CN112000018A - Robust fault-tolerant control module, method and system based on residual generator - Google Patents

Robust fault-tolerant control module, method and system based on residual generator Download PDF

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CN112000018A
CN112000018A CN202010959913.1A CN202010959913A CN112000018A CN 112000018 A CN112000018 A CN 112000018A CN 202010959913 A CN202010959913 A CN 202010959913A CN 112000018 A CN112000018 A CN 112000018A
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residual error
axis
voltage
tolerant control
generator
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罗珊娜
彭开香
胡长斌
周京华
朴政国
景柳铭
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University of Science and Technology Beijing USTB
North China University of Technology
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Abstract

The invention relates to a robust fault-tolerant control module, a robust fault-tolerant control method and a robust fault-tolerant control system based on a residual error generator. The method comprises the following steps: constructing a robust fault-tolerant control architecture of a three-phase inverter based on a residual error generator, wherein the robust fault-tolerant control architecture of the three-phase inverter based on the residual error generator comprises a compensation controller; on the basis of a robust fault-tolerant control framework of the three-phase inverter based on a residual error generator, a mathematical model containing voltage and current double closed-loop control and an LC filter circuit of the renewable energy distributed power inverter and the residual error generator based on an observer are constructed; determining an optimized compensation controller from the compensation controller and the observer-based residual generator; and controlling a control object according to the optimized compensation controller and the optimized controller. The invention can solve the problem of voltage and power quality of the three-phase inverter.

Description

Robust fault-tolerant control module, method and system based on residual generator
Technical Field
The invention relates to the field of robust fault-tolerant control, in particular to a robust fault-tolerant control module, a robust fault-tolerant control method and a robust fault-tolerant control system based on a residual error generator.
Background
The research of new energy is concerned by more and more scholars, and aiming at uncertain factors such as intermittence and volatility of the distributed micro-source, the micro-grid can better solve the problem that the micro-source is connected to the power grid in a distributed mode. The three-phase inverter is a key power electronic device in a new energy micro-grid system, and directly influences the stability, reliability and power quality of power supply of a distributed micro-source system. Therefore, the robust control method of the inverter with good robust performance has important research significance.
In order to improve the power quality problem of the output voltage of the inverter in the microgrid, because an additional device needs to be added in the traditional mode of passively managing the inverter by installing a power quality management device, the power quality problem of the output voltage of the inverter in the microgrid is researched from the active level at present. The CN104319803A adopts advanced robust H-infinity mixed sensitivity to control the frequency of the microgrid, achieves the control target of optimizing the frequency of the microgrid, but does not mention the problem of voltage. The CN105406749A adopts a mu comprehensive method to design a robust controller, so that the stability and the performance of the inverter grid-connected system can be improved. CN103825279A has designed microgrid voltage stability robust controller through the coordinated control of multistage, adopts the method of solving mixed sensitivity problem to realize the improvement of microgrid voltage stability, and this controller simple structure can better restrain parameter drift and noise interference, but does not mention the electric energy quality problem. CN104104251B provides a robust control method of a grid-connected inverter based on SSR-KDF, which can effectively reduce harmonic distortion of output electric energy of the grid-connected inverter and improve grid-connected electric energy quality. CN106208130A provides a three-phase grid-connected inverter robust control method based on adaptive constraint optimization, which can enable grid-connected current waveforms output by a three-phase grid-connected inverter to have control performances such as lower total harmonic distortion rate and stronger robustness.
In a microgrid, a distributed power generation system comprises a large number of power electronic devices, lacks rotating power generation equipment, and therefore has little to no inertia compared to a traditional large power grid, and the above characteristics of the microgrid and the fluctuating and intermittent operation of distributed micro-sources pose serious challenges to the quality of electric energy.
1) The single-phase load and the nonlinear load can cause the fluctuation of the alternating-current bus voltage, and the electric energy quality of the microgrid in an island mode is difficult to guarantee. However, due to the existence of sensitive loads and important loads, users put higher requirements on the power supply reliability and the power quality of the micro-grid system.
2) The major power quality issues in the microgrid are voltage disturbances, including voltage flicker, ripple and dip, and imbalance and harmonics. The method has the advantages that the voltage balance of the output bus of the micro-grid inverter is guaranteed, the micro-grid inverter is not distorted, and the power supply reliability and the robustness of the distributed power generation system are improved.
