WO2022262065A1 - 一种基于级联式重复控制器的逆变器控制方法及相关设备 - Google Patents
一种基于级联式重复控制器的逆变器控制方法及相关设备 Download PDFInfo
- Publication number
- WO2022262065A1 WO2022262065A1 PCT/CN2021/107605 CN2021107605W WO2022262065A1 WO 2022262065 A1 WO2022262065 A1 WO 2022262065A1 CN 2021107605 W CN2021107605 W CN 2021107605W WO 2022262065 A1 WO2022262065 A1 WO 2022262065A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- inverter
- deviation
- cascaded
- controller
- output voltage
- Prior art date
Links
- 230000003252 repetitive effect Effects 0.000 title claims abstract description 103
- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000012937 correction Methods 0.000 claims abstract description 19
- 238000004590 computer program Methods 0.000 claims description 12
- 239000003990 capacitor Substances 0.000 claims description 8
- 230000006870 function Effects 0.000 claims description 8
- 238000012546 transfer Methods 0.000 claims description 8
- 230000003111 delayed effect Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 5
- 238000004088 simulation Methods 0.000 description 5
- 238000012795 verification Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 230000003071 parasitic effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- 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
- H02M7/53873—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 with digital control
-
- 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
- H02M1/12—Arrangements for reducing harmonics from ac input or output
Definitions
- the present application relates to the technical field of power electronics, and in particular to an inverter control method, device, electronic equipment and computer-readable storage medium based on a cascaded repetitive controller.
- the inverter is a kind of power equipment commonly used in the power conversion process.
- many different control schemes have been proposed.
- a commonly used control method is proportional-integral (PI) control.
- PI controllers have certain difficulties in balancing dynamic and steady-state performance, and cannot take into account the dynamic performance and steady-state performance of the system output at the same time. In view of this, providing a solution to the above-mentioned technical problems has become an urgent concern for those skilled in the art.
- the purpose of this application is to provide an inverter control method, device, electronic equipment and computer-readable storage medium based on a cascaded repetitive controller, so as to effectively improve the dynamic performance and steady-state performance of the inverter output at the same time.
- this application discloses an inverter control method based on a cascaded repetitive controller, including:
- a corresponding pulse signal is generated based on the second control signal to drive the switch tube of the inverter to adjust the output voltage of the inverter.
- the calculating the first control signal based on the actual deviation by using a repetitive controller includes:
- the combined deviation is delayed and compensated sequentially by using a cascaded delay link and a compensation link, so as to obtain the first control signal.
- the filter with a delay link in the repetitive controller is specifically a low-pass filter.
- the compensation link in the repetitive controller specifically includes phase compensation and amplitude compensation.
- the transfer function expression of the compensation link is specifically k r z k S(z);
- k r is the gain of the compensation link
- z k is the phase compensation
- S(z) is the amplitude compensation, specifically the second-order link.
- using a PI double closed-loop controller cascaded with the repetitive controller to perform PI control based on the correction deviation to calculate a second control signal includes:
- the inverter is specifically a single-phase H6 bridge inverter.
- the present application also discloses an inverter control device based on a cascaded repetitive controller, including:
- An acquisition module configured to acquire the reference output voltage and the actual output voltage of the inverter
- a repetitive control module configured to calculate an actual deviation between the reference output voltage and the actual output voltage; use a repetitive controller to calculate a first control signal based on the actual deviation; calculate the first control signal and the actual deviation and get the corrected deviation;
- PI control module for utilizing the PI dual closed-loop controller cascaded with the repetitive controller to perform PI control based on the correction deviation to calculate the second control signal
- the driving module is configured to generate a corresponding pulse signal based on the second control signal to drive the switching tube of the inverter, so as to adjust the output voltage of the inverter.
- the present application also discloses an electronic device, comprising:
- a processor configured to execute the computer program to implement the steps of any inverter control method based on a cascaded repetitive controller as described above.
- the present application also discloses a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, it is used to implement any one of the above-mentioned The steps of the inverter control method of the cascaded repeat controller.
- the beneficial effect of the inverter control method, device, electronic equipment and computer-readable storage medium based on the cascaded repetitive controller provided by the application is that the application successively uses the repetitive controller and the PI controller for cascading Control, the cascaded repetitive controller effectively balances the dynamic performance and steady-state performance of the inverter voltage output, and the parameter design of the cascaded structure is simple and has wider system stability, which helps to improve the output voltage. Waveform quality.
- FIG. 1 is a schematic structural diagram of a double closed-loop control of an inverter in the prior art
- FIG. 2 is a flowchart of an inverter control method based on a cascaded repetitive controller disclosed in an embodiment of the present application;
- FIG. 3 is a schematic diagram of a control structure of a parallel repetitive controller disclosed in an embodiment of the present application.
- FIG. 4 is a schematic diagram of a control structure of a cascaded repetitive controller disclosed in an embodiment of the present application
- Fig. 5 is a schematic diagram of the stable range of two structures disclosed in the embodiment of the present application.
- FIG. 6 is a schematic structural diagram of a repetitive controller disclosed in an embodiment of the present application.
- FIG. 7 is a structural topology diagram of an H6 inverter disclosed in the embodiment of the present application.
- Fig. 8 is a schematic diagram of an operating mode 1 of an H6 inverter disclosed in the embodiment of the present application.
- FIG. 9 is a schematic diagram of an operating mode 2 of an H6 inverter disclosed in an embodiment of the present application.
- FIG. 10 is a schematic diagram of an operating mode 3 of an H6 inverter disclosed in an embodiment of the present application.
- Fig. 11 is a schematic diagram of an operating mode 4 of an H6 inverter disclosed in the embodiment of the present application.
- FIG. 12 is a dynamic waveform diagram of output voltage and current based on a parallel repetitive controller under a linear load disclosed in the embodiment of the present application;
- Fig. 13 is a dynamic waveform diagram of output voltage and current based on a cascaded repetitive controller under a linear load disclosed in the embodiment of the present application;
- FIG. 14 is a dynamic waveform diagram of output voltage and current based on a parallel repetitive controller under a nonlinear load disclosed in the embodiment of the present application;
- Fig. 15 is a dynamic waveform diagram of output voltage and current based on a cascaded repetitive controller under a nonlinear load disclosed in the embodiment of the present application;
- Fig. 16 is a structural block diagram of an inverter control device based on a cascaded repetitive controller disclosed in the embodiment of the present application;
- FIG. 17 is a structural block diagram of an electronic device disclosed in an embodiment of the present application.
