CN205863921U - Composite control type active filter based on high compensation precision electric current loop - Google Patents
Composite control type active filter based on high compensation precision electric current loop Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
This utility model includes source filter electric current loop Compound Control Technique field, particularly relate to composite control type active filter based on high compensation precision electric current loop, including being connected to the active filter universal control circuit on the electrical network of side of sampling, described active filter universal control circuit includes harmonic wave separation module；The outfan of described harmonic wave separation module passes sequentially through electric current loop composite controller, filtration module is connected into load-side electrical network；The outfan of described filtration module connects the input of electric current loop composite controller.This utility model can effectively eliminate all periodic errors being included in stable closed loop, improves stable state accuracy.
Description
Technical field
The present invention relates to active filter electric current loop Compound Control Technique field, particularly relate to based on high compensation precision electric current
The composite control type active filter of ring.
Background technology
Since IGCT is born, the power electronic product derivative because of it is constantly changing daily life, base
In IGCT power electronic product superiority increasingly by people concern with quote.Meanwhile substantial amounts of in electrical network
Introduce power electronic equipment based on nonlinear loads such as IGCTs, result in serious harmonic pollution in electric power net.This is mainly
Because non-linear, the impact of these loads and unbalanced electrical characteristics cause.Thus be accordingly used in the active filter of harmonics restraint
Ripple device technology gradually became in recent years both at home and abroad power electronics and electrical field and with one of study hotspot of electrical domain.Active
Electric-power filter (APF) is a kind of for dynamic harmonic wave, the novel electric power electric device of compensating reactive power, and it is based on the modern times
Control technology and advanced digital high-speed processor, carry out high speed processing to related data so that it is can be big to different amplitudes
Little and frequency harmonic wave carries out quick tracing compensation, quickly reacts, make harmonic wave in network system in microsecond unit
Total vector be zero.Relatively and passive filter, can only carry out in power frequency period operating passing zero response speed and can only
For the fixing frequency of enough Passive intakes and the harmonic wave of size, active filter can be by sampling load current and carry out each time
The separation of harmonic wave and idle separation, by active filter control and actively send the size of electric current, frequency and phase place,
And quickly respond, offset the corresponding harmonic wave in load.
Electric current, it is achieved that dynamic tracking compensates, is possible not only to compensation harmonic and idle but also can process imbalance and ask
Topic.
From the beginning of load current or system power collection and real-time collection data are carried out quickly of active filter
Processing, the data according to gathering quickly eliminate the harmonic wave of system, idle and imbalance problem, thus improve the power supply matter of electrical network
Amount.Active filter is compared with traditional passive filter, and the compensation way of APF is the most flexible, compensates function the most more comprehensively,
All of harmonic wave can be compensated can also compensate, except all right while possessing compensation harmonic according to specifying secondary harmonic wave
Compensation part is idle and three phase unbalance current.
APF the most in parallel, through relevant control algolithm, reaches function and idle separation that harmonic wave single separates, uneven
The separation of electric current, exports electric current ICa with the correlated current separated as reference instruction electric current IRa and device and does error amount, error
Value, through current follow-up control algorithm, allows device send the vector value contrary with harmonic component in system quickly.But
Traditional current follow-up control strategy mostly is Hysteresis control, traditional PI follows the tracks of, the PI control algolithm etc. of correction type, the most stagnant ring
Control can produce wider harmonic spectrum, does not has fixing switching frequency, it is impossible to controls the switching frequency subharmonic of input electrical network
Electric current, thus cause the parameter of the output filter of APF to determine；It is always along for directly for traditional PI controller
The tracing control without static error of flow, from the point of view of the harmonic current of APF, tracking is of ac, and PI cannot realize nothing
Static error tracing control, sends the error amount of electric current for reference instruction electric current IRa and device, and speed of action and accuracy are relatively
Low, it is impossible to realize perfect tracking control, cause device cancellation ratio relatively low, do not reach the harmonic current in the system of being completely counterbalanced by.
