CN101425756B - DC lateral voltage controllable 4 quadrant frequency transformer and method thereof - Google Patents
DC lateral voltage controllable 4 quadrant frequency transformer and method thereof Download PDFInfo
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Abstract
The invention provides a controllable four-quadrant frequency converter for voltage on direct current side and a method thereof, so as to realize direct-current voltage control, improve the quality of the current on line side and feedback the regenerative electric energy to an electric network. The controlling circuit of the frequency converter adopts a single processor and an integrated chip to drive a converter on line side and a converter on motor side to alternately fulfill the functions of rectification and inversion under different loaded states. The processer designed by pipelining canquicken the calculation speed and meets the requirement of real time of controlling of the PWM rectifier, due to the adoption of the vector control and power disturbance compensation method, the unity power factor can be realized when the bidirectional flow of the energy is ensured, the voltage on the direct current side can be accurately controlled, when the load is disturbed, the fluctuation range is smaller, the current on direct current side is estimated, the cost of the products can be saved, the estimation method adopts direct direct-current estimation instead of non alternating currentestimation, the disturbance compensation fluctuation is reduced, and the system power is more smooth.
Description
Technical field
The present invention relates to frequency-converter device, specifically, relate to a kind of DC lateral voltage controllable 4 quadrant frequency transformer and operation method thereof.
Background technology
Frequency converter is the optimal speed-regulating scheme of generally acknowledging at present as the driver of alternating current machine.Frequency control have speed-regulating range width, adjusting speed accuracy height, dynamic response good, be easy to technical characterstic such as control, become the main direction that the speed regualtion of AC motor technology is used.Simultaneously, compare with alternate manners such as becoming resistance, transformation, frequency control has remarkable energy saving effect, particularly uses for fluctuating load, and as centrifugal blower, water pump etc., its energy-saving effect is distinct more.For these reasons, variable-frequency control technique and frequency converter have been widely used in the industries such as electric power, metallurgy, oil, chemical industry, mining, municipal administration, central air-conditioning, water treatment.But because factors such as technology and costs, in China's total capacity is 5.8 hundred million kilowatts motor capacity, be the band variable frequency control only less than 2,000 ten thousand kilowatts motor.According to the market intelligence analysis of Chinese industry control net, in China, band fluctuating load, the motor with energy-saving potential have 1.8 hundred million kilowatts at least.Therefore country advocates conservation measures energetically in recent years, and recommends variable-frequency control technique emphatically.According to statistics, the market of Chinese frequency converter is keeping 12%～15% growth rate in the past several years, and this speed is considerably beyond the growth level of GDP in recent years, estimates will to keep in the five-year at least the growth rate more than 10%.Along with Chinese society, expanding economy, the market scale of frequency converter industry will progressively increase, and expect China frequency converter market in 2008 and might break through 10,000,000,000 yuan.
Enter 21 century, the bottleneck that economic development suffered is also more and more felt in countries in the world when the institute that enjoys economic development brings achievement, and that is exactly the energy supply deficiency.Constantly soaring, the domestic power tense of crude oil price, coal price go up in the world, and all signs all give a warning to us, and the last energy in the world is few, and is energy-saving and cost-reducing extremely urgent.For this reason, national governments one after another the energy are used and development policies is brought up to strategic height, actively formulate relevant programme with the more and more nervous from now on energy problem of reply, seek following outlet.Some country also holds regularly the high-rise forum of energy strategy, with the discussion counter-measure.Thus, structural adjustment, system reform, development green regenerative energy sources, exploitation power-saving technology, advocate and encourage measure such as common people's energy savings, carry out one after another and implement, these all fully show attention and the resolution of government to energy problem.Chinese Government sets up the Eergy Office specially, responsible coordinated management relate to each big ministries and commissions of the energy and energy enterprise, from the overall situation formulate country energy development strategy and planning, establish the energy industry policy, implement four big affairs such as every Program Policy.
Reply energy shortage problem can be from starting with in many ways, and saves energy is the most direct effective and efficient manner wherein.According to statistics, in the electric energy that China consumes, 60%～70% is power.Therefore, improve electric efficiency, reduce power consumption, will become the groundwork direction of China's energy savings, and obtain country's great attention.Improve electric efficiency, except that using variable-frequency control technique, another important channel is reclaimed motor kinetic energy exactly.At some the application scenario of potential load characteristic is arranged, motor is in the four quadrant running state when weight descends, and produces regenerative electric energy, if with this part regenerative electric energy feedback that motor produced to electrical network, then will improve motor operational efficiency, energy savings.To some large-power occasions,,, can save energy more than 20% especially, have great economic implications and social effect by Way of Regenerating Energy Feedback as mining elevator, oil pumper etc.
