CN101141100A - LCL filtering based voltage type active rectifier steady control system and method - Google Patents
LCL filtering based voltage type active rectifier steady control system and method Download PDFInfo
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Abstract
The utility model relates to a voltage type source rectifier stable control system and method based on LCL filter wave, belonging to the source rectifying technical range of electronic technology. The system comprises a DC voltage control cell, a current control cell, an active damp control cell and a voltage space vector generating cell. the utility model produces six PWM signals to gain the current signal of the filter wave capacitor branch directly or indirectly, outputs the reference value of the damp voltage and achieves the stable control on the system. The method provides an adjustable sine control on the DC voltage output and input current through the active damp vector control of the voltage type source rectifier stable control system, the damp voltage reference value outputted by the active damp vector control cell, and the network voltage to execute summation operation. The utility model has the advantages of controllable DC voltage, low aberrance rate of the network input current, high power factor, satisfying the requirement of energy double-redirection flowing, and achieving the stability of the system without increasing the quantity of hardware damp resistance.
Description
Technical Field
The invention belongs to the technical field of active rectification in the power electronic technology, and particularly relates to a voltage type active rectifier stability control system and method based on LCL filtering. More particularly, the present invention relates to a voltage space vector control method with an active damping unit for a voltage type active rectifier applicable to inductor-capacitor-inductor (LCL) filtering, the active damping unit implementing stable control of an unstable system.
Background
Active rectification technology is an important field in the development of power electronic technology at present. The Voltage type active Rectifier (Voltage Source active Rectifier) has the advantages of controllable direct-current Voltage, low distortion rate of input current at the side of a power grid, high power factor, bidirectional energy flow and the like, and is widely applied to the industrial fields of renewable energy grid-connected power generation, hybrid parallel active power filters, unified power flow control and the like.
The distortion rate of the input current of the power grid side of the active rectifier is generally less than 5%, the standard of the electric energy quality in China is met, and the input current contains high-frequency harmonic components introduced by Pulse Width Modulation (PWM). These high frequency components may adversely affect equipment connected in the line that is particularly sensitive to electromagnetic interference.
In order to reduce the harmonic component of the grid-side current near the switching frequency to avoid harmonic pollution, the conventional voltage-type active rectifier using inductive filtering, as shown in fig. 1, has to select a larger inductance parameter. The use of a large inductance as an input filter presents two problems: firstly, the large inductance means an increase in manufacturing cost and volume; secondly, the dynamic performance of the system is reduced by the large inductance. In the literature "V Blasko, V kaura. A new chemical model and control of a line-phase AC-DC voltage source converter [ J ]. IEEE trans. On Power Electronics,1997, 12:116-123. "and" C T Rim, N S Choi, G C Cho, et al.A complete DC and AC analysis of the thread-phase controlled-current PWM receiver using circuit DQ transformation [ J ]. IEEE transitions.on Power Electronics,1994,9:390-396", voltage space vector control (VOC) based on d-q synchronous rotating coordinate system of voltage type active rectifiers using inductive filtering has been extensively studied, ignoring the resistance of the line, the system model based on d-q synchronous rotating coordinate system is as follows:
wherein L is a filter inductance parameter, i id 、i iq D and q axis components of the current of the converter; u. of d 、u q D and q axis components of the AC terminal voltage of the converter; u. of gd 、u gq D and q axis components of three-phase voltage of the power grid are obtained; p and Q are active power and reactive power input by VSR; grid angular frequency omega e And =100 pi. As can be seen from a mathematical model of the rectifier under a synchronous rotating coordinate system, the active power of the rectifier is controlled by controlling d-axis current, the reactive power of the rectifier is controlled by controlling q-axis current, and if the power factor of the rectifier is required to be as high as possible, a q-axis current reference value can be set
。
In recent years, inductance-capacitance-inductance (LCL) filtering becomes a research hotspot, the scheme can obtain a good harmonic attenuation effect by using smaller inductance, and has certain advantages in cost and volume; because the inductance used is small, the control performance of the system is excellent, and the rectifying device with high dynamic response performance can be manufactured.
