Điều khiển dự báo với tập hữu hạn các giá trị đầu vào (fcs mpc) cho nghịch lưu đa mức cầu h nối tầng

BỘ GIÁO DỤC VÀ ĐÀO TẠO ĐẠI HỌC BÁCH KHOA HÀ NỘI Phó Bảo Bình ĐIỀU KHIỂN DỰ BÁO VỚI TẬP HỮU HẠN CÁC GIÁ TRỊ ĐẦU VÀO (FCS-MPC) CHO NGHỊCH LƯU ĐA MỨC CẦU H NỐI TẦNG LUẬN ÁN TIẾN SĨ KỸ THUẬT ĐIỀU KHIỂN VÀ TỰ ĐỘNG HÓA Hà Nội - 2023 BỘ GIÁO DỤC VÀ ĐÀO TẠO ĐẠI HỌC BÁCH KHOA HÀ NỘI Phó Bảo Bình ĐIỀU KHIỂN DỰ BÁO VỚI TẬP HỮU HẠN CÁC GIÁ TRỊ ĐẦU VÀO (FCS-MPC) CHO NGHỊCH LƯU ĐA MỨC CẦU H NỐI TẦNG Ngành: Mã số: Kỹ thuật điều khiển tự động hóa 9520216 LUẬN ÁN TIẾN SĨ KỸ THUẬT ĐIỀU KHIỂN VÀ TỰ ĐỘNG HÓA NGƯỜI HƯỚNG DẪN KHOA HỌC PGS.TS Trần Trọng Minh PGS.TS Vũ Hoàng Phương Hà Nội, 2023 LỜI CAM ĐOAN Tôi                Hà Nội, ngày Người hướng dẫn khoa học tháng năm 2023 Tác giả luận án i Lời cảm ơn Lu nhng kt qu nghiên c hc Bách khoa Hà Ni Sau mt thi gian hc tp nghiên c i s ng dn ca thy: PGS.TS Trn Tr i hc Bách khoa Hà Ni Tôi xin bày t lịng bii v ch dn tn tình ca thng dn, nhia s, quan công vic ln i sng, to mu ki  tơi hồn thin lun án n Tôi trân trng cy cô thun t côn Truyn, thy phịng C9-ng làm tp rm m, chuyên nghing vi nhng góp ý chân thành, sâu sc c, TS Nguynh, TS Nguyn Anh Tân nhng  giúp rt nhiu vic cng c thêm kin thc chun mơn hồn thin  na lun án ca Tơi xin c Giám hiu, Khoa T ng hóa, n-n t; Ba Giám hiu, Phịng ào to - i hc Bách khoa Hà Nu n li kin thu nht v nhiu mt công vic hc tp t Tôi chân thành c anh ch em Nghiên cu sinh ca Khoa T ng hóa, Vin K thuu khin T ng hóa, nh  h tr tơi Tơi s ln nh n nhóm sinh viên K61, K62, K63 thuc PE-Lab hc tp nghiên cu ti phòng C9-203 vi hai em Nguyn Mnh Tun  (K61) thuc APES-Lab H nh tr rt nhiu vic nghiên cu,tri n khai thc nghim S ng viên tu kin ca Ban Giám hiu, nhim Kng nghip ti b n k thu Xây dng Hà Ni ngun ng lc rt ln giúp vc chng hc tp nghiên cu Sau cùng, xin gi li cc nhn nh tôi, nhi bn thân thit  m hoàn thành lun án Hà Nội, tháng năm 2023 Tác gilun án Phó Bo Bình ii MỤC LỤC LỜI CAM ĐOAN …………………………………………………………………… I LỜI CẢM ƠN ……………………………………………………………………… II MỤC LỤC ………………………………………………………………………… III DANH MỤC CÁC KÝ HIỆU VÀ CHỮ VIẾT TẮT VI DANH MỤC CÁC BẢNG .VIII DANH MỤC CÁC HÌNH VẼ, ĐỒ THỊ IX MỞ ĐẦU ………………………………………………………………………………1 CHƯƠNG TỔNG QUAN 1.1 Khái quát v nghiên cu 1.1.1 Nghc cu H ni tng (CHB) 1.1.2 u khiu trúc CHB 1.1.3 u khin d báo da mơ hình MPC 10 1.1.4 c bit phù hp vu trúc CHB h truyn ng IM 13 1.1.5 Nguyên lý thc hin FCS-MPC 14 1.2 V ca FCS-MPC 15 1.2.1 Sai l 16 1.2.2 Multistep MPC 16 1.3 ng dng m- xây dng b u khin ANN-MPC nhm thc nghim thut toán multistep MPC 19 Kt lu 21 CHƯƠNG FCS-MPC VỚI MỤC ĐÍCH TRIỆT TIÊU SAI LỆCH TĨNH CHO NLĐM CẤU TRÚC CHB NỐI TẢI ĐỘNG CƠ IM 22 2.1 u khin d báo FCS-MPC 22 2.2 u khin d báo FCS-MPC kt hp khâu tích phân 24 2.3 u khin d báo FCS-MPC cho mch ngh CHB ng d 26 2.3.1 Cu khin d báo FCS-ng cho mch ngh c CHB ni t 