CN115133802B - Inverter model prediction control method - Google Patents
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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
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac 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
- H02M7/537—Conversion of dc power input into ac 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, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac 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, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac 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, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
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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
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/381—Dispersed generators
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Abstract
The invention discloses a predictive control method of an inverter model, which comprises a switch state selection unit, a model predictive control modeling unit and a cost function optimizing unit; according to the invention, only the cost function corresponding to the selected switching state is calculated in the rolling optimization process, and the cost function combines multiple aspects of inverter switching loss, specific order output current content and the like, so that compared with the traditional model prediction control method which adopts a traversal optimization method to obtain the optimal switching state and the cost function which only contains current control, the method provided by the invention has the advantages of reducing the cost function calculation amount, reducing the output current harmonic content, reducing the inverter switching loss and the like.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a predictive control method for an inverter model.
Background
The model predictive control has good applicability to complex systems, and for nonlinear systems, the nonlinear systems do not need to be solved by adopting an average method in a mode of combining a limited number of switch states with a dynamic model of the system. When the control algorithm is designed, the transfer function of the system does not need to be deduced, and only a prediction model of the system needs to be obtained, so that the systematic control can be realized. The model predictive control can design a cost function containing a plurality of constraint conditions according to an optimization target, and multi-dimensional control is realized. The model predictive control is gradually applied to the field of industrial power electronics by virtue of the advantages of adaptability to complex systems, solving of the problem of power electronics nonlinearity and the like, but the requirements of the control algorithm on a control chip are higher and higher with the improvement of control precision.
The three-phase inverter model predictive controls voltage vectors corresponding to a limited number of switching states as shown in fig. 4, for a total of 8 switching states, 7 different voltage vectors, where V0= V7. In the traditional model predictive control, a traversal method is adopted to calculate cost functions corresponding to all switch states in a period, and the switch state when the cost function is the minimum value is selected to act on the inverter, so that the control purpose is achieved.
Along with the gradual trend of high frequency of power electronic equipment, the sampling period is compressed to a shorter time, and a cheap chip has limited computing capability and is difficult to meet the requirement; although the high performance chip can solve this problem, it also causes problems such as an increase in cost. The traditional model prediction control needs to calculate cost functions corresponding to all switching vectors, and the chip calculation burden is large, so that the working frequency of the converter is difficult to further improve, and even the control effect is influenced because of time delay.
The prior art discloses a model predictive control method for a grid-connected inverter CN112383237A, which can implement and allocate each weight factor of a cost function according to a specific working requirement, so that the switching state combination is more reasonable, but the problem of too high calculation amount of the cost function is not solved substantially.
Disclosure of Invention
In order to solve the problems of the conventional model predictive control, the invention provides a predictive control method of an inverter model, aiming at solving the influence caused by the traversal optimization mode adopted by the conventional model predictive control, reducing the calculation amount of a cost function, reducing the harmonic content of output current, improving the quality of the output waveform of the inverter and reducing the switching loss of the inverter, and the specific technical scheme is as follows:
the model predictive control method of the inverter is model predictive control for reducing cost function calculation amount based on a grid-connected inverter, and comprises the following specific steps:
s1, establishing a discrete model of grid-connected inverter current through a difference method, and converting the discrete model into a model under a static coordinate system;
s2, sampling at the moment k to obtain a network side current i COM (k) And the network side voltage u COM (k) And substituting the voltage into a model under the static coordinate system, and simultaneously detecting the network side voltage u COM (k) Phase, and combining with reference current amplitude, constructing a grid-side voltage u according to the voltage loop COM (k) Reference current i of the same phase ref (k)；
S3, judging a voltage vector V corresponding to the optimal switching state at the k-1 moment COMn (k-1) whether the voltage vector is zero or not and calculating the predicted current value of the voltage vector corresponding to the time of k-1
S4, designing a cost function according to a switching loss term and a specific order output current error term, and predicting a current value according to the k +1 moment
And a reference current i ref Calculating to obtain a cost function g n Comparing the cost functions to obtain a minimum cost function g min To obtain the optimal switching function S with the minimum cost function i According to an optimum switching function S i And controlling the on-off of a switching tube of the inverter to ensure that the error between the grid-test current and the reference current at the moment k +1 is minimum.
