CN102497125A - Photovoltaic inversion control device and model free control method based on field programmable gata array (FPGA) - Google Patents

Photovoltaic inversion control device and model free control method based on field programmable gata array (FPGA) Download PDF

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CN102497125A
CN102497125A CN2011103933581A CN201110393358A CN102497125A CN 102497125 A CN102497125 A CN 102497125A CN 2011103933581 A CN2011103933581 A CN 2011103933581A CN 201110393358 A CN201110393358 A CN 201110393358A CN 102497125 A CN102497125 A CN 102497125A
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photovoltaic inversion
control device
embedded soft
fpga
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CN102497125B (en
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吴建华
刘刚
杨海涛
崔雷
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Northeastern University China
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Abstract

A photovoltaic inversion control device and a model free control method based on a field programmable gata array (FPGA) relate to the technical field of control. The model free control method mainly comprises a digitalized and field-programmable hardware design scheme and a model free adaptive control algorithm suitable for hardware implementation. The photovoltaic inversion control device comprises a programmable gata array, a synchronous dynamic random access memory and a nonvolatile memory, wherein the programmable gata array comprises an embedded soft core, an angular wave circuit and an Avnlon bus module, and the embedded soft core and the angular wave circuit are respectively connected with the synchronous dynamic random access memory and the nonvolatile memory through the Avnlon bus module. An FPGA digital chip of a large scale integrated circuit is used in a photovoltaic inversion system firstly, the model free control method is adopted, thereby controlling output of an inverter accurately, and having the advantages of changing, debugging and adding other functions at any time and the like.