26 2.3.2 Nguyên lý hong cu trúc CHB 27 iii 2.3.3 Mơ hình trng b (IM) 2.3.4 Cu khin d báo FCS-MPC kt hp khâu tích phân cho mch nghc CHB, ng d 2.4 Kt qu mô phng kim chng 38 2.4.1 Kin 2.4.2 King CMV tt 2.4.3 King  tr ca h thng CHƯƠNG THUẬT TOÁN MULTISTEP MPC CHO NGHỊCH LƯU ĐA MỨC CẤU TRÚC CHB NỐI TẢI ĐỘNG CƠ IM 49 3.1 Cu khin h thu trúc CHB ni t dng thut toán Multistep MPC 49 3.2 Thit k b u khin vu khin mu MPC 50 3.2.1 Mô hình h thng 50 3.2.2 Mơ hình d báo 51 3.2.3 Hàm mc tiêu 51 3.2.4 Thut toán gii mã mt cu SDA 52 3.3 Nâng cao t tính tốn Multistep MPC v-best SDA cho u trúc CHB ni t 58 3.3.1 Cu khin 58 3.3.2 Thut toán gii mã mt cu K-best SDA 59 3.3.3 Mô phng kim chng phn mm Matlab/Simulink 64 CHƯƠNG XÂY DỰNG HỆ THỐNG THỰC NGHIỆM VÀ KẾT QUẢ 75 4.1 Thc nghim kim chng thut toán multistep MPC v-best SDA cho bin tc cu trúc CHB 75 4.1.1 u kin thc nghim 75 4.1.2 Triu khin FPGA 80 4.1.3 Kt qu thc nghim 81 4.2 Thc nghim kim chng thut toán Multistep MPC s dng ANN, áp dng cho nghc cu trúc CHB 84 4.2.1 u khin ANN-MPC 84 4.2.2 Cu trúc m-ron ANN 86 4.2.3 Thc hi-MPC 90 4.2.4 Mô phng kim chng Matlab/Simulink 95 iv 4.2.5 Mơ hình thc nghim 98 4.2.6 Kt qu c mơ hình thc nghim 101 KẾT LUẬN VÀ KIẾN NGHỊ 105 DANH MỤC CÁC CƠNG TRÌNH Đà CƠNG BỐ CỦA LUẬN ÁN 106 TÀI LIỆU THAM KHẢO 107 PHỤ LỤC ………………………………………………………………………… 115 v Danh mục ký hiệu chữ viết tắt Từ viế t tắt Dạng đầy đủ tiếng Anh Ý nghĩa  B bii  Nghc  n t công sut  Truyn MV Medium Voltage Trung áp PES Power Electronic System H thn t công su MLI Multilevel Inverter B nghc VSI Voltage Source Inverter Nghn áp IGBT Insulated Gate Bipolar Transistor Tng cc ly CHB Cascaded H-Bridge Cu H ni tng NPC Neutral Point Converter u trúc diode kp MMC Modular Multilevel Converters  ng module hóa FC Flying Capacitor T bay LV Low Voltage  n áp thp FACTS Flexible AC Transmission System H thng truyn ti xoay chi linh hot STATCOM Static Synchronous Compensator Thit b ng b  HVDC High Voltage DC  n chi n áp cao DC Direct Current  n mt chiu IM Induction Motor ng rotor lng sóc PID Proportional Integral Derivative n vi  tích phân t l B u FOC Field Oriented Control  u khin ta t thông SMC Sliding Mode Control  u khit AIC Artificial Intelligence Control  u khin trí tu nhân to vi AI Artificial Intelligence Trí tu nhân to MPC Model Predictive Control u khin d báo da theo m hình CCS-MPC Continuous Control Set CCSMPC MPC tu khin li tc FCS-MPC Finite Control Set MPC MPC tu khin h h n MIMO Multi Input, Multi Output Nhiu vào, nhi u RHC Receding Horizon Control u khin khong d báo d min thi gian OPP Optimized Pulse Patterns Các mu xung t ESA Exhaustive Search Algorithm Thut tốn tìm kim tồn din SDA Sphere Decoding Algorithm Thut tốn gii mã mt cu DSP Digital Signal Processor B x lý tín hiu s PWM Pulse Width Modulation u ch  rng xung SVM Space Vector Modulation u ch vector không