Disclosure of Invention
The invention aims to provide a robust fault-tolerant control module, a robust fault-tolerant control method and a robust fault-tolerant control system based on a residual error generator, which can solve the problem of voltage and power quality of a three-phase inverter.
In order to achieve the purpose, the invention provides the following scheme:
a robust fault tolerant control module based on a residual generator, comprising: the controller controls the control object according to the controller and the residual error generator, and the residual error generator is based on an observer.
A robust fault-tolerant control method based on a residual error generator comprises the following steps:
constructing a robust fault-tolerant control architecture of a three-phase inverter based on a residual error generator, wherein the robust fault-tolerant control architecture of the three-phase inverter based on the residual error generator comprises a compensation controller;
on the basis of a robust fault-tolerant control framework of the three-phase inverter based on a residual error generator, a mathematical model containing voltage and current double closed-loop control and an LC filter circuit of the renewable energy distributed power inverter and the residual error generator based on an observer are constructed;
determining an optimized compensation controller from the compensation controller and the observer-based residual generator;
and controlling a control object according to the optimized compensation controller and the optimized controller.
Optionally, the constructing a robust fault-tolerant control architecture of the three-phase inverter based on the residual error generator specifically includes:
introducing a compensation controller based on a residual error generator on the basis of a control architecture comprising a controller and a control object;
according to the Euler parameterization, the robust fault-tolerant control architecture formed by introducing the compensation controller based on the residual error generator is proved, and the tracking performance of the control architecture is not influenced.
Optionally, on the basis of a robust fault-tolerant control architecture of the three-phase inverter based on the residual error generator, constructing a mathematical model including voltage and current double closed-loop control and an LC filter circuit of the renewable energy distributed power inverter and the residual error generator based on an observer specifically includes:
constructing a voltage and current double closed-loop control equation of the distributed power supply inverter containing renewable energy on the basis of a robust fault-tolerant control architecture of the three-phase inverter based on a residual error generator;
establishing a mathematical model and a state space mathematical model under a dq axis aiming at a control object LC filter circuit at an outlet of the distributed micro-source three-phase inverter;
when external interference occurs, a residual error generator based on an observer is established according to the voltage and current double closed-loop control equation of the distributed power supply inverter containing the renewable energy source, the mathematical model under the dq axis and the state space mathematical model.
Optionally, the voltage and current double closed-loop control equation of the renewable energy source-containing distributed power supply inverter is as follows:
Figure BDA0002680148110000031
where ω is the angular frequency, CfIs a filter capacitor, LfIn order to be the filter inductance,
Figure BDA0002680148110000032
is the inductor current reference value on the d-axis,
Figure BDA0002680148110000033
is a reference value of the inductor current on the q-axis, v* odIs a d-axis voltage reference value, v, of the filter capacitor* cqFor reference value of q-axis voltage of filter capacitor, v* idFor d-axis output voltage reference, v, of a three-phase inverter* iqFor outputting a reference value of voltage, K, for the q-axis of a three-phase inverterpv、KivProportional term coefficient and integral term coefficient of the voltage loop PI controller are respectively; kpc、KicRespectively is a proportional term coefficient and an integral term coefficient of the current loop PI controller;
Figure BDA0002680148110000034
γd、γqis an intermediate variable, eidIs a d-axis current error signal, eiqIs a q-axis current error signal, evdIs a d-axis voltage error signal, evqIs the q-axis voltage error signal.
Optionally, the mathematical model under the dq axis is as follows:
Figure BDA0002680148110000041
where ω is the angular frequency, RfFor filtering parasitic resistances, LfIs a filter inductor, CfIs a filter capacitor, vodIs the filter capacitor voltage on the d-axis, voqIs the filter capacitor voltage on the q-axis, IldIs the inductive current on the d-axis, IlqIs the inductive current on the q-axis, vidIs the output voltage, v, of a three-phase inverter on the d-axisiqIs the output voltage of a three-phase inverter on the q-axis, IodIs the load current on the d-axis, IoqIs the load current on the q-axis;
will load current Iod、IoqViewed as disturbance input dd,q；
State variable xd,qInput variable ud,q，dd,qAnd an output variable yd,qThe vector expression of (a) is as follows:
xd,q＝[Ild Ilq vod voq]T ud,q＝[vid viq]T dd,q＝[Iod Ioq]T
yd,q＝[Ild Ilq vod voq]T
the state space mathematical model is as follows:
Figure BDA0002680148110000042
wherein the coefficient matrix A, B1、B2、C、D1、D2Respectively as follows:
Figure BDA0002680148110000043
Figure BDA0002680148110000051
optionally, the determining an optimized compensation controller according to the compensation controller and the observer-based residual error generator specifically includes:
determining a structure of the compensation controller based on an observer's residual generator:
Figure BDA0002680148110000052
wherein r isIld、rIlq、rvod、rvoqResidual signals of current and voltage on dq axes generated by a residual generator based on an observer are respectively; u. ofrvod、urvoqRespectively output signals of the parameter matrix Q on a dq axis; k is a radical of1、k2、k3、k4、k5、k6、k7、k8T is a time constant for unknown parameters needing to be designed;
and selecting a target function, and performing online real-time optimization calculation on the structure of the compensation controller by a gradient descent method to obtain the optimized compensation controller.
