数字化PWM逆变系统控制关键技术研究及其应用(博士论文)_图文

1、湖南大学博士学位论文数字化PWM逆变系统控制关键技术研究及其应用姓名：杨金辉申请学位级别：博士专业：电路与系统指导教师：戴瑜兴2010-06-25数字化PWM 逆变系统控制关键技术研究及其应用摘 要高频全控型电力电子器件和高性能DSP 控制器的问世，使PWM 逆变系统的数字控制成为当今电力电子技术的热门研究领域。先进控制技术的应用可以提高PWM 逆变系统输出电压的稳定性和可靠性，同时改善系统的动稳态等性能，便于系统的优化升级和产品化。PWM 逆变系统向着数字化、模块化、网络化、智能化的方向发展，本文针对数字化PWM 逆变系统，研究和开发系统控制关键技术，为系统的设计与开发提供理论依据和实现途径

2、。(1研究了数字化PWM 逆变系统的应用领域与发展趋势；从数字化PWM 逆变系统的波形控制、脉宽调制与系统控制的角度，深入研究了逆变控制技术的理论基础和技术基础；阐述了项目的研究背景和作者所承担的开发任务。(2对于数字化单相PWM 逆变器，将其主电路分为逆变桥单元和输出滤波单元，分别建立二者的数学模型。逆变桥单元和PWM 产生过程等效为一个增益恒定的放大器，建立了输出滤波单元的连续时间、离散时间模型，对LC 滤波参数进行了分析设计。对于数字化三相PWM 逆变器，分别建立了基于三相静止abc 坐标系模型、基于坐标变换坐标系模型和基于同步旋转dq 坐标系模型，三相滤波单元可通过坐标变换解耦为两个单

3、相滤波单元，因而单相PWM 逆变器的研究方法和结论都可应用于三相PWM 逆变器。为便于对逆变系统控制算法进行仿真研究，建立了单相和三相PWM 逆变器的Matlab 仿真电路模型。(3针对逆变系统负载适应性能不强、动静态性能不佳的特点，深入研究了几种实用型逆变波形复合控制策略。通过算法理论推导及分析，给出了各种复合控制策略的实现方法并做了相应的仿真研究；对各种策略的特点和特性进行分析和比较。针对逆变系统，提出了一种基于神经网络内模原理的逆变波形控制策略，建立了系统的正模型和神经网络内模控制器，有效的提高了系统的逆变波形质量和负载适应性。(4从载波调制和空间矢量调制的角度对单相和三相逆变系统的调制

4、技术进行了深入研究。对于单相逆变系统，分析了采样型SPWM 技术，给出了一种脉冲二重化数字SPWM 技术，在相同载波频率下获得较普通SPWM 低两倍谐波的波形。通过引入单相逆变系统“线电压”的概念，实现了单相SVPWM 技术，研究结果证明了单相SVPWM 与载波PWM 的统一性。对于三相逆变系统，将单相脉冲多重化SPWM 实现方法推广到三相系统实现三相数字SPWM 技术；研究了三相SVPWM 技术的原理及实现方法；通过对两电平以及多电平载波PWM 和SVPWM 两类调制技术的对比研究，证明了三相SVPWM 与载波PWM 的统一性。博士学位论文研究表明SVPWM 通过在载波PWM 调制中迭加适当

5、的零序分量实现，SVPWM 通过对载波调制信号注入零序信号与载波PWM 相统一。(5针对逆变系统控制与功能实现，重点分析研究了嵌入式实时操作系统C/OS-II平台下的软件锁相控制算法。以逆变电源为例，实现了C/OS-II在LF2407A 上的移植；对系统进行任务划分和实现调度；推导了基于同步调制和基于异步变频调制的软件锁相控制算法。利用LF2407A 微处理器，分别给出了两种软件锁相控制算法的DSP 实现方法，解决了旁路/逆变输出切换时对系统和负载的冲击问题和EPS 在系统断电情况下快速起动、快速切换的问题。(6应用数字化PWM 逆变系统控制关键技术，研制高性能环保节能型数字化逆变电源系列定型