Further, the specific steps of S1 are as follows:
establishing a discrete model of the grid-connected inverter current by a difference method:
in the formula u a 、u b 、u c Is the network side voltage, i a 、i b 、i c Is a three-phase current, L a 、L b 、L c Filter inductor, R, for connection of an inverter to a power supply system g As a lineEquivalent resistance, U dc Is a direct current side voltage;
introduction of a switching function S for expressing the switching states of the individual legs of an inverter i ：
Using Euler' S formula to correct said switching function S i Discretizing to obtain a discrete model of the grid-connected inverter:
in the formula v a 、v b 、v c For each phase of the inverter leg output voltage v a ＝S a *U dc ，v b ＝S b *U dc ，v c ＝S c *U dc ，T s Is a sampling period, due to L a ＝L b ＝L c Therefore, L is uniformly used for substitution;
converting the discrete model into a model under a static coordinate system:
in the formula
To predict the current vector of the current, i COM (k) Is a net side vector current, u COM (k) Is the grid side voltage vector, v COMj (k) And outputting a voltage vector for the bridge arm of the inverter.
Further, the specific steps of S3 are as follows:
if V COMn (k-1) is a non-zero voltage vector, the voltage vector and two voltage vectors V close to this voltage vector are calculated COMx (k)、V COMy (k)、V COMz (k) And zero voltage vector V COM7 (k)(V COM0 (k) Predicted current value corresponding to time k +1
And &>
/>
If V COMn (k-1) is a zero voltage vector V COM7 (k-1)(V COM0 (k-1)), the predicted current values at the time k +1 corresponding to all the voltage vectors are calculated
Further, the specific steps of S4 are as follows:
the content of the m-order output current at the k moment is as follows:
the content of the m-order output current at the k +1 th moment is as follows:
in the formula I m Is the m-th harmonic amplitude, N is the number of samples in one sampling period,
in order to be a factor of rotation,
the difference between the m-order output current content at the k moment and the k +1 moment can be obtained as follows:
will be provided with
And a reference current i ref (k + 1) the difference gives the error current:
in the formula i errα (k + 1) and i errβ (k + 1) is the real and imaginary parts of the error current, i refα (k + 1) and i refβ (k + 1) are the real and imaginary parts of the reference current respectively,
and &>
Respectively the real part and the imaginary part of the predicted current;
calculating the specific subharmonic content of the error current, and when m is 1, obtaining a mathematical expression of the fundamental amplitude component:
when m is a specific subharmonic order, a mathematical expression for the harmonic magnitude component can be obtained:
taking fundamental wave and harmonic amplitude component as one constraint condition of the cost function, and taking the action times q of the switching device as another constraint condition to obtain the cost function:
in the formula, the first term is iterative discrete Fourier transform of fundamental current error, and the second term is iterative discrete Fourier transform of weighted harmonic current errorSum of leaf transforms, m being a specific harmonic order, λ m A weight coefficient for each order harmonic, said weight coefficient lambda m The third term is the action times of the switching device, lambda is a weight coefficient, and q is the total switching action number of the three-way bridge arm.
Further, the number of switching operations in the switching state corresponding to the zero voltage vector is 1, and the number of switching operations in the switching state corresponding to the non-zero voltage vector is 0 or 1.
Preferably, the switch states corresponding to the zero voltage vector include two switch states, 000 and 111.
Preferably, the switch states include 8 states, and 8 voltage vectors, i.e. v, can be taken COMj (k) Wherein j =0,1, 2.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the calculation time of the controller is reduced by adopting model prediction control for reducing the calculation amount of the cost function, the cost function is designed according to the switching loss and the specific order output current content, and compared with the traditional model prediction control, the grid-connected inverter has the characteristics of higher response speed, higher working efficiency, less output waveform harmonic content and the like.
Drawings
FIG. 1 is a flowchart of a prediction method according to an embodiment of the present invention.
Fig. 2 is a block diagram illustrating a structure and control of a grid-connected inverter according to an embodiment of the present invention.
Fig. 3 is a flowchart of the embodiment of the present invention applied to a grid-connected inverter.
Fig. 4 is a voltage vector diagram corresponding to each switching state of the grid-connected inverter under the complex plane.
Fig. 5 is a vector diagram of a grid-connected inverter reference current and a grid-side current in a complex plane according to an embodiment of the present invention.
Detailed Description
The present invention is further illustrated by the following description of specific embodiments, which are not intended to limit the invention, and various modifications and improvements can be made by those skilled in the art based on the basic idea of the invention, but the invention is within the protection scope of the invention.
