WO2014094317A1 - 基于模型预测控制的主动前端整流器滤波延迟补偿方法 - Google Patents

基于模型预测控制的主动前端整流器滤波延迟补偿方法 Download PDF

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WO2014094317A1
WO2014094317A1 PCT/CN2012/087245 CN2012087245W WO2014094317A1 WO 2014094317 A1 WO2014094317 A1 WO 2014094317A1 CN 2012087245 W CN2012087245 W CN 2012087245W WO 2014094317 A1 WO2014094317 A1 WO 2014094317A1
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rectifier
value
filter
equivalent
input current
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夏长亮
刘涛
宋战锋
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Tianjin University
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Tianjin University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; 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
    • H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
    • H02J3/1821—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators
    • H02J3/1835—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators with stepless control
    • H02J3/1842—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators with stepless control having reactive elements actively controlled by bridge converters, e.g. active filters or static compensators [STATCOM]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G06F17/13—Differential equations
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/14—Fourier, Walsh or analogous domain transformations, e.g. Laplace, Hilbert, Karhunen-Loeve, transforms
    • 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
    • H02M1/0009—Devices or circuits for detecting current in a converter
    • 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
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/20—Active power filtering [APF]

Definitions

  • Active front-end rectifier filter delay compensation method based on model predictive control
  • the invention relates to a method for compensating a filter delay in a model predictive control method for an active front end rectifier, and belongs to the technical field of power electronic control. Background technique
  • MPC is a control algorithm based on mathematical models to predict the future response of control objects.
  • the algorithm contains a value function that is defined according to the control target. By minimizing the value function, the algorithm predicts the optimal voltage vector for each sampling period and acts as the action vector for the next period, which is cycled through each sampling period.
  • Model predictive control is a nonlinear control technique. Because it does not include linear controllers and modulation algorithms, the system has a faster transient response speed. With the rapid development of microprocessor technology and the deepening of related research, model predictive control has shown great advantages in power electronics and motor drive applications.
  • model predictive control is a control algorithm that directly predicts and adjusts current, it requires high accuracy for current detection. In order to remove interference, it is usually necessary to filter the detected voltage and current signals before sampling. The filter will cause signal delay while filtering out high frequency interference signals. Since the model predictive control uses cyclic optimization and the out-of-frequency control method that is directly output without the modulation process, although the transient response speed of the system is excellent, the sampling frequency is high, and the running performance is significantly affected by the system delay. When the filter cutoff frequency is low, the signal filtering will generate a large delay, which will cause the actual output value of the system to deviate from the set value, which will affect the control quality of the system. Therefore, it is necessary to design a filter delay compensation method for model predictive control. Summary of the invention
  • the object of the present invention is to solve the problems existing in the existing model predictive control method, and provide an active front-end rectifier filter delay compensation method based on model predictive control.
  • the method does not need to add additional hardware devices, and can effectively eliminate the filter delay pair.
  • the influence of the control system makes the active front-end rectifier based on the model predictive control still maintain a good control effect when the system has a large delay.
  • An active front-end rectifier filter delay compensation method based on model predictive control comprising: the following steps:
  • Step 1 Detect the three-phase grid voltage and the three-phase input current sample value of the active front-end rectifier, and pass the Clark Clark transform to obtain the grid voltage sample value e a and the input current sample value fa , ⁇ in the two-phase stationary coordinate system;
  • Step 2 Establish a mathematical model of the equivalent rectifier according to the voltage balance equation (1) in the actual rectifier;
  • Equation (1) e a is the grid voltage sample value; ⁇ is the rectifier input current value; and R is the input inductor value and the equivalent series resistance value respectively; ⁇ ⁇ is the rectifier input voltage value;
  • ⁇ . is the coefficient of the denominator part of the filter transfer function
  • b 0 ⁇ ... is the coefficient of the molecular part of the filter transfer function
  • s is the complex variable in the transfer function
  • Step 3 The grid voltage sample value e a obtained in step one and the rectifier input voltage value ⁇ ⁇ calculated in the previous sampling period are used as the input of the filter delay observer, and the equivalent is calculated according to the mathematical model of the equivalent rectifier. Rectifier input current value. ⁇ , / ⁇ ;
  • Step 4 Enter the equivalent rectifier input current value. ⁇ , . ⁇ is calculated by the equivalent filter model to obtain the equivalent sampling current. Fo, /ofp ;
  • Step 5 The difference between the input current sample values fa and 1 ⁇ 2 obtained in step one and the equivalent sampling current and ⁇ obtained in step 4 is compensated to the input of the filter delay observer through a proportional controller;
  • Step 6 Enter the current value of the equivalent rectifier. a , .