A robust fault tolerant control system based on a residual generator, comprising:
the robust fault-tolerant control architecture construction module is used for constructing a robust fault-tolerant control architecture of the three-phase inverter based on the residual error generator, and the robust fault-tolerant control architecture of the three-phase inverter based on the residual error generator comprises a compensation controller;
the residual error generator determining module is used for constructing a voltage and current double closed-loop control of the renewable energy distributed power source inverter, a mathematical model of an LC filter circuit and an observer-based residual error generator on the basis of a robust fault-tolerant control framework of the three-phase inverter based on the residual error generator;
a compensation controller optimization module for determining an optimized compensation controller from the compensation controller and the observer-based residual generator;
and the control module is used for controlling a control object according to the optimized compensation controller and the optimized controller.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
1) the performance of the control system can be improved on the premise of not modifying or replacing the original control system, the online iterative optimization of a parameter matrix of the dynamic compensation controller is realized, the robust performance and the anti-interference performance of the output voltage of the inverter under the conditions of load disturbance and large power grid voltage fluctuation are improved, the reconfigured controller Q based on the residual error has no influence on the tracking performance of the original system, and the stability of the closed-loop system can be ensured through the Euler parameterization.
2) Whether the fault-tolerant control strategy acts or not is determined by a residual signal, and when the residual signal is 0, a fault-tolerant control framework based on a residual generator is the original system control; when the error signal is not 0 due to unknown interference, model uncertainty, faults and the like, the robust performance of the system can be enhanced by designing the parameter matrix Q. Different parameter matrixes Q are designed according to different disturbances, and the designed compensation controller has a plug-and-play function.
3) The fault-tolerant control strategy is simple in structure and easy to realize, voltage fluctuation can be effectively reduced, harmonic content and unbalance degree can be reduced without increasing extra equipment investment, the voltage and power quality problem of the three-phase inverter is solved, and the anti-interference capability of an inverter system is enhanced.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart of a robust fault-tolerant control method based on a residual error generator according to the present invention;
FIG. 2 is a block diagram of fault tolerant control of an inverter in accordance with the present invention;
FIG. 3 is a robust fault tolerant control architecture based on a residual generator;
FIG. 4 is a schematic diagram of inverter output distortion voltage under nonlinear load conditions without fault tolerant control strategy;
FIG. 5 is a schematic diagram of inverter output voltage under nonlinear load conditions using a fault tolerant control strategy;
FIG. 6 is a schematic diagram of FFT analysis of harmonic content of phase A voltage output by an inverter under a nonlinear load condition without a fault-tolerant control strategy;
FIG. 7 is a schematic diagram of FFT analysis of harmonic content of phase A voltage output by an inverter under a nonlinear load condition of a fault-tolerant control strategy;
FIG. 8 is a schematic diagram of an unbalanced voltage output by an inverter under an unbalanced load condition without a fault tolerant control strategy;
FIG. 9 is a schematic diagram of inverter output voltage under unbalanced load conditions using a fault tolerant control strategy;
FIG. 10 is a schematic diagram illustrating a comparison of the imbalance of inverter output voltages under unbalanced load conditions with or without a fault tolerant control strategy;
fig. 11 is a block diagram of a robust fault-tolerant control system based on a residual error generator according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a robust fault-tolerant control module, a robust fault-tolerant control method and a robust fault-tolerant control system based on a residual error generator, which can solve the problem of voltage and power quality of a three-phase inverter.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
A robust fault tolerant control module based on a residual generator comprising: the controller controls the control object according to the controller and the residual error generator, and the residual error generator is based on an observer.
