CN111431422B - High-disturbance-rejection fast response control system and method for high-frequency chain matrix converter - Google Patents

High-disturbance-rejection fast response control system and method for high-frequency chain matrix converter Download PDF

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CN111431422B
CN111431422B CN202010342337.6A CN202010342337A CN111431422B CN 111431422 B CN111431422 B CN 111431422B CN 202010342337 A CN202010342337 A CN 202010342337A CN 111431422 B CN111431422 B CN 111431422B
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current
matrix converter
active component
frequency chain
chain matrix
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CN111431422A (en
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张承慧
宋金秋
段彬
付程
杨东江
李祥杰
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Hubei Techpow Electric Co ltd
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Shandong University
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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
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/21—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/217—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/14—Arrangements for reducing ripples from dc input or output
    • 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
    • H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
    • H02M5/40—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc
    • H02M5/42—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters
    • H02M5/44—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac
    • H02M5/453—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M5/458—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only

Abstract

The invention provides a high-disturbance-rejection fast-response control system and a high-disturbance-rejection fast-response control method for a high-frequency chain matrix converter, which belong to the technical field of advanced control of a high-efficiency power conversion system.A reference value of input current on an active component d axis is obtained by an output current outer ring backstepping controller according to a received given output current reference value, the output current and the output voltage of the high-frequency chain matrix converter; the input current inner loop backstepping controller obtains the modulation ratio of the three-phase current active component according to the power grid voltage active component, the power grid current active component and the reactive component; the bipolar current space vector modulation module obtains a control pulse signal of the high-frequency chain matrix converter according to the modulation ratio and the sector of the active components of the three-phase current, and the control pulse signal is used for driving a bidirectional switch of the high-frequency chain matrix converter; the method and the device can reduce the overshoot amount and the overshoot time, and can effectively resist the internal and external disturbance of the high-frequency chain matrix converter system, so that the converter system has good dynamic performance and anti-interference performance.

Description

High-disturbance-rejection fast response control system and method for high-frequency chain matrix converter
Technical Field
The disclosure relates to the technical field of advanced control of high-efficiency power conversion systems, and in particular relates to a high-disturbance-rejection fast response control system and method for a high-frequency chain matrix converter.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In order to solve the energy crisis and relieve the environmental pollution, new energy automobiles can be rapidly developed, and the development of electric automobiles is listed as a national strategy by countries in the world. In China, the development of electric automobiles is particularly rapid, and buses, taxies, logistics vehicles, passenger vehicles and the like are formed in a large scale. The charging system is a necessary device for supplementing energy to the electric automobile. At present, although various charging piles are continuously emerged, the problems of large size, low efficiency and the like still exist, and the large-scale popularization and application of the electric automobile are restricted. Therefore, the research on a high-power density and high-efficiency charging system is urgent, and has great social and economic significance.
Currently, a two-stage topology structure, namely a front-stage AC-DC converter and a rear-stage isolation DC-DC converter, is widely adopted in the power conversion part of the charging system. The AC-DC and the DC-DC are mutually connected through the direct current bus capacitor, and decoupling on control is achieved. However, the structure not only needs more power electronic switching tubes, the design of the driving circuit is complicated, but also the capacitance of the direct current bus is large, so that the charging efficiency and the power density of the scheme are difficult to further improve.
The inventor of the disclosure finds that the high-frequency chain matrix converter is a single-stage converter, saves a direct-current bus capacitor, has the advantages of high efficiency, high power density and good reliability, and has a wide application prospect. Meanwhile, because no direct current bus capacitor exists, the high-frequency chain matrix converter can only obtain energy from a power grid, the dynamic response speed of the system is reduced, and the high-frequency chain matrix converter can be interfered by the power grid side and the battery side, so that the interference resistance is poor.
Disclosure of Invention
In order to solve the defects of the prior art, the disclosure provides a high-disturbance-rejection fast-response control system and method for a high-frequency chain matrix converter, which can reduce overshoot and overshoot time, and can effectively resist internal and external disturbance of the high-frequency chain matrix converter system, so that the converter system has good dynamic performance and anti-disturbance performance.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
the first aspect of the disclosure provides a high-disturbance-rejection fast-response control system for a high-frequency chain matrix converter.
A high-disturbance-rejection fast-response control system of a high-frequency chain matrix converter comprises a bipolar current space vector modulation module and a double-closed-loop backstepping controller, wherein the double-closed-loop backstepping controller comprises an input current inner loop backstepping controller and an output current outer loop backstepping controller;
the output current outer ring backstepping controller obtains a reference value of the input current on an active component d axis according to the received given output current reference value, the output current actual value and the output voltage actual value of the high-frequency chain matrix converter;
the input current inner loop backstepping controller obtains the modulation ratio of the three-phase current active component according to the grid voltage active component, the reference value of the input current on the d axis of the active component, and the grid current active component and reactive component;
and the bipolar current space vector modulation module obtains a control pulse signal of the high-frequency chain matrix converter according to the modulation ratio and the sector of the active components of the three-phase current, and the control pulse signal is used for driving a bidirectional switch of the high-frequency chain matrix converter.
