CN101916308B - Design method and device for controller of three-phase three-wire type uniform electric energy regulator - Google Patents

Abstract

The invention discloses a controller design method for a three-phase three-wire system unified power quality regulator, decoupling the inverse system of the nonlinearly coupled unified power quality regulator, and combining it with its inverse system into a pseudo system with a linear transfer relationship linear system, and then carry out the design of the variable structure controller on this pseudo-linear system, and finally obtain the controller of the three-phase three-wire system unified power quality regulator; the invention also discloses a three-phase three-wire system unified power quality regulator The controller design device of the controller, its inverse system decoupling module compensates the nonlinear coupled unified power quality regulator into a linear decoupling system, which makes the design of the controller simple and easy. The controller design module adopts the variable structure control method for the inverse The linear system after the system decoupling is designed for the controller, and the designed controller is applied to the three-phase three-wire unified power quality regulator, which effectively improves its anti-disturbance performance.

Description

The controller design method of three-phase three-wire type uniform electric energy regulator and device

Technical field

The present invention relates to the design of Controller technical field, particularly a kind of controller design method of three-phase three-wire type uniform electric energy regulator and device.

Background technology

Unified electric energy quality controller UPQC (Unified Power Quality Controller) is one of recent tendency of custom power technology development; Its collecting voltage compensation system, current compensator and energy storage device are in one, and unification realizes multiple quality of power supply regulatory function.Shown in Figure 1 is the schematic diagram of three-phase three-wire system UPQC, and it comprises a series inverter (inverter on Fig. 1 left side) and a shunt chopper (inverter on Fig. 1 the right).Series inverter solves various spread of voltage problems and the power supply three-phase asymmetry problem that power end possibly cause; Shunt chopper solves the current harmonics problem that load side possibly cause; The negative phase-sequence problem that the load three-phase imbalance causes, and, can also reactive power compensation be provided to load.

UPQC is a System with Nonlinear Coupling; Comparatively complicated to its CONTROLLER DESIGN, because the mathematical model or the control method that adopt, all there is a basic deficiency in existent method; Promptly when controller receives external disturbance interference and inner parameter drift interference; Its reaction is too responsive, thereby can't send correct steering order, and then influences the operate as normal of UPQC.

Summary of the invention

The invention provides a kind of controller design method and device of three-phase three-wire system electric energy regulator, to solve the problem of the controller disturbance rejection poor performance that has the three-phase three-wire system electric energy regulator now.

The controller design method of three-phase three-wire type uniform electric energy regulator of the present invention comprises step:

Set up the loop voltage equation of its series side and parallelly connected side and the node current equation of series side and DC side according to the schematic diagram of three-phase three-wire type uniform electric energy regulator;

The node current equation of the loop voltage equation of said series side and parallelly connected side and series side and DC side is carried out mathematic(al) manipulation obtain mathematical model, said mathematic(al) manipulation is the Park conversion, and said mathematical model is the mathematical model under the dq0 coordinate system;

Find the solution the inverse system of three-phase three-wire type uniform electric energy regulator according to said mathematical model;

The pseudo-linear system CONTROLLER DESIGN that adopts index convergence rule method that three-phase three-wire type uniform electric energy regulator and its inverse system are composed in series, and the controller of the said pseudo-linear system that will design is brought the controller that inverse system obtains inverse system into;

The inverse transformation that the controller of inverse system is carried out said mathematic(al) manipulation obtains the controller of three-phase three-wire type uniform electric energy regulator.

The design of Controller device of three-phase three-wire type uniform electric energy regulator of the present invention comprises:

Equation is set up module, is used for setting up the loop voltage equation of its series side and parallelly connected side and the node current equation of series side and DC side according to the schematic diagram of three-phase three-wire type uniform electric energy regulator;

Mathematical model makes up module; Be used for that the node current equation that said equation is set up loop voltage equation and the series side and the DC side of series side that module draws and parallelly connected side is carried out mathematic(al) manipulation and obtain mathematical model; Said mathematic(al) manipulation is the Park conversion, and said mathematical model is the mathematical model under the dq0 coordinate system;

Inverse system decoupling zero module is used for finding the solution according to the mathematical model that said mathematical model makes up module construction the inverse system of three-phase three-wire type uniform electric energy regulator;

The design of Controller module; Be used for the pseudo-linear system that the inverse system that three-phase three-wire type uniform electric energy regulator and said inverse system decoupling zero module obtain is composed in series is carried out the design of controller, the controller of the said pseudo-linear system of design is brought into inverse system and the inverse transformation that the controller of the inverse system that obtains carries out said mathematic(al) manipulation obtained the controller of three-phase three-wire type uniform electric energy regulator.

