Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Thit k b iu khin thch nghi cho b lc tch cc song song s dng b
bin i ngun p ba pha ba mc
Adaptive Controller Design for Shunt Active Filter Based on Three-Lever
Voltage Source Converter
Giang Hng Bc, Lu Hng Vit
Trng HBK H Ni
Email: vietluu-ac@mail.hut.edu.vn

Tm tt
Bi bo ny trnh by kt qu nghin cu thit k b
iu khin cho b lc tch cc 3 pha 3 mc c kh
nng p ng nhanh ng thi thch nghi tham s bt
nh ca cun cm nhm tng cht lng hot ng
ca b iu khin. Da trn nguyn l b tnh theo l
thuyt p-q [1] nhm tc gi xut trin khai thc
hin vi b bin i ngun p 3 pha 3 mc nhm
gim thiu nh hng nhiu gy ra do hiu ng dv/dt,
ng thi c kh nng p dng cho cc di cng sut
ln. nng cao tin cy v kh nng hot ng
ca b iu khin p ng nhanh, thut ton iu
khin thch nghi tham s c pht trin v kim
chng vi s bt nh v gi tr cm khng ni li.
Cc kt qu t c c kim nghim bng m
phng Matlab/Simulink/Plecs.
Abstract
The article presents the result of control design for
active filter basing on three-phase three level voltage
source converter with parameter adaptive capability
for inductance uncertainty. Basing on p-q theory [1]
authors proposed an implementation on three-phase
three level converter to mitigate the negative effect
caused by dv/dt, and to be able to apply for large-
scale applications. In order to improve reliability and
operation capability of controller, an adaptive control
scenario was developed to adapt with grid-tied
inductance uncertainty. The obtained result was
verified with simulation Matlab/Simulink/Plecs.
1. Gii thiu
Hin nay b lc tch cc song song (hnh H.1a) c
quan tm nghin cu v s dng rng ri b hi
dng in, cng sut phn khng v ti dng khng
cn bng. ng thi cng c th c s dng nh
mt my pht tnh trong mng li in n nh v
tng h s hnh dng ca in p li. B lc tch cc
c pht trin trn c s b bin i ngun p hoc
ngun dng, ph bin c s dng hin nay l b
bin i ngun p (three-phase voltage sourse
inverter VSI) bao gm mt cu trc 6 van chuyn
mch 2 mc (nh H.1b). Tuy nhin cu hnh b bin
i ngun p 2 mc ph hp vi phm vi in p thp
bi: T l dv/dt ln gy ra khi iu ch xung PWM,
ton b cng sut ca ti s ch c chia s trn 6
van chuyn mch. Bi vy cc cu trc ngun p a
mc (hnh H.1c) ang rt c quan tm gim t l
dv/dt xung mc thp v c kh nng chia s tng
cng sut ti u trn mt s lng ln cc van cng
sut.
2. B lc tch cc song song
2.1 Nguyn l hot ng
Cc ti phi tuyn ging nh nhng ngun dng, sinh
ra cc hi dng in bc cao. iu ny dn n mc
d in p li l sin nhng dng in li khng cn
l sin. Trong trng hp ny, b lc tch cc hot
ng nh mt ngun dng sinh ra dng in ging
nh hi m ti phi tuyn to ra nhng lch pha 180
o
.
Khi , cc thnh phn hi nm trong dng in ti s
c loi b, v dng in tng trao i vi li s
c m bo cng dng v pha vi in p li.
Ti phi
tuyn
il
ic
in

A
S1a
S2a
B
S1b
S2b
C
S1c
S2c

A
D5a
D1a
D2b
D3b
D4a
S1a
S2a
S3a
S4a
D6a
C1
B
D1b
D2b
D3b
D4b
S1b
S2b
S3b
S4b
C
D1c
D2c
D3c
D4c
S1c
S2c
S3c
S4c
D2a
D3a

(a) (b) (c)
H. 1: a) b lc tch cc song song. b) b bin i ba pha hai mc. c) B bin i ba pha ba mc
703
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Theo cch ny, h thng phn phi in vi cc ti
phi tuyn v b lc tch cc c th c xem nh
thun tr l tng. Nguyn l v c tnh b ca b
lc tch cc c trnh by trong hnh 2. Khu c
lng gi tr t nhm mc ch tnh ton gi tr dng
in cn b i
c
*
. Khu iu chnh dng in thc hin
tnh ton gi tr in p cn iu ch cho b bin i
ba pha ba mc. Khu iu ch vector khng gian xut
xung iu khin cho b bin i ba pha a mc.
Ti phi
tuyn
il
ic
in
i
c*
g
un, in
ic
RI
c lng
dng in b
SPWM