  • the observation value of ⁇ as the input current of the rectifier is input into the model prediction control algorithm to obtain the optimal switching state and the corresponding rectifier input voltage value, ⁇ ; compared with the input current sampling values fa , ⁇ , the rectifier input current observation value.
  • ⁇ , 1 ⁇ 2 are not affected by the filter delay, which is closer to the actual rectifier input current value, and thus the effect of the filter delay is compensated.
  • the beneficial effects of the present invention are:
  • the delay compensation method of the present invention effectively eliminates the influence of the filter delay on the model predictive control algorithm by adding a filter delay observer without changing the hardware structure.
  • the active front-end rectifier control system has a large delay
  • It can effectively eliminate current harmonics, improve the control quality and robustness of the system, enhance the control effect of the model predictive control method in practical applications, and realize the stable operation of the active front-end rectifier under the large delay of the control system.
  • Figure 1 shows the relationship between the cutoff frequency of the first-order filter and the signal delay
  • Figure 2 shows the relationship of phase delay under different filter orders with a cutoff frequency of 1 kHz.
  • Figure 3 is a control flow chart of a model predictive control algorithm based on a filtered delay observer;
  • Figure 4 is a flow chart of the filter delay observer control. Detailed ways
  • the invention relates to an active front-end rectifier filter delay compensation method based on model predictive control, which comprises the following steps:
  • Step 1 Detect the three-phase grid voltage and the three-phase input current sample value of the active front-end rectifier, and pass the Clark Clark transform to obtain the grid voltage sample value e a and the input current sample value fa , ⁇ in the two-phase stationary coordinate system;
  • Step 2 Establish a mathematical model of the equivalent rectifier according to the voltage balance equation (1) in the actual rectifier;
  • Equation (1) e a is the grid voltage sample value; ⁇ is the rectifier input current value; and R is the input inductor value and the equivalent series resistance value respectively; ⁇ ⁇ is the rectifier input voltage value;
  • ⁇ . is the coefficient of the denominator part of the filter transfer function
  • b 0 ⁇ ... is the coefficient of the molecular part of the filter transfer function
  • s is the complex variable in the transfer function
  • Step 3 The grid voltage sample value e a obtained in step one and the rectifier input voltage value ⁇ ⁇ calculated in the previous sampling period are used as the input of the filter delay observer, and the equivalent is calculated according to the mathematical model of the equivalent rectifier. Rectifier input current value. ⁇ , / ⁇ ;
  • Step 4 Enter the equivalent rectifier input current value.
  • ⁇ , 1 ⁇ 2 is calculated by the equivalent filter model to obtain the equivalent sampling current. Fa, /ofp;
  • Step 5 The difference between the input current sample values fa and 1 ⁇ 2 obtained in step one and the equivalent sampling current and ⁇ obtained in step 4 is compensated to the input of the filter delay observer through a proportional controller;
  • Step 6 Enter the current value of the equivalent rectifier. a , .
  • the observation value of ⁇ as the input current of the rectifier is input into the model prediction control algorithm to obtain the optimal switching state and the corresponding rectifier input voltage value, ⁇ ; compared with the input current sampling value fa , 1 ⁇ 2, the rectifier input current observation value.
