CN113721453B - Control system and method of low-voltage high-power rectification module based on nonlinear PID control - Google Patents
Control system and method of low-voltage high-power rectification module based on nonlinear PID control Download PDFInfo
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Abstract
The invention discloses a control system and a control method of a low-voltage high-power rectification module based on nonlinear PID control, and belongs to the technical field of rectification control optimization. The invention aims at solving the problem that the ideal control effect cannot be achieved for the control method of the low-voltage high-power rectifying module in the prior art. The invention comprises a first nonlinear PID control module, a second nonlinear PID control module and a control module, wherein the first nonlinear PID control module is used for obtaining an active current appointed value according to a reference input voltage and an actual input voltage; the second nonlinear PID control module is used for obtaining a current inner loop output value u according to the reactive current appointed value and the reactive current; the compensation module is used for obtaining coupling compensation according to the reactive current and the active current; the command synthesis module is used for obtaining a voltage command value according to the current inner loop output value, the active current designated value, the active current and the coupling compensation. The invention is suitable for high-precision models, has stronger anti-interference capability, reduces disturbance time, and is suitable for synchronous generator integrated systems.
Description
Technical Field
The invention relates to the technical field of rectification control optimization, in particular to a control system and method of a low-voltage high-power rectification module based on nonlinear PID control.
Background
The high-current direct-current power supply with the voltage higher than 10000A is widely applied to the fields of ships, energy sources and industry, and along with the gradual increase of the fusion degree of motor technology and power electronic technology, an integrated system for synchronous power generation rapidly develops towards the direction of high power density, high reliability and high fault-tolerant capability, so that the integrated direct-current output system is more suitable for complex and changeable application environments, and the control strategy of the integrated direct-current power supply needs to be studied seriously. At present, in the prior art, control methods or systems such as PID control, limited time control or intelligent control are generally adopted for controlling the low-voltage high-power rectifying module, but an ideal control effect cannot be achieved.
Disclosure of Invention
In order to solve the problems, the invention provides a control system and a control method of a low-voltage high-power rectifying module based on nonlinear PID control, which are suitable for a high-precision model, have stronger anti-interference capability, reduce disturbance time and are suitable for a synchronous generator integrated system.
The invention provides a control system of a low-voltage high-power rectifying module based on nonlinear PID control, which comprises:
a first nonlinear PID control module for controlling the input voltage according to the reference And the actual input voltage U dc to obtain an active current designated value
A second nonlinear PID control module for assigning a value according to the reactive currentAnd reactive current i q to obtain a current inner loop output value u;
the compensation module is used for obtaining coupling compensation according to the reactive current and the active current;
The instruction synthesis module is used for obtaining the current inner loop output value u and the active current appointed value according to the current inner loop output value u Active current i d and the coupling compensation to obtain a voltage command valueAnd
Preferably, the first nonlinear PID control module includes:
A first tracking differentiator for obtaining a reference input voltage Tracking signal and reference input voltage of (2)A differential signal of the tracking signal of (a);
a second tracking differentiator for obtaining a differential signal of the tracking signal of the actual input voltage U dc and the tracking signal of the actual input voltage U dc;
a first nonlinear combination module for combining the reference input voltages Tracking signal, reference input voltage of (a)Nonlinear combination is carried out on the differential signal of the tracking signal of the actual input voltage U dc, the differential signal of the tracking signal of the actual input voltage U dc to obtain an active current appointed value
Preferably, the first tracking differentiator is:
Wherein, For a tracking output of the reference input voltage signal,An output differentiated for the reference input voltage signal.
Preferably, the second tracking differentiator is:
Wherein, For a trace output of the actual input voltage signal,An output differentiated for the actual input voltage signal.
Preferably, the first nonlinear combination module includes:
The deviation signal acquisition module is used for acquiring three deviation signals according to the tracking signal of the reference input voltage, the differential signal of the tracking signal of the reference input voltage, the tracking signal of the actual input voltage and the differential signal of the tracking signal of the actual input voltage, wherein the three deviation signals are as follows:
The combined module obtains an active current instruction according to the following formula
Preferably, the second nonlinear PID control module comprises:
a third tracking differentiator for obtaining the reactive current specified value Tracking signal and reactive current specified value of (c)A differential signal of the tracking signal of (a);
A fourth tracking differentiator for obtaining a tracking signal of the reactive current i q and a differentiated signal of the tracking signal of the reactive current i q;
a second nonlinear combination module for assigning the reactive current to a value Tracking signal, reactive current specified value of (2)The differential signal of the tracking signal of the reactive current i q and the differential signal of the tracking signal of the reactive current i q are subjected to nonlinear combination to obtain an inner loop current output value.