Fig. 1 is a flowchart of a robust fault-tolerant control method based on a residual error generator according to the present invention. The method is based on the robust fault-tolerant control module based on the residual error generator. As shown in fig. 1, a robust fault-tolerant control method based on a residual generator includes:
step 101: the method comprises the following steps of constructing a robust fault-tolerant control architecture of the three-phase inverter based on a residual generator, wherein the robust fault-tolerant control architecture of the three-phase inverter based on the residual generator comprises a compensation controller, and specifically comprises the following steps:
step 1011: on the basis of a control architecture comprising a controller and a control object, a compensation controller based on a residual error generator is introduced.
Step 1012: according to the Euler parameterization, the robust fault-tolerant control architecture formed by introducing the compensation controller based on the residual error generator is proved, and the tracking performance of the control architecture is not influenced.
Proof of u (z) ═ K according to the Euler parameterization0(z) e (z) + Q (z) r (z), the newly configured residual error-based compensation controller Q has no influence on the tracking performance of the original system, and for a given stable controller K0(z), by introducing a feedback gain q (z) matrix, the resulting new system control architecture is still stable. The stability of the closed loop system can also be ensured. Where u (z) represents the input signal, e (z) represents the tracking error signal, and r (z) represents the residual of error e.
Step 102: on the basis of a robust fault-tolerant control architecture of the three-phase inverter based on the residual error generator, a mathematical model containing voltage and current double closed-loop control and an LC filter circuit of the renewable energy distributed power inverter and the residual error generator based on an observer are constructed, and the method specifically comprises the following steps:
step 1021: and constructing a voltage and current double closed-loop control equation of the distributed power supply inverter containing the renewable energy source on the basis of a robust fault-tolerant control architecture of the three-phase inverter based on the residual error generator.
Establishing a coupling model under a dq axis aiming at a voltage and current double closed loop of the distributed micro-source three-phase inverter;
the mathematical expression of the corresponding voltage loop and current loop is as follows:
Figure BDA0002680148110000081
in the formula: omega is an angleFrequency, CfIs a filter capacitor, LfIn order to be the filter inductance,
Figure BDA0002680148110000082
is the inductor current reference value on the d-axis,
Figure BDA0002680148110000083
is a reference value of the inductor current on the q-axis, v* odIs a d-axis voltage reference value, v, of the filter capacitor* oqFor reference value of q-axis voltage of filter capacitor, v* idFor d-axis output voltage reference, v, of a three-phase inverter* iqFor outputting a reference value of voltage, K, for the q-axis of a three-phase inverterpv、KivProportional term coefficient and integral term coefficient of the voltage loop PI controller are respectively; kpc、KicRespectively is a proportional term coefficient and an integral term coefficient of the current loop PI controller;
Figure BDA0002680148110000084
γd、γqis an intermediate variable.
Introducing error signals
Figure BDA0002680148110000085
And
Figure BDA0002680148110000086
eidis a d-axis current error signal, eiqIs a q-axis current error signal, evdIs a d-axis voltage error signal, evqFor the q-axis voltage error signal, the voltage loop and current loop equations are rewritten as follows:
Figure BDA0002680148110000091
where ω is the angular frequency, CfIs a filter capacitor, LfIn order to be the filter inductance,
Figure BDA0002680148110000092
is on d-axisThe reference value of the inductor current of (a),
Figure BDA0002680148110000093
is a reference value of the inductor current on the q-axis, v* odIs a d-axis voltage reference value, v, of the filter capacitor* oqFor reference value of q-axis voltage of filter capacitor, v* idFor d-axis output voltage reference, v, of a three-phase inverter* iqFor outputting a reference value of voltage, K, for the q-axis of a three-phase inverterpv、KivProportional term coefficient and integral term coefficient of the voltage loop PI controller are respectively; kpc、KicRespectively is a proportional term coefficient and an integral term coefficient of the current loop PI controller;
Figure BDA0002680148110000094
γd、γqis an intermediate variable, eidIs a d-axis current error signal, eiqIs a q-axis current error signal, evdIs a d-axis voltage error signal, evqIs the q-axis voltage error signal.
Step 1022: and establishing a mathematical model and a state space mathematical model under a dq axis aiming at a control object LC filter circuit at the outlet of the distributed micro-source three-phase inverter.
