SPWM逆变器的数字控制技术研究
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摘要
逆变电源广泛应用于国民生产的各个环节之中,数字控制具有方便实现复杂算法、升级和维护方便、抗干扰性强和产品一致性好等优点,已成为未来逆变电源的发展趋势。本文针对SPWM逆变器研究其数字控制技术。
论文首先介绍数字控制的优点,然后介绍现有数字控制的几种主要控制策略;接着对瞬时值逆变器进行建模,对比以输出电压、电感电流和电容电流建立闭环时逆变器的优缺点,选定单输出电压控制、输出电压外环和电容电流内环的双环控制逆变器作为研究对象;通过在离散域的补偿器设计,分析对比两种控制策略下逆变器的稳定性和动态响应,结果表明双环控制逆变器在稳定性和动态响应上都要优于单电压环控制逆变器。通过两种控制策略下逆变器的外特性分析,同样表明双环控制逆变器具有更优的外特性。文中给出了原理样机的参数设计和实现控制思想的软件流程图,并对原理样机进行了实验验证,实验结果验证了分析的正确性。
DC/AC inverter has been widely applied in the industry. Digital control has several advantages, e.g., it is easy to achieve complex arithmetic, upgrade and maintenance, and it is not susceptive of noise and the consistent manufacture performance is better, so the digital controlled inverters are the trend of the inverter in the future. This thesis focuses on the digital control for the SPWM inverter.
Firstly this thesis introduces the advantages of digital control, and several digital control schemes. Secondly the mathematical model of the inverter is derived adopting the state space average theory, and according to the model different characteristics of closed-loop inverters are discussed based on controlled variables such as output voltage, filter inductor current and filter capacitor current of the filter. Two control schemes are selected for the SPWM inverter, one is single output voltage closed-loop, the other is a dual closed-loop consisting of outer output voltage closed-loop and inner filter capacitor current closed-loop. Thirdly the compensators are designed for the two control schemes, and the performance of two control schemes are compared. The analysis shows the dual closed-loop control scheme has a better performance over the single voltage control scheme, such as better stability and faster dynamic response. Finally this thesis presents the design of hardware of the prototypeand the software flow of the control schemes. The experimental results are concluded to validate the control schemes.
论文首先介绍数字控制的优点,然后介绍现有数字控制的几种主要控制策略;接着对瞬时值逆变器进行建模,对比以输出电压、电感电流和电容电流建立闭环时逆变器的优缺点,选定单输出电压控制、输出电压外环和电容电流内环的双环控制逆变器作为研究对象;通过在离散域的补偿器设计,分析对比两种控制策略下逆变器的稳定性和动态响应,结果表明双环控制逆变器在稳定性和动态响应上都要优于单电压环控制逆变器。通过两种控制策略下逆变器的外特性分析,同样表明双环控制逆变器具有更优的外特性。文中给出了原理样机的参数设计和实现控制思想的软件流程图,并对原理样机进行了实验验证,实验结果验证了分析的正确性。
DC/AC inverter has been widely applied in the industry. Digital control has several advantages, e.g., it is easy to achieve complex arithmetic, upgrade and maintenance, and it is not susceptive of noise and the consistent manufacture performance is better, so the digital controlled inverters are the trend of the inverter in the future. This thesis focuses on the digital control for the SPWM inverter.
Firstly this thesis introduces the advantages of digital control, and several digital control schemes. Secondly the mathematical model of the inverter is derived adopting the state space average theory, and according to the model different characteristics of closed-loop inverters are discussed based on controlled variables such as output voltage, filter inductor current and filter capacitor current of the filter. Two control schemes are selected for the SPWM inverter, one is single output voltage closed-loop, the other is a dual closed-loop consisting of outer output voltage closed-loop and inner filter capacitor current closed-loop. Thirdly the compensators are designed for the two control schemes, and the performance of two control schemes are compared. The analysis shows the dual closed-loop control scheme has a better performance over the single voltage control scheme, such as better stability and faster dynamic response. Finally this thesis presents the design of hardware of the prototypeand the software flow of the control schemes. The experimental results are concluded to validate the control schemes.
