CN114172179A - Energy storage converter dead zone compensation method based on disturbance observer - Google Patents

Energy storage converter dead zone compensation method based on disturbance observer Download PDF

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CN114172179A
CN114172179A CN202111381991.9A CN202111381991A CN114172179A CN 114172179 A CN114172179 A CN 114172179A CN 202111381991 A CN202111381991 A CN 202111381991A CN 114172179 A CN114172179 A CN 114172179A
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voltage
energy storage
disturbance observer
storage converter
zone compensation
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李庆生
陈巨龙
孙斌
张裕
唐学用
薛毅
李震
张兆丰
邓朴
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Guizhou Power Grid Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/28—Arrangements for balancing of the load in a network by storage of energy
    • H02J3/32—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control

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Abstract

The invention discloses an energy storage converter dead zone compensation method based on a disturbance observer, which comprises the steps of collecting three-phase alternating voltage signals u on the load side of an energy storage convertera、ub、ucAnd three-phase AC current signal ia、ib、icBy coordinate transformation to ωrObtaining a d-q axis voltage component u in a synchronously rotating d-q coordinate systemd、uqAnd a current component id、iq(ii) a Dividing the q-axis voltage component uqAnd d-q axis current component id、iqInputting a disturbance observer to the system,disturbance observer output time adjustment DO(ii) a Adjust the time by an amount DO、T1And T2Inputting the space voltage vector to SVPWM module, and outputting updated space voltage vector action time T1n、T2n(ii) a Will T1n、T2nThe three-phase alternating voltage after dead zone compensation is output as the action time of two non-zero space voltage vectors in the SVPMW module in a half PWM period; the invention can solve the problem that the existing dead zone compensation method is difficult to self-adaptively and accurately compensate voltage, compensate voltage distortion caused by dead zone effect and reduce harmonic content.

Description

Energy storage converter dead zone compensation method based on disturbance observer
Technical Field
The invention relates to the technical field of converter compensation, in particular to a dead-zone compensation method of an energy storage converter based on a disturbance observer.
Background
In the energy storage converter, in order to avoid simultaneous conduction of upper and lower switching devices of the same bridge arm, a dead time needs to be set in a driving signal of the switching device to prevent the converter from generating a through fault. However, dead time may cause distortion of the converter output voltage, which reduces the performance of the energy storage converter.
In order to reduce the influence of the dead zone effect on the output voltage of the converter, domestic and foreign scholars have proposed various dead zone compensation methods, and currently, two common dead zone compensation methods are available: 1) changing the pulse width modulation signal, and realizing dead zone compensation by changing the rising edge time and the falling edge time of the driving signal; 2) the deviation caused by dead time is compensated by adopting a feedforward compensation method, however, the method has the problems of large calculated amount and the need of judging the polarity of current, larger error of control is caused, and the realization difficulty is large.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above-mentioned conventional problems.
Therefore, the invention provides the energy storage converter dead zone compensation method based on the disturbance observer, can avoid the problem that the existing dead zone compensation method is difficult to self-adaptively and accurately compensate the voltage, is suitable for the application occasions of the voltage source type converter, realizes the self-adaptive dead zone compensation of the energy storage converter and has higher compensation precision.
In order to solve the technical problems, the invention provides the following technical scheme: comprises collecting three-phase AC voltage signal u at load side of energy storage convertera、ub、ucBy coordinate transformation to ωrObtaining a d-q axis voltage component u in a synchronously rotating d-q coordinate systemd、uq(ii) a Three-phase alternating current signal i of energy storage convertera、ib、 icBy coordinate transformation to ωrObtaining a d-q axis current component i in a synchronously rotating d-q coordinate systemd、iq(ii) a Dividing the q-axis voltage component uqAnd d-q axis current component id、iqInputting a disturbance observer outputting a time adjustment DO(ii) a Setting the voltage outer ring given value urefAnd d-q axis voltage components pass through a voltage loop proportional integral regulator to obtain a current inner loop given value irefSetting the current inner loop to a given value irefAnd d-q axis current components are input into a current loop proportional integral regulator to obtain the non-zero space voltage vector action time T1、T2(ii) a Adjusting the time by an amount DONon-zero space voltage vector action time T1And T2The input is input into an SVPWM module,outputting the updated space voltage vector action time T1n、T2n(ii) a Applying the updated space voltage vector for a time T1n、T2nAnd outputting the three-phase alternating voltage after dead zone compensation as the action time of two non-zero space voltage vectors in the SVPMW module in a half PWM period.