- the core of the present application is to provide an inverter control method, device, electronic equipment, and computer-readable storage medium based on a cascaded repetitive controller, so as to simultaneously effectively improve the dynamic performance and steady-state performance of the inverter output.
- the current double-closed-loop control structure based on the PI controller is mostly used, including the voltage outer loop and the current inner loop with voltage feedforward.
- the specific structure can be seen in Figure 1.
- 1 and 2 are the digital control parts
- 3 is the equivalent transfer function of the main circuit of the inverter
- v ref is the reference output voltage
- v o is the actual output voltage of the inverter
- ic is filter capacitor current
- k c is current loop proportional coefficient
- k PWM PWM gain
- V dc inverter DC bus voltage
- L is filter inductance
- C Filter capacitor
- i L is the filter inductor current
- R is the parasitic resistance.
- this application provides an inverter control scheme based on cascaded repetitive controllers, which can effectively solve this technical problem.
- the embodiment of the present application discloses an inverter control method based on a cascaded repetitive controller, which mainly includes:
- the reference output voltage is recorded as v ref
- the actual output voltage is recorded as v o
- S102 Using a repetitive controller to calculate a first control signal based on an actual deviation.
- this application specifically uses a PI controller and a repetitive controller in combination.
- repetitive control comes from the inner membrane principle in control theory, which requires the feedback system to have a good ability to track instructions and counteract disturbances.
- This application proposes to cascade repetitive control and PI controllers to effectively suppress periodic disturbances and ensure that the system maintains good steady-state performance, thereby further improving the steady-state performance and dynamic performance of the inverter output.
- S103 Summing the first control signal and the actual deviation to obtain the correction deviation.
- the first control signal is recorded as y rp
- the actual deviation is recorded as v err
- the correction deviation is recorded as y cr
- y cr y rp +v err
- S105 Generate a corresponding pulse signal based on the second control signal to drive the switch tube of the inverter, so as to adjust the output voltage of the inverter.
- the repetitive controller and the PI controller used in combination in this application are specifically in a cascade relationship (that is, a series relationship), rather than a parallel relationship.
- the PI controller and the repetitive controller operate in parallel, as shown in Figure 3: the repetitive controller and the PI controller share an output error signal, and the output of the repetitive controller is the same as that of the PI controller The result of summing the outputs is passed to the plant.
- the parallel structure has the defect that the control design process is complicated. According to the simulation verification analysis, the parameter design of the parallel structure is complicated, and the system stability range is small, which is not conducive to the design of the inverter.
- this application adopts a cascaded structure, and the output signal of the repeated controller is processed as the input signal of the PI controller, and then the result of the PI control is output to the main circuit of the inverter to complete the cascaded control .
- the overall cascade structure can be seen in Figure 4: the repetitive controller outputs the generated first control signal y rp , sums it with the actual deviation to obtain the corrected deviation y cr , and inputs it to the PI double closed-loop controller, and the PI double closed loop controller After correlation calculation, the second control signal y cu can be generated to modulate and generate the corresponding pulse signal u to drive the switching tube in the main circuit of the inverter, so as to achieve the purpose of adjusting the output voltage of the inverter.
- G(z) represents the relevant control structure in the PI double-closed-loop structure
- the specific PI double-closed-loop control structure can be similar to Fig. 1, only need to replace the input signal with the correction deviation ycr in this application; and Refer to Figure 6 for the specific structure of the repeat controller.
- the cascaded structure used in this application is not only simple in parameter design, but also can maintain the advantages of the parallel repetitive controller while having wider system stability and improving the waveform quality of the output voltage.
- the parallel repetitive controller has more superior dynamic performance and steady-state performance.
- the bandwidth of the voltage loop is designed as:
- ⁇ bv is the resonant frequency
- f o is the fundamental frequency
- f s is the sampling frequency
- a stable value range of the controller can be obtained by combining formulas (3) and (6), that is, the area A+B in Fig. 5 .
- the transfer function of the parallel structure has a turning frequency. Therefore, the parallel structure needs to be designed so that the corner frequency is 50 Hz lower than the fundamental frequency, namely:
- the stable value range of the parallel repetitive controller can be obtained, that is, the area B in Fig. 5 . Since the Bode plot of the cascade structure is a relatively smooth curve in the low frequency band as a whole, there is no corner frequency, and there is no need to be restricted by the formula (8), so the region A+B is the stable value of the cascade repetitive controller scope. It can be seen from the comparison that the cascade repetitive controller has a larger stability range and is more conducive to parameter design.
- the inverter control method based on the cascaded repetitive controller successively uses the repetitive controller and the PI controller for cascade control, and the cascaded repetitive controller can effectively balance the voltage output of the inverter.
- the dynamic performance and steady-state performance, and the parameter design of the cascade structure is simple, and has a wider system stability, which helps to improve the waveform quality of the output voltage.
- the inverter control method based on the cascaded repetitive controller provided in the embodiment of the present application is based on the above content, and uses the repetitive controller to calculate the first control signal based on the actual deviation, including:
- the actual deviation is filtered using a filter with a delay link to calculate the filtered deviation
- the combined deviation is obtained by summing the actual deviation and the filtered deviation;
- the combined deviation is delayed and compensated sequentially by cascaded delay links and compensation links to obtain the first control signal.
- the filter with a delay link in the repeating controller is specifically a low-pass filter;
- the compensation link in the repeating controller specifically includes phase compensation and amplitude compensation.
- the transfer function expression of the compensation link can be specifically k r z k S(z); among them, k r is the gain of the compensation link; z k is the phase compensation; S(z) is the amplitude compensation, specifically two step link.
- FIG. 6 is a schematic structural diagram of a repetitive controller disclosed in an embodiment of the present application.
