基于状态空间理论的PWM逆变电源控制技术研究
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摘要
一方面重要部门、用电设备对高品质的电源的需求日益增多,另一方面电力电子
设备的大量使用、非线性负载的不断增加使得电网的谐波污染十分严重,形成了鲜明
的供需矛盾,为此,近几年来高性能 PWM 逆变器的研究越来越受到关注,发展了多种
波形控制技术,其中有些已得到广泛应用,有些仍在发展之中。本文在状态空间的统
一理论下分析逆变器的几种常用控制策略的性能和控制器设计方法,为高性能逆变器
的设计提供较为系统的理论依据,并提出了一些简便易用的性能改进方案。
首先建立了单相 PWM 逆变器连续时间和离散时间的数学模型,比较了两者的差
异。分析了死区、PWM 过调制、非线性负载对逆变器输出电压波形质量的影响,针对
波形畸变主要因素非线性负载,推导了二极管整流负载情况下逆变器输出电压各次谐
波响应表达式。建立三相逆变器在 abc 静止坐标系和 dqo 旋转坐标系下的数学模型,
首次提出了 abcz 系-dqo 系三维空间坐标系概念,解决了两种坐标系之间的转换从数
学到物理意义的统一;指出了影响三相逆变器性能的因素。
针对逆变器电压单环 PID 控制系统性能不很理想的原因进行了分析,指出其原因
是 PID 控制器参数设计方法欠佳。本文首次提出了基于极点配置的逆变器瞬时电压
PID 控制器的设计方法,仿真与实验结果表明这种 PID 控制逆变器动态响应快速、非
线性负载情况下输出电压 THD 低,稳态精度高。在理论上,首次基于状态空间的概念
阐述了这种逆变器 PID 控制系统性能优良的本质,同时与逆变器双环系统进行了比
较,说明了 PID 控制在电路结构、成本等方面更具优越性。
将基于极点配置的设计方法用于逆变器电压电流双环控制系统,仿真分析表明这
种逆变器电压电流双环控制系统比 PID 控制系统动态响应更快,特别是在非线性负载
条件下可以获得更低 THD 的输出电压波形。另外,还对单相和三相电压型逆变器通过
控制器实现输出限流功能的问题进行了探讨。逆变器电感电流内环电压外环双环控制
系统一个特点是具有自动限流功能。本文首次提出三相逆变器在 dq 坐标系下采用电
压电流双环控制方案,可以实现保持正弦输出波形的自动限流功能。双环控制系统适
合于性能指标要求极高的逆变器系统。
对基于极点配置设计的控制器实用化面临的几个问题进行研究。论述了系统参数
大幅度变化时逆变器控制系统的鲁棒性;分析了 PWM 过程带来的两个主要非理想因素
对系统的影响:控制延时、在三相逆变器中引入的零序谐波,在设计中对此均需给予
考虑;讨论了反馈延时存在时控制器设计及系统性能改变情况。
不平衡抑制是三相逆变器系统需要解决的问题,分析了三相不平衡时三相逆变器
I
输出非对称性产生的机理,由此推断输出不对称问题单靠控制器不能解决,还与逆变
器主电路结构的固有特性相关,提出了保持输出对称性的设计原则,仿真和实验结果
有效地验证了理论分析。
为改善逆变电源数字控制器的效果,本文首次提出了一种逆变器状态增广系统数
字控制方案,可解决常规控制策略采用数字方式控制时因控制系统阶数升高带来的性
能大幅下降问题。分析指出逆变器电压、电流双环数字控制同样也是一种高性能逆变
器的数字控制方案。
逆变器控制目前较常用的控制策略有单电压环瞬时值反馈控制、多环反馈控制,
实现方式有模拟和数字两种。即使同一种控制策略,不同设计者设计出的性能差异也
很大。本文首次采用状态空间理论的极点配置技术,对逆变电源的几种控制策略进行
了统一的分析和设计,首次提出控制器控制参数(可控自由度)与控制系统阶数(被
控自由度)相等是高性能逆变器控制实现的基础,并通过极点配置这种统一的设计方
法对各种控制器进行了设计和性能比较,分析了要考虑的一些非理想因素的影响,为
逆变器控制方案的选择和设计提供了理论依据。
The important departments and electric equipments need more and more high quality
power supply, but the utility power is stained strictly by harmonics which many electronic
components and nonlinear loads bring on. The conflict is quite evident. In recent years the
researches for high performance PWM inverter are taken more attention, and various
waveform correction techniques have been proposed. Some of them have been applied
abroad, and the others are developing. This dissertation analyses performance and
controller design method of some PWM inverter based on uniform state-space theory. New
systemic theory basis for high quality PWM inverter design is provided. Novel control
schemes are proposed.