Referring to fig. 1 to 5, an embodiment of the present invention is as follows:
fig. 2 shows a topology and a control block diagram of the grid-connected inverter. In FIG. 2, U dc Is a DC source voltage, L a 、L b 、L c Is an AC side filter inductor, R g Is a line equivalent resistance, i s Is a net side current, wherein i a 、i b 、i c Is a three-phase current of u a 、u b 、u c Is the network side voltage, omega s 、θ S For the grid voltage angular frequency and phase angle, i ref For reference current, n (k + 1) is the serial number corresponding to the optimal switch state at the last moment, V COM0 (k)～V COM7 (k) Is 8 voltage vectors, V COMx (k)、V COMy (k)、V COMz (k) Is three successive voltage vectors, S a 、S b 、S c As a function of inverter leg switching.
The system mainly comprises a grid-connected inverter topology structure chart, a switching state selection unit, a modeling unit and a cost function optimizing unit. In the switching state selection unit, the optimal switching state at the moment is deduced from the switching state value of the inverter at the last moment; in the model prediction control modeling unit and the cost function optimizing unit, network side current and voltage are detected, an inverter prediction model is established, cost functions corresponding to a plurality of switching states obtained from the switching state selection unit are calculated, the switching state when the cost function is the minimum value is selected and acts on the inverter, and the output current of the inverter can better track the reference current.
As shown in fig. 5, a vector diagram of a grid-connected inverter reference current and a grid-side current in a complex plane according to an embodiment of the present invention. The diagram (a) is a partially enlarged diagram of the diagram (b), and in general, the converter operating frequency is high, and the reference current can be considered to be constant in two preceding and succeeding sampling periods. It can be seen from fig. 5 that the optimal switching states of the converter mainly occur in several switching states in several sampling periods, and by calculating the cost functions corresponding to the respective switching states at a time, it can be found that when the voltage vector corresponding to the optimal switching state is a non-zero vector, the corresponding cost function value is minimum, and the cost functions corresponding to the voltage vectors closer to the voltage vector (the included angle with the optimal voltage vector is smaller) are all smaller than the other cost functions, and the cost functions corresponding to the voltage vectors farther away from the optimal voltage vector (the included angle with the optimal voltage vector is larger) are larger. According to the characteristic, only cost functions corresponding to a plurality of cost functions close to the optimal switching state and a zero vector at the first moment are calculated at each moment, and the included angle between the switching vectors corresponding to the rest switching states and the optimal voltage vector at the last moment is large, so that the cost functions corresponding to the voltage vectors are not calculated, and the calculation amount is greatly reduced.
As shown in fig. 1, the implementation steps of the model predictive control for reducing the calculation amount of the cost function based on the grid-connected inverter provided by the invention are as follows:
s1, establishing a discrete model of grid-connected inverter current through a difference method. The discrete model current expression is as follows:
in the formula u a 、u b 、u c Is the network side voltage, i a 、i b 、i c Is a three-phase current, L a 、L b 、L c Filter inductor, R, for connection of an inverter to a power supply system g Is a line equivalent resistance, U dc Is the dc side voltage. For expressing the switching states of the individual legs of the converter, the switching function Si is defined as
Discretizing the formula (1) by using an Euler formula to obtain a discrete model of the grid-connected inverter, wherein the discrete model is as follows:
in the formula v a 、v b 、v c For each phase of the inverter leg output voltage v a ＝S a *U dc ，v b ＝S b *U dc ，v c ＝S c *U dc ，T s Is a sampling period, due to L a ＝L b ＝L c Therefore, the model is uniformly replaced by L, and due to the characteristic of the nonlinearity of the switching function, in order to simplify the model, the discrete model is converted into a model in a static coordinate system as follows:
in the formula
To predict the current vector of the current, i COM (k) Is a net side vector current, u COM (k) Is the grid side voltage vector, v COMj (k) And outputting a voltage vector for the bridge arm of the inverter.
As shown in FIG. 4, the inverter legs have 8 different switching states, v COMj (k) 8 voltage vectors may be taken, where j =0,1, 2.