As a preferred scheme of the energy storage converter dead zone compensation method based on the disturbance observer, the method comprises the following steps: the d-q axis voltage component ud、uqComprises the steps of (a) preparing a mixture of a plurality of raw materials,
Figure RE-GDA0003478227520000021
wherein t is the running time of the energy storage converter, omegarIs the fundamental voltage angular frequency.
As a preferred scheme of the energy storage converter dead zone compensation method based on the disturbance observer, the method comprises the following steps: the d-q axis current component id、iqComprises the steps of (a) preparing a mixture of a plurality of raw materials,
Figure RE-GDA0003478227520000022
as a preferred scheme of the energy storage converter dead zone compensation method based on the disturbance observer, the method comprises the following steps: the time adjustment amount DOComprises the steps of (a) preparing a mixture of a plurality of raw materials,
Figure RE-GDA0003478227520000023
wherein, KopIndicating the proportionality coefficient of the regulator, KoiDenotes the integral coefficient of the regulator, L1Representing the inductance, R, of the converter1Denotes the equivalent resistance, and s denotes the laplace operator.
As a preferred scheme of the energy storage converter dead zone compensation method based on the disturbance observer, the method comprises the following steps: the system also comprises a hardware loop and a software loop; tong (Chinese character of 'tong')Acquiring three-phase alternating voltage signal u at load side of energy storage converter through hardware loopa、ub、ucAnd three-phase alternating current signal i of energy storage convertera、ib、 icWherein the hardware loop comprises: energy storage battery UdcThe power supply comprises a voltage source type converter, a current transformer, an output LC filter, a voltage transformer and a load; the voltage source type converter is composed of three-phase bridge type fully-controlled power electronic devices.
As a preferred scheme of the energy storage converter dead zone compensation method based on the disturbance observer, the method comprises the following steps: further comprising obtaining a time adjustment D by the software loopOAnd updated space voltage vector action time T1n、T2n(ii) a The software loop comprises a fundamental wave control module and a harmonic wave control module; wherein the fundamental control module comprises a current inner ring and a voltage outer ring; the harmonic control module is a disturbance observer.
As a preferred scheme of the energy storage converter dead zone compensation method based on the disturbance observer, the method comprises the following steps: also included is a voltage loop proportional integral regulator Gu(s) is:
Figure RE-GDA0003478227520000031
wherein, KupIs the coefficient of the proportional term, KuiIs an integral term coefficient;
current loop proportional integral regulator Gi(s) is:
Figure RE-GDA0003478227520000032
wherein, KipIs the coefficient of the proportional term, KiiIs the integral term coefficient.
As a preferred scheme of the energy storage converter dead zone compensation method based on the disturbance observer, the method comprises the following steps: the updated space voltage vector action time T1n、T2nComprises the steps of (a) preparing a mixture of a plurality of raw materials,
Figure RE-GDA0003478227520000033
as a preferred scheme of the energy storage converter dead zone compensation method based on the disturbance observer, the method comprises the following steps: also comprises the following steps of (1) preparing,
proportional-integral regulator G in disturbance observerd(s) is:
Figure RE-GDA0003478227520000034
wherein, KopIs the coefficient of the proportional term, KoiIs the integral term coefficient.