  • ⁇ , 1 ⁇ 2 are not affected by the filter delay, which is closer to the actual rectifier input current value, and thus the effect of the filter delay is compensated.
  • the input filter will cause signal delay while filtering out high frequency interference signals.
  • Figure 1 shows the relationship between the cutoff frequency of the first-order filter and the signal delay. As can be seen from Figure 1, the delay caused by the filter increases as the cutoff frequency decreases.
  • Figure 2 shows the relationship of phase delay for different filter orders with a cutoff frequency of 1 kHz. As can be seen from Figure 2, the higher order filter will produce a larger delay than the lower order filter.
  • FIG. 3 is a control block diagram of a model predictive control algorithm for adding filter delay compensation according to the present invention.
  • the control method specifically includes the following steps: (All the text contents recorded in FIG. 3 are added to the following description) (1) After sensor measurement, low-pass filter filtering, and analog/digital quantity (Analog quantity) /Digtal quantity, referred to as A/D), obtains the active front-end rectifier three-phase grid voltage sample values e a , e b , e c , three-phase current sample value & , and DC bus voltage sample value M dc ;
  • the Proportional integral (PI) controller obtains the d-axis current reference value in the synchronous rotating coordinate system. Let the q-axis reference current be 0, and perform the inverse Park transformation on the d, q-axis current reference value and q * with the grid voltage angle as the transformation angle (ie, the dq/ ⁇ transformation module in Fig. 3), and obtain the two-phase stationary coordinate system.
  • the sampling period value; is the input side filter inductance value in the figure;
  • R is the input side equivalent series resistance value in the figure.
  • the optimum switching state signal obtained by the step (6) & is used as the switching signal for controlling the power device, and when the next sampling period starts, it loops to the step (1).
  • the grid voltage sample value e a is not affected by the filter.
  • the grid voltage value e a and the rectifier input voltage ⁇ ⁇ , ⁇ ⁇ act on the actual rectifier to obtain the corresponding rectifier input current, 4, ⁇ is obtained through the low-pass filter.
  • the filtered input current samples are fa , 1 ⁇ 2.
  • the physical system model is obtained by modeling the actual physical system, which includes an equivalent mathematical model of the rectifier and the filter.
  • the grid voltage sample value e a , and the rectifier input voltage Ma , up , the equivalent rectifier input current value is obtained by the equivalent mathematical model of the rectifier in the observer! ⁇ , 1 0 ⁇ , and then obtain the equivalent sampling current i ofa of the physical system model through the filter equivalent mathematical model (ie, the equivalent filter module in the figure). ⁇ .
  • the filter equivalent mathematical model ie, the equivalent filter module in the figure.
  • the actual system sampling currents fa , ⁇ and the equivalent sampling current i of a obtained by the physical system model will be detected.
  • the difference of ⁇ is compensated to the input of the observer by the proportional controller (ie the ⁇ module in the figure), so that the equivalent rectifier inputs the current value.
  • ⁇ , 1 ⁇ 2 and actual rectifier input current, ⁇ approximation. Therefore, input the current value to the equivalent rectifier in the observer.
  • ⁇ , 1 ⁇ 2 replaces the filtered input current sample values fa , 1 ⁇ 2 as sample current input into the model predictive control algorithm, avoiding the effects of filter delay.
  • the equivalent mathematical model in the observer algorithm approximates the actual physical system, and the resulting equivalent rectifier input current value. ⁇ , . ⁇ is equivalent to the actual input current value of the rectifier, thus achieving the purpose of eliminating the sampling delay caused by the filter.