The controller design method of three-phase three-wire type uniform electric energy regulator of the present invention; Because unified electric energy regulator has been carried out the inverse system decoupling zero; Make the simplicity of design of controller be prone to row; Owing to adopt variable structure control method to come CONTROLLER DESIGN, the disturbance rejection performance of the unified electric energy regulator that adopts this controller is improved again; The design of Controller device of three-phase three-wire type uniform electric energy regulator of the present invention; Owing to adopt inverse system decoupling zero module; The unified electric energy regulator of non-linear coupling is compensated for as linear decoupled system, makes the simplicity of design of controller be prone to row, again because the design of Controller module adopts variable structure control method to carry out the design of controller; The controller of designing is applied to three-phase three-wire type uniform electric energy regulator, has improved its disturbance rejection performance effectively.

Description of drawings

Fig. 1 is the schematic diagram of three-phase three-wire type uniform electric energy regulator;

Fig. 2 is the controller design method schematic flow sheet of three-phase three-wire type uniform electric energy regulator of the present invention;

Fig. 3 is the synoptic diagram of the pseudo-linear system that original system and inverse system constitute in the controller design method of three-phase three-wire type uniform electric energy regulator of the present invention;

Fig. 4 is the structural representation of the design of Controller device of three-phase three-wire type uniform electric energy regulator of the present invention.

Embodiment

Shown in Figure 1 is the schematic diagram of three-phase three-wire type uniform electric energy regulator, and it is made up of series side, DC side and parallelly connected side, and the electric capacity among the figure between two inverters is DC side; The part on the DC side left side is a series side, and the part on DC side the right is parallelly connected side, and series side and parallelly connected side respectively have an inverter; Each inverter has 6 switches; To the UPQC CONTROLLER DESIGN, promptly be break-make design control strategy, because the UPQC original system is a System with Nonlinear Coupling to two inverter switching devices of UPQC; To its CONTROLLER DESIGN more complicated; So thinking of the present invention is at first original system to be carried out the inverse system decoupling zero, then the system after the decoupling zero is carried out the design of controller, below in conjunction with accompanying drawing and embodiment illustrated in detail scheme of the present invention.

Embodiment one:

Shown in step 101 among Fig. 2, at first derive following equation from the schematic diagram of UPQC:

$\left\{\begin{array}{c}{u}_{\mathrm{NO}}+s_{1a}{u}_{\mathrm{dc}}+i_{L1a}{R}_1+L_1{\mathrm{di}}_{L1a}/\mathrm{dt}+u_{\mathrm{ca}}=u_{N^{\&prime;}O}\\ u_{\mathrm{NO}}+s_{1b}{u}_{\mathrm{ddc}}+i_{L1b}{R}_1+L_1{\mathrm{di}}_{L1b}/\mathrm{dt}+u_{\mathrm{cb}}=u_{N^{\&prime;}O}\\ u_{\mathrm{NO}}+s_{1c}{u}_{\mathrm{dc}}+i_{L1c}{R}_1+L_1{\mathrm{di}}_{L1c}/{\mathrm{dt}+u}_{\mathrm{cc}}=u_{N^{\&prime;}O}\\ {\mathrm{Cdu}}_{\mathrm{ca}}/\mathrm{dt}=i_{L1a}-i_{\mathrm{ca}}\\ {\mathrm{Cdu}}_{\mathrm{cb}}/\mathrm{dt}=i_{L1b}-i_{\mathrm{cb}}\\ {\mathrm{Cdu}}_{\mathrm{cc}}/\mathrm{dt}=i_{L1c}-i_{\mathrm{cc}}\\ u_{\mathrm{NO}}+s_{2a}{u}_{\mathrm{dc}}-{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">L</figure-callout>}}_2{\mathrm{di}}_{L2a}/\mathrm{dt}-i_{L2a}{R}_2=u_{\mathrm{la}}\\ u_{\mathrm{NO}}+s_{2b}{u}_{\mathrm{dc}}-{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">L</figure-callout>}}_2{\mathrm{di}}_{L2b}/\mathrm{dt}-i_{L2\mathrm{<figure-callout\; id="2"\; label="b\; R"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">b</figure-callout>}}{R}_{}{}_2=u_{\mathrm{lb}}\\ u_{\mathrm{NO}}+{\mathrm{<figure-callout\; id="2c"\; label="s"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">s</figure-callout>}}_{2c}{u}_{\mathrm{dc}}-{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">L</figure-callout>}}_2{\mathrm{di}}_{\mathrm{<figure-callout\; id="2c"\; label="L"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">L</figure-callout>}2c}/\mathrm{dt}-{\mathrm{<figure-callout\; id="2c"\; label="i\; L"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">i</figure-callout>}}_L{R}_{}{}_2=u_{\mathrm{lc}}\end{array}\right.---\left(1\right)$

