CN116599367B - Passive integral terminal sliding mode prediction control method based on current source type converter - 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
- H02M7/02—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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- 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
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
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Abstract
The invention discloses a passive integral terminal sliding mode prediction control method based on a current source type converter, and belongs to the field of power electronic converter model prediction control. The invention solves the inherent resonance problem and the dependence of passive control on parameters of the current source converter, does not need to connect passive damping in a circuit, saves the design cost of the converter, has no excessive energy loss, has stronger adaptability to parameter mismatch, and therefore, the system has better stability and robustness and lower network side current THD, and the scheme is economical and reliable and is easy to realize.
Description
Technical Field
The invention relates to the technical field of power electronic converter model predictive control, in particular to a passive integral terminal sliding mode predictive control method based on a current source type converter.
Background
Current source converters often incorporate passive damping in LC filter circuits, which have energy losses and tend to increase filter design costs. Active damping is largely applied to various schemes of resonance suppression because it does not require the incorporation of an actual resistor in the filter circuit. However, a current source type converter based on traditional finite set model predictive control (FCS-MPC) is often combined with capacitor voltage feedback as a cost function weighting term for suppressing resonance, but the network side current THD is poor, and the traditional model predictive control has the problems of dependence on model parameters, poor robustness and the like, so that the traditional finite set model predictive control has a certain limit in practical application.
The Gao et al published paper A Model Predictive Power Factor Control Scheme With Active Damping Function for Current Source Rectifiers in IEEE Transactions on Power Electronics proposes a finite set model prediction control method based on active damping, which does not need to use a band-stop filter to extract components except a capacitor voltage fundamental wave, and calculates damping current to be used for suppressing resonance by constructing a quasi-capacitor voltage fundamental wave equation, but the method has larger dependence on inductance parameters, and has poorer control effect when circuit parameters change, and damping current is added into a cost function current weighting term, so that the coupling problem of the two is increased. From the energy point of view, the paper Robust Control Parameters Design of PBC Controller for LCL-Filtered Grid-tie Inverter published by Wang et al in Transactions on Power Electronics proposes a passive control based on an LCL voltage source Grid-connected Inverter, resonance suppression is realized by injecting passive damping into a system, the injected damping is designed by adopting a damping gain design method, and the sampling times are reduced by observing a system state variable through a Dragon observer, but a large number of system parameters still exist in the control rate of the method, so that the robustness of the system is difficult to guarantee. Xue et al published paper Improved Model Predictive Control for High-Power Current-Source Rectifiers Under Normal and Distorted Grid Conditions in IEEE Transactions on Power Electronics propose an improved model predictive control based on a high-Power Current source, which adopts capacitor voltage as a weighted term of a cost function, eliminates the problem of coupling between damping and grid-side Current, but requires adjustment of weight factors, and relies on inductance parameters for robustness. Therefore, it is necessary to develop a predictive control algorithm with resonance suppression capability, better robustness, and no dependence on system parameters.
Disclosure of Invention
The invention aims to solve the technical problems of providing a passive integral terminal sliding mode prediction control method based on a current source type converter, which solves the problems of inherent resonance and dependence of passive control on parameters of the current source type converter, does not need to be connected with passive damping in a circuit, saves the design cost of the converter, has no excessive energy loss, has stronger adaptability to parameter mismatch, and therefore, the system has better stability and robustness and lower network side current THD, and the scheme is economical and reliable and easy to realize.
In order to solve the technical problems, the invention adopts the following technical scheme:
a passive integral terminal sliding mode prediction control method based on a current source type converter combines passive control and prediction control, enables a system to meet energy dissipation rate by establishing an Euler-Lagrange model based on damping injection, suppresses resonance caused by an LC filter in the converter, combines integral terminal sliding mode control with passive prediction control, calculates a converter output current vector reference value, solves an optimal vector through a cost function, and completes vector optimizing control.
