three-phase port voltage of the converter on d and q coordinate axes, id、iqThe current components of three-phase inductive current on d and q coordinate axes, ed、eqVoltage components of three-phase grid voltage on d and q coordinate axes are shown, and omega is grid angular frequency.
The inductance current expression of the reference model is specifically as follows:
the inductive current of the reference model is the current component i of the actually sampled three-phase inductive current on the d and q coordinate axesd、iqThe expression is formula (3).
The inductance current expression of the adjustable model is as follows:
Figure BDA0002359553890000032
wherein the content of the first and second substances,
Figure BDA0002359553890000033
which represents the estimated inductance value of the inductor,
Figure BDA0002359553890000034
respectively representing the values of the estimated current components in the d and q coordinate systems at the current moment,
Figure BDA0002359553890000035
respectively representing the values of the estimated current components in the d, q coordinate systems at the previous instant, TsIndicating the switching period.
The expression of the adaptation rate is:
Figure BDA0002359553890000041
wherein L is the nominal value of the filter inductance,
Figure BDA0002359553890000042
for integral structure, R2(t) is a proportional structure, KiAnd KpRespectively, integral coefficient and proportionality coefficient, i.e. R1(t)＝Ki[εd(ud-ed)+εq(uq-eq)]，R2(t)＝Kp[εd(ud-ed)+εq(uq-eq)]，εdAnd εqThe error components of the inductive current of the reference model and the inductive current of the adjustable model in d and q coordinate systems, i.e.
Figure BDA0002359553890000043
Selecting a proper self-adaptive rate to adjust the inductance parameters in the adjustable model in real time, ensuring two-phase inductance current of the adjustable model, namely the adjustable current model, to be consistent with the actual two-phase inductance current of the reference model, namely the reference current model, so as to obtain the inductance parameters estimated on line as follows:
when the condition is satisfied
Figure BDA0002359553890000044
And then, obtaining an expression (9) of the inductance parameter estimated on line:
Figure BDA0002359553890000045
if the above condition is not satisfied, then the adjustment is made according to the adaptive rate formula (8)
Figure BDA0002359553890000046
And (5) applying the model to the formula (7), reestablishing the adjustable model of the inductive current, and carrying out online estimation on the inductive parameter again.
The invention has the advantages that
The online estimation method for inductance parameters of the LC alternating-current filter of the power converter is simple in principle, clear in thought and easy to implement, solves the problems that the control precision of grid-connected current is reduced, the current may be distorted or even unstable when the error between the actual filter inductance value and the inductance nominal value adopted in the control method is larger under the actual working condition, and can effectively improve the control precision of three-phase current at the alternating-current side of the power converter and reduce the current harmonic pollution to a large power grid on the basis of not increasing the hardware cost of a system through accurate estimation of the online estimation algorithm.
Drawings
FIG. 1 is a schematic diagram of a power converter with an LC AC filter in a method for on-line estimation of inductance parameters of the LC AC filter of the power converter according to the present invention;
fig. 2 is a flow chart of the method for online estimation of inductance parameters of the LC ac filter of the power converter according to the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The structure of the online estimation method for inductance parameters of the LC alternating current filter of the power converter is shown in figure 1, the power converter comprises a direct current-alternating current grid-connected inverter circuit or an alternating current-direct current rectification circuit with the LC filter, the direct current side of the power converter is connected with direct current with the property of a direct current voltage source, the alternating current side of the power converter is connected with an alternating current power grid, a main circuit of the power converter is a three-phase conversion circuit, and the online estimation method for the inductance parameters comprises the following steps: the flow is shown in figure 2, and the three-phase grid voltage e is sampleda、eb、ecThree-phase filter inductor current ia、ib、icReconstructing the direct-current side voltage and the three-phase duty ratio to obtain the three-phase converter port voltage ua、ub、ucThen the three-phase network voltage ea、eb、ecThree-phase filter inductor current ia、ib、icAnd reconstructed three-phase converter port voltage ua、ub、ucConverting the coordinate into corresponding d-axis and q-axis components under synchronous rotation coordinates, and setting actual two-phase inductive current on the d-axis and the q-axis asThe method comprises the steps of establishing an adjustable model of inductive current according to two-phase power grid voltage and two-phase reconstruction port voltage on d and q axes, approximating the actual d and q two-phase inductive currents of the adjustable model to the actual d and q two-phase inductive currents of the reference model, respectively subtracting the actual d and q two-phase inductive currents of the reference model from the d and q two-phase inductive currents of the corresponding adjustable model, selecting a proper self-adaption rate to adjust inductive parameters in the adjustable model in real time, ensuring the two-phase inductive currents of the adjustable model, namely adjusting the current model to be consistent with the actual two-phase inductive currents of the reference model, namely the reference current model, and accordingly obtaining the online estimated inductive parameters.