In the formula (1), first three formula is the loop voltage equation of UPQC series side, middle three node current equations that formula is a series side, the loop voltage equation that back three formulas are parallelly connected side.In addition, DC side has current relationship:

C _dcdu _dc/dt＝i _dc1-i _dc2＝i _dc1-(s _2ai _L2a+s _2bi _L2b+s _2ci _L2c)(2)

Alphabetical meaning in formula (1), (2) is following, R ₁, L ₁, C is respectively resistance, inductance and the electric capacity of series side, C _DcBe dc bus capacitor, u _NOThe voltage-to-ground that expression N is ordered, u _{N ' O}Represent N ' voltage-to-ground, u _DcThe expression dc capacitor voltage, u _Ca, u _Cb, u _CcThe three-phase voltage of expression series side transformer, i.e. the output voltage of series side, u _La, u _Lb, u _LcThe three-phase voltage of expression load side, s _1a, s _1b, s _1cBe the threephase switch amount of series side inverter upside, s _2a, s _2b, s _2cBe the threephase switch amount of parallelly connected side inverter upside, i _L1a, i _L1b, i _L1cThe three-phase current of series side inductance L 1 is flow through in expression, i.e. the electric current of series side inverter outlet, i _L2a, i _L2b, i _L2cThe three-phase current of parallelly connected side inductance L 2 is flow through in expression, the electric current of promptly parallelly connected side inverter outlet, i _Ca, i _Cb, i _CcThe three-phase current of series side transformer is flow through in expression, i.e. the output current of series side, i _Dc1, i _Dc2Represent to flow to the electric current of series side and parallelly connected side respectively from DC side.

For ease of finding the solution of back, above two formulas are carried out conversion, shown in step 102 among Fig. 2, what the method for conversion more often adopted is the Park conversion.

$\left\{\begin{array}{c}{\mathrm{di}}_{L1d}/\mathrm{dt}={\mathrm{\&omega;i}}_{L1q}-u_{\mathrm{cd}}/L_1-i_{L1d}{R}_1/L_1-s_{1d}{u}_{\mathrm{dc}}/L_1\\ {\mathrm{di}}_{L1q}/\mathrm{dt}=-\mathrm{\&omega;}{i}_{L1d}-u_{\mathrm{cq}}/L_1-i_{L1q}{R}_1/L_1-s_{1q}{u}_{\mathrm{dc}}/L_1\\ {\mathrm{du}}_{\mathrm{cd}}/\mathrm{dt}={\mathrm{\&omega;u}}_{\mathrm{cq}}+i_{L1d}/C-i_{\mathrm{cd}}/C\\ {\mathrm{du}}_{\mathrm{cq}}/\mathrm{dt}=-{\mathrm{\&omega;u}}_{\mathrm{cd}}+i_{L1q}/C-i_{\mathrm{cq}}/C\\ {\mathrm{di}}_{L2d}/\mathrm{dt}={\mathrm{\&omega;i}}_{L2q}-u_{\mathrm{ld}}/L_2-i_{L2\mathrm{<figure-callout\; id="2"\; label="d\; R"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">d</figure-callout>}}{R}_{}{}_2/{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">L</figure-callout>}}_2+s_{2d}{u}_{\mathrm{dc}}/{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">L</figure-callout>}}_2\\ {\mathrm{di}}_{L2q}/\mathrm{dt}=-\mathrm{\&omega;}{i}_{L2d}-u_{\mathrm{lq}}/L_2-i_{L2q}{R}_2/{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">L</figure-callout>}}_2+s_{2q}{u}_{\mathrm{dc}}/L_2\\ C_{\mathrm{dc}}{\mathrm{du}}_{\mathrm{ddc}}/\mathrm{dt}=i_{\mathrm{dc}1}-(s_{2d}{i}_{L2d}+s_{2q}{i}_{L2q})\end{array}\right.---\left(3\right)$

Following formula is the mathematical model of UPQC under the dq0 coordinate system through obtaining after the Park conversion.

Can be found out by formula (3), be a multivariable System with Nonlinear Coupling through the UPQC after the conversion.For series side, inductive current i _L1d, i _L1qRemove and receive S _1d, S _1qInfluence outside, also receive coupled voltages ω L ₁i _L1q,-ω L ₁i _L1dDisturbance and output voltage u _Cd, u _CqThe influence of disturbance, output voltage u _Cd, u _CqRemove and receive inductive current i _L1d, i _L1qInfluence outside, also receive couple current ω Cu _Cq, ω Cu _CdWith output current i _Cd, i _CqInfluence.

For parallelly connected side, inductive current i _L2d, i _L2qRemove and receive S _2d, S _2qInfluence also receive load voltage u outward _Ld, u _LqDisturbing influence and coupled voltages ω L ₂i _L2q,-ω L ₂i _L2dInfluence.