Description

Photovoltaic inversion control device and non-model control method based on FPGA
Technical field
The present invention relates to the control technology field, particularly a kind of photovoltaic inversion control device and model-free method based on FPGA.
Background technology
Along with the high speed development of photovoltaic industry, traditional analog control is difficult to realize high-precision inversion output, and the digital product that makes rapid progress provides new design tool to the photovoltaic inverter.There is following shortcoming in the traditional analog control device: control circuit is complicated, components and parts are more, be unfavorable for miniaturization; The control device flexibility is very poor, in case after control device designs, be not apt to do modification, inconvenient debugging; Analog control device is difficult to realize novel Intelligentized control method, and therefore the digitlization photovoltaic inverter of exploitation and use field-programmable is with a wide range of applications.To the non-linear characteristics of photovoltaic inverter circuit, there is following shortcoming in traditional control method: non-linear for the photovoltaic inversion system, set up very difficulty of precise math model, and influenced the validity and the reliability of design of Controller; And the difficult optimization of Control Parameter, controller parameter can not on-line tuning.
Summary of the invention
To the deficiency that prior art exists, the present invention proposes a kind of photovoltaic inversion control device and non-model control method based on FPGA, makes the photovoltaic inversion system efficient to reach, the purpose of reliability service.
Technical scheme of the present invention is achieved in that a kind of photovoltaic inversion control device based on FPGA; Comprise programmable gate array (FPGA), synchronous DRAM (SDRAM) and nonvolatile memory (FLASH); Wherein, Programmable gate array (FPGA) comprises embedded soft nuclear (CPU), angle wave circuit, Avalon bus module and IO interface unit, and its annexation is: embedded soft nuclear (CPU) and angle wave circuit are connected with synchronous DRAM (SDRAM), nonvolatile memory (FLASH) through the Avalon bus module respectively.
Employing may further comprise the steps based on the non-model control method that the photovoltaic inversion control device of FPGA carries out the photovoltaic inversion:
Step l: the initial parameter of embedded soft nuclear control device is set, and described initial parameter comprises: the current period desired output voltage y of photovoltaic inversion system load end *(k), step-length sequence η k, quantization step factor ρ k, weight factor λ, penalty factor μ, the pseudo-partial derivative initial value of photovoltaic inversion system
Step 2: embedded soft nuclear reads the instantaneous reference voltage level Q of angle wave circuit generation and the photovoltaic inversion system load terminal voltage value y (k) that is collected by voltage sensor;
Step 3: confirm the pseudo-local derviation numerical value of system,
Figure BDA0000114531210000012
brings formula (1) into pseudo-partial derivative initial value:
Figure BDA0000114531210000013
In the formula; The pseudo-partial derivative of expression current period photovoltaic inversion system; The pseudo-partial derivative of
Figure BDA0000114531210000015
expression photovoltaic inversion system of last one-period; The changing value of Δ u (k-1) expression photovoltaic Inversion Control System of last one-period rule, the changing value of Δ y (k) expression current period photovoltaic inversion system load terminal voltage;
The voltage change of if
Figure BDA0000114531210000021
or photovoltaic inversion system load end | Δ u|＜ε, then pseudo-partial derivative
Figure BDA0000114531210000022
get initial value
Figure BDA0000114531210000023
otherwise the value of pseudo-partial derivative
Figure BDA0000114531210000024
is calculated acquisition by formula (1);
Step 4: the calculation control rule, formula is following:
In the formula, the control law of u (k) expression current period photovoltaic inversion system, the control law of u (k-1) expression photovoltaic inversion system of last one-period, y *(k+1) represent the desired output of next cycle photovoltaic inversion system;
Step 5: the shutoff of embedded soft nuclear output pwm pulse signal control FET; Method is: if control voltage u (k) is greater than or equal to instantaneous reference voltage level Q; Then the modulation (PWM) pulse signal is output as 1; Open FET, otherwise the modulation (PWM) pulse signal is output as 0, turn-offs FET;
The described ε value of step 3 is 0.01;
The said modulation (PWM) pulse signal of step 5 is output as at 0 o'clock, needs to postpone a period of time T and is Dead Time, and described T value is 3～5ns.
Advantage of the present invention: first large scale integrated circuit FPGA digit chip has been used in the photovoltaic inversion system, and can have controlled inversion output accurately; Utilize advanced SOPC art designs control device, this device has at any time advantages such as changing, debug, add other functions, have flexibly can cut out, extendible, scalable and possess software and hardware and advantage such as all can debug at any time; First the model-free adaption control method has been used in the photovoltaic inversion system, its control effect is stable more and accurate, the simple and easy Digital Realization of control algolithm.
Description of drawings
Fig. 1 is the structured flowchart of a kind of photovoltaic inversion control device based on FPGA of the present invention;
Fig. 2 is the structured flowchart of a kind of embedded soft nuclear control device of photovoltaic inversion control device based on FPGA of the present invention;
Fig. 3 is the angle wave circuit schematic diagram of a kind of photovoltaic inversion control device based on FPGA of the present invention;
Fig. 4 is the FLSH circuit theory diagrams of a kind of photovoltaic inversion control device based on FPGA of the present invention;
Fig. 5 is the SDRAM circuit theory diagrams of a kind of photovoltaic inversion control device based on FPGA of the present invention;
Fig. 6 is the model-free adaption algorithm flow chart of a kind of photovoltaic inversion control device based on FPGA of the present invention;
Fig. 7 is the output waveform figure of the control method photovoltaic inversion system of a kind of photovoltaic inverter based on FPGA of the present invention;
Among the figure, 1, the soft nuclear of Avalon bus 2, Nios II 3, angle wave circuit 4, IO interface 5, sdram interface 6, SDRAM memory 7, FLASH memory 8, FLASH interface.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
