CN114499242A - NPC three-level rectifier optimization finite control set model prediction method - Google Patents

NPC three-level rectifier optimization finite control set model prediction method Download PDF

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CN114499242A
CN114499242A CN202111524246.5A CN202111524246A CN114499242A CN 114499242 A CN114499242 A CN 114499242A CN 202111524246 A CN202111524246 A CN 202111524246A CN 114499242 A CN114499242 A CN 114499242A
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张晓�
邱硕
王亭杰
窦照宇
张旭
徐晓明
王剑
陶然
李书昊
郭涛
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China University of Mining and Technology CUMT
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/21—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/217—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M7/219—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only in a bridge configuration

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Abstract

The invention discloses an NPC three-level rectifier optimization finite control set model prediction method, and relates to the field of power electronics and power transmission. Firstly, establishing a three-level PWM rectifier discrete prediction model and initializing, carrying out state sampling on a PWM rectifier system, then calculating a predicted value and an expected value of the system state according to a recorded optimal switching vector, finally judging whether a current error and a midpoint potential error simultaneously meet a reference deviation, recording the switching vector at the last moment if the current error and the midpoint potential error meet the reference deviation, and outputting the switching state of the switching vector; if not, calculating reference voltage and judging the sector, solving the value function of the switching state of the sector, recording the switching vector with the minimum value function, and outputting the switching state of the switching vector. The method has the advantages that when the current error and the neutral point potential error are controlled within a certain range, the average switching frequency of the converter can be reduced, and when the average switching frequency exceeds the range, 27 times of traversal is reduced to 10 times, so that the calculation burden is reduced, and the method is suitable for application of a high-power PWM rectifier.