As some possible implementation manners, the control system further comprises a phase-locked loop, a coordinate transformation module and a sector judgment module, wherein the phase-locked loop is used for obtaining an active component and a phase angle of the power grid voltage according to the actual value of the three-phase voltage, and the coordinate transformation module is used for obtaining an active component and a reactive component of the power grid current according to the phase angle and the actual value of the three-phase current; the sector judging module is used for obtaining a sector according to the phase angle.
The second aspect of the disclosure provides a high-disturbance-rejection fast-response control method for a high-frequency chain matrix converter.
A high-disturbance-rejection fast response control method for a high-frequency chain matrix converter comprises the following steps:
obtaining a reference value of the input current on an active component d axis according to the received given output current reference value, the output current actual value and the output voltage actual value of the high-frequency chain matrix converter;
obtaining an active component of the grid voltage and a phase angle of the grid according to the actual value of the three-phase voltage, and obtaining an active component and a reactive component of the grid current according to the phase angle of the grid and the actual value of the three-phase current;
obtaining the modulation ratio of the three-phase current active component according to the grid voltage active component, the reference value of the input current on the d axis of the active component, and the grid current active component and the reactive component;
and obtaining a sector according to the phase angle of the power grid, and obtaining a control pulse signal of the high-frequency chain matrix converter according to the modulation ratio of the active components of the three-phase current and the sector, wherein the control pulse signal is used for driving a bidirectional switch of the high-frequency chain matrix converter.
The third aspect of the present disclosure provides an electronic device including the high-immunity fast-response control system for the high-frequency chain matrix converter according to the first aspect of the present disclosure.
Compared with the prior art, the beneficial effect of this disclosure is:
1. compared with the traditional double-closed-loop PI control, the high-disturbance-rejection fast-response control system, the method and the electronic equipment for the high-frequency chain matrix converter greatly reduce overshoot and overshoot time, can quickly track a charging instruction, quickly and stably charge according to the specified power of the system, and can effectively resist the internal disturbance and the external disturbance of the charging system, so that the high-frequency chain matrix converter has good dynamic response performance and anti-disturbance performance.
2. Compared with the traditional two-stage charging topology, the high-frequency chain matrix converter based on the double-closed-loop back-step control is high in efficiency, high in power density and good in reliability.
3. The high-disturbance-rejection fast-response control system and method for the high-frequency chain matrix converter and the electronic equipment are simple in implementation process and can be popularized and applied to other matrix converters.
Drawings
Fig. 1 is a topology structure diagram of a high frequency chain matrix converter provided in embodiment 1 or embodiment 2 of the present disclosure.
Fig. 2 is a block diagram of the overall control of the high frequency chain matrix converter provided in embodiment 1 or embodiment 2 of the present disclosure.
Fig. 3 is a graph of a tracking effect of 50Hz output current obtained by applying dual closed-loop PI control and dual closed-loop backstepping control according to embodiment 1 or embodiment 2 of the present disclosure.
Fig. 4 is a graph of the tracking effect of the 200Hz output current obtained by applying the dual closed-loop PI control and the dual closed-loop backstepping control provided in embodiment 1 or embodiment 2 of the present disclosure.
Fig. 5 is a graph illustrating tracking effects of an output current and an output voltage under a load switching condition obtained by applying the dual closed-loop PI control and the dual closed-loop reverse step control according to embodiment 1 or embodiment 2 of the present disclosure.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Example 1:
in order to greatly improve the dynamic performance and the anti-interference capability of the high-frequency chain matrix converter, embodiment 1 of the present disclosure provides a high-interference-resistance fast-response control system for a high-frequency chain matrix converter, which can reduce overshoot and overshoot time, and can effectively resist internal and external disturbances of the system, so that the system has good dynamic performance and anti-interference performance.
The following detailed description is made with reference to the accompanying drawings:
(1) working principle of high-frequency chain matrix converter
The topology of the high frequency chain matrix converter is shown in fig. 1 and comprises a three-phase ac power supply (e)a、eb、ec) An AC-side second-order LC low-pass filter (L, C), a line impedance (R), and a three-phase/single-phase AC-DC matrix converter (S)apl、Saph、Sbpl、Sbph、Scpl、Scph、Sanl、Sanh、Sbnl、Sbnh、Scnl、Scnh) High frequency transformer T, diode rectifier bridge (D)1、D2、D3、D4) DC side second order LC low pass filter (L)dc、Cdc) And a load Ro。
When the electric automobile is charged, the second-order LC low-pass filter on the alternating current side can filter out higher harmonics introduced by a three-phase/single-phase AC-DC matrix converter switch, so that green and friendly grid connection is realized; the three-phase/single-phase AC-DC matrix converter converts three-phase sinusoidal power-frequency alternating current into single-phase alternating current with switching frequency; the single-phase high-frequency alternating current passes through a high-frequency transformer, then is converted into direct current through a diode rectifier bridge, high-frequency ripples are filtered through a direct-current-side second-order LC low-pass filter, and finally the direct current is input into a battery.