S2, sampling at the moment k to obtain a network side current i COM (k) And the network side voltage u COM (k) And substituting it into formula (4); and detecting the phase of the network side voltage, and constructing a reference current i in the same phase with the network side voltage through a voltage loop ref (k)。
S3, judging a voltage vector V corresponding to the optimal switching state at the k-1 moment COMn (k-1) is a zero voltage vector. If it is a non-zero voltage vector, the voltage vector and two voltage vectors V close to the voltage vector are calculated COMx (k)、V COMy (k)、V COMz (k) And zero voltage vector V COM7 (k)(V COM0 (k) Predicted current value corresponding to time k +1
And &>
When the voltage vector corresponding to the optimal switching state at the moment of k-1 is V COM3 (k-1), calculating a voltage vector V COM2 (k)，V COM3 (k)，V COM4 (k) And V COM7 (k) Corresponding predicted current value
And &>
When the voltage vector corresponding to the optimal switching state at the moment of k-1 is V COM6 (k-1), then the voltage vector is calculated as V COM5 (k)，V COM6 (k)，V COM1 (k) And V COM7 (k) Time-corresponding predicted current value
And &>
If V COMn (k-1) is a zero voltage vector V COM7 (k-1)(V COM0 (k-1)), the predicted current value ^ at the time k +1 corresponding to all the voltage vectors is calculated>
Step 4, reference current i in two moments before and after ref (k) And i ref (k + 1) is approximately the same, so i can be considered to be ref (k+1)＝i ref (k) In that respect Designing a cost function according to the switching loss and the specific order output current content, and calculating the specific order output current content by iterative discrete Fourier calculation, wherein the specific method comprises the following steps: the content of the m-order output current at the k moment is as follows:
the content of the m-order output current at the k +1 th moment is as follows:
in the formula I m Is the m-th harmonic amplitude, N is the number of samples in one sampling period,
in order to be a factor of rotation,
the difference between the formula (5) and the formula (6) can be obtained,
the formula (7) is an iterative discrete Fourier transform expression, and the amplitude component of the specific secondary output current is obtained through a few calculation processes. Will be provided with
And a reference current i ref (k + 1) the difference gives the error current:
in the formula i errα (k + 1) and i errβ (k + 1) is the real and imaginary parts of the error current, i refα (k + 1) and i refβ (k + 1) are the real and imaginary parts of the reference current respectively,
and &>
The real and imaginary parts of the predicted current, respectively. MeterCalculating the specific subharmonic content of the error current, and when m is 1, obtaining a mathematical expression of the fundamental amplitude component as follows:
when m is a specific subharmonic order, the mathematical expression for the harmonic amplitude component is given as:
the equations (9) and (10) are mathematical expressions of fundamental wave and harmonic amplitude component, which are taken as one constraint condition of the cost function, and the number q of switching device actions is taken as another constraint condition:
wherein the first term is the iterative discrete Fourier transform of the fundamental current error, the second term is the sum of the iterative discrete Fourier transforms of the weighted harmonic current error, m is a specific harmonic order, and λ m A weight coefficient for each order harmonic, said weight coefficient lambda m The third term is the action times of the switching device, lambda is a weight coefficient, and q is the total switching action number of the three-way bridge arm. Predicting current value according to k +1 time
And a reference current i ref Calculating to obtain a cost function g n Comparing the cost functions to obtain a minimum cost function g min The detailed comparison process is shown in FIG. 3: when n is 2, 3, 4 and 5, g is calculated and compared n-1 、g n 、g n+1 And g 0 (ii) a When n is 7, calculating and comparing the remaining four cost functions; when n is 1, g is calculated and compared 6 、g 1 、g 2 And g 0 (ii) a When n is 6, calculate g 5 、g 6 、g 1 And g 0 Thereby obtaining a cost function g corresponding to the output minimum voltage vector min And then obtaining an optimal switching function S which minimizes the cost function i According to an optimum switching function S i And controlling the on-off of a switching tube of the inverter to ensure that the error between the grid-measured current and the reference current at the moment k +1 is minimum.
The method for reducing the calculated amount of the cost function is designed according to the distribution condition of each cost function in each moment and the characteristics of output voltage at two adjacent moments, the cost function is designed according to the switching loss and the content of the specific-order output current, the accuracy of the output current is ensured while the calculated amount of the cost function is reduced, and the method has great application significance for improving the working frequency of a converter and reducing the calculated amount of a chip.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. It will be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the claims and their equivalents.