The LCL filter consists of three elements, namely a power grid side inductor L g Filter capacitor C f And a converter side inductance L. Remember u g 、u c 、u i Respectively, the network side, the filter capacitor and the converter AC side voltage i g 、i c 、i i The current at the network side, the filter capacitor branch and the converter side respectively can be obtained, and the mathematical model of the LCL filter is as follows:
however, compared with the conventional inductive filtering, the LCL filter has small impedance at a certain frequency related to the physical parameters of the LCL filter, and if necessary measures are not taken, a resonance phenomenon can occur, and the safety of the rectifying device is seriously threatened. In order to solve the stability problem of the LCL filter, a method of connecting damping resistors in series in the filter capacitor branch is widely adopted in the Industrial field, as shown in fig. 2, and this technology is disclosed in the documents "M lierre, F Blaabjerg, S hansen, design and control of an LCL-filter-based high-phase active receiver, IEEE trans.on Industrial applications.2005, 41 (5): 1281-1291 "and" T C Wang, ZHYE, G Sinha, et al. Output Filter Design for a Grid-interconnected Three-Phase Inverter [ C ]. Proc. Of PESC'03, 2003,2:779-784, "is referred to as" Passive Damping "(Passive Damping). The method is simple and reliable, does not need to change the structure and parameters of the controller, but has some defects: the efficiency of the system is reduced due to the loss of the damping resistor; because the damping resistance increases the impedance of the capacitor branch, the capability of attenuating harmonic waves is weakened to a certain extent, and the content of harmonic wave current in the network side current is increased. Therefore, the 'Active Damping' technology (Active Damping) without Damping resistance, which stabilizes the system by changing the controller structure, is a trend to replace the 'passive Damping' technology. The active damping technology at present mainly comprises the following steps:
(1) Pekik Argo Dahon is described in the literature "P A Dahon. A control method for DC-DC converter has an LCL output filter based on new visual detector and resistor detectors [ C ]. Proc. Of PESC'04, 2004,1:36-42 "proposes an active damping control called" Virtual Resistor ", where a hardware damping Resistor is virtualized in the controller by transformation of the active rectifier transfer function. Due to its concise physical meaning, it finds a certain application in industry. The method has the following defects: the delay problem existing in an actual digital controller is not considered, and the transformation of a system transfer function is very difficult under the condition of delay; the differential quantity of the filter capacitor current is introduced, and the interference of high-frequency components is easily introduced by adopting a digital controller. Thus, the "virtual resistance" active damping control strategy is primarily applied to rectifiers operated by analog controllers.
(2) Blasko in the literature "V Blasko, V kaura. A novel control to active date response in input LC filter of a three phase voltage source converter [ J ]. IEEE Transactions on Industry Applications, 1997, 33 (2): 542-550", an active damping method based on Lead-Lag module (Lead-Lag) filter capacitor voltage feedback is proposed, the method needs to collect filter capacitor voltage, which is not beneficial to the integration of a filter, and meanwhile, the selection of the Lead-Lag module parameters is very troublesome, and the calibration calculation needs to be repeated continuously.
(3) Macro Liserre in the literature "M Liserre, A Dell' Aquila, F Blaabjerg. Genetic algorithm-based design of the active mapping for an LCL-filter three-phase active receiver [ J ]. IEEE Transactions on Power Electronics, 2004, 19 (1): 76-86 "propose an active damping method based on genetic algorithm without adding voltage/current sensor, but apparently because of the complexity of genetic algorithm, it has not been applied in industry.