H. 2: c tnh b ca b lc tch cc
2.2. M hnh b bin i ngun p 3 pha 3 mc
C 3 kiu chnh ca b bin i a mc: Kiu cu
trc da trn t mt chiu cn bng (flying-capacitor
inverter), cu trc da trn cu ch H ghp tng
(cascaded H-bridge inverter) v cu trc dng cc
mch diode kt ni (the diode-clamped inverter).
Trong nghin cu ny, cu trc mch dng diode
c s dng bi tnh ph cp v d thc thi hn c
nh m t trong s hnh H. 1c.
Mi nhm van trn mt pha ca s hnh 3.1 c
th c ba trng thi, k hiu tng ng: P - dng; 0 -
khng; N- m, nh biu din trong bng B. 1.
B. 1: Bng trng thi van cho mt pha (x = a, b, c)
K hiu
trng thi
Trng thi ca cc van
chuyn mch
in
p u
ra
S1x S2x S3x S4x
P ON ON OFF OFF Vdc
0 OFF ON ON OFF Vdc/2
N OFF OFF ON ON 0
I
II
III
IV
V
VI
V7
V8
V9 V10 V11
V12
V13
V14
V15
V16
V17
V18
V1
V2 V3
V4
V5
V6
|
o

H. 3 H thng vect khng gian ca b bin i ba
pha ba mc
Kt hp c ba pha, c tt c 3
3
= 27 trng thi v
19 vector khc nhau. Cc vector biu din trn h to
o|, nh trn hnh H. 3. Cc vector chia mt phng
thnh cc tam gic cn, mi cnh c di bng 1.
Trn mt phng vector khng gian cng nh s cc
gc phn su, gi l cc sector, t I n VI.
C th thy rng mi vector nh
(V1,V2,V3,V4,V5,V6) to thnh t hai t hp van,
ng vi hai chiu dng in i qua dy trung tnh mt
chiu mt pha. V vy cc vector ny c dng
lun phin cn bng in p trn cc t C1, C2.
Nhim v iu ch vect khng gian cho b bin
i ba mc ba pha c th tm tt nh sau:
- Xc nh vector u nm trong sector no trong 6
sector I, II, , VI.
- Trong mi sector tnh ton cc h s c s.
- La chn cc vector iu ch n v.
- La chn cc t hp van v th t thc hin cc t
hp van. Chn vector V0 ph hp ti thiu ho
s ln chuyn mch ca van.
- S dng mch PWM chuyn tn hiu s thnh
tn hiu thi gian.
2.3. c lng dng in b
Dng in b (c c lng bi khu c lng
dng in b) l thnh phn chnh quyt nh s hot
ng chnh xc ca b lc tch cc. Cc phng php
c lng dng in b c pht trin trn c min
tn s v min thi gian. Hin nay phng php c
lng dng in b trong min thi gian c quan
tm v khai thc hn c, cho php tnh ton gi tr tc
thi ca dng in hoc in p b t dng in v
in p ti, gim thiu tr thi gian do tnh ton
nh phng php c lng nh trong min tn s.
Dng in b c tnh ton da trn l thuyt cng
sut tc thi p-q [1].
Ti
p
p
q
p
q
p
1
p
1
p
S
R
S
L
Ls
U
U
S
I

H. 4: Lung cng sut trn li in 3 pha 3 dy s
dng b lc tch cc song song
L thuyt p-q p dng cho li in 3 pha 3 dy bao
gm mt php chuyn i trc ta ( php chuyn
i Clark) ca in p v dng in t h ta a-b-c
sang h ta -:

1 -1/2 -1/2
2
0 3/2 - 3/2 3
a
b
c
u
u
u
u
u
a
b
;
1 -1/2 -1/2
2
0 3/2 - 3/2 3
a
b
c
i
i
i
i
i
a
b
(1)
704
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
T tnh ton ra cc gi tr cng sut tc thi:
. . p u i u i
o o | |
= +
(2)
. . q u i u i
o | | o
=
(3)
Cng sut thc tc thi p ca ti c th phn chia
thnh hai thnh phn ring bit : Gi trnh trung bnh
ca n ( p ) v thnh phn dao ng ( p ) vi ngha:
- p = Thnh phn trung bnh ca cng sut thc
tc thi - cng sut mong mun truyn t li ti
ph ti.
- p = Thnh phn dao ng ca cng sut thc tc
thi.
- q = Cng sut o tc thi - cng sut m trao i
qun gia cc pha ca ti v li.
Dng in b c xc nh t cc thnh phn
xoay chiu ca cng sut thc tc thi v cng sut
o tc thi. Mt lng cng sut thc tc thi
1
p cng c b sung bi khu khuch i P nhm
gi gi tr in p trn cc t ca b bin i l khng
i.
3. Thit k khu iu chnh
Cu trc tng qut ca khu iu chnh bao gm mt
khu iu chnh dng deadbeat, b quan st trt gin
on v b iu khin thch nghi (hnh 4). Khu iu
chnh s c thit k thnh tng phn v trn h ta
d-q.
Khu iu chnh
deadbeat
Thch nghi tham s
in cm
Quan st trt
( )

