并网逆变器系统中的重复控制技术及其应用研究
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摘要
基于太阳能、风能、地热能等多种可再生能源的分布式发电系统(distributed power generation system)已经成为近年来世界各国的关注重点。而并网逆变器作为将分布式发电系统中的电能传递给公共电网的重要电力电子设备,其输出功率的品质受到了大量的研究。重复控制技术基于内模原理,能够在交流系统中实现极低的稳态跟踪误差和总谐波失真THD (total harmonic distortion),因此在逆变器系统中得到了广泛的应用。然而在实际应用场合中,重复控制技术还存在着很多需要解决的问题。本文针对并网逆变器系统中的重复控制技术,及其在实际应用场合中的关键问题进行了研究,主要包含了以下内容：
分布式发电系统中的电网频率存在明显的波动,而数字控制中延时环节的延时时间通常为系统采样周期的整数倍。此时重复控制的内模将偏离由实际电网频率决定的理想内模,其谐振频率也将偏离实际电网的基波和谐波频率,导致系统性能的显著降低。针对这一问题,本文提出了一种具有频率适应性的新型重复控制方法。该方法采用了一个新型有限冲击响应FIR (finite impulse response)数字滤波器,该FIR滤波器能够使其内模逼近于系统采样频率与电网频率比值为任意值的内模。当电网频率变化时,该重复控制方法通过在线快速调整此FIR滤波器的参数,能够使其重复控制环节保持逼近于理想重复控制。基于对电压源型三相三线制并网逆变器的建模,本文对该新型FIR滤波器的原理和新型重复控制方法的性能进行了研究,验证了该方法在不同场合下均能提高并网逆变器系统的稳态跟踪性能和谐波抑制能力,实现了重复控制技术对电网频率变化的适应能力。同时,还对三相系统下的锁相环PLL (phase-lock loop)技术进行了研究,并设计了一个适用于新型重复控制方法的、具有高精度的PLL模块。
分布式发电系统中的可再生能源具有明显的间歇性,为了保证系统稳定运行,分布式发电系统需要具有一定的动态性能。并网逆变器系统中的重复控制技术,其延时环节的延时时间为一个电网基波周期,因此其动态性能较差。为此,本文提出了一种具有快速动态性能的改进型重复控制方法。该方法将以六分之一电网基波周期为延时时间的短延时环节,分别应用于了正向和反向的同步旋转坐标系,实现了优秀的动态性能以及对6n±1(n=±1,±2,±3…)次谐波的抑制。本文还将该重复控制以插入式的形式,与传统控制进行了结合,以提高该方法的综合性能；并研究了一个基于线性插值法的、能够适应快速动态特性的简化辅助函数,以提高该方法在频率比值为非整数情况下的性能。研究表明,该改进型重复控制方法,能够使系统同时实现快速的动态性能,以及极低的动静态跟踪误差和THD。
本文研究的并网逆变器系统均基于LCL滤波器,系统中存在一个阻尼系数极低的谐振尖峰。传统的谐振阻尼技术中,电阻阻尼技术会增加额外的功率损耗,有源阻尼技术则会增加系统的硬件成本和设计成本。本文提出了一种单电流反馈的新型谐振阻尼控制策略,其采用了入网电流两次微分的反馈方法,所需的信号为并网逆变器系统控制必需的采样信号,因此没有增加原系统任何的硬件或设计成本。本文对该控制策略下的系统传递函数进行了推导,并经过研究与分析,证明了该控制策略能够达到与传统谐振阻尼技术相同的效果,且在不同器件参数下其阻尼效果基本不变,从而提高了系统的稳定性,使系统具有了优秀的整体性能。
The distributed power generation systems based on the renewable energy sources, such as solar photovoltaic, wind power, geothermal power, have been the focus of the world in the latest years. The grid-connected inverter is important power electronic implements, used to transfer the power from the DPGS to the public grid, and the quality of its output power has been studied a lot. The repetitive control technique based on the internal model principle, can achieve low steady-state tracking error and total harmonic distortion (THD) in AC systems, so it is widely adopted in the inverter systems. However in the practical applications, there are still some issues need solving when using the repetitive control technique. This paper does researches on the repetitive control technique in the grid-connected systems, and the key issues in the practical applications, which mainly contains the contents as below:
The grid frequency in the DPGS varies obviously, but the delay time of the delay function in the digital control usually is integral times of the system sampling period. Then the internal model of the repetitive control will deviate from the ideal internal model which is determined by the real grid frequency, and its resonant frequencies will also deviate from the real grid fundamental and harmonic frequencies, the system performance will be degraded significantly. To solve this problem, this paper proposes a new repetitive control scheme with frequency adaptive capability. The proposed scheme adopts a new finite impulse response (FIR) digital filter, which can approximate the internal model of any ratio of the system sampling frequency to the grid frequency. When the grid frequency varies, the proposed scheme rapidly varies the parameters of the FIR filter on line, and can maintain its repetitive control function approximating the ideal one. Based on the modeling of the three-phase three-wire grid-connected voltage-source inverter, this paper researches the principle of the new FIR filter and the performance of the new repetitive control scheme, and verifies its effectiveness on increasing the steady-state tracking performance and harmonic suppression of the grid-connected inverter systems, while the adaptive capability to the grid frequency variation of the repetitive control technique is finally achieved. Meanwhile, the phase-lock loop (PLL) in three-phase system is also researched, and an applicable to the new repetitive control scheme and high accuracy PLL module is designed.