引文
[1] Naser M.A., John E.Q. Analysis and design of a multiple feedback loop control strategy for single-phase voltage-source UPS inverters, IEEE Transactions on Power Electronics, 1996, 11(4): 532~541
[2] Atsuo K., Ronachal C., Toshimasa H., Deadbeat control of PWM inverter with modified pulse patterns for uninterruptible power supply, IEEE Transactions on Industrial Electronics, 1988, 35(2): 295~300
[3] Heng D., Ramesh O., Dipti S., Digital control of single-phase UPS inverters with modified PWM technique, Proc. IEEE-PESC, Aachen,2004. 1365~1371
[4] Zhang K., Kang Y., Xiong J., Chen J., Direct repetitive control of SPWM inverters for UPS purpose. IEEE Transactions on Power Electronics, 2003, 18(3): 784~792
[5] Youichi I., Shoichi K., Microprocessor-based robust digital control for UPS with three-phase PWM inverter. IEEE Transactions on Power Electronics, 1995, 10(2): 196~204
[6] 熊慧洪,裴云庆,杨旭,王兆安,采用电感电流内环的 UPS 控制策略研究,电力电子技术,2003,37(4):25~27
[7] 姜桂宾,裴云庆,杨旭,王兆安. 采用电容电流瞬时值反馈的 UPS 控制方法研究. 电力电子技术,2003,37(6):10~36
[8] 陈坚,交流电机数学模型及调速系统,北京,国防工业出版社,1989:1~108
[9] 李永东,交流电机数字控制系统,北京,机械工业出版社,2002:72~358
[10] 徐政,卢强,电力电子技术在电力系统中的应用,电工技术学报,2004,19(8):23~27
[11] 张慧,刘开培,M.Braun,陈清泉,新型优化脉冲宽度调制方法在大功率逆变器的应用研究,电工技术学报,2006,21(6):17~22
[12] 陈众,颜伟,徐国禹,王官洁,基于直流侧电容电压弱控制策略的 UPFC 二阶段控制器设计,中国电机工程学报,2004,24(1):49~53
[13] Lucian A., Remus T., Frede B., Uffe B. A digital controlled PV-inverter with grid impedance estimation for ENS detection, IEEE Transactions on Power Electronics, 2005, 20(6): 1480~1490
[14] Rajesh G., Sangsun K., Jae H.H., Prasad N.E., Mark B.Y., Jo W.H., Development of a low cost fuel cell inverters system with DSP control, IEEE Transactions on Power Electronics, 2004, 19(5): 1256~1262
[15] 孔雪娟,数字控制 PWM 逆变电源关键技术研究,[博士学位论文],武汉,华中科技大学,2005
[16] Tomoki Y. Atsuo K., Disturbance observer based fully digital controlled PWM inverter for CVCF operation, IEEE Transactions on Power Electronics, 1994, 19(5): 473~480
[17] Heng D., Ramesh O., Dipti S., PWM methods to handle time delay in digital control of a UPS inverter, IEEE Transactions on Power Electronics, 2005, 3(1): 1~6
[18] Atsuo K., Ronachal C., Toshimasa H., Richard G.H., Deadbeat controlled PWM inverter with parameter estimation using only voltage sensor, IEEE Transactions on PowerElectronics, 1988, 3(2): 118~125
[19] 何中一,SPWM 逆变器控制技术研究,[硕士学位论文],南京,南京航空航天大学,2005
[20] 谢力华,苏彦民,正弦逆变电源的数字控制技术,电力电子技术,2001,35(6):52~60
[21] 彭力,基于状态空间理论的 PWM 逆变电源控制技术研究,[博士学位论文],武汉,华中科技大学,2004
[22] 孔雪娟,王荆江,彭力,康勇,陈坚,基于内模原理的三相电压源型逆变电源的波形控制技术,中国电机工程学报,2003,23(7):67~70