Preferably, the third tracking differentiator is:
Wherein, A tracking signal specifying a value for the reactive current,A differential signal of the tracking signal of a value specified for the reactive current.
Preferably, the fourth tracking differentiator is:
Wherein, As a tracking signal for the reactive current,Is a differential signal of the tracking signal of the reactive current.
Preferably, the second nonlinear combination module includes:
The deviation signal acquisition module is used for acquiring a reactive current appointed value according to the reactive current appointed value Tracking signal, reactive current specified value of (2)The differential signals of the tracking signal of the reactive current i q and the tracking signal of the reactive current i q obtain three deviation signals as follows:
the combination module obtains the current inner loop output value according to the following formula:
The second aspect of the invention provides a control method of a low-voltage high-power rectifying module based on nonlinear PID control, which comprises the following steps:
obtaining an active current designated value according to the reference input voltage and the actual input voltage;
obtaining an output value of a current inner loop according to the reactive current appointed value and the reactive current;
coupling compensation is obtained according to the reactive current and the active current;
and obtaining a voltage command value according to the current inner loop output value, the active current designated value, the active current and the coupling compensation.
As described above, the present invention has the following effects compared with the prior art:
1. the application adopts a nonlinear PID algorithm to be applied to the current inner loop and the voltage outer loop, effectively solves the contradiction between the ultra-harmonic and the rapidity of the system, can well complete the tracking of the voltage and the current of the system, simultaneously can effectively resist the disturbance of the load and improve the control precision of the system, and has stronger adaptability and robustness. The application not only can estimate the system interference, but also can estimate each derivative of the interference, so that the interference estimation precision is higher, the disturbance time is reduced, the stable speed of the system is accelerated, and the application is very suitable for an integrated system for synchronous power generation.
2. The nonlinear PID algorithm adopted by the invention adopts the control idea of disturbance feedforward compensation, and realizes reasonable extraction of disturbance information. Meanwhile, disturbance information is compensated to a control system, so that disturbance elimination is realized. The invention achieves the aim of improving the robustness and the response speed of the system by combining feedforward and feedback, and is more suitable for a low-voltage heavy-current rectifying system of a PMSG.
3. The application rationalizes the reference input signal, converts the non-smooth reference input signal into a smooth signal, and fully utilizes the computer technology to generate a high-quality differential signal, and can generate the high-quality differential signal by using a more complex algorithm due to the increasing calculation speed and storage capacity of the computer. In naturally occurring control systems, the processing of the error signal must be non-linear. We can easily process the nonlinear error signal using a computer.
Drawings
FIG. 1 is a schematic block diagram of a PID algorithm;
FIG. 2 is a schematic block diagram of a control system of a low-voltage high-power rectification module based on a nonlinear PID algorithm according to an embodiment of the invention;
FIG. 3 is a steady-state voltage waveform diagram of an embodiment of the present invention;
FIG. 4 is a graph showing steady-state current waveforms according to an embodiment of the present invention;
FIG. 5 is a phase A current waveform diagram of an embodiment of the present invention;
fig. 6 is a waveform diagram of an ac side power factor according to an embodiment of the present invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the illustrations, not according to the number, shape and size of the components in actual implementation, and the form, number and proportion of each component in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
In a specific embodiment, the invention provides a control system of a low-voltage high-power rectification module based on nonlinear PID control, as shown in FIG. 2, which comprises a first nonlinear PID control module, a second nonlinear PID control module, a compensation module and an instruction synthesis module.