Preferably, the main circuit is a three-phase two-level conversion circuit or a three-phase T-type or I-type three-level conversion circuit.
Preferably, the reconstructing the three-phase converter port voltage is specifically:
DC side voltage U by samplingdcAnd the duty ratio d of the three-phase modulated wave calculated by one beat on the controllera、db、dcReconstructing according to the formula (1) to obtain the port voltage u of the three-phase convertera、ubAnd uc：
Figure BDA0002359553890000061
Preferably, the three-phase network voltage e is applieda、eb、ecThree-phase filter inductor current ia、ib、icAnd reconstructed three-phase converter port voltage ua、ub、ucThe components of the d and q axes which are transformed into the corresponding components of the synchronous rotation coordinate by the coordinate transformation are transformed according to the formulas (2) to (4):
Figure BDA0002359553890000062
in the formula ud、uqIs the voltage component of the three-phase port voltage of the converter on d and q coordinate axes, id、iqThe current components of three-phase inductive current on d and q coordinate axes, ed、eqVoltage components of three-phase grid voltage on d and q coordinate axes are shown, and omega is grid angular frequency.
Preferably, the inductance current expression of the reference model is specifically:
the inductive current of the reference model is the current component i of the actually sampled three-phase inductive current on the d and q coordinate axesd、iqThe expression is formula (3).
The inductance current expression of the adjustable model is as follows:
Figure BDA0002359553890000071
wherein the content of the first and second substances,
Figure BDA0002359553890000072
which represents the estimated inductance value of the inductor,
Figure BDA0002359553890000073
respectively representing the values of the estimated current components in the d and q coordinate systems at the current moment,
Figure BDA0002359553890000074
respectively representing the values of the estimated current components in the d, q coordinate systems at the previous instant, TsIndicating the switching period.
Preferably, the expression of the adaptation rate is:
Figure BDA0002359553890000075
wherein L is the nominal value of the filter inductance,
Figure BDA0002359553890000076
for integral structure, R2(t) is a proportional structure, KiAnd KpRespectively, integral coefficient and proportionality coefficient, i.e. R1(t)＝Ki[εd(ud-ed)+εq(uq-eq)]，R2(t)＝Kp[εd(ud-ed)+εq(uq-eq)]，εdAnd εqThe error components of the inductive current of the reference model and the inductive current of the adjustable model in d and q coordinate systems, i.e.
Figure BDA0002359553890000077
Preferably, the inductance parameter in the adjustable model is adjusted in real time by selecting a proper adaptive rate, so as to ensure that the two-phase inductance current of the adjustable model, i.e. the adjustable current model, is consistent with the actual two-phase inductance current of the reference model, i.e. the reference current model, and thus the inductance parameter obtained by online estimation specifically comprises:
when the condition is satisfied
Figure BDA0002359553890000078
And then, obtaining an expression (9) of the inductance parameter estimated on line:
Figure BDA0002359553890000081
if the above condition is not satisfied, then the adjustment is made according to the adaptive rate formula (8)
Figure BDA0002359553890000082
And (5) applying the model to the formula (7), reestablishing the adjustable model of the inductive current, and carrying out online estimation on the inductive parameter again.
Fig. 1 is a diagram of a power converter for an LC ac filter used in the present invention, including a dc power supply, a power converter, an LC filter, a power grid, etc. In the figure, UdcIs a DC side voltage-stabilized power supply; l is a filter inductor; cfIs a filter capacitor; e.g. of the typea、eb、ecIs a three-phase grid voltage; u. ofa、ub、ucIs the power converter three-phase port voltage; i.e. ia、ib、icIs a three-phase alternating current.