[ 1] [ ] [ 1] [ ] [ ] [ ]
S d S d S S S
i k i k u k hC i k i k v k u + =u + I + +

T
k k 1 TS k C [ 1]
d s
u k

| | ] [

] [
~
k i k i k i
S S S
=

[ ]
s
i k
[ 1]
s
u k
B lc tch cc song song ni li
H. 4: Cu trc khu iu chnh tng qut.
Nh bit, m hnh gin on ca b lc tch cc
song song biu din trn h ta quay d-q cng vi
pha e ca li vi thi gian trch mu T c dng:
| | | | | | | | 1
S d S d d L
k . k . k (T ). k + = + i i u u (4)
Trong :
- ( )
T
s sd sq
i i = i l dng in b a ln li t b
lc.
- R
S
, L
S
l gi tr in tr, cm khng ca cun
dy ni gia b lc v li.
- ( )
T
L Ld Lq
u u = u l in p li
- ( )
T
d q
u u = u l in p t b bin i a mc (
hnh 4).
Cc ma trn h s:
s s s
d d
s s s
- R / L T T - / L
; T ;
- T - R / L T - / L
1 1 0
1 0 1
w
w

( (
= =
( (

Ma trn I
d
, u
d
c cc h s th hin s tc ng
cho gia cc thnh phn d v q.
3.1 Thit k khu iu chnh deadbeat
M hnh khu iu chnh deadbeat xut nh hnh
H. 5 [6][7]. Khu
1
z I th hin tr do qu trnh
tnh ton ca vi x l, vi iu khin. kh tn hiu
in p li trong m hnh, ta s dng mt khu tnh
u
L
[k+1]. Ma trn I
d
-1
c thm vo gip n gin
cho qu trnh thit k. M hnh h thng sau khi
c b:
( 1) . ( ) [ 1]
s s s d d
k k k i i u G F (5)
UL(k+1)
I
d
|
d
z
-1
I I
d
U(k)
UL(k)
Is(k)
z
-1
I
Is(k+1)
I
d
-1
y(k)
R
I
Pha li Pha C
Is*(k)
Us(k)
H. 5: Thut ton iu khin deadbeat
c c tnh l Dead-Beat, s dng hm truyn t
mc tiu
2
z
khu iu chnh s c dng:
1
2
1
d
I
z
R
z
F I
(6)
3.2. Thit k b quan st trt gin on v khu
thch nghi
Theo trn, ta c m hnh dng gin on ca b
bin i ba pha sau khi b in p li c dng:
( 1) . ( ) [ 1]
s s s d d
k k k i i u F G (7)
Ta d thy rng, ta c th vit I
d
, u
d
di dng:

d d

q ;

d d
F F (vi R
S
~ 0) (8)
Trong u cha gi tr in cm thay i cn thch
nghi / T Ls q .
Khi theo [2] trn ta c th xc nh c thut ton
thch nghi tham s cho b quan st trt:
1 1
T
S d

k k TS k C k q q u G (9)
Trong mt trt:

1 2
[ ]
S sd sq
S k C C i C i i (10)
705
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
V b quan st trt c dng [5][2]:
i i u i i

[ 1] [ ] [ 1] [ ] [ ] [ ]
S S S S S d d
k k k hC k k v k q l F G (11)
t vector sai lch trng thi:

[ ] [ ]
S S S
k k k i i i (12)
Tr (7) cho (11) ta c:

[ 1] ( ) [ ] [ 1] [ ]
S S d d S
k hC k k v k q q l i i u F G (13)
Bi ton by gi tr thnh xc nh h, v v sao cho
h quan st l n nh.
Chng ta c th tm h theo 2 cch: Gn im cc v
phng php LQ. y, theo [5] ta s dng phng
php LQ. Xut pht t: (

d
F ,C) l quan st c nu
v ch nu (

d
F
T
, C
T
) l iu khin c, ta c phng
trnh Riccati gin on (DRE) sau:

1

T T T
d d d d T
P PC CP P Q
CPC a
F F F F (14)
vi Q: Ma trn xc nh bn dng
: S thc dng bt k
P: Nghim ca phng trnh (14)
Do

d
F
T
C
T
h
T
bn vi:

1

T T
d T
h CP
CPC a
F (15)
iu ny tng ng vi s n nh ca

d
hC F .
Do vy ta xc nh c:
1

T
d T
h PC
CPC a
F (16)
Xt mt trt
S
S k C k i Ch trt l tng c
c nu: S[k] = 0. T ta xc nh c tn hiu
truyn thng:
1

[ ] [ ] ( ) [ 1]
S S eq d d
v k C C k C k l q q i u F G (17)
Th (17) vo (13) ta xc nh c sai lch trng thi
trong ch trt l tng:
1 1

[ 1] ( ) [ ] ( ) [ 1]
S S s d d
k C C k C C k l l l l q q i I i I u F G (18)
xc nh , ta t:
= [
1

2
]
T
, C = [C
1
C
2
],

d
C M F (19)
v
1
( ) C F l l (20)
T ta c:
CF = 1 (21)
V vy vector l c xc nh nu tn ti vector F
tha mn CF = 1. Khi :
1

( )
d d
C C FM l l F F I (22)
T (

d
F , C) l quan st c v

d
F l ma trn khng
suy bin th (

d
F , M) cng quan st c v ta c
phng trnh Riccati gin on:
1

T T T
d d d d T
P PM MP P Q
MPM b
F F F F
(23)
vi Q: Ma trn xc nh bn dng bt k
: hng s thc dng bt k
P l nghim ca phng trnh (23)
T ta xc nh c:

1

T
d T
F PM
MPM b
F (24)
Khi l c xc nh t phng trnh:
C F l l (25)
(vi k hiu l tch Kronecker)
D thy rng nh thc ca ma trn C F - I bng
1 CF , do vy phng trnh (25) c nghim l
khc 0 khi v ch khi CF = 1, trong trng hp ny
vector l l duy nht. Thng thng, l c th khng
tn ti. Tuy nhin ta c th ci tin phng php ny
nh sau:
Gi s F c xc nh bi (25) v t:

/( ) F F F C (26)
Nu tt c cc gi tr ring ca

d
FM F nm trong
ng trn n v th s tn ti l tt c cc gi tr
ring ca
1

( )
d
C C l l F I cng nm trong ng
n v. T ta s xc nh c l .
Vn cn li ta cn phi i xc nh v[k]. v[k] c
th xc nh theo lut [5]:

[ ] [ ]
[ ]
[ ]
S
eq
W k C k
v k
v k
i
nu
[ ] 0
[ ] 0
S
S
C k
C k
i
i
(27)
y W[k] l mt hm thc vi |W[k]| < 1 m
bo rng tn ti ch trt v s n nh ca h .
Tht vy gi s vi k
0
tha mn
0
0
S
C k i theo (27)
th
0 0
[ ] [k ]
eq
v k v .Th vo (13) vi
0 0
1 1
S
S k k i C
v h khng b kch thch bi tn hiu vo ta d dng
c c
0
1 0 S k . Nh vy nu 0
S
C k i th
706
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
1 0
S
C k i v y cng chnh l iu kin tn
ti ch trt l tng.
C th hn W phi tha mn:

0
1
.
W
C
m
l
(28)
Trong :
K hiu . l Norm Euclit ca vector

min min 2 2 2
0
max max
( ) ( )
(1 )
( ) ( )
g g
g g
P Q
r r r
P P
g g
m
g g
(29)
vi r: s thc dng
P
g
: l nghim ca phng trnh Lyapunov gin
on (DLE):

2

T
d g d g g
hC P hC r P Q F F (30)
Q
g
: ma trn xc nh bn dng bt k.
Nh vy ta xc nh c h, v v, ngha l
thit k c b quan st trt thch nghi cng vi c
cu chnh nh tham s q (hnh H. 4).
4. M phng kim nghim
kim chng cht lng ca khu iu chnh, trong
phn tip theo ta s tin hnh m phng cc thit k
trn bng cch s dng cng c Matlab v Simulink
cng vi Toolbox Plecs.
B. 2: Tham s ca h thng nghin cu
Ngun 3 pha
V
L
= 230V, f = 50Hz,
L
L
= 0,05mH
Lc tch cc
Rs = 0.05; Ls = 2mH
Cs = 2200F,
Udc1 = Udc2 = 400V
f
PWM
= 15kHz, T
control
= 66,6s
Ti chnh lu
R
T
= 0.01 ; L
T
= 0.71 mH
C
T
= 470 F ; R
TL
= 5

