CN114336660A - UPQC direct current prediction control method based on power angle - Google Patents

UPQC direct current prediction control method based on power angle Download PDF

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CN114336660A
CN114336660A CN202111610881.5A CN202111610881A CN114336660A CN 114336660 A CN114336660 A CN 114336660A CN 202111610881 A CN202111610881 A CN 202111610881A CN 114336660 A CN114336660 A CN 114336660A
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current
voltage
active power
series
power filter
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CN114336660B (en
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王贵峰
武泽文
高煦杰
郭金星
王生壮
吴玮
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Jiangsu Kelu Electric Co ltd
Jiangsu Normal University
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Jiangsu Kelu Electric Co ltd
Jiangsu Normal University
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Abstract

The invention relates to a UPQC direct current prediction control method based on a power angle, and provides a UPQC direct current prediction control method based on a power angle on the basis of UPQC and based on a power angle control strategy and a finite set model prediction control (FCS-MPC) principle. Under the control strategy provided by the invention, the series APF and the parallel APF are controlled to be a sinusoidal current source and a sinusoidal voltage source respectively, so that the quality problems of network side current and load side voltage are solved; a current prediction control model of the UPQC based on power angles under a dq coordinate system is designed, an FCS-MPC controller is adopted to replace a current loop and a PWM (pulse-width modulation) link in the traditional direct control, the phase of a power supply voltage and a load voltage is enabled to be different from a power angle delta by controlling the injection voltage of the series APF, and then the series APF is controlled to bear the reactive power requirement of partial loads. The control strategy provided by the invention avoids the complicated current loop PI regulator parameter setting and PWM modulation links of series and parallel APF conversion, simplifies the control process, improves the utilization rate of series APF, and reduces the reactive power burden of parallel APF.

Description

UPQC direct current prediction control method based on power angle
Technical Field
The invention relates to the technical field of power equipment control, in particular to a UPQC direct current prediction control method based on a power angle.
Background
In recent years, with the wide application of power electronic devices and power devices and the access of distributed power supplies to power grids, nonlinear loads in power systems are increasing, a large amount of harmonic distortion is generated, and the problem of power quality is increasingly prominent. Some common voltage and current compensation equipment and devices have single functions in the aspect of power quality control and cannot meet the requirements of various power quality coordination control. A Unified Power Quality Conditioner (UPQC) has received much attention as a comprehensive power quality controller having both a control function of a current power quality problem related to a power supply side and a voltage power quality problem management function related to a load side. The method aims at the problems that the cross quantity between dq two-axis quantity still exists in a UPQC decoupled system under the traditional linear algorithm, a plurality of PI controllers exist in a control link, control parameters are more, the control process is complex, and a serial side is idle for a long time and a parallel side is in long-term heavy-load operation. The invention provides a UPQC direct current prediction control method based on a power angle.
Disclosure of Invention
The purpose of the invention is as follows: compared with a traditional linear algorithm decoupling control strategy, the control strategy provided by the invention reduces a plurality of PI controllers in a control link, reduces control parameters, reduces the complexity of control, improves the utilization rate of a series active power filter, and reduces the reactive power burden of a parallel active power filter.
The unified power quality adjusting device comprises a series active power filter VSC1, a parallel active power filter VSC2, a series transformer T and a direct currentBus, DC energy storage capacitor C, and low-pass filtering reactance L of series active power filter1And low-pass filtering reactance L of parallel active power filter2And a filter capacitor C of the series active power filter1And a filter capacitor C of the parallel active power filter2。
The technical scheme is as follows: in order to achieve the purpose, the invention provides the following technical scheme: a UPQC direct current prediction control method based on a power angle comprises the following steps:
(1) compensating the load voltage, and calculating a power angle value of a power angle control strategy according to the compensated load voltage, the network side voltage and the series compensation voltage on the premise of ensuring that the amplitude of the compensated load voltage is unchanged and the voltage of the series active power filter does not exceed a rated value;
(2) acquiring load three-phase current, load three-phase voltage, grid side three-phase voltage, current emitted by a VSC1 side of a series active power filter, secondary side voltage of a series transformer, current emitted by a VSC2 side of a parallel active power filter, current finally flowing to a load by the parallel active power filter, direct-current side bus voltage and a phase-locked angle at the current moment by acquiring data of the UPQC system;
(3) calculating reference current of the prediction current of the series active power filter according to the voltage and current quantity obtained in the step (2), and obtaining the reference current corresponding to the k +1 time through delay compensation;
(4) calculating reference current of the predicted current of the parallel active power filter according to the voltage and current quantity obtained in the step (2), and obtaining the reference current corresponding to the k +1 time through delay compensation;
(5) calculating the output current of the series active power filter and the output current of the parallel active power filter at the moment of k +1 according to the voltage and current magnitude obtained in the step (2) and a prediction model;
(6) substituting the reference current at the k +1 moment in the step (3) and the output current of the series active power filter in the step (5) into a cost function, selecting a switching vector with optimal voltage following performance as a final optimized switching vector to be output, and acting on the series active power filter in the next control period; and (4) substituting the reference current at the k +1 moment in the step (4) and the output current of the parallel active power filter in the step (5) into a cost function, selecting a switching vector with optimal voltage following performance as a final optimized switching vector to be output, and acting on the parallel active power filter in the next control period.
Further, the method of step (1) is specifically as follows: considering the voltage change on the side of the series active power filter caused by the voltage temporary rise and drop and the load sudden change, the series compensation voltage is set to maintain 2/3 of the APF rated voltage of the series active power filter, and the series active power filter is ensured not to exceed the limit. Will compensate for the post load voltage U'LNetwork side voltage UsAnd series compensation voltage UseSubstituting the cosine theorem to obtain the power angle delta.