Fig. 2 is a block diagram of an inductance parameter estimation algorithm of the present invention. Three-phase inductive current i obtained by actual samplinga、ib、icAccording to formula (3) of the reference current model, the inductive current i of the reference model is calculatedd、iq. Using the DC side voltage U according to equation (1)dcAnd the duty ratio d of the three-phase modulation wave calculated by one beat on the controllera、db、dcReconstructing to obtain the port voltage u of the three-phase convertera、ub、ucObtaining the voltage component u of d and q coordinate axes according to the formula (4)d、uq. The three-phase power grid voltage e obtained by actual samplinga、eb、ecCalculating the voltage component e of d and q coordinate axes according to the formula (2)d、eq. Calculating an estimated current component according to the adjustable current model equation (7)
Figure BDA0002359553890000083
If the condition is satisfied
Figure BDA0002359553890000084
Calculating by using the formula (9) to obtain an inductance estimation value, and ending the estimation process; otherwise, adjust according to adaptation rate equation (8)
Figure BDA0002359553890000085
The above estimation process is continued by acting on equation (7).
When an inductance current expression of an adjustable model is established, a power converter is regarded as a black box for a three-phase LC type filter, an equivalent circuit is obtained only by looking at the voltage of an output port of the black box towards the direction of a power grid, and according to kirchhoff voltage law, the expression of a state equation of the equivalent circuit under a d and q coordinate system is written as follows:
Figure BDA0002359553890000091
wherein, L is the nominal value of the filter inductance.
Since there is noise in the actually sampled inductor current and the filter inductance is shifted from the nominal value by factors such as a machining process, an operating temperature, and a frequency, equation (5) is rewritten into equation (6).
Figure BDA0002359553890000092
In the formula (I), the compound is shown in the specification,
Figure BDA0002359553890000093
which represents the estimated inductance value of the inductor,
Figure BDA0002359553890000094
respectively, represent the estimated current components in the dq coordinate system.
And (3) carrying out backward difference discretization on the formula (6) to obtain an expression of the current estimation component in the current beat dq coordinate system, as shown in a formula (7).
Figure BDA0002359553890000095
Equation (7) is the inductor current expression for the tunable model of the present invention.
The invention discloses an inductance parameter online estimation method of a power converter LC alternating current filter, which comprises the steps of converting three-phase inductance current, three-phase grid voltage and reconstructed three-phase port voltage through three-phase to two-phase coordinates to obtain a reference current model of a system, writing an adjustable current model of the system in an estimation value form according to a state equation, subtracting the reference current model and the adjustable current model of the system to obtain a current error of the system, constructing a self-adaption rate of the system according to the current error, and finally enabling the current error to converge to a smaller fixed value so as to obtain an estimated inductance value which is fed back to current control, thereby improving the current control precision.

Claims (8)

1. The method for estimating inductance parameters of the LC alternating current filter of the power converter on line is characterized in that the power converter comprises a direct current-alternating current grid-connected inverter circuit or an alternating current-direct current rectifying circuit with the LC filter, the direct current side of the power converter is connected with direct current with the property of a direct current voltage source, and the alternating current of the power converterThe side is connected with an alternating current power grid, a main circuit of the power converter is a three-phase conversion circuit, and the online estimation method of the inductance parameter comprises the following steps: sampling three-phase grid voltage ea、eb、ecThree-phase filter inductor current ia、ib、icReconstructing the direct-current side voltage and the three-phase duty ratio to obtain the three-phase converter port voltage ua、ub、ucThen the three-phase network voltage ea、eb、ecThree-phase filter inductor current ia、ib、icAnd reconstructed three-phase converter port voltage ua、ub、ucThe method comprises the steps of converting the current into corresponding d-axis and q-axis components under synchronous rotation coordinates through coordinate transformation, setting actual two-phase inductive currents on the d-axis and the q-axis as a reference model, establishing an adjustable model of the inductive currents by using two-phase power grid voltages on the d-axis and the q-axis and two-phase reconstruction port voltages, approximating the actual d-phase and q-phase inductive currents of the reference model by using the d-phase and q-phase inductive currents of the adjustable model, respectively subtracting the actual d-phase and q-phase inductive currents of the reference model from the d-phase and q-phase inductive currents of the corresponding adjustable model, selecting a proper self-adaption rate to adjust inductive parameters in the adjustable model in real time, ensuring that the two-phase inductive currents of the adjustable model are consistent with the actual two-phase inductive currents of the reference model, namely the reference current model, and obtaining.