[23] 肖岚,李睿,电压电流双闭环控制逆变器并联系统的建模和环流特性分析,电工技术学报,2006,21(2):51~56
[24] 李俊林, 熊健, 康勇,逆变器数字多环控制技术研究,电工电能新技术,2004,23(4):56~59
[25] 许爱国,谢少军,电容电流瞬时值反馈控制逆变器的数字控制技术研究,中国电机工程学报,2005,25(1):49~53
[26] 陈敏,9kVA 组合式三相逆变器的研制,[硕士学位论文],南京,南京航空航天大学,2002
[27] Osman K., Deadbeat control of a three-phase inverter with an output LC filter, IEEE Transactions on Power Electronics, 1996, 11(1): 16~23
[28] 郭卫农,陈坚,基于状态观测器的逆变器数字双环控制技术研究,中国电机工程学报,2002,22(9):64~68
[29] Ying Y.T., Shih L.J., Hsin C.Y., Adaptive repetitive control of PWM inverters for very low THD ac-voltage regulation with unknown loads, IEEE Transactions on Power Electronics, 1999, 14(5): 973~981
[30] Cassiano R., Humberto P., Hilton A.G., Helio L.H., Jose R.P., Comparison of digital control techniques with repetitive ingegral action for low cost PWM inverters, IEEE Transactions on Power Electronics, 2003, 18(1): 401~410
[31] 刘飞,邹云屏,李辉,基于重复控制的电压源型逆变器输出电流波形控制方法,中国电机工程学报,2005,25(19):58~63
[32] Tai T.L., Chen J., UPS inverter design using discrete-time sliding-mode control scheme, IEEE Transactions on Industrial Electronics, 2002, 49(1): 67~75
[33] 赵葵银,PWM 整流器的模糊滑模变结构控制,电工技术学报,2006,21(7):49~53
[34] 马化盛,张波,郑健超,梁少毅,AC/DC Buck-Boost PFC 变换器滑模变结构及 PI 调节器综合控制,电工技术学报,2004,19(9):69~72
[35] Yuan X.M., Willi M., Herbert S., Jost A., Stationay-frame generalized integrators for current control of active power filters with zero steady-state error for current harmonics of concern under unbalanced and distorted operating conditions, IEEE Transactions on Industry Applications, 2002, 38(2): 523~532
[36] 刘明建,吴捷,薛峰,控制理论在电力电子学中的应用(下),控制理论与应用,1999,16(5):630~633
[37] Angel V.P., Seth R.S., Quantization resolution and limit cycling in digitally controlled PWM converters, IEEE Transactions on Power Electronics, 2003, 18(1): 301~308
[38] Cassiano R., Humberto P., Hilton A.G., Helio L.H., Jose R.P., A modified discrete control law for UPS applications, IEEE Transactions on Power Electronics, 2003, 18(5): 1138~1145
[39] Vinod R., Jian S., Bonnie S.H., Bilinear discrete-time modeling for enhanced stability prediction and digital control design, IEEE Transactions on Power Electronics, 2003, 18(1): 381~389
[40] 蔡宣三,龚绍文,高频功率电子学,北京,科学出版社,1993:206~211
[41] 徐德鸿,电力电子系统建模及控制,北京,机械工业出版社,2006:1~45
[42] 胡寿松,自动控制原理(第四版),北京,科学出版社,2001:270~346
[43] 王正林,王胜开,陈国顺,MATLAB/Simulink 与控制系统仿真,北京,电子工业出版社,2005:135~154
[44] 陈伯时,电力拖动自动控制系统(第二版),北京,机械工业出版社,2000:48~101
[45] 邢岩,逆变器并联运行系统的研究,[博士学位论文],南京,南京航空航天大学,1999