The formula is as follows:
Figure BDA0003434754210000021
further, the method of the step (2) is specifically as follows:
the first step is as follows: obtaining load three-phase current i at the moment k by sampling a UPQC systemLa(k)、iLb(k)、iLc(k) Three phase voltage u on load sideLa(k)、uLb(k)、uLc(k) Network side three-phase voltage usa(k)、usb(k)、usc(k) The VSC1 side of the series active power filter generates current ica1(k)、icb1(k)、icc1(k) Secondary side voltage u of series transformerca(k)、ucb(k)、ucc(k) The VSC2 side of the parallel active power filter sends out current ica2(k)、icb2(k)、icc2(k) The current i flowing to the load finally from the parallel active power filtera2(k)、ib2(k)、ic2(k) And the DC side bus voltage udc(k)；
The second step is that: according to the three-phase voltage u of the network side acquired in the first stepsa(k)、usb(k)、usc(k) Calculating a phase-locked angle theta by utilizing a self-contained phase-locked loop in a MATLAB/SIMULINK library, and combining Clark and Park transformation to convert the first phase-locked angle theta into a first phase-locked angle thetaLoad three-phase current i collected in stepsLa(k)、iLb(k)、iLc(k) The VSC1 side of the series active power filter generates current ica1(k)、icb1(k)、icc1(k) Secondary side voltage u of series transformerca(k)、ucb(k)、ucc(k) Transforming into a synchronous rotating coordinate system to obtain d-axis current i of the load currentLd(k) Q-axis current iLq(k) D-axis current i of the series active power filter VSC1 side outgoing currentcd1(k) Q-axis current icq1(k) D-axis voltage u of secondary side voltage of series transformercd(k) Q-axis voltage ucq(k) (ii) a Adding the power angle delta obtained in the step (1) and the phase-locked angle theta to obtain a rotation conversion angle omega, and performing synchronous rotation conversion on the three-phase voltage u on the load sideLa(k)、uLb(k)、uLc(k) The VSC2 side of the parallel active power filter sends out current ica2(k)、icb2(k)、icc2(k) And the current i flowing to the load finally by the parallel active power filtera2(k)、ib2(k)、ic2(k) Transforming the voltage into a synchronous rotating coordinate system to obtain a d-axis voltage u of a load voltageLd(k) Q-axis voltage uLq(k) D-axis component i of the parallel active power filter VSC2 side outgoing currentcd2(k) Q-axis component icg2(k) And d-axis component i of current finally flowing to load of parallel active power filterd2(k) Q-axis component iq2(k)。
The rotation transformation angle ω is δ + θ, and the general formula of synchronous rotation transformation is as follows:
Figure BDA0003434754210000031
further, the method of the step (3) is specifically as follows:
the first step is as follows: d-axis component i of load currentLd(k) After the action of the low-pass filter, the fundamental wave active component of the load current is obtained
Figure BDA0003434754210000032
The second step is that: the DC side bus voltage udc(k) With a given value
Figure BDA0003434754210000033
After subtraction, the difference is input into a PI regulator to obtain the deviation i of the direct current bus currentDC(k)；
The third step: i obtained in the second stepDC(k) With the fundamental active component of the load current obtained in the first step
Figure BDA0003434754210000034
D-axis reference current value is obtained by superposition
Figure BDA0003434754210000035
Let q-axis reference current
Figure BDA0003434754210000036
Is a non-volatile organic compound (I) with a value of 0,
Figure BDA0003434754210000037
and
Figure BDA0003434754210000038
the current reference vector of the series active power filter obtained after time delay compensation is
Figure BDA0003434754210000039
And
Figure BDA00034347542100000310
the delay compensation formula of the reference current of the series active power filter is as follows:
Figure BDA00034347542100000311
in the formula
Figure BDA0003434754210000041
Are respectively reference currents
Figure BDA0003434754210000042
Corresponding to the values at time k-2, time k-1 and time k,
Figure BDA0003434754210000043
are respectively reference currents
Figure BDA0003434754210000044
Corresponding to the values at time k-2, time k-1 and time k,
Figure BDA0003434754210000045
are respectively reference currents
Figure BDA0003434754210000046
The current is referenced at time k + 1.
Further, the method of the step (4) is specifically as follows:
the first step is as follows: the d-axis component u of the load voltageLd(k) And q-axis component uLq(k) Respectively given d-axis voltage
Figure BDA0003434754210000047
And q-axis given voltage
Figure BDA0003434754210000048
After subtraction, the output value is equivalent to the filter capacitor C of the parallel active power filter2D-axis current for generating current
Figure BDA0003434754210000049
And q-axis current
Figure BDA00034347542100000410
The second step is that: the current value obtained in the first step is measured
Figure BDA00034347542100000411
And id2(k)、iq2(k) Voltage coupling amount uLd(k)、uLq(k) Substituting parallel active power filterKCL equation to reference current
Figure BDA00034347542100000412
And
Figure BDA00034347542100000413
and obtaining the current reference vector of the parallel converter after time delay compensation
Figure BDA00034347542100000414
And
Figure BDA00034347542100000415
the KCL equation of the parallel active power filter is as follows:
Figure BDA00034347542100000416
where ω is the power supply angular frequency, C2The filter capacitor is connected with the active power filter in parallel;
the delay compensation formula of the reference current of the parallel active power filter is as follows:
Figure BDA00034347542100000417
in the formula
Figure BDA00034347542100000418
Is a reference current
Figure BDA00034347542100000419
Corresponding to the values at time k-2, time k-1 and time k,
Figure BDA00034347542100000420
is a reference current
Figure BDA00034347542100000421
Corresponding to the values at time k-2, time k-1 and time k,
Figure BDA00034347542100000422
are respectively reference currents
Figure BDA00034347542100000423
The current is referenced at time k + 1.