The invention has the beneficial effects that: the problem that the voltage is difficult to adaptively and accurately compensate by the existing dead zone compensation method can be solved, voltage distortion caused by the dead zone effect is compensated, an additional hardware detection circuit or a complex current polarity judgment algorithm is not needed, and the compensation precision and reliability are high.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced 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 based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic diagram of a dead-zone compensation method for an energy storage converter based on a disturbance observer according to a first embodiment of the present invention;
fig. 2 is a schematic diagram of a dead-zone compensation method of an energy storage converter based on a disturbance observer according to a first embodiment of the present invention;
FIG. 3 is a waveform diagram illustrating the operation of a 500kW energy storage converter based on a conventional dead-time compensation method according to a second embodiment of the invention;
fig. 4 is a waveform diagram of an operating condition of a 500kW energy storage converter according to a dead-zone compensation method for an energy storage converter based on a disturbance observer in a second embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially in general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 1 to 2, a first embodiment of the present invention provides a disturbance observer-based dead-zone compensation method for an energy storage converter, including:
s1, collecting three-phase alternating voltage signals u of the load side of the energy storage converter with reference to FIG. 1a、ub、ucBy coordinate transformation to ωrObtaining a d-q axis voltage component u in a synchronously rotating d-q coordinate systemd、uq。
Wherein d-q axis voltage component u is to be notedd、uqIn order to realize the purpose,
Figure RE-GDA0003478227520000051
wherein t is the running time of the energy storage converter, omegarIs the fundamental voltage angular frequency, ua、ub、ucAre three-phase AC voltage signals u on the load side, respectivelydD-axis voltage component u corresponding to three-phase AC voltage signal on load sideqIs a q-axis voltage component corresponding to the three-phase alternating voltage signal on the load side.
S2, collecting three-phase alternating current signal i of the energy storage convertera、ib、icAnd then coordinate-transformed to andrin the synchronously rotating d-q coordinate system,obtaining a d-q axis current component id、iq。
Therein, to be noted, d-q axis current component id、iqIn order to realize the purpose,
Figure RE-GDA0003478227520000052
wherein ia、ib、icAre respectively three-phase AC current signals idD-axis current component, i, corresponding to three-phase AC current signalqThe q-axis current component corresponding to the three-phase alternating current signal.
S3, dividing the q-axis voltage component uqAnd d-q axis current component id、iqInputting disturbance observer, outputting time regulating quantity D of disturbance observerO。
It is noted that, referring to fig. 2, the proportional-integral regulator in the disturbance observer is,
Figure RE-GDA0003478227520000061
wherein, KopIs the coefficient of the proportional term, KoiIs an integral term coefficient;
further, the time adjustment amount DOComprises the steps of (a) preparing a mixture of a plurality of raw materials,
Figure RE-GDA0003478227520000062
wherein D isORepresenting the disturbance observer output, KopIndicating the proportionality coefficient of the regulator, KoiDenotes the integral coefficient of the regulator, L1Representing the inductance, R, of the converter1Denotes the equivalent resistance, and s denotes the laplace operator.
Preferably, the present embodiment adjusts the amount D by setting the timeOActing time T on original non-zero space voltage vector1、T2Making a correction to make a non-zero nullTime of inter-voltage vector action T1、T2And is more accurate.
S4, setting the voltage outer ring given value urefAnd d-q axis voltage components pass through a voltage loop proportional integral regulator to obtain a current inner loop given value irefThen i isrefAnd d-q axis current components pass through a current loop proportional integral regulator to obtain the non-zero space voltage vector action time T1、T2。
(1) The collected three-phase AC voltage signal ua、ub、ucCoordinate transformation to and through soft loopsrObtaining a d-q axis voltage component in a synchronously rotating d-q coordinate system; will gather the three-phase AC current signal i of the energy storage convertera、ib、icCoordinate transformation to and by a soft looprAnd obtaining a d-q axis current component in a synchronously rotating d-q coordinate system.
(2) Setting the voltage outer ring given value urefAnd d-q axis voltage components pass through a voltage loop proportional integral regulator to obtain a current inner loop given value irefThen i isrefAnd d-q axis current components pass through a current loop proportional integral regulator to obtain the non-zero space voltage vector action time T1、T2；
Wherein, the voltage ring proportional integral regulator is:
Figure RE-GDA0003478227520000063
wherein, KupIs the coefficient of the proportional term, KuiS represents a laplacian operator as an integral term coefficient;
the current loop proportional-integral regulator is as follows:
Figure RE-GDA0003478227520000064
wherein, KipIs the coefficient of the proportional term, KiiS represents the laplacian operator for the integral term coefficient.