The nonlinear PID algorithm is an improvement of PID control by utilizing nonlinear characteristics, has the characteristics of improving the robustness and adaptability of the controller, can be suitable for a high-precision model, generates proportional, integral and differential signals required by the controller by utilizing a tracking differentiator with a nonlinear characteristic structure, and generates the output of the controller by nonlinear combination of the signals. The nonlinear PID algorithm is independent of system parameters in the design process, and has strong anti-interference capability;
As shown in fig. 1, the nonlinear PID control module is composed of two tracking differentiators (I) for arranging ideal transitions to the reference input v (t) of the system and extracting differential signals of the reference input signal, and a nonlinear combination; the tracking differentiator (II) is used for filtering the original system output y (t) and obtaining a differentiated signal thereof; generating proportional and differential deviation signals e 1 and e 2 according to the signals v 1、v2 and y 1、y2 obtained by the two tracking differentiators, and integrating the deviation signal e 2 to obtain an integrated deviation signal e 0; according to the three deviation signals, nonlinear combination is used for forming the output control quantity of the nonlinear PID controller;
The tracking differentiator (I) outputs two signals x 1 and x 2 based on the input signal v (t), where x 1 tracks v (t), and Thereby taking x 2 as the approximate derivative of v (t).
If the system is:
Any solution of (2) satisfies: x 1(t)→0,x2 (T) →0 (t→infinity), then for any bounded integrable function v (T) and any upper integral limit constant T >0, the system
Solution x 1 (r, t) satisfies
Wherein x 1 is in the limitThe fastest tracking input signal v (t) is then. When x 1 (r, t) is sufficiently close to v (t), there areThe approximate differentiation of v (t) can be performed, x 1 (r, t) tracks v (t), x 2 (r, t) is a generalized function converging on the generalized function v (t), and equation (3) is called a tracking differentiator derived from equation (2).
In the PID adjustment principle, if the reference input v (t) is discontinuous or non-differentiable, it is considered as a generalized function, and the "D" in the PID can be approximated by a derivative of the smooth function x 1 (t) approximating the generalized function v (t), which has a definite meaning for the "approximate derivative" extracted by the non-differentiable function.
The establishment of the above conclusion makes no further demands on the specific form of the function f (x 1,x2) (or f (x 1,...,xn)), as long as it is ensured that any solution of the formula (1) satisfies x i (t) →0 (t→infinity), i=1, 2, and n, thereby obtaining the specific expression of the tracking differentiator.
Let the linear second-order system be
The "fast optimal control" integrated system of formula (4) is
To avoid chatter near the origin, changing the sign function sgn to a linear saturation function sat results in an effective second order tracking differentiator:
Wherein the method comprises the steps of
The A and delta are two parameters in the sat function.
However, since the tracking differentiator formula (6) is used for numerical calculation and "high frequency chatter" is easily generated when the tracking differentiator enters a "steady state", the change of sgn (x) to sat (x, d) cannot be avoided, and the second order tracking differentiator is converted into a discrete form as shown in formula (8):
Where h is a filter factor, r is a speed factor, T is a tracking step, v (k) is an input signal of the system, x 1 (k) is a tracking output of the signal, and x 2 (k) is an output of signal differentiation.
The calculation process of the fst function is as follows:
The x 1 and the x 2 are state variables of the discrete tracking differentiator, the parameters r and h are adjustable, h is a filtering factor, r is a speed factor reflecting tracking speed, the speed and noise filtering effect of the tracking differentiator are determined, sgn (x) is a symbol function, the equation (8) synthesizes the comprehensive function of the fastest control according to the equal time zone method, and the tracking differentiator in the form has good effects on the aspects of tracking performance, differentiation quality, flutter elimination and the like.
The nonlinear combination specifically includes: assuming that the outputs of the two tracking differentiators are v 1,v2 and y 1,y2, respectively, the three bias signals are represented as follows:
based on the three bias signals obtained in equation (10), the design nonlinear combination is expressed as follows:
u(t)＝Kpfal(e1,α1,δ1)+KIfal(e0,α0,δ0)+KDfal(e2,α2,δ2) (11)
wherein, K P is a gain coefficient of the proportional link controller, K I is a gain coefficient of the integral link controller, K D is a gain coefficient of the differential link controller, fal (e, a, δ) is a nonlinear function, and the specific expression is:
here, α is a parameter for determining the degree of nonlinearity of fal (e, α, δ), and δ is a parameter for determining the size of the nonlinear section of fal (e, α, δ).