The technical scheme of the invention is further improved as follows: the control method specifically comprises the following steps:
step 1: sampling value u of three-phase power grid voltage ga 、u gb 、u gc Grid current sampling value i a 、i b 、i c Capacitance voltage sampling value u ca 、u cb 、u cc Clark transformation is carried out to obtain the power grid voltage u under a two-phase static coordinate system gα 、u gβ Grid current i α 、i β Capacitance voltage u cα 、u cβ ；
Step 2: adopting a Heun's discretization method to construct a one-step prediction expression of the three-phase current source converter:
wherein ,TS For sampling period, L is net side filter inductance, C is net side filter electricityThe capacitance, R is the equivalent resistance of the network side inductance series connection, i w Inputting a current vector for a current source type converter;
step 3: designing a passive control rate based on a network side inductance current state equation and a network side capacitance voltage state equation, and enabling the system to meet the requirement that the energy dissipation rate is quickly converged to a stable state by injecting damping into the system;
step 4: the difference value between the capacitor voltage reference given value and the predicted value in the passive control rate is replaced by the integral terminal sliding mode control rate, an integral terminal sliding mode surface is constructed, and a double-power approach law is adopted to generate a new reference current vector of the current source type converter;
step 5: according to the direct-current side inductance current I dc Obtaining 9 input current vectors of a current source type converter;
step 6: the current source type converter obtained in the step 4 is input with a reference current vector, the reference current vector and 9 input current vectors obtained in the step 5 are sent into a cost function to be calculated, and a vector with the minimum cost function is solved to be used as a control input at the moment k;
step 7: and constructing a simulation model by using Matlab/Simulink, and verifying.
The technical scheme of the invention is further improved as follows: the specific steps of the step 3 are as follows:
establishing a state equation of a system network side inductance current and a state equation of a network side capacitance voltage:
the state equation of the system is constructed in the form of an Euler-Lagrange model, and the Euler-Lagrange error equation based on the state variable x of the system is obtained as follows:
wherein ,xe Is the error of state variable, J is interconnection matrix, R is positive damping matrix, u is systemControl input matrix:
to eliminate the coupling matrix, add the additional term-Jx to both sides of equation (6) e And by adding R a x e The injection of virtual damping can quickly converge the system to be stable, and the final formula (8) is as follows:
for the system to track a given signal, the left error term x of equation (8) e Should be 0, the passive control rate u at this time is calculated as:
at this time, the capacitance voltage reference value of the system and the current vector reference value of the converter are as follows:
the technical scheme of the invention is further improved as follows: the specific steps of the step 4 are as follows:
constructing an integral terminal sliding mode surface, and adopting a double-power approach law:
wherein ,
substituting equation (11) into equation (12) and then substituting the same into equation (10)Simultaneously, error items of capacitor voltage reference set and capacitor voltage predicted values are replaced by integral terminal sliding mode control rate, and the input current reference value of the converter is obtained as follows:
wherein e is the capacitance voltage reference value u * c And the predicted value u of the capacitor voltage c A difference of (k+1), delta being the integral terminal sliding surface,is a double-power approach law, and the parameter gamma is adjustable 1 、γ 2 、n 1 、n 2 、k 1 、k 2 All have positive values, and 0<α<1，β>1。
By adopting the technical scheme, the invention has the following technical progress:
1. the control method solves the inherent resonance problem of the current source type converter and the dependence of passive control on parameters, does not need to connect passive damping in a circuit, saves the design cost of the converter, has no redundant energy loss, and has stronger adaptability to parameter mismatch.
2. The control method provided by the invention has the advantages of better stability and robustness, lower network side current THD, economical and reliable scheme and easy realization.
Drawings
For a clearer description of embodiments of the invention or of the solutions of the prior art, the drawings that are used in the description of the embodiments or of the prior art will be briefly described, it being obvious that the drawings in the description below are some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art;
FIG. 1 is a flow chart of the present invention;
fig. 2 is a circuit diagram of a three-phase current source type converter of the present invention;
FIG. 3 is a waveform diagram of a DC inductor current simulation of the present invention when the system is running for 1s, the DC inductor current reference value is switched from 4A to 6A;
FIG. 4 is a waveform diagram of a DC inductor current simulation of a conventional predictive control in which the DC inductor current reference is switched from 4A to 6A when the system is running for 1 s;
FIG. 5 is a simulation waveform diagram of the network current with a parameter mismatch of-30% when the system is operated for 1 s;
FIG. 6 is a simulation waveform diagram of a network current of-30% of parameter mismatch when the system is run to 1s for conventional predictive control;
FIG. 7 is a waveform diagram of a network side current simulation of the present invention with a load resistance from 10Ω to 5Ω as the system is run to 1 s;
fig. 8 is a waveform diagram of a network side current simulation of a load resistance changing from 10Ω to 5Ω when the system is running for 1s in conventional predictive control.