In order to realize good dynamic response performance and anti-interference performance in the whole energy conversion process, the invention discloses a high-frequency chain matrix conversion control technical scheme. The overall control block diagram is shown in fig. 2, and comprises a phase-locked loop PLL, a coordinate transformation abc-dq module, a sector judgment module, a bipolar current space vector modulation module and a double-closed-loop backstepping controller, wherein the double-closed-loop backstepping controller comprises an input current inner loop backstepping controller and an output current outer loop backstepping controller.
The specific working process is as follows:
(1-1) given output Current reference value io *Measured actual value of output current ioAnd the actual value u of the output voltageoThe current values enter an output current outer ring backstepping controller together, and a reference value i of the input current on an active component d axis is calculatedd *；
(1-2) actual value e of three-phase VoltageabcAnd the actual value i of the three-phase currentabcObtaining e through coordinate transformation abc-dqd、id、iqAnd d-axis reference value i of the input current obtained in the step 1d *Entering an input current inner loop backstepping controller together, and calculating to obtain a modulation ratio md；
(1-3) obtaining an angle theta by a phase-locked loop PLL, obtaining a sector N through sector judgment, and obtaining a modulation ratio m of the sector N and the modulation ratio m obtained in the step 2dThe signals are input into a bipolar current space vector modulation module together;
and (1-4) generating a control pulse signal of the three-phase/single-phase AC-DC matrix converter by the bipolar current space vector modulation module, and driving a bidirectional switch of the three-phase/single-phase AC-DC matrix converter.
(2) The design process of the double closed loop backstepping controller is as follows
(2-1) creating a mathematical model of the high frequency chain matrix converter
When the three-phase power grid voltage is symmetrical, according to kirchhoff's law, establishing a network side loop equation of the high-frequency chain matrix converter as
Figure GDA0002983711400000061
Figure GDA0002983711400000062
Figure GDA0002983711400000071
Wherein ea、eb、ecFor the mains voltage, ia、ib、icFor grid current, iat、ibt、ictInput current for three-phase/single-phase AC-DC matrix converters, va、vb、vcIs the three bridge arm midpoint voltage, i, of a three-phase/single-phase AC-DC matrix converterdcFor the output current of the diode rectifier bridge, ma、mb、mcThe modulation ratio of a three-phase/single-phase AC-DC matrix converter under an abc three-phase static coordinate system is shown, L is an input filter inductor, C is an input filter capacitor, n is the turn ratio of a transformer, and R is line impedance.
And converting the abc three-phase static coordinate system into a dq two-phase synchronous rotating coordinate system through a coordinate transformation abc-dq module, so that the equation can be converted into:
Figure GDA0002983711400000072
Figure GDA0002983711400000073
Figure GDA0002983711400000074
wherein e isd、eqIs the active and reactive components of the network voltage id、iqIs the active and reactive components of the network current idt、iqtIs the active and reactive components of the input current of a three-phase/single-phase AC-DC matrix converter, vd、vqThe active component and the reactive component of the neutral-point voltage of the bridge arm of the three-phase/single-phase AC-DC matrix converter, omega is the angular velocity of the power grid, mdAnd mqThe modulation ratios of active components and reactive components of the three-phase current are respectively. The double closed loop backstepping controller controls the modulation ratio m of the active componentdAnd the control of the output current is realized.
The high-frequency chain matrix converter is a current source converter, and the output side is mainly dependent on an inductor LdcEnergy storage and output capacitor CdcThe capacity is relatively small. To simplify the analysis, the flow through the output capacitor C is ignoreddcI.e. consider idc≈ioI.e. the diode rectifier output current is equal to the high frequency chain matrix converter output current, the voltage differential equation on the dc side can be written as:
Figure GDA0002983711400000081
wherein u isdcFor the output voltage of the diode rectifier bridge, RoIs a load resistance, LdcTo output the filter inductance.
To build a unified model of the AC and DC sides, neglecting the converter power loss, the power balance expressions of the AC and DC sides are
Figure GDA0002983711400000082
When dq synchronously rotating the reactive component e of the coordinate systemqWhen equal to 0, then there are
ed＝Em (9)
Combining equations (7) - (9) while taking system disturbances into account, a unified model of the converter can be written as
Figure GDA0002983711400000083
Wherein u isoFor the output voltage of the high-frequency chain matrix converter, d (t) represents the total disturbance on the output side, d (t) < rho, and rho is a positive real number.