[46] Michael J.R., Robert D.L., A high performance sine wave inverter controller with capacitor current feedback and “Back-EMF”decoupling, Proc. IEEE PESC, Atlanta, 1995:507~514
[2] Atsuo K., Ronachal C., Toshimasa H., Deadbeat control of PWM inverter with modified pulse patterns for uninterruptible power supply, IEEE Transactions on Industrial Electronics, 1988, 35(2): 295~300
[3] Heng D., Ramesh O., Dipti S., Digital control of single-phase UPS inverters with modified PWM technique, Proc. IEEE-PESC, Aachen,2004. 1365~1371
[4] Zhang K., Kang Y., Xiong J., Chen J., Direct repetitive control of SPWM inverters for UPS purpose. IEEE Transactions on Power Electronics, 2003, 18(3): 784~792
[5] Youichi I., Shoichi K., Microprocessor-based robust digital control for UPS with three-phase PWM inverter. IEEE Transactions on Power Electronics, 1995, 10(2): 196~204
[6] 熊慧洪,裴云庆,杨旭,王兆安,采用电感电流内环的 UPS 控制策略研究,电力电子技术,2003,37(4):25~27
[7] 姜桂宾,裴云庆,杨旭,王兆安. 采用电容电流瞬时值反馈的 UPS 控制方法研究. 电力电子技术,2003,37(6):10~36
[8] 陈坚,交流电机数学模型及调速系统,北京,国防工业出版社,1989:1~108
[9] 李永东,交流电机数字控制系统,北京,机械工业出版社,2002:72~358
[10] 徐政,卢强,电力电子技术在电力系统中的应用,电工技术学报,2004,19(8):23~27
[11] 张慧,刘开培,M.Braun,陈清泉,新型优化脉冲宽度调制方法在大功率逆变器的应用研究,电工技术学报,2006,21(6):17~22
[12] 陈众,颜伟,徐国禹,王官洁,基于直流侧电容电压弱控制策略的 UPFC 二阶段控制器设计,中国电机工程学报,2004,24(1):49~53
[13] Lucian A., Remus T., Frede B., Uffe B. A digital controlled PV-inverter with grid impedance estimation for ENS detection, IEEE Transactions on Power Electronics, 2005, 20(6): 1480~1490
[14] Rajesh G., Sangsun K., Jae H.H., Prasad N.E., Mark B.Y., Jo W.H., Development of a low cost fuel cell inverters system with DSP control, IEEE Transactions on Power Electronics, 2004, 19(5): 1256~1262
[15] 孔雪娟,数字控制 PWM 逆变电源关键技术研究,[博士学位论文],武汉,华中科技大学,2005
[16] Tomoki Y. Atsuo K., Disturbance observer based fully digital controlled PWM inverter for CVCF operation, IEEE Transactions on Power Electronics, 1994, 19(5): 473~480
[17] Heng D., Ramesh O., Dipti S., PWM methods to handle time delay in digital control of a UPS inverter, IEEE Transactions on Power Electronics, 2005, 3(1): 1~6
[18] Atsuo K., Ronachal C., Toshimasa H., Richard G.H., Deadbeat controlled PWM inverter with parameter estimation using only voltage sensor, IEEE Transactions on PowerElectronics, 1988, 3(2): 118~125
[19] 何中一,SPWM 逆变器控制技术研究,[硕士学位论文],南京,南京航空航天大学,2005
[20] 谢力华,苏彦民,正弦逆变电源的数字控制技术,电力电子技术,2001,35(6):52~60
[21] 彭力,基于状态空间理论的 PWM 逆变电源控制技术研究,[博士学位论文],武汉,华中科技大学,2004
[22] 孔雪娟,王荆江,彭力,康勇,陈坚,基于内模原理的三相电压源型逆变电源的波形控制技术,中国电机工程学报,2003,23(7):67~70
[23] 肖岚,李睿,电压电流双闭环控制逆变器并联系统的建模和环流特性分析,电工技术学报,2006,21(2):51~56
[24] 李俊林, 熊健, 康勇,逆变器数字多环控制技术研究,电工电能新技术,2004,23(4):56~59