Li
RL LL
Ti chnh lu
RT LT
RTL
CT
CS
RS LS
Lc tch cc

H. 6: M hnh b lc tch cc song song ni li
Trong phn ny, tham s q c thay i 20% so vi
gi tr thc t L
s
= 2mH, b lc tch cc cng chuyn
trng thi t iu khin theo gi tr t bng 0 n gi
tr t i
*
abc
tnh bi khu c lng dng in b; kt
qu m phng vi Simulink v Plecs cho hnh 7, 8 ,
9, 10.

H. 7: in p dy u
Sab
ngay sau b bin i a mc

H. 8: Dng in pha abc t li khi khng c v c
b lc tch cc.

H. 9: Sai lch quan st trng thi [ ]
S
I k

H. 10: Thch nghi tham s q
Hnh 7 th hin u im ca b bin i a mc khi
gim c h s dv/dt khi iu ch xung. Hnh 8 th
hin kt qu m phng khi khng c (0-0.04s) v c
b lc tch cc (0.04-0.08s), hi dng in gy ra khi
ti l khu chnh lu c loi b. B lc tch cc
song song vi khu iu chnh c c tnh deadbeat
p ng nhanh ph hp vi cc loi ti phi tuyn gy
ra hi bc cao. Tuy nhin trn dng in li vn tn
ti cc gai nhn l do p ng chm hai chu k trch
mu ca khu iu chnh kiu deadbeat.
5. Kt lun
T kt qu m phng cho thy nhng u im ca b
bin i a mc trong vic gim in p trn t mt
chiu, gim t l dv/dt khi iu ch xung PWM. B
lc tch cc song song c th lc hi dng in bc
cao khi s dng l thuyt p-q cng sut tc thi
tnh ton dng in b. c tnh deadbeat kt hp vi
khu quan st dng in v thch nghi tham s in
cm c ng hc p ng nhanh ph hp ng dng
cho khu iu chnh dng khi ti c tnh cht phi
707
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
tuyn cao v s bt nh v gi tr in cm ni li
cung cp .

Ti liu tham kho
[1] Hirofumi Akagi, Edson Hirokazu Watanabe,
Maurcio Aredes - "Instantaneous power theory
and applications to power conditioning " IEEE
Press. 2007
[2] Luu Hong Viet and Ngo Thai Bang, "An
adaptive discrete-time sliding mode observer for
three-phase active front-end converter",
SEATUC Conf. 5
th
, 2011.
[3] Luu Hong Viet, Adaptive Parameter Digital
Control of Active Fron-end Converter with
Uncertainty of Inductance, Tp ch KHCN, S
79B, 2010.
[4] W. Gao, Y. Wang, and A. Homaifa, Discrete-
Time Variable Structure Control Systems, IEEE
Transactions on Industrial Bleclronzcs, Vol. 42,
No. 2, Feb. 1995, On page(s):117-122.
[5] A. Jafari Koshkouei and A. S. I. Zinober,
Sliding Mode State Observer for Siso Linear
Discrete-time Systems", IEEE Power Electronics
and Drives Systems, 1996.
[6] Nguyn Phng Quang, Andreas Dittrich,
Truyn ng in thng minh, Nh xut bn
Khoa hc v K thut, 2004.
[7] Nguyn Phng Quang, Bi ging iu khin s
- Chng trnh dnh cho i hc v Cao hc,
2007.
Luu Hong Viet (sinh nm 1976)
Nhn bng k s in ti i
hc Bch Khoa H Ni nm
1999, thc s ti trng i hc
Duisburg-Essen, c, nm 2002,
v tin s ti trng i hc
cng ngh Dresden, c, nm
2006. Hin ti l ging vin
trng i hc Bch Khoa H
Ni. Hng nghin cu chnh l
k thut iu khin cc b bin
i cng sut cht lng cao
AD-DC, DC-AC v cc b lc
hi cng sut.
Giang Hng Bc (Sinh nm
1984) Nhn bng k s (nm
2007) v Thc s (Nm 2011) ti
trng i hc Bch Khoa H
Ni. Hin ti ang cng tc ti
khoa in- in T trng i
Hc S Phm K Thut Hng
Yn. Hng nghin cu chnh
v cc b bin i AC-DC, DC-
AC.




































708