(2-2) double closed-loop backstepping controller design
According to equations (4) to (6) and (11), the transfer relationship of the control variables is: i.e. idc→id→vd→idt→md. Division according to time scale idc→idRealized by an output current outer loop backstepping controller id→vd→idt→mdThe method is realized by an input current inner loop backstepping controller.
According to the backstepping control principle, firstly, system error variables are defined as follows:
Figure GDA0002983711400000091
the differentiation of the system error variable is as follows:
Figure GDA0002983711400000092
(2-2-1) design of outer loop backstepping controller for output current
The goal of the output current outer loop back-step controller is to control the output current idcTracking reference value idc *。
The output current outer loop backstepping controller can be designed as follows:
Figure GDA0002983711400000093
wherein sgn (. cndot.) is a sign function, K1And η are parameters of the outer ring inner ring controller, which are both positive and real numbers.
I in the above formulad *Can be seen as the introduced virtual control variable and is also the reference value of the input current inner loop back-step controller.
Defining the Lyapunov energy function as
Figure GDA0002983711400000094
Its first derivative is:
Figure GDA0002983711400000095
substituting the designed output current outer loop backstepping controller (14) into the above formula to obtain the final product
Figure GDA0002983711400000096
According to (16), when z is2When the value tends to zero and rho is less than eta, the requirement can be met
Figure GDA0002983711400000101
Next, the input current inner loop back-step controller needs to be designed so that z2And the system tends to zero, namely the system is gradually stabilized.
(2-2-2) input current inner loop backstepping controller design
The control targets of the input current inner loop backstepping controller are as follows: controlling input current active component idAnd vdTracking reference values i separatelyd *And vd *。
The input current inner loop backstepping controller can be designed as follows:
Figure GDA0002983711400000102
wherein K2And K3The parameters of the inner loop controller are positive real numbers.
The Lyapunov energy function of the whole high-frequency chain matrix converter system can be defined as
Figure GDA0002983711400000103
Derivation of the above equation yields:
Figure GDA0002983711400000104
substituting the designed input current inner loop backstepping controller (17) into the above formula to obtain
Figure GDA0002983711400000105
Wherein the coefficient K ═ min {2K ═1,2K2,2K3}。
When ρ < η is satisfied, i.e., the perturbation is bounded, the Lyapunov energy function V is a negative definite function, so the system is globally asymptotically stable.
In addition, the sign function sgn (-) in the output current controller is prone to cause system chattering problems, reducing system dynamic performance. The sat (-) function is therefore designed to replace the sign function sgn (-) and,
Figure GDA0002983711400000111
where ε is a very small positive real number.
Thus, the double closed-loop backstepping controller of the high frequency chain matrix converter is
Figure GDA0002983711400000112
(3) Simulation verification
Software simulation verifies that the dynamic performance and the anti-interference performance of the high-frequency chain matrix converter can be improved by the double-closed-loop backstepping control method provided by the invention. MATLAB/simulink 2017b is selected as simulation software, and simulation parameters are shown in Table 1.
TABLE 1 simulation parameters
Figure GDA0002983711400000113
Figure GDA0002983711400000121
The double-closed-loop backstepping control system provided by the embodiment is applied to compare the simulation effect with the double-closed-loop PI control method.
Fig. 3 is a graph of the tracking effect of 50Hz output current obtained by applying dual closed loop PI control and dual closed loop backstepping control. The solid line is the output current reference value, with a magnitude of [30+5sin (100 π t) ] A, and the dashed line is the output current actual value. It can be seen that under the dual closed-loop PI control, the phase of the actual value of the output current lags behind the reference value of the output current by about 90 °; under the control of double closed loop backstepping, the actual value of the output current can completely track the reference value of the output current.
Fig. 4 is a graph of the tracking effect of the 200Hz output current obtained by applying the dual closed loop PI control and the dual closed loop back step control. The solid line is the output current reference value, with a magnitude of [30+5sin (400 π t) ] A, and the dashed line is the output current actual value. It can be seen that under the control of the double closed-loop PI, the actual value of the output current is close to a straight line, and the reference value of the output current cannot be tracked completely; the actual value of the output current can completely track the reference value of the output current under the double closed loop backstepping control.
As can be seen from fig. 3 and 4, the high frequency chain matrix converter has better dynamic response performance under the double closed loop backstepping control.
