三相电压型可逆变流器的最优控制研究
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摘要
本论文得到了国家自然科学基金重点项目“全控型GTO三相整流-逆变双向变流器研究”(项目号59577007)和河北省自然科学基金项目“基于波形评估的高功率因数变流器的特性研究”(项目号500206)的资助。
本文的研究对象三相电压型可逆变流器系统是一个多输入多输出的非线性系统。在三相变流器的两种典型拓扑中，由于三相电压型可逆变流器拓扑具有比电流型变流器拓扑更好的控制性能尤其在功率回馈或完全正弦的输入电流波形方面远远优越于电流型变流器，而逐渐成为研究的重点。为了解决电力电子装置的谐波和无功功率污染问题，近些年来国内外学者提出了很多控制方案。大大促进了三相变流器的发展和研究。然而大多控制研究是基于变流器理想情况下的，对变流器在非理想情况下的研究工作和系统参数鲁棒性的研究，则探索甚少。
本论文将最优控制理论应用到三相变流器系统中，提出了基于状态反馈的比例积分(PI)与线性二次型积分(LQI)相结合的最优控制器，该控制器可在保证系统高功率因数、稳定性的前提下，对负载扰动及系统参数的变化具有一定的鲁棒性，使系统在非理想情况下也能实现恒定的直流输出和单位功率因数。
论文中首先回顾了三相变流器控制方式的发展及变化趋势，针对本文的研究对象分析了其工作原理和内部参数间的关系，给出了系统在不同坐标系下的数学模型，为系统的理论分析和实验奠定了基础。在开关调制方式中，本文提出了一种新型的开关策略，使系统能够在最小开关损耗下工作。在理论分析的基础上，运用MATLAB仿真软件分别对控制方式和开关调制方式进行仿真，仿真研究表明与理论分析基本一致。利用数字信号处理器TMS320F240实现了系统的最优控制，设计并调试了系统的主电路和控制电路，对提出的开关调制方式和控制方式进行了DSP的软件编程和调试。最后完成了系统的开环和闭环实验，取得了和仿真一致的结果，从而验证了控制方案的可行性和优越性。
The paper is supported by NSF (The National Science Foundation)(Item Number:59577007) and NSF of Hebei province (Item Number:500206).
Three-phase voltage source converter is a nonlinear system with multi-input and multi-output. System is widely investigated internationally because it has better capability than current source converter, especially in bi-directional power transfer and sinusoidal current. To solve problem of harmonics and reactive power compensation, researchers have proposed many control strategies in recent years. It accelerated the development of three-phase converter. Most of them are limited on ideally conditions; the study of converters based on non-ideally conditions is so little.
Optimal control theory and optimal controller based state-feedback PI and LQI are applied three-phase converter .It not only can guarantee high power factor and stability, but also robust with parameters change of system. At the same time, it can provide constant dc bus voltage and unity power factor under different loads and some non-ideally conditions.
At the beginning the controllable techniques of the converter in the world are reviewed. Its operational principle and internal parameter relation are analyzed. The model of system in different coordinates is presented. It’s the base of the theoretic analysis. Then a new switch modulation strategy is discussed. It can make system work in minimum switch loss. The simulation of system control and switch strategy validated consistency with theory analysis using MATLAB. The optimal control is implemented with TMS320F240 The paper introduced the design of hardware and control circuits and completed program of DSP and hardware circuit debugging. At last, experiment of open loop and closed loop system are completed, which is in accord with the simulation result. It verified feasibility and advantage of the control scheme.
本文的研究对象三相电压型可逆变流器系统是一个多输入多输出的非线性系统。在三相变流器的两种典型拓扑中，由于三相电压型可逆变流器拓扑具有比电流型变流器拓扑更好的控制性能尤其在功率回馈或完全正弦的输入电流波形方面远远优越于电流型变流器，而逐渐成为研究的重点。为了解决电力电子装置的谐波和无功功率污染问题，近些年来国内外学者提出了很多控制方案。大大促进了三相变流器的发展和研究。然而大多控制研究是基于变流器理想情况下的，对变流器在非理想情况下的研究工作和系统参数鲁棒性的研究，则探索甚少。
本论文将最优控制理论应用到三相变流器系统中，提出了基于状态反馈的比例积分(PI)与线性二次型积分(LQI)相结合的最优控制器，该控制器可在保证系统高功率因数、稳定性的前提下，对负载扰动及系统参数的变化具有一定的鲁棒性，使系统在非理想情况下也能实现恒定的直流输出和单位功率因数。
论文中首先回顾了三相变流器控制方式的发展及变化趋势，针对本文的研究对象分析了其工作原理和内部参数间的关系，给出了系统在不同坐标系下的数学模型，为系统的理论分析和实验奠定了基础。在开关调制方式中，本文提出了一种新型的开关策略，使系统能够在最小开关损耗下工作。在理论分析的基础上，运用MATLAB仿真软件分别对控制方式和开关调制方式进行仿真，仿真研究表明与理论分析基本一致。利用数字信号处理器TMS320F240实现了系统的最优控制，设计并调试了系统的主电路和控制电路，对提出的开关调制方式和控制方式进行了DSP的软件编程和调试。最后完成了系统的开环和闭环实验，取得了和仿真一致的结果，从而验证了控制方案的可行性和优越性。
The paper is supported by NSF (The National Science Foundation)(Item Number:59577007) and NSF of Hebei province (Item Number:500206).