Further, the method of the step (5) is specifically as follows: substituting the obtained load voltage, the d-axis and q-axis components of the current emitted by the VSC1 side of the series active power filter, the secondary side voltage of the series transformer and the d-axis and q-axis components of the current emitted by the VSC2 side of the parallel active power filter into a series-parallel side prediction model to obtain a corresponding predicted current vector at the moment of k + 1;
the series-parallel side prediction model is as follows:
Figure BDA0003434754210000051
in the formula icd1(k)、icq1(k) D-axis component and q-axis component, u, of current emitted at the k moment of the VSC1 side of the series active power filtercd(k)、ucq(k) D-axis component and q-axis component i of the voltage at the time k on the secondary side of the series transformercd2(k)、icq2(k) D-axis component and q-axis component, u, of current emitted at the time k on the VSC2 side of the parallel active power filterLd(k)、uLq(k) D-axis component and q-axis component of three-phase voltage at k moment on load side, Sd1、Sq1、Sd2、Sq2Are respectively series-parallel sides S1、S2The d-axis and q-axis components of the switching function, TsIs the control period of the system and is,
Figure BDA0003434754210000052
respectively, predicted current vectors at the time k +1 of the series-parallel connection side, L1、L2Filter inductances u, on the series side and on the parallel side, respectivelyDC(k) Is the dc bus voltage at time k.
Further, the method of step (6) is specifically as follows:
the reference current at the k +1 moment in the step (2)
Figure BDA0003434754210000053
And step (4) connecting the output current of the active power filter in series at the k +1 moment
Figure BDA0003434754210000054
Substituting cost function g1Selecting a switching vector with optimal voltage following performance as a final optimized switching vector output, and acting on the series active power filter in the next control period; the reference current at the k +1 moment of the step (3)
Figure BDA0003434754210000055
And step (4) connecting the output current of the active power filter in parallel at the k +1 moment
Figure BDA0003434754210000056
Substituting cost function g2Selecting a switching vector with optimal voltage following performance as a final optimized switching vector output, and acting on the parallel active power filter in the next control period;
wherein the cost function g of the serial side1And a parallel side cost function g2As follows:
Figure BDA0003434754210000057
has the advantages that: compared with the prior art, the technical scheme of the invention has the following beneficial effects:
(1) the direct control strategy eliminates the harmonic detection algorithm, and controls the series active power filter as a sinusoidal current source and the parallel active power filter as a sinusoidal voltage source respectively, thereby effectively simplifying the structure of the controller, improving the dynamic performance of the system,
(2) compared with the traditional linear control algorithm, the current prediction control does not need a pulse width modulation technology.
(3) Compared with a traditional linear algorithm decoupling control strategy, the control strategy provided by the invention reduces the existence of a plurality of PI controllers in the control link, reduces control parameters, reduces the control complexity, improves the capacity utilization rate of the serial side and reduces the reactive power burden of the parallel side.
Drawings
FIG. 1 is a functional block diagram of the present invention;
FIG. 2 is a control block diagram of a UPQC series active power filter VSC1 of a conventional linear algorithm in a dq coordinate system;
FIG. 3 is a UPQC parallel active power filter VSC2 control block diagram of a conventional linear algorithm in a dq coordinate system;
FIG. 4 is a control block diagram of the UPQC series active power filter VSC1 of the present invention;
FIG. 5 is a control block diagram of the UPQC parallel active power filter VSC2 of the present invention;
FIG. 6 is a phasor diagram for a power angle control strategy;
FIG. 7 is a comparison of the waveforms of the load A-phase voltages of the UPQC direct current prediction control strategy system based on the power angle;
FIG. 8 is a comparison of the A-phase current waveform at the network side of the UPQC direct current prediction control strategy system based on power angle;
FIG. 9 shows a comparison of the net side current THD before and after compensation and the load voltage THD when harmonics are present on the net side;
(a) compensating front network side current THD when harmonic exists on the network side, and (b) compensating rear network side current THD when harmonic exists on the network side;
(c) compensating front load voltage THD when harmonic exists on the network side, and (d) compensating rear load voltage THD when harmonic exists on the network side.
FIG. 10 is a diagram of a reactive power waveform of a system under control of a conventional control strategy and a strategy proposed by the present invention;
(a) the traditional control strategy UPQC system reactive power oscillogram,
(b) UPQC direct current prediction control strategy UPQC system reactive power oscillogram based on power angle.
Fig. 11 grid voltage and current phases.
The specific implementation mode is as follows:
the invention is further explained below with reference to the figures and the specific embodiments.
Fig. 1 shows a UPQC system of a power angle-based UPQC direct current prediction control strategy, which is an existing system and includes a series active power filter VSC1, a parallel active power filter VSC2, a series transformer T, a dc bus, a dc energy storage capacitor C, and a series active power filter low-pass filtering reactance L1And low-pass filtering reactance L of parallel active power filter2And a filter capacitor C of the series active power filter1And a filter capacitor C of the parallel active power filter2。
As shown in fig. 2-3, the cross quantity between dq two axis quantities still exists in the system after UPQC decoupling under the traditional linear algorithm, a plurality of PI controllers exist in the control link, the control parameters are more, and the control process is complex.