The renewable energy sources in the DPGS are obviously intermittent, to guarantee the stability of the system, the DPGS should have certain dynamic performance. While the repetitive control technique is used in the grid-connected inverter system, its delay time of the delay function will be one grid fundamental period, so its dynamic performance will be poor. This paper proposes an improved repetitive control scheme with fast dynamic performance. The proposed scheme uses one-sixth of the grid fundamental period as the delay time of the delay function, and adopts this delay function in the positive-rotating and negative-rotating synchronous reference frames, then it achieves good dynamic performance and the6n±1(n=±1,±2,±3...) harmonics suppression. This paper also combines the traditional control with the improved repetitive control as a plug-in type, to improve its comprehensive performance; and researches a simple auxiliary function which is based on the linear interpolation and suitable for the fast dynamic characteristic, to improve its performance at the condition of non-integral frequency ratio. The studies show that, the improved repetitive control scheme can make the system achieve fast dynamic performance, low steady-state/transient tracking error and low THD at the same time.
The gird-connected inverter systems researched in this paper are all based on the LCL filter, and there is a resonant peak with low damping coefficient. In the traditional resonant damping techniques, the resistance damping technique will increase the power loss, and the active damping technique will increase the hardware and design cost of the system. This paper proposes a new, single current feedback, resonant damping control strategy; it used the feedback method of second derivative of the grid current, while the signals needed are the signals must be sampled by the control of the grid-connected inverter systems, so no hardware or design cost is increased in the original system. This paper derivates the transfer function of the system with this strategy, and the analysis and researches verify that it could attain the same effect with the traditional resonant damping technique, and its effect maintains almost unchanged at the condition of different devices'parameters. So the system stability is increased, and the good overall performance is achieved.
分布式发电系统中的电网频率存在明显的波动,而数字控制中延时环节的延时时间通常为系统采样周期的整数倍。此时重复控制的内模将偏离由实际电网频率决定的理想内模,其谐振频率也将偏离实际电网的基波和谐波频率,导致系统性能的显著降低。针对这一问题,本文提出了一种具有频率适应性的新型重复控制方法。该方法采用了一个新型有限冲击响应FIR (finite impulse response)数字滤波器,该FIR滤波器能够使其内模逼近于系统采样频率与电网频率比值为任意值的内模。当电网频率变化时,该重复控制方法通过在线快速调整此FIR滤波器的参数,能够使其重复控制环节保持逼近于理想重复控制。基于对电压源型三相三线制并网逆变器的建模,本文对该新型FIR滤波器的原理和新型重复控制方法的性能进行了研究,验证了该方法在不同场合下均能提高并网逆变器系统的稳态跟踪性能和谐波抑制能力,实现了重复控制技术对电网频率变化的适应能力。同时,还对三相系统下的锁相环PLL (phase-lock loop)技术进行了研究,并设计了一个适用于新型重复控制方法的、具有高精度的PLL模块。
分布式发电系统中的可再生能源具有明显的间歇性,为了保证系统稳定运行,分布式发电系统需要具有一定的动态性能。并网逆变器系统中的重复控制技术,其延时环节的延时时间为一个电网基波周期,因此其动态性能较差。为此,本文提出了一种具有快速动态性能的改进型重复控制方法。该方法将以六分之一电网基波周期为延时时间的短延时环节,分别应用于了正向和反向的同步旋转坐标系,实现了优秀的动态性能以及对6n±1(n=±1,±2,±3…)次谐波的抑制。本文还将该重复控制以插入式的形式,与传统控制进行了结合,以提高该方法的综合性能；并研究了一个基于线性插值法的、能够适应快速动态特性的简化辅助函数,以提高该方法在频率比值为非整数情况下的性能。研究表明,该改进型重复控制方法,能够使系统同时实现快速的动态性能,以及极低的动静态跟踪误差和THD。
本文研究的并网逆变器系统均基于LCL滤波器,系统中存在一个阻尼系数极低的谐振尖峰。传统的谐振阻尼技术中,电阻阻尼技术会增加额外的功率损耗,有源阻尼技术则会增加系统的硬件成本和设计成本。本文提出了一种单电流反馈的新型谐振阻尼控制策略,其采用了入网电流两次微分的反馈方法,所需的信号为并网逆变器系统控制必需的采样信号,因此没有增加原系统任何的硬件或设计成本。本文对该控制策略下的系统传递函数进行了推导,并经过研究与分析,证明了该控制策略能够达到与传统谐振阻尼技术相同的效果,且在不同器件参数下其阻尼效果基本不变,从而提高了系统的稳定性,使系统具有了优秀的整体性能。
The distributed power generation systems based on the renewable energy sources, such as solar photovoltaic, wind power, geothermal power, have been the focus of the world in the latest years. The grid-connected inverter is important power electronic implements, used to transfer the power from the DPGS to the public grid, and the quality of its output power has been studied a lot. The repetitive control technique based on the internal model principle, can achieve low steady-state tracking error and total harmonic distortion (THD) in AC systems, so it is widely adopted in the inverter systems. However in the practical applications, there are still some issues need solving when using the repetitive control technique. This paper does researches on the repetitive control technique in the grid-connected systems, and the key issues in the practical applications, which mainly contains the contents as below:
The grid frequency in the DPGS varies obviously, but the delay time of the delay function in the digital control usually is integral times of the system sampling period. Then the internal model of the repetitive control will deviate from the ideal internal model which is determined by the real grid frequency, and its resonant frequencies will also deviate from the real grid fundamental and harmonic frequencies, the system performance will be degraded significantly. To solve this problem, this paper proposes a new repetitive control scheme with frequency adaptive capability. The proposed scheme adopts a new finite impulse response (FIR) digital filter, which can approximate the internal model of any ratio of the system sampling frequency to the grid frequency. When the grid frequency varies, the proposed scheme rapidly varies the parameters of the FIR filter on line, and can maintain its repetitive control function approximating the ideal one. Based on the modeling of the three-phase three-wire grid-connected voltage-source inverter, this paper researches the principle of the new FIR filter and the performance of the new repetitive control scheme, and verifies its effectiveness on increasing the steady-state tracking performance and harmonic suppression of the grid-connected inverter systems, while the adaptive capability to the grid frequency variation of the repetitive control technique is finally achieved. Meanwhile, the phase-lock loop (PLL) in three-phase system is also researched, and an applicable to the new repetitive control scheme and high accuracy PLL module is designed.
The renewable energy sources in the DPGS are obviously intermittent, to guarantee the stability of the system, the DPGS should have certain dynamic performance. While the repetitive control technique is used in the grid-connected inverter system, its delay time of the delay function will be one grid fundamental period, so its dynamic performance will be poor. This paper proposes an improved repetitive control scheme with fast dynamic performance. The proposed scheme uses one-sixth of the grid fundamental period as the delay time of the delay function, and adopts this delay function in the positive-rotating and negative-rotating synchronous reference frames, then it achieves good dynamic performance and the6n±1(n=±1,±2,±3...) harmonics suppression. This paper also combines the traditional control with the improved repetitive control as a plug-in type, to improve its comprehensive performance; and researches a simple auxiliary function which is based on the linear interpolation and suitable for the fast dynamic characteristic, to improve its performance at the condition of non-integral frequency ratio. The studies show that, the improved repetitive control scheme can make the system achieve fast dynamic performance, low steady-state/transient tracking error and low THD at the same time.
The gird-connected inverter systems researched in this paper are all based on the LCL filter, and there is a resonant peak with low damping coefficient. In the traditional resonant damping techniques, the resistance damping technique will increase the power loss, and the active damping technique will increase the hardware and design cost of the system. This paper proposes a new, single current feedback, resonant damping control strategy; it used the feedback method of second derivative of the grid current, while the signals needed are the signals must be sampled by the control of the grid-connected inverter systems, so no hardware or design cost is increased in the original system. This paper derivates the transfer function of the system with this strategy, and the analysis and researches verify that it could attain the same effect with the traditional resonant damping technique, and its effect maintains almost unchanged at the condition of different devices'parameters. So the system stability is increased, and the good overall performance is achieved.
引文
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