6、产品，实现数字化升级换代，提高产品的性价比。本文重点针对一款70k W 数字化三相EPS 新产品的研制工作，从控制关键技术算法的实现思想、核心硬件模块开发、软件系统设计等方面阐述数字化EPS 系统的设计创新。数字化逆变系统控制关键技术解决了控制精度、跟踪速度和逆变输出的切换时间、转换效率等核心技术问题，整机技术性能指标到达有关标准要求和预期的设计目标，目前该机型已作为2010年新产品投入市场应用。数字化PWM 逆变系统控制关键技术，逆变波形复合控制策略提高了逆变波形质量、系统动静态特性和负载适应性；脉宽调制技术解决了逆变系统逆变控制问题，简化了逆变算法，提高了逆变效率；软件锁相控制算法解决了E

7、PS 旁路/逆变输出切换冲击问题以及快速起动/切换的问题。关键词：逆变系统；逆变器；波形控制；脉宽调制；锁相控制；EPS数字化PWM 逆变系统控制关键技术研究及其应用AbstractDigital control of PWM (Pulse Width Modulation inverter system becomes a popular research area in power electronic technology with the appearance of high performance power transistor and DSP controller. The ap

8、plication of cybernetics technology can upgrade the stability of the systems output voltage, improve the performance of the dynamic and the steady response, also make the products easily standardized and upgraded. To meet the trend of a digital, modulational, network, intellectual PWM inverter syste

9、m, the dissertation focused on the research of its digital control key technology, and provides theory foundation and realization means for the systems supply design and development.(1Digital PWM inverter systems application field and development trend have been researched. The theory and technique

10、foundation have been deeply researched based on the digital PWM inverter systems waveform control, inverter control and system control argument. The paper explained the research background of the project and the project tasks undertaken by author.(2To reserach digital single-phase PWM inverter, the

11、main circuit was separated into inverter model and output filter model, and its mathematical model was built independently. The inverter model was equival to an amplifier. The LC parameters of the output filter model had been analysised and designed. To reserach digital three-phase PWM inverter, the

12、 mathematical models based on abc coordinate, coordinate transformation, dqo coordinate transformation were built independently. The three-phase filter can be decoupled to two single-phase filters through coordinate transformations. So its easy for three-phase inverter model introducing single-phase

13、 inverter study method. The simulation models of the digital single-phase and three-phase PWM inverter systems were found to make the system structure clear and convenient for the system control algorithm design.(3To solve the problem of the performance and load adaptability of PWM inverter system b

14、eing not satisfying, this paper researched several practical digital waveform control strategies. Through the controller arithmetic deducing and analysis, the controller realization method was put forward. And through the simulation research, its own characteristic was analyzed and compared to each

15、other. In addition, the paper put forward neural network internal model control theory博士学位论文based on inverter waveform control arithmetic. The algorithm could effectively enhance the system dynamic or static performance and system load adaptability.(4According to the single-phase inverter and the th

16、ree-phase inverter, digital inverter control technology was studied on two categories of carrier modulation and space vector modulation. In the category of single-phase inverter, a pulse multiplied digital SPWM technique was put forward. And its waveform spectrum proved that the technique can obtain

17、 twice the harmonics frequency than the common SPWM technique can, under the same carrier frequency. Through introducing the concept of single-phase inverter “line voltage”, a single-phase space vector PWM technique was studied and its DSP realization method was put forward. The research proved the

18、equivalence between carrier PWM and space vector PWM in single-phase inverter. In the category of three-phase inverter, the theory of the three-phase carrier PWM and space vector PWM technology were studied and its DSP realization methods were put forward. This paper also further studied and compare

19、d the two PWM inverter control algorithms, and proved that they are equivalence in nature. The results proved that space vector PWM is a special kind of carrier PWM, the zero sequence signal is the connection with space vector PWM and carrier PWM.(5For the inverter system control and function realiz

20、ation, the paper analysised and researched the phase lock algorithm based on C/OS-II operation system. Take inverter power for example, C/OS-II operation system was transplanted to microchip LF2407A and the system duty was divided and dispatched. A synchronous modulation algorithm and an asynchronou