Referring to fig. 1, the power angle-based UPQC direct current prediction control strategy of the present invention is composed of series active power filter VSC1 and parallel active power filter VSC2 control strategies: the invention provides a UPQC direct current prediction control method based on a power angle, which comprises the following steps:
(1) compensating the load voltage, and calculating a power angle value of a power angle control strategy according to the compensated load voltage, the network side voltage and the series compensation voltage on the premise of ensuring that the amplitude of the compensated load voltage is unchanged and the voltage of the series active power filter does not exceed a rated value;
(2) acquiring load three-phase current, load three-phase voltage, grid side three-phase voltage, current emitted by a VSC1 side of a series active power filter, secondary side voltage of a series transformer, current emitted by a VSC2 side of a parallel active power filter, current finally flowing to a load by the parallel active power filter, direct-current side bus voltage and a phase-locked angle at the current moment by acquiring data of the UPQC system;
(3) calculating reference current of the prediction current of the series active power filter according to the voltage and current quantity obtained in the step (2), and obtaining the reference current corresponding to the k +1 time through delay compensation;
(4) calculating reference current of the predicted current of the parallel active power filter according to the voltage and current quantity obtained in the step (2), and obtaining the reference current corresponding to the k +1 time through delay compensation;
(5) calculating the output current of the series active power filter and the output current of the parallel active power filter at the moment of k +1 according to the voltage and current magnitude obtained in the step (2) and a prediction model;
(6) substituting the reference current at the k +1 moment in the step (3) and the output current of the series active power filter in the step (5) into a cost function, selecting a switching vector with optimal voltage following performance as a final optimized switching vector to be output, and acting on the series active power filter in the next control period; and (4) substituting the reference current at the k +1 moment in the step (4) and the output current of the parallel active power filter in the step (5) into a cost function, selecting a switching vector with optimal voltage following performance as a final optimized switching vector to be output, and acting on the parallel active power filter in the next control period.
Further, the method of the step (1) is specifically as follows: considering the voltage change on the side of the series active power filter caused by the voltage temporary rise and drop and the load sudden change, the series compensation voltage is set to maintain 2/3 of the APF rated voltage of the series active power filter, and the series active power filter is ensured not to exceed the limit. Will compensate for the post load voltage U'LNetwork side voltage UsAnd series compensation voltage UseSubstituting the cosine theorem to obtain the power angle delta.
The formula is as follows:
Figure BDA0003434754210000071
further, the method of the step (2) is specifically as follows:
the first step is as follows: obtaining load three-phase current i at the moment k by sampling a UPQC systemLa(k)、iLb(k)、iLc(k) Three phase voltage u on load sideLa(k)、uLb(k)、uLc(k) Network side three-phase voltage usa(k)、usb(k)、usc(k) The VSC1 side of the series active power filter generates current ica1(k)、icb1(k)、icc1(k) Secondary side voltage u of series transformerca(k)、ucb(k)、ucc(k) The VSC2 side of the parallel active power filter sends out current ica2(k)、icb2(k)、icc2(k) The current i flowing to the load finally from the parallel active power filtera2(k)、ib2(k)、ic2(k) And the DC side bus voltage udc(k)；
The second step is that: according to the three-phase voltage u of the network side acquired in the first stepsa(k)、usb(k)、usc(k) Calculating a phase-locked angle theta by utilizing a self-contained phase-locked loop in an MATLAB/SIMULINK library, and combining Clark and Park transformation to convert the load three-phase current i acquired in the first stepLa(k)、iLb(k)、iLc(k) The VSC1 side of the series active power filter generates current ica1(k)、icb1(k)、icc1(k) Secondary side voltage u of series transformerca(k)、ucb(k)、ucc(k) Transforming into a synchronous rotating coordinate system to obtain d-axis current i of the load currentLd(k) Q-axis current iLq(k) D-axis current i of the series active power filter VSC1 side outgoing currentcd1(k) Q-axis current icq1(k) D-axis voltage u of secondary side voltage of series transformercd(k) Q-axis voltage ucq(k) (ii) a Adding the power angle delta obtained in the step (1) and the phase-locked angle theta to obtain a rotation conversion angle omega, and performing synchronous rotation conversion on the three-phase voltage u on the load sideLa(k)、uLb(k)、uLc(k) The VSC2 side of the parallel active power filter sends out current ica2(k)、icb2(k)、icc2(k) And the current i flowing to the load finally by the parallel active power filtera2(k)、ib2(k)、ic2(k) Transforming the voltage into a synchronous rotating coordinate system to obtain a d-axis voltage u of a load voltageLd(k) Q-axis voltage uLq(k) D-axis component i of the parallel active power filter VSC2 side outgoing currentcd2(k) Q-axis component icq2(k) And d-axis component i of current finally flowing to load of parallel active power filterd2(k) Q-axis component iq2(k)。
The rotation transformation angle ω is δ + θ, and the general formula of synchronous rotation transformation is as follows:
Figure BDA0003434754210000081
further, the method of the step (3) is specifically as follows:
the first step is as follows: d-axis component i of load currentLd(k) After the action of the low-pass filter, the fundamental wave active component of the load current is obtained
Figure BDA0003434754210000082
The second step is that: the DC side bus voltage udc(k) With a given value
Figure BDA0003434754210000083
After subtraction, the difference is input into a PI regulator to obtain the deviation i of the direct current bus currentDC(k)；
The third step: i obtained in the second stepDC(k) With the fundamental active component of the load current obtained in the first step
Figure BDA0003434754210000084
D-axis reference current value is obtained by superposition
Figure BDA0003434754210000091
Let q-axis reference current
Figure BDA0003434754210000092
Is a non-volatile organic compound (I) with a value of 0,
Figure BDA0003434754210000093
and
Figure BDA0003434754210000094
the current reference vector of the series active power filter obtained after time delay compensation is
Figure BDA0003434754210000095
And
Figure BDA0003434754210000096
the delay compensation formula of the reference current of the series active power filter is as follows:
Figure BDA0003434754210000097
in the formula
Figure BDA0003434754210000098
Are respectively reference currents
Figure BDA0003434754210000099
Corresponding to the values at time k-2, time k-1 and time k,
Figure BDA00034347542100000910
are respectively reference currents
Figure BDA00034347542100000911
Corresponding to the values at time k-2, time k-1 and time k,
Figure BDA00034347542100000912
are respectively reference currents
Figure BDA00034347542100000913
The current is referenced at time k + 1.