Detailed Description
It is noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of the present invention and in the foregoing figures, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the attached drawings and examples:
as shown in fig. 1, a passive integral terminal sliding mode prediction control method based on a current source type converter comprises the following steps:
step 1: firstly, obtaining a sampling value I of an inductance current at a direct current side at k moment through sampling dc Three-phase power grid pressure miningSample u ga 、u gb 、u gc Grid current sampling value i a 、i b 、i c Capacitance voltage sampling value u ca 、u cb 、u cc Clark transformation is carried out to obtain the power grid voltage u under a two-phase static coordinate system gα 、u gβ Grid current i α 、i β Capacitance voltage u cα 、u cβ Sampling the sampled I dc And reference valueThe difference is sent to a PI regulator to obtain a DC side voltage reference value, and then the reference value is connected with I dc And multiplying to obtain an active power reference value, and calculating to obtain an inner ring network side current reference value.
Step 2: the three-phase current source type converter shown in fig. 2 is mathematically modeled by using a Heun's discretization method, and a one-step predictive expression is obtained, and the implementation process is as follows:
the three-phase current source type converter space state expression is:
wherein L is a network side filter inductance, C is a network side filter capacitance, R is a network side inductance series equivalent resistance, i and u c Is a system state variable x, i w Is the input vector u.
Discretizing the circuit model by adopting a Heun's discretization method
wherein ,
the predictive expression of the three-phase current source converter is:
step 3: designing a passive control rate based on a network side inductance current state equation and a network side capacitance voltage state equation, and enabling the system to meet the requirement that the energy dissipation rate is quickly converged to a stable state by injecting damping into the system;
establishing a state equation of a system network side inductance current and a network side capacitance voltage:
the system state equation is constructed in the form of an Euler-Lagrange model, and the Euler-Lagrange error equation based on the system state variable x is obtained by the following steps:
wherein ,xe The error of the state variable is represented by J, the interconnection matrix is represented by R, the positive damping matrix is represented by R, and the control input matrix of the system is represented by u:
to eliminate the coupling matrix, add the additional term-Jx to both sides of equation (6) e And by adding R a x e Indicating that injecting virtual damping can quickly converge the system to stability, the final equation (8) is as follows:
for the system to track a given signal, the left side of equation (8) should be 0, where the passive control rate u is:
at this time, the capacitance voltage reference value of the system and the current vector reference value of the converter are as follows:
step 4: and (3) replacing the difference value between the capacitor voltage reference setting and the predicted value in the step (3) with an integral terminal sliding mode control rate, constructing an integral terminal sliding mode surface, adopting a double-power approach law, and generating a new reference setting of the current source type converter, wherein the specific implementation process is as follows:
wherein ,
substituting equation (11) into equation (12) and then substituting the same into equation (10)Simultaneously, error items of capacitor voltage reference set and capacitor voltage predicted values are replaced by integral terminal sliding mode control rate, and the input current reference value of the converter is obtained as follows:
wherein e is the capacitance voltage reference value u * c And the predicted value u of the capacitor voltage c A difference of (k+1), delta being the integral terminal sliding surface,is a double-power approach law, and the parameter gamma is adjustable 1 、γ 2 、n 1 、n 2 、k 1 、k 2 All have positive values, and 0<α<1，β>1。
Step 5: according to the direct-current side inductance current I dc The 9 input current vectors of the current source converter are calculated, and the current vectors are expressed as follows:
TABLE 1
Step 6: and (3) sending the calculated input reference current vector of the current source type converter and the 9 vectors obtained in the step (5) into a cost function for calculation, and solving an optimal vector as a control input at the moment k, wherein the cost function is as follows:
step 7: and constructing a simulation model by using Matlab/Simulink, and verifying the proposed scheme. To verify the effectiveness of the proposed solution, for robustness of the proposed solution and the conventional solution at LC filter parameter mismatch-30%, the net side current THD when the load resistance changes from 10Ω to 5Ω, the dynamic performance when the dc inductor current reference value changes from 4A to 6A, and the current ripple magnitude.
Fig. 3 is a dc side inductor current simulation waveform diagram of the present invention, and fig. 4 is a dc side inductor current simulation waveform diagram of a conventional predictive control, in which the inductor current reference setting is changed from 4A to 6A at 1s, in which the inductor current fluctuation ± 1.2A ripple is large in the conventional scheme, and the inductor current fluctuation ± 0.5A ripple is small in the proposed scheme, and the stability can be recovered within 3 periods after the reference change.
Fig. 5 is a network side current simulation waveform diagram of the present invention, and fig. 6 is a network side current simulation waveform diagram of conventional predictive control, wherein the parameter mismatch of the LC filter is-30% at 1s, the robustness of the conventional scheme is poor when the parameter is normal and the parameter mismatch is 5.97% and 10.42% respectively, and the power grid current THD of the proposed scheme is 1.41% and 2.38% respectively when the parameter is normal and the parameter mismatch is good in steady state performance and robustness.