Three-phase voltage source converter is a nonlinear system with multi-input and multi-output. System is widely investigated internationally because it has better capability than current source converter, especially in bi-directional power transfer and sinusoidal current. To solve problem of harmonics and reactive power compensation, researchers have proposed many control strategies in recent years. It accelerated the development of three-phase converter. Most of them are limited on ideally conditions; the study of converters based on non-ideally conditions is so little.
Optimal control theory and optimal controller based state-feedback PI and LQI are applied three-phase converter .It not only can guarantee high power factor and stability, but also robust with parameters change of system. At the same time, it can provide constant dc bus voltage and unity power factor under different loads and some non-ideally conditions.
At the beginning the controllable techniques of the converter in the world are reviewed. Its operational principle and internal parameter relation are analyzed. The model of system in different coordinates is presented. It’s the base of the theoretic analysis. Then a new switch modulation strategy is discussed. It can make system work in minimum switch loss. The simulation of system control and switch strategy validated consistency with theory analysis using MATLAB. The optimal control is implemented with TMS320F240 The paper introduced the design of hardware and control circuits and completed program of DSP and hardware circuit debugging. At last, experiment of open loop and closed loop system are completed, which is in accord with the simulation result. It verified feasibility and advantage of the control scheme.
引文
钱照明, 何湘宁.电力电子技术及其应用的最新发展.中国电机工程学报,1997, 17(6):301-366
李海峰.走向绿色化的电气传动.电气时代,2003,(5):18-23
国家标准GB/T 14549-93.电能质量公用电网谐波.1994:426-429
徐德鸿.三相高功率因数整流器的发展与现状.江苏机械制造与自动化，2000(4):6-15
Manias, Stephanos, Ziogas, et al. An Ac-to-Dc Converter with Improved Input Power Factor and High Power Density. IEEE Trans. on Industry Applications, 1986,22(6):1073-1081
Ooi, Boon Teck, Salmon, et al. Three-phase Controlled-current PWM Converter with Leading Power Factor. IEEE Trans. on IA, 1987,23(1):78-84
P. D. Siogas. Optimum System Design of a Three-Phase Rectifier-Inverter Type of Frequency Change. IEEE-TIA, 1985,21(5):1215-1225
A. W Green, J. T. Boys and G. F. Gates. 3-phase Voltage Sourced Reversible Rectifier. IEE Proc. Part B:Electric Power Applications, 1988,135(6):362-370
J. W. Dixom, B. T. Ooi. Indirect Current Control of a Unity Power Factor Sinusoidal Current Boost Type 3-Phase Rectifier. IEEE Trans. on Power Electronics, 1988,35(4): 508-515
C. T. Pan, T. C. Chen. Modeling and Analysis of A Three-phase PWM AC-DC Converter without Current Sensor. IEE Proceeding-B, 1993,140(3):201-208
Wu. R. Song. A PWM AC-DC Converter with Fixed Switching Frequency. IEEE Trans. on IA. 1990, 5(26):880-885
Navid R. Zargari, Geza Joos. Performance Investigation of a Current-Control Voltage-Regulated PWM Rectifier in Rotating and Stationary Frames. IEEE Trans. Industry Electronics, 1995,42(4):396-401
