CN111600484B - Closed-loop control system of power electronic converter - Google Patents
Closed-loop control system of power electronic converter Download PDFInfo
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- CN111600484B CN111600484B CN201910127180.2A CN201910127180A CN111600484B CN 111600484 B CN111600484 B CN 111600484B CN 201910127180 A CN201910127180 A CN 201910127180A CN 111600484 B CN111600484 B CN 111600484B
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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
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac 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
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac 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
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac 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 with automatic control of output voltage or current, e.g. switching regulators
- H02M3/157—Conversion of dc power input into dc power output without intermediate conversion into ac 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 with automatic control of output voltage or current, e.g. switching regulators with digital control
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Abstract
The invention provides a closed-loop control system of a power electronic converter, which comprises an original PI compensation network, a digital wave trap and a power level module, wherein the power electronic converter comprises a power stage module, a power stage module and a power stage module, wherein the power stage module comprises: the difference between a voltage reference value and a voltage actual value of the power electronic converter input by the original PI compensation network; the output value of the original PI compensation network is used as the input value of the digital wave trap, and the pulse coefficient and the hysteresis step length of the digital wave trap are configured to suppress harmonic oscillation of the power electronic converter; the output value of the digital wave trap is used as the input value of the power level module; and the output value of the power level module is used as the actual voltage value and fed back to the original PI compensation network.
Description
Technical Field
The invention relates to the technical field of power electronics, in particular to a closed-loop control system of a power electronic converter.
Background
The power electronic converter is a converter for transmitting energy by switching on and off a switching tube, and is nonlinear electric energy conversion equipment due to the fact that the working state of the converter is divided into a switching-on mode and a switching-off mode. Due to complex working conditions of the power electronic converter and uncertainty of a nonlinear system model, the power electronic converter often encounters phenomena of bifurcation or chaos and the like, and the phenomena are represented as periodic oscillation of voltage and current waveforms, electrical howling and the like. In a power electronic converter, the oscillating voltage waveform is shown in fig. 1.
A common closed-loop control approach uses a separate PI regulator as the compensation element, as shown in fig. 2. When the compensation design in the manner shown in fig. 2 is performed on a second-order system in an underdamped state, such as a Buck or Boost converter, the transfer function will appear as a steeper resonance peak due to the too small damping coefficient, and after the compensation is completed, the frequency at the resonance peak will appear as an oscillation frequency, i.e., the oscillation frequency in fig. 3, which is the reason for the output oscillation.
Disclosure of Invention
The invention aims to provide a closed-loop control system of a power electronic converter, which is used for solving the problem of output oscillation of a compensation link of a traditional PI regulator of the conventional Buck or Boost converter.
In order to solve the above technical problem, the present invention provides a power electronic converter closed-loop control system, which includes an original PI compensation network, a digital trap filter, and a power stage module, wherein:
the difference between a voltage reference value and a voltage actual value of the power electronic converter input by the original PI compensation network;
the output value of the original PI compensation network is used as the input value of the digital wave trap, and the pulse coefficient and the hysteresis step length of the digital wave trap are configured to suppress harmonic oscillation of the power electronic converter;
the output value of the digital wave trap is used as the input value of the power level module;
and the output value of the power level module is used as the actual voltage value and fed back to the original PI compensation network.
Optionally, in the closed-loop control system for the power electronic converter, the digital wave trap is composed of a plurality of time-lag links, and the amplitude-frequency characteristic of the digital wave trap includes a plurality of zeros, where a trap range of the main zero is the largest and an amplitude is the widest.
Optionally, in the closed-loop control system of the power electronic converter, the digital wave trap includes 3 time-lag links, and a frequency domain expression of the digital wave trap is as follows:
wherein A isiTo configure the parameter, tiMeasured for time by theoretical calculation or experimentBy obtaining the resonant frequency, configuration t, of the power electronic converteriAnd AiSo that the notch frequency of the main zero coincides with the resonance frequency.
Optionally, in the closed-loop control system of the power electronic converter, the digital trap and the original PI compensation network form an oscillation suppression compensation network, and a frequency domain expression of the oscillation suppression compensation network is as follows:
Gc_new(s)＝Gc(s)Gnotch(s)，
wherein: wherein: gc(s) is the frequency domain expression of the original PI compensation network, Gnotch(s) is a frequency domain representation of a digital trap,
optionally, in the closed-loop control system of the power electronic converter,
compensating the original PI to the network Gc(s) is discretized into Gc(Z) using Z-domain operators for time lag elements of said digital trap
Alternatively, the discrete expression of the digital trap is:
wherein, TsIs the sampling period.
Optionally, in the closed-loop control system for the power electronic converter, a hysteresis step N is introduced into the discrete expression of the digital wave trap1，N2，N3Wherein:
wherein [ ] represents a rounding operation, the final discrete form of the digital trap is:
optionally, in the closed-loop control system of the power electronic converter, the final discrete form is converted into an FIR filter form:
Y(n)＝A1X(n-N1)+A2X(n-N2)+A3X(n-N3)，
where X (n) is an input to the form of the FIR filter and Y (n) is an output to the form of the FIR filter.