And establishing a mathematical model under a dq axis aiming at a control object LC filter circuit at the outlet of the distributed micro-source three-phase inverter.
By taking an LC filter circuit as a control object, a mathematical model expression under a dq axis coordinate system can be obtained according to kirchhoff's law as follows:
Figure BDA0002680148110000095
wherein: omega is the angular frequency, RfFor filtering parasitic resistances, LfIs a filter inductor, CfIs a filter capacitor, vodIs the filter capacitor voltage on the d-axis, voqIs the filter capacitor voltage on the q-axis, IldIs the inductive current on the d-axis, IlqIs the inductive current on the q-axis, vidIs on d-axisOutput voltage of the three-phase inverter of (v)iqIs the output voltage of a three-phase inverter on the q-axis, IodIs the load current on the d-axis, IoqIs the load current on the q-axis.
Will load current Iod、IoqViewed as disturbance input dd,q。
State variable xd,qInput variable ud,q，dd,qAnd an output variable yd,qThe vector expression of (A) is as follows
xd,q＝[Ild Ilq vod voq]T ud,q＝[vid viq]T dd,q＝[Iod Ioq]T
yd,q＝[Ild Ilq vod voq]T
The state space mathematical model of the LC filter of the control object can be obtained as follows:
Figure BDA0002680148110000101
in the formula: coefficient matrix A, B1、B2、C、D1、D2Respectively as follows:
Figure BDA0002680148110000102
Figure BDA0002680148110000103
step 1023: when external interference occurs, a residual error generator based on an observer is established according to the voltage and current double closed-loop control equation of the distributed power supply inverter containing the renewable energy source, the mathematical model under the dq axis and the state space mathematical model.
Step 103: determining an optimized compensation controller according to the compensation controller and the observer-based residual error generator, specifically comprising:
step 1031: determining a structure of the compensation controller based on an observer's residual generator:
Figure BDA0002680148110000104
wherein r isIld、rIlq、rvod、rvoqResidual signals of current and voltage on dq axes generated by a residual generator based on an observer are respectively; u. ofrvod、urvoqOutput signals on the dq axis, respectively, of the parameter matrix Q; k is a radical of1、k2、k3、k4、k5、k6、k7、k8T is a time constant for unknown parameters needing to be designed;
step 1032: and selecting a target function, and performing online real-time optimization calculation on the structure of the compensation controller by a gradient descent method to obtain the optimized compensation controller.
Further, the step 1032 of performing online real-time optimization calculation by the gradient descent method comprises the following steps:
step 1: the objective function is selected, and in order to enhance the robust performance of the system, the influence of disturbance or fault on the dynamic response of the system should be reduced as much as possible. In addition, considering the tracking error e, it is desirable to perform the adjustment of the system with the minimum control amount u, and the performance index function is selected to be J-e2+u2。
Step 2: and writing a derivation formula of the objective function to the parameters for solving the directional gradient of each iteration.
Step 3: initializing unknown parameters, and respectively setting the unknown parameters k in Q as initial values.
Step 4: setting the time window length N, optimizing the starting time point k0Weight coefficient W of error component ee,kAnd the weight coefficient W of the input signal portion uu,k。
Step 5: selecting proper iteration step lengthjTo obtain a variableAnd starting to enter a loop, substituting the gradient obtained by each loop according to the gradient formula into the variable updating iterative formula, and calculating an objective function once for each loop.
Step 6: and after a plurality of control periods, terminating the cycle when the target function meets the condition to obtain an optimal result and outputting the optimal result.
Step 104: and controlling a control object according to the optimized compensation controller and the optimized controller.
For the three-phase voltage waveform output by the inverter, in fig. 4, when there is no fault-tolerant control architecture, the three-phase voltage output by the inverter is obviously distorted; in fig. 5, by adopting the power quality control strategy proposed by the present invention, that is, adding a fault-tolerant control architecture in the inverter control, the output of three-phase sinusoidal voltage can still be maintained when the nonlinear load is switched in.
Due to the three-phase symmetry, FFT analysis is performed only on the a-phase voltage. In fig. 6, the a-phase voltage harmonic content is 5.32% without the fault-tolerant control architecture; in fig. 7, the harmonic content is reduced to 0.64% after the fault-tolerant control architecture is added. The harmonics of 5, 7, 11 and 13 generated by the nonlinear load access are obviously eliminated.