Coupling, to overcharging into multiple output system, an input of coupled system changes all influential to each output, therefore it is controlled to be difficult to realize.

The thought of method of inverse is; Nonlinear coupled system to being not easy to CONTROLLER DESIGN carries out decoupling zero, and the input/output relation that is about to coupled system becomes an input only influences an output, simultaneously; Utilize inverse system original system to be compensated the linear system that becomes to have linear transitive relation; Promptly construct pseudo-linear system, then this pseudo-linear system is carried out the design of controller, make design become simple.

Shown in step 103 among Fig. 2, to the mathematical model of the UPQC under the dq0 coordinate system shown in the formula (3), its inverse system solution procedure is following:

At first formula (3) is done following definition:

The writ state variable

[x ₁，x ₂，x ₃，x ₄，x ₅，x ₆，x ₇]＝[i _L1d，i _L1q，u _cd，u _cq，i _L2d，i _L2q，u _dc](4)

Make controlled quentity controlled variable

[u ₁，u ₂，u ₃，u ₄]＝[S _1d，S _1q，S _2d，S _2q](5)

Order output

y ₁＝u _cd＝x ₃，y ₂＝u _cq＝x ₄，y ₃＝i _L2d＝x ₅，y ₄＝i _L2q＝x ₆(6)

Like this, formula (3) becomes:

$\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{x}}_1={\mathrm{\&omega;x}}_2-\frac{x_3}{L_1}-\frac{R_1{x}_1}{L_1}-\frac{x_7{u}_1}{L_1}\\ {\stackrel{\&CenterDot;}{x}}_2=-\mathrm{\&omega;}{x}_1-\frac{x_4}{L_1}-\frac{R_1{x}_2}{L_1}-\frac{x_7{u}_2}{L_1}\\ {\stackrel{\&CenterDot;}{x}}_3=\mathrm{\&omega;}{x}_4+\frac{x_1}{C}-\frac{i_{\mathrm{cd}}}{C}\\ {\stackrel{\&CenterDot;}{x}}_4=-{\mathrm{\&omega;x}}_3+\frac{x_2}{C}-\frac{i_{\mathrm{cq}}}{C}\\ {\stackrel{\&CenterDot;}{x}}_5={\mathrm{\&omega;x}}_6-\frac{u_{\mathrm{ld}}}{L_2}-\frac{R_2{x}_5}{{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">L</figure-callout>}}_2}+\frac{x_7{u}_3}{L_2}\\ {\stackrel{\&CenterDot;}{x}}_6=-{\mathrm{\&omega;x}}_5-\frac{u_{\mathrm{lq}}}{L_2}-\frac{R_2{x}_6}{{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">L</figure-callout>}}_2}+\frac{x_7{u}_4}{L_2}\\ {\stackrel{\&CenterDot;}{x}}_7=\frac{i_{\mathrm{dc}1}}{C_{\mathrm{dc}}}-\frac{x_5{u}_3+x_6{u}_4}{C_{\mathrm{dc}}}\end{array}\right.---\left(7\right)$

To y ₁, y ₂Differentiate respectively can obtain

$\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{y}}_1={\stackrel{\&CenterDot;}{x}}_3={\mathrm{\&omega;x}}_4+\frac{x_1}{C}-\frac{i_{\mathrm{cd}}}{C}\\ {\stackrel{\&CenterDot;}{y}}_2={\stackrel{\&CenterDot;}{x}}_4=-{\mathrm{\&omega;x}}_3+\frac{x_2}{C}-\frac{i_{\mathrm{cq}}}{C}\end{array}\right.----\left(8\right)$

Can find out that following formula does not show and contains input, then continues y ₁, y ₂Ask secondary to lead, obtain

$\left\{\begin{array}{c}{\stackrel{\&CenterDot;\&CenterDot;}{y}}_1={\stackrel{\&CenterDot;\&CenterDot;}{x}}_3=-({\mathrm{\&omega;}}^2+\frac{1}{L_{1}C})x_3+\frac{{2\mathrm{\&omega;x}}_2}{C}-\frac{{\mathrm{\&omega;i}}_{\mathrm{cq}}}{C}-\frac{R_1{x}_1}{L_{1}C}-\frac{1}{C}\frac{{\mathrm{di}}_{\mathrm{cd}}}{\mathrm{dt}}-\frac{x_7{u}_1}{L_{1}C}\\ {\stackrel{\&CenterDot;\&CenterDot;}{y}}_1={\stackrel{\&CenterDot;}{x}}_4=-({\mathrm{\&omega;}}^2+\frac{1}{L_{1}C})x_4+\frac{{2\mathrm{\&omega;x}}_1}{C}+\frac{{\mathrm{\&omega;i}}_{\mathrm{cd}}}{C}-\frac{R_1{x}_2}{L_{1}C}-\frac{1}{C}\frac{{\mathrm{di}}_{\mathrm{cq}}}{\mathrm{dt}}-\frac{x_7{u}_2}{L_{1}C}\end{array}\right.---\left(9\right)$

