LCL滤波并网逆变器的数字单环控制技术研究
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摘要
并网逆变器是连接分布式发电系统与电网最通用的接口设备，LCL滤波器由于具有良好的高频谐波抑制特性在分布式发电系统得到了广泛的应用。LCL滤波并网逆变器的单环数字控制策略不需要额外的传感器，具有结构简单，成本低，可靠性高的特点。但LCL滤波器存在固有的谐振问题，容易导致系统不稳定，对控制系统的设计提出了更高的要求。本文针对LCL滤波并网逆变器在系统建模、控制器、滤波器设计、谐振抑制以及对电网阻抗变化适应性等问题，对基于并网电流反馈的单环数字控制系统进行了系统的分析和研究。
分析和建立了包含延迟环节的LCL滤波并网逆变器的连续和离散时间模型。为了能够采取直接数字法进行数字控制系统的分析和设计，对全桥变换器在各种采样方式和调制方式下的延时进行了详细分析，建立了包含延迟环节的连续时间模型，并进行离散化，得到了含延迟环节的离散时间模型。为了分析电网电压对数字控制系统的影响，建立了系统输出阻抗的精确离散模型，同时为便于分析，对精确离散模型进行线性化近似处理。
在离散域下对基于并网电流反馈的数字单环控制系统的稳定性、稳定裕度进行了通用的定量分析，并提出了基于稳定裕度的系统参数设计方法。对两种单环控制策略进行了对比分析，同时揭示了基于并网电流反馈的数字单环控制系统的稳定机理。采用系统的离散时间模型和奈奎斯特图的频域分析方法，对单环数字比例控制、比例积分控制以及比例谐振控制的稳定性和相对稳定性进行了定量分析，得到了满足一定稳定裕度要求下的控制器及关键参数谐振频率比的取值范围，从而保证能够满足实际工程应用的要求。并引入矢量裕度指标描述系统的相对稳定性，推导了矢量裕度与比例、比例积分控制器参数、LCL滤波器参数之间的定量关系。对单环数字比例积分控制的稳态误差进行了定量分析。提出了基于稳定裕度的控制器设计方法，即在满足系统稳定裕度和稳态精度要求的条件下，以获得最大控制带宽为原则。提出了以优化闭环系统中频段为原则的系统参数优化设计方法，确定系统的控制参数，保证系统具有优良的动稳态性能以及鲁棒性。
提出了结合控制策略的LCL滤波器参数优化设计方法。针对目前LCL滤波器参数设计依赖工程经验和多次试凑的问题，结合控制策略对谐振频率进行优化，然后可根据优化后的谐振频率进行LCL滤波器的设计，可大大简化设计过程；提出了基于并网电流谐波标准要求的总电感设计原则；同时讨论了前后电感比的设计原则。在单环控制下以实例说明了LCL滤波器的设计过程，并可推广应用到其他控制策略。基于控制系统稳定裕度的变化，分析了电网阻抗变化对单环控制系统的影响。为适应电网阻抗的变化，通过合理选择前后电感比对LCL滤波器的参数设计进行优化。
对单环控制与双环控制、多环控制的控制性能进行了对比分析。分析了基于电容电流内环反馈双环控制的稳定性和相对稳定性，得到了系统的相角裕度与控制参数，LCL滤波器参数的定量关系。分析了基于滞后补偿全状态反馈控制的稳定性，对比了两种极点配置方法的控制性能，分析了电网电压前馈控制器的设计方法。在相同的控制带宽条件下，以系统的稳定裕度为比较原则，对双环控制、全状态反馈控制和单环控制的适用范围、控制器性能进行了对比分析。
The grid-connected inverters are the most universal interfacing topology forconnecting distributed power generation systems with the utility grid. The LCL Filters areapplied widely in the distributed power generation system because they show a goodperformance on suppression of high-frequency harmonics. The grid-connected inverterwith LCL filters adopted digital single-loop current controller has advantages of simple，low cost and reliable due to without extra sensor. However LCL filter has a resonant peakwith the filter resonance frequency which may raise oscillations and even instability if thecontroller is not suitably designed. This paper focuses on the investigation of systematicanalysis of digital single-loop control based on grid-side current feedback. The researchissues mainly include: the modeling of system, the design of controller parameters andfilter parameters, resonance suppression and adaptation performance to change of gridimpedance.
The continuous-time model and discrete-time model of grid-connected inverter withLCL filter which contain delay link have been analyzed and implemented. In order toanalyze and design digital control system by the direct digital method, the delay of thefull-bridge PWM converter has been analyzed in detail under a variety of samplingmethods and modulation methods, and the system continuous-time model contains delayhas been established. And the discrete-time model contains delay has been deduced bymeans of discretization. In order to analyze the influence on digital control system by gridvoltage, the accurate discrete model of system output impedance has been derived, and hasbeen linearized approximation for convenient.
Universal quantitative stability and stability margin analysis of digital single-loopcontrol based on grid-side current feedback in the discrete domain are demonstrated in thispaper, and the parameters design method based on stability margin is proposed. Thecomparison of two single-loop current control strategies is analyzed. The stabilizingmechanism of the digital single-loop current control system based on grid-side currentfeedback has been revealed. By means of Nyquist diagram based on discrete time model ofthe system, the quantitative analyses of stability and relative stability with digital Pcontroller, PI controller and PR controller have been carried out. And the stable range ofcontroller parameters and the resonant frequency ratio have been derived under a certain gain and phase margin. So it could be ensured to meet the requirements of practicalengineering applications. Furthermore, the vector margin is introduced to evaluate therelative stability of control system. The quantitative analyses of vector margin with digitalP and PI controller have been also derived. In this paper a controller design method basedon stability margin is proposed. The design principle is to optimize medium frequencyband characteristic to obtain the filter and controller parameters under a certain stabilitymargin. So it could be ensured to have excellent control performance and robustness.
The optimization design methods of LCL filter parameters combined with the controlstrategy is proposed in the paper. The traditional design methods of LCL filter parametershave the random of parameters and trial-and-error problem. The design method is tooptimize the resonant frequency of LCL filter based on control strategy. According to thedesign method, the design process could be simplified obviously. This paper also proposesan inductance design principle based on grid current harmonic standards. Furthermore, thedesign principles of ratio of inverter-side inductance to grid-side inductance have beenanalyzed. The design procedure of digital single-loop current control strategy has beendemonstrated, and the design method could be applied to other control strategy. The effectsof grid impedance variation on single-loop control system have been analyzed in detailbased on the change of stability margin. In order to adapt to the change of grid impedance,the LCL filter parameters could be optimized by suitable choice of inductance ratio.
The performances of single-loop control, dual loop control and full state feedbackcontrol have been compared. The stability and relative stability of dual loop controlstrategy based on capacitor current inner feedback have been analyzed, and the quantitativerelationship of phase margin with controller parameters and filter parameters have beencarried out. And the stability, pole assignment method and grid voltage feed-forwardcontrol of full state feedback control strategy have been analyzed. The comparativeanalyses of single-loop control with dual loop control and full state feedback control havebeen implemented. The comparative issues include the scope of filter parameters,especially the scope of resonance frequency ratio and controller performance, and thecomparative principle is to compare the stability margin of the system under differentcontrol strategies under the same control bandwidth.
分析和建立了包含延迟环节的LCL滤波并网逆变器的连续和离散时间模型。为了能够采取直接数字法进行数字控制系统的分析和设计，对全桥变换器在各种采样方式和调制方式下的延时进行了详细分析，建立了包含延迟环节的连续时间模型，并进行离散化，得到了含延迟环节的离散时间模型。为了分析电网电压对数字控制系统的影响，建立了系统输出阻抗的精确离散模型，同时为便于分析，对精确离散模型进行线性化近似处理。
在离散域下对基于并网电流反馈的数字单环控制系统的稳定性、稳定裕度进行了通用的定量分析，并提出了基于稳定裕度的系统参数设计方法。对两种单环控制策略进行了对比分析，同时揭示了基于并网电流反馈的数字单环控制系统的稳定机理。采用系统的离散时间模型和奈奎斯特图的频域分析方法，对单环数字比例控制、比例积分控制以及比例谐振控制的稳定性和相对稳定性进行了定量分析，得到了满足一定稳定裕度要求下的控制器及关键参数谐振频率比的取值范围，从而保证能够满足实际工程应用的要求。并引入矢量裕度指标描述系统的相对稳定性，推导了矢量裕度与比例、比例积分控制器参数、LCL滤波器参数之间的定量关系。对单环数字比例积分控制的稳态误差进行了定量分析。提出了基于稳定裕度的控制器设计方法，即在满足系统稳定裕度和稳态精度要求的条件下，以获得最大控制带宽为原则。提出了以优化闭环系统中频段为原则的系统参数优化设计方法，确定系统的控制参数，保证系统具有优良的动稳态性能以及鲁棒性。
提出了结合控制策略的LCL滤波器参数优化设计方法。针对目前LCL滤波器参数设计依赖工程经验和多次试凑的问题，结合控制策略对谐振频率进行优化，然后可根据优化后的谐振频率进行LCL滤波器的设计，可大大简化设计过程；提出了基于并网电流谐波标准要求的总电感设计原则；同时讨论了前后电感比的设计原则。在单环控制下以实例说明了LCL滤波器的设计过程，并可推广应用到其他控制策略。基于控制系统稳定裕度的变化，分析了电网阻抗变化对单环控制系统的影响。为适应电网阻抗的变化，通过合理选择前后电感比对LCL滤波器的参数设计进行优化。
对单环控制与双环控制、多环控制的控制性能进行了对比分析。分析了基于电容电流内环反馈双环控制的稳定性和相对稳定性，得到了系统的相角裕度与控制参数，LCL滤波器参数的定量关系。分析了基于滞后补偿全状态反馈控制的稳定性，对比了两种极点配置方法的控制性能，分析了电网电压前馈控制器的设计方法。在相同的控制带宽条件下，以系统的稳定裕度为比较原则，对双环控制、全状态反馈控制和单环控制的适用范围、控制器性能进行了对比分析。