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Abstract

一种基于模型预测控制的主动前端整流器滤波延迟补偿方法，其特征在于：包括以下步骤：检测主动前端整流器三相电网电压、三相输入电流采样值，并将其经过克拉克Clarke变换得到两相静止坐标系下的电网电压采样值e α、e β和输入电流采样值i fα、i fβ；根据实际整流器中电压平衡方程式（1）建立等效整流器数学模型，根据实际滤波器对应的传递函数建立等效滤波器模型，从而构成滤波延迟观测器；将输入电流采样值i fα、i fβ与等效采样电i ofα、i ofβ的差值经过一比例控制器补偿到滤波延迟观测器的输入中。相比输入电流采样值i fα、i fβ，整流器输入电流观测值i oα、i oβ不受滤波器延迟的影响，其更接近实际的整流器输入电流值，由此滤波器延迟的影响得到补偿。

Description

基于模型预测控制的主动前端整流器滤波延迟补偿方法 技术领域
本发明涉及一种主动前端整流器的模型预测控制方法中滤波器延迟的补偿方 法， 属于电力电子控制技术领域。 背景技术
近年来， 基于模型预测控制的功率变换器全数字控制方法得到快速发展。 MPC 是一种基于数学模型来预测控制对象未来响应的控制算法。 算法中包含一个根据 控制目标进行定义的价值函数。 通过最小化价值函数， 算法在每个采样周期预测 得到最佳电压矢量， 并作为下一周期的作用矢量， 算法在每个采样周期循环一次。 模型预测控制属于一种非线性控制技术， 由于不包含线性控制器和调制算法， 系 统具有较快的瞬态响应速度。 随着微处理器技术的快速发展和相关研究的深入， 模型预测控制在电力电子及电机驱动的应用中体现出巨大的优势。
由于模型预测控制是一种直接对电流进行预测和调节的控制算法， 其对电流 检测的精度要求较高， 为了去除干扰， 通常需要将检测到的电压、 电流信号在采 样前进行滤波处理。 滤波器在滤除高频干扰信号的同时， 会造成信号的延迟。 由 于模型预测控制采用循环寻优， 不经调制过程而直接输出的不定频控制方式， 虽 然系统瞬态响应速度优良， 但其采样频率高， 运行性能受系统延迟影响较为明显。 当滤波器截止频率较低时， 信号滤波会产生较大的延迟， 造成系统实际输出值与 设定值出现偏差， 影响系统的控制品质。 因此， 有必要设计一种针对模型预测控 制的滤波器延迟补偿方法。 发明内容
本发明的目的在于解决现有模型预测控制方法中存在的问题， 提供一种基于 模型预测控制的主动前端整流器滤波延迟补偿方法， 方法不需要添设额外的硬件 装置， 可以有效消除滤波器延迟对控制系统造成的影响， 使得基于模型预测控制 的主动前端整流器在系统存在较大延迟情况下仍能保持较好的控制效果。
为了解决上述技术问题， 本发明予以实现的一个技术方案是： 1.一种基于模型预测控制的主动前端整流器滤波延迟补偿方法， 其特征在于： 包括以下步骤：
步骤一： 检测主动前端整流器三相电网电压、 三相输入电流采样值， 并将其 经过克拉克 Clarke变换得到两相静止坐标系下的电网电压采样值 ea、 和输入电 流采样值 fa、 ίφ;
步骤二： 根据实际整流器中电压平衡方程式 (1)建立等效整流器数学模型；
Figure imgf000004_0001
式 (1)中： ea、 为电网电压采样值； 、 β为整流器输入电流值； 与 R分别 为输入电感值和等效串联电阻值； Μα、 为整流器输入电压值；
根据实际滤波器对应的传递函数建立等效滤波器模型， 该等效滤波器模型理 想传递函数为式 (2):
、 bmsm + bm ,sm~l + - - - + bn
F(s) = n ~ , °- (2) ans + an_xs + · · · + α0