Fig. 5 is a graph of tracking effects of output current and output voltage under load switching obtained by applying dual closed-loop PI control and dual closed-loop backstepping control. The solid line is the double closed loop PI control effect, and the dotted line is the double closed loop backstepping control effect. After the high frequency chain matrix converter operates stably, the load resistance is switched from 10 Ω to 8 Ω and then back to 10 Ω. It can be seen that under the control of the double closed loop PI, the output current fluctuation is large, the response time is 6ms, and the output voltage response is slow; under the double closed loop backstepping control, the output current is almost free from fluctuation and approximately maintained at the reference value of the output current, and the output voltage is switched rapidly. As can be seen from fig. 5, under the double closed loop backstepping control, the high frequency chain matrix converter has better anti-interference capability.
Example 2:
in order to greatly improve the dynamic performance and the anti-interference capability of the high-frequency chain matrix converter, embodiment 2 of the present disclosure provides a high-interference-resistance fast-response control method for a high-frequency chain matrix converter, which can not only reduce the overshoot amount and the overshoot time, but also effectively resist the internal and external disturbances of the system, so that the system has good dynamic performance and anti-interference performance.
The following detailed description is made with reference to the accompanying drawings:
(1) working principle of high-frequency chain matrix converter
The topology of the high frequency chain matrix converter is shown in fig. 1 and comprises a three-phase ac power supply (e)a、eb、ec) An AC-side second-order LC low-pass filter (L, C), a line impedance (R), and a three-phase/single-phase AC-DC matrix converter (S)apl、Saph、Sbpl、Sbph、Scpl、Scph、Sanl、Sanh、Sbnl、Sbnh、Scnl、Scnh) High frequency transformer T, diode rectifier bridge (D)1、D2、D3、D4) DC side second order LC low pass filter (L)dc、Cdc) And a load Ro。
When the electric automobile is charged, the second-order LC low-pass filter on the alternating current side can filter out higher harmonics introduced by a three-phase/single-phase AC-DC matrix converter switch, so that green and friendly grid connection is realized; the three-phase/single-phase AC-DC matrix converter converts three-phase sinusoidal power-frequency alternating current into single-phase alternating current with switching frequency; the single-phase high-frequency alternating current passes through a high-frequency transformer, then is converted into direct current through a diode rectifier bridge, high-frequency ripples are filtered through a direct-current-side second-order LC low-pass filter, and finally the direct current is input into a battery.
In order to realize good dynamic response performance and anti-interference performance in the whole energy conversion process, the invention discloses a high-frequency chain matrix conversion control technical scheme. The overall control block diagram is shown in fig. 2, and comprises a phase-locked loop PLL, a coordinate transformation abc-dq module, a sector judgment module, a bipolar current space vector modulation module and a double-closed-loop backstepping controller, wherein the double-closed-loop backstepping controller comprises an input current inner loop backstepping controller and an output current outer loop backstepping controller.
The specific working process is as follows:
1) given output current reference value io *Measured actual value of output current ioAnd the actual value u of the output voltageoThe current values enter an output current outer ring backstepping controller together, and a reference value i of the input current on an active component d axis is calculatedd *；
2) Actual value e of three-phase voltageabcAnd the actual value i of the three-phase currentabcObtaining e through coordinate transformation abc-dqd、id、iqAnd d-axis reference value i of the input current obtained in the step 1d *Entering an input current inner loop backstepping controller together, and calculating to obtain a modulation ratio md；
3) Obtaining an angle theta obtained by the phase-locked loop PLL, obtaining a sector N through sector judgment, and obtaining a modulation ratio m of the sector N and the modulation ratio m obtained in the step 2dThe signals are input into a bipolar current space vector modulation module together;
4) the bipolar current space vector modulation module generates a control pulse signal of the three-phase/single-phase AC-DC matrix converter and drives a bidirectional switch of the three-phase/single-phase AC-DC matrix converter.
(2) The design process of the double closed loop backstepping controller is as follows
(2-1) creating a mathematical model of the high frequency chain matrix converter
When the three-phase power grid voltage is symmetrical, according to kirchhoff's law, establishing a network side loop equation of the high-frequency chain matrix converter as
Figure GDA0002983711400000141
Figure GDA0002983711400000151
Figure GDA0002983711400000152
Wherein ea、eb、ecFor the mains voltage, ia、ib、icFor grid current, iat、ibt、ictInput current for three-phase/single-phase AC-DC matrix converters, va、vb、vcIs the three bridge arm midpoint voltage, i, of a three-phase/single-phase AC-DC matrix converterdcFor the output current of the diode rectifier bridge, ma、mb、mcThe modulation ratio of a three-phase/single-phase AC-DC matrix converter under an abc three-phase static coordinate system is shown, L is an input filter inductor, C is an input filter capacitor, n is the turn ratio of a transformer, and R is line impedance.