- v err is the input signal of the repetitive controller, that is, the actual deviation
- Q(z) is the filter
- z -N is the delay link
- v err_c is the filtering deviation
- v e is the combined deviation
- k r z k S(z ) as a whole is the compensation link, including phase compensation and amplitude compensation
- k r is the gain of the repetitive controller
- z k is the phase compensation
- S(z) is the amplitude compensation.
- Q(z) can be designed as a low-pass filter
- S(z) can be designed as a second-order link.
- the inverter control method based on the cascaded repetitive controller provided in the embodiment of the present application is based on the above content, and uses the PI double closed-loop controller cascaded with the repetitive controller to correct the deviation performing PI control to calculate a second control signal, comprising:
- the current deviation is obtained by making a difference between the current control amount and the filter capacitor current of the inverter;
- the product of the current deviation and the current loop proportional parameter is summed with the reference output voltage of the inverter to obtain the second control signal.
- the inverter control method based on the cascaded repetitive controller provided in the embodiment of the present application is based on the above content, and the inverter is specifically a single-phase H6 bridge inverter.
- the H6 bridge topology circuit is a new inverter topology proposed to solve the inverter common-mode leakage current problem.
- the H6 bridge inverter two unit freewheeling units are embedded between the midpoints of the bridge arms of the full bridge inverter to obtain a freewheeling channel.
- the H4 topology has received extensive research attention due to its advantages such as small output voltage ripple, small filter inductance, and high utilization of DC voltage on the input side.
- this circuit topology produces a large common-mode voltage, which causes large leakage currents.
- related research proposes an improved inverter topology-H6 topology. Therefore, the inverter in this embodiment may specifically be an H6 inverter.
- FIG. 7 is a structural topology diagram of an H6 inverter disclosed in the embodiment of the present application
- FIGS. 8-11 show four operating modes of PWM in the H6 inverter.
- S1-S6 are switches
- D1 and D2 are diodes
- L is a filter inductor
- C is a filter capacitor.
- the H6 inverter adds two extra diodes and two extra switches in order to provide a freewheeling path.
- S1, S5, and S4 are turned on; in operation mode 2, S5, D1 is turned on; in operation mode 3, S3, S6, S2 is turned on; in operation mode 4, S6, D2 is turned on. Pass.
- the common mode voltage of the H6 inverter is recorded as u com , and the common mode voltage formulas in the four modes are as follows:
- this application also provides the simulation verification results of it and the parallel structure in MATLAB/SIMULINK.
- Fig. 12 is the dynamic waveform of output voltage and current based on parallel repetitive controller under linear load
- Fig. 13 is the dynamic waveform of output voltage and current based on cascaded repetitive controller under linear load. It can be seen that the load is cut into the system at 0.04 seconds, and the output current starts to be generated at 0.04 seconds, which is synchronized with the output voltage.
- THD Total Harmonic Distortion
- Figure 14 is the dynamic waveform of the output voltage and current based on the parallel repetitive controller under the nonlinear load
- Figure 15 is the dynamic waveform of the output voltage and current based on the cascaded repetitive controller under the nonlinear load.
- THD total harmonic distortion
- the output voltage waveform of the cascade repetitive controller has a certain improvement effect compared with the parallel repetitive controller.
- the THD is lower, and the dynamic performance is further improved.
- the embodiment of the present application discloses an inverter control device based on a cascaded repetitive controller, which mainly includes:
- An acquisition module 201 configured to acquire a reference output voltage and an actual output voltage of the inverter
- the repetition control module 202 is used to calculate the actual deviation between the reference output voltage and the actual output voltage; use the repetition controller to calculate the first control signal based on the actual deviation; sum the first control signal and the actual deviation to obtain the correction deviation;
- a PI control module 203 configured to use a PI double closed-loop controller cascaded with the repetitive controller to perform PI control based on the correction deviation to calculate the second control signal;
- the driving module 204 is configured to generate a corresponding pulse signal based on the second control signal to drive the switching tube of the inverter, so as to adjust the output voltage of the inverter.
- the inverter control device based on the cascaded repetitive controller disclosed in the embodiment of the present application successively uses the repetitive controller and the PI controller to perform cascade control, and the cascade-based repetitive controller effectively balances the inverter
- the dynamic performance and steady-state performance of the voltage output, and the parameter design of the cascade structure is simple, and has a wider system stability, which helps to improve the waveform quality of the output voltage.
- the inverter control device based on the cascaded repetitive controller disclosed in the embodiment of the present application is based on the above content, and the repetitive control module 202 is specifically used for:
- a filter with a delay link to filter the actual deviation to calculate the filtered deviation; sum the actual deviation and the filtered deviation to obtain the combined deviation; use the cascaded delay link and compensation link to delay and compensate the combined deviation in turn to obtain first control signal.
- the inverter control device based on the cascaded repetitive controller disclosed in the embodiment of the present application is based on the above content, and the filter with the delay link in the repetitive controller is specifically a low-pass filter device.
- the inverter control device based on the cascaded repetitive controller disclosed in the embodiment of the present application is based on the above content, and the compensation link in the repetitive controller specifically includes phase compensation and amplitude compensation.
- the inverter control device based on the cascaded repetitive controller disclosed in the embodiment of the present application is based on the above content, and the transfer function expression of the compensation link is specifically k r z k S(z ); among them, k r is the gain of the compensation link; z k is the phase compensation; S(z) is the amplitude compensation, specifically the second-order link.
- the inverter control device based on the cascaded repetitive controller disclosed in the embodiment of the present application is based on the above content, and the PI control module 203 is specifically used for:
- the PI controller of the voltage outer loop is used to calculate the current control amount based on the correction deviation; the difference between the current control amount and the filter capacitor current of the inverter is obtained to obtain the current deviation; the product of the current deviation and the current loop proportional parameter and the reference value of the inverter The output voltages are summed to obtain a second control signal.
- the inverter control device based on the cascaded repetitive controller disclosed in the embodiment of the present application is based on the above content, and the inverter is specifically a single-phase H6 bridge inverter.
- an electronic device including:
- Memory 301 used to store computer programs
- the processor 302 is configured to execute the computer program to implement the steps of any inverter control method based on a cascaded repetitive controller as described above.