Following formula has shown and has contained input u ₁, u ₂

Equally, to y ₃, y ₄Differentiate respectively obtains:

$\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{y}}_3={\stackrel{\&CenterDot;}{x}}_5={\mathrm{\&omega;x}}_6-\frac{u_{\mathrm{ld}}}{L_2}-\frac{R_2{x}_5}{{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">L</figure-callout>}}_2}+\frac{x_7{u}_3}{L_2}\\ {\stackrel{\&CenterDot;}{y}}_4={\stackrel{\&CenterDot;}{x}}_6=-{\mathrm{\&omega;x}}_5-\frac{u_{\mathrm{lq}}}{L_2}-\frac{R_2{x}_6}{{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">L</figure-callout>}}_2}+\frac{x_7{u}_4}{L_2}\end{array}\right.---\left(10\right)$

Following formula has shown and has contained input u ₃, u ₄

Make

like this, the inverse system equation that can be solved UPQC by (8), (9), (10) three formulas is:

$\left\{\begin{array}{c}{u}_1=\frac{1}{x_7}{[L}_1({2\mathrm{\&omega;x}}_2-\frac{{\mathrm{di}}_{\mathrm{cd}}}{\mathrm{dt}}-{\mathrm{\&omega;i}}_{\mathrm{cq}})-R_1{x}_1-x_3-L_{1}C({\mathrm{\&omega;}}^2{x}_3+{\mathrm{\&upsi;}}_1)]\\ u_2=\frac{1}{x_7}[L_1(-2\mathrm{\&omega;}{x}_1-\frac{{\mathrm{di}}_{\mathrm{cq}}}{\mathrm{dt}}+{\mathrm{\&omega;i}}_{\mathrm{cd}})-R_1{x}_2-x_4-L_{1}C({\mathrm{\&omega;}}^2{x}_4+{\mathrm{\&upsi;}}_2)]\\ u_3=\frac{1}{x_7}({-\mathrm{\&omega;L}}_2{x}_6+R_2{x}_5+u_{\mathrm{ld}}+{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">L</figure-callout>}}_2{\mathrm{\&upsi;}}_3)\\ u_4=\frac{1}{x_7}({\mathrm{\&omega;L}}_2{x}_5+R_2{x}_6+u_{\mathrm{lq}}+{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">L</figure-callout>}}_2{\mathrm{\&upsi;}}_4)\end{array}\right.---\left(11\right)$

Definition by the relative rank of inverse system can know that the relative rank of said system do

α＝(α ₁，α ₂，α ₃，α ₄)＝(2，2，1，1)(12)

The phase match exponents is 6; Exponent number 7 less than original system UPQC; This is because original system UPQC exists one to conceal dynamically, just last expression formula, i.e. dc capacitor voltage problem of unstable in the formula (3); Can use conventional methods and solve, promptly control the stable of dc capacitor voltage with pi regulator.

Be connected on the inverse system that constructs after the original system, original system has just constituted a pseudo-linear system with inverse system, and is as shown in Figure 3, can find out, pseudo-linear system can resolve into four following independent subsystem:

$I:\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{x}}_3=z_1\\ {\stackrel{\&CenterDot;}{z}}_1={\mathrm{\&upsi;}}_1\\ y_1=x_3\end{array}\right.---\left(13\right)$ $\mathrm{II}:\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{x}}_4=z_2\\ {\stackrel{\&CenterDot;}{z}}_2={\mathrm{\&upsi;}}_2\\ {\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">y</figure-callout>}}_2=x_4\end{array}\right.---\left(14\right)$

$\mathrm{III}:\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{x}}_5={\mathrm{\&upsi;}}_3\\ y_3=x_5\end{array}\right.---\left(15\right)$ $\mathrm{IV}:\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{x}}_6={\mathrm{\&upsi;}}_4\\ y_4=x_6\end{array}\right.---\left(16\right)$

Like this, the design of pseudo-linear system being carried out controller just seems more convenient.

Method to the pseudo-linear system CONTROLLER DESIGN has a variety of; Shown in step 104 among Fig. 2; The controller design method of three-phase three-wire system UPQC of the present invention adopts to be buffeted and the anti-interference variable structure control method that very good effect arranged designs the controller of UPQC eliminating; And that variable structure control method divides is a variety of, adopts here and calculates index convergence rule method simply and easily.