Fig. 7 is a waveform diagram of the current simulation of the network side of the present invention, and fig. 8 is a waveform diagram of the current simulation of the network side of the conventional predictive control, wherein the load resistance is changed from 10Ω to 5Ω at 1s in the conventional scheme, the THD is increased by 3.83% after the load is increased, and the THD is increased by 2.62% after the load is increased in the proposed scheme, compared with the conventional scheme, the capability of coping with the load change is stronger.
In summary, the control method provided by the invention solves the inherent resonance problem and the dependence of passive control on parameters of the current source converter, the method does not need to connect passive damping in a circuit, saves the design cost of the converter, has no excessive energy loss, has stronger adaptability to parameter mismatch, and therefore, the system has better stability and robustness and lower network side current THD.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (1)
1. A passive integral terminal sliding mode prediction control method based on a current source type converter is characterized in that: combining passive control with predictive control, enabling a system to meet energy dissipation rate by establishing an Euler-Lagrange model based on damping injection, inhibiting resonance caused by an LC filter in a converter, combining integral terminal sliding mode control with the passive predictive control, calculating a converter output current vector reference value, solving an optimal vector through a cost function, and finishing vector optimizing control;
the control method specifically comprises the following steps:
step 1: sampling value u of three-phase power grid voltage ga 、u gb 、u gc Grid current sampling value i a 、i b 、i c Capacitance voltage sampling value u ca 、u cb 、u cc Clark transformation is carried out to obtain the power grid voltage u under a two-phase static coordinate system gα 、u gβ Grid current i α 、i β Capacitance voltage u cα 、u cβ ；
Step 2: adopting a Heun's discretization method to construct a one-step prediction expression of the three-phase current source converter:
wherein ,TS For sampling period, L is net side filter inductance, C is net side filter capacitance, R is net side inductance series equivalent resistance, i w Inputting a current vector for a current source type converter;
step 3: designing a passive control rate based on a network side inductance current state equation and a network side capacitance voltage state equation, and enabling the system to meet the requirement that the energy dissipation rate is quickly converged to a stable state by injecting damping into the system;
the method comprises the following specific steps:
establishing a state equation of a system network side inductance current and a state equation of a network side capacitance voltage:
the state equation of the system is constructed in the form of an Euler-Lagrange model, and the Euler-Lagrange error equation based on the state variable x of the system is obtained as follows:
wherein ,xe The error of the state variable is represented by J, the interconnection matrix is represented by R, the positive damping matrix is represented by R, and the control input matrix of the system is represented by u:
to eliminate the coupling matrix, add the additional term-Jx to both sides of equation (6) e And by adding R a x e The injection of virtual damping can quickly converge the system to be stable, and the final formula (8) is as follows:
for the system to track a given signal, the left error term x of equation (8) e Should be 0, the control input matrix u of the system at this time is found as:
at this time, the capacitance voltage reference value of the system and the current vector reference value of the converter are as follows:
step 4: the difference value between the capacitor voltage reference given value and the predicted value in the passive control rate is replaced by the integral terminal sliding mode control rate, an integral terminal sliding mode surface is constructed, and a double-power approach law is adopted to generate a new reference current vector of the current source type converter;
the method comprises the following specific steps:
constructing an integral terminal sliding mode surface, and adopting a double-power approach law:
wherein ,
substituting equation (11) into equation (12) and then substituting the same into equation (10)Simultaneously, error items of capacitor voltage reference set and capacitor voltage predicted values are replaced by integral terminal sliding mode control rate, and the input current reference value of the converter is obtained as follows:
wherein e is the capacitance voltage reference value u * c And the predicted value u of the capacitor voltage c A difference of (k+1), delta being the integral terminal sliding surface,is a double-power approach law, and the parameter gamma is adjustable 1 、γ 2 、n 1 、n 2 、k 1 、k 2 All have positive values, and 0<α<1，β>1；
Step 5: according to the direct-current side inductance current I dc Obtaining 9 input current vectors of a current source type converter;
step 6: the new reference current vector of the current source type converter calculated in the step 4 and the 9 input current vectors obtained in the step 5 are sent into a cost function to be calculated, and a vector with the minimum cost function is solved to be used as a control input at the moment k;
the cost function is as follows:
step 7: and constructing a simulation model by using Matlab/Simulink, and verifying.
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