The chip model of the FPGA that present embodiment adopts is EP2C35F6762C6N, and the software of employing is Quartus II, and the model of FLSH memory is S29AL032D, and the model of sdram controller is A2V64S40CTP;
On basis, utilize the Nios IDE exploitation model-free adaption control method that develops software based on the hardware platform of the photovoltaic inverter of FPGA; Utilize hardware description language Verilog development and Design angle wave circuit; Utilize IP kernel design Flash interface, sdram interface, embedded soft nuclear and the IO interface of the SOC(system on a chip) SOPC among the Quartus II, utilize SOPC software-hardware synergism technology to carry out the SOC design based on the FPGA of FPGA.
A kind of photovoltaic inversion control device in the present embodiment based on FPGA (Nios II), its structure is as shown in Figure 1, wherein; In the program of embedded soft nuclear (Nios II) operation model-free adaption control method, following based on the operation principle of the photovoltaic inversion control device of embedded soft nuclear (Nios II): embedded soft nuclear (Nios II) operation model-free adaption control algolithm, the control law that calculates in real time is stored among the SDRAM; The output result of the soft nuclear of Nios II and the instantaneous voltage value of angle wave circuit generation are compared; Produce the PWM waveform, and Dead Time is loaded in the PWM waveform of having calculated by the output of IO interface, the PWM waveform of PWM1, PWM2, PWM3 and PWM4 four tunnel is amplified to 18V through overdrive circuit with the pwm signal of 5V and drives V1, V2, V3, four FET MOSFET of V4 among Fig. 1; Wherein V1 and V4 are one group; V2 and V3 are one group, and V1 and V4 conducting is simultaneously turn-offed simultaneously, and V1 and V2; V3 and V4 are respectively interlocking; Be the MOSFET pipe conducting simultaneously on the same brachium pontis, the break-make control flows through four MOSFET pipes is to the current value of load, to reach the desired output sine voltage of system.
Its structure of control device of embedded soft nuclear (Nios II) is as shown in Figure 2; Set up the soft nuclear of Nios 2, FLASH interface 8, sdram interface 5 and IO interface 4; Its annexation is: the input/output terminal of the soft nuclear 2 of Nios II connects Avalon bus 1; The input/output terminal of angle wave circuit 2 connects Avalon bus 1; First input/output terminal of FLASH interface 8 connects Avalon bus 1, and first input/output terminal of sdram interface 5 connects Avalon bus 1, and the input/output terminal of IO interface 4 connects Avalon bus 1; The input/output terminal of FLASH memory 7 connects second input/output terminal of the FLASH interface 8 of FPGA, and the input/output terminal of SDRAM memory 6 connects second input/output terminal of sdram interface 5;
Design and develop the angle wave circuit with hardware description language Verilog, distribute pin, the equivalent circuit theory figure of angle wave circuit is as shown in Figure 3 in the present embodiment; No. 6 pin, 8～No. 13 pin connect the Avalon bus respectively in the said equivalent electric circuit, and No. 7 pin are as the input of clock signal, with FPGA be that clock end is connected; 2～No. 5 continuous back and first capacitances in series of pin; And ground connection, No. 1 pin ground connection, No. 14 pin connects power supply;
The circuit theory diagrams of FLASH memory are as shown in Figure 4, and the OE end of S29AL032D, CE end, WE end, ADDR [19..0] end and DQ [7..0] end connect the Avalon bus respectively, and its RST end connects the RESET end of FPGA;
The circuit theory diagrams of SDRAM memory are as shown in Figure 5, and the WE end of A2V64S40CTP, RAS end, CAS end, DQM end, DQ [15..0] end, CS end, ADDR [11..0], BA end connect the Avalon bus respectively, and its clock end CLK connects the clock end of FPGA;
Present embodiment moves the Model free control adaptive algorithm in embedded soft nuclear (Nios II), its flow process is as shown in Figure 6, and the control algolithm of a kind of photovoltaic inversion control device based on embedded soft nuclear of present embodiment may further comprise the steps:
Embodiment 1:
Step 1: initiation parameter is set: y *(k)=and 24V, η k=1, ρ k=1.97, λ=0.017, μ=0.1,
Step 2: it is as shown in table 1 that embedded soft nuclear reads the instantaneous reference voltage level Q that the angle wave circuit produces, and the current period photovoltaic inversion system load terminal voltage value y (k) that voltage sensor collects is as shown in table 2:
Table 1 is the instantaneous reference voltage level of angle wave circuit (Q)
Figure BDA0000114531210000042
Table 2 is photovoltaic inversion system load terminal voltage value y (k)
First train value that embedded soft nuclear reads second row of table 1 is Q=1.1, and first train value that embedded soft nuclear reads second row of table 2 is y (k)=23.2;
Step 3: calculate pseudo-local derviation numerical value, formula is:
Figure BDA0000114531210000044
Step 4: the calculation control rule, formula is:
u ( k ) = 1.1 + 1.97 * 2 0.017 + 2 2 * ( 24 - 23.6 ) = 1.49
Step 5: the shutoff of embedded soft nuclear output pwm pulse signal control FET, when PWM=1, V among Fig. 1 1And V 4Conducting, V 2And V 3Turn-off; During PWM=0, V 1And V 4Turn-off V 2And V 3Conducting; And behind the time-delay T=5ns, get into turning on and off of following one-period.
Embodiment 2:
Step 1: initiation parameter is set: y *(k)=and 24V, η k=1, ρ k=1.97, λ=0.017, μ=0.1,
Figure BDA0000114531210000046
Step 2: second train value that embedded soft nuclear reads second row of table 1 is Q=0.2V, and second train value that embedded soft nuclear reads second row of table 2 is y (k)=23.996;
Step 3: calculate pseudo-local derviation numerical value, because Δ u=0.004＜ε=0.01, so pseudo-partial derivative is got initial value:
Figure BDA0000114531210000051
Step 4: u ( k ) = 0.4 + 1.97 * 0.0059 0.1 + 0.0059 2 * ( 24 - 23.996 ) = 0.4006
During step 5:PWM=1, V among Fig. 1 1And V 4Conducting, V 2And V 3Turn-off; During PWM=0, V 1And V 4Turn-off V 2And V 3Conducting; And behind the time-delay T=5ns, get into turning on and off of following one-period.
Fig. 7 is the output waveform of system after having used photovoltaic inversion control device of the present invention and having moved the model-free adaption algorithm, wherein acts on the main circuit of Fig. 1, and circuit parameter is V In=70V, L=100mH, C 1=100uF, load R=10K Ω and y* (k)=24V can be known by the output waveform of the individual event full bridge inverter of Fig. 7, uses this method and can export stable 24V alternating voltage.