For subsystem I, design object does

Wherein

Be u _CdCommand value u _{Cd_ref}

Order

$e_1=x_3-x_3^{*}---\left(17\right)$

Get diverter surface

$s_1=c_1{e}_1+{\stackrel{\&CenterDot;}{e}}_1---\left(18\right)$

Get index convergence rule

${\stackrel{\&CenterDot;}{s}}_1=c_1{\stackrel{\&CenterDot;}{e}}_1+{\stackrel{\&CenterDot;\&CenterDot;}{e}}_1=-k_1{s}_1-{\mathrm{\&epsiv;}}_1\mathrm{sgn}\left(s_1\right)---\left(19\right)$

The change structure control rule that solves subsystem I into:

${\mathrm{\&upsi;}}_1=-(c_1+k_1){\stackrel{\&CenterDot;}{x}}_3-c_1{k}_1(x_3-x_3^{*})-{\mathrm{\&epsiv;}}_1\mathrm{sgn}(c_1{x}_3-c_1{x}_3^{*}+{\stackrel{\&CenterDot;}{x}}_3)---\left(20\right)$

In like manner, can design the change structure control rule of subsystem II:

${\mathrm{\&upsi;}}_2=-({\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="HSA00000207603800011.png"\; state="\{\{state\}\}">c</figure-callout>}}_2+k_2){\stackrel{\&CenterDot;}{x}}_4-c_2{k}_2(x_4-x_4^{*})-{\mathrm{\&epsiv;}}_2\mathrm{sgn}(c_2{x}_4-c_2{x}_4^{*}+{\stackrel{\&CenterDot;}{x}}_4)---\left(21\right)$

For subsystem III, order

$e_3=x_5-x_5^{*}---\left(22\right)$

Get diverter surface

$s_3=c_3{e}_3+{\stackrel{\&CenterDot;}{e}}_3---\left(23\right)$

Get index convergence rule

${\stackrel{\&CenterDot;}{s}}_3=c_3{\stackrel{\&CenterDot;}{e}}_3=-k_3{s}_3-{\mathrm{\&epsiv;}}_3\mathrm{sgn}\left(s_3\right)---\left(24\right)$

Obtain becoming structure control rule into:

${\mathrm{\&upsi;}}_3=-k_3(x_5-x_5^{*})-{\mathrm{\&epsiv;}}_3\mathrm{sgn}(x_5-x_5^{*})---\left(25\right)$

The control law that in like manner can design subsystem IV is:

${\mathrm{\&upsi;}}_4={-k}_4(x_6-x_6^{*})-{\mathrm{\&epsiv;}}_4\mathrm{sgn}(x_6-x_6^{*})---\left(26\right)$

Wherein

Be respectively u _Cq, i _L2d, i _L2qCommand value.

Formula (20), (21), (25), (26) are the change structure control rule of the four sub-systems design that decoupling zero goes out to inverse system.Shown in step 105 among Fig. 2,, then obtain the control strategy of UPQC inverse system with these four equation substitution inverse system equations (11):

$\left\{\begin{array}{c}{S}_{1d}=u_1=\frac{1}{x_7}[L_1({2\mathrm{\&omega;x}}_2-\frac{{\mathrm{di}}_{\mathrm{cd}}}{\mathrm{dt}}-{\mathrm{\&omega;i}}_{\mathrm{cq}})-R_1{x}_1-x_3]\\ -\frac{L_{1}C}{x_7}[{\mathrm{\&omega;}}^2{x}_3-(c_1+k_1){\stackrel{\&CenterDot;}{x}}_3-c_1{k}_1(x_3-x_3^{*})-{\mathrm{\&epsiv;}}_1\mathrm{sgn}(c_1{x}_3-c_1{x}_3^{*}+{\stackrel{\&CenterDot;}{x}}_3)]\\ S_{1q}=u_2=\frac{1}{x_7}[L_1({-2\mathrm{\&omega;x}}_1-\frac{{\mathrm{di}}_{\mathrm{cq}}}{\mathrm{dt}}+{\mathrm{\&omega;i}}_{\mathrm{cd}})-R_1{x}_2-x_4]\\ -\frac{L_{1}C}{x_7}[{\mathrm{\&omega;}}^2{x}_4-(c_2+k_2){\stackrel{\&CenterDot;}{x}}_4-c_2{k}_2(x_4-x_4^{*})-{\mathrm{\&epsiv;}}_2\mathrm{sgn}(c_2{x}_4-c_2{x}_4^{*}+{\stackrel{\&CenterDot;}{x}}_4)]\\ S_{2d}=u_3=\frac{1}{x_7}({-\mathrm{\&omega;L}}_2{x}_6+R_2{x}_5+u_{\mathrm{Ld}})+\frac{L_2}{x_7}[{-k}_3(x_5-x_5^{*})-{\mathrm{\&epsiv;}}_3\mathrm{sgn}(x_5-x_5^{*})]\\ S_{2q}=u_4=\frac{1}{x_7}(\mathrm{\&omega;}{L}_2{x}_5+R_2{x}_6+u_{\mathrm{Lq}})+\frac{L_2}{x_7}[-k_4(x_6-x_6^{*})-{\mathrm{\&epsiv;}}_4\mathrm{sgn}(x_6-x_6^{*})]\end{array}\right.---\left(27\right)$