Description

NPC three-level rectifier optimization finite control set model prediction method
Technical Field
The invention relates to the field of power electronics and power transmission, in particular to an NPC three-level rectifier optimization finite control set model prediction method.
Background
With the development of power electronic devices and control algorithms, the technology of the PWM rectifier is mature day by day, and as the PWM rectifier can realize the sine of the current at the network side, the PWM rectifier can operate under a unit power factor, even can realize the bidirectional transmission of energy, really realizes the green electric energy conversion, is widely applied in the fields of active filtering, electric transmission and new energy grid-connected power generation, and occupies a very important position.
Compared with a two-level rectifier, the three-level PWM rectifier has more selectable switching vectors, so that the network side current harmonic wave is further reduced, the direct current side voltage ripple is smaller, and the bearing voltage of a single switching tube is half of the two-level voltage, so that the capacity of the rectifier can be improved. The main scheme adopts voltage and current double closed loop PI control, has a simple structure, but has the problems of complex PI parameter setting process, cross coupling of an inner loop and an outer loop and the like. The current model predictive control is a new control strategy and is widely applied to the field of various power electronic control. The method has the advantages of simple principle, convenient control and high dynamic response speed, and is suitable for various nonlinear constraints. However, the conventional FCS-MPC has the problems of unstable switching frequency, high switching frequency, difficulty in designing weight coefficients, large calculation amount, and the like.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the NPC three-level rectifier optimization finite control set model prediction method, which can effectively improve the dynamic and steady-state performance of a rectifier system, has small output direct-current voltage ripple, can effectively reduce the switching frequency of the system and reduce the switching loss under the condition of meeting the grid-connected side current distortion rate, and is more suitable for a high-power system.
In order to achieve the purpose, the invention adopts the technical scheme that: an NPC three-level rectifier optimization finite control set model prediction method specifically comprises the following steps:
step 1: establishing a three-level PWM rectifier discrete prediction model, initializing, and collecting k time iabc、eabcAnd midpoint potential error DeltaukTransforming the variable to an alpha beta coordinate system according to a coordinate transformation matrix;
step 2: according to the alternating current side prediction model of the rectifier, a forward Euler formula is adopted to carry out discretization calculation on the predicted value i of the network side current at the k +1 momentαβ(k+1)；
And step 3: the value of the switching function preferentially selects the optimal switching vector corresponding value selected at the moment k-1, and the current error delta ig (k +1) and the midpoint potential error delta u (k +1) at the moment k +1 are calculated according to the switching state at the moment k-1;
and 4, step 4: judging whether the current error delta ig (k +1) and the midpoint potential error delta u (k +1) at the moment of k +1 meet the reference deviation or not, and updating the switching vector to be the optimal switching vector at the moment of k and outputting the optimal switching vector when the current error delta ig (k +1) and the midpoint potential error delta u (k +1) both meet the reference deviation; when the reference current does not meet the requirement, the reference current on the alternating current side of the rectifier at the moment k +1 is utilized according to the simplified MPC algorithm
Figure BDA0003409431790000021
Deriving a reference voltage at time k
Figure BDA0003409431790000022
Firstly, the three-level space vector large hexagon is divided into sectors and judged, and the reference voltage at the k moment is determined
Figure BDA0003409431790000023
Then traversing the switch vector in the optimal subset, calculating and recording the optimal switch vector, and outputting the switch state.
Further, the specific steps of step 1 are:
step 1.1: establishing a three-level PWM rectifier mathematical model according to the topological structure, and expressing the alternating-current side voltage of the rectifier by using a switching function;
step 1.2: the rectifier mathematical model is transformed to a two-phase stationary α β coordinate system.
Further, in step 4, when the current error Δ ig (k +1) and the midpoint potential error Δ u (k +1) at the time k +1 do not satisfy the reference deviation, the reference voltage at the time k is calculated
Figure BDA0003409431790000031
And determining an optimal subset in the sector, calculating a value function J of the switch state in the optimal subset to perform cyclic judgment, selecting an optimal switch vector, and outputting the switch state.
Further, the method for calculating the cost function J of the switch states in the optimal subset to perform the cyclic judgment is as follows: set the optimum value JoptAnd initially assigning inf and an argument J, and initially assigning 0, calculating a value function J (J) of the switch state, and judging J (J) and JoptIs given smaller value to JoptJ is added with 1, the loop calculation, judgment and assignment are carried out, the loop is ended until J is equal to 10, and the selected JoptI.e. the minimum value. Record JoptThe corresponding switching state is the optimal switching vector.
Further, the reference deviation described in step 4 is a given current error range and a midpoint potential error range.
Compared with the prior art, the invention relaxes certain current tracking capability by setting the reference deviation, effectively reduces the switching frequency of the system and greatly reduces the switching loss. When the current error delta ig (k +1) and the midpoint potential error delta u (k +1) at the moment of k +1 do not meet the reference deviation, a partition traversal algorithm is used instead of the traditional traversal algorithm, so that the calculated amount is greatly reduced, the calculation pressure is relieved, the system operation speed is improved, and the dynamic and steady performance is good.
Drawings
FIG. 1 is a schematic diagram of a diode-clamped three-level PWM rectifier according to the present invention;
FIG. 2 is a space voltage vector diagram of a diode-clamped three-level PWM rectifier according to the present invention;
FIG. 3 is a control flow diagram of the present invention;
FIG. 4 is a diagram of a midpoint potential simulation of the present invention.
Detailed Description
The NPC three-level rectifier optimization finite control set model prediction method proposed by the present invention is further described in detail below with reference to the accompanying drawings and the specific implementation steps.
An NPC three-level rectifier optimization finite control set model prediction method is disclosed, and a circuit topology structure diagram of an NPC three-level rectifier is shown in figure 1. As shown in the figure, the NPC topology is divided into three arms, each arm is composed of 4 switching devices, 4 freewheeling diodes and 2 clamping diodes, and two capacitors C are connected in parallel on the dc side1And C2And L and R are respectively a network side filter inductor and an equivalent resistor.