In this embodiment, the first nonlinear PID control module is configured to control the output voltage according to the reference input voltageAnd the actual input voltage U dc to obtain an active current designated valueThe system comprises a first tracking differentiator, a second tracking differentiator and a first nonlinear combination module;
The first tracking differentiator is used for obtaining a reference input voltage Tracking signal and reference input voltage of (2)A differential signal of the tracking signal of (a);
The acquisition method of the first tracking differentiator comprises the following steps:
The second order tracking differentiator is constructed as follows:
Wherein, For a tracking signal referenced to the input voltage,A differential signal that is a tracking signal of the reference input voltage;
sgn is a sign function;
Converting the second order tracking differentiator into a discrete form:
where h is a filter factor, r is a speed factor, T is a tracking step, For the reference input voltage to be present,For a tracking output of the reference input voltage signal,An output differentiated for the reference input voltage signal.
The specific calculation process of the fst function comprises the following steps:
The second tracking differentiator is used for obtaining a differential signal of the tracking signal of the actual input voltage U dc and the tracking signal of the actual input voltage U dc;
the acquisition method of the second tracking differentiator comprises the following steps:
the second-order tracking differentiator form of the present embodiment, which constructs the second tracking differentiator, is:
Wherein, As a tracking signal of the actual input voltage,A differential signal which is a tracking signal of an actual input voltage;
Converting the second order tracking differentiator into a discrete form:
where h is a filter factor, r is a speed factor, T is a tracking step, For the reference input voltage to be present,For a trace output of the actual input voltage signal,An output differentiated for the actual input voltage signal.
The specific calculation process of the fst function comprises the following steps:
the first nonlinear combination module is used for inputting the reference input voltage Tracking signal, reference input voltage of (a)Nonlinear combination is carried out on the differential signal of the tracking signal of the actual input voltage U dc, the differential signal of the tracking signal of the actual input voltage U dc to obtain an active current appointed value
The first nonlinear combining module includes:
The deviation signal acquisition module is used for acquiring three deviation signals according to the tracking signal of the reference input voltage, the differential signal of the tracking signal of the reference input voltage, the tracking signal of the actual input voltage and the differential signal of the tracking signal of the actual input voltage, wherein the three deviation signals are as follows:
The combination module establishes nonlinear combination so as to obtain an active current instruction
The control system of the rectifying module of the embodiment comprises a second nonlinear PID control module for assigning a value according to reactive currentAnd reactive current i q to obtain a current inner loop output value u;
The second nonlinear PID control module comprises a third tracking differentiator, a fourth tracking differentiator and a second nonlinear combination module;
a third tracking differentiator for obtaining the reactive current specified value Tracking signal and reactive current specified value of (c)A differential signal of the tracking signal of (a);
The acquisition method of the third tracking differentiator comprises the following steps:
The second order tracking differentiator is constructed as follows:
Wherein, A tracking signal specifying a value for the reactive current,A differential signal of the tracking signal specifying a value for the reactive current;
sgn is a sign function.
Converting the second order tracking differentiator into a discrete form:
the specific calculation process of the fst function comprises the following steps:
The fourth tracking differentiator is used for obtaining a tracking signal of the reactive current i q and a differentiated signal of the tracking signal of the reactive current i q;
The method for acquiring the fourth tracking differentiator comprises the following steps:
the second order form of constructing the fourth tracking differentiator is:
Wherein, A tracking signal of the reactive current,A differential signal that is a tracking signal of the reactive current;
converting the second order tracking differentiator into a discrete form:
the specific calculation process of the fst function comprises the following steps:
the second nonlinear combination module is used for appointing the reactive current to be a value Tracking signal, reactive current specified value of (2)The differential signal of the tracking signal of the reactive current i q and the differential signal of the tracking signal of the reactive current i q are subjected to nonlinear combination to obtain an inner loop current output value.
The second nonlinear combination module includes:
The deviation signal acquisition module is used for acquiring a reactive current appointed value according to the reactive current appointed value Tracking signal, reactive current specified value of (2)The differential signals of the tracking signal of the reactive current i q and the tracking signal of the reactive current i q obtain three deviation signals as follows:
the combination module obtains the current inner loop output value according to the following formula:
u(t)＝Kpfal(e1,a1,δ1)+KIfal(e0,a0,δ0)+KDfal(e2,a2,δ2).
The compensation module is used for obtaining coupling compensation according to reactive current and active current, and the coupling compensation term ωLi d,ωLiq is adopted as feedforward compensation in the embodiment.
The instruction synthesis module is used for obtaining a voltage instruction value according to the current inner loop output value, the active current appointed value, the active current and the coupling compensation.