From now on, rise fast, brake at needs and the high-power speed-adjusting application system of frequent forward and backward, along with enhancing to frequency converter regenerative braking Capability Requirement, the competitiveness that energy feedback four-quadrant frequency converter must have more than common frequency converter.Therefore, development in recent years energy Feedback Technology has attracted the attention of more and more frequency converter manufacturing enterprise, but the four-quadrant frequency converter of exploitation and the feedback of production energy has become an important development direction of present frequency converter industry, and also becoming very is necessary.
Universal frequency converter mostly is a voltage-type AC-DC-AC circuit structure, its operation principle is that three-phase alternating current is not at first controlled rectifier bridge by diode and obtained Rectified alternating current, again through the electrochemical capacitor filtering voltage regulation, after the alternating current of passive inverter device output voltage, frequency adjustable power to motor.This class transducer power factor height, efficient height, precision height, speed-regulating range width are so obtain extensive use in industry.But universal frequency converter can not be directly used in, as express elevator, mining elevator, rolling mill, oil pumper, coal-winning machine even load occasion.This is because these system requirements motor four quadrant runnings, when motor slows down, brakes or is with potential load weight to transfer, motor is in regenerative power generation state, the control rectifier power transfer is not irreversible and owing to diode, the regenerative electric energy that produces is transferred on the DC side filter capacitor, produces the pump up voltage.With GTR, IGBT is that the full-control type device withstand voltage of representative is lower, and too high pump up voltage might damage switching device, electrochemical capacitor, even can destroy the insulation of motor, thereby threatens system safety work, and this has just limited the range of application of universal frequency converter.For solving the regenerated energy problem that motor produces, industry adopts dynamic braking and two kinds of means of regenerative braking usually at present.Dynamic braking connects energy consumption resistance or dynamic braking unit at the frequency changer direct current bus two ends, motor is produced renewable energy resources consumption in Power Resistor.Most of at present dynamic braking mode that adopts in the medium and small capacity system, the four quadrant running of realization motor though this method is simple, has following critical defect:
(1) wastes energy, reduced the efficient of system.
(2) resistance heating is serious, influences the other parts operate as normal of system.
(3) simple dynamic braking can not in time suppress the pump up voltage that fast braking produces sometimes, has limited the raising (braking moment is big, speed-regulating range width, dynamic property is good) of braking ability.
Above-mentioned shortcoming has determined the dynamic braking mode can only be used for the following medium and small capacity system of tens kW.Regenerative braking then is that the renewable energy resources are fed back to electrical network, has saved the motor power loss.Feeding braking device can be connected on the frequency converter outside as the regenerative braking unit separately, also can be incorporated into frequency converter inside.The feeding braking device topological structure can be divided into half control device type structure and full control device type structure two big classes by (PCC) power.Half control type structure comprises controlled rectification-Controllable Active inverse type and controlled rectification/active inversion composite, before a kind of basic ideas are active inverters of inverse parallel one cover again on the basis of controlled rectification bridge, but reduce problem and need between active inverter and electrical network, connect step-up transformer for solving DC loop voltage, thereby increased volume, improved cost.A kind of basic ideas in back are to utilize a cover controlled rectification bridge both to finish rectification, realize active inversion again, so just can reduce the volume of device, reduce cost, its circuit topological structure comprises many pulse-width modulations (MPWM) mode, Sine Wave Pulse Width Modulation (SPWM) mode and stagnates ring control copped wave-inversion feedback mode.The full-control type structure adopts GTO, IGBT etc. to constitute active-inverter from the switch-off power device, savings energy on the dc-link capacitance is fed back to electrical network, have the system effectiveness of raising, suppress characteristics such as harmonic wave and machinery noise, the energy feedback control system of full-control type device has become the emphasis of research.The matrix form AC-AC frequency conversion has been saved the intermediate dc link, can realize that power factor is 1, and the energy four quadrant running, and the power density of system is big, so matrix frequency converter becomes the research and development object of international major company always.Matrix frequency converter is because the increase of IGBT quantity, the price comparison costliness, and it is about the twice of common frequency converter price under the equal-wattage.