Disclosure of Invention
The invention aims to provide a voltage type active rectifier stability control system and method based on LCL filtering, and the voltage type active rectifier stability control system based on LCL filtering comprises:
(1) 1 DC voltage control unit consisting of 1 unit for receiving DC voltage setting value (U) dc * ) And a real direct voltage (U) dc ) And 1 for receiving the output of the subtractor and outputting a d-axis current component reference value (i) d * ) The first PI regulator is used for receiving a direct-current voltage set value and an actual direct-current voltage and generating an active current reference value;
(2) 1 current control unit for controlling the current of 1 current transformer based on abc three-phase stationary coordinate system ia ，i ib ) Converting into two-phase signals (i) based on d-q synchronous rotating coordinate system id ，i iq ) 2 for respectively receiving reference currents (i) based on a d-q synchronous rotating coordinate system d * ， 
And the actual converter current (i) id ，i iq ) And 2 subtractors for receiving the d and q-axis subtractors output and calculating d and q-axis control voltage reference values (u) id * ，u iq * ) The second PI regulator; the current reference value and the actual converter current are received, and a control voltage reference value is generated;
(3) 1 active damping control unit for filtering capacitance current (i) in 1 LCL filter based on abc three-phase static coordinate system ca 、i cb ) Conversion into two-phase signal (i) based on d-q synchronous rotating coordinate system cd 、 i cq ) 2 respectively receiving the input current (i) of the actual converter based on the d-q synchronous rotating coordinate system cd ，i cq ) And outputs a damping voltage (u) Dd * ，u Dq * ) Is used for receiving the filter capacitor C of the LCL filter f Actual current value of the branch circuit and damping voltage are generated;
(4) 1 voltage space vector generating unit (SVPWM), comprising: 2 receptions based on d-qControl voltage reference value (u) of synchronous rotating coordinate system id * ，u iq * ) Damping voltage reference value (u) Dd * ，u Dq * ) And the network voltage (u) gd ，u gq An adder of = 0); 1 for receiving the adder output and outputting a converter voltage reference value (u) based on an alpha beta stationary coordinate system α * ，u β * ) 1 coordinate transformation unit of (2), 1 receiving coordinate transformationA PWM generating unit for outputting and generating a PWM driving signal by the converter;
(5) 1 three-phase inductance-capacitance-inductance filter and 1 current transformer for receiving PWM driving signal;
(6) 2 current detection units (31) for detecting current of the converter, which are used for detecting phase current signals (i) of a current transformer and a current transformer ia ，i ib )；
(7) 2 current detection units (32) for detecting the network current, for detecting the network a, b phase current signals (i) ga ，i gb )；
(8) 2 voltage detection units (33) for detecting the network-side voltage for detecting the a, b-phase voltage signals (u, u) ga ，u gb )；
(9) 1 voltage detection unit (34) for detecting a DC voltage, for detecting a voltage signal (U) on the DC bus capacitance dc )；
(10) 1 a soft phase-locked unit (40) for receiving mains phase voltage and generating a phase-locked signal having the same frequency and phase as the mains phase voltage, comprising: 1 receive grid voltage signal (u) ga ，u gb ) And a grid voltage phase signal (theta) output by the soft phase locking unit and generating a two-phase signal (u) based on a d-q synchronous rotating coordinate system gd ，u gq ) 1 coordinate transformation unit for receiving the q-axis component (u) of the grid voltage output by the coordinate transformation unit gq ) And grid voltage q-axis component set pointAnd subjecting them to u gq -u gq * A subtraction arithmetic unit with 1 input end connected with the output end of the first arithmetic unit for outputting the grid angular frequency reference value (omega) e * ) The input end of the PI regulator 1 is connected with the output end of the PI regulator, and the PI regulator is an integrator which outputs a power grid voltage phase signal (theta).