Optionally, in the closed-loop control system of the power electronic converter, an FIR filter is constructed according to the form of the FIR filter, and an input of the FIR filter is used as the original PI compensation network Gc(z) as an output of the ringing compensation network Gc_new(z) output.
In the closed-loop control system of the power electronic converter provided by the invention, the difference between a voltage reference value and a voltage actual value of the power electronic converter is input through an original PI compensation network; the output value of the original PI compensation network is used as the input value of a digital wave trap, and the pulse coefficient and the lagging step length of the digital wave trap are configured to suppress harmonic oscillation of the power electronic converter; the output value of the digital wave trap is used as the input value of the power level module; and the output value of the power level module is used as the actual voltage value and fed back to the original PI compensation network, and after a digital wave trap is connected in series in the compensation network, the periodic oscillation phenomenon of a controlled object in the original system is greatly weakened, and the stability of the system is enhanced.
Drawings
FIG. 1 is a schematic diagram of an oscillating voltage waveform in a prior art power electronic converter;
FIG. 2 is a schematic diagram of a prior art closed-loop control scheme using a separate PI regulator as a compensation stage;
FIG. 3 is a schematic diagram of the oscillation frequency resulting from a prior art closed loop control approach;
figure 4 is a schematic diagram of the frequency characteristics of a digital trap in accordance with one embodiment of the present invention;
FIG. 5 is a schematic diagram of a closed loop control system for a power electronic converter according to another embodiment of the present invention;
fig. 6 is a schematic diagram of an FIR filter formed in accordance with a closed loop control system of a power electronic converter in accordance with another embodiment of the present invention.
Detailed Description
The closed-loop control system of the power electronic converter provided by the invention is further described in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The core idea of the invention is to provide a closed-loop control system of a power electronic converter, so as to solve the problem of output oscillation of a compensation link of a traditional PI regulator of the conventional Buck or Boost converter.
To achieve the above idea, the present invention provides a power electronic converter closed-loop control system, which includes an original PI compensation network, a digital trap filter, and a power stage module, wherein: the difference between a voltage reference value and a voltage actual value of the power electronic converter input by the original PI compensation network; the output value of the original PI compensation network is used as the input value of the digital wave trap; the output value of the digital wave trap is used as the input value of the power level module; and the output value of the power level module is used as the actual voltage value and fed back to the original PI compensation network.
An embodiment of the present invention provides a closed-loop control system for a power electronic converter, as shown in fig. 5, the closed-loop control system for the power electronic converter includes an original PI compensation network Gc(s) digital trap Gnotch(s) and a power stage module plant(s), wherein: the original PI compensation network Gc(s) input of power to power electronic convertersThe difference between the voltage Reference value Reference and the actual voltage value Out; the original PI compensation network Gc(s) as the digital trap Gnotch(s) input values configuring said digital trap Gnotch(s) pulse coefficients and hysteresis steps to suppress harmonic oscillations of the power electronic converter; the digital trap GnotchThe output value Duty of(s) is used as the input value of the power stage module plant(s); the output value Out of the power stage module plant(s) is fed back to the original PI compensation network G as the actual voltage valuec(s)。
Specifically, in the closed-loop control system of the power electronic converter, the digital wave trap Gnotch(s) is composed of a plurality of time-lag elements, as shown in FIG. 4, the digital trap GnotchThe amplitude-frequency characteristic of(s) comprises a plurality of zeros, wherein the notch range of the main zero is largest and the amplitude is widest. The digital trap is a trap with a wide frequency range, and when the scheme is a scheme based on theoretical and experimental design, in order to design the compensation network, the oscillation frequency needs to be obtained, and the frequency can be obtained by means of theoretical calculation or experimental measurement. Generally, the trap is composed of a plurality of time-delay links, and the amplitude-frequency characteristic of the trap is represented by infinite zeros, wherein the trap range of the main zero is the largest, and the amplitude is the widest.
Specifically, in the closed-loop control system of the power electronic converter, the digital wave trap includes 3 time-lag links, and a frequency domain expression of the digital wave trap is as follows:
wherein A isiTo configure the parameter, tiThe resonant frequency of the power electronic converter is obtained by theoretical calculation or experimental measurement for time, and t is configurediAnd AiSo that the notch frequency of the main zero coincides with the resonance frequency. The digital trap can be designed to achieve the most severe amplitude attenuation near a particular frequency, such as the resonant frequency of figure 3, as would be expected ifThe digital trap is introduced in the whole control loop, so that the trap frequency coincides with the resonance frequency, and the periodic oscillation phenomenon disappears. Appropriately configuring tiAnd AiA better trap effect can be obtained. As shown in the frequency characteristic diagram of the digital trap of fig. 4, it can be seen that the digital trap has infinite stop bands, and the stop band with the lowest frequency serves as a main trap.