gian DTC Direct Torque Control u khin trc tip mômen FPGA Field Programmable Gate Array Mng cng lp trình c d ng DPC Direct Power Control iu khin trc tip công su VOC Direct Voltage Control iu khin trc tip n áp THD Total Harmonic Distortion Tng méo sóng hài CMV Common-mode Voltage n áp common-mode ANN Artificial Neural Network M-ron nhân to vii Danh mục bảng Bng 2.1 Bng th hin tt 37 Bng 2.2 Thông s mch lc b u khin 38 Bng 2.3 Thông s n 39 Bng 2.4 Kch bn mô phng 39 Bng thi tham s m vi 35% Bng 2.6 S ln chuyn mc pha A 44 Bng 3.1 Quá trình thc hin thut toán 63 Bng 3.2 Thông s  64 Bng 3.3 Thông s mch lc b u khin 65 Bng 3.4 Kch bn mô phng 65 Bng 3.5 So sánh s ng nút kim tra 69 Bng 4.1 Bng thông s hun luyn 92 Bng 4.2 c ma trn 93 Bng 4.3 Tru khin van Bng 4.4 Thông s mô phng ANN-MPC 95 Bng 4.5 Bng ch nh d liu hun luyn 96 Bng 4.6 Tài nguyên s dng FPGA 101 Bng 4.7 Thông s thc nghim 102 viii Dịng tcHình  4A 4.36 ( ) có dng sóng hình sin, cho thy s nh ca h thng Vi kt qu n áp mc tn ti thun tr có b lc LC, có th thy thut tốn ANN-MPC có kh ng dng c mơ hình thc t mà khơng b rào cn bi khng tính tốn ln phc tmultistep MPC Kết luận chương y, n dng thành công b thc nghim c  xut Các kt qu thc nghim chng thành công thu xut chng minh tính kh thi trin khai thc t Tuy nhiên, vu kin v trang thit b, kt qu thc nghim có cht  i b nhiu 104 Kết luận kiến nghị  toán FCS---   - - ng du khin multistep MPC nhm nâng cao ch u khin b bii nghcu trúc CHB 11 mc ni ti  thut toán K-best SDA nhm gim khng tính tốn MPC; Ci thin t x lý thi gian thc ca FCS-c bng mng ANN x Nhng hn ch ca lung nghiên cu tip theo -     -    105 Danh mục cơng trình cơng bố luận án H.M.Tran, T.Q Dang, T.D Le, T.T Do, B.B Pho, H.P Vu, H.T Nguyen (2021), Phương pháp điều khiển MPC đa bước cải tiến cho biến đổi CHB làm việc độc lập,i ngh - Trin lãm quc t ln th v u khin T ng hố; VCCA-2021 Phó Bảo Bình, Nguyn Hu Phúc, Trn Trng Minh (2022), Cải thiện phương pháp điều khiển dự báo cho nghịch lưu đa mức cầu H nối tầng hệ truyền động động khơng đồng bộ, khin T ng hóa, vol 3, No.1, pp 4150 Phó Bảo Bình, c Th, ng Quang Tin, Trn Trng Minh  u khin d c vi hiu qu t b bi   c cu H ni tng cp ngu   u khin T ng hóa, vol 3, No.2, pp 918 B.B Pho          model predictive control for three-phase induction motor drive system considering the common- Power Electronics and Drive Systems, vol 12, no 4, pp 22512260 (Scopus Q3) C.M Van, S Duong-Minh, Duc Tran-Huu, B.B Pho, Phuong Vu An improved method of model predictive current control for multilevel cascaded Hbridge inverters,Journal of Electrical Engineering, vol 72, no.1, 1-11 (SCIE Q3 B.P Bao, C Mai-Van, T.M Tran, Phuong Vu Model predictive control for distributed MPPT algorithm of cascaded H-Bridge multilevel grid-connected PV inverters,       (SCIE Q3) B.B Pho, T.M Hoan, M.T Trong, Phuong Vu  An Artificial Neural