And converting the abc three-phase static coordinate system into a dq two-phase synchronous rotating coordinate system through a coordinate transformation abc-dq module, so that the equation can be converted into:
Figure GDA0002983711400000153
Figure GDA0002983711400000154
Figure GDA0002983711400000155
wherein e isd、eqIs the active and reactive components of the network voltage id、iqIs the active and reactive components of the network current idt、iqtIs the active and reactive components of the input current of a three-phase/single-phase AC-DC matrix converter, vd、vqThe active component and the reactive component of the neutral-point voltage of the bridge arm of the three-phase/single-phase AC-DC matrix converter, omega is the angular velocity of the power grid, mdAnd mqThe modulation ratios of active components and reactive components of the three-phase current are respectively. The double closed loop backstepping controller controls the modulation ratio m of the active componentdAnd the control of the output current is realized.
The high-frequency chain matrix converter is a current source converter, and the output side is mainly dependent on an inductor LdcEnergy storage and output capacitor CdcThe capacity is relatively small. To simplify the analysis, the flow through the output capacitor C is ignoreddcI.e. consider idc≈ioI.e. the diode rectifier output current is equal to the high frequency chain matrix converter output current, the voltage differential equation on the dc side can be written as:
Figure GDA0002983711400000161
wherein u isdcFor the output voltage of the diode rectifier bridge, RoIs a load resistance, LdcTo output the filter inductance.
For establishing a unified model of the AC side and the DC side, neglecting the power loss of the converter, the power balance expression of the AC side and the DC side is
Figure GDA0002983711400000162
When dq synchronously rotating the reactive component e of the coordinate systemqWhen equal to 0, then there are
ed＝Em (9)
Combining equations (7) - (9) while taking system disturbances into account, a unified model of the converter can be written as
Figure GDA0002983711400000163
Wherein u isoFor the output voltage of the high-frequency chain matrix converter, d (t) represents the total disturbance on the output side, d (t) < rho, and rho is a positive real number.
(2-2) double closed-loop backstepping controller design
According to equations (4) to (6) and (11), the transfer relationship of the control variables is: i.e. idc→id→vd→idt→md. Division according to time scale idc→idRealized by an output current outer loop backstepping controller id→vd→idt→mdThe method is realized by an input current inner loop backstepping controller.
According to the backstepping control principle, firstly, system error variables are defined as follows:
Figure GDA0002983711400000171
the differentiation of the system error variable is as follows:
Figure GDA0002983711400000172
(2-2-1) design of outer loop backstepping controller for output current
The goal of the output current outer loop back-step controller is to control the output current idcTracking reference value idc *。
The output current outer loop backstepping controller can be designed as follows:
Figure GDA0002983711400000173
wherein sgn (. cndot.) is a sign function, K1And η isAnd the parameters of the outer ring inner ring controller are positive real numbers.
I in the above formulad *Can be seen as the introduced virtual control variable and is also the reference value of the input current inner loop back-step controller.
Defining the Lyapunov energy function as
Figure GDA0002983711400000174
Its first derivative is:
Figure GDA0002983711400000175
substituting the designed output current outer loop backstepping controller (14) into the above formula to obtain the final product
Figure GDA0002983711400000181
According to (16), when z is2When the value tends to zero and rho is less than eta, the requirement can be met
Figure GDA0002983711400000185
。
Next, the input current inner loop back-step controller needs to be designed so that z2And the system tends to zero, namely the system is gradually stabilized.
(2-2-2) input current inner loop backstepping controller design
The control targets of the input current inner loop backstepping controller are as follows: controlling input current active component idAnd vdTracking reference values i separatelyd *And vd *。
The input current inner loop backstepping controller can be designed as
Figure GDA0002983711400000182
Wherein K2And K3The parameters of the inner loop controller are positive real numbers.
The Lyapunov energy function of the whole high-frequency chain matrix converter system can be defined as
Figure GDA0002983711400000183
Derivation of the above equation yields:
Figure GDA0002983711400000184
substituting the designed input current inner loop backstepping controller (17) into the above formula to obtain
Figure GDA0002983711400000191
Wherein the coefficient K ═ min {2K ═1,2K2,2K3}。
When ρ < η is satisfied, i.e., the perturbation is bounded, the Lyapunov energy function V is a negative definite function, so the system is globally asymptotically stable.
In addition, the sign function sgn (-) in the output current controller is prone to cause system chattering problems, reducing system dynamic performance. The sat (-) function is therefore designed to replace the sign function sgn (-) and,
Figure GDA0002983711400000192
where ε is a very small positive real number.
Thus, the double closed-loop backstepping controller of the high frequency chain matrix converter is
Figure GDA0002983711400000193
(3) Simulation verification
Software simulation verifies that the double closed-loop backstepping control system provided by the invention can improve the dynamic performance and the anti-interference performance of the high-frequency chain matrix converter. MATLAB/simulink 2017b is selected as simulation software, and simulation parameters are shown in Table 1.