P. D. Enjeti, J. F. Ziogas and Lindsay. A Novel Current Controlled PWM Inverter for Variable Aped AC Drives. In Confer. Rec. IEEE-IAS Annu. Meeting, Denver, CO, 1986:235-243
Lorenz, D. Robert. Performance of Feed forward Current Regulators for Field
Oriented Induction Machine Controllers. IEEE Trans. On IA. 1987,23(4): 597-602
Lee, Dong-Choon. High Performance Current Regulator for A Field-oriented Controlled Induction Motor Drive. IEEE Trans. on IA, 1994,30(5):1247-1257
Malesani, Luigi, Paolo, et al. A Novel Hysteresis Control Method for Current -controlled Voltage-source PWM Inverters with Constant Modulation Frequency, IEEE Trans. on IA, 1990,26(1):88-92
K. BOSE. BIMAL An Adaptive Hysteresis-Band Current Control Technique of a Voltage-Fed PWM Inverter for Machine Drive System. IEEE Trans. Ind. Elec. 1990,37(5):402-408
M. A. Dzieniakowski, Kazmier Kowki and M.P. Selftuned Fuzzy PI Current Controller for PWM-VSI. Proceedings of EPE conference, 1995:1308-1313
Azmier, Kowki, M. P. Sobczuk, et al. Neural Network Current Control of ZVS-PWM Inverters. Proceedings of EPE conference, 1995: 1415-1420
B. R. Lin. Study of Fuzzy Current-controlled Inverter Drives, Power Electronics and Applications Conf (EPE’95), Sevilla, 1995:1379-1384
M. P. Kazmierkowski, D. L. Sobczuk and M. A. Dzieniakowski. Neural Network Current Control of VS-PWM Inverters, in Proc. EPE Conf., Seville, Spain, 1995:1415-1420
K. W. E. Cheng, H. Y. Wang and D. Sutanto. Adaptive Directive Neural Network Control for Three-phase AC/DC PWM Converter. IEE Proc. Power. Appl., 2001, 148(5):425-430
S. Fukuda. LQ Control of Sinusoidal Current PWM Rectifiers .IEE Proc-Electr. Power Applications. 1997,144(2):95-99
Ke Yue., M. Smekly and Cuk. One-Cycle Control of Switching Converters. IEEE Trans. on Power Electronics, 1995,10(6):142-150
Karel. Jezernik. VSS Control of Unity Power Factor. IEEE Trans. on Industry Electronics, 1999,46(2):325-331
Azeddine Draou, Yukihiko Sato. A New State Feedback Based Transient Control of PWM Ac to Dc Voltage Type Converters. IEEE Trans. on Power Electronics, 1995,10(6):716-724
Ming Tsung, W. I. Tsai. Analysis and Design Three Phase AC/DC Converters with
High Power Factor and Near-Optimum Feed ward. IEEE Trans. on Industry Electronics, 1999,46(3):535-543
林渭勋.现代电力电子电路.浙江:浙江大学出版社,2002:304-305
王子才, 赵长安.应用最优控制.哈尔滨:哈尔滨工业大学出版社,1989:153-180
郑大中.线性系统理论.北京:清华大学出版社,2000:180-191
Marian, P. Kazmierkowski. Current Control Techniques for Three-Phase Voltage- Source PWM Converters: A Survey, IEEE Trans. on Industry Electronics 1998, 45(5):691-703
王立乔.三相电压源型PWM 双向变流器闭环控制研究.[燕山大学工学硕士论文]. 1999:13-14
董晓鹏, 王兆安.三相电压型单位功率因数PWM整流器的研究.电力电子技术,1997,31(4):39-41
W. Leonhard. Introduction to Control Engineering and Linear Control System. New Delhi: Allied, 1976
Vladimir Blasko. A New Mathematical Model and Control of a Three-Phase AC-DC Voltage Source Converter. IEEE Trans. Power. Electronics, 1997,12(1):116-123
袁泽剑.基于空间电压矢量的最小开关损耗PWM技术.电力电子技术,1999,33(6): 12-15
熊健, 康勇, 张凯, 等.电压空间矢量调制与常规SPWM的比较研究.电力电子技术,1999,33(2):25-28
Y. Murai, K. Ohashi. New PWM Method for Fully Digitized Inverters. IEEE Trans. On Industry. Application, 1987,23(5):887-893
黄俊.电力电子变流技术(第三版).北京:机械工业出版社,北京,1995:208-220.