Further, the method of the step (4) is specifically as follows:
the first step is as follows: the d-axis component u of the load voltageLd(k) And q-axis component uLq(k) Respectively given d-axis voltage
Figure BDA00034347542100000914
And q-axis given voltage
Figure BDA00034347542100000915
After subtraction, the output value is equivalent to the filter capacitor C of the parallel active power filter2D-axis current for generating current
Figure BDA00034347542100000916
And q-axis current
Figure BDA00034347542100000917
The second step is that: the current value obtained in the first step is measured
Figure BDA00034347542100000918
And id2(k)、iq2(k) Voltage coupling amount uLd(k)、uLq(k) Substituting into KCL equation of parallel active power filter to obtain reference current
Figure BDA00034347542100000919
And
Figure BDA00034347542100000920
and obtaining the current reference vector of the parallel converter after time delay compensation
Figure BDA00034347542100000921
And
Figure BDA00034347542100000922
the KCL equation of the parallel active power filter is as follows:
Figure BDA00034347542100000923
where ω is the power supply angular frequency, C2The filter capacitor is connected with the active power filter in parallel;
the delay compensation formula of the reference current of the parallel active power filter is as follows:
Figure BDA00034347542100000924
in the formula
Figure BDA00034347542100000925
Is a reference current
Figure BDA00034347542100000926
Corresponding to the values at time k-2, time k-1 and time k,
Figure BDA00034347542100000927
is a reference current
Figure BDA00034347542100000928
Corresponding to the values at time k-2, time k-1 and time k,
Figure BDA00034347542100000929
are respectively reference currents
Figure BDA00034347542100000930
The current is referenced at time k + 1.
Further, the method of the step (5) is specifically as follows: substituting the obtained load voltage, the d-axis and q-axis components of the current emitted by the VSC1 side of the series active power filter, the secondary side voltage of the series transformer and the d-axis and q-axis components of the current emitted by the VSC2 side of the parallel active power filter into a series-parallel side prediction model to obtain a corresponding predicted current vector at the moment of k + 1;
the series-parallel side prediction model is as follows:
Figure BDA0003434754210000101
in the formula icd1(k)、icq1(k) D-axis component and q-axis component, u, of current emitted at the k moment of the VSC1 side of the series active power filtercd(k)、ucq(k) D-axis component and q-axis component i of the voltage at the time k on the secondary side of the series transformercd2(k)、icq2(k) D-axis component and q-axis component, u, of current emitted at the time k on the VSC2 side of the parallel active power filterLd(k)、uLq(k) D-axis component and q-axis component of three-phase voltage at k moment on load side, Sd1、Sq1、Sd2、Sq2Are respectively series-parallel sides S1、S2The d-axis and q-axis components of the switching function, TsIs the control period of the system and is,
Figure BDA0003434754210000102
respectively, predicted current vectors at the time k +1 of the series-parallel connection side, L1、L2Filter inductances u, on the series side and on the parallel side, respectivelyDC(k) Is the dc bus voltage at time k.
Further, the method of step (6) is specifically as follows:
the reference current at the k +1 moment in the step (2)
Figure BDA0003434754210000103
And step (4) connecting the output current of the active power filter in series at the k +1 moment
Figure BDA0003434754210000104
Substituting cost function g1Selecting a switching vector with optimal voltage following performance as a final optimized switching vector output, and acting on the series active power filter in the next control period; the reference current at the k +1 moment of the step (3)
Figure BDA0003434754210000105
And step (4) connecting the output current of the active power filter in parallel at the k +1 moment
Figure BDA0003434754210000106
Substituting cost function g2Selecting a switching vector with optimal voltage following performance as a final optimized switching vector output, and acting on the parallel active power filter in the next control period;
wherein the cost function g of the serial side1And a parallel side cost function g2As follows:
Figure BDA0003434754210000107
the string shown in FIG. 4The active power filter is connected with a control schematic diagram. The series active power filter is used as a sine wave current source to be controlled in phase with the power supply voltage, so that the current quality problem is relieved. i.e. idcThe reference voltage of the direct current bus is adjusted by a PI controller
Figure BDA0003434754210000108
And the actual voltage uDCThe difference between them. i.e. idcThe power compensation circuit is used for compensating the loss of the filter and the IGBT module to the system, maintaining the stability of the voltage of the direct-current bus and balancing the power of the system. q axis current
Figure BDA0003434754210000109
Set to zero for compensating current harmonics and reactive power.
Figure BDA0003434754210000111
The load current is subjected to coordinate transformation and harmonic elimination i by a filterdcAnd adding the two to obtain the final product.