Further, in the closed-loop control system of the power electronic converter, the digital trap and the original PI compensation network form an oscillation suppression compensation network, and a frequency domain expression of the oscillation suppression compensation network is as follows:
Gc_new(s)＝Gc(s)Gnotch(s)，
wherein: gc(s) is the frequency domain expression of the original PI compensation network, Gnotch(s) is a frequency domain representation of a digital trap,
furthermore, in the closed-loop control system of the power electronic converter,
compensating the original PI to the network Gc(s) is discretized into Gc(Z) using Z-domain operators for time lag elements of said digital trap
Alternatively, the discrete expression of the digital trap is:
wherein, TsIs the sampling period.
In addition, in the closed-loop control system of the power electronic converter, a hysteresis step N is introduced into the discrete expression of the digital wave trap1，N2，N3Wherein:
wherein [ ] represents a rounding operation, the final discrete form of the digital trap is:
specifically, in the closed-loop control system of the power electronic converter, the final discrete form is converted into a form of FIR filter suitable for digital implementation:
Y(n)＝A1X(n-N1)+A2X(n-N2)+A3X(n-N3)，
where X (n) is an input to the form of the FIR filter and Y (n) is an output to the form of the FIR filter.
As shown in fig. 6, in the closed-loop control system of the power electronic converter, an FIR filter is constructed according to the form of the FIR filter, and the input of the FIR filter is used as the original PI compensation network Gc(z) as an output of the ringing compensation network Gc_new(z) output.
Aiming at the periodic oscillation phenomenon of different control objects in the power electronic converter, the oscillation of the object can be inhibited only by designing a proper pulse coefficient and a proper hysteresis step length of the wave trap. In the closed-loop control system of the power electronic converter provided by the invention, the difference between a voltage reference value and a voltage actual value of the power electronic converter is input through an original PI compensation network; the output value of the original PI compensation network is used as the input value of a digital wave trap, and the pulse coefficient and the lagging step length of the digital wave trap are configured to suppress harmonic oscillation of the power electronic converter; the output value of the digital wave trap is used as the input value of the power level module; and the output value of the power level module is used as the actual voltage value and fed back to the original PI compensation network, and after a digital wave trap is connected in series in the compensation network, the periodic oscillation phenomenon of a controlled object in the original system is greatly weakened, and the stability of the system is enhanced.
In summary, the above embodiments have described the different configurations of the closed-loop control system of the power electronic converter in detail, and it is needless to say that the present invention includes, but is not limited to, the configurations listed in the above embodiments, and any configuration that is changed based on the configurations provided by the above embodiments is within the protection scope of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (6)
1. A power electronic converter closed-loop control system, comprising a raw PI compensation network, a digital trap and a power stage module, wherein:
the difference between a voltage reference value and a voltage actual value of the power electronic converter input by the original PI compensation network;
the output value of the original PI compensation network is used as the input value of the digital wave trap, and the pulse coefficient and the hysteresis step length of the digital wave trap are configured to suppress harmonic oscillation of the power electronic converter;
the digital wave trap is composed of 3 time-delay links, the amplitude-frequency characteristic of the digital wave trap comprises a plurality of zeros, wherein the trap range of the main zero is maximum, the amplitude is widest, and the frequency domain expression of the digital wave trap is as follows:
wherein A isiTo configure the parameter, tiThe resonant frequency of the power electronic converter is obtained by theoretical calculation or experimental measurement for time, and t is configurediAnd AiSo that the trap frequency of the main zero coincides with the resonance frequency;
the output value of the digital wave trap is used as the input value of the power level module;
and the output value of the power level module is used as the actual voltage value and fed back to the original PI compensation network.
2. The power electronic converter closed-loop control system of claim 1 wherein the digital trap and the raw PI compensation network form a ringing compensation network having a frequency domain expression of:
Gc_new(s)＝Gc(s)Gnotch(s)，
wherein: gc(s) is the frequency domain expression of the original PI compensation network, Gnotch(s) is a frequency domain representation of a digital trap,
3. a power electronic converter closed loop control system as claimed in claim 2,
compensating the original PI to the network Gc(s) is discretized into Gc(Z) using Z-domain operators for time lag elements of said digital trap
Alternatively, the discrete expression of the digital trap is:
wherein, TsIs the sampling period.
4. Power electronic converter closed loop as claimed in claim 3Control system characterized in that a hysteresis step N is introduced in a discrete expression of said digital trap1，N2，N3Wherein:
wherein [ ] represents a rounding operation, the final discrete form of the digital trap is:
5. a power electronic converter closed loop control system as claimed in claim 4 wherein said final discrete form is converted to an FIR filter form:
Y(n)＝A1X(n-N1)+A2X(n-N2)+A3X(n-N3)，
where X (n) is an input to the form of the FIR filter and Y (n) is an output to the form of the FIR filter.
6. The power electronic converter closed-loop control system of claim 5, wherein the FIR filter is constructed from the FIR filter form with its input as the raw PI compensation network Gc(z) as an output of the ringing compensation network Gc_new(z) output.
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