The voltage type active rectifier stability control method based on LCL filtering adopts the active damping vector control of the voltage type active rectifier based on LCL filtering to provide adjustable direct current voltage output and sine control of input current:
1) According to impedance formula Z c ＝1/(jωC f ) Wherein the filter capacitor C of the LCL filter f It is known that the filter capacitor is approximately open for low frequency currents and short for high frequency currents. For the power frequency current, the omega =100 pi, so the impedance of the filter capacitor is far larger than the network side inductor L g Large, approximately open circuit condition; in this state, L is written ∑ ＝L g + L, neglecting the loop resistance, the DC bus capacitance is C d At a voltage of U dc Load current ofIs i L The three-phase voltage of the grid is u ga/gb/gc Grid current i ga/gb/gc And the three-phase current i on the converter side ia/ib/ic Approximately equal, a simplified mathematical model is first constructed
As seen from a mathematical model, the active power of the rectifier is controlled by controlling the d-axis current, the reactive power of the rectifier is controlled by controlling the q-axis current, and if the power factor of the rectifier is required to be as high as possible, the q-axis current reference value can be set
；
2) Voltage space vector control (VOC) of voltage type active rectifier adopting LCL filtering and introducing filtering capacitor C f Active damping method of current loop, controller through direct or indirect methodFormula for collecting current i of filter capacitor in LCL filter ca 、i cb ：
i ca ＝i ga -i ia
i cb ＝i gb -i ib
3) The digital control system filters capacitor current (i) in an LCL filter based on an abc three-phase static coordinate system ca 、i cb ) Converting into two-phase signals (i) based on d-q synchronous rotating coordinate system cd 、i cq )；
4) The active damping control unit performs the following operation to obtain a damping voltage reference value
：
Wherein k is the magnification of the active damping control unit;
5) Selecting proper k value to generate proper damping voltage reference value
The key of ensuring whether the active damping control unit can work normally is provided, and the stable control of the system can be realized on the basis of not increasing the damping resistance of hardware by adopting the active damping introducing the filter capacitor current positive feedback.
The direct method is that a Hall current sensor (32) is arranged on a filter capacitor branch of an LCL filter to directly obtain the current (i) of two phases of filter capacitors (a and b) ca 、i cb ) The signal is sent to a digital control system through a signal conditioning circuit (42); and the Hall current sensor is arranged at the side of the power grid by an indirect method to obtain two-phase current signals (i) of the power grid a and b ga 、i gb ) And the signal is sent to a digital control system through a signal conditioning circuit.
The method provided by the invention has the following effects and advantages:
1. the direct-current voltage can be regulated and controlled;
2. the current at the power grid side is a sine wave, and the distortion rate is low;
3. the power factor is high and can approach to 1;
4. energy flows in a bidirectional mode, namely the energy can be input to a direct current load side from a power grid side and can also be fed back to the power grid from the direct current load side;
5. the LCL filtering is adopted, and the aim of greatly attenuating ripple current is achieved by using a small inductance.
6. By adopting the active damping introducing the current feedback of the filter capacitor, hardware damping resistors do not need to be connected in series with the branch of the filter capacitor, the efficiency of the system is improved, and the integration of the filter is easy.
In summary, the control method of the voltage-type active rectifier using the LCL filtering provided by the present invention not only meets the requirements of a general voltage-type rectifier on dc voltage adjustability, low distortion rate of the current on the network side, high power factor and bidirectional energy flow, but also has cost advantages compared with the conventional single-inductor filtering using the LCL filtering technology. Meanwhile, the stable control of the system can be realized on the basis of not increasing the damping resistance of hardware by adopting the active damping introducing the filter capacitor current positive feedback.
Drawings
Fig. 1 is a main circuit structure of a conventional voltage-type active rectifier using inductive filtering.
Fig. 2 is a main circuit diagram of an LCL filter voltage type active rectifier using passive damping technology.
Fig. 3 is a block diagram of the main circuit topology of the voltage type active rectifier with LCL filtering and its active damping vector control and its voltage space vector control with active damping control unit.
Fig. 4 is a simplified model of a voltage mode active rectifier for LCL filtering.
Fig. 5 is the pole-zero locus in the z-plane of an LCL filtered voltage mode active rectifier with 0-2 sample delays.
Fig. 6 is a voltage mode active rectifier zero pole trace in the z-plane for LCL filtering with 1 sample delay.
Fig. 7 is a simulation result and current harmonic spectrum analysis of an LCL filtered voltage mode active rectifier using active damping techniques. (a) The system simulation waveform is DC voltage U from top to bottom dc Phase voltage U of power grid a ga And the power grid a phase current i ga (b) Grid a-phase current i ga And spectral analysis thereof.
Fig. 8 is an experimental result of an LCL filtered voltage type active rectifier using an active damping technique.