Firstly, the continuous and discrete mathematical models of a single-phase PWM
inverter are established, and their difference is compared. The influence of dead-time,
PWM over modulation and nonlinear load on inverter output waveform is analyzed. With a
diode rectifier load, the primary factor of output waveform distortion, output voltage
harmonics are estimated. The mathematical models in abc and dq frame for three-phase
inverter are established. The concept of abcz-dqo three-dimension space frame is firstly
employed so as to get mathematic and physical unification for two frames conversion.
Those influence three-phase inverter performance are discussed.
Inverter with single loop PID controller usually woks not very well. It is due to PID
controller parameters are not designed well. The design method of inverter instantaneous
voltage PID controller based on pole-assignment is proposed for the first time in this paper.
Simulation and experimental results indicates that this PID controlled inverter provides fast
dynamic response, low output THD with nonlinear load and nice static characteristics.
Theoretically, control essence of the PID controlled inverter is expounded with state space
concept. The PID control scheme has advantage on circuit and cost, compared with
dual-loop control inverter.
The design method based on pole-assignment is employed to inverter voltage and
current dual-loop control system. Simulation analysis presents the dual-loop control
inverter has faster dynamic response, lower output THD with nonlinear load, compared to
PID control inverter. Moreover, the output current limiting problem of single-phase and
three-phase inverter controller is discussed. Another characteristic of inverter inner
inductor current loop and outer voltage loop control system is auto current limiting
function. Three-phase inverter with dual-loop controllers in dq frame can keep sinusoidal
III
output waveform when limiting current. Dual-loop control scheme adapts to fulfill higher
standard inverter product.
Some issues the controller designed based on pole-assignment faces in practice are
studied. The inverter robustness to system parameters variations is discussed. Two primary
influences of PWM process are analyzed. One is control delay, and the other is that
zero-sequence harmonics are introduced in three-phase inverter. They are necessary to be
considered when design a control system. When feedback delay occurs, controller design
and the change of system performance are introduced.
Output unbalance of three-phase inverter is required to be restrained. The mechanism
producing unsymmetrical output voltages of a three-phase inverter under unbalanced operation
is analyzed. As will be shown, the problem is related to not only controller characteristic but also
the inherent nature of the inverter circuit. Design consideration is proposed to keep three-phase
output voltages of an inverter in symmetry. Theoretical analysis is confirmed well through both
simulation and experimental results.
In order to improve digital controller effect of inverter, a digital control schemes,
increasing-state feedback digital control inverter, is firstly proposed in this paper. It can resolve
the problem that performance decline due to control syst
设备的大量使用、非线性负载的不断增加使得电网的谐波污染十分严重,形成了鲜明
的供需矛盾,为此,近几年来高性能 PWM 逆变器的研究越来越受到关注,发展了多种
波形控制技术,其中有些已得到广泛应用,有些仍在发展之中。本文在状态空间的统
一理论下分析逆变器的几种常用控制策略的性能和控制器设计方法,为高性能逆变器
的设计提供较为系统的理论依据,并提出了一些简便易用的性能改进方案。
首先建立了单相 PWM 逆变器连续时间和离散时间的数学模型,比较了两者的差
异。分析了死区、PWM 过调制、非线性负载对逆变器输出电压波形质量的影响,针对
波形畸变主要因素非线性负载,推导了二极管整流负载情况下逆变器输出电压各次谐
波响应表达式。建立三相逆变器在 abc 静止坐标系和 dqo 旋转坐标系下的数学模型,
首次提出了 abcz 系-dqo 系三维空间坐标系概念,解决了两种坐标系之间的转换从数
学到物理意义的统一;指出了影响三相逆变器性能的因素。
针对逆变器电压单环 PID 控制系统性能不很理想的原因进行了分析,指出其原因
是 PID 控制器参数设计方法欠佳。本文首次提出了基于极点配置的逆变器瞬时电压
PID 控制器的设计方法,仿真与实验结果表明这种 PID 控制逆变器动态响应快速、非
线性负载情况下输出电压 THD 低,稳态精度高。在理论上,首次基于状态空间的概念
阐述了这种逆变器 PID 控制系统性能优良的本质,同时与逆变器双环系统进行了比
较,说明了 PID 控制在电路结构、成本等方面更具优越性。
将基于极点配置的设计方法用于逆变器电压电流双环控制系统,仿真分析表明这
种逆变器电压电流双环控制系统比 PID 控制系统动态响应更快,特别是在非线性负载
条件下可以获得更低 THD 的输出电压波形。另外,还对单相和三相电压型逆变器通过
控制器实现输出限流功能的问题进行了探讨。逆变器电感电流内环电压外环双环控制
系统一个特点是具有自动限流功能。本文首次提出三相逆变器在 dq 坐标系下采用电
压电流双环控制方案,可以实现保持正弦输出波形的自动限流功能。双环控制系统适
合于性能指标要求极高的逆变器系统。
对基于极点配置设计的控制器实用化面临的几个问题进行研究。论述了系统参数
大幅度变化时逆变器控制系统的鲁棒性;分析了 PWM 过程带来的两个主要非理想因素
对系统的影响:控制延时、在三相逆变器中引入的零序谐波,在设计中对此均需给予
考虑;讨论了反馈延时存在时控制器设计及系统性能改变情况。
不平衡抑制是三相逆变器系统需要解决的问题,分析了三相不平衡时三相逆变器
I
输出非对称性产生的机理,由此推断输出不对称问题单靠控制器不能解决,还与逆变
器主电路结构的固有特性相关,提出了保持输出对称性的设计原则,仿真和实验结果