Network-Based Model Predictive Control Of Cascaded H-Bridge Multilevel Inverter, no 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u* [ k N 1]Tẳ Trong ú: u* ( ) ê « cos(T ) s « V L « § 2S à ôcos ă Ts Vdc ô â ô ĐS à ôsin ă Ts â3 ằ sin(Ts ) ằ ĐS à ằ sină Ts ằ â3 ạằ Đ 2S Ãằ cosă Ts ằ â3 ẳ Đ ê § 1 V · º ª V  Zs ă * ôă ằ ô VT ă di sdq (l ) ô âVTs VTr ằ* r ô ( ) l i sdq ă dt ô ằ ô V Đ Ã 1 V ằ ă ô Z Z s ă ô ă ô ằ T T V V V â s ạẳ r â k 1; ; k N` · Vº ¸ V »» ' ¸ ψ rdq (l ) ¸ V » ¸ » ¸ VTr ẳ A2 Chng minh (3.6) k] b [ kU]  *[Yk] OCMV [Γx JN [k] k]  *[Uk] Odc [U 2 k]  [Εuk 1]2 [SU Khai tri J N [k ] T T Y *º ¼ Γx Y* b U 2 >b U @êơx Y *ẳb >U ê x ơ@ ^ Odc SU ^ OCMV U 2 2 T SU Eu >SU @Eu T T êơU*ẳ U U* [ k]U[ k]T Eu 2 ` U* [ k] 2 ` 2 Mt khác, ta có: T T >bb U[ k] @ êơx Y *ẳ b >U ê x Y *[ k] ẳ @ T T ° (kt qu s thc) ®>SU @Eu SUEu * T * T êơU ẳ U ê U U ẳ Do kt qu s thc nên hàmN Jtr thành: 115 T êơx Y *ẳ x b U 2 >b U @ Y* J N[ k] ^ Odc SU ^ 2 SU Eu  Eu ` T OCMV U 2 êơU*ẳ U U* JN [ k] ^bU O 2 dc OdcSU Eu T 2 T 2 ` { êơU ẳ U} * x ` T T * x @ b U êơY *ẳ SU OCMV U 2 b U > T  OCMV T * T * Y 2  Odc Eu 2 *  O CMV U 2 T JN [ k ] U êơb b Odc S S OCMV I NẳU T êơb T* x b TY*  Odc S TEu  OCMVU *º¼ U ê * x Y* ôơ 2 Odc Eu 2  OCMV U* º» ¼ Vit li vi dng rút gn c (3.6): U[ k]T WU[ k] +2 F[ k] T U[ k]  [ε k] J N[ k] Trong đó: W b Tb  Odc ST S  OCMV I3 N F[ k] b T* x[ k]b T Y*[ k] Odc ST Eu[ k 1] OCMV U*[ k] 2 * * ε[k ] ª« * x[ k] Y [ k]  Odc Eu [ k 1] OCMV U [ k] 2º» ¬ ¼ A3 Chứng minh (3.10) wxT Bx Ta có công thc v o hàm ma trn: wx wJ N wU 0 WU[ k ] 2F[ k] 0o (B B T )x k] U[ k] U uc [  W 1F[ k] A4 Chứng minh (3.13) (3.14) Ta có: JN [ k] U[ k]T WU[ k] +2 F[ k]T U[ k]  ε[ k] Thêm hng s c: JN [ k] U T [ k]WU[ k] 2F[ k] T U[ k] F T[ k]W 1F[ k] ε[ k] JN [ k] U T [ k]WU[ k] U T[ k]WW 1F[ k] F T[ k]U[ k] F T[ k]W 1F[ k] JN [ k ] U [ k]W F T T U[ k]  W 1F[ k] [ k]   nên W T ; JN [k ] có giá tr mt hng s Do W ma tri xngW 116 J N [ k] J N [ k] U[ k] W F[ k]  U [ k]W F [ k]( W ) W  U [ k] ( W F[ k]) W U[ k]  W F[ k]  T T T 1 1 T 1 T 1 Thay U uc W 1F [ k] ta chng minh c (3.13)  U[ k]  J N [ k] H TH U ; ThayW uc [ k] HU J N[k] J N[k] uc Uuc[ k] T W U [ k]  Uuc[ k]  [ k] vào (3.13) c (3.14): T U[ k] U uc[ k] HT H U[ k] U uc[ k] HU[ k] HU uc[ k]  HU[ k] U uc[ k] A5 Bảng quy đổi vector trạng thái sang nút Output layer Vector ka kb kc 0 0 Nút Vector ka kb kc O1 -1 0 O2 -2 -1 O3 -2 O4 -1 0 0 Nút Vector Nút ka kb kc O27 -2 O56 O28 -2 O57 1 O29 -2 O -2 O30 -2 O59 O5 -1 O31 -2 O60 O6 -1 -1 O32 -2 -1 O61 -1 O7 -1 O33 -1 -1 O8 -2 O34 -1 O9 -2 O35 1 -1 O10 -2 O36 -1 O11 -1 O37 -1 -1 O12 -2 -2 O38 -1 O13 -1 -2 O39 -1 1 O14 -2 O40 -1 O15 -2 O41 -1 -1 O16 2 -2 O42 -1 O17 -2 O43 -1 O18 -2 O44 -1 O19 -1 -2 O45 117 -1 -1 O20 -2 -2 O46 -1 O21 -2 -1 O47 -2 O22 -2 O48 1 -2 O23 -2 O49 -2 O24 -2 2 O50 -1 O25 -2 O51 -1 -1 O26 -2 O52 118