Claims (7)
1. The inverter model prediction control method is characterized by being based on the model prediction control of a grid-connected inverter for reducing cost function calculation amount, and specifically comprising the following steps of:
s1, establishing a discrete model of grid-connected inverter current through a difference method, and converting the discrete model into a model under a static coordinate system;
s2, sampling at the moment k to obtain a network side current i COM (k) And the network side voltage u COM (k) And substituting the voltage into a model under the static coordinate system, and simultaneously detecting the network side voltage u COM (k) Phase, and combining with reference current amplitude, constructing a grid-side voltage u according to the voltage loop COM (k) Reference current i of the same phase ref (k)；
S3, judging a voltage vector V corresponding to the optimal switching state at the k-1 moment COMn (k-1) whether the voltage vector is zero or not and calculating the predicted current value of the voltage vector corresponding to the time of k-1
S4, designing a cost function according to a switching loss term and a specific order output current error term, and predicting a current value according to the k +1 moment
And a reference current i ref Calculating to obtain a cost function g n Comparing the cost functions to obtain a minimum cost function g min And then obtaining an optimal switching function S which minimizes the cost function i According to an optimum switching function S i And controlling the on-off of a switching tube of the inverter to ensure that the error between the grid-test current and the reference current at the moment k +1 is minimum.
2. The inverter model predictive control method of claim 1, wherein the specific steps of S1 are as follows:
establishing a discrete model of the grid-connected inverter current by a difference method:
in the formula u a 、u b 、u c Is the network side voltage, i a 、i b 、i c Is a three-phase current, L a 、L b 、L c Filter inductance, R, for connection of an inverter to a power grid g Is a line equivalent resistance, U dc Is a direct current side voltage;
introduction of a switching function S for expressing the switching states of the individual legs of an inverter i ：
Using Euler' S formula to correct said switching function S i Discretizing to obtain a discrete model of the grid-connected inverter:
in the formula v a 、v b 、v c For each phase of the inverter leg output voltage v a ＝S a *U dc ，v b ＝S b *U dc ，v c ＝S c *U dc ，T s Is a sampling period, due to L a ＝L b ＝L c Therefore, L is uniformly used for substitution;
converting the discrete model into a model under a static coordinate system:
in the formula
To predict the current vector of the current, i COM (k) Is a net side vector current, u COM (k) Is the grid side voltage vector, v COMj (k) And outputting a voltage vector for the bridge arm of the inverter.
3. The inverter model predictive control method of claim 1, wherein the specific steps of S3 are as follows:
if V COMn (k-1) is a non-zero voltage vector, the voltage vector and two voltage vectors V close to this voltage vector are calculated COMx (k)、V COMy (k)、V COMz (k) And zero voltage vector V COM7 (k)(V COM0 (k) Predicted current value corresponding to time k +1
And
if V COMn (k-1) is a zero voltage vector V COM7 (k-1)(V COM0 (k-1)), the predicted current values at the time k +1 corresponding to all the voltage vectors are calculated
4. The inverter model predictive control method of claim 1, wherein the specific steps of S4 are as follows:
the content of the m-order output current at the k moment is as follows:
the content of the m-order output current at the k +1 th moment is as follows:
in the formula I m Is the m-th harmonic amplitude, N is the number of samples in one sampling period,
is a factor of the rotation of the optical fiber,
the difference between the m-order output current content at the k moment and the k +1 moment can be obtained as follows:
will be provided with
And a reference current i ref (k + 1) the difference gives the error current:
in the formula i errα (k + 1) and i errβ (k + 1) is the real and imaginary parts of the error current, i refα (k + 1) and i refβ (k + 1) are the real and imaginary parts of the reference current respectively,
and
respectively the real part and the imaginary part of the predicted current;
calculating the specific subharmonic content of the error current, and when m is 1, obtaining a mathematical expression of the fundamental amplitude component:
when m is a specific subharmonic order, a mathematical expression for the harmonic magnitude component can be obtained:
taking fundamental wave and harmonic amplitude component as one constraint condition of the cost function, and taking the action times q of the switching device as another constraint condition to obtain the cost function:
wherein the first term is the iterative discrete Fourier transform of the fundamental current error, the second term is the sum of the iterative discrete Fourier transforms of the weighted harmonic current error, m is a specific harmonic order, and λ m A weight coefficient for each order harmonic, said weight coefficient lambda m The third term is the action times of the switching device, lambda is a weight coefficient, and q is the total switching action number of the three-way bridge arm.
5. The inverter model predictive control method of claim 1, wherein the number of switching operations of the switching state of the zero voltage vector is 1, and the number of switching operations of the switching state of the non-zero voltage vector corresponding to the zero voltage vector is 0 or 1.
6. The inverter model predictive control method of claim 5, wherein the zero voltage vector corresponds to switching states comprising 000 and 111 switching states.
7. The inverter model predictive control method of claim 5, wherein the switching states include 8 states, and 8 voltage vectors, i.e., v, can be taken COMj (k) Wherein j =0,1, 2.
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