- the embodiment of the present application also discloses a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, it is used to implement any of the above-mentioned Steps of an inverter control method based on a cascaded repetitive controller.
Abstract
一种基于级联式重复控制器的逆变器控制方法、装置、电子设备及计算机可读存储介质，该方法包括：获取逆变器的参考输出电压、实际输出电压以计算两者的实际偏差；利用重复控制器基于实际偏差计算第一控制信号；将第一控制信号与实际偏差求和得到校正偏差；利用与重复控制器级联的PI双闭环控制器基于校正偏差进行PI控制以计算第二控制信号；基于第二控制信号生成对应的脉冲信号驱动逆变器的开关管，以调节逆变器的输出电压。本申请利用重复控制器、PI控制器进行级联控制，基于级联的重复控制器有效平衡了逆变器电压输出的动态性能和稳态性能，并且参数设计简单，具有更加宽泛的系统稳定性，有助于提高输出电压的波形质量。
Description
本申请要求于2021年06月18日提交中国专利局、申请号为202110677902.9、发明名称为“一种基于级联式重复控制器的逆变器控制方法及相关设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本申请涉及电力电子技术领域，特别涉及一种基于级联式重复控制器的逆变器控制方法、装置、电子设备及计算机可读存储介质。
逆变器是电力变换过程中常用的一种电力设备。为了有效地控制单相逆变器进行电压输出，许多不同的控制方案被提出来。其中，一种常用的控制方法是比例积分(PI)控制，然而，PI控制器在平衡动态和稳态性能方面存在一定困难，无法同时兼顾系统输出的动态性能和稳态性能。鉴于此，提供一种解决上述技术问题的方案，已经是本领域技术人员所亟需关注的。
发明内容
本申请的目的在于提供一种基于级联式重复控制器的逆变器控制方法、装置、电子设备及计算机可读存储介质，以便同时有效提高逆变器输出的动态性能和稳态性能。
为解决上述技术问题，一方面，本申请公开了一种基于级联式重复控制器的逆变器控制方法，包括：
获取所述逆变器的参考输出电压、实际输出电压以计算两者的实际偏差；
利用重复控制器基于所述实际偏差计算第一控制信号；
将所述第一控制信号与所述实际偏差求和得到校正偏差；
利用与所述重复控制器级联的PI双闭环控制器基于所述校正偏差进 行PI控制以计算第二控制信号；
基于所述第二控制信号生成对应的脉冲信号驱动所述逆变器的开关管，以调节所述逆变器的输出电压。
可选地，所述利用重复控制器基于所述实际偏差计算第一控制信号，包括：
利用带有延迟环节的滤波器对所述实际偏差进行滤波以计算滤波偏差；
将所述实际偏差与所述滤波偏差求和得到合并偏差；
利用级联的延迟环节和补偿环节依次对所述合并偏差进行延迟和补偿，以获取所述第一控制信号。
可选地，所述重复控制器中带有延迟环节的滤波器具体为低通滤波器。
可选地，所述重复控制器中的补偿环节具体包括相位补偿和幅值补偿。
可选地，所述补偿环节的传递函数表达式具体为k
rz
kS(z)；
其中，k
r为所述补偿环节的增益；z
k为相位补偿；S(z)为幅值补偿，具体为二阶环节。
可选地，所述利用与所述重复控制器级联的PI双闭环控制器基于所述校正偏差进行PI控制以计算第二控制信号，包括：
利用电压外环的PI控制器基于所述校正偏差计算电流控制量；
将所述电流控制量与所述逆变器的滤波电容电流作差得到电流偏差；
将所述电流偏差和电流环比例参数的乘积与所述逆变器的参考输出电压求和，以得到所述第二控制信号。
可选地，所述逆变器具体为单相H6桥逆变器。
又一方面，本申请还公开了一种基于级联式重复控制器的逆变器控制装置，包括：
获取模块，用于获取所述逆变器的参考输出电压、实际输出电压；
重复控制模块，用于计算所述参考输出电压与所述实际输出电压的实际偏差；利用重复控制器基于所述实际偏差计算第一控制信号；将所述第一控制信号与所述实际偏差求和得到校正偏差；
PI控制模块，用于利用与所述重复控制器级联的PI双闭环控制器基于 所述校正偏差进行PI控制以计算第二控制信号；
驱动模块，用于基于所述第二控制信号生成对应的脉冲信号驱动所述逆变器的开关管，以调节所述逆变器的输出电压。
又一方面，本申请还公开了一种电子设备，包括：
存储器，用于存储计算机程序；
处理器，用于执行所述计算机程序以实现如上所述的任一种基于级联式重复控制器的逆变器控制方法的步骤。
又一方面，本申请还公开了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时用以实现如上所述的任一种基于级联式重复控制器的逆变器控制方法的步骤。
本申请所提供的基于级联式重复控制器的逆变器控制方法、装置、电子设备及计算机可读存储介质所具有的有益效果是：本申请相继利用重复控制器、PI控制器进行级联控制，基于级联的重复控制器有效平衡了逆变器电压输出的动态性能和稳态性能，并且，级联结构的参数设计简单，具有更加宽泛的系统稳定性，有助于提高输出电压的波形质量。
为了更清楚地说明现有技术和本申请实施例中的技术方案，下面将对现有技术和本申请实施例描述中需要使用的附图作简要的介绍。当然，下面有关本申请实施例的附图描述的仅仅是本申请中的一部分实施例，对于本领域普通技术人员来说，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图，所获得的其他附图也属于本申请的保护范围。
图1为现有技术中逆变器的双闭环控制的结构示意图；
图2为本申请实施例公开的一种基于级联式重复控制器的逆变器控制方法的流程图；
图3为本申请实施例公开的一种并联式重复控制器的控制结构示意图；
图4为本申请实施例公开的一种级联式重复控制器的控制结构示意图；
图5为本申请实施例公开的两种结构的稳定范围示意图；
图6为本申请实施例公开的一种重复控制器的结构示意图；
图7为本申请实施例公开的一种H6逆变器的结构拓扑图；
图8为本申请实施例公开的一种H6逆变器的运行模式1示意图；
图9为本申请实施例公开的一种H6逆变器的运行模式2示意图；
图10为本申请实施例公开的一种H6逆变器的运行模式3示意图；
图11为本申请实施例公开的一种H6逆变器的运行模式4示意图；
图12为本申请实施例公开的一种线性负载下基于并联型重复控制器的输出电压、电流的动态波形图；
图13为本申请实施例公开的一种线性负载下基于级联型重复控制器的输出电压、电流的动态波形图；