Though AC-DC-AC voltage frequency converter circuit cost is low, simple in structure, reliability is high,, there are the problems such as regeneration that power factor reduces, net is surveyed harmonic pollution and can't be realized energy owing to adopt not control rectifier of three-phase bridge.Elimination is to the harmonic pollution of electrical network and improve power factor, and the four quadrant running of realizing motor is to become the variable-frequency control technique inevitable problem.For this reason, the research of PWM commutation technique, the exploitation of novel unity power factor converter at home and abroad causes widely and pays close attention to.Traditional regenerative braking method has strengthened the volume of feedback device, has increased cost and the inverter current wave distortion is serious, and electric network pollution is heavy, and power factor is low.Adopt self-turn-off device to carry out PWM control in the rectification circuit, can make the input current of grid side reach 1, can thoroughly solve pollution problem electrical network near sine wave and power factor.Constitute frequency converter by PWM rectifier and PWM inverter, need not to increase any adjunct circuit, approximate 1 with regard to the power factor of feasible system, eliminate side harmonics and pollute, the energy two-way flow makes things convenient for the motor four quadrant running.For various speed governing occasions, can make motor reach rate request very soon simultaneously, dynamic response time is short.Therefore, two PWM control technologys have become the latest development direction that realizes high-quality energy Feedback Technology.
Many in the world at present major companies have released energy feedback four-quadrant frequency converter one after another.As Siemens ET200S FC Series Frequency Converter, the AC Master-7 frequency converter of the ACS800-17 of ABB AB series four-quadrant frequency converter etc., the U.S. NBB-BH of NBB company Series Frequency Converter, Akia Machinery company etc.But external product costs an arm and a leg, and it is very high to the requirement of electrical network to add some products, very not suitable China's national situation.
Chinese patent ZL02104139.3 provides a kind of no-harmonic wave pollution high voltage frequency converter energy back feed device, and it comprises a plurality of feed back bridgings and feed back bridging control circuit; The quantity of described feed back bridging is consistent with the quantity of the power cell that constitutes frequency converter, promptly at other inverse parallel one feed back bridging of each power cell rectifier bridge; Described feed back bridging control circuit comprises the energy feedback operating mode decision circuitry that is used for conducting of Control and Feedback bridge and shutoff and is used to trigger the feed back bridging circuits for triggering of feed back bridging break-over of device.But it only is an energy back feed device, can't improve the harmonic pollution problem of diode rectification, also can't realize controls such as dc voltage, input power factor simultaneously.
Summary of the invention
A first aspect of the present invention is to provide a kind of DC lateral voltage controllable 4 quadrant frequency transformer, to realize direct voltage control, improve the current on line side quality and with regenerative electric energy feedback to electrical network.
A second aspect of the present invention with the operation method that a kind of DC lateral voltage controllable 4 quadrant frequency transformer is provided.
Technical problem solved by the invention can realize by the following technical solutions:
A first aspect of the present invention, a kind of DC lateral voltage controllable 4 quadrant frequency transformer comprises:
Power circuit, described power circuit is made of net side converter and motor side current transformer, is provided with a filter capacitor between net side converter and the motor side current transformer;
Control circuit, described control circuit comprises a processor and net side integrated chip that is connected with processor and motor side integrated chip, described net side integrated chip and motor side integrated chip produce the pwm pulse of control net side converter and motor side current transformer brachium pontis switch respectively under the control of processor, alternately bring into play the function of rectification and inversion to drive net side converter and motor side current transformer under different load conditions; And
Import the auxiliary circuit of various status signals to processor, net side integrated chip and motor side integrated chip.
Among the present invention, described net side converter and motor side current transformer are symmetrical, adopt IGBT+ Power Diode Pumped structure, so that net side converter and motor side current transformer are realized the Reversible PWM current transformer.