Figure BDA0003434754210000112
And
Figure BDA0003434754210000113
after time delay compensation, the current reference vector of the series active power filter is obtained as
Figure BDA0003434754210000114
And
Figure BDA0003434754210000115
sending out the d-axis component i of the current on the VSC1 side of the series active power filtercd1(k) Q-axis component icq1(k) And d-axis component u of secondary side voltage of series transformercd(k) Q-axis component ucq(k) Inputting the current vector into a current prediction model to obtain a predicted current vector under a given voltage vector
Figure BDA0003434754210000116
And
Figure BDA0003434754210000117
will predict the current vector
Figure BDA0003434754210000118
And the current reference vector of the series active power filter is
Figure BDA0003434754210000119
Figure BDA00034347542100001110
Substituting cost function g1Selecting the ratio g1The smallest voltage vector is output in the next cycle as the optimal vector of the series active power filter VSC 1.
Wherein the prediction model and the cost function are as follows
Figure BDA00034347542100001111
Figure BDA00034347542100001112
A control schematic diagram of a parallel active power filter as shown in fig. 5. The parallel active power filter is used as a sine wave voltage source to be controlled in phase with the public voltage, so that the problem of voltage quality is relieved. On the dq axis, d-axis voltage
Figure BDA00034347542100001113
Is arranged as
Figure BDA00034347542100001114
To provide the load voltage. Voltage of q axis
Figure BDA00034347542100001115
Is set to zero to suppress voltage harmonics and ensure that the load voltage is a sinusoidal voltage. On the basis of the above-mentioned technical scheme,
Figure BDA00034347542100001116
and
Figure BDA00034347542100001117
and the load voltage uLd(k) And uLq(k) After comparison, the output value is equivalent to the filter capacitor C of the parallel active power filter through the PI regulator2D-axis current for generating current
Figure BDA00034347542100001118
And q-axis current
Figure BDA00034347542100001119
Will flow current
Figure BDA00034347542100001120
id2(k)、iq2(k) And the voltage coupling quantity uLd(k)、uLq(k) Substituting the reference current obtained in the KCL equation of the parallel active power filter
Figure BDA00034347542100001121
And
Figure BDA00034347542100001122
and obtaining a current reference vector of the parallel active power filter after time delay compensation
Figure BDA00034347542100001123
And
Figure BDA00034347542100001124
the d-axis component u of the load voltageLd(k) Q-axis component uLq(k) And d-axis component i of current generated by VSC2 side of parallel active power filterd2(k) Q-axis component iq2(k) Inputting the current vector predicted by the following formula into a current prediction model to obtain a predicted current vector under a given voltage vector
Figure BDA00034347542100001125
And
Figure BDA00034347542100001126
will be provided with
Figure BDA00034347542100001127
And
Figure BDA00034347542100001128
carry-in cost function g2Selecting the ratio g2The smallest voltage vector is output in the next cycle as the optimal vector of the parallel active power filter VSC 2.
Wherein the prediction model and the cost function are as follows:
Figure BDA00034347542100001129
Figure BDA0003434754210000121
such as the phasor diagram of the power angle control strategy shown in fig. 6. The method comprises the steps of controlling the voltage injected by a series active power filter to enable the phase difference between a power supply voltage and a compensated load voltage to be a power angle delta, and ensuring the amplitude required by the load voltage to be a rated voltage value required by a load on the premise of controlling the phase difference.
And (3) simulating the UPQC control strategy, setting the simulation time to be 0.6s, intercepting a period by the phase A for simulation analysis, and obtaining simulation results as shown in the figure 7-11, wherein 0.1s-0.2s is in a power grid voltage transient-rising working condition, 0.2s-0.3s is in a power grid voltage transient-falling working condition, 0.3s-0.4s is in a power grid harmonic working condition, 0.5s-0.6s is in a load mutation working condition, and the other time is in a stable operation state. Fig. 7 is a comparison of the load a-phase voltage waveforms of the UPQC system based on power angle UPQC direct current prediction control. Fig. 8 is a comparison of the net side a-phase current waveforms of the UPQC system based on power angle UPQC direct current prediction control. Fig. 9 is a comparison of net side current THD and load voltage THD before and after compensation when harmonics are present on the net side. Fig. 10 is a waveform diagram of reactive power of a system under the control of a traditional control strategy and the strategy proposed by the invention. Fig. 11 shows the grid current and voltage waveforms.
From fig. 7, no matter the voltage of the power grid rises temporarily, falls temporarily, harmonic waves exist or sudden load changes exist, the voltage on the load side is compensated into a sine wave with constant amplitude after the compensation of the UPQC.
From fig. 8, no matter the voltage of the power grid rises temporarily, falls temporarily, and has harmonic waves or sudden load changes, the current on the power grid side is compensated into sine waves after the UPQC compensation.
As can be seen from fig. 9, the total harmonic distortion of the power supply current is 3.13%, which is better than 30.24% of the current harmonic before the harmonic suppression technique is used. Meanwhile, the total harmonic distortion rate of the load voltage is 1.41%, and compared with 11.31% before the harmonic suppression technology is used, the total harmonic distortion rate of the load voltage is greatly reduced.
As can be seen from fig. 10, the power angle-based UPQC direct current prediction control strategy can coordinate the reactive power required by the load, the series active power filter bears part of the reactive power, and the reactive power of the parallel active power filter is significantly reduced compared to the conventional control strategy.
From fig. 11, the voltage and current of the grid are in phase, and the power factor is 1.