Reference input voltageAnd the actual input voltage U dc are processed by a first nonlinear PID control module to obtain an active current designated valueActive current i d and active current specified valueThe difference is added with a coupling compensation term omega Li q after PI adjustment to obtain a voltage command valueReactive current specified valueAnd reactive current i d is subjected to a second nonlinear PID control module to obtain a current inner loop output value u, and the current inner loop output value u is added with a coupling compensation term omega Li d to obtain a voltage command value
The parameters to be determined by the nonlinear PID controller of the invention include: r and h of the differentiator are tracked, and a total of 7 parameters of delta, alpha and K p、KI、KD in the nonlinear combination.
The value of r determines the tracking speed of the tracking differentiator, the value of h determines the noise suppression capability, and in general, the larger the values of r and h, the faster the tracking speed of the tracking differentiator, the better the filtering effect, but if the values of r and h are too large, the tracking signal will have super-harmonic vibration;
the relationship between bandwidths w and r satisfies the following equation:
And then the minimum value r 0＝w0 2/1.142 of r is obtained, after the minimum value of r is determined, the approximate value of r is determined through simulation analysis, and generally, the tracking speed of a tracking differentiator can be increased by increasing the value of r, so that the speed of tracking an input signal by an output signal is increased. The relation between r and h of the tracking differentiator satisfies the following equation:
Currently, there is no efficient method to adjust the parameters of the nonlinear combination, which must be adjusted by simulation analysis. However, a number of simulation calculations indicate that the following rules exist: in a nonlinear function, the value of α determines the quality of the control quantity, typically α e (0.5, 1), the value of δ is related to the sampling time, and the value of δ should be suitably small.
The values of the parameter K p、KI、KD in the application are respectively determined by adopting a trial-and-error method, and the steps of the trial-and-error method comprise:
first, empirically, K p、KI、KD is set to a constant value;
Interference is then added to the closed loop system and the output waveform of the transition is observed. If the waveform is not ideal, repeatedly adjusting the value of K p、KI、KD according to the sequence of proportion, integral and differential, and finally obtaining the satisfactory output control quantity.
The invention provides a control method of a low-voltage high-power rectifying module based on nonlinear PID control, which comprises the following steps:
obtaining an active current designated value according to the reference input voltage and the actual input voltage;
obtaining an output value of a current inner loop according to the reactive current appointed value and the reactive current;
coupling compensation is obtained according to the reactive current and the active current;
and obtaining a voltage command value according to the current inner loop output value, the active current designated value, the active current and the coupling compensation.
The specific process of the method can be the working process of each module in the control system of the low-voltage high-power rectification module based on nonlinear PID control in the specific embodiment of the invention, and the description is omitted here.
The invention adopts the control idea of disturbance feedforward compensation, reasonably refines the disturbance information of the system by combining the input and output of the system, compensates the disturbance information into the control system to realize disturbance cancellation, and achieves the aim of improving the control performance of the system. The ac side a-phase current waveform reaches steady state after 0.3s as shown in fig. 5, and unity power factor rectification is achieved.
Fig. 6 is a graph showing the ac side power factor response curve during the system using the nonlinear PID algorithm, and it can be seen from the graph that the ac side power factor can be continuously stabilized around 1 from the beginning.
In summary, the invention has scientific and reasonable structure and safe and convenient use, and the simulation proves that the contradiction between overshoot and rise time can be eliminated by using the control method, the load disturbance can be effectively resisted, and the system control precision can be improved.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (7)
1. The control system of the low-voltage high-power rectification module based on nonlinear PID control is characterized in that: comprising the following steps:
A first nonlinear PID control module for obtaining an active current specified value i * d from a reference input voltage U * dc and an actual input voltage U dc, the first nonlinear PID control module comprising:
A first tracking differentiator for obtaining a differential signal of the tracking signal of the reference input voltage U * dc and the tracking signal of the reference input voltage U * dc;
a second tracking differentiator for obtaining a differential signal of the tracking signal of the actual input voltage U dc and the tracking signal of the actual input voltage U dc;
A first nonlinear combination module for combining the tracking signal of the reference input voltage U * dc, the differential signal of the tracking signal of the reference input voltage U * dc, the tracking signal of the actual input voltage U dc and the actual input voltage U dc
Nonlinear combination is carried out on differential signals of the tracking signals of the circuit board to obtain an active current appointed value i * d;
The second nonlinear PID control module is used for obtaining a current inner loop output value u according to the reactive current designated value i * q and the reactive current i q, and comprises:
A third tracking differentiator for obtaining a differential signal of the tracking signal of the reactive current specified value i * q and the tracking signal of the reactive current specified value i * q;
A fourth tracking differentiator for obtaining a tracking signal of the reactive current i q and a differentiated signal of the tracking signal of the reactive current i q;
the second nonlinear combination module is used for nonlinear combination of the tracking signal of the reactive current designated value i * q, the differential signal of the tracking signal of the reactive current designated value i * q, the tracking signal of the reactive current i q and the differential signal of the tracking signal of the reactive current i q to obtain a current inner loop output value;
the compensation module is used for obtaining coupling compensation according to the reactive current and the active current;
The instruction synthesis module is used for obtaining voltage instruction values U * d and U * q according to the current inner loop output value U, the active current appointed value i * d, the active current i d and the coupling compensation.