TABLE 1 simulation parameters
Figure GDA0002983711400000194
Figure GDA0002983711400000201
The double-closed-loop backstepping control method provided by the embodiment is applied to compare the simulation effect with the double-closed-loop PI control method.
Fig. 3 is a graph of the tracking effect of 50Hz output current obtained by applying dual closed loop PI control and dual closed loop backstepping control. The solid line is the output current reference value, with a magnitude of [30+5sin (100 π t) ] A, and the dashed line is the output current actual value. It can be seen that under the dual closed-loop PI control, the phase of the actual value of the output current lags behind the reference value of the output current by about 90 °; under the control of double closed loop backstepping, the actual value of the output current can completely track the reference value of the output current.
Fig. 4 is a graph of the tracking effect of the 200Hz output current obtained by applying the dual closed loop PI control and the dual closed loop back step control. The solid line is the output current reference value, with a magnitude of [30+5sin (400 π t) ] A, and the dashed line is the output current actual value. It can be seen that under the control of the double closed-loop PI, the actual value of the output current is close to a straight line, and the reference value of the output current cannot be tracked completely; the actual value of the output current can completely track the reference value of the output current under the double closed loop backstepping control.
As can be seen from fig. 3 and 4, the high frequency chain matrix converter has better dynamic response performance under the double closed loop backstepping control.
Fig. 5 is a graph of tracking effects of output current and output voltage under load switching obtained by applying dual closed-loop PI control and dual closed-loop backstepping control. The solid line is the double closed loop PI control effect, and the dotted line is the double closed loop backstepping control effect. After the high frequency chain matrix converter operates stably, the load resistance is switched from 10 Ω to 8 Ω and then back to 10 Ω. It can be seen that under the control of the double closed loop PI, the output current fluctuation is large, the response time is 6ms, and the output voltage response is slow; under the double closed loop backstepping control, the output current is almost free from fluctuation and approximately maintained at the reference value of the output current, and the output voltage is switched rapidly. As can be seen from fig. 5, under the double closed loop backstepping control, the high frequency chain matrix converter has better anti-interference capability.
Example 3:
the embodiment 3 of the present disclosure provides an electronic device, including the high-immunity fast-response control system of the high-frequency chain matrix converter according to the embodiment 1 of the present disclosure.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims (12)

1. A high-disturbance-rejection fast-response control system of a high-frequency chain matrix converter is characterized by comprising a bipolar current space vector modulation module and a double-closed-loop backstepping controller, wherein the double-closed-loop backstepping controller comprises an input current inner loop backstepping controller and an output current outer loop backstepping controller;
the output current outer ring backstepping controller obtains a reference value of the input current on an active component d axis according to the received given output current reference value, the output current actual value and the output voltage actual value of the high-frequency chain matrix converter;
the input current inner loop backstepping controller obtains the modulation ratio of the three-phase current active component according to the grid voltage active component, the reference value of the input current on the d axis of the active component, and the grid current active component and reactive component;
and the bipolar current space vector modulation module obtains a control pulse signal of the high-frequency chain matrix converter according to the modulation ratio and the sector of the active components of the three-phase current, and the control pulse signal is used for driving a bidirectional switch of the high-frequency chain matrix converter.
2. The high-frequency chain matrix converter high-disturbance-rejection fast-response control system according to claim 1, wherein the double-closed-loop back-step controller controls the output current by controlling an active component modulation ratio.
3. The high-frequency chain matrix converter high-disturbance-rejection fast-response control system according to claim 1, wherein the control system further comprises a phase-locked loop for obtaining the active component and the phase angle of the grid voltage according to the actual values of the three-phase voltage; the coordinate transformation module is used for obtaining the active component and the reactive component of the power grid current according to the phase angle and the actual value of the three-phase current; and the sector judging module is used for obtaining the sector according to the phase angle.
4. The high-frequency chain matrix converter high-disturbance-rejection fast-response control system according to claim 1, wherein the transfer relationship of the control variables is: the diode rectifier bridge outputs current to the active component of the power grid current, then to the active component of the midpoint voltage of the bridge arm of the high-frequency chain matrix converter, then to the active component of the input current of the high-frequency chain matrix converter, and finally to the modulation ratio of the active components of the three-phase current.
5. The high-immunity fast-response control system of the high-frequency chain matrix converter according to claim 1, wherein according to time scale division, the active component of the output current of the diode rectifier bridge to the power grid current is realized by an output current outer loop back step controller, and the rest process is realized by an input current inner loop back step controller.