As for the three-phase voltage waveform output by the inverter, as can be seen from fig. 8, when there is no fault-tolerant control architecture, the output voltage of the inverter is severely unbalanced due to the influence of the unbalanced load; in fig. 9, the inverter can maintain the three-phase voltage balance of the output when the load is unbalanced by adopting the method provided by the invention.
As shown in fig. 10, the unbalance of the inverter output three-phase voltages when the fault-tolerant control architecture is present or not is calculated. The three-phase unbalance degree is 4.4% without a fault-tolerant control framework; the imbalance drops to 0.65% after the fault tolerant control architecture is added.
The invention provides an inverter fault-tolerant control strategy based on a residual error generator aiming at the power quality of a three-phase voltage source type inverter of a micro-grid by combining a fault-tolerant control architecture. A complete inverter is modeled using a state space. On the basis of a robust fault-tolerant control architecture of a three-phase inverter based on a residual error generator, when external interference such as load fluctuation occurs, the residual error generator designed according to modeling generates a residual error, a compensation signal is generated through the proposed compensation controller Q, the output of a double closed-loop control signal is compensated, and the parameters of the compensation controller Q are subjected to online real-time optimization calculation by adopting the proposed gradient descent method. On the basis of a robust fault-tolerant control architecture of a three-phase inverter based on a residual error generator, the robust performance of the system can be enhanced more easily without influencing the stability of the original closed-loop system and the parameters of the controller by introducing a compensation controller Q.
Corresponding to the robust fault-tolerant control method based on the residual error generator, the invention also provides a robust fault-tolerant control system based on the residual error generator, and fig. 11 is a structure diagram of the robust fault-tolerant control system based on the residual error generator. As shown in fig. 11, the system includes:
the robust fault-tolerant control architecture construction module 201 is used for constructing a robust fault-tolerant control architecture of a three-phase inverter based on a residual error generator, wherein the robust fault-tolerant control architecture of the three-phase inverter based on the residual error generator comprises a compensation controller.
And the residual error generator determining module 202 is used for constructing a mathematical model containing voltage and current double closed-loop control and an LC filter circuit of the renewable energy distributed power inverter and an observer-based residual error generator on the basis of a robust fault-tolerant control architecture of the three-phase inverter based on the residual error generator.
A compensation controller optimization module 203 for determining an optimized compensation controller based on the compensation controller and the observer-based residual generator.
And the control module 204 is used for controlling the control object according to the optimized compensation controller and the controller.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (8)

1. A robust fault tolerant control module based on a residual generator, comprising: the controller controls the control object according to the controller and the residual error generator, and the residual error generator is based on an observer.
2. A robust fault-tolerant control method based on a residual error generator is characterized by comprising the following steps:
constructing a robust fault-tolerant control architecture of a three-phase inverter based on a residual error generator, wherein the robust fault-tolerant control architecture of the three-phase inverter based on the residual error generator comprises a compensation controller;
on the basis of a robust fault-tolerant control framework of the three-phase inverter based on a residual error generator, a mathematical model containing voltage and current double closed-loop control and an LC filter circuit of the renewable energy distributed power inverter and the residual error generator based on an observer are constructed;
determining an optimized compensation controller from the compensation controller and the observer-based residual generator;
and controlling a control object according to the optimized compensation controller and the optimized controller.
3. The robust fault-tolerant control method based on the residual generator according to claim 2, wherein the building of the robust fault-tolerant control architecture of the three-phase inverter based on the residual generator specifically comprises:
introducing a compensation controller based on a residual error generator on the basis of a control architecture comprising a controller and a control object;
according to the Euler parameterization, the robust fault-tolerant control architecture formed by introducing the compensation controller based on the residual error generator is proved, and the tracking performance of the control architecture is not influenced.
4. The robust fault-tolerant control method based on the residual error generator according to claim 2, wherein on the basis of the robust fault-tolerant control architecture of the three-phase inverter based on the residual error generator, a mathematical model including a voltage-current double closed-loop control and an LC filter circuit of the renewable energy distributed power inverter and the residual error generator based on an observer are constructed, and specifically includes:
constructing a voltage and current double closed-loop control equation of the distributed power supply inverter containing renewable energy on the basis of a robust fault-tolerant control architecture of the three-phase inverter based on a residual error generator;
establishing a mathematical model and a state space mathematical model under a dq axis aiming at a control object LC filter circuit at an outlet of the distributed micro-source three-phase inverter;
when external interference occurs, a residual error generator based on an observer is established according to the voltage and current double closed-loop control equation of the distributed power supply inverter containing the renewable energy source, the mathematical model under the dq axis and the state space mathematical model.