Existing notification number is the Chinese invention patent application file of CN201510018591, disclose one " a kind of based on
PI controls the fast current tracking and controlling method of active filter ", including " step one: set maximum error current-responsive value △
imax；Step 2: obtain error current value △ i；Step 3: with error current value △ i divided by maximum error current-responsive value △
Imax, it is thus achieved that its integral multiple numerical value n and error remainder electric current △ i '；Step 4: error remainder electric current △ i ' is directly entered PI and adjusts
Joint device calculates and obtains the first output voltage V1, is calculated by volt-second characteristic by integral multiple numerical value n and obtains the second output voltage V2；Step
Rapid five: the first output voltage V1 and the second output voltage V2 is added and obtains modulation voltage V.By adding input before PI regulates
Error limits, and then supplements after PI exports, it is achieved output voltage postpones response to the nothing of electric current." but, this patent of invention needs
Maximum error current-responsive value to be set, is not belonging to closed-loop adaptation control, it is impossible to enough dynamic size with load current change
Regulate voluntarily.Whole control method uses opened loop control, when setting value and system load be actually needed value excessive time, easily
Produce overcompensation or undercompensation situation.In its whole control system, maximum error current-responsive value is difficult to define, for reality
The place of border load frequent conversion, maximum error current-responsive value is difficult to determine a rational value.Additionally calculate in this control
In method system, the error of harmonic wave target current and output electric current always tends to being continually changing, the error amount that obtains again with set
Maximum error current-responsive value does integral multiple and the computing of remainder times, and the most covert difference that PI is followed the tracks of diminishes, can not
The real purpose playing astatic tracking.
Summary of the invention
The technical problem to be solved is for the above-mentioned problems in the prior art, it is provided that a kind of stable state
Precision is high, fast response time, it is possible to eliminate the based on high compensation precision electric current loop of static error by following the tracks of of ac
Composite control type active filter.
For solving the problems referred to above, a kind of technical scheme of the present invention is:
Present invention composite control type active filter based on high compensation precision electric current loop, including being connected to side electrical network of sampling
On active filter universal control circuit, described active filter universal control circuit includes harmonic wave separation module；Described
The outfan of harmonic wave separation module pass sequentially through electric current loop composite controller, filtration module is connected into load-side electrical network；Described
The outfan of filtration module connects the input of electric current loop composite controller.
Further, described electric current loop composite controller includes that electric current outer shroud control system and current inner loop control system
System.
Further, described electric current outer shroud control system includes forward path modulating unit and backward channel feedback
Unit.
Further, described current inner loop control system includes current inner loop PI control unit.
Further, described active filter universal control circuit includes analog signal conditioner circuit, digitized processing
Device.
Further, described filtration module includes IGBT driver, inverter module, LCL filtering networking module.
It is compared to prior art, the present invention is directed to the defect of prior art,
The present invention is directed to traditional current follow-up control algorithm and DAZ gene problem is unable to reach for of ac, propose
A kind of complex control device controlled based on internal model principle and PI.Described complex control device passes through interim appearance the last week
The distortion of waveform the same time in next primitive period is repeated, then controller is according to command signal and feedback letter
Number error determine required correction signal, at next cycle synchronization, this correction signal is superimposed upon original control signal
On, thus the repeatability distortion that will appear from each cycle after eliminating, all being included in stable closed loop can be effectively eliminated
Periodic error, improve stable state accuracy.In order to improve dynamic response time while improving stable state accuracy, based on interior mould
The forward path of principle and backward channel control algolithm are embedded in PI controller internal ring, utilize PI to accelerate system dynamics response speed
Degree, thus improve stable state accuracy and the dynamic property of whole current loop control, ensure that current tracking compensation precision reaches optimal
Effect.
The present invention proposes a kind of current tracking complex control algorithm without static error, and solving PI tracking of ac cannot
The problem realizing DAZ gene, also solve quasi-ratio resonant controller (PR) needs multichannel simultaneously, and parameter coupling is more numerous
Trivial problem.The present invention, through compound innovation, uses multiple control algorithm to electric current loop, carries out in electric current outer shroud set time section
The reparation of harmonic reference instruction current IRa is corrected, and constantly makes its harmonic current value leveling off in system, improves the steady of system
State precision, current inner loop utilizes tracing control, quickly makes dynamic response and improves dynamic accuracy, and improves active filter with this
The filtering performance of ripple device.