式 （2 ) 中： α。， 为滤波器传递函数分母部分的系数； b0， ^... 为滤 波器传递函数分子部分的系数； s为传递函数中的复变量；
上述等效整流器数学模型和等效滤波器模型构成滤波延迟观测器；
步骤三： 将步骤一得到的电网电压采样值 ea、 和上一个采样周期中计算得 到的整流器输入电压值 Μα、 作为滤波延迟观测器的输入量， 根据等效整流器数 学模型计算得到等效整流器输入电流值 。α、 /οβ ;
步骤四： 将等效整流器输入电流值 。α、 。β经过等效滤波器模型式计算得到等 效采样电流 。fo、 /ofp ;
步骤五： 将步骤一得到的输入电流采样值 fa、 ½与步骤四得到的等效采样电 流 、 οφ的差值经过一比例控制器补偿到滤波延迟观测器的输入中；
步骤六： 将等效整流器输入电流值 。a、 。β作为整流器输入电流的观测值输入 到模型预测控制算法中， 得到最优的开关状态和对应的整流器输入电压值 、 Μβ ; 相比输入电流采样值 fa、 ΐφ, 整流器输入电流观测值 。 α、 ½不受滤波器延迟的影 响， 其更接近实际的整流器输入电流值， 由此滤波器延迟的影响得到补偿。 与现有技术相比， 本发明的有益效果是：
本发明的延迟补偿方法在不改动硬件结构的情况下， 通过增加滤波延迟观测 器， 有效消除了滤波器延迟对模型预测控制算法造成的影响， 在主动前端整流器 控制系统存在较大延迟情况下， 能够有效消除电流谐波， 提高了系统的控制品质 和鲁棒性， 增强了模型预测控制方法在实际应用中的控制效果， 实现主动前端整 流器在控制系统存在较大延迟情况下的稳定运行。 附图说明
图 1为一阶滤波器截止频率与信号延迟的关系；
图 2为截止频率为 1kHz情况下， 不同滤波器阶数下相位延迟的关系； 图 3为基于滤波延迟观测器的模型预测控制算法的控制流程图；
图 4为滤波延迟观测器控制流程图。 具体实施方式
下面结合具体实施方式对本发明作进一步详细地描述。
本发明一种基于模型预测控制的主动前端整流器滤波延迟补偿方法， 包括以 下步骤：
步骤一： 检测主动前端整流器三相电网电压、 三相输入电流采样值， 并将其 经过克拉克 Clarke变换得到两相静止坐标系下的电网电压采样值 ea、 和输入电 流采样值 fa、 ίφ;
步骤二： 根据实际整流器中电压平衡方程式 (1)建立等效整流器数学模型；
Figure imgf000005_0001
式 (1)中： ea、 为电网电压采样值； 、 β为整流器输入电流值； 与 R分别 为输入电感值和等效串联电阻值； Μα、 为整流器输入电压值；
根据实际滤波器对应的传递函数建立等效滤波器模型， 该等效滤波器模型理 想传递函数为式 (2): 、 bmsm + bm ,S + K
F(s) = n ~ °- (2) ans + an_,s + · · · + α0
式 （2 ) 中： α。， 为滤波器传递函数分母部分的系数； b0， ^... 为滤 波器传递函数分子部分的系数； s为传递函数中的复变量；
上述等效整流器数学模型和等效滤波器模型构成滤波延迟观测器；
步骤三： 将步骤一得到的电网电压采样值 ea、 和上一个采样周期中计算得 到的整流器输入电压值 Μα、 作为滤波延迟观测器的输入量， 根据等效整流器数 学模型计算得到等效整流器输入电流值 。α、 /οβ ;
步骤四： 将等效整流器输入电流值 。α、 ½经过等效滤波器模型式计算得到等 效采样电流 。fa、 /ofp ;
步骤五： 将步骤一得到的输入电流采样值 fa、 ½与步骤四得到的等效采样电 流 、 οφ的差值经过一比例控制器补偿到滤波延迟观测器的输入中；