Detailed Description
The principles underlying the present invention will now be described in detail.
Due to the filter capacitor C of the LCL filter f Very small according to the impedance formula Z c ＝1/(jωC f ) It can be known that the filter capacitor is approximately open-circuited for low-frequency current and short-circuited for high-frequency current. For the power frequency current, the omega =100 pi, so that the impedance of the filter capacitor is far higher than the network side inductor L g Large, approximating an open circuit condition.
Note L ∑ ＝L g + L, neglecting the loop resistance, the DC bus capacitance is C d At a voltage of U dc The load current is i L The three-phase voltage of the power grid is u ga/gb/gc Grid current i ga/gb/gc And the three-phase current i on the converter side ia/ib/ic Approximately equal. Recording the switching function of the rectifier bridge:
according to the voltage/current balance equation:
if the d-axis phasor of the synchronous rotating coordinate system is superposed with the a-phase phasor, the q-axis phasor of the power grid voltage is 0, and a mathematical model of the voltage type active rectifier adopting LCL filtering under the synchronous rotating coordinate system can be obtained:
considering that the total inductance of LCL filtering is very small, the cross-coupled phase omega e L ∑ i d And ω e L ∑ i q Smaller and generally negligible. Equation (6) the mathematical model can be simplified to equation (7).
As seen from a mathematical model, the active power of the rectifier is controlled by controlling the d-axis current, the reactive power of the rectifier is controlled by controlling the q-axis current, and if the power factor of the rectifier is required to be as high as possible, the q-axis current reference value can be set
A voltage space vector control (VOC) block diagram of a voltage mode active rectifier with LCL filtering is shown in fig. 3.
The LCL filter generates resonance at a specific frequency, and if the LCL filter is controlled by the mathematical model of equation (7), the system is unstable, and the safety of the rectifier device is threatened in severe cases. Aiming at the stability problem of a voltage type active rectifier of LCL filtering, the invention adopts a filter capacitor C f The active damping method of the current loop is characterized in that a controller directly or indirectly acquires the current i of a filter capacitor in an LCL filter ca 、i cb Wherein the direct method is to arrange a Hall current sensor (32) on the LFilter capacitor C of CL filter f A branch circuit for directly obtaining the current (i) of two phases of the filter capacitors a and b ca 、i cb ) The signal is sent to a digital control system through a signal conditioning circuit (42); and the Hall current sensor (32) is arranged at the side of the power grid by an indirect method to obtain two-phase current signals (i) of the power grid a and b ga 、i gb ) Sent to a digital control system through a signal conditioning circuit (42), and the digital control system performs the following operation to obtain the currents (i) of two phases of the filter capacitors a and b ca 、i cb )：
i ca ＝i ga -i ia (8)
i cb ＝i gb -i ib
D and q axis components i of the filter capacitor current are obtained through the transformation from a static coordinate system to a synchronous rotating d-q coordinate system cb 、i cq . The active damping control unit obtains a damping voltage reference value (u) by performing the following operation Dd * ，u Dq * )：
K in the equation (9) is the amplification factor of the active damping control unit. How to select the proper k value to generate the proper damping voltage reference value (u) Dd * ，u Dq * ) The key of the normal work of the active damping control unit is.
Considering that the time constant of the current control unit of the controller is much smaller than that of the dc voltage control unit, and the control performance of the current depends on the current control unit, a simplified voltage type active rectifier model is established as shown in fig. 4. The dotted box part of the figure is a mathematical controller mathematical model with a current loop and a filter capacitor current loop, and the mathematical controller mathematical model is a discrete system. The solid box part is an analog device LCL filter, and the model of the filter is a continuous system.
An ideal controller has no delay, an analog controller can be considered approximately as an ideal controller, and the analog-to-digital (A/D) sampling of a digital controller is equivalent to a zeroth order keeper, which acts as a delay of 1/2 of a sampling period. In addition, taking the DSP product TMS320F2812 of TI as an example, there is a delay of about 1/2 sampling period from the calculation to the update of the PWM comparison unit, and the sampling period and the PWM period of the controller are the same, so there is a delay of about 1 sampling period in an actual digital control system.