Present invention error correction based on internal model principle controller, put one by one after work to target current value and device
The error of output current value is corrected so that it is the instruction current of next cycle levels off to the current value in a cycle, this
Would not there is catastrophe to PI controller in sample, is suitable for PI controller again.Use closed loop control, it is not necessary to carry out error parameter
Setting, control system exports the difference of electric current according to realistic objective electric current and device, carries out the error correction of closed loop, it is not necessary to examine
Consider optimized dynamic response value.Owing to the integral parameter in PI control system is in cycle, integrated value is finally zero, integration school
Plus effect does not exists, and corrector based on internal model principle can make up integrating effect, compensates the integration of PI.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of active filter involved in the present invention
Fig. 2 is involved in the present invention based on high compensation precision electric current loop composite controller structural representation.
Fig. 3 is the control algolithm transmission function flow chart of electric current loop composite controller involved in the present invention.
Detailed description of the invention
Further describe the present invention with embodiment below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
This.
With reference to Fig. 1, present invention composite control type active filter based on high compensation precision electric current loop, including being connected to adopt
Active filter universal control circuit on the electrical network of sample side, described active filter universal control circuit includes harmonic wave separation mould
Block；The outfan of described harmonic wave separation module passes sequentially through electric current loop composite controller, filtration module is connected into load-side electrical network；
The outfan of described filtration module connects the input of electric current loop composite controller.Described electric current loop composite controller includes
Electric current outer shroud control system and current inner loop control system.Described electric current outer shroud control system includes forward path modulating unit
And backward channel feedback unit.Described current inner loop control system includes current inner loop PI control unit.Described is active
Wave filter universal control circuit includes analog signal conditioner circuit, digital processor.Described filtration module includes that IGBT drives
Dynamic device, inverter module, LCL filtering networking module.
The control method of a kind of composite control type active filter based on high compensation precision electric current loop, including following step
Rapid:
S1, described active filter universal control circuit gather line voltage, load current and device output electric current ICa
And process, described harmonic wave separation module output reference instruction electric current IRa, by defeated to described reference instruction electric current IRa and device
Go out electric current ICa and be input to described electric current loop composite controller computing；
S2, described reference instruction electric current IRa and device output electric current ICa carry out difference operation, obtain error amount
Error, error amount error distinguish based on internal model principle in the electric current outer shroud control system of described electric current loop composite controller
Processed by forward path modulating unit and backward channel feedback unit, obtain the error amount △ error1 in cycle；
S3, the error amount △ error1 in cycle are at the current inner loop PI control unit of described current inner loop control system
Reason, utilizes PI to control to be adjusted mutation Error.
Further, in described step S1,
S1.1, collection line voltage, load current and device output electric current ICa, at the base of sampling side network system voltage
Process through relevant phase-lock-loop algorithm on plinth, draw the phase angle Ф of the A phase of network system, and phase angle Ф is sought sine value
And cosine value；
The sine value at the phase angle of the positive sequence of the A phase that S1.2, the load current of collection and step S1.1 obtain and cosine
Value, through harmonic wave separation algorithm, carries out harmonic wave separation, the amplitude phase of harmonic current each time to the load current gathered
Position, direction vector separate, and then harmonic wave each time are added and obtain reference instruction electric current IRa；
S1.3, device output electric current ICa, through outside Acquisition Circuit and relevant modulate circuit, reaches the model of AD input
Enclose, after AD digitized, be input to described electric current loop complex controll together with the reference instruction electric current IRa in previous step
Device.
Further, described harmonic wave separation algorithm is FFT or DQ0 or PR.