步骤六： 将等效整流器输入电流值 。a、 。β作为整流器输入电流的观测值输入 到模型预测控制算法中， 得到最优的开关状态和对应的整流器输入电压值 、 Μβ ; 相比输入电流采样值 fa、 ½， 整流器输入电流观测值 。 α、 ½不受滤波器延迟的影 响， 其更接近实际的整流器输入电流值， 由此滤波器延迟的影响得到补偿。 下面结合附图和实施例对本发明进一步说明。
输入滤波器在滤除高频干扰信号的同时， 会造成信号的延迟。 图 1 为一阶滤 波器截止频率与信号延迟的关系。 由图 1 可以看出， 滤波器造成的延迟随着截止 频率的降低而增加。 图 2为截止频率为 1kHz情况下， 不同滤波器阶数下相位延迟 的关系。 由图 2可以看出， 与阶数较低的滤波器相比， 高阶滤波器将产生较大的 延迟。
图 3 为本发明加入滤波器延迟补偿的模型预测控制算法的控制框图。 其控制 方法具体包括如下步骤:（将图 3中记载的所有文字内容都要补入到下述的描述中） (1)经过传感器测量、 低通滤波器滤波和模拟量 /数字量（Analog quantity/Digtal quantity, 简称 A/D ) 的转换后得到主动前端整流器三相电网电压采样值 ea、 eb、 ec, 三相电流采样值 &、 和直流母线电压采样值 Mdc ;
(2)将步骤 (1)得到的三相电网电压采样值 ea、 eb, ee和三相输入电流采样值 fa、 fb fc经 Clarke变换 （即图中的 30/αβ变换模块） 得到两相静止坐标系下的电网
电压采样值 ea、 和输入电流采样值 fa、 %；
(3)将三相电网电压采样值 ea、 eb、 经过锁相环 (PLL；)， 得到电网电压角度
(4)将直流母线电压参考值 与步骤 (1)得到的直流母线电压采样值 Md。做差， 经过比例积分 （Proportional integral, 简称 PI) 控制器得到同步旋转坐标系下 d轴 电流参考值 。 设 q轴参考电流为 0， 以电网电压角度为变换角对 d、 q轴电流参 考值 、 q*进行反 Park变换（即图 3中的 dq/αβ变换模块）， 得到两相静止坐标系 下的电流参考值 *、 ；
(5)将上一个采样周期中步骤 (6)计算得到的整流器输入电压值 Μαβ、步骤 (2)得到 的电网电压采样值 ea、 和输入电流采样值 fa、 ½作为滤波延迟观测器的输入， 得到整流器输入电流观测值 。α、 οβ;
(6)将步骤 (4)中计算得到的电流参考值 *、
Figure imgf000007_0001
步骤 (2)得到的电网电压采样值 ea、 和步骤 (5)得到的整流器输入电流观测值 。 α、 。β作为模型预测算法的输入量， 对于 0~7的 8种开关状态， 根据式 3和式 4得到下一个采样周期的整流器输入电 压值 ¾½、 以及对应的最优开关状态信号
Figure imgf000007_0002
式 (3)中： n=0,l,...,7; ^ + ^和^^ + ^为下一个采样周期中， 0~7的 8种开 关状态分别对应的预测电流值； Γ为采样周期值； 为图中输入侧滤波电感值； R 为图中输入侧等效串联电阻值。
gn (k +
Figure imgf000007_0003
i ( i)]2 (4) 式 (4；)式中： n=0,l,...,7; + 1；)为 0~7的 8种开关状态分别对应价值函数计 算结果。
Sk :mm{gn(k + \)}^Ql Ί (5) (7)用步骤 (6)得到的最优开关状态信号 &作为控制功率器件的开关信号， 当 下一个采样周期开始时， 循环到步骤 (1)。
图 3中滤波延迟观测器如图 4所示。 其运行过程具体如下：