[25] 许爱国,谢少军,电容电流瞬时值反馈控制逆变器的数字控制技术研究,中国电机工程学报,2005,25(1):49~53
[26] 陈敏,9kVA 组合式三相逆变器的研制,[硕士学位论文],南京,南京航空航天大学,2002
[27] Osman K., Deadbeat control of a three-phase inverter with an output LC filter, IEEE Transactions on Power Electronics, 1996, 11(1): 16~23
[28] 郭卫农,陈坚,基于状态观测器的逆变器数字双环控制技术研究,中国电机工程学报,2002,22(9):64~68
[29] Ying Y.T., Shih L.J., Hsin C.Y., Adaptive repetitive control of PWM inverters for very low THD ac-voltage regulation with unknown loads, IEEE Transactions on Power Electronics, 1999, 14(5): 973~981
[30] Cassiano R., Humberto P., Hilton A.G., Helio L.H., Jose R.P., Comparison of digital control techniques with repetitive ingegral action for low cost PWM inverters, IEEE Transactions on Power Electronics, 2003, 18(1): 401~410
[31] 刘飞,邹云屏,李辉,基于重复控制的电压源型逆变器输出电流波形控制方法,中国电机工程学报,2005,25(19):58~63
[32] Tai T.L., Chen J., UPS inverter design using discrete-time sliding-mode control scheme, IEEE Transactions on Industrial Electronics, 2002, 49(1): 67~75
[33] 赵葵银,PWM 整流器的模糊滑模变结构控制,电工技术学报,2006,21(7):49~53
[34] 马化盛,张波,郑健超,梁少毅,AC/DC Buck-Boost PFC 变换器滑模变结构及 PI 调节器综合控制,电工技术学报,2004,19(9):69~72
[35] Yuan X.M., Willi M., Herbert S., Jost A., Stationay-frame generalized integrators for current control of active power filters with zero steady-state error for current harmonics of concern under unbalanced and distorted operating conditions, IEEE Transactions on Industry Applications, 2002, 38(2): 523~532
[36] 刘明建,吴捷,薛峰,控制理论在电力电子学中的应用(下),控制理论与应用,1999,16(5):630~633
[37] Angel V.P., Seth R.S., Quantization resolution and limit cycling in digitally controlled PWM converters, IEEE Transactions on Power Electronics, 2003, 18(1): 301~308
[38] Cassiano R., Humberto P., Hilton A.G., Helio L.H., Jose R.P., A modified discrete control law for UPS applications, IEEE Transactions on Power Electronics, 2003, 18(5): 1138~1145
[39] Vinod R., Jian S., Bonnie S.H., Bilinear discrete-time modeling for enhanced stability prediction and digital control design, IEEE Transactions on Power Electronics, 2003, 18(1): 381~389
[40] 蔡宣三,龚绍文,高频功率电子学,北京,科学出版社,1993:206~211
[41] 徐德鸿,电力电子系统建模及控制,北京,机械工业出版社,2006:1~45
[42] 胡寿松,自动控制原理(第四版),北京,科学出版社,2001:270~346
[43] 王正林,王胜开,陈国顺,MATLAB/Simulink 与控制系统仿真,北京,电子工业出版社,2005:135~154
[44] 陈伯时,电力拖动自动控制系统(第二版),北京,机械工业出版社,2000:48~101
[45] 邢岩,逆变器并联运行系统的研究,[博士学位论文],南京,南京航空航天大学,1999
[46] Michael J.R., Robert D.L., A high performance sine wave inverter controller with capacitor current feedback and “Back-EMF”decoupling, Proc. IEEE PESC, Atlanta, 1995:507~514