Claims (4)

1. photovoltaic inversion control device based on FPGA; It is characterized in that: comprise programmable gate array FPGA, synchronous DRAM SDRAM and nonvolatile memory FLASH; Wherein, Programmable gate array FPGA comprises embedded soft nuclear, angle wave circuit, Avalon bus module and IO interface unit, and its annexation is: embedded soft nuclear and angle wave circuit are connected with synchronous DRAM SDRAM, nonvolatile memory FLASH through the Avalon bus module respectively.
2. adopt the non-model control method of the described photovoltaic inversion control device based on embedded soft nuclear of claim 1, it is characterized in that: may further comprise the steps:
Step 1: the initial parameter of embedded soft nuclear control device is set, and described initial parameter comprises: the current period desired output voltage y of photovoltaic inversion system load end *(k), step-length sequence η k, quantization step factor ρ k, weight factor λ, penalty factor μ, the pseudo-partial derivative initial value of photovoltaic inversion system
Figure FDA0000114531200000011
Step 2: embedded soft nuclear reads the instantaneous reference voltage level Q of angle wave circuit generation and the photovoltaic inversion system load terminal voltage value y (k) that is collected by voltage sensor;
Step 3: confirm the pseudo-local derviation numerical value of system,
Figure FDA0000114531200000012
brings formula (1) into pseudo-partial derivative initial value:
Figure FDA0000114531200000013
In the formula; The pseudo-partial derivative of
Figure FDA0000114531200000014
expression current period photovoltaic inversion system; The pseudo-partial derivative of
Figure FDA0000114531200000015
expression photovoltaic inversion system of last one-period; The changing value of Δ u (k-1) expression photovoltaic Inversion Control System of last one-period rule, the changing value of Δ y (k) expression current period photovoltaic inversion system load terminal voltage;
The voltage change of if
Figure FDA0000114531200000016
or photovoltaic inversion system load end | Δ u|＜ε, then pseudo-partial derivative
Figure FDA0000114531200000017
get initial value
Figure FDA0000114531200000018
otherwise the value of pseudo-partial derivative
Figure FDA0000114531200000019
is calculated acquisition by formula (1);
Step 4: the calculation control rule, formula is following:
In the formula, the control law of u (k) expression current period photovoltaic inversion system, the control law of u (k-1) expression photovoltaic inversion system of last one-period, y *(k+1) represent the desired output of next cycle photovoltaic inversion system;
Step 5: the shutoff of embedded soft nuclear output pwm pulse signal control FET; Method is: if control law voltage u (k) is greater than or equal to instantaneous reference voltage level Q; Then the modulation (PWM) pulse signal is output as 1; Open FET, otherwise the modulation (PWM) pulse signal is output as 0, turn-offs FET.
3. the non-model control method that carries out the photovoltaic inversion based on the photovoltaic inversion control device of embedded soft nuclear according to claim 2 is characterized in that: the described ε value of step 3 is 0.001.
4. the non-model control method that carries out the photovoltaic inversion based on the photovoltaic inversion control device of embedded soft nuclear according to claim 2; It is characterized in that: the said modulation (PWM) pulse signal of step 5 is output as at 0 o'clock; Need to postpone a period of time T and be Dead Time, described T value is 3～5ns.
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Publication number Priority date Publication date Assignee Title
CN109581865A (en) * 2019-02-01 2019-04-05 浙江大学 The inclined format non-model control method of the different factor of MISO
CN109861565A (en) * 2019-01-25 2019-06-07 湖南大学 A kind of Model Reference Adaptive Control Method of two-stage type AC/DC converter
CN116865343A (en) * 2023-09-01 2023-10-10 国网天津市电力公司滨海供电分公司 Model-free self-adaptive control method, device and medium for distributed photovoltaic power distribution network

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CN101729002A (en) * 2009-11-27 2010-06-09 哈尔滨工业大学 SOPC-based remote monitoring system of no-position sensor brushless DC motor

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US4663703A (en) * 1985-10-02 1987-05-05 Westinghouse Electric Corp. Predictive model reference adaptive controller
CN101729002A (en) * 2009-11-27 2010-06-09 哈尔滨工业大学 SOPC-based remote monitoring system of no-position sensor brushless DC motor

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109861565A (en) * 2019-01-25 2019-06-07 湖南大学 A kind of Model Reference Adaptive Control Method of two-stage type AC/DC converter
CN109861565B (en) * 2019-01-25 2020-11-06 湖南大学 Model reference self-adaptive control method of two-stage AC/DC converter
CN109581865A (en) * 2019-02-01 2019-04-05 浙江大学 The inclined format non-model control method of the different factor of MISO
CN109581865B (en) * 2019-02-01 2020-12-22 浙江大学 MISO different-factor partial-format model-free control method
CN116865343A (en) * 2023-09-01 2023-10-10 国网天津市电力公司滨海供电分公司 Model-free self-adaptive control method, device and medium for distributed photovoltaic power distribution network
CN116865343B (en) * 2023-09-01 2024-03-29 国网天津市电力公司滨海供电分公司 Model-free self-adaptive control method, device and medium for distributed photovoltaic power distribution network

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