The simplified model is discretized, and the trajectories of the system poles zero in the z-plane are shown in fig. 5 under the conditions of no delay (D = 0), 1 sampling period delay (D = 1) and 2 sampling period delay (D = 2), respectively. A pair of conjugate poles newly added to the LCL is positioned on the left side of the z-plane unit circle; the right conjugate pole is introduced by the controller current control unit. When an ideal controller like an analog controller is adopted, even if no damping measures are taken, all poles are positioned in a unit circle, the system is stable, but the stability margins of the two poles on the left side are very small, and the damping needs to be increased; when the controller has 1 sampling period delay, the two poles on the left side move outside the unit circle, and if no damping measure is taken, the system is unstable; when the controller has 2 sampling period delays, the two poles on the left side move into the unit circle, the conjugate pole introduced by the current control on the right side moves towards the outside of the unit circle, the stability margin of the system is very small, and the performance of the system is very poor even if a certain damping measure is adopted. Therefore, the controller should be designed to try to make the system have a delay of at most one sampling period.
Fig. 6 is a track of the zero pole of the system when the amplification factor k changes under the condition that the controller has 1 sampling period delay. When the amplification factor k =0, i.e. the active damping module is not active, the two newly added conjugate poles of the LCL are outside the unit circle, and the system is unstable. As the amplification factor k gradually increases, the two conjugate poles move into the unit circle, and the system gradually stabilizes. But k is not larger, the system is more stable, and when k =12, the two poles are on the abscissa axis and move to the outside of the unit circle, and the stability margin of the system is gradually reduced again. In addition, due to the fact that the control structure is changed due to the introduction of the active damping technology, along with the change of the amplification factor k, two conjugate poles introduced by the current control unit are moved and move towards the outside of a unit circle. This indicates that the control performance of the current control unit has changed and the stability margin has decreased. The number of amplification times k can be optimally selected according to the z-plane pole-zero trajectory, and taking fig. 6 as an example, k =8 is selected for an experimental prototype.
The control system is provided with 4 PI regulators, comprising 1 PI regulator of a direct-current voltage control unit, 1 PI regulator of a soft phase locking unit and 2 PI regulators of a current control unit, wherein the parameters of the two PI regulators of a d axis and a q axis of the current control unit are consistent. The discrete expression of the discrete PI regulator is as follows:
u(k)＝u p (k)+u i (k)
u p (k)＝K p e(k)
order to
Then the
u(k)＝K p e(k)+u i (k-1)+K i K p e(k) (10)
The parameters of the PI regulator are typically obtained by simulation.
The control method provided by the invention passes verification on simulation software matlab/simulink V7.1 and an experimental prototype. The parameters of the simulation and test prototype are as follows: network side phase voltage u ga ＝u gb ＝u gc =40V, set dc voltage U dc =150V, rated phase current i grated =8.4a,igbt switching frequency f PWM =5000Hz, DC bus capacitance C d =1000 μ F, network side inductance L g =0.6mH, converter-side inductance L =1.8mH, filter capacitance C f =20 μ F. The experimental prototype adopts a digital controller DSPTMS320F2812 to realize active damping voltage space vector control of the LCL filtering voltage type active rectifier. System emulationThe results are shown in FIG. 7 and the experimental results are shown in FIG. 8.