Described auxiliary circuit comprises:
The capacitance voltage feedback circuit, it produces the voltage protecting signal of one road voltage feedback signal and three road different brackets, deliver to processor and net side integrated chip respectively, processor utilizes the PI controller output variable in voltage feedback signal and the voltage reference value adjusting processor, with the control capacitance both end voltage, realize that dc voltage is controlled;
The current on line side feedback circuit, it produces the current protection signal of three road current feedback signals and three road different brackets, deliver to processor and net side integrated chip respectively, processor is by relatively current feedback signal and current reference value draw each brachium pontis switch switching signal duty ratio of net side, duty cycle signals offers net side integrated chip and produces pwm pulse, and pwm pulse drives each brachium pontis switch of net side converter again after drive circuit amplifies;
The motor side current feedback circuit, it provides the current protection signal to the motor side integrated chip, and with motor three road current feedback signal numerical value input processors;
The motor side velocity feedback circuits, its with the pulse signal of motor speed through shaping, send into the motor side integrated chip after the filtering, motor side integrated chip pulse signals is counted, count value stores the back and uses for processor, processor utilizes the count value of motor three road current feedback signals and pulse signal, speed ring is implemented PI control, electric current loop adopts the field orientation vector control, PI control and disturbance compensation control, obtain the duty ratio of motor side current transformer brachium pontis switching signal at last, after duty cycle signals is delivered to the motor side integrated chip, produce pwm pulse by the motor side integrated chip, pwm pulse each brachium pontis switch of drive motors side converter again after drive circuit amplifies;
Signal switching circuit, it receives treated net side three road current feedback signals and motor three road current feedback signals, by the time net side and motor three road current feedback signals are alternately exported, and three analog sampling passages of input processor, after analog-to-digital conversion, be used for Current Control or other algorithm, to realize three analog channel time-sharing multiplexs of processor.
The operation method of a kind of DC lateral voltage controllable 4 quadrant frequency transformer of a second aspect of the present invention, net side unsteady flow and motor side current transformer all adopt reversible convertor in the power circuit, control circuit adopts single-processor and two integrated chips, processor is controlled two integrated chips and is produced the pwm pulse that drives net side converter and motor side current transformer respectively, by same processor interactive information, and drive the function that net side converter and motor side current transformer are alternately brought into play rectification and inversion between net side converter and the motor side current transformer according to different load condition.
The present invention further comprises:
The controlled step of capacitance voltage, produce the voltage protecting signal of one road voltage feedback signal and three road different brackets by the capacitance voltage feedback circuit, deliver to processor and net side integrated chip respectively, processor utilizes the PI controller output variable in voltage feedback signal and the voltage reference value adjusting processor, with the control capacitance both end voltage, realize that dc voltage is controlled;
Net side converter controlled step, produce the current protection signal of three road current feedback signals and three road different brackets by the current on line side feedback circuit, deliver to processor and net side integrated chip respectively, processor is by relatively current feedback signal and current reference value draw each brachium pontis switch switching signal duty ratio of net side converter, duty cycle signals offers net side integrated chip and produces pwm pulse, and pwm pulse drives each brachium pontis switch of net side converter again after drive circuit amplifies;
Motor side current transformer controlled step, provide the current protection signal by the motor side current feedback circuit to the motor side integrated chip, and with motor three road current feedback signal numerical value input processors, the motor side velocity feedback circuits with the pulse signal of motor speed through shaping, send into the motor side integrated chip after the filtering, motor side integrated chip pulse signals is counted, count value stores the back and uses for processor, processor utilizes the count value of motor three road current feedback signals and pulse signal, speed ring is implemented PI control, electric current loop adopts the field orientation vector control, PI control and disturbance compensation control, obtain the duty ratio of motor side current transformer brachium pontis switching signal at last, after duty cycle signals is delivered to the motor side integrated chip, produce pwm pulse by the motor side integrated chip, pwm pulse each brachium pontis switch of drive motors side converter again after drive circuit amplifies;
Processor time-sharing multiplex step, net side three road current feedback signals and motor three road current feedback signals are after treatment, deliver to signal switching circuit, signal switching circuit was alternately exported net side and motor three road current feedback signals by the time, current signal from signal switching circuit enters three analog sampling passages of processor, is used for Current Control or other algorithm after analog-to-digital conversion.
The circuit of transducer power of the present invention constitutes in the controllable current transformer of DC circuit symmetrically by two groups, link to each other with motor with electrical network with output circuit as input respectively, processor by the pipelining design, can improve arithmetic speed, satisfy the requirement of PWM rectifier control real-time, adopt vector control and power disturbance compensation method, guarantee that the energy two-way flow simultaneously, can realize the near unit merit because of, and dc voltage can accurately be controlled, when disturbance appearred in load, fluctuating range was less, and the DC side electric current adopts estimation, can save product cost, estimating and measuring method adopts direct DC quantity estimation but not the of ac estimation has reduced the fluctuation of disturbance compensation amount, makes system power more steady.
Description of drawings
Fig. 1 is a hardware configuration schematic diagram of the present invention.
Fig. 2 is net side converter control structure figure.
