CN102904458A - Voltage sag generation device and control method and device for inverter - Google Patents
Voltage sag generation device and control method and device for inverter Download PDFInfo
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- CN102904458A CN102904458A CN2012104442435A CN201210444243A CN102904458A CN 102904458 A CN102904458 A CN 102904458A CN 2012104442435 A CN2012104442435 A CN 2012104442435A CN 201210444243 A CN201210444243 A CN 201210444243A CN 102904458 A CN102904458 A CN 102904458A
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Abstract
The embodiment of the invention discloses a voltage sag generation device and a control method and a control device for an inverter. The generation device comprises a modular multi-level rectifier and a modular multi-level inverter, wherein the modular multi-level rectifier is connected with the modular multi-level inverter in a back-to-back power transmission connection manner, and the structures of the modular multi-level rectifier and the modular multi-level inverter are the same; each of the modular multi-level rectifier and the modular multi-level inverter comprises three phase units which are connected in parallel with one another; each phase unit consists of two bridge arms which are connected in series with each other; any bridge arm consists of N sub modules SM and a valve reactor which are connected in series; and each SM consists of two insulated gate bipolar transistor (IGBT) switching devices and a direct current energy storage capacitor which are connected in parallel. The device can precisely control a voltage sag depth, lasting time, a phase and a sag type and can be easily expanded to high voltage and high power grade; requirements on high voltage and high power are met; a requirement on the switching devices is low, and the switching devices are easy to purchase; the price is low; an output waveform is relatively high in quality; and the number of filters on an alternating current side is reduced.
Description
Technical field
The present invention relates to mobile electrical network field, particularly relate to control method and the device of a kind of voltage sag generator, inverter.
Background technology
Wind power generation receives much concern as a kind of green regenerative energy sources.Constantly increase along with wind-powered electricity generation unit installed capacity accounts for electrical network proportion, wind generator system is by combining inverter and get access to grid, and when electrical network breaks down when causing voltage to fall to a certain degree, will cause combining inverter and grid disconnection; Penetrate power with wind-force generating and constantly increase, if a large amount of wind generator system when electric network fault and grid disconnection, will cause the voltage of electrical network and frequency have a strong impact on, even may aggravate fault degree, finally cause the whole off-the-lines of system's unit.Therefore the serviceability of blower fan in the electric network fault situation seems very important.The new operation of power networks criterion of China explicitly calls for the grid type wind-powered electricity generation unit can not off-grid in voltage falls lower certain hour, must possess certain low voltage ride-through capability (Low Voltage Ride Through, LVRT).
The LVRT of research wind generator system under electric network fault, the line voltage sag generator that at first need have suitable wind power generation to study.It is the most common electric network fault type that voltage falls, the all kinds of only having accurate aanalogvoltage to fall, namely, only have and accurately to control the type that voltage falls the degree of depth, duration, phase place and falls, produce needed random waveform voltage to adapt to the demand of wind power system test under the different faults condition, research wind generator system low voltage crossing control strategy just is of practical significance.
Fall and have uncontrollability and electric network fault or disturbance cause the voltage of wind farm grid-connected point, and for the low voltage ride-through capability of development﹠ testing wind-powered electricity generation unit, must have special equipment to simulate various types of voltages falls, this equipment is called voltage falling generator (Voltage Sag Generater, VSG).
Available technology adopting is based on the VSG of two level voltage source converters.Converter adopts two level voltage sources, line voltage process ac-dc-ac transform is to tested power devices, rectifier control inputs power factor, maintenance DC-side Voltage Stabilization by the control to inverter, can produce needed various types of voltage and fall waveform.The voltage falling generator scheme that feasibility is strong will satisfy the requirement of three aspects: the high-power grade, realize simple and cost low.
In the VSG of prior art, when needs are supported high-power output, must expand grade, need to adopt a large amount of switching devices directly to connect, the connected mode of this direct series connection is very high to the coherence request that each device turns on and off, simultaneously, the stress that also causes switching device to bear is larger.Therefore, this is also just harsh to the manufacturing technique requirent of switching device, this switching device that is suitable at present, and its purchasing price is very expensive, and price causes the production cost of VSG very high up to hundreds thousand of dollars.
Summary of the invention
In order to address the above problem, the object of the invention is to provide control method and the device of a kind of voltage sag generator, inverter, can accurately control voltage and fall the degree of depth, duration, phase place and the type of falling, and very easyly can expand to high voltage and high-power grade, satisfy the demand of high-tension high-power, less demanding to switching device bought low price easily, and the waveform quality of output is more excellent, also reduces the filter of AC.
The invention provides a kind of voltage sag generator, comprising:
Modular multilevel rectifier and modular multilevel inverter;
Described modular multilevel rectifier be connected the modular multilevel inverter and connect with the connected mode of transmitting electricity back-to-back, described modular multilevel inverter is identical with the structure of described modular multilevel rectifier; Wherein,
Described modular multilevel rectifier comprises: the first brachium pontis first-phase unit, the 3rd brachium pontis that form connect with the 6th brachium pontis third phase unit of formation of second-phase unit, the 5th brachium pontis of formation of connect with the 4th brachium pontis of connecting with the second brachium pontis, three facies unit parallel connections;
Six brachium pontis, by N the submodule SM formation of connecting with a valve reactor, N is the natural number more than or equal to 1;
Described SM comprises two IGBT derailing switches and a dc energy storage electric capacity, the rear and dc energy storage Capacitance parallel connection of described two IGBT derailing switches series connection.