Claims (8)
1. A voltage type active rectifier stabilizing control system based on LCL filtering is characterized by comprising:
1 three-phase LCL filter composed of inductor L g Capacitor C f And an inductor L, and is connected with 1 three-phase converter (30) for receiving PWM driving signals;
1 three-phase current transformer (30) composed of 6 power devices (S) 1 ～S 6 ) The power device is any one of an integrated intelligent power module IPM, an IGBT, an IGCT or an MOSFET and is connected with the LCL filter through 2 current detection units (31);
2 current detection units (31) for detecting the current of the current transformer, for detecting the current signals (i) of the current transformer's a, b phase ia ，i ib )；
2 current detection units (32) for detecting the grid current, for detecting the grid a, b phase current signals (i) ga ，i gb )；
2 voltage detection units (33) for detecting the network side voltage for detecting the a, b phase voltage signal (u, b) ga ，u gb )；
1 voltage detection unit (34) for detecting DC voltage for detecting voltage signal (U) on DC bus capacitor dc )；
A soft phase-locked loop unit (40) for receiving a mains voltage signal (u) ga ，u gb ) Generating a phase signal (theta) having the same frequency and phase as the grid voltage;
a DC voltage control unit for receiving a predetermined DC voltage (U) dc * ) And an actual value (U) of the DC voltage received from the voltage detection unit dc ) And generates an active current reference value (i) d * )；
Current control unit forAt receiving a predetermined reactive current
Receiving a reference value (i) of the active current from the DC voltage control unit d * ) And current two-phase signal (i) of the converter id ，i iq ) And generates a control voltage reference value (u) id * ，u iq * )；
An active damping control unit for receiving two-phase signals (i) of filter capacitor branch currents a and b of the LCL filter ca ，i cb ) And obtaining a damping voltage reference value (u) through proportional amplification Dd * ，u Dq * )；
A voltage space vector generating unit for generating 6-way PWM driving signals.
2. LCL filter based voltage mode active rectifier stability control system according to claim 1, characterized in that said soft phase locked loop unit (40) comprises:
a first coordinate transformation unit (35) receiving the network voltage signal (u) ga ，u gb ) And a grid voltage phase signal (theta) output by the soft phase locking unit generates a grid voltage two-phase signal (u) based on a d-q synchronous rotating coordinate system gd ，u gq )；
A first operator (49) for receiving the q-axis component (u) of the grid voltage output by the first coordinate transformation unit gq ) And grid voltage q-axis component set point
And subjecting them to u gq -u gq * An arithmetic subtraction of (d);
a first PI regulator with its input end connected with the output end of the first arithmetic unit for outputting the grid angular frequency reference value (omega) e * )；
And an integrator (50) having an input connected to the first integrator output and outputting a grid phase signal (θ).
3. The LCL filtering based voltage type active rectifier stability control system according to claim 1, wherein said DC voltage control unit comprises:
a second arithmetic unit (51) for receiving a DC voltage set value (U) dc * ) And the actual DC voltage U dc And subjecting them to U dc * -U dc The arithmetic subtraction of (1);
a second PI regulator with its input end connected with the first arithmetic unit and outputting active current reference value (i) d * )。
4. The LCL filtering based voltage type active rectifier stability control system according to claim 1, wherein said current control unit comprises:
a second coordinate transformation unit (36) for transforming the converter current signal (i) based on the abc three-phase stationary coordinate system ia ，i ib ) Conversion to a two-phase signal (i) based on a d-q synchronous rotating coordinate system id ，i iq )；
A third arithmetic unit (52) for receiving the DC voltage control unit output active current reference value (i) d * ) And the actual converter d-axis current (i) id ) And go on to i d * -i id The arithmetic subtraction of (1); a fourth arithmetic unit (53) for receiving the current setting value of the converter q-axis
And is in factConverter q-axis current (i) iq ) And go on to i q * -i iq The arithmetic subtraction of (1);
a third PI regulator with its input end connected with the third arithmetic unit and outputting d-axis component (u) of control voltage reference value id * )；
A fourth PI regulator with its input end connected with the fourth arithmetic unit and output controlQ-axis component (u) of voltage reference value iq * )。
5. The LCL filtering based voltage mode active rectifier stability control system of claim 1, wherein said active damping control unit comprises:
a third coordinate transformation unit (37) for receiving the current (i) of the filter capacitor in the LCL filter ca 、 i cb ) Converted into a two-phase signal (i) based on a d-q synchronous rotating coordinate system cd 、i cq )；
A fifth arithmetic unit (54) and a sixth arithmetic unit (55), the input ends of which are connected with the output of the third coordinate transformation unit, and the damping voltage reference value (u) is obtained by executing the proportional amplification operation Dd * ，u Dq * )。
6. The LCL filtering based voltage type active rectifier stability control system according to claim 1, wherein said voltage space vector generating unit comprises:
a seventh arithmetic unit (56), an eighth arithmetic unit (57) for receiving the control voltage reference value (u) id * ，u iq * ) Damping voltage reference value (u) Dd * ，u Dq * ) And the network voltage (u) gd ，u gq ) Performing a summation operation to obtain a converter voltage reference signal (u) d * ，u q * )；
A fourth coordinate transformation unit (38) having an input terminal connected to the output terminals of the seventh and eighth operators, and obtaining a converter voltage reference value signal (u) based on an alpha beta stationary coordinate system by coordinate transformation α * ，u β * )；
A space vector generator for receiving a converter voltage reference value signal (u) based on an alpha beta stationary coordinate system α * ，u β * ) And 6 paths of PWM signals are generated and sent to the converter.
