摘要
预测控制是一类源于工业生产过程控制的优化控制算法，该算法具有对系统建模精度要求低、鲁棒性强、在线滚动优化以及对系统控制目标及约束综合处理灵活等诸多优势。三相逆变器及其并联系统是当前研究最活跃、应用最广泛的一类变流器系统，具有优良控制性能的三相逆变器及其并联系统是绿色电力系统实施的基本保障。而将两者结合的研究并不多见，本文针对三相逆变器以及三相逆变器并联系统设计预测控制算法，基于预测控制算法对系统模型的鲁棒性以及对系统控制的综合优化性能改善三相逆变器输出电压的波形质量、减少输出电压的跟踪误差；提高三相逆变器并联系统输出电压的控制精度及并联逆变器的均流性能。最后针对DC600V列车辅助供电系统进行逆变器并联技术的工程实践。
采用基于控制增量的模型预测控制算法，进行三相电压型逆变器输出电压跟踪问题的预测控制研究。在dqo旋转坐标系下构建三相三线制电压型逆变器的直流增量模型，以该模型为基础构建控制系统预测模型。依据系统控制要求设计预测控制器的优化性能指标，并给出了最优控制增量的解析表达式，采用根轨迹法确定了预测控制器系数。通过仿真及实验验证三相逆变器模型预测控制算法的有效性及优越性。
分析了传统变流器有限控制集模型预测控制算法(Finite Control Set ModelPredictive Control，FCS-MPC)的保守性，提出一种在一个控制周期内同时考虑最优开关函数组合及次优开关函数组合并确保在两个控制周期内所选开关函数组合最优的多步预测的FCS-MPC算法(Finite Control Set Model Predictive Control withMulti-Step Prediction， FCS-MPCMSP)。采用理论分析及实时仿真测试，分析FCS-MPCMSP算法的在线计算量。对比仿真及实验表明FCS-MPCMSP算法改善了逆变器输出电压波形质量，提高了系统控制性能。
针对传统变流器FCS-MPC算法未考虑系统建模误差的问题，构建一种基于反馈校正思想的具有建模误差补偿特性的FCS-MPC算法(Finite Control Set ModelPredictive Control with Modeling Error Compensation， FCS-MPCMEC)。在FCS-MPCMSP算法基础上嵌入FCS-MPCMEC算法思想，进行了有、无补偿算法的对比仿真及实验，验证了补偿算法的有效性。
采用基于控制增量的模型预测控制算法，进行三相逆变器并联系统的预测控制研究。在dqo旋转坐标系下构建三相电压型逆变器并联系统的状态空间模型，并以此为基础构建三相逆变器并联系统基于控制增量的预测模型。根据三相逆变器并联系统控制要求设计预测控制器优化性能指标，通过优化性能指标求解及并联逆变器热插拔设计，给出了逆变器并联系统预测控制器结构框图，并采用根轨迹法确定预测控制器的参数。通过仿真及实验对所设计的三相逆变器并联系统模型预测控制算法的优越性及可实现性进行了验证。
将逆变器并联系统的下垂控制与三相电压型逆变器的模型预测控制结合起来，构建三相并联逆变器无互连线预测控制结构。由下垂控制器提供模型预测控制器的参考电压信号，以并联逆变器输出电压对参考电压的跟踪误差构建模型预测控制器的优化性能指标，实现了三相逆变器并联系统的无互连线模型预测控制。
针对现有DC600V列车辅助供电系统在可靠性及系统冗余上的不足，确定了基于PQ(有功和无功)下垂控制逆变器并联技术的列车辅助供电系统方案。给出了系统控制结构及控制量的计算过程，并通过仿真和实验验证了控制方案的可行性及有效性。为进一步改善列车辅助供电系统并联逆变器的均流性能，改进了下垂控制策略，将并联逆变器输出有功功率的积分项引入系统下垂控制策略中。采用小信号分析方法构建并联逆变器功率控制环的小信号模型，应用根轨迹法确定了逆变器并联列车辅助供电系统下垂控制器参数，通过对比仿真及实验验证了改进策略的优越性。最后，基于控制器开发流程的“V”模式，构建基于dSPACE实时仿真器的逆变器并联列车辅助供电系统半实物仿真平台。为逆变器并联列车辅助供电系统的深入研究及系统测试打下了工程基础。
Predictive control is a class of optimization control algorithms originated fromthe industrial production process control, which has the advantages of low precisionrequirement of system modeling, strong robustness, online rolling optimization, andflexibility of comprehensively processing system control goals and constraints. Thethree-phase inverter and its parallel system is a category of converter systems, whichis deeply researched and widely applied nowadays, and the excellent controlperformances of it are the basic requirements of the green power system. But theresearch of combining predictive control with three-phase inverter and its parallelsystem is a novel topic. In this paper, the predictive control algorithms for thethree-phase inverter and its parallel system are designed. Processing characteristics ofrobustness of system model and integrated optimization of system control, thepredictive control algorithms are used to improve the output voltage wave quality andto reduce the tracking error of three-phase inverter.They are also applied in thethree-phase inverter parallel system to improve the control accuracy and the currentshare performance. Lastly the engineering practice of inverter parallel technology forDC600V train auxiliary power system is done.