假设电网电压采样值 ea、 不受滤波器的影响。 在实际物理系统 （图中上部 的虚线框） 中， 电网电压值 ea、 和整流器输入电压 Μα、 Μβ作用于实际整流器， 得到对应的整流器输入电流 、 4、 β经过低通滤波器得到滤波后的输入电流采 样值 fa、 ½。 在观测器 （图中下部的虚线框） 中， 通过对实际物理系统进行建模， 得到物理系统模型， 其包括整流器和滤波器的等效数学模型。 电网电压采样值 ea、 和整流器输入电压 Ma、 up,经过观测器中的整流器等效数学模型得到等效整流器 输入电流值！ οα、 10β, 再经过滤波器等效数学模型 （即图中的等效滤波器模块） 得 到物理系统模型的等效采样电流 iofa、 。φ。为了使物理系统模型逼近实际物理系统， 将检测到的实际系统采样电流 fa、 ίφ与由物理系统模型得到的等效采样电流 iofa、 。φ的差值经过比例控制器 （即图中的 ρ模块） 补偿到观测器的输入中， 使得等 效整流器输入电流值 。α、 ½与实际整流器输入电流 、 β逼近。 因此， 将观测器 中等效整流器输入电流值 。α、 ½取代滤波后的输入电流采样值 fa、 ½作为采样电 流输入到模型预测控制算法中， 避免了滤波延迟造成的影响。
观测器算法中的等效数学模型逼近实际物理系统， 由此得到的等效整流器输 入电流值 。 α、 。β相当于整流器的实际输入电流值， 这样便达到了消除滤波器造成 的采样延迟的目的。
尽管上面结合图对本发明进行了描述， 但是本发明并不局限于上述的具体实施方 式， 上述的具体实施方式仅仅是示意性的， 而不是限制性的， 本领域的普通技术 人员在本发明的启示下， 在不脱离本发明宗旨的情况下， 还可以作出很多变形， 这些均属于本发明的保护之内。

Claims

权利要求
1.一种基于模型预测控制的主动前端整流器滤波延迟补偿方法， 其特征在 于： 包括以下步骤：
步骤一： 检测主动前端整流器三相电网电压、三相输入电流采样值， 并将其 经过 ^拉克 Clarke变换得到两相静止坐标系下的电网电压采样值 ea、 和输入 电流采样值 fa、 ί ,
步骤二： 根据实际整流器 1)建立等效整流器数学模型；
Figure imgf000009_0001
式 (1)中： ea、 为电网电压采样值； 、 β为整流器输入电流值； L与 R分 别为输入电感值和等效串联电阻值； ua、 为整流器输入电压值；
根据实际滤波器对应的传递函数建立等效滤波器模型，该等效滤波器模型理 想传递函数为式 (2):
n-\ (2) ans + an_xs + · · · + α0
式 （2) 中： 《。， ... 为滤波器传递函数分母部分的系数； b0， bm为滤、 波器传递函数分子部分的系数； s为传递函数中的复变量；
上述等效整流器数学模型和等效滤波器模型构成滤波延迟观测器； 步骤三： 将步骤一得到的电网电压采样值 ea、 和上一个采样周期中计算得 到的整流器输入电压值 、 Μβ作为滤波延迟观测器的输入量，根据等效整流器数 学模型计算得到等效整流器输入电流值 。α、 /οβ ;
骤四： 将等效整流器输入电流值 。a、 ½经过等效滤波器模型式计算得到 等效采样电流 。fa、 ofp ;
步骤五：将步骤一得到的输入电流采样值 fa、 ¼与步骤四得到的等效采样电 流 iofa、 Ιοίρ的差值经过一比例控制器补偿到滤波延迟观测器的输入中； 步骤六： 将等效整流器输入电流值 。α、 。β作为整流器输入电流的观测值输入到 模型预测控制算法中， 得到最优的开关状态和对应的整流器输入电压值 、 Up ; 相比输入电流采样值 fa、 ½， 整流器输入电流观测值 。 α、 ½不受滤波器延迟的 影响， 其更接近实际的整流器输入电流值， 由此滤波器延迟的影响得到补偿。
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