5. The robust fault-tolerant control method based on the residual error generator according to claim 2, wherein the double closed-loop control equation of the voltage and the current of the renewable energy source-containing distributed power supply inverter is as follows:
Figure FDA0002680148100000021
where ω is the angular frequency, CfIs a filter capacitor, LfIn order to be the filter inductance,
Figure FDA0002680148100000022
is the inductor current reference value on the d-axis,
Figure FDA0002680148100000023
is a reference value of the inductor current on the q-axis, v* odIs a d-axis voltage reference value, v, of the filter capacitor* oqFor reference value of q-axis voltage of filter capacitor, v* idFor d-axis output voltage reference, v, of a three-phase inverter* iqFor outputting a reference value of voltage, K, for the q-axis of a three-phase inverterpv、KivProportional term coefficient and integral term coefficient of the voltage loop PI controller are respectively; kpc、KicRespectively is a proportional term coefficient and an integral term coefficient of the current loop PI controller;
Figure FDA0002680148100000024
γd、γqis an intermediate variable, eidIs a d-axis current error signal, eiqIs a q-axis current error signal, evdIs a d-axis voltage error signal, evqIs the q-axis voltage error signal.
6. The robust fault tolerant control method based on residual error generator of claim 2, characterized in that the mathematical model under dq axis is as follows:
Figure FDA0002680148100000025
where ω is the angular frequency, RfFor filtering parasitic resistances, LfIs a filter inductor, CfIs a filter capacitor, vodIs the filter capacitor voltage on the d-axis, voqIs the filter capacitor voltage on the q-axis, IldIs the inductive current on the d-axis, IlqIs the inductive current on the q-axis, vidIs the output voltage, v, of a three-phase inverter on the d-axisiqIs the output voltage of a three-phase inverter on the q-axis, IodIs the load current on the d-axis, IoqIs negative on the q-axisCarrying current;
will load current Iod、IoqViewed as disturbance input dd,q；
State variable xd,qInput variable ud,q，dd,qAnd an output variable yd,qThe vector expression of (a) is as follows:
xd,q＝[Ild Ilq vod voq]T ud,q＝[vid viq]T dd,q＝[Iod Ioq]T
yd,q＝[Ild Ilq vod voq]T
the state space mathematical model is as follows:
Figure FDA0002680148100000031
wherein the coefficient matrix A, B1、B2、C、D1、D2Respectively as follows:
Figure FDA0002680148100000032
Figure FDA0002680148100000033
7. the robust fault-tolerant control method based on a residual error generator according to claim 2, wherein the determining an optimized compensation controller according to the compensation controller and the observer-based residual error generator specifically comprises:
determining a structure of the compensation controller based on an observer's residual generator:
Figure FDA0002680148100000034
wherein r isIld、rIlq、rvod、rvoqResidual signals of current and voltage on dq axes generated by a residual generator based on an observer are respectively; u. ofrvod、urvoqOutput signals on the dq axis, respectively, of the parameter matrix Q; k is a radical of1、k2、k3、k4、k5、k6、k7、k8T is a time constant for unknown parameters needing to be designed;
and selecting a target function, and performing online real-time optimization calculation on the structure of the compensation controller by a gradient descent method to obtain the optimized compensation controller.
8. A robust fault tolerant control system based on a residual generator, comprising:
the robust fault-tolerant control architecture construction module is used for constructing a robust fault-tolerant control architecture of the three-phase inverter based on the residual error generator, and the robust fault-tolerant control architecture of the three-phase inverter based on the residual error generator comprises a compensation controller;
the residual error generator determining module is used for constructing a voltage and current double closed-loop control of the renewable energy distributed power source inverter, a mathematical model of an LC filter circuit and an observer-based residual error generator on the basis of a robust fault-tolerant control framework of the three-phase inverter based on the residual error generator;
a compensation controller optimization module for determining an optimized compensation controller from the compensation controller and the observer-based residual generator;
and the control module is used for controlling a control object according to the optimized compensation controller and the optimized controller.
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