6. The high-immunity fast-response control system of the high-frequency chain matrix converter according to claim 1, wherein the output current outer loop back-step controller is specifically:
Figure FDA0002983711390000021
wherein, K1And ηIs a parameter of the outer loop controller, LdcTo output the filter inductance, idcFor the output current of the diode rectifier bridge, EmFor the active component of the network voltage, uoIs the actual value of the output voltage, z, of the high frequency chain matrix converter1For systematic error variables, ε is a positive real number.
7. The high-immunity fast-response control system of the high-frequency chain matrix converter according to claim 1, wherein the input current inner loop backstepping controller is specifically:
Figure FDA0002983711390000022
wherein L is input filter inductance, C is input filter capacitance, EmAs a net voltage active component, LdcTo output the filter inductance, idAnd iqIs the active component and the reactive component of the current of the power grid, omega is the angular speed of the power grid, mdIs the modulation ratio of the active components of the three-phase current, z1And z2Are systematic error variables, R is line impedance, K2And K3Is a parameter of the inner-loop controller,
Figure FDA0002983711390000023
is the first derivative of the reference value of the input current on the d-axis of the active component, vqIs the reactive component of the midpoint voltage of the bridge arm of the high-frequency chain matrix converter.
8. The high-immunity fast-response control system of the high-frequency chain matrix converter according to claim 1, wherein the output current outer loop back-step controller and the input current inner loop back-step controller are both designed according to a model of the high-frequency chain matrix converter, and the model of the high-frequency chain matrix converter specifically comprises:
Figure FDA0002983711390000031
Figure FDA0002983711390000032
Figure FDA0002983711390000033
Figure FDA0002983711390000034
wherein e isd、eqIs the active and reactive components of the network voltage id、iqIs the active and reactive components of the network current idt、iqtIs the active and reactive components of the input current of a three-phase/single-phase AC-DC matrix converter, vd、vqThe active component and the reactive component of the neutral-point voltage of the bridge arm of the three-phase/single-phase AC-DC matrix converter, omega is the angular velocity of the power grid, mdAnd mqModulation ratios, i, of the active and reactive components, respectively, of the three-phase currentdcFor the output current of the diode rectifier bridge, L is the input filter inductance, C is the input filter capacitance, n is the transformer turn ratio, R is the line impedance, EmFor the peak value of the active component of the network voltage, LdcFor outputting the filter inductance uoFor the high frequency chain matrix converter output voltage, d (t) represents the total disturbance on the output side.
9. A high-disturbance-rejection fast response control method of a high-frequency chain matrix converter is characterized by comprising the following steps;
obtaining a reference value of the input current on an active component d axis according to the received given output current reference value, the output current actual value and the output voltage actual value of the high-frequency chain matrix converter;
obtaining an active component of the grid voltage and a phase angle of the grid according to the actual value of the three-phase voltage, and obtaining an active component and a reactive component of the grid current according to the phase angle of the grid and the actual value of the three-phase current;
obtaining the modulation ratio of the three-phase current active component according to the grid voltage active component, the reference value of the input current on the d axis of the active component, and the grid current active component and the reactive component;
and obtaining a sector according to the phase angle of the power grid, and obtaining a control pulse signal of the high-frequency chain matrix converter according to the modulation ratio of the active components of the three-phase current and the sector, wherein the control pulse signal is used for driving a bidirectional switch of the high-frequency chain matrix converter.
10. The high-disturbance-rejection fast-response control method for the high-frequency chain matrix converter according to claim 9, wherein a reference value of an input current on an active component d-axis is obtained according to a received given output current reference value, an output current actual value and an output voltage actual value of the high-frequency chain matrix converter, and specifically:
Figure FDA0002983711390000041
wherein, K1And η is a parameter of the outer loop controller, LdcTo output the filter inductance, idcFor the output current of the diode rectifier bridge, EmFor the active component of the network voltage, uoIs the actual value of the output voltage, z, of the high frequency chain matrix converter1For systematic error variables, ε is a positive real number.
11. The high-disturbance-rejection fast-response control method of the high-frequency chain matrix converter according to claim 9, wherein the modulation ratio of the three-phase current active component is obtained according to the grid voltage active component, the grid current active component and the reactive component, and specifically comprises:
Figure FDA0002983711390000042
wherein L is input filter inductance, C is input filter capacitance, EmIs electricityNet voltage active component, LdcTo output the filter inductance, idAnd iqIs the active component and the reactive component of the current of the power grid, omega is the angular speed of the power grid, mdIs the modulation ratio of the active components of the three-phase current, z1And z2Are systematic error variables, R is line impedance, K2And K3Is a parameter of the inner-loop controller,
Figure FDA0002983711390000043
is the first derivative of the reference value of the input current on the d-axis of the active component, vqIs the reactive component of the midpoint voltage of the bridge arm of the high-frequency chain matrix converter.
12. An electronic device, comprising the high-frequency chain matrix converter high-immunity fast-response control system according to any one of claims 1 to 8.
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