S5, adjusting the time by an amount DO、T1And T2Inputting the space voltage vector to SVPWM module, and outputting updated space voltage vector action time T1n、T2n。
Wherein, T is1n、T2nThe expression is as follows,
Figure RE-GDA0003478227520000071
wherein, T1Representing the time of action of the space voltage vector, T, with a small number1Representing the time of action of the space voltage vector with a large number, T1n、T2nRepresenting the updated space voltage vector action time, DORepresenting the amount of time adjustment of the disturbance observer output.
S6, mixing T1n、T2nAnd outputting the three-phase alternating voltage after dead zone compensation as the action time of two non-zero space voltage vectors in the SVPMW module in a half PWM period.
Preferably, this embodiment is through DOActing on non-zero space voltage vector1、T2Corrected to obtain T1n、T2nDead zone compensation is realized, and harmonic content is reduced.
Example 2
In order to verify and explain the technical effects adopted in the method, the embodiment selects the traditional dead zone compensation method and adopts the method to perform comparison test, and compares the test results by means of scientific demonstration to verify the real effect of the method.
The traditional dead zone compensation method has the problems of large calculation amount and the need of judging the polarity of current, and can cause larger control error and large realization difficulty.
In order to verify that the method has reduced harmonic content and better dead-zone compensation effect compared with the conventional dead-zone compensation method, the effects of the waveform of the dead-zone compensation are analyzed and compared respectively by using the conventional dead-zone compensation method and the method in the embodiment.
Conventional dead-zone compensation methods are typically implemented by varying the pulse width modulated signal.
And (3) testing environment: (1) the traditional method and the method are respectively used for operating the energy storage converter under the full load of 500kW, and dead zone compensation is started at the moment t.
(2) Firstly, the waveform of the dead zone compensation obtained by the traditional method is referred to the upper half part of a graph 3 as per unit six-order pulse quantity (p.u.) and the lower half part as harmonic content (%), and then the waveform of the dead zone compensation obtained by the method is referred to the upper half part of a graph 4 as per unit six-order pulse quantity (p.u.) and the lower half part as harmonic content (%).
Referring to fig. 3 to 4, it can be seen that the waveform of the dead zone compensation performed by the conventional method has a reduced content of the sixth harmonic (300Hz) after the dead zone compensation is performed at time t, but is 15890.35% times of the fundamental wave (50Hz) at this time through fourier analysis; according to the waveform of the dead zone compensation performed by the method, the content of the sixth harmonic (300Hz) is reduced after the dead zone compensation is performed at the moment t, and the content of the sixth harmonic is 2741.04% times of the fundamental wave (50Hz) at the moment through Fourier analysis.
It should be recognized that embodiments of the present invention can be realized and implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, according to the methods and figures described in the detailed description. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, the operations of processes described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable interface, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein. A computer program can be applied to input data to perform the functions described herein to transform the input data to generate output data that is stored to non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
As used in this application, the terms "component," "module," "system," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, or software in execution. For example, a component may be, but is not limited to being: a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of example, both an application running on a computing device and the computing device can be a component. One or more components can reside within a process and/or thread of execution and a component can be localized on one computer and/or distributed between two or more computers. In addition, these components can execute from various computer readable media having various data structures thereon. The components may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., data from one component interacting with another component in a local system, distributed system, and/or across a network such as the internet with other systems by way of the signal).