A kind of control method of inverter is controlled the modular multilevel inverter in the described device, comprising:
Three-phase actual current, three-phase virtual voltage and the three-phase reference voltage of detection module multi-electrical level inverter top-cross stream bus;
Described three-phase actual current, three-phase virtual voltage and three-phase reference voltage are carried out respectively Coordinate Conversion, obtain d axle component and q axle component, the d axle component of virtual voltage and d axle component and the q axle component of q axle component and reference voltage of actual current;
Calculate respectively d axle and the reference voltage of q axle component and the difference between the virtual voltage, and described difference is carried out respectively voltage-regulation, obtain d shaft voltage regulated value and q shaft voltage regulated value;
Respectively actual current q axle component and actual current d axle component are carried out the electric current adjusting, obtain the first modulation voltage and the second modulation voltage;
Calculate described d shaft voltage regulated value and the first modulation voltage and value, obtain d axle output voltage, calculate q shaft voltage regulated value and the second modulation voltage difference, obtain q axle output voltage;
Calculate respectively voltage and the value of d axle and q axle output voltage and each self-dalay T/4, obtain respectively d axle control voltage and q axle control voltage, T is 2 π/w, and w is the angular frequency of predetermined current;
D axle control voltage and q axle control voltage are carried out Coordinate Conversion, obtain α axle control voltage and β axle control voltage;
Described α axle control voltage and β axle control voltage are carried out trigger impulse generation processing, the pulse signal of controlled described modular multilevel inverter.
Preferably, described d axle and the reference voltage of q axle component and the difference between the virtual voltage calculated respectively, and described difference is carried out respectively voltage-regulation control, obtain d shaft voltage regulated value and q shaft voltage regulated value, comprising:
By PI proportional integral conditioning controller, calculate d shaft voltage regulated value according to formula: Vd=k1 (Udref-Ud)+k2 ∫ (Uref-Ud) dt, wherein, Vd is d shaft voltage regulated value, k1 and k2 regulate control coefrficient, and Udref is d axle reference voltage, and Ud is d axle virtual voltage; And
According to formula: Vq=k3 (Udref-Uq)+k4 ∫ (Uqref-Uq) dt, calculate q shaft voltage regulated value, wherein, Vq is q shaft voltage regulated value, k3 and k4 regulate control coefrficient, and Uqref is respectively q axle reference voltage, and Uq is q axle virtual voltage.
Preferably, describedly respectively the actual current value of the actual current value of q axle and d axle is carried out electric current and regulates, obtain the first modulation voltage and the second modulation voltage, comprising:
According to formula: V1=ω Li
q, the actual current value of q axle is carried out electric current regulate, calculate the first modulation voltage, wherein V1 is the first modulation voltage, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value in the described modular multilevel inverter, i
qIt is q axle actual current value;
According to formula: V2=ω Li
d, the actual current value of d axle is carried out electric current regulate, calculate the second modulation voltage, wherein V2 is the second modulation voltage, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value in the described modular multilevel inverter, i
dIt is d axle actual current value.
Preferably, described calculating described d shaft voltage regulated value and the first modulation voltage and value obtain d axle output voltage, calculate q shaft voltage regulated value and the second modulation voltage difference, obtain q axle output voltage, comprising:
According to formula: V1 (t)=k1 (Udref-Ud)+k2 ∫ (Udref-Ud) dt+ ω Li
q, calculate d axle output voltage, wherein, V1 (t) is d axle output voltage, k1 (Udref-Ud)+k2 ∫ (Udref-Ud) dt is d shaft voltage regulated value, ω Li
qBe the first modulation voltage, k1 and k2 regulate control coefrficient, and Udref and Ud are respectively reference voltage and the virtual voltages of d axle, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value, i
qIt is actual current q axle value;
According to formula: V2 (t)=k3 (Uqref-Uq)+k4 ∫ (Uqref-Uq) dt-ω Li
d, calculate q axle output voltage, wherein, V2 (t) is q axle output voltage, k3 (Uqref-Uq)+k4 ∫ (Uqref-Uq) dt is q shaft voltage regulated value, ω Li
dBe the second modulation voltage, k3 and k4 regulate control coefrficient, and Uqref and Uq are respectively reference voltage and the virtual voltages of q axle, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value, i
dIt is the d axle value of actual current.
Preferably, described voltage and the value of calculating respectively d axle and q axle output voltage and each self-dalay T/4 obtains respectively d axle control voltage and q axle control voltage, comprising:
According to formula: Vd (t)=V1 (t)+V1 (t-T/4), calculate described d axle output voltage and the voltage and the value that postpone T/4, obtain d axle control voltage, wherein, Vd (t) is d axle control voltage, V1 (t) is d axle output voltage, and V1 (t-T/4) is the voltage that postpones T/4;
According to formula: Vq (t)=V2 (t)+V2 (t-T/4), calculate described q axle output voltage and the voltage and the value that postpone T/4, obtain q axle control voltage, wherein, Vq (t) is q axle control voltage, V2 (t) is q axle output voltage, and V2 (t-T/4) is the voltage that postpones T/4.
Preferably, also comprise:
Pulse signal with the described modular multilevel inverter of the control that obtains, control opening or turn-offing of insulated gate bipolar transistor IGBT among described each submodule of modular multilevel inverter SM, produce the output voltage of described modular multilevel inverter AC.
A kind of control device of inverter is controlled the modular multilevel inverter in the described device, comprising:
Detection module flows three-phase actual current, three-phase virtual voltage and the three-phase of bus with reference to phase voltage for detection of the multi-electrical level inverter top-cross;
The first coordinate transferring, be used for the three-phase actual current, three-phase virtual voltage and the three-phase that detect with reference to phase voltage, carry out respectively Coordinate Conversion, obtain d axle component and q axle component, the d axle component of virtual voltage and d axle component and the q axle component of q axle component and reference voltage of actual current;
The first computing module is used for calculating respectively d axle and the reference voltage of q axle component and the difference between the virtual voltage, and described difference is carried out respectively voltage-regulation control, obtains d shaft voltage regulated value and q shaft voltage regulated value;
The first adjustment module is used for respectively the current value of q axle and the current value of d axle being carried out the electric current adjusting, obtains the first modulation voltage and the second modulation voltage;
The second computing module is used for calculating described d shaft voltage regulated value and the first regulation voltage and value, obtains d axle output voltage, calculates q shaft voltage regulated value and the second regulation voltage difference, obtains q axle output voltage;
The delay disposal module for voltage and the value of calculating respectively d axle and q axle output voltage and each self-dalay T/4, obtains respectively d axle control voltage and q axle control voltage;
The second coordinate transferring is used for obtaining α axle control voltage and β axle control voltage to d axle control voltage and q axle control voltage are carried out Coordinate Conversion;
The pulse signal generation module carries out trigger impulse generation processing, the pulse signal of controlled inverter to described α axle control voltage and β axle control voltage.
Preferably, described the first computing module comprises:
The d shaft voltage is regulated submodule, is used for by PI proportional integral conditioning controller, according to formula:
Vd＝k1(Udref-Ud)+k2∫(Uref-Ud)dt
Calculate d shaft voltage regulated value, wherein, Vd is d shaft voltage regulated value, and k1 and k2 regulate control coefrficient, and Udref is d axle reference voltage, and Ud is d axle virtual voltage; And
The q shaft voltage is regulated submodule: be used for according to formula: Vq=k3 (Udref-Uq)+k4 ∫ (Uqref-Uq) dt, calculate q shaft voltage regulated value, wherein, Vq is q shaft voltage regulated value, k3 and k4 regulate control coefrficient, Uqref is respectively q axle reference voltage, and Uq is q axle virtual voltage.
Preferably, described the first adjustment module comprises:
The q shaft current is regulated submodule, is used for according to formula: V1=ω Li
q, the actual current value of q axle is carried out electric current regulate, calculate the first modulation voltage, wherein V1 is the first modulation voltage, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value in the described modular multilevel inverter, i
qIt is q axle actual current value;
The d shaft current is regulated submodule, is used for according to formula: V2=ω Li
d, the actual current value of d axle is carried out electric current regulate, calculate the second modulation voltage, wherein V2 is the second modulation voltage, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value in the described modular multilevel inverter, i
dIt is d axle actual current value.
Preferably, described the second computing module comprises:
D axle output voltage calculating sub module is used for according to formula:
V1 (t)=k1 (Udref-Ud)+k2 ∫ (Udref-Ud) dt+ ω Li
q, calculate d axle output voltage, wherein, V1 (t) is d axle output voltage, k1 (Udref-Ud)+k2 ∫ (Udref-Ud) dt is d shaft voltage regulated value, ω Li
qBe the first modulation voltage, k1 and k2 regulate control coefrficient, and Udref and Ud are respectively reference voltage and the virtual voltages of d axle, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value, i
qIt is actual current q axle value;
Q axle output voltage calculating sub module is used for according to formula:
V2 (t)=k3 (Uqref-Uq)+k4 ∫ (Uqref-Uq) dt-ω Li
d, calculate q axle output voltage, wherein, V2 (t) is q axle output voltage, k3 (Uqref-Uq)+k4 ∫ (Uqref-Uq) dt is q shaft voltage regulated value, ω Li
dBe the second modulation voltage, k3 and k4 regulate control coefrficient, and Uqref and Uq are respectively reference voltage and the virtual voltages of q axle, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value, i
dIt is the d axle value of actual current.
Preferably, described delay disposal module comprises:
The d axle postpones submodule, be used for according to formula: Vd (t)=V1 (t)+V1 (t-T/4), calculate described d axle output voltage and the voltage and the value that postpone T/4, obtain d axle control voltage, wherein, Vd (t) is d axle control voltage, and V1 (t) is d axle output voltage, and V1 (t-T/4) is the voltage that postpones T/4;
The q axle postpones submodule, be used for according to formula: Vq (t)=V2 (t)+V2 (t-T/4), calculate described q axle output voltage and the voltage and the value that postpone T/4, obtain q axle control voltage, wherein, Vq (t) is q axle control voltage, and V2 (t) is q axle output voltage, and V2 (t-T/4) is the voltage that postpones T/4.
Preferably, also comprise the trigger impulse module,
Described trigger module, be used for controlling according to the pulse signal that the pulse signal generation module produces the opening or turn-offing of insulated gate bipolar transistor IGBT of each submodule of described modular multilevel inverter, to produce the output voltage of described modular multilevel inverter AC.
A kind of voltage sag generator provided by the present invention, the modular circuit structure that adopts, can increase or reduce according to current demand the number of submodule SM, to support the voltage tester engineering demand of high-tension high-power, and reduced the technological requirement to switching device, manufacturing cost and the integrated difficulty of device have been reduced, improved the performance of whole system, the control method that provides is controlled the inverter in the voltage sag generator, adopt the method for delay disposal, eliminate the alternating current component problem of two frequencys multiplication, produce more accurately control voltage, generate through trigger impulse and process the pulse signal of controlled modular multilevel inverter, with this pulse signal opening with closing of the switching device among the submodule SM in the inverter controlled, thereby realized the generation of various waveform voltage.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing in the following describes only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is a kind of voltage sag generator structural representation that the embodiment of the invention one discloses;
Fig. 2 is the control method flow chart of a kind of inverter of the embodiment of the invention two announcements;
Fig. 3 is the control method flow chart of the another kind of inverter of the embodiment of the invention three announcements;
Fig. 4 is the control device structural representation of a kind of inverter of the embodiment of the invention four announcements;
Fig. 5 is the control device structural representation of the another kind of inverter of the embodiment of the invention five announcements.
Embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, below in conjunction with accompanying drawing the embodiment of the invention is described in detail.
Embodiment one
The invention provides a kind of voltage sag generator, the below be embodiment one for example is described, specifically see also Fig. 1, it is a kind of voltage sag generator structural representation that the embodiment of the invention one discloses, and specifically comprises:
Modular multilevel rectifier and modular multilevel inverter;
Described modular multilevel rectifier be connected the modular multilevel inverter and connect with the connected mode of transmitting electricity back-to-back, described modular multilevel inverter is identical with the structure of described modular multilevel rectifier; Wherein,
Described modular multilevel rectifier comprises: the first brachium pontis first-phase unit, the 3rd brachium pontis that form connect with the 6th brachium pontis third phase unit of formation of second-phase unit, the 5th brachium pontis of formation of connect with the 4th brachium pontis of connecting with the second brachium pontis, three facies unit parallel connections;
Six brachium pontis, by N the submodule SM formation of connecting with a valve reactor, N is the natural number more than or equal to 1;
Described SM comprises two IGBT derailing switches and a dc energy storage electric capacity, the rear and dc energy storage Capacitance parallel connection of described two IGBT derailing switches series connection.
Said apparatus, the modular circuit structure that adopts, can increase or reduce according to current demand the number of submodule SM, to support the voltage tester engineering demand of high-tension high-power, and reduced the technological requirement to switching device, reduce manufacturing cost and the integrated difficulty of device, improved the performance of whole system.
Embodiment two
For the device of describing in above-described embodiment, owing to exist static state, dynamic voltage balancing, electromagnetic interference to reach because too high switching frequency can bring the too high problems such as switching loss, therefore to fall waveform quality not high for the voltage of VSG output, harmonic content is larger, particularly when the number of submodule was many, these problems can be more serious.Prior art usually adopts at AC the method that filter carries out filtering is installed, and eliminates to a certain extent the problems referred to above, avoids the performance of whole VSG circuit is exerted an influence.But when the AC installing filter was thoroughly eliminated the alternating current component of two frequencys multiplication, its filter effect was subjected to frequency influence larger, the frequency fluctuation meeting makes the performance of filter variation, cause delay to a certain degree, thereby so that the waveform quality that produces is relatively poor, can't satisfy testing requirement.
For above-mentioned technical problem, the invention provides a kind of control method of inverter, modular multilevel inverter in the said apparatus is controlled, thereby solve the alternating current component problem for thorough elimination two frequencys multiplication, also solved the Cost Problems that brings and technical problem in AC case subfilter simultaneously.
Method for better explanation the present invention proposes describes as an example of following embodiment two example, and the control method flow chart of the concrete a kind of inverter that discloses such as Fig. 2 specifically may further comprise the steps:
Step 201: three-phase actual current, three-phase virtual voltage and the three-phase reference voltage of detection module multi-electrical level inverter top-cross stream bus;
Step 202: described three-phase actual current, three-phase virtual voltage and three-phase reference voltage are carried out respectively Coordinate Conversion, obtain d axle component and q axle component, the d axle component of virtual voltage and d axle component and the q axle component of q axle component and reference voltage of actual current;
Step 203: calculate respectively d axle and the reference voltage of q axle component and the difference between the virtual voltage, and described difference is carried out respectively voltage-regulation, obtain d shaft voltage regulated value and q shaft voltage regulated value;
Step 204: respectively actual current q axle component and actual current d axle component are carried out the electric current adjusting, obtain the first modulation voltage and the second modulation voltage;
Step 205: calculate described d shaft voltage regulated value and the first modulation voltage and value, obtain d axle output voltage, calculate q shaft voltage regulated value and the second modulation voltage difference, obtain q axle output voltage;
Step 207: calculate respectively voltage and the value of d axle and q axle output voltage and each self-dalay T/4, obtain respectively d axle control voltage and q axle control voltage, T is 2 π/w, and w is the angular frequency of predetermined current;
Step 208: d axle control voltage and q axle control voltage are carried out Coordinate Conversion, obtain α axle control voltage and β axle control voltage;
Step 209: described α axle control voltage and β axle control voltage are carried out trigger impulse generation processing, the pulse signal of controlled described modular multilevel inverter.
Method by above-described embodiment description, can adopt the method for delay disposal, eliminate the alternating current component problem of two frequencys multiplication, produce more accurately control voltage, generate processing through trigger impulse, the pulse signal of controlled modular multilevel inverter is controlled opening with closing of the switching device among the submodule SM in the inverter with this pulse signal, thereby realizes the generation of various waveform voltage.
Embodiment three
For the method that the present invention is proposed, more specifically describe, the below is described as an example of embodiment three example, specifically sees also shown in the control method flow chart of another kind of inverter of Fig. 3 proposition, specifically may further comprise the steps:
Step 301: three-phase actual current, three-phase virtual voltage and the three-phase reference voltage of detection module multi-electrical level inverter top-cross stream bus;
Step 302: described three-phase actual current, three-phase virtual voltage and three-phase reference voltage are carried out respectively Coordinate Conversion, obtain d axle component and q axle component, the d axle component of virtual voltage and d axle component and the q axle component of q axle component and reference voltage of actual current;
Step 303: calculate respectively d axle and the reference voltage of q axle component and the difference between the virtual voltage, and described difference is carried out respectively voltage-regulation, obtain d shaft voltage regulated value and q shaft voltage regulated value;
Above-mentioned steps 303 for example can be specially: step 303A, and by PI proportional integral conditioning controller,
According to formula: Vd=k1 (Udref-Ud)+k2 ∫ (Uref-Ud) dt, calculate d shaft voltage regulated value, wherein, Vd is d shaft voltage regulated value, and k1 and k2 regulate control coefrficient, and Udref is d axle reference voltage, and Ud is d axle virtual voltage; And
Above-mentioned steps 303A and 303B do not have the sequencing requirement, can any one step carry out first, can two steps carry out simultaneously yet, shown in Figure 3ly only are a kind of situation wherein.
Step 304: respectively actual current q axle component and actual current d axle component are carried out the electric current adjusting, obtain the first modulation voltage and the second modulation voltage;
Above-mentioned steps 304 for example can be specially: step 304A, and according to formula: V1=ω Li
q, the actual current value of q axle is carried out electric current regulate, calculate the first modulation voltage, wherein V1 is the first modulation voltage, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value in the described modular multilevel inverter, i
qIt is q axle actual current value;
Above-mentioned steps 304A and 304B do not have the sequencing requirement, can any one step carry out first, can two steps carry out simultaneously yet, shown in Figure 3ly only are a kind of situation wherein.
Step 305: calculate described d shaft voltage regulated value and the first modulation voltage and value, obtain d axle output voltage, calculate q shaft voltage regulated value and the second modulation voltage difference, obtain q axle output voltage;
Above-mentioned steps 305 for example can be specially: step 305A is according to formula: V1 (t)=k1 (Udref-Ud)+k2 ∫ (Udref-Ud) dt+ ω Li
q, calculate d axle output voltage, wherein, V1 (t) is d axle output voltage, k1 (Udref-Ud)+k2 ∫ (Udref-Ud) dt is d shaft voltage regulated value, ω Li
qBe the first modulation voltage, k1 and k2 regulate control coefrficient, and Udref and Ud are respectively reference voltage and the virtual voltages of d axle, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value, i
qIt is actual current q axle value;
Above-mentioned steps 305A and 305B do not have the sequencing requirement, can any one step carry out first, can two steps carry out simultaneously yet, shown in Figure 3ly only are a kind of situation wherein.
Step 306: calculate respectively voltage and the value of d axle and q axle output voltage and each self-dalay T/4, obtain respectively d axle control voltage and q axle control voltage, T is 2 π/w, and w is the angular frequency of predetermined current;
Above-mentioned steps 306, for example can be specially: step 306A, according to formula: Vd (t)=V1 (t)+V1 (t-T/4), calculate described d axle output voltage and the voltage and the value that postpone T/4, obtain d axle control voltage, wherein, Vd (t) is d axle control voltage, V1 (t) is d axle output voltage, and V1 (t-T/4) is the voltage that postpones T/4;
Above-mentioned steps 306A and 306B do not have the sequencing requirement, can any one step carry out first, can two steps carry out simultaneously yet, shown in Figure 3ly only are a kind of situation wherein.
Step 307: d axle control voltage and q axle control voltage are carried out Coordinate Conversion, obtain α axle control voltage and β axle control voltage;
Step 308: described α axle control voltage and β axle control voltage are carried out trigger impulse generation processing, the pulse signal of controlled described modular multilevel inverter.
Said method, also comprise, step 309: with the pulse signal of the described modular multilevel inverter of control that obtains, control opening or turn-offing of insulated gate bipolar transistor IGBT among described each submodule of modular multilevel inverter SM, produce the output voltage of described modular multilevel inverter AC.
Method by above-described embodiment description, can adopt concrete calculating that electric current and voltage is regulated control, adopt the method for delay disposal, eliminate the alternating current component problem of two frequencys multiplication, produce more accurately control voltage, generate through trigger impulse and process the pulse signal of controlled modular multilevel inverter, with this pulse signal opening with closing of the switching device among the submodule SM in the inverter controlled, thereby realized the generation of various waveform voltage.
Embodiment four
The present invention also provides a kind of control device of inverter, modular multilevel inverter in the device described in above-described embodiment 1 is controlled, and the below is example to embodiment four, is described, specifically see also the control device structural representation of a kind of inverter shown in Figure 4, specifically comprise:
Detection module 401 flows three-phase actual current, three-phase virtual voltage and the three-phase of bus with reference to phase voltage for detection of the multi-electrical level inverter top-cross;
The first coordinate transferring 402, be used for the three-phase actual current, three-phase virtual voltage and the three-phase that detect with reference to phase voltage, carry out respectively Coordinate Conversion, obtain d axle component and q axle component, the d axle component of virtual voltage and d axle component and the q axle component of q axle component and reference voltage of actual current;
The first computing module 403 is used for calculating respectively d axle and the reference voltage of q axle component and the difference between the virtual voltage, and described difference is carried out respectively voltage-regulation control, obtains d shaft voltage regulated value and q shaft voltage regulated value;
The first adjustment module 404 is used for respectively the current value of q axle and the current value of d axle being carried out the electric current adjusting, obtains the first modulation voltage and the second modulation voltage;
The second computing module 405 is used for calculating described d shaft voltage regulated value and the first regulation voltage and value, obtains d axle output voltage, calculates q shaft voltage regulated value and the second regulation voltage difference, obtains q axle output voltage;
Delay disposal module 406 for voltage and the value of calculating respectively d axle and q axle output voltage and each self-dalay T/4, obtains respectively d axle control voltage and q axle control voltage;
The second coordinate transferring 407 is used for obtaining α axle control voltage and β axle control voltage to d axle control voltage and q axle control voltage are carried out Coordinate Conversion;
Pulse signal generation module 408 carries out trigger impulse generation processing, the pulse signal of controlled inverter to described α axle control voltage and β axle control voltage.
Preferably, said apparatus, also comprise: trigger module, be used for controlling according to the pulse signal that the pulse signal generation module produces the opening or turn-offing of insulated gate bipolar transistor IGBT of each submodule of described modular multilevel inverter, to produce the output voltage of described modular multilevel inverter AC.
Pass through said apparatus, the delay disposal module that adopts, can eliminate the alternating current component problem of two frequencys multiplication, whole device can produce control voltage more accurately, through the trigger impulse resume module, produce the pulse signal of control module multi-electrical level inverter, with this pulse signal opening with closing of the switching device among the submodule SM in the inverter controlled, thereby realize the generation of various waveform voltage.
Embodiment five
The below is described with five pairs of control device provided by the invention of more detailed embodiment, specifically sees also Fig. 5 and is the control device of the another kind of inverter of this aspect announcement, specifically comprises:
Detection module 501 flows three-phase actual current, three-phase virtual voltage and the three-phase of bus with reference to phase voltage for detection of the multi-electrical level inverter top-cross;
The first coordinate transferring 502, be used for the three-phase actual current, three-phase virtual voltage and the three-phase that detect with reference to phase voltage, carry out respectively Coordinate Conversion, obtain d axle component and q axle component, the d axle component of virtual voltage and d axle component and the q axle component of q axle component and reference voltage of actual current;
The first computing module 503 is used for calculating respectively d axle and the reference voltage of q axle component and the difference between the virtual voltage, and described difference is carried out respectively voltage-regulation control, obtains d shaft voltage regulated value and q shaft voltage regulated value;
Preferably, above-mentioned the first computing module 503, comprise: the d shaft voltage regulates submodule 503A and the q shaft voltage is regulated submodule 503B, wherein, the d shaft voltage is regulated submodule 503A, be used for by PI proportional integral conditioning controller, according to formula: Vd=k1 (Udref-Ud)+k2 ∫ (Uref-Ud) dt
Calculate d shaft voltage regulated value, wherein, Vd is d shaft voltage regulated value, and k1 and k2 regulate control coefrficient, and Udref is d axle reference voltage, and Ud is d axle virtual voltage; And
The q shaft voltage is regulated submodule 503B: be used for according to formula: Vq=k3 (Udref-Uq)+k4 ∫ (Uqref-Uq) dt, calculate q shaft voltage regulated value, wherein, Vq is q shaft voltage regulated value, k3 and k4 regulate control coefrficient, Uqref is respectively q axle reference voltage, and Uq is q axle virtual voltage.
The first adjustment module 504 is used for respectively the current value of q axle and the current value of d axle being carried out the electric current adjusting, obtains the first modulation voltage and the second modulation voltage;
Preferably, above-mentioned the first adjustment module 504 comprises: the q shaft current regulates submodule 504A and the d shaft current is regulated submodule 504B, wherein,
The q shaft current is regulated submodule 504A, is used for according to formula: V1=ω Li
q, the actual current value of q axle is carried out electric current regulate, calculate the first modulation voltage, wherein V1 is the first modulation voltage, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value in the described modular multilevel inverter, i
qIt is q axle actual current value;
The d shaft current is regulated submodule 504B, is used for according to formula: V2=ω Li
d, the actual current value of d axle is carried out electric current regulate, calculate the second modulation voltage, wherein V2 is the second modulation voltage, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value in the described modular multilevel inverter, i
dIt is d axle actual current value.
The second computing module 505 is used for calculating described d shaft voltage regulated value and the first regulation voltage and value, obtains d axle output voltage, calculates q shaft voltage regulated value and the second regulation voltage difference, obtains q axle output voltage;
Preferably, above-mentioned the second computing module 505 comprises: d axle output voltage calculating sub module 505A and q axle output voltage calculating sub module 505B, wherein,
D axle output voltage calculating sub module 505A is used for according to formula:
V1 (t)=k1 (Udref-Ud)+k2 ∫ (Udref-Ud) dt+ ω Li
q, calculate d axle output voltage, wherein, V1 (t) is d axle output voltage, k1 (Udref-Ud)+k2 ∫ (Udref-Ud) dt is d shaft voltage regulated value, ω Li
qBe the first modulation voltage, k1 and k2 regulate control coefrficient, and Udref and Ud are respectively reference voltage and the virtual voltages of d axle, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value, i
qIt is actual current q axle value;
Q axle output voltage calculating sub module 505B is used for according to formula: V2 (t)=k3 (Uqref-Uq)+k4 ∫ (Uqref-Uq) dt-ω Li
d, calculate q axle output voltage, wherein, V2 (t) is q axle output voltage, k3 (Uqref-Uq)+k4 ∫ (Uqref-Uq) dt is q shaft voltage regulated value, ω Li
dBe the second modulation voltage, k3 and k4 regulate control coefrficient, and Uqref and Uq are respectively reference voltage and the virtual voltages of q axle, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value, i
dIt is the d axle value of actual current.
Delay disposal module 506 for voltage and the value of calculating respectively d axle and q axle output voltage and each self-dalay T/4, obtains respectively d axle control voltage and q axle control voltage;
Preferably, above-mentioned delay disposal module 506 comprises: the d axle postpones submodule 506A and the q axle postpones submodule 506B,
The d axle postpones submodule 506A, be used for according to formula: Vd (t)=V1 (t)+V1 (t-T/4), calculate described d axle output voltage and the voltage and the value that postpone T/4, obtain d axle control voltage, wherein, Vd (t) is d axle control voltage, and V1 (t) is d axle output voltage, and V1 (t-T/4) is the voltage that postpones T/4;
The q axle postpones submodule 506B, be used for according to formula: Vq (t)=V2 (t)+V2 (t-T/4), calculate described q axle output voltage and the voltage and the value that postpone T/4, obtain q axle control voltage, wherein, Vq (t) is q axle control voltage, and V2 (t) is q axle output voltage, and V2 (t-T/4) is the voltage that postpones T/4.
The second coordinate transferring 507 is used for obtaining α axle control voltage and β axle control voltage to d axle control voltage and q axle control voltage are carried out Coordinate Conversion;
Pulse signal generation module 508 carries out trigger impulse generation processing, the pulse signal of controlled inverter to described α axle control voltage and β axle control voltage.
Preferably, said apparatus, also comprise: trigger module 509, be used for controlling according to the pulse signal that the pulse signal generation module produces the opening or turn-offing of insulated gate bipolar transistor IGBT of each submodule of described modular multilevel inverter, to produce the output voltage of described modular multilevel inverter AC.
More than to control method and the device of a kind of voltage sag generator provided by the present invention, inverter, be described in detail, used specific embodiment herein principle of the present invention and execution mode are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (13)
1. a voltage sag generator is characterized in that, comprising:
Modular multilevel rectifier and modular multilevel inverter;
Described modular multilevel rectifier be connected the modular multilevel inverter and connect with the connected mode of transmitting electricity back-to-back, described modular multilevel inverter is identical with the structure of described modular multilevel rectifier; Wherein,
Described modular multilevel rectifier comprises: the first brachium pontis first-phase unit, the 3rd brachium pontis that form connect with the 6th brachium pontis third phase unit of formation of second-phase unit, the 5th brachium pontis of formation of connect with the 4th brachium pontis of connecting with the second brachium pontis, three facies unit parallel connections;
Six brachium pontis, by N the submodule SM formation of connecting with a valve reactor, N is the natural number more than or equal to 1;
Described SM comprises two IGBT derailing switches and a dc energy storage electric capacity, the rear and dc energy storage Capacitance parallel connection of described two IGBT derailing switches series connection.
2. the control method of an inverter is characterized in that, the modular multilevel inverter in the claims 1 described device is controlled, and comprising:
Three-phase actual current, three-phase virtual voltage and the three-phase reference voltage of detection module multi-electrical level inverter top-cross stream bus;
Described three-phase actual current, three-phase virtual voltage and three-phase reference voltage are carried out respectively Coordinate Conversion, obtain d axle component and q axle component, the d axle component of virtual voltage and d axle component and the q axle component of q axle component and reference voltage of actual current;
Calculate respectively d axle and the reference voltage of q axle component and the difference between the virtual voltage, and described difference is carried out respectively voltage-regulation, obtain d shaft voltage regulated value and q shaft voltage regulated value;
Respectively actual current q axle component and actual current d axle component are carried out the electric current adjusting, obtain the first modulation voltage and the second modulation voltage;
Calculate described d shaft voltage regulated value and the first modulation voltage and value, obtain d axle output voltage, calculate q shaft voltage regulated value and the second modulation voltage difference, obtain q axle output voltage;
Calculate respectively voltage and the value of d axle and q axle output voltage and each self-dalay T/4, obtain respectively d axle control voltage and q axle control voltage, T is 2 π/w, and w is the angular frequency of predetermined current;
D axle control voltage and q axle control voltage are carried out Coordinate Conversion, obtain α axle control voltage and β axle control voltage;
Described α axle control voltage and β axle control voltage are carried out trigger impulse generation processing, the pulse signal of controlled described modular multilevel inverter.
3. method according to claim 2, it is characterized in that, described d axle and the reference voltage of q axle component and the difference between the virtual voltage calculated respectively, and described difference is carried out respectively voltage-regulation control, obtain d shaft voltage regulated value and q shaft voltage regulated value, comprising:
By PI proportional integral conditioning controller, calculate d shaft voltage regulated value according to formula: Vd=k1 (Udref-Ud)+k2 ∫ (Uref-Ud) dt, wherein, Vd is d shaft voltage regulated value, k1 and k2 regulate control coefrficient, and Udref is d axle reference voltage, and Ud is d axle virtual voltage; And
According to formula: Vq=k3 (Udref-Uq)+k4 ∫ (Uqref-Uq) dt, calculate q shaft voltage regulated value, wherein, Vq is q shaft voltage regulated value, k3 and k4 regulate control coefrficient, and Uqref is respectively q axle reference voltage, and Uq is q axle virtual voltage.
4. method according to claim 2 is characterized in that, describedly respectively the actual current value of the actual current value of q axle and d axle is carried out electric current and regulates, and obtains the first modulation voltage and the second modulation voltage, comprising:
According to formula: V1=ω Li
q, the actual current value of q axle is carried out electric current regulate, calculate the first modulation voltage, wherein V1 is the first modulation voltage, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value in the described modular multilevel inverter, i
qIt is q axle actual current value;
According to formula: V2=ω Li
d, the actual current value of d axle is carried out electric current regulate, calculate the second modulation voltage, wherein V2 is the second modulation voltage, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value in the described modular multilevel inverter, i
dIt is d axle actual current value.
5. described method according to claim 2 is characterized in that described calculating described d shaft voltage regulated value and the first modulation voltage and value obtain d axle output voltage, calculates q shaft voltage regulated value and the second modulation voltage difference, obtains q axle output voltage, comprising:
According to formula: V1 (t)=k1 (Udref-Ud)+k2 ∫ (Udref-Ud) dt+ ω Li
q, calculate d axle output voltage, wherein, V1 (t) is d axle output voltage, k1 (Udref-Ud)+k2 ∫ (Udref-Ud) dt is d shaft voltage regulated value, ω Li
qBe the first modulation voltage, k1 and k2 regulate control coefrficient, and Udref and Ud are respectively reference voltage and the virtual voltages of d axle, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value, i
qIt is actual current q axle value;
According to formula: V2 (t)=k3 (Uqref-Uq)+k4 ∫ (Uqref-Uq) dt-ω Li
d, calculate q axle output voltage, wherein, V2 (t) is q axle output voltage, k3 (Uqref-Uq)+k4 ∫ (Uqref-Uq) dt is q shaft voltage regulated value, ω Li
dBe the second modulation voltage, k3 and k4 regulate control coefrficient, and Uqref and Uq are respectively reference voltage and the virtual voltages of q axle, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value, i
dIt is the d axle value of actual current.
6. method according to claim 2 is characterized in that, described voltage and the value of calculating respectively d axle and q axle output voltage and each self-dalay T/4 obtains respectively d axle control voltage and q axle control voltage, comprising:
According to formula: Vd (t)=V1 (t)+V1 (t-T/4), calculate described d axle output voltage and the voltage and the value that postpone T/4, obtain d axle control voltage, wherein, Vd (t) is d axle control voltage, V1 (t) is d axle output voltage, and V1 (t-T/4) is the voltage that postpones T/4;
According to formula: Vq (t)=V2 (t)+V2 (t-T/4), calculate described q axle output voltage and the voltage and the value that postpone T/4, obtain q axle control voltage, wherein, Vq (t) is q axle control voltage, V2 (t) is q axle output voltage, and V2 (t-T/4) is the voltage that postpones T/4.
7. method according to claim 2 is characterized in that, also comprises:
Pulse signal with the described modular multilevel inverter of the control that obtains, control opening or turn-offing of insulated gate bipolar transistor IGBT among described each submodule of modular multilevel inverter SM, produce the output voltage of described modular multilevel inverter AC.
8. the control device of an inverter is characterized in that, the modular multilevel inverter in the claims 1 described device is controlled, and comprising:
Detection module flows three-phase actual current, three-phase virtual voltage and the three-phase of bus with reference to phase voltage for detection of the multi-electrical level inverter top-cross;
The first coordinate transferring, be used for the three-phase actual current, three-phase virtual voltage and the three-phase that detect with reference to phase voltage, carry out respectively Coordinate Conversion, obtain d axle component and q axle component, the d axle component of virtual voltage and d axle component and the q axle component of q axle component and reference voltage of actual current;
The first computing module is used for calculating respectively d axle and the reference voltage of q axle component and the difference between the virtual voltage, and described difference is carried out respectively voltage-regulation control, obtains d shaft voltage regulated value and q shaft voltage regulated value;
The first adjustment module is used for respectively the current value of q axle and the current value of d axle being carried out the electric current adjusting, obtains the first modulation voltage and the second modulation voltage;
The second computing module is used for calculating described d shaft voltage regulated value and the first regulation voltage and value, obtains d axle output voltage, calculates q shaft voltage regulated value and the second regulation voltage difference, obtains q axle output voltage;
The delay disposal module for voltage and the value of calculating respectively d axle and q axle output voltage and each self-dalay T/4, obtains respectively d axle control voltage and q axle control voltage;
The second coordinate transferring is used for obtaining α axle control voltage and β axle control voltage to d axle control voltage and q axle control voltage are carried out Coordinate Conversion;
The pulse signal generation module carries out trigger impulse generation processing, the pulse signal of controlled inverter to described α axle control voltage and β axle control voltage.
9. device according to claim 8 is characterized in that, described the first computing module comprises:
The d shaft voltage is regulated submodule, is used for by PI proportional integral conditioning controller, according to formula:
Vd＝k1(Udref-Ud)+k2∫(Uref-Ud)dt
Calculate d shaft voltage regulated value, wherein, Vd is d shaft voltage regulated value, and k1 and k2 regulate control coefrficient, and Udref is d axle reference voltage, and Ud is d axle virtual voltage; And
The q shaft voltage is regulated submodule: be used for according to formula: Vq=k3 (Udref-Uq)+k4 ∫ (Uqref-Uq) dt, calculate q shaft voltage regulated value, wherein, Vq is q shaft voltage regulated value, k3 and k4 regulate control coefrficient, Uqref is respectively q axle reference voltage, and Uq is q axle virtual voltage.
10. device according to claim 8 is characterized in that, described the first adjustment module comprises:
The q shaft current is regulated submodule, is used for according to formula: V1=ω Li
q, the actual current value of q axle is carried out electric current regulate, calculate the first modulation voltage, wherein V1 is the first modulation voltage, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value in the described modular multilevel inverter, i
qIt is q axle actual current value;
The d shaft current is regulated submodule, is used for according to formula: V2=ω Li
d, the actual current value of d axle is carried out electric current regulate, calculate the second modulation voltage, wherein V2 is the second modulation voltage, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value in the described modular multilevel inverter, i
dIt is d axle actual current value.
11. device according to claim 8 is characterized in that, described the second computing module comprises:
D axle output voltage calculating sub module is used for according to formula:
V1 (t)=k1 (Udref-Ud)+k2 ∫ (Udref-Ud) dt+ ω Li
q, calculate d axle output voltage, wherein, V1 (t) is d axle output voltage, k1 (Udref-Ud)+k2 ∫ (Udref-Ud) dt is d shaft voltage regulated value, ω Li
qBe the first modulation voltage, k1 and k2 regulate control coefrficient, and Udref and Ud are respectively reference voltage and the virtual voltages of d axle, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value, i
qIt is actual current q axle value;
Q axle output voltage calculating sub module is used for according to formula:
V2 (t)=k3 (Uqref-Uq)+k4 ∫ (Uqref-Uq) dt-ω Li
d, calculate q axle output voltage, wherein, V2 (t) is q axle output voltage, k3 (Uqref-Uq)+k4 ∫ (Uqref-Uq) dt is q shaft voltage regulated value, ω Li
dBe the second modulation voltage, k3 and k4 regulate control coefrficient, and Uqref and Uq are respectively reference voltage and the virtual voltages of q axle, and ω is the electric current angular frequency of presetting, and L is half of single brachium pontis series reactance value, i
dIt is the d axle value of actual current.
12. device according to claim 8 is characterized in that, described delay disposal module comprises:
The d axle postpones submodule, be used for according to formula: Vd (t)=V1 (t)+V1 (t-T/4), calculate described d axle output voltage and the voltage and the value that postpone T/4, obtain d axle control voltage, wherein, Vd (t) is d axle control voltage, and V1 (t) is d axle output voltage, and V1 (t-T/4) is the voltage that postpones T/4;
The q axle postpones submodule, be used for according to formula: Vq (t)=V2 (t)+V2 (t-T/4), calculate described q axle output voltage and the voltage and the value that postpone T/4, obtain q axle control voltage, wherein, Vq (t) is q axle control voltage, and V2 (t) is q axle output voltage, and V2 (t-T/4) is the voltage that postpones T/4.
13. device according to claim 8 is characterized in that, also comprises the trigger impulse module,
Described trigger module, be used for controlling according to the pulse signal that the pulse signal generation module produces the opening or turn-offing of insulated gate bipolar transistor IGBT of each submodule of described modular multilevel inverter, to produce the output voltage of described modular multilevel inverter AC.
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