Through simulation verification, a Unified Power Quality Conditioner (UPQC) has comprehensive power quality regulation capability, and the research on the operation principle and the control strategy of the UPQC has great significance for improving the power quality of a power distribution system. The UPQC system based on the control strategy of the invention can not only control the current and voltage quality and maintain the power factor of the system to be 1, but also avoid the current loop PI regulator parameter setting and PWM (pulse width modulation) links with complicated series and parallel APF conversion in the traditional control strategy, simplify the control process, improve the utilization rate of series APF and reduce the reactive power burden of parallel APF.

Claims (7)

1. A UPQC direct current prediction control method based on a power angle is characterized by comprising the following steps:
(1) compensating the load voltage, and calculating a power angle value of a power angle control strategy according to the compensated load voltage, the network side voltage and the series compensation voltage on the premise of ensuring that the amplitude of the compensated load voltage is unchanged and the voltage of the series active power filter does not exceed a rated value;
(2) acquiring load three-phase current, load three-phase voltage, grid side three-phase voltage, current emitted by a VSC1 side of a series active power filter, secondary side voltage of a series transformer, current emitted by a VSC2 side of a parallel active power filter, current finally flowing to a load by the parallel active power filter, direct-current side bus voltage and a phase-locked angle at the current moment by acquiring data of the UPQC system;
(3) calculating reference current of the prediction current of the series active power filter according to the voltage and current quantity obtained in the step (2), and obtaining the reference current corresponding to the k +1 time through delay compensation;
(4) calculating reference current of the predicted current of the parallel active power filter according to the voltage and current quantity obtained in the step (2), and obtaining the reference current corresponding to the k +1 time through delay compensation;
(5) calculating the output current of the series active power filter and the output current of the parallel active power filter at the moment of k +1 according to the voltage and current magnitude obtained in the step (2) and a prediction model;
(6) substituting the reference current at the k +1 moment in the step (3) and the output current of the series active power filter in the step (5) into a cost function, selecting a switching vector with optimal voltage following performance as a final optimized switching vector to be output, and acting on the series active power filter in the next control period; and (4) substituting the reference current at the k +1 moment in the step (4) and the output current of the parallel active power filter in the step (5) into a cost function, selecting a switching vector with optimal voltage following performance as a final optimized switching vector to be output, and acting on the parallel active power filter in the next control period.
2. According to the claimsSolving 1, the UPQC direct current prediction control method based on the power angle is characterized in that the method in the step (1) is as follows: considering the voltage change of the side of the series active power filter caused by voltage temporary rise and drop and load sudden change, 2/3 for maintaining the series compensation voltage at the APF rated voltage of the series active power filter is set to ensure that the series active power filter does not exceed the limit and the compensated load voltage U'LNetwork side voltage UsAnd series compensation voltage UseSubstituting the cosine theorem to obtain a power angle delta:
the formula is as follows:
Figure FDA0003434754200000011
3. the UPQC direct current prediction control method based on power angle according to claim 1, characterized in that the method of step (2) is as follows:
the first step is as follows: obtaining load three-phase current i at the moment k by sampling a UPQC systemLa(k)、iLb(k)、iLc(k) Three phase voltage u on load sideLa(k)、uLb(k)、uLc(k) Network side three-phase voltage usa(k)、usb(k)、usc(k) The VSC1 side of the series active power filter generates current ica1(k)、icb1(k)、icc1(k) Secondary side voltage u of series transformerca(k)、ucb(k)、ucc(k) The VSC2 side of the parallel active power filter sends out current ica2(k)、icb2(k)、icc2(k) The current i flowing to the load finally from the parallel active power filtera2(k)、ib2(k)、ic2(k) And the DC side bus voltage udc(k)；
The second step is that: according to the three-phase voltage u of the network side acquired in the first stepsa(k)、usb(k)、usc(k) Calculating a phase-locked angle theta by utilizing a self-contained phase-locked loop in an MATLAB/SIMULINK library, and combining Clark and Park transformation to convert the load three-phase current i acquired in the first stepLa(k)、iLb(k)、iLc(k) The VSC1 side of the series active power filter generates current ica1(k)、icb1(k)、icc1(k) Secondary side voltage u of series transformerca(k)、ucb(k)、ucc(k) Transforming into a synchronous rotating coordinate system to obtain d-axis current i of the load currentLd(k) Q-axis current iLq(k) D-axis current i of the series active power filter VSC1 side outgoing currentcd1(k) Q-axis current icq1(k) D-axis voltage u of secondary side voltage of series transformercd(k) Q-axis voltage ucq(k) (ii) a Adding the power angle delta obtained in the step (1) and the phase-locked angle theta to obtain a rotation conversion angle omega, and performing synchronous rotation conversion on the three-phase voltage u on the load sideLa(k)、uLb(k)、uLc(k) The VSC2 side of the parallel active power filter sends out current ica2(k)、icb2(k)、icc2(k) And the current i flowing to the load finally by the parallel active power filtera2(k)、ib2(k)、ic2(k) Transforming the voltage into a synchronous rotating coordinate system to obtain a d-axis voltage u of a load voltageLd(k) Q-axis voltage uLq(k) D-axis component i of the parallel active power filter VSC2 side outgoing currentcd2(k) Q-axis component icq2(k) And d-axis component i of current finally flowing to load of parallel active power filterd2(k) Q-axis component iq2(k)；
The rotation transformation angle ω is δ + θ, and the general formula of synchronous rotation transformation is as follows:
Figure FDA0003434754200000021
4. the UPQC direct current prediction control method based on power angle according to claim 2, characterized in that the method of step (3) is as follows:
the first step is as follows: d-axis component i of load currentLd(k) After the action of the low-pass filter, the fundamental wave active component of the load current is obtained
Figure FDA0003434754200000031
The second step is that: the DC side bus voltage udc(k) With a given value
Figure FDA0003434754200000032
After subtraction, the difference is input into a PI regulator to obtain the deviation i of the direct current bus currentDC(k)；
The third step: i obtained in the second stepDC(k) With the fundamental active component of the load current obtained in the first step
Figure FDA0003434754200000033
D-axis reference current value is obtained by superposition
Figure FDA0003434754200000034
Let q-axis reference current
Figure FDA0003434754200000035
Is a non-volatile organic compound (I) with a value of 0,
Figure FDA0003434754200000036
and
Figure FDA0003434754200000037
the current reference vector of the series active power filter obtained after time delay compensation is
Figure FDA0003434754200000038
And
Figure FDA0003434754200000039
the delay compensation formula of the reference current of the series active power filter is as follows:
Figure FDA00034347542000000310
in the formula
Figure FDA00034347542000000311
Are respectively reference currents
Figure FDA00034347542000000312
Corresponding to the values at time k-2, time k-1 and time k,
Figure FDA00034347542000000313
are respectively reference currents
Figure FDA00034347542000000314
Corresponding to the values at time k-2, time k-1 and time k,
Figure FDA00034347542000000315
are respectively reference currents
Figure FDA00034347542000000316
The current is referenced at time k + 1.