7. A voltage type active rectifier stability control method based on LCL filtering is characterized in that the method adopts the active damping vector control of the voltage type active rectifier based on LCL filtering to provide adjustable direct current voltage output and sine control of input current; the method comprises the following steps:
1) According to impedance formula Z c ＝1/(jωC f ) Wherein the filter capacitor C of the LCL filter f Very small, known filterThe wave capacitor is similar to an open circuit for low-frequency current and a short circuit for high-frequency current, and omega =100 pi for power-frequency current, so that the impedance of the filter capacitor is far higher than that of the network side inductor L g Large, approximately open circuit condition; in this state, L is recorded ∑ ＝L g + L, neglecting the loop resistance, the DC bus capacitance is C d At a voltage of U dc The load current is i L The three-phase voltage of the power grid is u ga/gb/gc Grid current i ga/gb/gc And the three-phase current i on the converter side ia/ib/ic Approximately equal, a simplified mathematical model is first constructed
As seen from a mathematical model, the active power of the rectifier is controlled by controlling the d-axis current, the reactive power of the rectifier is controlled by controlling the q-axis current, and if the power factor of the rectifier is required to be as high as possible, the q-axis current reference value can be set
2) Voltage space vector control (VOC) of voltage type active rectifier adopting LCL filtering and introducing filtering capacitor C f The active damping method of the current loop is characterized in that a controller collects the current i of a filter capacitor in an LCL filter in a direct or indirect mode ca 、i cb ；
3) The digital control system filters the LCL filter based on the abc three-phase static coordinate systemWave capacitance current (i) ca 、i cb ) Conversion into two-phase signal (i) based on d-q synchronous rotating coordinate system cd 、i cq )；
4) The active damping control unit obtains a damping voltage reference value (u) by performing the following operation Dd * ，u Dq * )： 
Wherein k is the magnification of the active damping control unit;
5) Selecting proper k value to generate proper damping voltage reference value (u) Dd * ，u Dq * ) The key of ensuring whether the active damping control unit can work normally is provided, and the stable control of the system can be realized on the basis of not increasing the damping resistance of hardware by adopting the active damping introducing the filter capacitor current positive feedback.
8. The LCL filter-based voltage type active rectifier stabilizing control system method as claimed in claim 7, wherein the controller directly or indirectly collects the current i of the filter capacitor in the LCL filter ca 、i cb ：
The direct method comprises the following steps: a Hall current sensor (32) is arranged on a filter capacitor branch of the LCL filter and is directly connectedObtaining the current (i) of two phases of the filter capacitors a and b ca 、i cb ) Is sent to a digital control system through a signal conditioning circuit (42);
an indirect method: a Hall current sensor (32) is arranged at the side of the power grid to obtain two-phase current signals (i) of the power grid a and b ga 、i gb ) The current (i) is sent to a digital control system through a signal conditioning circuit (42), and the eighth subtraction operator (58) and the ninth subtraction operator (59) of the digital control system perform the following operations to obtain the current (i) of two phases of the filter capacitors a and b ca 、i cb )：
i ca ＝i ga -i ia
。
i cb ＝i gb -i ib
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