图14为本申请实施例公开的一种非线性负载下基于并联型重复控制器的输出电压、电流的动态波形图；
图15为本申请实施例公开的一种非线性负载下基于级联型重复控制器的输出电压、电流的动态波形图；
图16为本申请实施例公开的一种基于级联式重复控制器的逆变器控制装置的结构框图；
图17为本申请实施例公开的一种电子设备的结构框图。
本申请的核心在于提供一种基于级联式重复控制器的逆变器控制方法、装置、电子设备及计算机可读存储介质，以便同时有效提高逆变器输出的动态性能和稳态性能。
为了对本申请实施例中的技术方案进行更加清楚、完整地描述，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行介绍。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在控制逆变器进行电压输出时，当前多采用基于PI控制器的双闭环控 制结构，包括电压外环和带电压前馈的电流内环，其具体结构可参见图1。
其中，①和②为数字控制部分，③为逆变器主电路的等效传递函数，v
ref为参考输出电压，v
o为逆变器实际输出电压，电压环PI控制器中有两个控制参数，即比例系数k
vp和积分系数kv
i，ic为滤波电容电流，k
c为电流环比例系数，k
PWM为PWM增益，V
dc为逆变器直流母线电压，L为滤波电感，C为滤波电容，i
L为滤波电感电流，R为寄生电阻。
针对单纯的PI控制难以平衡逆变器电压输出的动态性能与稳态性能，本申请提供了一种基于级联式重复控制器的逆变器控制方案，可有效解决该技术问题。
参见图2所示，本申请实施例公开了一种基于级联式重复控制器的逆变器控制方法，主要包括：
S101：获取逆变器的参考输出电压、实际输出电压以计算两者的实际偏差。
将参考输出电压记为v
ref，实际输出电压记为v
o，实际偏差记为v
err，则具体有：v
err＝v
ref-v
o。
S102：利用重复控制器基于实际偏差计算第一控制信号。
需要指出的是，本申请具体结合使用了PI控制器和重复控制器。具体地，重复控制的基本思想源于控制理论中的内膜原理，内膜原理要求反馈系统具有良好的跟踪指令以及抵消扰动的能力。本申请提出将重复控制与PI控制器级联，以有效地抑制周期性扰动，并保障系统保持良好的稳态性能，从而进一步提高逆变器输出的稳态性能和动态性能。
S103：将第一控制信号与实际偏差求和得到校正偏差。
将第一控制信号记为y
rp，实际偏差记为v
err，校正偏差记为y
cr，则y
cr＝y
rp+v
err。
S104：利用与重复控制器级联的PI双闭环控制器基于校正偏差进行PI控制以计算第二控制信号。
S105：基于第二控制信号生成对应的脉冲信号驱动逆变器的开关管，以调节逆变器的输出电压。
具体地，本申请中所结合使用的重复控制器与PI控制器具体是级联关 系(即串联关系)，而非并联关系。需要指出的是，在并联型结构中，PI控制器与重复控制器并联运行，具体如图3所示：重复控制器和PI控制器共用一个输出误差信号，重复控制器的输出与PI控制器的输出相加后的结果传递给被控对象。但并联型结构具有控制设计过程复杂的缺陷，根据仿真验证分析知，并联型结构的参数设计复杂，且系统稳定性范围较小，不利于逆变器的设计。
为此，本申请采用了级联型结构，并具体将重复控制器的输出信号经处理后作为PI控制器的输入信号，再将PI控制的结果输出给逆变器主电路以完成级联控制。整体的级联结构可参见图4：重复控制器将生成的第一控制信号y
rp输出，与实际偏差求和后得到校正偏差y
cr，并输入至PI双闭环控制器，PI双闭环控制器经相关计算后可生成第二控制信号y
cu，以便调制生成对应的脉冲信号u驱动逆变器主电路中的开关管，达到调节逆变器输出电压的目的。
其中，G(z)表示了PI双闭环结构中的相关控制结构，具体的PI双闭环控制结构可类似参见图1，只需将输入信号替换为本申请中的校正偏差y
cr即可；而重复控制器的具体结构可参考图6。
根据仿真验证分析可知，本申请采用的级联型结构不仅参数设计简单，而且可以在保持并联型重复控制器的优点的同时，具有更加宽泛的系统稳定性，提高输出电压的波形质量，具有比并联型重复控制器更加优越的动态性能与稳态性能。
具体分析过程如下：
对上述两种控制结构，为使系统具有更好的性能，电压环的带宽设计为：
500Hz＝10*f
o≤ω
bv≤0.1*f
s＝2kHz (1)
其中，ω
bv为谐振频率，f
o为基频频率，f
s为采样频率。将上式(1)代入到下式(2)中：
可得到电压环比例系数的取值范围如下式(3)：
0.063≤k
vp≤0.208 (3)
基于系统的传递函数式(4)：
可得到式(4)的特征方程如式(5)：
LCs
3+(CR+Ck
c)s
2+k
vpk
cs+k
vik
c＝0 (5)
根据罗斯判据可以得到系统稳定的条件为式(6)：
结合式(3)、(6)可得到控制器的一个稳定取值范围，即图5中的区域A+B。在此基础上，通过对重复控制器与PI控制器的级联结构、并联结构分别进行等效传递函数的波特图分析发现，并联结构的传递函数存在有转折频率。由此，并联结构在设计时需令转折频率低于基频频率50Hz，即：
由此计算得到：
k
vi＜100πk
vp (8)
如此，结合式(3)、(6)、(8)可得到并联式重复控制器的稳定取值范围，即图5中的区域B。而由于级联结构的波特图在低频段整体是一个比较平滑的曲线，没有转折频率，无需受到式(8)的限制，因此区域A+B即为级联式重复控制器的稳定取值范围。通过对比可以看出，级联型重复控制器的稳定性范围更大，更利于参数设计。
可见，本申请所提供的基于级联式重复控制器的逆变器控制方法，相继利用重复控制器、PI控制器进行级联控制，基于级联的重复控制器有效平衡了逆变器电压输出的动态性能和稳态性能，并且，级联结构的参数设计简单，具有更加宽泛的系统稳定性，有助于提高输出电压的波形质量。
作为一种具体实施例，本申请实施例所提供的基于级联式重复控制器 的逆变器控制方法在上述内容的基础上，利用重复控制器基于实际偏差计算第一控制信号，包括：
利用带有延迟环节的滤波器对实际偏差进行滤波以计算滤波偏差；
将实际偏差与滤波偏差求和得到合并偏差；
利用级联的延迟环节和补偿环节依次对合并偏差进行延迟和补偿，以获取第一控制信号。
进一步地，作为一种具体实施例，重复控制器中带有延迟环节的滤波器具体为低通滤波器；重复控制器中的补偿环节具体包括相位补偿和幅值补偿。具体地，补偿环节的传递函数表达式可具体为k
rz
kS(z)；其中，k
r为补偿环节的增益；z
k为相位补偿；S(z)为幅值补偿，具体为二阶环节。
具体参见图6，图6为本申请实施例公开的一种重复控制器的结构示意图。其中，v
err是重复控制器的输入信号，即实际偏差；Q(z)为滤波器；z