5. The UPQC direct current prediction control method based on power angle according to claim 3, characterized in that the method of step (4) is as follows:
the first step is as follows: the d-axis component u of the load voltageLd(k) And q-axis component uLq(k) Respectively given d-axis voltage
Figure FDA00034347542000000317
And q-axis given voltage
Figure FDA00034347542000000318
After subtraction, the output value is equivalent to the filter capacitor C of the parallel active power filter2D-axis current for generating current
Figure FDA00034347542000000319
And q-axis current
Figure FDA00034347542000000320
The second step is that: the current value obtained in the first step is measured
Figure FDA00034347542000000321
And id2(k)、iq2(k) Voltage coupling amount uLd(k)、uLq(k) Substituting into KCL equation of parallel active power filter to obtain reference current
Figure FDA00034347542000000322
And
Figure FDA00034347542000000323
and obtaining the current reference vector of the parallel converter after time delay compensation
Figure FDA00034347542000000324
And
Figure FDA00034347542000000325
the KCL equation of the parallel active power filter is as follows:
Figure FDA00034347542000000326
where ω is the power supply angular frequency, C2The filter capacitor is connected with the active power filter in parallel;
the delay compensation formula of the reference current of the parallel active power filter is as follows:
Figure FDA00034347542000000327
in the formula
Figure FDA0003434754200000041
Is a reference current
Figure FDA0003434754200000042
Corresponding to the values at time k-2, time k-1 and time k,
Figure FDA0003434754200000043
is a reference current
Figure FDA0003434754200000044
Corresponding to the values at time k-2, time k-1 and time k,
Figure FDA0003434754200000045
are respectively reference currents
Figure FDA0003434754200000046
The current is referenced at time k + 1.
6. The UPQC direct current prediction control method based on power angle according to claim 4, characterized in that the method of step (5) is as follows: substituting the obtained load voltage, the d-axis and q-axis components of the current emitted by the VSC1 side of the series active power filter, the secondary side voltage of the series transformer and the d-axis and q-axis components of the current emitted by the VSC2 side of the parallel active power filter into a series-parallel side prediction model to obtain a corresponding predicted current vector at the moment of k + 1;
the series-parallel side prediction model is as follows:
Figure FDA0003434754200000047
in the formula icd1(k)、icq1(k) D-axis component and q-axis component, u, of current emitted at the k moment of the VSC1 side of the series active power filtercd(k)、ucq(k) D-axis component and q-axis component of secondary side k moment voltage of series transformerAmount, icd2(k)、icq2(k) D-axis component and q-axis component, u, of current emitted at the time k on the VSC2 side of the parallel active power filterLd(k)、uLq(k) D-axis component and q-axis component of three-phase voltage at k moment on load side, Sd1、Sq1、Sd2、Sq2Are respectively series-parallel sides S1、S2The d-axis and q-axis components of the switching function, TsIs the control period of the system and is,
Figure FDA0003434754200000048
respectively, predicted current vectors at the time k +1 of the series-parallel connection side, L1、L2Filter inductances u, on the series side and on the parallel side, respectivelyDC(k) Is the dc bus voltage at time k.
7. The UPQC direct current prediction control method based on power angle according to claim 5, characterized in that the method of step (6) is as follows:
the reference current at the k +1 moment in the step (2)
Figure FDA0003434754200000049
And step (4) connecting the output current of the active power filter in series at the k +1 moment
Figure FDA00034347542000000410
Substituting cost function g1Selecting a switching vector with optimal voltage following performance as a final optimized switching vector output, and acting on the series active power filter in the next control period; the reference current at the k +1 moment of the step (3)
Figure FDA00034347542000000411
And step (4) connecting the output current of the active power filter in parallel at the k +1 moment
Figure FDA00034347542000000412
Substituting cost function g2Selecting switches with optimum voltage followingThe vector is output as a final optimized switch vector and acts on the parallel active power filter in the next control period;
wherein the cost function g of the serial side1And a parallel side cost function g2As follows:
Figure FDA0003434754200000051
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