CN103117562A - Control method of high-voltage cascade energy feedback converter power module - Google Patents

Control method of high-voltage cascade energy feedback converter power module Download PDF

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Publication number
CN103117562A
CN103117562A CN2013100393792A CN201310039379A CN103117562A CN 103117562 A CN103117562 A CN 103117562A CN 2013100393792 A CN2013100393792 A CN 2013100393792A CN 201310039379 A CN201310039379 A CN 201310039379A CN 103117562 A CN103117562 A CN 103117562A
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China
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voltage
positive
line
component
sequence component
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CN2013100393792A
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Inventor
张俊成
刘春松
胡炫
杨奇
穆天柱
李冰
钱诗宝
郑亚
孙晓洁
叶桦
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Southeast University
Guodian Nanjing Automation Co Ltd
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Southeast University
Guodian Nanjing Automation Co Ltd
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Priority to CN2013100393792A priority Critical patent/CN103117562A/en
Publication of CN103117562A publication Critical patent/CN103117562A/en
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Abstract

The invention discloses a control method of a high-voltage cascade energy feedback converter power module. Network-side voltage is oriented by a software phase-locked ring. The network-side voltage is subjected to positive and negative sequence component separation before calculation of the software phase-locked ring so that positive sequence component in the network-side voltage is extracted. The positive sequence component is used as an input single of the software phase-locked ring to allow for phase tracking for the network-side voltage positive sequence component. A three-phase inverter mathematical model with positive and negative sequence independent control in a rotating coordinate system is used on the grid-connection side, so that normal operation of the system is guaranteed in case of grid distortion. A double closed-loop vector control system with a voltage outer loop and a current inner loop is used, the voltage outer loop is used for controlling DC-side voltage of the power module and provides current command signals to the current ring loop, and fast response of the system can be achieved.