Further, in described step S2,
S2.1. reference instruction electric current IRa and device output electric current ICa obtains error amount error after carrying out difference operation, will
The correction value of error and backward channel compound function Q (Z) * S (Z) based on internal model principle carries out and computing obtains sum；
S2.2. described sum value is inputed to the first cycle time delay integration device function S (n), give cycle and count following
Time delay integration function correction, is △ error through revised numerical value；
S2.3. △ error obtained in the previous step is sent into this second-order low-pass filter function C (Z), obtains through this wave filter
To △ error1.
Further, the feedback of described backward channel, sequentially passes through auxiliary compensation device Q (Z) and cycle time delay of counting is repaiied
Positive function S (Z) processes, and obtains compound function Q (Z) * S (Z).
Further, in described step S3,
3.1. △ error1 and described reference instruction electric current IRa is done and computing obtains sum1, sum1 through with described
Device output electric current ICa do difference operation and obtain △ error2；
3.2. by △ error2 by described current inner loop PI controller to error summary responses, carry out quickly dynamically
Response.
The complex controll active filter of a kind of high compensation precision electric current loop of the present invention includes that described active filter leads to
With control circuit, electric current loop composite controller, filtration module, described active filter universal control circuit includes analogue signal
Modulate circuit, digital processor (FPGA+DSP), described filtration module includes that IGBT driver, inverter module, LCL filter
Ripple networking module.Its workflow is briefly introduced as follows: analog signal conditioner circuit is by acquisition sampling side line voltage, electricity
Epidemic simulation signal condition, uses digital processor (FPGA+DSP) to be digitally converted the analogue signal after conditioning,
Give processor to carry out phase-locked computing and harmonic wave separation and calculate, through to the electric current after separating as reference instruction electric current IRa, will
The difference of reference instruction electric current IRa and actual device output electric current ICa carries out the computing of electric current loop composite controller, and output is driven
Dynamic signal, to IGBT driver, drives IGBT open-minded, is used for the filtered circuit of filtering appts harmonic current with output.
It should be noted that the FPGA that the present invention mentions (Field Programmable Gate Array), i.e. scene can
Programming gate array, occurs as a kind of semi-custom circuit in special IC field, its purpose improves circuit design exactly
Motility.The mode using parallel processing can be greatly improved the speed of service of control algolithm, solves conventional processors suitable
The not enough problem that sequence performs.Abundant logic gate array can solve the logic control of load, and makes each logic control also
Row performs, and is fully achieved consistent requirement in execution action, improves Control system resolution.
The DSP (Digital signal processor) that the present invention mentions is a kind of to be partial to signal digitized processing
Microprocessor, is to process the device of bulk information with digital signal, mainly for the number being all discretization on time and amplitude
According to processing, mainly signal is analyzed, converts, filters, detects, modulation etc., there is powerful programmability and computing
Speed, time in fact, the speed of service surmounts far away general purpose controller up to every number of seconds with ten million complicated order program, performance.
The IGBT (Insulated Gate Bipolar Transistor) that the present invention mentions refers to that insulated gate bipolar is brilliant
Body pipe, a kind of high speed electronic switch device.Reference current refers to from the point of view of eliminating mains by harmonics angle, it is desirable to device output
Electric current, reference current can change along with the change of described load current.
The internal model principle of present invention forward path based on electric current loop composite controller and backward feedback is to the error by week
Being adjusted, the reference instruction electric current IRa error making each cycle is zero, thus improves systematic steady state precision and follow the tracks of essence
Degree.
In addition, in step S2, the frequency range compensated due to active filter is 0 to 2.5KHz, therefore designs controller
Time have only to ensure medium and low frequency section control effect, comprehensive overall performance demand a, it is only necessary to second-order low-pass filter is set
To strengthen the suppression to high frequency, and △ error is sent into this second-order low-pass filter.