2. The control system of a low-voltage high-power rectification module based on nonlinear PID control of claim 1, wherein: the first tracking differentiator is:
；
wherein x U * 1 (k) is the tracking output of the reference input voltage signal, and x U * 2 (k) is the differential output of the reference input voltage signal; h is a filtering factor, r is a speed factor, T is a tracking step length, and the calculation process of the fst function is as follows:
。
3. The control system of a low-voltage high-power rectification module based on nonlinear PID control of claim 1, wherein: the second tracking differentiator is:
；
Wherein x U1 (k) is the trace output of the actual input voltage signal, and x U2 (k) is the differential output of the actual input voltage signal; h is a filtering factor, r is a speed factor, T is a tracking step length, and the calculation process of the fst function is as follows:
。
4. The control system of a low-voltage high-power rectification module based on nonlinear PID control of claim 1, wherein: the first nonlinear combining module includes:
The deviation signal acquisition module is used for acquiring three deviation signals according to the tracking signal of the reference input voltage, the differential signal of the tracking signal of the reference input voltage, the tracking signal of the actual input voltage and the differential signal of the tracking signal of the actual input voltage, wherein the three deviation signals are as follows:
；
The combination module obtains an active current designated value i * d according to the following formula:
；
Wherein, K P is a proportional link controller gain coefficient, K I is an integral link control gain coefficient, K D is a differential link controller gain coefficient, fal (e, α, δ) is a nonlinear function, α is a parameter for determining the degree of nonlinearity of fal (e, α, δ), δ is a parameter for determining the size of a nonlinear section, and fal (e, α, δ) is a function of:
。
5. the control system of a low-voltage high-power rectification module based on nonlinear PID control of claim 1, wherein: the third tracking differentiator is:
；
Wherein x i*q1 (k) is a tracking signal of a reactive current specified value, and x i*q2 (k) is a differential signal of the tracking signal of the reactive current specified value; h is a filtering factor, r is a speed factor, T is a tracking step length, and the specific calculation process of the fst function comprises the following steps:
。
6. the control system of a low-voltage high-power rectification module based on nonlinear PID control of claim 1, wherein: the fourth tracking differentiator is:
；
Wherein x iq1 (k) is a tracking signal of reactive current, and x iq2 (k) is a differential signal of the tracking signal of reactive current; h is a filtering factor, r is a speed factor, T is a tracking step length, and the specific calculation process of the fst function comprises the following steps:
。
7. The control system of a low-voltage high-power rectification module based on nonlinear PID control of claim 1, wherein: the second nonlinear combination module includes:
The deviation signal acquisition module is used for acquiring three deviation signals according to the tracking signal of the reactive current specified value i * q, the differential signal of the tracking signal of the reactive current specified value i * q, the tracking signal of the reactive current i q and the differential signal of the tracking signal of the reactive current i q, wherein the three deviation signals are as follows:
；
the combination module obtains the current inner loop output value according to the following formula:
u(t)＝Kp fal(e1,a1,δ1 )+KI fal(e0 ,a0 ,δ0 )+KD fal(e2 ,a2 ,δ2 );
Wherein, K P is a proportional link controller gain coefficient, K I is an integral link control gain coefficient, K D is a differential link controller gain coefficient, fal (e, α, δ) is a nonlinear function, α is a parameter for determining the degree of nonlinearity of fal (e, α, δ), δ is a parameter for determining the size of a nonlinear section, and fal (e, α, δ) is a function of:
。
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