21、s varying-Frequency modulation algorithm based on the inverter digital phase lock technique were put forward. These arithmetic effectively solved the impact problem of the system and loads in the EPS(Emergency Power Supply bypass/inverter output switching, and also solved its quick start and fast-sw

22、itching problem under the city power failure.(6The digital PWM inverter control key technologies were using to develop power products, realize products promotion and enhance its performance. The paper explained the design innovation of digital EPS system by the control key technology algorithms real

23、ization, core hardware modules development and software systems design of a 70k W digital three-phase EPSs design and application. The digital PWM inverter sysytems control key technologies improved control precision, track speed and solved the EPS quick start and fast-switching problem. The EPS pro

24、totype completely met the standard requests and the anticipated design requirements. As 2010s new product, it has been invested market using.The research and development of digital PWM inverter system control key technology, waveform control strategies enhanced system dynamic and static responding c

25、haracteristic, inverter waveform quality and load adaptability. Inverter control arithmetic solved inverter power control problem, simplified the control arithmetic and improved inverter efficiency. The phase lock algorithm solved the EPS bypass/inverter output switching impact problem and quick sta

26、rt and fast-switching problem.Key Word: Inverter System; Inverter; Waveform Control; Pulse Width Modulation;Phase Lock Control; Emergence Power Supply插图索引图1.1 逆变系统图.1图1.2 两电平型PWM 逆变电路拓扑结构.3图1.3 二极管箝位式多电平型PWM 逆变电路拓扑结构.3图1.4 H 桥单元级联式三相PWM 逆变电路拓扑结构.4图1.5 三相四桥臂型PWM 逆变电路拓扑结构.4图1.6 PID 控制原理框图.5图1.7 双闭环控制原

27、理框图.6图1.8 状态反馈控制原理框图.6图1.9 无差拍控制原理框图.6图1.10 重复控制原理框图.7图1.11 滑模变结构控制原理框图.7图1.12 模糊控制原理框图.8图1.13 神经网络控制原理框图.8图1.14 逆变系统脉宽调制技术分类.9图2.1 单相全桥逆变器主电路. 13图2.2 SPWM 对称规则采样法. 14图2.3 输出滤波单元连续时间数学模型框图. 16图2.4 输出滤波单元离散时间数学模型框图. 18图2.5 单相全桥逆变器电路等效框图. 20图2.6 二阶LC 低通滤波器的波特图. 21图2.7 负载与阻尼比的关系. 22图2.8 单相全桥PWM 逆变器开环仿真

28、模型. 23图2.9 系统阶跃信号和脉宽信号响应图. 23图2.10 逆变输出电压、电流仿真波形. 24图2.11 三相PWM 逆变器主电路. 24图2.12 三相电压矢量图. 26图2.13 三相静止abc 坐标系与两相旋转dq 坐标系. 28图2.14 三相PWM 逆变器开环仿真模型. 30图2.15 三相逆变输出电压仿真波形. 30图2.16 三相逆变输出电流仿真波形. 30图3.1 重复控制器内模(s 域. 32博士学位论文图3.2 重复控制器内模(z 域. 33图3.3 重复控制系统结构图. 33图3.4 改进型重复控制器内模. 34图3.5 “嵌入式”改进型重复控制系统结构图. 3

29、5图3.6 稳定条件的几何意义. 35图3.7 逆变器的频率响应. 37图3.8 补偿器S (s 的频率响应. 38图3.9 PWM 正弦逆变系统重复控制仿真原理图. 39图3.10 PWM 逆变器子模块. 39图3.11 PWM 正弦逆变系统仿真波形(空载 . 39图3.12 PWM 正弦逆变系统仿真波形(阻性负载. 40图3.13 PWM 正弦逆变系统仿真波形(整流性负载. 40图3.14 输入控制脉冲形式. 42图3.15 基于无差拍控制和重复控制的复合控制原理框图. 43图3.16 PWM 正弦逆变系统无差拍控制仿真模型(线性负载 . 45 图3.17 基于无差拍控制和重复控制的复合控