-N为延迟环节；v
err_c为滤波偏差；v
e为合并偏差；k
rz
kS(z)作为一个整体为补偿环节，其中包括相位补偿和幅值补偿，k
r为重复控制器的增益，z
k为相位补偿，S(z)为幅值补偿。通过计算以及仿真验证可得Q(z)设计为低通滤波器，S(z)设计为一个二阶环节。
作为一种具体实施例，本申请实施例所提供的基于级联式重复控制器的逆变器控制方法在上述内容的基础上，利用与重复控制器级联的PI双闭环控制器基于校正偏差进行PI控制以计算第二控制信号，包括：
利用电压外环的PI控制器基于校正偏差计算电流控制量；
将电流控制量与逆变器的滤波电容电流作差得到电流偏差；
将电流偏差和电流环比例参数的乘积与逆变器的参考输出电压求和，以得到第二控制信号。
类似参照图1，具体地，PI控制器基于校正偏差y
cr计算得到电流控制量i
r，i
r与滤波电容电流i
c作差得到电流偏差i
err，进而计算第二控制信号y
cu＝i
err·k
c-v
ref。如此，基于第二控制信号y
cu进行调制等，便可得到脉冲信号u以驱动逆变器主电路工作。
作为一种具体实施例，本申请实施例所提供的基于级联式重复控制器的逆变器控制方法在上述内容的基础上，逆变器具体为单相H6桥逆变器。
具体地，H6桥拓扑电路是为解决逆变器共模漏电流问题提出的一种新型逆变器拓扑。H6桥逆变器将两个单元续流单元嵌在全桥逆变器桥臂中点之间，以获得续流通道。
在各种结构的DC/AC逆变器电路拓扑中，H4拓扑因其输出电压脉动小、滤波器电感小、输入侧直流电压利用率高等优点而受到广泛的研究关注。然而，该电路拓扑会产生较大的共模电压，这将导致大的漏电流。为了抑制共模电压，从而产生低漏电流，相关研究提出了改进了的逆变器拓扑结构-H6拓扑。因此，本实施例中的逆变器可具体为H6逆变器。
参见图7-11，其中，图7为本申请实施例公开的一种H6逆变器的结构拓扑图，图8-11则示出了H6逆变器中PWM的4种运行模式。其中，S1-S6为开关，D1和D2为二极管，L为滤波电感，C为滤波电容。与传统的单相H4逆变器相比，H6逆变器增加了两个额外的二极管和两个额外的开关，目的是为了提供续流通路。
具体地，在运行模式1时，S1、S5、S4导通；运行模式2时，S5、D1导通；运行模式3时，S3、S6、S2导通；运行模式4时，S6、D2导通。
H6逆变器的共模电压记为u
com，则四种模式下的共模电压公式如下：
可见，在这四种模式下，H6逆变器的共模电压u
com幅值始终保持恒定，因此理论上H6逆变器可以有效消除漏电流的影响，提高电压输出质量。
为了进一步验证本申请所提供的基于级联式重复控制器的逆变器控制方法的有益效果，本申请还提供了其与并联结构在MATLAB/SIMULINK中的仿真验证结果。
具体地，图12为线性负载下基于并联型重复控制器的输出电压、电流的动态波形；图13为线性负载下基于级联型重复控制器的输出电压、电流的动态波形。可见，负载在0.04秒时切入系统，输出电流于0.04秒开始产生，且与输出电压同步。通过对两种结构的输出电压进行傅里叶分析，可得并联型重复控制器的输出电压总谐波畸变率(Total Harmonic Distortion， THD)为0.82％，而级联型的THD则仅为0.23％。
类似地，在非线性负载下对两种结构重复控制器进行比较。图14为非线性负载下基于并联型重复控制器的输出电压、电流的动态波形；图15为非线性负载下基于级联型重复控制器的输出电压、电流的动态波形。通过对非线性负载下的输出电压进行FFT分析，可得并联型重复控制器的输出电压总谐波畸变率(THD)为1.64％，而级联型的THD则仅为0.71％。
通过仿真分析可得，无论是线性负载还是非线性负载，在相同的设计参数下，级联型重复控制器的的输出电压波形较并联型重复控制器而言，具有一定的改善效果，输出电压的THD较低，且动态性能进一步改善。
参见图16所示，本申请实施例公开了一种基于级联式重复控制器的逆变器控制装置，主要包括：
获取模块201，用于获取逆变器的参考输出电压、实际输出电压；
重复控制模块202，用于计算参考输出电压与实际输出电压的实际偏差；利用重复控制器基于实际偏差计算第一控制信号；将第一控制信号与实际偏差求和得到校正偏差；
PI控制模块203，用于利用与重复控制器级联的PI双闭环控制器基于校正偏差进行PI控制以计算第二控制信号；
驱动模块204，用于基于第二控制信号生成对应的脉冲信号驱动逆变器的开关管，以调节逆变器的输出电压。
可见，本申请实施例所公开的基于级联式重复控制器的逆变器控制装置，相继利用重复控制器、PI控制器进行级联控制，基于级联的重复控制器有效平衡了逆变器电压输出的动态性能和稳态性能，并且，级联结构的参数设计简单，具有更加宽泛的系统稳定性，有助于提高输出电压的波形质量。
关于上述基于级联式重复控制器的逆变器控制装置的具体内容，可参考前述关于基于级联式重复控制器的逆变器控制方法的详细介绍，这里就不再赘述。
作为一种具体实施例，本申请实施例所公开的基于级联式重复控制器的逆变器控制装置在上述内容的基础上，重复控制模块202具体用于：
利用带有延迟环节的滤波器对实际偏差进行滤波以计算滤波偏差；将实际偏差与滤波偏差求和得到合并偏差；利用级联的延迟环节和补偿环节依次对合并偏差进行延迟和补偿，以获取第一控制信号。
作为一种具体实施例，本申请实施例所公开的基于级联式重复控制器的逆变器控制装置在上述内容的基础上，重复控制器中带有延迟环节的滤波器具体为低通滤波器。
作为一种具体实施例，本申请实施例所公开的基于级联式重复控制器的逆变器控制装置在上述内容的基础上，重复控制器中的补偿环节具体包括相位补偿和幅值补偿。
作为一种具体实施例，本申请实施例所公开的基于级联式重复控制器的逆变器控制装置在上述内容的基础上，补偿环节的传递函数表达式具体为k
rz
kS(z)；其中，k
r为补偿环节的增益；z
k为相位补偿；S(z)为幅值补偿，具体为二阶环节。
作为一种具体实施例，本申请实施例所公开的基于级联式重复控制器的逆变器控制装置在上述内容的基础上，PI控制模块203具体用于：
利用电压外环的PI控制器基于校正偏差计算电流控制量；将电流控制量与逆变器的滤波电容电流作差得到电流偏差；将电流偏差和电流环比例参数的乘积与逆变器的参考输出电压求和，以得到第二控制信号。
作为一种具体实施例，本申请实施例所公开的基于级联式重复控制器的逆变器控制装置在上述内容的基础上，逆变器具体为单相H6桥逆变器。
参见图17所示，本申请实施例公开了一种电子设备，包括：
存储器301，用于存储计算机程序；
处理器302，用于执行所述计算机程序以实现如上所述的任一种基于级联式重复控制器的逆变器控制方法的步骤。