Fig. 3 is the coordinate system schematic diagram of transform vector.
Fig. 4 is a geometric method SVPWM modulation algorithm schematic diagram.
Fig. 5 is a geometric method SVPWM algorithm flow chart.
Fig. 6 is a self adaptation reactive current given algorithm flow chart.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
Referring to Fig. 1, DC lateral voltage controllable 4 quadrant frequency transformer of the present invention, comprise symmetrical net side converter 10 and motor side current transformer 20, net side converter 10 links to each other with motor with electrical network respectively with motor side current transformer 20, be provided with a filter capacitor C in the middle of the two, constituted the power circuit portion of frequency converter of the present invention thus.Net side converter 10 and motor side current transformer 20 all adopt IGBT+ Power Diode Pumped structure in the present embodiment, so that net side converter 10 and motor side current transformer 20 are realized the Reversible PWM unsteady flow, IGBT+ Power Diode Pumped structure is a prior art, its structure is not described in detail at this.
Control circuit comprises a processor 30, integrated chip 11 and integrated chip 21, processor 30 control integrated chips 11 and integrated chip 21 produce the pwm pulse that drives net side converter 10 and motor side current transformer 20 respectively, by processor 30 interactive information, both drove the function that net side converter 10 and motor side current transformer 20 are alternately brought into play rectification and inversion between net side converter 10 and the motor side current transformer 20 according to different load conditions.When motor powered, net side converter 10 is made rectifier, and motor side current transformer 20 is made inverter; When electric power generation, motor side current transformer 20 is made rectifier, and net side converter 10 is made inverter, and capacitor C voltage is stable to be realized by net side converter 10.Processor 30 adopts NEC 850E/IA1 Series MCU in the present embodiment, and control circuit is produced on the control board.
In addition, frequency converter of the present invention also comprises auxiliary circuits such as voltage feedback circuit 31, current on line side feedback circuit 13, motor side current feedback circuit 23, motor side velocity feedback circuits 24, drive circuit 12 and drive circuit 22.
During system works; the capacitor C voltage signal is delivered to control board interface circuit (signal) after by the testing circuit step-down; interface circuit to this signal processing after, obtain 1 road voltage feedback signal and 3 road different brackets voltage protecting signals, deliver to processor 30 and integrated chip 11 respectively.3 road voltage protecting signals are represented overvoltage, brake beginning and under-voltage respectively, and at 3 road guard signals, integrated chip 11 adopts corresponding protection action to be on-off switching tube, conducting brake switch and on-off switching tube.Processor 30 utilizes voltage feedback signal and voltage reference value, regulates the PI controller output variable in the processor, with control capacitance C both end voltage.
The current on line side signal is delivered to interface circuit after being transformed to voltage signal by current transformer (not signal); after interface circuit rectification, filtering, amplitude limit, stack and relatively waiting processing; be transformed to 3 road current feedback signals and 3 road different brackets current protection signals, deliver to processor 30 and integrated chip 11 respectively.Integrated chip 11 is according to 3 road current protection signal conditions; press protection class from low to high; take the cutoff power switch respectively, turn-off whole power switchs and etc. electric current open again and 3 kinds of safeguard measures of the whole power switchs of permanent shut-down after falling after rise, implement power circuit is protected.
Processor 30 carries out current closed-loop control according to 3 road current feedback signals.Processor 30 calculates net side converter 10 input voltage vector by comparing current feedback signal and current reference value, and voltage vector is the duty ratio of each brachium pontis switch switching signal through the SVPWM modulators modulate.Duty cycle signals offers integrated chip 11, is used for integrated chip 11 and produces pwm pulse, and be sent to drive circuit 12, and signal drives net side converter 10 each brachium pontis switch again after amplifying.
30 pairs of motor side current transformer 20 control procedures of processor are as follows; motor three road current feedback signals become voltage signal through current transformer (not signal); behind current feedback circuit 23; the current protection signal offers integrated chip 21; carry out over-current hardware protection, 3 tunnel current values signals enter processor 30.Velocity transducer (not signal) output 2 road orthogonal pulses signals enter integrated chip 21 behind velocity feedback circuits 24 shapings, filter circuit, integrated chip 21 pulse signals are counted, and use for processor 30 count value storage back.
Processor 30 utilizes and detects the count value that obtains motor three road current feedback signals and pulse signal, speed ring is implemented PI control, electric current loop adopts field orientation vector control, PI control and disturbance compensation control, obtain the duty ratio of motor side current transformer 20 brachium pontis switching signals at last, after duty cycle signals is delivered to integrated chip 21, produce pwm pulses by integrated chip 21, and be passed to drive circuit 22, signal drive motors side converter 20 each brachium pontis switch again after amplifying.
Net side 3 road current feedback signals and motor 3 road current feedback signals are after treatment, deliver to signal switching circuit on the control board (not signal) input, signal switching circuit was alternately exported net side and motor three road current feedback signals by the time, enter 3 analog sampling passages of processor 30 from the commutation circuit current signal, after analog-to-digital conversion, be used for Current Control or other algorithm.Like this, 3 of processor 30 analog channels just can realize time-sharing multiplex.
Fig. 2 is the control structure figure of the net side converter 10 of the preferred embodiment of the present invention, and net side converter 10 principle of vector control are at first done brief description to the transform vector control principle for convenience of explanation.
Referring to Fig. 3, Fig. 4, the frequency converter network side converter is the three-phase alternating current system, and (c) Mathematical Modeling in is for a, b at the three phase static coordinate system for it
i
dc＝s
ai
a+s
bi
b+s
ci
c
Though following formula has characteristics such as physical significance is clear, directly perceived,, be unfavorable for control because electric current and voltage become of ac when being.For this reason, can (a, b c) convert to electrical network fundamental frequency synchronously two-phase (d, q) coordinate system of rotation with the three phase static coordinate by coordinate transform.
The transform vector principle is described below.Among the last figure, a, b, c are the three phase static coordinate, and α, β are the two-phase rest frame, and d, q are the two-phase rotating coordinate system, and wherein a axle and α overlap, and the d axle overlaps with electrical network electromotive force vector E.α, β be rotation synchronously not, still be the interchange coordinate, and d, q rotates synchronously with the electrical network fundamental frequency, are the direct current coordinate.I is a current phasor, and it is in that (c) coordinate system is projected as i for a, b
a, i
b, i
c, in that (α, β) coordinate system is projected as i
α, i
β, in that (d, q) coordinate system is projected as i
d, i
qBecause i
d, i
qResultant vector and i
a, i
b, i
cResultant vector all is same vector I, thus from (a, b, c) to (α, β) arrive again (d, q) coordinate transformation process belongs to equivalent transformation, promptly resultant vector I is constant.Transform vector principle that Here it is obtains variable i through conversion
d, i
qDC quantity helps control.Transform vector is equally applicable to voltage, magnetic flux, switching value etc.Through transform vector, net side converter Mathematical Modeling can be expressed as again
Among the last figure, six work of V1～V6 vector is divided into 6 zones with complex plane, and V0 and V7 are for being positioned at the initial point zero vector.Hypothesis space voltage vector V
*Just in time fall into area I, then it can be synthetic by V1 and V2 weighting.According to parallelogram law, have
Ts represents switch periods in the following formula, and T1, T2 represent vector V 1, V2 operating time.
In the general SVPWM algorithm, T
1, T
2Find the solution by algebraic method, so just relate to trigonometric function operation.But the frequency converter processor calculating is limited in one's ability, should avoid the more trigonometric function operation of holding time as far as possible.Therefore, adopt method of geometry among the present invention.The method of geometry basic principle is exactly with all working vector and voltage vector V
*All project to real axis Re and imaginary axis Im, obtain the component of vector on these two axles, utilize then on two axles to concern between the component, obtain T
1And T
2
Referring to Fig. 2, wherein 4 and 5 is Voltage loop again, and 6 is electric current loop, and the control procedure of net side converter 10 is as follows: dc voltage error delta V
DcThe input voltage regulation device, voltage regulator adopts the PI regulative mode, output active current I
dSpecified rate I
D_dc, this amount and load disturbance compensating signal I
D_pAddition gets I
d *, this amount inputs to the active current adjuster.The active current adjuster adopts the PI regulative mode, output control signal V
D_pid, this signal and the stack of feedforward decoupling zero controlled quentity controlled variable obtain the component V of net side converter 10 control vectors to the d axle
dReactive current set-point I
q *With reactive current actual value I
qBetween error be input to the reactive current pi regulator, adjuster output V
Q-pidWith the addition of decoupling zero controlled quentity controlled variable, obtain the component V of net side converter 10 control vectors to the q axle
qV
dAnd V
qBe transformed to V by the vector inverse transformer
αAnd V
β, V
αAnd V
βBe input to the SVPWM modulator.The SVPWM modulator is earlier with V
αAnd V
βSynthesize space voltage vector V
*, this vector is converted to 3 path switching signals after the SVPWM modulation, be used to control 10 6 brachium pontis switches of net side converter.
Among Fig. 2, I
d, I
q, V
d, V
qAnd V
DcInput to I
DcObserver, estimation I
Dc, again by I
DcThe computing system load disturbance, this signal is as disturbance compensation signal I
L, offer the disturbance compensation signal selector.By the motor load power that the motor side converter control system provides, process power of motor fallout predictor is as the disturbance compensation signal
, offer the disturbance compensation signal selector.The disturbance compensation signal selector by special algorithm, is selected suitable load disturbance compensation signal I according to current dc voltage and other system mode
D_p, and deliver to active current adjuster input, be used for load disturbance compensation control.
I
d, I
qBe input to electrical network electromotive force estimator, electrical network electromotive force estimator output electromotive force amplitude
With the phase angle estimated value
The phase angle estimated value
Be used for net side 3 phase current transform vector and V
d, V
qThe vector inverse transformation, the electromotive force amplitude
Be used for feedfoward control.
Active current I
dPi regulator output variable V
D_pidInput to active current I
dFallout predictor, fallout predictor are calculated the active current predicted value
And provide it to the q axle and do decoupling zero control.
Referring to Fig. 5, in the SVPWM modulation algorithm,, substituted algebraic method with method of geometry by calculating the sector and accessing split-matrix by the sector, avoided trigonometric function operation, simplified algorithm.The algorithm principle preamble is described in detail, is not repeated at this.
Among Fig. 2, if the current transformer load is being for just, both current transformer was exported energy to the outside, and then the dc bus capacitor both end voltage descends, and voltage regulator output and load disturbance compensate and just be active current reference value I
d *For just, electrical network electromotive force and electric current phase angle difference
Be positioned near 0 degree, the net side converter works in 1,4 quadrants, and energy flows to load from electrical network.If the current transformer load is for negative, both outside then the dc bus capacitor both end voltage rises to the current transformer intake, and voltage regulator output and load disturbance compensation are negative, active current reference value I
d *For negative, electrical network electromotive force and electric current phase angle difference
Be positioned at 180 the degree near, the net side converter works in 2,3 quadrants, energy from load flow to electrical network.
Referring to Fig. 6, if direct voltage V
Dc＞V
Max, reactive current sign I
Q_IDXPut 1, if direct voltage V
Dc＜V
Mini, reactive current sign I
Q-IDXPut 0.If sign I
Q_IDXEqual 1, then I
q=I
Q_c, I
Q_cBe negative, if sign I
Q_IDXEqual 0, then I
q=0.
Self adaptation reactive current control point adjustment is determined suitable reactive current set-point I according to current system mode
q *, generally speaking, for realizing specific work because of control,
And when energy when DC side flows to electrical network,
Because work as I
qLess than 0, under the equivalent net side converter input voltage condition, the resistance both end voltage is elevated, and can make to flow through the increase of resistor current amplitude, thereby strengthen the net side to electrical network energy feedback ability, to reduce DC side pump up voltage.Therefore, adopt self adaptation reactive current given algorithm, can suppress dc voltage and rise, make V
DcMore steady.