30、制仿真模型(周期性扰动负载. 45图3.18 PWM 正弦逆变系统仿真波形(阻性负载. 45图3.19 PWM 正弦逆变系统无差拍控制系统仿真波形(周期性扰动负载. 46 图3.20 基于无差拍控制与重复控制的复合控制系统仿真波形(周期性扰动负载 . 46图3.21 基于PID 控制的原理框图. 47图3.22 基于PID 控制和重复控制的复合控制原理框图. 49图3.23 PID 控制器等效图. 50图3.24 PID 控制系统波特图. 51图3.25 PWM 正弦逆变系统PID 控制仿真模型. 51图3.26 基于PID 控制和重复控制的复合控制仿真模型. 52图3.27 PWM 正弦逆变

31、系统仿真波形(阻性负载. 52图3.28 PWM 正弦逆变系统PID 控制系统仿真波形(整流性负载. 53 图3.29 基于PID 控制与重复控制的复合控制系统仿真波形(整流性负载. 53图3.30 基于模糊PID 控制和重复控制的复合控制原理框图. 54图3.31 模糊控制器原理框图. 54图3.32 模糊PID 控制结构框图. 55图3.33 模糊变量的隶属度函数曲线. 55图3.34 基于模糊PID 控制与重复控制的复合控制仿真模型. 57数字化PWM 逆变系统控制关键技术研究及其应用图3.35 模糊PID 控制器仿真模型. 57图3.36 基于模糊PID 控制和重复控制的复合控制仿真波

32、形(空载. 58图3.37 基于模糊PID 控制和重复控制的复合控制仿真波形(阻性负载 . 58 图3.38 基于模糊PID 控制和重复控制的复合控制仿真波形(整流性负载. 58 图3.39 基于模糊PID 控制和重复控制的复合控制突加负载仿真波形(t =0.04s. 58图3.40 传统内模控制结构框图. 59图3.41 神经网络预估器的三层BP 网络. 60图3.42 正弦逆变系统的神经网络内模控制结构框图. 60图3.43 逆变系统神经网络预估器BP 网络结构. 63图3.44 实用内模控制器结构. 64图3.45 神经网络的训练结果. 64图3.46 基于神经网络内模的正弦逆变系统Ma

33、tlab 仿真模型. 65图3.47 滤波器参数对系统输出的影响. 65图3.48 基于神经网络内模控制的正弦逆变系统仿真波形. 66图4.1 单极性(左 与双极性(右PWM 控制方式. 70图4.2 SPWM 自然采样法. 71图4.3 SPWM 不对称规则采样法. 71图4.4 数字脉冲正弦序列与SPWM 控制. 72图4.5 SPWM 脉冲多重化. 73图4.6 脉冲多重化数字SPWM 频谱图. 73图4.7 脉冲二重化数字SPWM 波形. 74图4.8 SPWM 脉冲二重化的DSP 实现. 75图4.9 SPWM 脉冲二重化实验电压波形及频谱. 75图4.10 典型单相全桥PWM 逆变

34、桥电路. 75图4.11 单相逆变器输出电压矢量图. 76图4.12 单相SVPWM 线性拟合过程. 77图4.13 单相SVPWM 的DSP 算法实现. 78图4.14 单相SVPWM 实验相电压波形. 78图4.15 单相SVPWM 开关优化模式. 79图4.16 DSP LF2407调制方法. 79图4.17 单相SVPWM 开关优化模式II 调制波与零序信号. 81图4.18 单相SVPWM 开关优化模式II 逆变波形及零序信号. 81图4.19 典型三相半桥逆变桥电路. 81图4.20 数字化三相SPWM 脉冲多重化的DSP 实现. 82博士学位论文图4.21 数字化三相SPWM 的实验波形及频谱. 83图4.22 abc -dq 坐标变换后的离散平面电压矢量. 84图4.23 三相SVPWM 矢量计算. 85图4.24 三相SVPWM 算法的DSP 实现. 86图4.25 三相SVPWM 的实验波形及频谱. 86图4.26 三相SPWM 载波注入零序信号. 87图4.27 三相SVPWM 调制波波形. 89图4.28 三相SVPWM 零序信号与三相SPWM 调制波. 89图4.29 三相SVPWM 相电压波形与零序电压. 90图4.30 五电平载波层叠调制技术原理图. 90图4.31 调制原理图