进一步地，本申请实施例还公开了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时 用以实现如上所述的任一种基于级联式重复控制器的逆变器控制方法的步骤。
关于上述电子设备和计算机可读存储介质的具体内容，可参考前述关于基于级联式重复控制器的逆变器控制方法的详细介绍，这里就不再赘述。
本申请中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的设备而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。
还需说明的是，在本申请文件中，诸如“第一”和“第二”之类的关系术语，仅仅用来将一个实体或者操作与另一个实体或者操作区分开来，而不一定要求或者暗示这些实体或者操作之间存在任何这种实际的关系或者顺序。此外，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本申请所提供的技术方案进行了详细介绍。本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以对本申请进行若干改进和修饰，这些改进和修饰也落入本申请的保护范围内。
Claims (10)
- 一种基于级联式重复控制器的逆变器控制方法，其特征在于，包括：获取所述逆变器的参考输出电压、实际输出电压以计算两者的实际偏差；利用重复控制器基于所述实际偏差计算第一控制信号；将所述第一控制信号与所述实际偏差求和得到校正偏差；利用与所述重复控制器级联的PI双闭环控制器基于所述校正偏差进行PI控制以计算第二控制信号；基于所述第二控制信号生成对应的脉冲信号驱动所述逆变器的开关管，以调节所述逆变器的输出电压。
- 根据权利要求1所述的逆变器控制方法，其特征在于，所述利用重复控制器基于所述实际偏差计算第一控制信号，包括：利用带有延迟环节的滤波器对所述实际偏差进行滤波以计算滤波偏差；将所述实际偏差与所述滤波偏差求和得到合并偏差；利用级联的延迟环节和补偿环节依次对所述合并偏差进行延迟和补偿，以获取所述第一控制信号。
- 根据权利要求2所述的逆变器控制方法，其特征在于，所述重复控制器中带有延迟环节的滤波器具体为低通滤波器。
- 根据权利要求3所述的逆变器控制方法，其特征在于，所述重复控制器中的补偿环节具体包括相位补偿和幅值补偿。
- 根据权利要求4所述的逆变器控制方法，其特征在于，所述补偿环节的传递函数表达式具体为k rz kS(z)；其中，k r为所述补偿环节的增益；z k为相位补偿；S(z)为幅值补偿，具体为二阶环节。
- 根据权利要求1至5任一项所述的逆变器控制方法，其特征在于，所述利用与所述重复控制器级联的PI双闭环控制器基于所述校正偏差进行PI控制以计算第二控制信号，包括：利用电压外环的PI控制器基于所述校正偏差计算电流控制量；将所述电流控制量与所述逆变器的滤波电容电流作差得到电流偏差；将所述电流偏差和电流环比例参数的乘积与所述逆变器的参考输出电压求和，以得到所述第二控制信号。
- 根据权利要求6所述的逆变器控制方法，其特征在于，所述逆变器具体为单相H6桥逆变器。
- 一种基于级联式重复控制器的逆变器控制装置，其特征在于，包括：获取模块，用于获取所述逆变器的参考输出电压、实际输出电压；重复控制模块，用于计算所述参考输出电压与所述实际输出电压的实际偏差；利用重复控制器基于所述实际偏差计算第一控制信号；将所述第一控制信号与所述实际偏差求和得到校正偏差；PI控制模块，用于利用与所述重复控制器级联的PI双闭环控制器基于所述校正偏差进行PI控制以计算第二控制信号；驱动模块，用于基于所述第二控制信号生成对应的脉冲信号驱动所述逆变器的开关管，以调节所述逆变器的输出电压。
- 一种电子设备，其特征在于，包括：存储器，用于存储计算机程序；处理器，用于执行所述计算机程序以实现如权利要求1至7任一项所述的基于级联式重复控制器的逆变器控制方法的步骤。
- 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时用以实现如权利要求1至7任一项所述的基于级联式重复控制器的逆变器控制方法的步骤。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110677902.9 | 2021-06-18 | ||
| CN202110677902.9A CN113224969A (zh) | 2021-06-18 | 2021-06-18 | 一种基于级联式重复控制器的逆变器控制方法及相关设备 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2022262065A1 true WO2022262065A1 (zh) | 2022-12-22 |
Family
ID=77080563
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2021/107605 WO2022262065A1 (zh) | 2021-06-18 | 2021-07-21 | 一种基于级联式重复控制器的逆变器控制方法及相关设备 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113224969A (zh) |
| WO (1) | WO2022262065A1 (zh) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115664846B (zh) * | 2022-12-08 | 2023-07-04 | 深圳市永达电子信息股份有限公司 | 一种网络安全管控系统及方法 |
| CN116047214B (zh) * | 2023-03-31 | 2023-06-20 | 东方博沃（北京）科技有限公司 | 一种无功补偿控制器的校验方法及装置 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104410074A (zh) * | 2014-12-17 | 2015-03-11 | 电子科技大学 | 一种基于pi自适应的有源电力滤波器复合控制方法 |
| US9048726B1 (en) * | 2013-03-11 | 2015-06-02 | The Boeing Company | Power system having repetitive control in symmetric sequences with harmonics cancellation |
| CN104953875A (zh) * | 2015-07-14 | 2015-09-30 | 太原理工大学 | 一种离网逆变器的重复滑模控制方法 |