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims (9)

1. The dead zone compensation method of the energy storage converter based on the disturbance observer is characterized by comprising the following steps: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
three-phase alternating voltage signal u on load side of energy storage convertera、ub、ucBy coordinate transformation to ωrObtaining a d-q axis voltage component u in a synchronously rotating d-q coordinate systemd、uq；
Three-phase alternating current signal i of energy storage convertera、ib、icBy coordinate transformation to ωrObtaining a d-q axis current component i in a synchronously rotating d-q coordinate systemd、iq；
Dividing the q-axis voltage component uqAnd d-q axis current component id、iqInputting a disturbance observer outputting a time adjustment DO；
Setting the voltage outer ring given value urefAnd d-q axis voltage components pass through a voltage loop proportional integral regulator to obtain a current inner loop given value irefSetting the current inner loop to a given value irefAnd d-q axis current components are input into a current loop proportional integral regulator to obtain the non-zero space voltage vector action time T1、T2；
Adjusting the time by an amount DONon-zero space voltage vector action time T1And T2Inputting the space voltage vector to SVPWM module, and outputting updated space voltage vector action time T1n、T2n；
Applying the updated space voltage vector for a time T1n、T2nAnd outputting the three-phase alternating voltage after dead zone compensation as the action time of two non-zero space voltage vectors in the SVPMW module in a half PWM period.
2. The disturbance observer-based dead-zone compensation method for an energy storage converter according to claim 1, wherein: the d-q axis voltage component ud、uqComprises the steps of (a) preparing a mixture of a plurality of raw materials,
Figure FDA0003365931950000011
wherein t is the running time of the energy storage converter, omegarIs the fundamental voltage angular frequency.
3. The disturbance observer-based dead-zone compensation method for an energy storage converter according to claim 1 or 2, wherein: d-q axis current component id、iqComprises the steps of (a) preparing a mixture of a plurality of raw materials,
Figure FDA0003365931950000012
4. the disturbance observer-based dead-zone compensation method for an energy storage converter according to claim 3, wherein: the time adjustment amount DOComprises the steps of (a) preparing a mixture of a plurality of raw materials,
Figure FDA0003365931950000013
wherein, KopIndicating the proportionality coefficient of the regulator, KoiDenotes the integral coefficient of the regulator, L1Representing the inductance, R, of the converter1Denotes the equivalent resistance, and s denotes the laplace operator.
5. The disturbance observer-based dead-zone compensation method for an energy storage converter according to any one of claims 1, 2 and 4, wherein: the system also comprises a hardware loop and a software loop;
acquiring three-phase alternating voltage signal u at load side of energy storage converter through hardware loopa、ub、ucAnd three-phase alternating current signal i of energy storage convertera、ib、icWherein the hardware loop comprises: energy storage battery UdcThe power supply comprises a voltage source type converter, a current transformer, an output LC filter, a voltage transformer and a load;
the voltage source type converter is composed of three-phase bridge type fully-controlled power electronic devices.
6. The disturbance observer-based dead-zone compensation method for an energy storage converter according to claim 5, wherein: also comprises the following steps of (1) preparing,
obtaining a time adjustment D by the software loopOAnd updated space voltage vector action time T1n、T2n；
The software loop comprises a fundamental wave control module and a harmonic wave control module; wherein the fundamental control module comprises a current inner ring and a voltage outer ring; the harmonic control module is a disturbance observer.
7. The disturbance observer-based dead-zone compensation method for an energy storage converter according to claim 6, wherein: also included is a voltage loop proportional integral regulator Gu(s) is:
Figure FDA0003365931950000021
wherein, KupIs the coefficient of the proportional term, KuiIs an integral term coefficient;
current loop proportional integral regulator Gi(s) is:
Figure FDA0003365931950000022
wherein, KipIs the coefficient of the proportional term, KiiIs the integral term coefficient.
8. The disturbance observer-based dead-zone compensation method for an energy storage converter according to claim 6 or 7, wherein: the updated space voltage vector action time T1n、T2nComprises the steps of (a) preparing a mixture of a plurality of raw materials,
Figure FDA0003365931950000023
9. the disturbance observer-based dead-zone compensation method for an energy storage converter according to claim 8, wherein: also comprises the following steps of (1) preparing,
proportional-integral regulator G in disturbance observerd(s) is:
Figure FDA0003365931950000031
wherein, KopIs the coefficient of the proportional term, KoiIs the integral term coefficient.
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