王兆安, 黄俊.电力电子技术.北京:机械工业出版社,2001:51-59
施阳, 李俊.MATLAB语言工具箱.西安:西北工业大学出版社,1999:124-156
程卫国.MATLAB5.3应用指南.北京:人民邮电出版社,1999:259-323
韩利竹, 王华.MATLAB电子仿真与应用.北京:国防工业出版社,2001:209-234
陈桂明, 张明照, 戚红雨, 等.应用MATLAB建模与仿真.北京:科学出版社, 2001 :309-329
薛定宇, 陈阳泉.基于MATALB/Simulink 的系统仿真技术与应用.北京:清华大学出版社,2002:252-324
薛定宇.反馈控制系统设计与分析-MATLAB语言应用.北京:清华大学出版社, 2000:199-242
宁改娣, 杨拴科.DSP控制器原理及应用.北京:科学出版社,2002:14-36
章云, 谢莉平, 雄红艳,等.DSP控制器及其应用.北京:机械工业出版社,2001:11-34
刘和平.TMS320LF240xDSP结构、原理及应用.北京:北京航空航天大学出版社, 2002:1-14
Texas Instruments, TMS320LF/LC240xA DSP Controllers Reference Guide, 2001: 1-520
Texas Instruments.TMS320C1x/C2x/C2xx/C5x Assembly Language Tools User’s Guide, 1995:1-350
Texas Instruments.TMS320F/C240 DSP Controllers Reference Guide－Peripheral Library and Specific Devices, 1999:1-230
江思敏.TMS320LF240XDSP硬件开发教程.北京:机械工业出版社,2003:88-133
张芳兰.TMS320C2XX用户指南.北京:电子工业出版社,1999:69-79
赖寿宏.微型计算机控制技术.北京:机械工业出版社,1998:245-266
李嗣福.计算机控制基础.合肥:中国科学技术大学出版社,2001:389-393
李海峰.走向绿色化的电气传动.电气时代,2003,(5):18-23
国家标准GB/T 14549-93.电能质量公用电网谐波.1994:426-429
徐德鸿.三相高功率因数整流器的发展与现状.江苏机械制造与自动化，2000(4):6-15
Manias, Stephanos, Ziogas, et al. An Ac-to-Dc Converter with Improved Input Power Factor and High Power Density. IEEE Trans. on Industry Applications, 1986,22(6):1073-1081
Ooi, Boon Teck, Salmon, et al. Three-phase Controlled-current PWM Converter with Leading Power Factor. IEEE Trans. on IA, 1987,23(1):78-84
P. D. Siogas. Optimum System Design of a Three-Phase Rectifier-Inverter Type of Frequency Change. IEEE-TIA, 1985,21(5):1215-1225
A. W Green, J. T. Boys and G. F. Gates. 3-phase Voltage Sourced Reversible Rectifier. IEE Proc. Part B:Electric Power Applications, 1988,135(6):362-370
J. W. Dixom, B. T. Ooi. Indirect Current Control of a Unity Power Factor Sinusoidal Current Boost Type 3-Phase Rectifier. IEEE Trans. on Power Electronics, 1988,35(4): 508-515
C. T. Pan, T. C. Chen. Modeling and Analysis of A Three-phase PWM AC-DC Converter without Current Sensor. IEE Proceeding-B, 1993,140(3):201-208
Wu. R. Song. A PWM AC-DC Converter with Fixed Switching Frequency. IEEE Trans. on IA. 1990, 5(26):880-885
Navid R. Zargari, Geza Joos. Performance Investigation of a Current-Control Voltage-Regulated PWM Rectifier in Rotating and Stationary Frames. IEEE Trans. Industry Electronics, 1995,42(4):396-401
P. D. Enjeti, J. F. Ziogas and Lindsay. A Novel Current Controlled PWM Inverter for Variable Aped AC Drives. In Confer. Rec. IEEE-IAS Annu. Meeting, Denver, CO, 1986:235-243
Lorenz, D. Robert. Performance of Feed forward Current Regulators for Field
Oriented Induction Machine Controllers. IEEE Trans. On IA. 1987,23(4): 597-602
Lee, Dong-Choon. High Performance Current Regulator for A Field-oriented Controlled Induction Motor Drive. IEEE Trans. on IA, 1994,30(5):1247-1257
Malesani, Luigi, Paolo, et al. A Novel Hysteresis Control Method for Current -controlled Voltage-source PWM Inverters with Constant Modulation Frequency, IEEE Trans. on IA, 1990,26(1):88-92
K. BOSE. BIMAL An Adaptive Hysteresis-Band Current Control Technique of a Voltage-Fed PWM Inverter for Machine Drive System. IEEE Trans. Ind. Elec. 1990,37(5):402-408
M. A. Dzieniakowski, Kazmier Kowki and M.P. Selftuned Fuzzy PI Current Controller for PWM-VSI. Proceedings of EPE conference, 1995:1308-1313