Firstly, a discrete mathematical model of a three-level PWM rectifier is established, a power device is assumed to be an ideal switching device, and the conduction voltage drop and dead zone time delay of the power device are ignored. And the output potential of the alternating current side is changed by controlling the switching state of the bridge arm, so that the current of the network side is controlled. The switching states of the 4 power devices per phase are related to the input point potential as shown in table 1.
TABLE 1 corresponding relationship between switch state and input point potential
Figure BDA0003409431790000051
T1-4For each phase of power device, 1 represents on and 0 represents off.
Each phase of bridge arm can output according to circuit topology
Figure BDA0003409431790000052
Figure BDA0003409431790000052
0、
Figure BDA0003409431790000053
Three levels, corresponding to the operating modes "P", "O" and "N", respectively, and thereforeThe corresponding switching function of each phase of bridge arm can be defined as Sx：
Figure BDA0003409431790000054
According to the value of the switching function, the three-level rectifier has 27 switching states in total.
Therefore, 27 basic voltage vectors can be obtained according to ABC three-phase different switch states, wherein: the zero vectors are PPP, OOO and NNN respectively; the large vectors are PNN, PPN, NPN, NPP, NNP and PNP respectively; the medium vectors are PON, OPN, NPO, NOP, ONP and PNO respectively; the small vectors are POO, PPO, OPO, OPP, OOP, POP, ONN, OON, NON, NOO, NNO, ONO, respectively. Figure 2 gives a space voltage vector diagram for an NPC three-level rectifier.
The invention provides a model prediction method for an optimized finite control set of an NPC (neutral point controller) three-level rectifier, which is a flow chart of the model prediction control method for the optimized finite control set of the NPC three-level rectifier shown in figure 3 and comprises the following steps:
step 1: establishing a three-level PWM rectifier discrete prediction model, initializing, and collecting k time iabc、eabcAnd midpoint potential error DeltaukAnd transforming the variables to an alpha beta coordinate system according to a coordinate transformation matrix, which comprises the following specific steps:
step 1.1: the mathematical model of the three-level PWM rectifier obtained according to the topological structure is defined as:
Figure BDA0003409431790000061
in the formula, eabcIs a three-phase voltage of the grid side iabcIs a three-phase current of the grid side uanThe voltage of the alternating current side of the rectifier, L is the inductance of the network side, and R is the equivalent resistance of the network side. To facilitate understanding of the influence of the conduction state of the switching tube on the circuit, the ac-side voltage of the rectifier is expressed by a switching function as follows:
Figure BDA0003409431790000062
in the formula, SabcIs a three-phase corresponding switching function, wherein the upper bridge arm is conducted to 1, the midpoint is conducted to 0, the lower bridge arm is conducted to-1, UdcIs the dc bus voltage.
Step 1.2: the mathematical model of the rectifier is transformed to a two-phase stationary alpha beta coordinate system to obtain:
Figure BDA0003409431790000071
Figure BDA0003409431790000072
step 2: according to the alternating current side prediction model of the rectifier, a forward Euler formula is adopted to carry out discretization calculation on the predicted value i of the network side current at the k +1 momentαβ(k+1)：
Figure BDA0003409431790000073
In the formula iαβ(k +1) is a predicted value at the time of the grid-side current k +1, iαβ(k) Is the sampled value at the moment of the network side current k, eαβ(k) Is the sampling value at the moment k of the network-side voltage, uαβ(k) The value at the moment of the voltage k on the direct current side is calculated by a switching function.
And step 3: the value of the switching function preferentially selects the optimal switching vector corresponding value selected at the moment k-1, and the current error delta ig (k +1) and the midpoint potential error delta u (k +1) at the moment k +1 are calculated according to the switching state at the moment k-1:
Figure BDA0003409431790000074
Figure BDA0003409431790000075
wherein C is the capacitance value of the DC side,
Figure BDA0003409431790000081
the reference current at the moment k +1 is obtained by a voltage outer ring, and a target rectification voltage and i are required to be set firstlyqSetting i in a rectified state for achieving operation at unit powerqI obtained by outer loop PI ═ 0diqAnd then, carrying out inverse transformation on the alpha and beta coordinate system through Park.
And 4, step 4: judging whether the current error delta ig (k +1) and the midpoint potential error delta u (k +1) at the moment of k +1 meet the reference deviation (the reference deviation is a given current error range and a midpoint potential error range), and updating the switching vector to be the optimal switching vector at the moment of k and outputting when the current error delta ig (k +1) and the midpoint potential error delta u (k +1) both meet the reference deviation; when the reference current does not meet the requirement, the reference current on the alternating current side of the rectifier at the moment k +1 is utilized according to the simplified MPC algorithm
Figure BDA0003409431790000082
Deriving a reference voltage at time k
Figure BDA0003409431790000083
Firstly, the three-level space vector large hexagon is divided into sectors and judged, and the reference voltage at the k moment is determined
Figure BDA0003409431790000084
And traversing the switch vector in the small sector of the optimal subset, calculating and recording the optimal switch vector, and outputting the switch state.
The calculation formula of the spatial reference vector is expressed as:
Figure BDA0003409431790000085
in the formula
Figure BDA0003409431790000086
Utilizing time k +1 for reference voltage at time kReference current on inverter side
Figure BDA0003409431790000087
And obtaining that 27 vectors can be divided into 6 sectors by using a dividing line under an alpha beta coordinate system, wherein each sector contains 10 vectors, and the calculation amount is reduced for rolling optimization. Determining a reference voltage at time k
Figure BDA0003409431790000088
And calculating a value function J of the switching state in the optimal subset of the sector, performing cyclic judgment, selecting an optimal switching vector, and outputting the switching state.
The value function is expressed as follows:
Figure BDA0003409431790000091
in the formula, the lambda is a weight coefficient, and compared with a multi-weight used by the traditional MPC, the difficulty of weight trial and error is reduced.
Set the optimum value JoptAnd initially assigning inf and an argument J, and initially assigning 0, calculating a value function J (J) of the switch state, and judging J (J) and JoptIs given smaller value to JoptJ is added with 1, the loop calculation, judgment and assignment are carried out, the loop is ended until J is equal to 10, and the selected JoptI.e. the minimum value. Record JoptThe corresponding switching state is the optimal switching vector.
The above embodiments are only for illustrating the technical idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the contents of the present invention and to implement modifications, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims (5)