(27) formula is carried out the Park inverse transformation, shown in step 106 among Fig. 2, obtains the control strategy of UPQC:

$\left\{\begin{array}{c}{S}_{1a}=\frac{1}{u_{\mathrm{dc}}}[L_1({2\mathrm{\&omega;i}}_{L1a}-\frac{{\mathrm{di}}_{\mathrm{ca}}}{\mathrm{dt}}-{\mathrm{\&omega;i}}_{\mathrm{ca}})-R_1{i}_{L1a}-u_{\mathrm{ca}}]\\ -\frac{L_{1}C}{u_{\mathrm{dc}}}[{\mathrm{\&omega;}}^2{u}_{\mathrm{ca}}-(c_1+k_1)\frac{{\mathrm{du}}_{\mathrm{ca}}}{\mathrm{dt}}-c_1{k}_1(u_{\mathrm{ca}}-u_{\mathrm{ca}}^{*})-{\mathrm{\&epsiv;}}_1\mathrm{sgn}(c_1{u}_{\mathrm{ca}}-c_1{u}_{\mathrm{ca}}^{*}+\frac{{\mathrm{du}}_{\mathrm{ca}}}{\mathrm{dt}})]\\ S_{1b}=\frac{1}{u_{\mathrm{dc}}}[L_1({2\mathrm{\&omega;i}}_{L1b}-\frac{{\mathrm{di}}_{\mathrm{cb}}}{\mathrm{dt}}-{\mathrm{\&omega;i}}_{\mathrm{cb}})-R_1{i}_{L1b}-u_{\mathrm{cb}}]\\ -\frac{L_{1}C}{u_{\mathrm{dc}}}[{\mathrm{\&omega;}}^2{u}_{\mathrm{cb}}-(c_1+k_1)\frac{{\mathrm{du}}_{\mathrm{cb}}}{\mathrm{dt}}-c_1{k}_1(u_{\mathrm{cb}}-u_{\mathrm{cb}}^{*})-{\mathrm{\&epsiv;}}_1\mathrm{sgn}(c_1{u}_{\mathrm{cb}}-c_1{u}_{\mathrm{cb}}^{*}+\frac{{\mathrm{du}}_{\mathrm{cb}}}{\mathrm{dt}})]\\ S_{1c}=\frac{1}{u_{\mathrm{dc}}}[L_1({2\mathrm{\&omega;i}}_{L1c}-\frac{{\mathrm{di}}_{\mathrm{cc}}}{\mathrm{dt}}-{\mathrm{\&omega;i}}_{\mathrm{cc}})-R_1{i}_{L1c}-u_{\mathrm{cc}}]\\ -\frac{L_{1}C}{u_{\mathrm{dc}}}[{\mathrm{\&omega;}}^2{u}_{\mathrm{cc}}-(c_1+k_1)\frac{{\mathrm{du}}_{\mathrm{cc}}}{\mathrm{dt}}-c_1{k}_1(u_{\mathrm{cc}}-u_{\mathrm{cc}}^{*})-{\mathrm{\&epsiv;}}_1\mathrm{sgn}(c_1{u}_{\mathrm{cc}}-c_1{u}_{\mathrm{cc}}^{*}+\frac{{\mathrm{du}}_{\mathrm{cc}}}{\mathrm{dt}})]\\ S_{2a}=\frac{1}{u_{\mathrm{dc}}}(-{\mathrm{\&omega;L}}_2{i}_{L2a}+R_2{i}_{L2a}+u_{\mathrm{la}})+\frac{L_2}{u_{\mathrm{dc}}}[-k_3(i_{L2a}-i_{L2a}^{*})-{\mathrm{\&epsiv;}}_3\mathrm{sgn}(i_{L2a}-i_{L2a}^{*})]\\ S_{2b}=\frac{1}{u_{\mathrm{dc}}}(-{\mathrm{\&omega;L}}_2{i}_{L2b}+R_2{i}_{L2b}+u_{\mathrm{lb}})+\frac{L_2}{u_{\mathrm{dc}}}[{-k}_3(i_{L2b}-i_{L2b}^{*})-{\mathrm{\&epsiv;}}_3\mathrm{sgn}(i_{L2b}-i_{L2b}^{*})]\\ S_{2c}=\frac{1}{u_{\mathrm{dc}}}({-\mathrm{\&omega;L}}_2{i}_{L2c}+R_2{i}_{L2c}+u_{\mathrm{lc}})+\frac{L_2}{u_{\mathrm{dc}}}[-k_3(i_{L2c}-i_{L2c}^{*})-{\mathrm{\&epsiv;}}_3\mathrm{sgn}(i_{L2c}-i_{L2c}^{*})]\end{array}\right.---\left(28\right)$

(28) formula is the controller of the UPQC that the controller design method of three-phase three-wire type uniform electric energy regulator of the present invention draws.