Azmier, Kowki, M. P. Sobczuk, et al. Neural Network Current Control of ZVS-PWM Inverters. Proceedings of EPE conference, 1995: 1415-1420
B. R. Lin. Study of Fuzzy Current-controlled Inverter Drives, Power Electronics and Applications Conf (EPE’95), Sevilla, 1995:1379-1384
M. P. Kazmierkowski, D. L. Sobczuk and M. A. Dzieniakowski. Neural Network Current Control of VS-PWM Inverters, in Proc. EPE Conf., Seville, Spain, 1995:1415-1420
K. W. E. Cheng, H. Y. Wang and D. Sutanto. Adaptive Directive Neural Network Control for Three-phase AC/DC PWM Converter. IEE Proc. Power. Appl., 2001, 148(5):425-430
S. Fukuda. LQ Control of Sinusoidal Current PWM Rectifiers .IEE Proc-Electr. Power Applications. 1997,144(2):95-99
Ke Yue., M. Smekly and Cuk. One-Cycle Control of Switching Converters. IEEE Trans. on Power Electronics, 1995,10(6):142-150
Karel. Jezernik. VSS Control of Unity Power Factor. IEEE Trans. on Industry Electronics, 1999,46(2):325-331
Azeddine Draou, Yukihiko Sato. A New State Feedback Based Transient Control of PWM Ac to Dc Voltage Type Converters. IEEE Trans. on Power Electronics, 1995,10(6):716-724
Ming Tsung, W. I. Tsai. Analysis and Design Three Phase AC/DC Converters with
High Power Factor and Near-Optimum Feed ward. IEEE Trans. on Industry Electronics, 1999,46(3):535-543
林渭勋.现代电力电子电路.浙江:浙江大学出版社,2002:304-305
王子才, 赵长安.应用最优控制.哈尔滨:哈尔滨工业大学出版社,1989:153-180
郑大中.线性系统理论.北京:清华大学出版社,2000:180-191
Marian, P. Kazmierkowski. Current Control Techniques for Three-Phase Voltage- Source PWM Converters: A Survey, IEEE Trans. on Industry Electronics 1998, 45(5):691-703
王立乔.三相电压源型PWM 双向变流器闭环控制研究.[燕山大学工学硕士论文]. 1999:13-14
董晓鹏, 王兆安.三相电压型单位功率因数PWM整流器的研究.电力电子技术,1997,31(4):39-41
W. Leonhard. Introduction to Control Engineering and Linear Control System. New Delhi: Allied, 1976
Vladimir Blasko. A New Mathematical Model and Control of a Three-Phase AC-DC Voltage Source Converter. IEEE Trans. Power. Electronics, 1997,12(1):116-123
袁泽剑.基于空间电压矢量的最小开关损耗PWM技术.电力电子技术,1999,33(6): 12-15
熊健, 康勇, 张凯, 等.电压空间矢量调制与常规SPWM的比较研究.电力电子技术,1999,33(2):25-28
Y. Murai, K. Ohashi. New PWM Method for Fully Digitized Inverters. IEEE Trans. On Industry. Application, 1987,23(5):887-893
黄俊.电力电子变流技术(第三版).北京:机械工业出版社,北京,1995:208-220.
王兆安, 黄俊.电力电子技术.北京:机械工业出版社,2001:51-59
施阳, 李俊.MATLAB语言工具箱.西安:西北工业大学出版社,1999:124-156
程卫国.MATLAB5.3应用指南.北京:人民邮电出版社,1999:259-323
韩利竹, 王华.MATLAB电子仿真与应用.北京:国防工业出版社,2001:209-234
陈桂明, 张明照, 戚红雨, 等.应用MATLAB建模与仿真.北京:科学出版社, 2001 :309-329
薛定宇, 陈阳泉.基于MATALB/Simulink 的系统仿真技术与应用.北京:清华大学出版社,2002:252-324
薛定宇.反馈控制系统设计与分析-MATLAB语言应用.北京:清华大学出版社, 2000:199-242
宁改娣, 杨拴科.DSP控制器原理及应用.北京:科学出版社,2002:14-36
章云, 谢莉平, 雄红艳,等.DSP控制器及其应用.北京:机械工业出版社,2001:11-34
刘和平.TMS320LF240xDSP结构、原理及应用.北京:北京航空航天大学出版社, 2002:1-14
Texas Instruments, TMS320LF/LC240xA DSP Controllers Reference Guide, 2001: 1-520
Texas Instruments.TMS320C1x/C2x/C2xx/C5x Assembly Language Tools User’s Guide, 1995:1-350
Texas Instruments.TMS320F/C240 DSP Controllers Reference Guide－Peripheral Library and Specific Devices, 1999:1-230
江思敏.TMS320LF240XDSP硬件开发教程.北京:机械工业出版社,2003:88-133
张芳兰.TMS320C2XX用户指南.北京:电子工业出版社,1999:69-79
赖寿宏.微型计算机控制技术.北京:机械工业出版社,1998:245-266
李嗣福.计算机控制基础.合肥:中国科学技术大学出版社,2001:389-393
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