1. The method for predicting the NPC three-level rectifier optimization finite control set model is characterized by comprising the following steps of:
step 1: establishing three levelsDiscrete prediction model of PWM rectifier is initialized and k time i is collectedabc、eabcAnd midpoint potential error DeltaukTransforming the variable to an alpha beta coordinate system according to a coordinate transformation matrix;
and 2, step: according to the alternating current side prediction model of the rectifier, a forward Euler formula is adopted to carry out discretization calculation on the predicted value i of the network side current at the k +1 momentαβ(k+1)；
And 3, step 3: the value of the switching function preferentially selects the optimal switching vector corresponding value selected at the moment k-1, and the current error delta ig (k +1) and the midpoint potential error delta u (k +1) at the moment k +1 are calculated according to the switching state at the moment k-1;
and 4, step 4: judging whether the current error delta ig (k +1) and the midpoint potential error delta u (k +1) at the moment of k +1 meet the reference deviation or not, and updating the switching vector to be the optimal switching vector at the moment of k and outputting the optimal switching vector when the current error delta ig (k +1) and the midpoint potential error delta u (k +1) both meet the reference deviation; when the reference current does not meet the requirement, the reference current on the alternating current side of the rectifier at the moment k +1 is utilized according to the simplified MPC algorithm
Figure FDA0003409431780000011
Deriving a reference voltage at time k
Figure FDA0003409431780000012
Firstly, the three-level space vector large hexagon is divided into sectors and judged, and the reference voltage at the k moment is determined
Figure FDA0003409431780000013
And traversing the switching vector in the optimal subset of the sector, calculating and recording the optimal switching vector, and outputting the switching state.
2. The NPC three-level rectifier optimization finite control set model prediction method of claim 1, which is characterized in that: the specific steps of the step 1 are as follows:
step 1.1: establishing a mathematical model of the three-level PWM rectifier according to the topological structure, and expressing the voltage of the alternating current side of the rectifier by using a switching function;
step 1.2: the rectifier mathematical model is transformed to a two-phase stationary α β coordinate system.
3. The NPC three-level rectifier optimization finite control set model prediction method as claimed in claim 1, which is characterized in that: in the step 4, when the current error Δ ig (k +1) and the midpoint potential error Δ u (k +1) at the time k +1 do not satisfy the reference deviation, the reference voltage at the time k is calculated
Figure FDA0003409431780000021
And determining an optimal subset in the sector, calculating a value function J of the switch state in the optimal subset to perform cyclic judgment, selecting an optimal switch vector, and outputting the switch state.
4. The NPC three-level rectifier optimization finite control set model prediction method as claimed in claim 3, which is characterized in that: the method for calculating the value function J of the switch state in the optimal subset to carry out the cyclic judgment comprises the following steps: set the optimum value JoptAnd initially assigning inf and an argument J, and initially assigning 0, calculating a value function J (J) of the switch state, and judging J (J) and JoptIs given smaller value to JoptJ is added with 1, the loop calculation, judgment and assignment are carried out, the loop is ended until J is equal to 10, and the selected JoptI.e. the minimum value. Record JoptThe corresponding switching state is the optimal switching vector.
5. The NPC three-level rectifier optimization finite control set model prediction method of claim 1, which is characterized in that: the reference deviation stated in step 4 is a given current error range and a midpoint potential error range.
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