Fig. 2 is the tracking of a kind of composite control type active filter based on high-accuracy compensation electric current loop of the present invention
The structural representation of the control method of electric current loop.As in figure 2 it is shown, the present invention is based on high-accuracy compensation electric current loop complex controll
Device, by the double-loop current control controlled based on internal model principle and PI, in conjunction with relevant algorithm, is realized each week by software
The error of ripple carries out correction process, improves steady-state error precision.Utilize the control of PI current inner loop, there is no error at stable state accuracy
On the premise of, utilize the fast reaction to error of the PI controller, come the dynamic responding speed of comprehensive raising electric current, Liang Zhejie
Close and make electric current loop tracing control reach the purpose controlled without static error.
The algorithm that the present invention uses includes the harmonic current separation algorithm of source filter universal control circuit, also includes this
The current tracking of the electric current loop composite controller that invention illustrates is without the complex control algorithm of static error, and DC voltage control
Algorithm processed, SPWM generating algorithm, IGBT inversion module, networking LCL filtration module.Described complex control algorithm module is wrapped successively
Include the reference instruction electric current IRa of harmonic wave separation module, device output electric current ICa, (the multicycle effect control of electric current outer shroud control system
Device processed) and current inner loop control system (PI controller composition).The most simply point out that complete machine operation principle is as follows: parallel connection type active
Wave filter universal control circuit obtains sampling side mains voltage signal and current signal, is simulated signal condition, after nursing one's health
Analog quantity be respectively fed to digital processing chip, carry out numeral conversion, will conversion after result send into processor, carry out phase place and
The calculating of frequency, utilizes the phase and frequency calculated, and carries out harmonic current, the idle and separation of out-of-balance current, will divide
Reference instruction electric current IRa and device output electric current ICa after from are input in electric current loop composite controller of the present invention, warp
Overcurrent ring composite controller, the desired value after process is given to SPWM maker, generates pwm signal, drives IGBT to carry out reference
The inversion output of instruction current IRa, through smoothing reactor and networking reactance, output electric current in system, produce with this and
In system, harmonic current is in opposite direction, and equal-sized vector is with the harmonic current in elimination system, thus improves network system
Power supply quality.
In view of AC characteristic and the deficiency of tradition tracking control unit of harmonic current, the present invention specially exists for electric current loop
Tracking error problem, propose the control algolithm of quick correcting error, make whole harmonic current level off to present in system humorous
Ripple electric current, through the complex controll of electric current loop, reaches output and the equal side of system harmonics size of current quickly without static error
To contrary current value, to reach to be completely eliminated the purpose of harmonic current in system.Solve conventional current ring controller to follow the tracks of
There is static error and the drawback of system harmonics can not be completely eliminated, thus improve the compensation performance of equipment, optimize active filter
Ripple device overall performance.
Below only highly preferred embodiment of the present invention is described, but is not to be construed as limitations on claims.This
Invention is not limited only to above example, and all various changes made in the protection domain of independent claims of the present invention are all at this
In the protection domain of invention.
Claims (4)
1. a composite control type active filter based on high compensation precision electric current loop, including being connected to sample on the electrical network of side
Active filter universal control circuit, described active filter universal control circuit includes harmonic wave separation module；Its feature exists
In, the outfan of described harmonic wave separation module passes sequentially through electric current loop composite controller, filtration module is connected into load-side electrical network；
The outfan of described filtration module connects the input of electric current loop composite controller.
A kind of composite control type active filter based on high compensation precision electric current loop the most according to claim 1, it is special
Levying and be, described electric current loop composite controller includes electric current outer shroud control system and current inner loop control system.
A kind of composite control type active filter based on high compensation precision electric current loop the most according to claim 2, it is special
Levying and be, described electric current outer shroud control system includes forward path modulating unit and backward channel feedback unit.
4. according to a kind of based on high compensation precision electric current loop the composite control type active filter described in Claims 2 or 3, its
Being characterised by, described current inner loop control system includes current inner loop PI control unit.
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| CN106655182A (en) * | 2016-08-09 | 2017-05-10 | 杭州得诚电力科技股份有限公司 | Composite-control active filter based on high-compensated precision current loop and control method thereof |
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| CN106655182A (en) * | 2016-08-09 | 2017-05-10 | 杭州得诚电力科技股份有限公司 | Composite-control active filter based on high-compensated precision current loop and control method thereof |
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