2. The method of on-line estimation of inductance parameters of a power converter LC ac filter according to claim 1, characterized in that said main circuit is a three-phase two-level conversion circuit or a three-phase T-type or I-type three-level conversion circuit.
3. The method for online estimation of inductance parameters of an LC/ac filter of a power converter according to claim 1 or 2, wherein the reconstruction of the three-phase converter port voltages is specifically:
DC side voltage U by samplingdcAnd the duty ratio d of the three-phase modulated wave calculated by one beat on the controllera、db、dcReconstructing according to the formula (1) to obtain the port voltage u of the three-phase convertera、ubAnd uc：
Figure FDA0002359553880000021
4. Method for the on-line estimation of the inductance parameters of a power converter LC AC filter according to claim 3, characterized in that said method is used to estimate the three-phase grid voltage ea、eb、ecThree-phase filter inductor current ia、ib、icAnd reconstructed three-phase converter port voltage ua、ub、ucThe components of the d and q axes which are transformed into the corresponding components of the synchronous rotation coordinate by the coordinate transformation are transformed according to the formulas (2) to (4):
Figure FDA0002359553880000022
Figure FDA0002359553880000023
Figure FDA0002359553880000024
in the formula ud、uqIs the voltage component of the three-phase port voltage of the converter on d and q coordinate axes, id、iqThe current components of three-phase inductive current on d and q coordinate axes, ed、eqVoltage components of three-phase grid voltage on d and q coordinate axes are shown, and omega is grid angular frequency.
5. The method of claim 4, wherein the expression of the inductance current of the reference model is specifically as follows:
three-phase inductor with actual sampling of inductive current of reference modelCurrent component i of current on d and q coordinate axesd、iqThe expression is formula (3).
6. The method of claim 5, wherein the expression of the inductance current of the adjustable model is as follows:
Figure FDA0002359553880000031
wherein the content of the first and second substances,
Figure FDA0002359553880000032
which represents the estimated inductance value of the inductor,
Figure FDA0002359553880000033
respectively representing the values of the estimated current components in the d and q coordinate systems at the current moment,
Figure FDA0002359553880000034
respectively representing the values of the estimated current components in the d, q coordinate systems at the previous instant, TsIndicating the switching period.
7. The method of claim 6, wherein the adaptive rate is expressed by:
Figure FDA0002359553880000035
wherein L is the nominal value of the filter inductance,
Figure FDA0002359553880000036
for integral structure, R2(t) is a proportional structure, KiAnd KpRespectively, integral coefficient and proportionality coefficient, i.e. R1(t)＝Ki[εd(ud-ed)+εq(uq-eq)]，R2(t)＝Kp[εd(ud-ed)+εq(uq-eq)]，εdAnd εqThe error components of the inductive current of the reference model and the inductive current of the adjustable model in d and q coordinate systems, i.e.
Figure FDA0002359553880000037
8. The method according to claim 7, wherein the selecting a suitable adaptation rate to adjust the inductance parameter in the adjustable model in real time ensures that the two-phase inductance current of the adjustable model, i.e. the adjustable current model, is consistent with the actual two-phase inductance current of the reference model, i.e. the reference current model, so as to obtain the online estimated inductance parameter specifically:
when the condition is satisfied
Figure FDA0002359553880000038
And is
Figure FDA0002359553880000039
And then, obtaining an expression (9) of the inductance parameter estimated on line:
Figure FDA0002359553880000041
if the above condition is not satisfied, then the adjustment is made according to the adaptive rate formula (8)
Figure FDA0002359553880000042
And (5) applying the model to the formula (7), reestablishing the adjustable model of the inductive current, and carrying out online estimation on the inductive parameter again.
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