More than show and described basic principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the specification just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (4)
1. a DC lateral voltage controllable 4 quadrant frequency transformer is characterized in that, comprising:
Power circuit, described power circuit is made of net side converter and motor side current transformer, is provided with a filter capacitor between net side converter and the motor side current transformer;
Control circuit, described control circuit comprises a processor and net side integrated chip that is connected with processor and motor side integrated chip, described net side integrated chip and motor side integrated chip produce the pwm pulse of control net side converter and motor side current transformer brachium pontis switch respectively under the control of processor, alternately bring into play the function of rectification and inversion to drive net side converter and motor side current transformer under different load conditions; And
Import the auxiliary circuit of various status signals to processor, net side integrated chip and motor side integrated chip, described auxiliary circuit comprises:
The capacitance voltage feedback circuit, it produces the voltage protecting signal of one road voltage feedback signal and three road different brackets, deliver to processor and net side integrated chip respectively, processor utilizes the PI controller output variable in voltage feedback signal and the voltage reference value adjusting processor, control capacitance both end voltage;
The current on line side feedback circuit, it produces the current protection signal of three road current feedback signals and three road different brackets, deliver to processor and net side integrated chip respectively, processor is by relatively current feedback signal and current reference value draw each brachium pontis switch switching signal duty ratio of net side converter, duty cycle signals offers net side integrated chip and produces pwm pulse, and pwm pulse drives each brachium pontis switch of net side converter again after drive circuit amplifies;
The motor side current feedback circuit, it provides the current protection signal to the motor side integrated chip, and with motor three road current feedback signal numerical value input processors;
The motor side velocity feedback circuits, its with the pulse signal of motor speed through shaping, send into the motor side integrated chip after the filtering, motor side integrated chip pulse signals is counted, count value stores the back and uses for processor, processor utilizes the count value of motor three road current feedback signals and pulse signal, speed ring is implemented PI control, electric current loop adopts the field orientation vector control, PI control and disturbance compensation control, obtain the duty ratio of motor side current transformer brachium pontis switching signal at last, after duty cycle signals is delivered to the motor side integrated chip, produce pwm pulse by the motor side integrated chip, pwm pulse each brachium pontis switch of drive motors side converter again after drive circuit amplifies;
Signal switching circuit, it receives treated net side three road current feedback signals and motor three road current feedback signals, by the time net side and motor three road current feedback signals is alternately exported, and three analog sampling passages of input processor.
2. DC lateral voltage controllable 4 quadrant frequency transformer as claimed in claim 1 is characterized in that: the relative filter capacitor with the motor side current transformer of described net side converter is symmetrical, adopts IGBT inverse parallel Power Diode Pumped structure.
3. the operation method of a DC lateral voltage controllable 4 quadrant frequency transformer, it is characterized in that: net side converter and motor side current transformer all adopt reversible convertor in the power circuit, be provided with a filter capacitor between net side converter and the motor side current transformer, control circuit adopts single-processor and two integrated chips, processor is controlled two integrated chips and is produced the pwm pulse that drives net side converter and motor side current transformer respectively, between net side converter and the motor side current transformer by same processor interactive information, and drive the function that net side converter and motor side current transformer are alternately brought into play rectification and inversion according to different load condition, operation method further comprises:
The controlled step of capacitance voltage, produce the voltage protecting signal of one road voltage feedback signal and three road different brackets by the capacitance voltage feedback circuit, deliver to the net side integrated chip in processor and two integrated chips respectively, processor utilizes voltage feedback signal and voltage reference value to regulate PI controller output variable, with control filter capacitor both end voltage;
Net side converter controlled step, produce the current protection signal of three road current feedback signals and three road different brackets by the current on line side feedback circuit, deliver to processor and net side integrated chip respectively, processor is by relatively current feedback signal and current reference value draw each brachium pontis switch switching signal duty ratio of net side converter, duty cycle signals offers net side integrated chip and produces pwm pulse, and pwm pulse drives each brachium pontis switch of net side converter again after drive circuit amplifies;
Motor side current transformer controlled step, provide the current protection signal by the motor side integrated chip of motor side current feedback circuit in two integrated chips, and with motor three road current feedback signal numerical value input processors, the motor side velocity feedback circuits with the pulse signal of motor speed through shaping, send into the motor side integrated chip after the filtering, motor side integrated chip pulse signals is counted, count value stores the back and uses for processor, processor utilizes the count value of motor three road current feedback signals and pulse signal, speed ring is implemented PI control, electric current loop adopts the field orientation vector control, PI control and disturbance compensation control, obtain the duty ratio of motor side current transformer brachium pontis switching signal at last, after duty cycle signals is delivered to the motor side integrated chip, produce pwm pulse by the motor side integrated chip, pwm pulse each brachium pontis switch of drive motors side converter again after drive circuit amplifies;
Processor time-sharing multiplex step, net side three road current feedback signals and motor three road current feedback signals are after treatment, deliver to signal switching circuit, signal switching circuit was alternately exported net side and motor three road current feedback signals by the time, current signal from signal switching circuit enters three analog sampling passages of processor, is used for Current Control after analog-to-digital conversion.
4. the operation method of control DC lateral voltage controllable 4 quadrant frequency transformer as claimed in claim 3 is characterized in that: the relative filter capacitor with the motor side current transformer of described net side converter is symmetrical, adopts IGBT inverse parallel Power Diode Pumped structure.
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| CN2008101201604A CN101425756B (en) | 2008-07-30 | 2008-07-30 | DC lateral voltage controllable 4 quadrant frequency transformer and method thereof |
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