有效地验证了理论分析。
为改善逆变电源数字控制器的效果,本文首次提出了一种逆变器状态增广系统数
字控制方案,可解决常规控制策略采用数字方式控制时因控制系统阶数升高带来的性
能大幅下降问题。分析指出逆变器电压、电流双环数字控制同样也是一种高性能逆变
器的数字控制方案。
逆变器控制目前较常用的控制策略有单电压环瞬时值反馈控制、多环反馈控制,
实现方式有模拟和数字两种。即使同一种控制策略,不同设计者设计出的性能差异也
很大。本文首次采用状态空间理论的极点配置技术,对逆变电源的几种控制策略进行
了统一的分析和设计,首次提出控制器控制参数(可控自由度)与控制系统阶数(被
控自由度)相等是高性能逆变器控制实现的基础,并通过极点配置这种统一的设计方
法对各种控制器进行了设计和性能比较,分析了要考虑的一些非理想因素的影响,为
逆变器控制方案的选择和设计提供了理论依据。
The important departments and electric equipments need more and more high quality
power supply, but the utility power is stained strictly by harmonics which many electronic
components and nonlinear loads bring on. The conflict is quite evident. In recent years the
researches for high performance PWM inverter are taken more attention, and various
waveform correction techniques have been proposed. Some of them have been applied
abroad, and the others are developing. This dissertation analyses performance and
controller design method of some PWM inverter based on uniform state-space theory. New
systemic theory basis for high quality PWM inverter design is provided. Novel control
schemes are proposed.
Firstly, the continuous and discrete mathematical models of a single-phase PWM
inverter are established, and their difference is compared. The influence of dead-time,
PWM over modulation and nonlinear load on inverter output waveform is analyzed. With a
diode rectifier load, the primary factor of output waveform distortion, output voltage
harmonics are estimated. The mathematical models in abc and dq frame for three-phase
inverter are established. The concept of abcz-dqo three-dimension space frame is firstly
employed so as to get mathematic and physical unification for two frames conversion.
Those influence three-phase inverter performance are discussed.
Inverter with single loop PID controller usually woks not very well. It is due to PID
controller parameters are not designed well. The design method of inverter instantaneous
voltage PID controller based on pole-assignment is proposed for the first time in this paper.
Simulation and experimental results indicates that this PID controlled inverter provides fast
dynamic response, low output THD with nonlinear load and nice static characteristics.
Theoretically, control essence of the PID controlled inverter is expounded with state space
concept. The PID control scheme has advantage on circuit and cost, compared with
dual-loop control inverter.
The design method based on pole-assignment is employed to inverter voltage and
current dual-loop control system. Simulation analysis presents the dual-loop control
inverter has faster dynamic response, lower output THD with nonlinear load, compared to
PID control inverter. Moreover, the output current limiting problem of single-phase and
three-phase inverter controller is discussed. Another characteristic of inverter inner
inductor current loop and outer voltage loop control system is auto current limiting
function. Three-phase inverter with dual-loop controllers in dq frame can keep sinusoidal
III
output waveform when limiting current. Dual-loop control scheme adapts to fulfill higher
standard inverter product.
Some issues the controller designed based on pole-assignment faces in practice are
studied. The inverter robustness to system parameters variations is discussed. Two primary
influences of PWM process are analyzed. One is control delay, and the other is that
zero-sequence harmonics are introduced in three-phase inverter. They are necessary to be
considered when design a control system. When feedback delay occurs, controller design
and the change of system performance are introduced.
Output unbalance of three-phase inverter is required to be restrained. The mechanism
producing unsymmetrical output voltages of a three-phase inverter under unbalanced operation
is analyzed. As will be shown, the problem is related to not only controller characteristic but also
the inherent nature of the inverter circuit. Design consideration is proposed to keep three-phase
output voltages of an inverter in symmetry. Theoretical analysis is confirmed well through both
simulation and experimental results.
In order to improve digital controller effect of inverter, a digital control schemes,
increasing-state feedback digital control inverter, is firstly proposed in this paper. It can resolve
the problem that performance decline due to control syst
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