The design of Controller device of three-phase three-wire type uniform electric energy regulator of the present invention; As shown in Figure 4; Comprise that equation is set up module, mathematical model makes up module, inverse system decoupling zero module and design of Controller module; Equation is set up module and is set up the loop voltage equation of its series side and parallelly connected side and the node current equation of series side and DC side according to the schematic diagram of three-phase three-wire type uniform electric energy regulator UPQC; The equation that mathematical model structure module is set up module foundation to equation carries out the mathematical model that conversion draws UPQC; Wherein the method for conversion has a variety of with the mathematical model that obtains; Mathematical model makes up module and adopts the Park conversion also to obtain the mathematical model of UPQC under the dq0 coordinate system here, and inverse system decoupling zero module is carried out the inverse system that the inverse system decoupling zero obtains UPQC to the mathematical model that the mathematics model construction module constructs, and the design of Controller module is composed in series pseudo-linear system with the inverse system that original system UPQC and the decoupling zero of inverse system decoupling zero module draw; And to the pseudo-linear system design control law; Method for designing has a variety of, selects to buffet and anti-interference more satisfactory variable structure control method eliminating here, and variable structure control method is then selected for use and calculated convenient and simple index convergence rule method; The design of Controller module is brought the control law of pseudo-linear system into control strategy that inverse system promptly obtains inverse system, and what the control strategy of inverse system was carried out that the Park inverse transformation obtains again is exactly the controller of final UPQC.

The controller design method of three-phase three-wire type uniform electric energy regulator of the present invention is applied on the design of Controller device of three-phase three-wire type uniform electric energy regulator of the present invention, can realizes design the three-phase three-wire type uniform electric energy regulator controller.

Above-described embodiment of the present invention does not constitute the qualification to protection domain of the present invention.Any modification of within spirit of the present invention and principle, being done, be equal to replacement and improvement etc., all should be included within the claim protection domain of the present invention.

Claims (2)

1. a controller design method of a three-phase three-wire system unified power quality conditioner, is characterized in that, comprises steps: According to the schematic diagram of the three-phase three-wire unified power quality conditioner, the loop voltage equations of the series side and the parallel side and the node current equations of the series side and the DC side are established; Carrying out mathematical transformation to the loop voltage equation of the series side and the parallel side and the node current equation of the series side and the DC side to obtain a mathematical model, the mathematical transformation is Park transformation, and the mathematical model is a mathematical model under the dq0 coordinate system; Solving the inverse system of the three-phase three-wire unified power quality regulator according to the mathematical model; Using the exponential reaching law method to design a controller for a pseudo-linear system composed of a three-phase three-wire unified power quality regulator connected in series with its inverse system, and bring the designed controller of the pseudo-linear system into the inverse system to obtain the control of the inverse system device; The inverse transformation of the mathematical transformation is performed on the controller of the inverse system to obtain the controller of the three-phase three-wire unified power quality conditioner. 2. A controller design device for a three-phase three-wire unified power quality conditioner, characterized in that it comprises: The equation establishment module is used to establish the loop voltage equations of the series side and the parallel side and the node current equations of the series side and the DC side according to the schematic diagram of the three-phase three-wire system unified power quality conditioner; The mathematical model building module is used to carry out mathematical transformation to the circuit voltage equation of the series side and the parallel side and the node current equation of the series side and the DC side obtained by the equation building module to obtain a mathematical model, and the mathematical transformation is Park transformation, The mathematical model is a mathematical model under the dq0 coordinate system; The inverse system decoupling module is used to solve the inverse system of the three-phase three-wire unified power quality regulator according to the mathematical model constructed by the mathematical model building module; The controller design module is used to design the controller of the pseudo-linear system composed of the three-phase three-wire unified power quality regulator and the inverse system obtained by the inverse system decoupling module in series by using the exponential reaching law method, and the designed The controller of the pseudo-linear system is brought into the inverse system, and the obtained controller of the inverse system is subjected to the inverse transformation of the mathematical transformation to obtain the controller of the three-phase three-wire unified power quality conditioner.

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