| CN106877399A (zh) * | 2017-03-24 | 2017-06-20 | 上海电力学院 | 一种单相lcl型并网逆变器双环控制方法 |
| CN110880881A (zh) * | 2019-12-23 | 2020-03-13 | 深圳市凌康技术有限公司 | 四桥臂逆变器的电能质量控制方法及其内嵌式重复控制器 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103051169B (zh) * | 2012-12-24 | 2016-03-23 | 艾思玛新能源技术（上海）有限公司 | 一种逆变拓扑电路的无功功率控制方法 |
| CN110739877A (zh) * | 2019-11-07 | 2020-01-31 | 福建工程学院 | 一种船用发电机四桥臂逆变系统控制方法 |
-
2021
- 2021-06-18 CN CN202110677902.9A patent/CN113224969A/zh active Pending
- 2021-07-21 WO PCT/CN2021/107605 patent/WO2022262065A1/zh unknown
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9048726B1 (en) * | 2013-03-11 | 2015-06-02 | The Boeing Company | Power system having repetitive control in symmetric sequences with harmonics cancellation |
| CN104410074A (zh) * | 2014-12-17 | 2015-03-11 | 电子科技大学 | 一种基于pi自适应的有源电力滤波器复合控制方法 |
| CN104953875A (zh) * | 2015-07-14 | 2015-09-30 | 太原理工大学 | 一种离网逆变器的重复滑模控制方法 |
| CN106877399A (zh) * | 2017-03-24 | 2017-06-20 | 上海电力学院 | 一种单相lcl型并网逆变器双环控制方法 |
| CN110880881A (zh) * | 2019-12-23 | 2020-03-13 | 深圳市凌康技术有限公司 | 四桥臂逆变器的电能质量控制方法及其内嵌式重复控制器 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113224969A (zh) | 2021-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2022262065A1 (zh) | 一种基于级联式重复控制器的逆变器控制方法及相关设备 | |
| CN104953875B (zh) | 一种离网逆变器的重复滑模控制方法 | |
| CN106655274A (zh) | 一种三相并网逆变器并网电流的控制方法 | |
| CN110138253A (zh) | 一种多谐振pr和pi联合控制的光伏并网逆变器控制方法 | |
| CN112234808B (zh) | 单相逆变器的二倍频纹波抑制电路及抑制方法 | |
| WO2023226723A1 (zh) | 双有源桥型微逆变器的电路建模方法及输出电流控制方法 | |
| CN111555627B (zh) | 高阶lclcl直流变换器的控制方法 | |
| CN101540510A (zh) | 两级并网系统消除中间直流侧二次脉动干扰的方法 | |
| WO2022105068A1 (zh) | 并网逆变器的控制方法和装置 | |
| CN109861374B (zh) | 一种无需负载电流传感器的三相全桥不间断电源控制方法 | |
| CN114865633B (zh) | 一种自适应准pr有源阻尼低频率谐波抑制方法 | |
| CN113690889A (zh) | 一种以新型多电平变流器改进有源电力滤波器的电力谐波治理方法 | |
| CN110429603B (zh) | 六开关七电平有源电力滤波器及补偿方法 | |
| Martinez‐Rodriguez et al. | Analysis and experimental validation of a controller for a single‐phase active power filter based on a 3L‐NPC topology | |
| CN110277798B (zh) | 一种基于lcl型光伏逆变器的pir优化控制方法 | |
| CN112688586A (zh) | Lcl型并网逆变器改进型加权平均电流的控制方法 | |
| CN117039976A (zh) | 一种cllc双向谐振变换器级联并网逆变器及其抑制方法 | |
| Babaie et al. | Model-free second-order sliding mode control for grid-connected voltage source compact multilevel converters | |
| WO2022262066A1 (zh) | T型三电平电压型的逆变器的输出控制方法及相关设备 | |
| CN111953213B (zh) | 级联h桥固态变压器的均功率控制方法 | |
| CN217282687U (zh) | 一种以新型多电平变流器改进有源电力滤波器的电路结构 | |
| Zhe et al. | A Grid-Connected Inverter with Grid-Voltage-Weighted Feedforward Control Based on the Quasi-Proportional Resonance Controller for Suppressing Grid Voltage Disturbances | |
| CN112187080B (zh) | 单相三电平变流系统及其基于鲁棒h∞与均压的控制方法 | |
| CN112701722B (zh) | 一种抑制能量路由器并网电流死区谐波的有源阻尼方法 | |
| CN113037109B (zh) | 一种九电平逆变器及九电平有源滤波器 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21945647 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |