Three-phase inverter power supply self-disturbance rejection control system and method based on GF-ESO

Abstract

The present invention provides a GF‑ESO-based three-phase inverter power supply self-disturbance rejection control system and method, which observes AC disturbances of different frequencies in the dq coordinate system through multiple parallel PSSOGI links of the generalized frequency selective extended state observer GF‑ESO, and realizes the function of suppressing the output line voltage asymmetry when the inverter power supply system carries an unbalanced load in combination with the control method, thereby improving the output power quality, reducing the power loss of the line, and improving the operating efficiency. The present invention improves the asymmetric load capacity when applied to a three-phase inverter power supply, maintains a three-phase balanced voltage output when an asymmetric load is connected, improves the power quality and the ability to cope with transient processes, reduces the unbalanced loss of the system, and reduces the damage of the imbalance to the equipment.

Description

Technical Field

[0001] The present invention belongs to the technical field of inverter control, and in particular relates to a GF-ESO-based three-phase inverter power supply self-disturbance rejection control system and method. Background Art

[0002] The three-phase inverter converts DC voltage into three-phase AC voltage, and can transmit electric energy to three-phase loads. The core technology of the three-phase inverter is the modulation and control technology of power electronic circuits. In distributed power systems such as ships and aircraft, when the inverter is connected to an asymmetric load, the output voltage of the three-phase inverter will produce a large asymmetry. The three-phase asymmetric voltage will increase line losses, increase the power loss of the distribution transformer, and may even cause the malfunction of the relay protection equipment. For the treatment of three-phase imbalance, the currently commonly used technical solutions are to increase the short-circuit capacity of the load access point and install a balancing device. However, for occasions such as ships and aircraft that require high space utilization, adding equipment is not conducive to improving space utilization. Therefore, it is of great significance to suppress three-phase imbalance by improving the control method.

[0003] For the control mode of three-phase inverter power supply, the "double closed-loop" control of the voltage outer loop and the current inner loop is generally adopted after abc-dq transformation, and then the modulation signal is generated through modulation methods such as dq-abc transformation and space vector modulation (SVPWM). Due to its strong robustness, simple parameter design method, and low model dependence, ADRC has been gradually applied to the control of power electronic equipment in industrial occasions. ADRC mainly consists of a controller and an extended state observer (ESO). The ESO observes the generalized disturbance signal, and the controller outputs the control command according to the observed value of the disturbance signal. When the inverter power supply system is connected to an asymmetric load, it can be regarded as an AC disturbance acting in the dq coordinate system. However, common control methods such as proportional-integral (PI) control and ADRC based on the extended state observer (ESO) have poor suppression effect on AC disturbances, so they cannot eliminate the influence of three-phase asymmetric loads. When such methods are used, the output voltage of the three-phase inverter power supply still has a large imbalance, which is not conducive to the improvement of power quality. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a three-phase inverter power supply self-disturbance rejection control system and method based on GF-ESO, which is used to suppress the output line voltage asymmetry when the inverter power supply system carries an unbalanced load.

[0005] The technical solution adopted by the present invention to solve the above technical problems is: a three-phase inverter power supply anti-disturbance control system based on GF-ESO, including a circuit module, a control observation module, a measurement module and a coordinate transformation module; the circuit module includes a DC power supply V connected in sequence dc, a three-phase full-bridge circuit, a three-phase inductor-capacitor-inductor filter LCL and a load; the three-phase inductor-capacitor-inductor filter LCL is used to filter out the high-frequency component of the voltage; the control observation module includes a first generalized frequency-selective extended state observer E 1 , the second generalized frequency-selective extended state observer E 2 , the first voltage controller C Vd , the second voltage controller C Vq , the first current controller C Id , the second current controller C Iq and modulation signal generator; the first generalized frequency-selective extended state observer E 1 and the second generalized frequency-selective extended state observer E 2 It is used to observe the system state and the generalized disturbance of the system, and provide effective information for voltage control through the observed value; the signal output end of the modulation signal generator is connected to the gate of the switch device of the three-phase full-bridge circuit, and is used to use space vector modulation SVPWM to generate and send gate drive signals to control the conduction and shutdown of the switch device; the measurement module includes a voltage measurement module and a current measurement module; the voltage measurement module is set at the output end of the three-phase inductor-capacitor-inductor filter LCL, and is used to obtain the three-phase line voltage measurement value U ab , U bc and U ca The current measurement module is set at the input end of the three-phase inductor-capacitor-inductor filter LCL to obtain the output three-phase current measurement value I a ,I b and I c ; The coordinate transformation module includes a first abc-dq0 coordinate transformation module T 1 , the second abc-dq0 coordinate transformation module T 2 and dq0-abc coordinate transformation module T 3 ; The first abc-dq0 coordinate transformation module T 1 The input end of the abc-dq0 coordinate transformation module is connected to the output end of the voltage measurement module, and is used to transform the three-phase line voltage from the abc stationary coordinate system to the dq0 rotating coordinate system; the second abc-dq0 coordinate transformation module T 2 The input end of the current measurement module is connected to the output end of the current measurement module, which is used to transform the three-phase current from the abc stationary coordinate system to the dq0 rotating coordinate system; the first generalized frequency-selective extended state observer E 1 The input end is connected to the first abc-dq0 coordinate transformation module T 1 The output end and the second abc-dq0 coordinate transformation module T 2 The output end of the first generalized frequency-selective extended state observer E 1 The output terminal of the first voltage controller C VdThe input terminal is used to generate and output the d-axis voltage observation value and the d-axis disturbance observation value; the first current controller C Id The input terminal is connected to the first voltage controller C Vd The output end and the second abc-dq0 coordinate transformation module T 2 The output terminal of the first current controller C Id The output end is connected to the dq0-abc coordinate transformation module T 3 The input end is used to output the d-axis duty cycle; the second generalized frequency-selective extended state observer E 2 The input end is connected to the first abc-dq0 coordinate transformation module T 1 The output end and the second abc-dq0 coordinate transformation module T 2 The output end of the second generalized frequency-selective extended state observer E 2 The output terminal is connected to the second voltage controller C Vq The input terminal is used to generate and output the q-axis voltage observation value and the q-axis disturbance observation value; the second current controller C Iq The input terminal is connected to the second voltage controller C Vq The output end and the second abc-dq0 coordinate transformation module T 2 The output end of the second current controller C Iq The output end is connected to the dq0-abc coordinate transformation module T 3 The input end is used to output the q-axis duty cycle; dq0-abc coordinate transformation module T 3 Also input DC power supply V dc , dq0-abc coordinate transformation module T 3 The output end is connected to the input end of the modulation signal generator, and is used to transform the d-axis duty cycle and the q-axis duty cycle from the dq0 rotating coordinate system to the abc stationary coordinate system and output them.

[0006] According to the above scheme, a DC power supply is connected to the DC side of the three-phase full-bridge circuit, the AC side of the three-phase full-bridge circuit is connected to the input end of the three-phase inductor-capacitor-inductor filter LCL, and the output end of the three-phase inductor-capacitor-inductor filter LCL is connected to the load; the three-phase full-bridge circuit adopts a two-level three-bridge arm circuit, each bridge arm includes 2 switching devices and 2 unidirectional conducting devices; the midpoint of the three bridge arms is the AC side of the three-phase full-bridge circuit, and outputs a, b, and c three-phase power supplies respectively.

[0007] According to the above scheme, the first abc-dq0 coordinate transformation module T 1 The input value is U ab , U bc and U ca , the output value is U d , U q and U 0; Let ω be the rated fundamental angular frequency of the inverter power supply, t be the time, then the first abc-dq0 coordinate transformation module T 1 The transformation relationship is:

[0008]

[0009] The second abc-dq0 coordinate transformation module T 2 The input value is I a ,I b and I c , the output value is I d ,I q and I 0 ; Then the second abc-dq0 coordinate transformation module T 2 The transformation relationship is:

[0010]

[0011] Furthermore, the first voltage controller C Vd Used to input d-axis voltage command U d *、Output d-axis current command I d *; The first generalized frequency-selective extended state observer E 1 The input value is U d and I d , the first generalized frequency-selective extended state observer E 1 To the first voltage controller C Vd Output d-axis voltage observation value z 11 and the d-axis perturbation observation z 21 ; Assume that the first voltage controller C Vd The scale parameter is k Pd , the first generalized frequency-selective extended state observer E 1 The feedforward gain is b 1 , then the first voltage controller C Vd The expression is:

[0012]

[0013] The second voltage controller C Vq Used to input q-axis voltage command U q *、Output q-axis current command I q *; The second generalized frequency-selective extended state observer E 2 The input value is U q and I q , the second generalized frequency-selective extended state observer E 2 To the second voltage controller C Vq Output q-axis voltage observation value z 12 and the q-axis perturbation observation z 22; Assume that the second voltage controller C Vq The scale parameter is k Pq , the second generalized frequency-selective extended state observer E 2 The feedforward gain is b 2 , then the second voltage controller C Vq The expression is:

[0014]

[0015] Furthermore, the first current controller C Id It is a proportional-integral controller, and the input value is I d * and I d The output value is the d-axis duty cycle D d , let s be the Laplace operator, the first current controller C Id and the second current controller C Iq The scale parameter is k cPd , the first current controller C Id and the second current controller C Iq The integral parameter is k cId , then the first current controller C Id The expression is:

[0016]

[0017] The second current controller C Iq It is a proportional-integral controller, and the input value is I q * and I q The output value is the q-axis duty cycle D q ; Then the second current controller C Iq The expression is:

[0018]

[0019] Furthermore, the dq0-abc coordinate transformation module T 3 The input value is D d , D q and V dc , dq0-abc coordinate transformation module T 3 The output value is the three-phase duty cycle D a , D b and D c , then the dq0-abc coordinate transformation module T 3 The coordinate transformation relationship is:

[0020]

[0021] Generalized frequency-selective extended state observer, generalized frequency-selective extended state observer E jUsed to observe generalized disturbances of the system at multiple frequencies; generalized frequency-selective extended state observer E j Including feedforward gain b j , generalized frequency selection link F j , the first integrator S 1j , the second integrator S 2j , the first observation gain l 1j and the second observation gain l 2j ; Generalized frequency-selective extended state observer E j It also includes a first input terminal, a second input terminal, a first output terminal and a second output terminal; a generalized frequency-selective extended state observer E j The operations performed in each control cycle include the following steps:

[0022] S101: Set the value y of the second input terminal j Generalized Frequency Selective Extended State Observer j The observed value z in the previous control period 1j Perform subtraction to get the error value e j ;

[0023] S102: Set the second observation gain l 2j and error value e j The product of g j Input the second integrator S 2j , the first intermediate observation z is obtained by integration operation 2aj ;

[0024] S103: Set the second observation gain l 2j and error value e j The product of g j Input generalized frequency selection link F j , after the generalized frequency selection link F j The second intermediate observation z is obtained by calculation 2bj , the first intermediate observation z 2aj and the second intermediate observation z 2bj Perform addition operation to obtain the disturbance observation z of this control cycle 2j , and output from the second output terminal;

[0025] S104: Set the value u of the first input terminal j With the feedforward gain b j The product of the first observation gain l 1j The error value e obtained in step S101 j The product of the disturbance observation z of this control cycle obtained in step S103 2j After adding, input the first integrator S 1j , perform the integral operation to obtain z 1j and output from the first output terminal.

[0026] Furthermore, the generalized frequency selection link F j It includes input end, n phase shift generalized integral PSSOGI links N 1j 、N 2j ,…N nj , addition output link and output terminal; phase shift generalized integral PSSOGI link N 1j ~N nj It is used to adjust the resonant angular frequency to the harmonic frequency to be observed and suppressed to achieve targeted observation of disturbances at each frequency; suppose the nth PSSOGI link N nj The resonant angular frequency is ω nj , the feedforward gain is k nj , the phase shift angle is θ nj , the nth PSSOGI link N nj Including the first integral link S 1nj , the second integral link S 2nj , also includes 2 multiplication links, 1 addition link and 1 subtraction link; generalized frequency selection link F j It is used to convert the input signal g into j Input to the input of each PSSOGI link, and output m of all PSSOGI links j Summing to get z 2bj And as the output; in the jth generalized frequency-selective extended state observer E j The nth PSSOGI link N nj In each control cycle, the operations performed include the following steps:

[0027] S201: Input signal g j With k nj sin(θ nj ) to perform multiplication, and then add the product to the second integral link S 2nj Subtract the output of the previous control cycle and add the result of the subtraction to ω nj Multiply to get the first intermediate value m1 nj ;

[0028] S202: Input signal g j With k nj cos(θ nj ) to perform multiplication, and then add the product to the first integral link S 1nj The output of the previous control cycle is added, and the result of the addition is added to ω nj Multiply to get the second intermediate value m2 nj ;

[0029] S203: The first intermediate value m 1nj Enter the first integral link S1nj Perform integral operation to obtain the control period S 1nj Output:

[0030] S204: The second intermediate value m 2nj Enter the second integral link S 2nj Perform integral operation to obtain the control period S 2nj Output:

[0031] S205: S obtained in step S203 and S204 are combined 1nj The output and S 2nj The output of is added to get N nj The output of m j .

[0032] The GF-ESO-based three-phase inverter power supply anti-disturbance control method includes the following steps:

[0033] S1: The first abc-dq0 coordinate transformation module T 1 Receive the three-phase line voltage measurement value U from the voltage measurement module ab , U bc and U ca , generating a dq voltage value U d and U q ; The second abc-dq0 coordinate transformation module T 2 Receive the three-phase current measurement value I of the current measurement module a ,I b and I c , generating dq current value I d and I q ;

[0034] S2: The first generalized frequency-selective extended state observer E 1 According to U d ,I d Generate d-axis voltage observation value z 11 and the d-axis perturbation observation z 21 ; The second generalized frequency-selective extended state observer E 2 According to U q ,I q Generate q-axis voltage observation value z 12 and the q-axis perturbation observation z 22 ;

[0035] S3: First voltage controller C Vd According to the d-axis voltage command U d * and the output z of the first generalized frequency-selective extended state observer E1 11 、z 21 Generate d-axis current command I d *; Second voltage controller CVq According to the q-axis voltage command U q * and the second generalized frequency-selective extended state observer E 2 The output z 12 、z 22 Generate q-axis current command I q *;

[0036] S4: First current controller C Id According to the d-axis current command I d * and d-axis current value I d Generate d-axis duty cycle D d ; The second current controller C Iq According to the q-axis current command I q * and q-axis current value I q Generate q-axis duty cycle D q ;

[0037] S5: Coordinate transformation module T 3 According to the d-axis duty cycle D d , q-axis duty cycle D q and DC power supply V dc Generate three-phase duty cycle D a , D b and D c ;

[0038] S6: The modulation signal generator is based on the three-phase duty cycle D a , D b , D c Generate gate drive signals for the switching devices of the three-phase full-bridge circuit, control the on and off of the switching devices, convert DC voltage into AC voltage, and realize the inverter function.

[0039] A computer storage medium stores a computer program executable by a computer processor, wherein the computer program executes a GF-ESO-based three-phase inverter power supply self-disturbance rejection control method.

[0040] The beneficial effects of the present invention are:

[0041] 1. The GF-ESO-based three-phase inverter power supply self-disturbance rejection control system and method of the present invention realizes the function of suppressing the output line voltage asymmetry when the inverter power supply system carries an unbalanced load through GF-ESO, thereby improving the power quality, reducing the power loss of the line, and improving the operating efficiency.

[0042] 2. The present invention makes full use of the advantages of the self-disturbance rejection control based on the extended state observer (ESO), such as strong robustness, low model dependence, and simple parameter setting method, to improve its ability to carry asymmetric loads when applied to three-phase inverter power supplies. When an asymmetric load is connected, the three-phase balanced voltage output is maintained, the power quality and the ability to cope with transient processes are improved, the system unbalanced loss is reduced, and the damage to equipment caused by imbalance is reduced.

[0043] 3. The generalized frequency-selective extended state observer provided by the present invention can effectively observe the AC disturbance caused by the three-phase asymmetric load in the inverter power supply system. Because it has multiple parallel PSSOGI links, each PSSOGI link has a different resonant frequency. Therefore, the generalized frequency-selective ESO provided can observe AC disturbances of multiple frequencies in the dq coordinate system, and further combine the control method to suppress the three-phase imbalance, so as to improve the output voltage quality and reduce the imbalance. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a principle block diagram of an embodiment of the present invention.

[0045] Figure 2 Schematic diagram of a generalized frequency-selective extended state observer (GF-ESO) according to an embodiment of the present invention.

[0046] Figure 3 It is a schematic diagram comparing the active disturbance rejection control result based on GF-ESO and the active disturbance rejection control result based on traditional ESO applied to a three-phase inverter power supply system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0048] See also Figure 1 The embodiment of the present invention includes P1. Measurement module: 1 voltage measurement module, 1 current measurement module; P2. Coordinate transformation module: 2 abc-dq0 coordinate transformation modules: T 1 、T 2 , 1 dq0-abc coordinate transformation module T 3 ; P3. Controller and observer modules: 2 generalized frequency-selective extended state observer (GF-ESO) modules: E 1 、E 2 , 2 voltage controllers C Vd , C Vq , 2 current controllers C Id , C Iq, 1 modulation signal generator; P4. Circuit module: DC power supply, three-phase full-bridge circuit, three-phase inductor-capacitor-inductor (LCL) filter, load; Figure 1 Connect the signal terminals with the same name in the .

[0049] In this embodiment, the three-phase full-bridge circuit uses a typical two-level three-bridge arm circuit, each bridge arm is composed of two switching devices and two unidirectional conducting devices, and the gate drive signal generated by the modulation signal generator acts on the gate of the switch tube to realize the conduction and shutdown of the switch tube. The midpoint of each bridge arm is used as the output end to form three phases abc. The DC power supply is connected to the DC side of the three-phase full-bridge circuit, the AC side of the three-phase full-bridge circuit is connected to the input end of the three-phase LCL filter, and the output end of the three-phase LCL filter is connected to the load;

[0050] The LCL filter is used to filter out the high-frequency components of the voltage. The voltage measurement module is located at the output end of the three-phase LCL filter and is used to obtain the three-phase line voltage measurement value U ab , U bc , U ca The current measurement module is located at the input end of the three-phase LCL filter and is used to obtain the output three-phase current measurement value I a , I b , I c ;

[0051] Coordinate transformation module T 1 The input value is U ab , U bc , U ca , its output value is U d , U q , U 0 Preferably, T 1 It is used to realize the coordinate transformation of the three-phase line voltage from the abc stationary coordinate system to the dq0 rotating coordinate system. 1 The transformation relationship is:

[0052]

[0053] Where ω is the rated fundamental angular frequency of the inverter power supply, t is the time

[0054] Coordinate transformation module T 2 The input value is I a , I b , I c , its output value is I d , I q , I 0 . T 2 It is used to realize the coordinate transformation of three-phase current from abc stationary coordinate system to dq0 rotating coordinate system. 2 The transformation relationship is:

[0055]

[0056] Generalized Frequency-Selective Extended State Observer 1 The input of the coordinate transformation module T 1 The output U d and coordinate transformation module T 2 Output I d ; Generalized frequency-selective extended state observer E 2 The input of the coordinate transformation module T 1 The output U q and coordinate transformation module T 2 Output I q ; The generalized frequency-selective extended state observer can realize the observation of system state and generalized disturbance of the system. Both the system state observation value and the generalized disturbance observation value can provide effective information for voltage control;

[0057] Voltage Controller C Vd The input is the d-axis voltage command U d *、Output is d-axis current command I d *; Generalized Frequency Selective Extended State Observer E 1 The output is z 11 、z 21 ; Voltage controller C Vd The expression is:

[0058]

[0059] Voltage Controller C Vq The input is the q-axis voltage command U q *、Output is q-axis current command I q *; Generalized Frequency Selective Extended State Observer E 2 The output z 12 、z 22 ; Voltage controller C Vq The expression is:

[0060]

[0061] Among them, k Pd , k Pq is the voltage controller proportional parameter; b 1 、b 2 They are respectively the generalized frequency-selective extended state observer E 1 、E 2 The feedforward gain b j .

[0062] Current controller C Id The input of the voltage controller CVd Output I d *With coordinate transformation module T 2 Output I d , the output is the d-axis duty cycle D d ; Current controller C Id For the proportional-integral controller, the expression is:

[0063]

[0064] Current controller C Iq The input of the voltage controller C Vq Output I q *With coordinate transformation module T 2 Output I q , the output is the q-axis duty cycle D q ; Current controller C Iq For the proportional-integral controller, the expression is:

[0065]

[0066] Where s is the Laplace operator;

[0067] Coordinate transformation module T 3 The input is D d , D q 、V dc , where V dc is the DC power supply voltage, T 3 The output is the three-phase duty cycle D a , D b , D c , the coordinate transformation relationship is:

[0068]

[0069] The input of the modulation signal generator is D a , D b , D c , the output is the gate drive signal of the switching device of the three-phase full-bridge circuit;

[0070] The modulation signal generation method of the modulation signal generator is space vector modulation (SVPWM).

[0071] The control method of the present invention comprises the following steps:

[0072] S1: Coordinate transformation module T 1 Receive the three-phase line voltage measurement value U from the voltage measurement module ab , U bc , U ca , generating a dq voltage value U d , Uq ; Coordinate transformation module T 2 Receive the three-phase current measurement value I of the current measurement module a ,I b ,I c , generating dq current value I d ,I q ;

[0073] S2: Generalized frequency-selective extended state observer E 1 According to U d ,I d Generate d-axis voltage observation value z 11 and the perturbed observation z 21 ; Generalized frequency-selective extended state observer E 2 According to U q ,I q Generate q-axis voltage observation value z 12 and the perturbed observation z 22 ;

[0074] S3: Voltage controller C Vd According to the d-axis voltage control command U d *With E1 output z 11 、z 21 Generate d-axis current control command I d *; Voltage controller C Vq According to the q-axis voltage control command U q *With E 2 The output z 12 、z 22 Generate q-axis current control command I q *;

[0075] S4: Current controller C Id According to the d-axis current control command I d * and d-axis current value I d Generate d-axis duty cycle D d ; Current controller C Iq According to the q-axis current control command I q * and q-axis current value I q Generate q-axis duty cycle D q ;

[0076] S5: Coordinate transformation module T 3 According to the d-axis duty cycle D d , q-axis duty cycle D q Generate three-phase duty cycle D a , D b , D c ;

[0077] S6: The modulation signal generator is based on Da , D b , D c Generate gate drive signals for the switching devices of the three-phase full-bridge circuit, convert DC voltage into AC voltage, and realize the inverter function;

[0078] The generalized frequency-selective extended state observer (GF-ESO) of the present invention is shown in Figure 2 GF-ESO is used to observe the generalized disturbances of the system; for the three-phase unbalanced load problem, GF-ESO is used to observe the generalized disturbances of multiple frequencies. Generalized Frequency Selective Extended State Observer E 1 and E 2 The two have the same structure, in which E j (j=1, 2) includes 1 feedforward gain b j , a generalized frequency selection link F j , 2 integrators S 1j , S 2j , 2 observation gains l 1j , l 2j ;

[0079] E 1 The first input terminal u 1 With coordinate transformation module T 2 Output I d Connected, E 1 The second input terminal y 1 With coordinate transformation module T 1 The output U d Connected; E 2 The first input terminal u 2 With coordinate transformation module T 2 Output I q Connected, E 2 The second input terminal y 2 With coordinate transformation module T 1 The output U q connected;

[0080] For E j In each control cycle, the following steps are performed:

[0081] S1: Second input terminal y j The value of the previous control cycle E j The observed value z 1j Do subtraction and get the error value e j ;

[0082] S2: The observation gain l 2j e obtained with S1 j The product of g j Input integrator S 2j, the intermediate observation z is obtained by integration operation 2aj ;

[0083] S3: The observation gain l 2j e obtained with S1 j The product of g j Input generalized frequency selection link F j Input terminal, through F j The intermediate observation z is obtained by calculation 2bj , z 2bj With z in S2 2aj Perform addition operation to obtain the disturbance observation z of this control cycle 2j , z 2j That is E j The output value of the second output terminal;

[0084] S4: first input terminal u j With the feedforward gain b j The product of, observation gain l 1j e obtained with S1 j The product of, z obtained in S3 2j , add these three values ​​and input them into the integrator S 1j , perform the integral operation to obtain z 1j , z 1j That is E j The output value of the first output terminal;

[0085] For E j The generalized frequency selection link F j , including: input terminal g j , 1 addition output link, n PSSOGI links: N 1j 、N 2j ,…N nj ; Adjust N 1j ~N nj The resonant angular frequency is the harmonic frequency that needs to be observed and suppressed, so that targeted observation of disturbances at each frequency can be achieved.

[0086] For the nth PSSOGI link, including: resonant angular frequency ω nj , feedforward gain k nj , phase shift angle θ nj , 2 integral links S 1nj , S 2nj , 2 multiplication links, 1 addition link, and 1 subtraction link;

[0087] In each control cycle, the generalized frequency selection link F j The function is to convert the input signal g jInput to the input of each PSSOGI link, and output m of all PSSOGI links j The sum is taken as the output z 2bj ;

[0088] In the nth PSSOGI link N of the jth GF-ESO nj In each control cycle, the following steps are included:

[0089] S1: Input signal g j With k nj sin(θ nj ) to perform multiplication, and then add this product to the integrator S 2nj Subtract the output of the previous control cycle and add the result of this subtraction to ω nj Multiply to get the intermediate value m 1nj ;

[0090] S2: Input signal g j With k nj cos(θ nj ) to perform multiplication, and then add this product to the integrator S 1nj The output of the previous control cycle is added, and the result of this addition is added to ω nj Multiply to get the intermediate value m 2nj ;

[0091] S3: The middle value m 1nj Input integrator S 1nj Perform integral operation to obtain the control period S 1nj Output:

[0092] S4: The middle value m 2nj Input integrator S 2nj Perform integral operation to obtain the control period S 2nj Output:

[0093] S5: S3 and S4 obtained 1nj The output and S 2nj The output of is added to get N nj The output of m j .

[0094] Figure 3A schematic diagram comparing the results of the GF-ESO-based self-disturbance rejection control and the traditional ESO-based self-disturbance rejection control applied to a three-phase inverter power supply system provided in an embodiment of the present invention. In the embodiments of Figure (a) and Figure (b), the loads are all three-phase asymmetric loads. Figure (a) is the three-phase line voltage before applying the method of the present invention, and Figure (b) is the three-phase line voltage after applying the method of the present invention. From this comparison diagram, it can be seen that when the traditional ESO-based self-disturbance rejection control is applied (before the method of the present invention is applied), the line voltage of the three-phase inverter power supply system has a large asymmetry. After switching to the GF-ESO-based self-disturbance rejection control (after the method of the present invention is applied), the asymmetry of the three-phase line voltage is significantly reduced. This comparison result verifies the effectiveness of the invented control method and system.

[0095] The above embodiments are only used to illustrate the design ideas and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The protection scope of the present invention is not limited to the above embodiments. Therefore, any equivalent changes or modifications made based on the principles and design ideas disclosed by the present invention are within the protection scope of the present invention.

Claims

1. The three-phase inverter power supply anti-disturbance control system based on GF-ESO is characterized by: It includes a circuit module, a control observation module, a measurement module and a coordinate transformation module; The circuit module includes a DC power supply V dc , a three-phase full-bridge circuit, a three-phase inductor-capacitor-inductor filter LCL and a load; the three-phase inductor-capacitor-inductor filter LCL is used to filter out the high-frequency component of the voltage; the control observation module includes a first generalized frequency-selective extended state observer E1, a second generalized frequency-selective extended state observer E2, a first voltage controller C Vd , the second voltage controller C Vq , the first current controller C Id , the second current controller C Iq and a modulation signal generator; the first generalized frequency-selective extended state observer E1 and the second generalized frequency-selective extended state observer E2 are used to observe the system state and the generalized disturbance of the system, and provide effective information for voltage control through the observed value; the signal output end of the modulation signal generator is connected to the gate of the switching device of the three-phase full-bridge circuit, and is used to generate and send the gate drive signal to control the conduction and shutdown of the switching device by using space vector modulation SVPWM; The measurement module includes a voltage measurement module and a current measurement module; the voltage measurement module is arranged at the output end of the three-phase inductor-capacitor-inductor filter LCL, and is used to obtain the three-phase line voltage measurement value U ab , U bc and U ca The current measurement module is set at the input end of the three-phase inductor-capacitor-inductor filter LCL to obtain the output three-phase current measurement value I a ,I b and I c ; The coordinate transformation module includes a first abc-dq0 coordinate transformation module T1, a second abc-dq0 coordinate transformation module T2 and a dq0-abc coordinate transformation module T3; the input end of the first abc-dq0 coordinate transformation module T1 is connected to the output end of the voltage measurement module, and is used to transform the three-phase line voltage from the abc stationary coordinate system to the dq0 rotating coordinate system; The input end of the second abc-dq0 coordinate transformation module T2 is connected to the output end of the current measurement module, and is used to transform the three-phase current from the abc stationary coordinate system to the dq0 rotating coordinate system; The input end of the first generalized frequency selective extended state observer E1 is connected to the output end of the first abc-dq0 coordinate transformation module T1 and the output end of the second abc-dq0 coordinate transformation module T2, and the output end of the first generalized frequency selective extended state observer E1 is connected to the first voltage controller C Vd The input terminal is used to generate and output the d-axis voltage observation value and the d-axis disturbance observation value; the first current controller C Id The input terminal is connected to the first voltage controller C Vd The output end of the first current controller C and the output end of the second abc-dq0 coordinate transformation module T2; Id The output end of is connected to the input end of the dq0-abc coordinate transformation module T3 for outputting the d-axis duty cycle; The input end of the second generalized frequency selective extended state observer E2 is connected to the output end of the first abc-dq0 coordinate transformation module T1 and the output end of the second abc-dq0 coordinate transformation module T2, and the output end of the second generalized frequency selective extended state observer E2 is connected to the second voltage controller C Vq The input terminal is used to generate and output the q-axis voltage observation value and the q-axis disturbance observation value; the second current controller C Iq The input terminal is connected to the second voltage controller C Vq The output end of the second abc-dq0 coordinate transformation module T2; the second current controller C Iq The output end of is connected to the input end of the dq0-abc coordinate transformation module T3 for outputting the q-axis duty cycle; The dq0-abc coordinate transformation module T3 also inputs a DC power supply V dc The output end of the dq0-abc coordinate transformation module T3 is connected to the input end of the modulation signal generator, and is used to transform the d-axis duty cycle and the q-axis duty cycle from the dq0 rotating coordinate system to the abc stationary coordinate system and output them.

2. The three-phase inverter power supply active disturbance rejection control system based on GF-ESO according to claim 1 is characterized in that: A DC power supply is connected to the DC side of the three-phase full-bridge circuit, the AC side of the three-phase full-bridge circuit is connected to the input end of the three-phase inductor-capacitor-inductor filter LCL, and the output end of the three-phase inductor-capacitor-inductor filter LCL is connected to the load; the three-phase full-bridge circuit adopts a two-level three-bridge arm circuit, each bridge arm includes 2 switching devices and 2 unidirectional conducting devices; the midpoint of the three bridge arms is the AC side of the three-phase full-bridge circuit, and outputs a, b, and c three-phase power supplies respectively.

3. The three-phase inverter power supply active disturbance rejection control system based on GF-ESO according to claim 1 is characterized in that: The input value of the first abc-dq0 coordinate transformation module T1 is U ab , U bc and U ca , the output value is U d , U q and U0; assuming ω is the rated fundamental angular frequency of the inverter power supply, t is the time, then the transformation relationship of the first abc-dq0 coordinate transformation module T1 is: The input value of the second abc-dq0 coordinate transformation module T2 is I a ,I b and I c , the output value is I d ,I q and I0; then The transformation relationship of the second abc-dq0 coordinate transformation module T2 is:

4. The three-phase inverter power supply active disturbance rejection control system based on GF-ESO according to claim 3 is characterized in that: The first voltage controller C Vd Used to input d-axis voltage command U d *、Output d-axis current command I d *; The input value of the first generalized frequency-selective extended state observer E1 is U d and I d The first generalized frequency-selective extended state observer E1 provides the first voltage controller C Vd Output d-axis voltage observation value z 11 and the d-axis perturbation observation z 21 ; Assume that the first voltage controller C Vd The scale parameter is k Pd , the feedforward gain of the first generalized frequency-selective extended state observer E1 is b1, then the first voltage controller C Vd The expression is: The second voltage controller C Vq Used to input q-axis voltage command U q *、Output q-axis current command I q *; The input value of the second generalized frequency-selective extended state observer E2 is U q and I q The second generalized frequency-selective extended state observer E2 provides the second voltage controller C Vq Output q-axis voltage observation value z 12 and the q-axis perturbation observation z 22 ; Assume that the second voltage controller C Vq The scale parameter is k Pq , the feedforward gain of the second generalized frequency-selective extended state observer E2 is b2, then the second voltage controller C Vq The expression is:

5. The three-phase inverter power supply active disturbance rejection control system based on GF-ESO according to claim 4 is characterized in that: The first current controller C Id It is a proportional-integral controller, and the input value is I d * and I d The output value is the d-axis duty cycle D d , let s be the Laplace operator, the first current controller C Id and the second current controller C Iq The scale parameter is k cPd , the first current controller C Id and the second current controller C Iq The integral parameter is k cId , then the first current controller C Id The expression is: The second current controller C Iq It is a proportional-integral controller, and the input value is I q * and I q The output value is the q-axis duty cycle D q ; Then the second current controller C Iq The expression is:

6. The three-phase inverter power supply active disturbance rejection control system based on GF-ESO according to claim 5 is characterized in that: The input value of dq0-abc coordinate transformation module T3 is D d , D q and V dc , the output value of the dq0-abc coordinate transformation module T3 is the three-phase duty cycle D a , D b and D c , then the coordinate transformation relationship of the dq0-abc coordinate transformation module T3 is:

7. The generalized frequency-selective extended state observer used in the GF-ESO-based three-phase inverter power supply active disturbance rejection control system according to any one of claims 1 to 6, characterized in that: Generalized Frequency-Selective Extended State Observer j Used to observe generalized disturbances of the system at multiple frequencies; generalized frequency-selective extended state observer E j Including feedforward gain b j , Generalized frequency selection link F j , the first integrator S 1j , the second integrator S 2j , the first observation gain l 1j and the second observation gain l 2j ; Generalized frequency-selective extended state observer E j Also includes a first input terminal, a second input terminal, a first output terminal, and a second output terminal; Generalized Frequency-Selective Extended State Observer j The operations performed in each control cycle include the following steps: S101: Set the value y of the second input terminal j Generalized Frequency Selective Extended State Observer j The observed value z in the previous control period 1j Do subtraction and get the error value e j ; S102: Set the second observation gain l 2j and error value e j The product of g j Input the second integrator S 2j , the first intermediate observation z is obtained by integration operation 2aj ; S103: Set the second observation gain l 2j and error value e j The product of g j Input generalized frequency selection link F j , after the generalized frequency selection link F j The second intermediate observation z is obtained by calculation 2bj , the first intermediate observation z 2aj and the second intermediate observation z 2bj Perform addition operation to obtain the disturbance observation z of this control cycle 2j , and output from the second output terminal; S104: Set the value u of the first input terminal j With the feedforward gain b j The product of the first observation gain l 1j The error value e obtained in step S101 j The product of the disturbance observation z of this control cycle obtained in step S103 2j After adding, input the first integrator S 1j , perform the integral operation to obtain z 1j and output from the first output terminal.

8. The generalized frequency-selective extended state observer according to claim 7, characterized in that: Generalized frequency selection link F j It includes input end, n phase shift generalized integral PSSOGI links N 1j 、N 2j ,…N nj , addition output link and output terminal; phase shift generalized integral PSSOGI link N 1j ~N nj Used to adjust the resonant angular frequency to the harmonic frequency that needs to be observed and suppressed to achieve targeted observation of disturbances at each frequency; Assume the nth PSSOGI link N nj The resonant angular frequency is ω nj , the feedforward gain is k nj , the phase shift angle is θ nj , the nth PSSOGI link N nj Including the first integral link S 1nj , the second integral link S 2nj , also includes 2 multiplication links, 1 addition link and 1 subtraction link; Generalized frequency selection link F j It is used to convert the input signal g into j Input to the input of each PSSOGI link, and output m of all PSSOGI links j Summing to get z 2bj And as output; In the jth generalized frequency-selective extended state observer E j The nth PSSOGI link N nj In each control cycle, the operation is performed The following steps are involved: S201: Input signal g j With k nj sin(θ nj ) to perform multiplication, and then add the product to the second integral link S 2nj Subtract the output of the previous control cycle and add the result of the subtraction to ω nj Multiply to get the first intermediate value m 1nj ; S202: Input signal g j With k nj cos(θ nj ) to perform multiplication, and then add the product to the first integral link S 1nj The output of the previous control cycle is added, and the result of the addition is added to ω nj Multiply to get the second intermediate value m2 nj ; S203: The first intermediate value m 1nj Enter the first integral link S 1nj Perform integral operation to obtain the control period S 1nj Output: S204: The second intermediate value m 2nj Enter the second integral link S 2nj Perform integral operation to obtain the control period S 2nj Output: S205: S obtained in step S203 and S204 are combined 1nj The output and S 2nj The output of is added to get N nj The output of m j .

9. The control method of the three-phase inverter power supply active disturbance rejection control system based on GF-ESO according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1: The first abc-dq0 coordinate transformation module T1 receives the three-phase line voltage measurement value U of the voltage measurement module ab , U bc and U ca , generating a dq voltage value U d and U q ; The second abc-dq0 coordinate transformation module T2 receives the three-phase current measurement value I of the current measurement module a ,I b and I c , generating dq current value I d and I q ; S2: The first generalized frequency-selective extended state observer E1 is based on U d ,I d Generate d-axis voltage observation value z 11 and the d-axis perturbation observation z 21 ; The second generalized frequency-selective extended state observer E2 is based on U q ,I q Generate q-axis voltage observation value z 12 and the q-axis perturbation observation z 22 ; S3: First voltage controller C Vd According to the d-axis voltage command U d * and the output z of the first generalized frequency-selective extended state observer E1 11 、z 21 Generate d-axis current command I d *; Second voltage controller C Vq According to the q-axis voltage command U q * and the output z of the second generalized frequency-selective extended state observer E2 12 、z 22 Generate q-axis current command I q *; S4: First current controller C Id According to the d-axis current command I d * and d-axis current value I d Generate d-axis duty cycle D d ; The second current controller C Iq According to the q-axis current command I q * and q-axis current value I q Generate q-axis duty cycle D q ; S5: Coordinate transformation module T3 according to d-axis duty cycle D d , q-axis duty cycle D q and DC power supply V dc Generate three-phase duty cycle D a , D b and D c ; S6: The modulation signal generator is based on the three-phase duty cycle D a , D b , D c Generate gate drive signals for the switching devices of the three-phase full-bridge circuit, control the on and off of the switching devices, convert DC voltage into AC voltage, and realize the inverter function.

10. A computer storage medium, characterized in that: A computer program executable by a computer processor is stored therein, and the computer program executes the GF-ESO-based three-phase inverter power supply self-disturbance rejection control method as claimed in claim 9.

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