The predictive control research of three-phase voltage source inverter on thetracking problem of output voltage is done by the algorithm of model predictivecontrol based on control increment. The DC increment model of three-phasethree-wire voltage source inverter is built in the dqo rotating coordinates, based onwhich the predictive model of system is constructed. The optimize performance indexof predictive controller is designed according to the system control requirement, andthen expression of the optimal control increment is given. The expectation parametersof predictive controller are selected by the root locus method. The validity andsuperiority of the proposed model predictive control algorithm for three-phaseinverter is validated by the simulation and experiment.
The conservative characters of traditional finite control set model predictivecontrol (FCS-MPC) for converters are analyzed, and then a multi-step predictionFCS-MPC (FCS-MPCMSP) is proposed, in which both optimal and suboptimalswitching function sets are considered in one control cycle, and the selected switchingfunction set is optimal in two control cycles. The online calculation burden of FCS-MPCMSP algorithm is analyzed by theory analysis and real-time simulation test.The contrast simulation and experimental results show that the wave quality of outputvoltage of the three-phase inverter controlled by the designed FCS-MPCMSPalgorithm is improved and controller performance of system is enhanced.
In order to solve the problem that the system modeling error of traditionFCS-MPC algorithm is neglected, a finite control set model predictive controlalgorithm with modeling error compensation (FCS-MPCMEC) is proposed based onthe feedback adjustment mechanism. The idea of FCS-MPCMEC algorithm isembedded in the FCS-MPCMSP algorithm, and a contrast simulation ofFCS-MPCMSP algorithm with and without modeling error compensation is done, thevalidity of the compensation algorithm is tested.
The research on three-phase inverters parallel system predictive control is doneby the algorithm of model predictive control based on control increment. The statespace model of the three-phase voltage source inverters parallel system is built in thedqo rotating coordinates, based on which the predictive model of the three-phaseinverters parallel system is constructed. The optimize performance index of predictivecontroller is built following the control requirement of inverters parallel system, aftersetting it and achieving hot-swap design of parallel inverters, a predictive controlstructure diagram of inverters parallel system is given. The expectation parameters ofpredictive controller are selected by the root locus method. The superiority andrealizability of the designed model predictive control algorithm for the three-phaseinverters parallel system is validated by the simulation and experiment.
The droop control of inverters parallel system and the model predictive control ofthree-phase inverter are combined. A control structure of three-phase parallel inverterwireless predictive control is built. The reference voltage signal of model predictivecontroller is provided by the droop controller, and the optimize performance indexesof the model predictive controller are designed by the tracking error of the parallelinverter’s output voltage with the reference voltage, then the wireless modelpredictive control of three-phase inverters parallel system is achieved.
The inverter parallel technology is applied to the DC600V train auxiliary powersystem, which is able to improve its reliability and redundancy. A solution based onPQ (active power and reactive power) droop control inverter parallel technology isproposed for the DC600V train auxiliary power system. The control structure andcalculation process of the algorithm are given. The validity and feasibility of thedesigned control algorithm is tested by the simulation and experiment. In order to improve the current share performance of the parallel inverters in the train auxiliarypower system, the droop control strategy is changed. The integral of the parallelinverter output active power is introduced into the system’s droop control strategy.The small-signal model of parallel inverter’s power control loop is built by themethod of small-signal analysis, then the impact of each parameter in droop controlleron system stability and dynamic performance are studied using the root locus method,the parameters with excellent system performance are selected for the droop controllerof the inverter parallel train auxiliary power system. The feasibility and superiority ofthe improved droop control strategy is validated by the contrast simulation andexperiment. The semi-practical simulation platform based on the dSPACE real timeemulator for the three-phase inverters parallel train auxiliary power system is builtfollowing the V-cycle mode of controller design. So engineering basis for in-depthresearch and system test of the inverter parallel train auxiliary power system isestablished.
引文
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