The grid-connected inverters are the most universal interfacing topology forconnecting distributed power generation systems with the utility grid. The LCL Filters areapplied widely in the distributed power generation system because they show a goodperformance on suppression of high-frequency harmonics. The grid-connected inverterwith LCL filters adopted digital single-loop current controller has advantages of simple，low cost and reliable due to without extra sensor. However LCL filter has a resonant peakwith the filter resonance frequency which may raise oscillations and even instability if thecontroller is not suitably designed. This paper focuses on the investigation of systematicanalysis of digital single-loop control based on grid-side current feedback. The researchissues mainly include: the modeling of system, the design of controller parameters andfilter parameters, resonance suppression and adaptation performance to change of gridimpedance.
The continuous-time model and discrete-time model of grid-connected inverter withLCL filter which contain delay link have been analyzed and implemented. In order toanalyze and design digital control system by the direct digital method, the delay of thefull-bridge PWM converter has been analyzed in detail under a variety of samplingmethods and modulation methods, and the system continuous-time model contains delayhas been established. And the discrete-time model contains delay has been deduced bymeans of discretization. In order to analyze the influence on digital control system by gridvoltage, the accurate discrete model of system output impedance has been derived, and hasbeen linearized approximation for convenient.
Universal quantitative stability and stability margin analysis of digital single-loopcontrol based on grid-side current feedback in the discrete domain are demonstrated in thispaper, and the parameters design method based on stability margin is proposed. Thecomparison of two single-loop current control strategies is analyzed. The stabilizingmechanism of the digital single-loop current control system based on grid-side currentfeedback has been revealed. By means of Nyquist diagram based on discrete time model ofthe system, the quantitative analyses of stability and relative stability with digital Pcontroller, PI controller and PR controller have been carried out. And the stable range ofcontroller parameters and the resonant frequency ratio have been derived under a certain gain and phase margin. So it could be ensured to meet the requirements of practicalengineering applications. Furthermore, the vector margin is introduced to evaluate therelative stability of control system. The quantitative analyses of vector margin with digitalP and PI controller have been also derived. In this paper a controller design method basedon stability margin is proposed. The design principle is to optimize medium frequencyband characteristic to obtain the filter and controller parameters under a certain stabilitymargin. So it could be ensured to have excellent control performance and robustness.
The optimization design methods of LCL filter parameters combined with the controlstrategy is proposed in the paper. The traditional design methods of LCL filter parametershave the random of parameters and trial-and-error problem. The design method is tooptimize the resonant frequency of LCL filter based on control strategy. According to thedesign method, the design process could be simplified obviously. This paper also proposesan inductance design principle based on grid current harmonic standards. Furthermore, thedesign principles of ratio of inverter-side inductance to grid-side inductance have beenanalyzed. The design procedure of digital single-loop current control strategy has beendemonstrated, and the design method could be applied to other control strategy. The effectsof grid impedance variation on single-loop control system have been analyzed in detailbased on the change of stability margin. In order to adapt to the change of grid impedance,the LCL filter parameters could be optimized by suitable choice of inductance ratio.
The performances of single-loop control, dual loop control and full state feedbackcontrol have been compared. The stability and relative stability of dual loop controlstrategy based on capacitor current inner feedback have been analyzed, and the quantitativerelationship of phase margin with controller parameters and filter parameters have beencarried out. And the stability, pole assignment method and grid voltage feed-forwardcontrol of full state feedback control strategy have been analyzed. The comparativeanalyses of single-loop control with dual loop control and full state feedback control havebeen implemented. The comparative issues include the scope of filter parameters,especially the scope of resonance frequency ratio and controller performance, and thecomparative principle is to compare the stability margin of the system under differentcontrol strategies under the same control bandwidth.
引文
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