Description

A kind of control method of high pressure cascade energy feedback transducer power module
Technical field
The invention belongs to the field of power electronics of energy-conserving and environment-protective, in particular to a kind of high pressure cascade energy feedback frequency converter control method with energy in bidirectional flow.
Background technology
Along with power electronic device, modern control theory, the development of computer technology, the control performance of frequency conversion speed-adjusting is improved significantly, and frequency control has become the trend of contemporary speed regualtion of AC motor, is widely used in the every field of Industry Control.But the General Converters of using at present exists that the current on line side harmonic pollution is large, energy is irreversible, the problems such as dc bus capacitor is bulky, easy damage.
And unbalanced power supply state PWM rectifier control strategy research institute for the most number average of frequency converter be set in and carry out under the electrical network condition, but in fact the network system energy imbalance happens occasionally, establish the PWM rectifier take three-phase grid balance as constraints and abnormal running status will occur, as problems such as the harmonic amplitude increase of PWM rectifier DC side voltage and current on line side, current on line side imbalances, may damage frequency conversion equipment when even serious.
Therefore, provide a kind of control system and method for high pressure cascade energy feedback transducer power module to be very important, also significant.
Summary of the invention
Technical problem: the invention provides and a kind ofly can realize the operation of energy in bidirectional flow and unity power factor, and can expand to the control method of the high pressure cascade energy feedback transducer power module in non-cascaded inverter.
Technical scheme: the control method of high pressure cascade energy feedback transducer power module of the present invention comprises the following steps:
1) extract voltage on line side positive-negative sequence component and current on line side positive-negative sequence component;
2) the voltage on line side positive sequence component of extracting in step 1) is input in software phase-lock loop, gets the voltage on line side phase place;
3) at first adopt voltage on line side positive-negative sequence component and the current on line side positive-negative sequence component that extracts in step 1), the positive-negative sequence Mathematical Modeling that builds control system is shown below:
u d = - L ( di d dt ) + ωL · i q + e d u q = - L ( di q dt ) - ωL · i d + e q Formula (1)
Wherein:
u d, u q-be d axle component and the q axle component of the off line side output voltage of dq axle;
e d, e q-be d axle component and the q axle component of voltage on line side under the dq axle;
i d, i q-be d axle component and the q axle component of the off line side input current of dq axle;
L-be net side inlet wire inductance;
ω-be electrical network angular speed;
Adopt the positive-negative sequence Mathematical Modeling, transmission comes to sample circuit voltage signal and current signal are processed, and namely positive sequence component and negative sequence component are entered in following formula simultaneously, positive sequence component value and the negative sequence component value of the output voltage of the side that obtains being incorporated into the power networks;
4) according to step 2) the voltage vector positive-negative sequence component of the side that is incorporated into the power networks that obtains of the voltage on line side phase place that obtains and step 3), carry out space vector pulse width modulation, obtain net side output voltage.
In step 3) of the present invention, adopt the d shaft current rate of change in dicyclo control method acquisition formula (1) With q shaft current rate of change
In the inventive method, system adopts the framework of " DSP(digital signal processor)+CPLD(CPLD) ", system comprises DSP and CPLD, DSP is responsible for the computing of net side, and the computing of net side comprises the calculating of the software phase-lock loop of determining the voltage on line side phase place and the calculating of net side output voltage amplitude thereof; CPLD is responsible for the inversion side phase shift carrier wave pulsewidth that complete machine control system sends is decoded, the processing of overcurrent protection, overvoltage protection logic etc.; Both carry out exchanges data by data wire.
Control system adopts software phase-lock loop that the voltage on line side phase place is determined, in software phase-lock loop, voltage on line side having been carried out the positive-negative sequence component separates, extract the positive sequence component in voltage on line side, with the input of positive sequence component as software phase-lock loop, finally determine the phase place of electrical network.
The side that is incorporated into the power networks adopts the three-phase inverter Mathematical Modeling that in rotating coordinate system, positive-negative sequence combines, and can control separately the positive-negative sequence signal, is conducive to the stability of enhancing system when electrical network distorts;
Busbar voltage is controlled the two closed-loop vector that adopt by outer voltage and current inner loop and is controlled, outer voltage is used for the control system busbar voltage, the given busbar voltage of system, when system busbar magnitude of voltage and set-point when unequal, with the input as the outer voltage pi regulator of the difference of bus voltage value and set-point, then the set-point of the output valve of outer voltage pi regulator as the current inner loop pi regulator; In current inner loop, current sampling data is as the value of feedback of current inner loop pi regulator, and the size of net side output current is controlled in the output of electric current loop pi regulator; Undergo mutation and cause bus when fluctuation when load, the load-current feedforward control signal can directly be followed the tracks of the variation of busbar voltage.
Beneficial effect: the present invention compared with prior art has the following advantages:
Obtain at present electric network voltage phase and usually adopt hardware phase-locked-loop and software phlase locking loop technique, hardware phase lock high precision is realized phase-locked by the method for catching certain phase voltage zero-crossing comparator output pulse, the method has advantages of and is simple and easy to realize, but this method is only in the zero crossing detected phase, and when the electrical network phase place when fluctuation occurs in non-zero crossing, can not process during hardware phase-locked-loop, thereby affect phase-locked precision.Software phase-lock loop is once revised phase place in each switch periods, and real-time strengthens greatly; But the method for utilizing at present the electrical network sampled voltage directly to carry out phase-locked calculating can only be processed the situation of the three phase network balance of voltage; When the three phase network Voltage unbalance, contain negative sequence component in electrical network, therefore can not utilize said method to obtain the accurate information of electrical network phase place.For addressing this problem, proposed the voltage on line side positive-negative sequence is separated, the positive sequence component of voltage on line side is carried out phase-lock technique.The impact of negative sequence component when the method can avoid voltage on line side uneven excessively together, even still can guarantee the tracking to positive sequence component when voltage on line side is uneven, guaranteed based on the voltage oriented accuracy of the three-phase software phase-lock loop of dq conversion, guaranteed the correct of net side output voltage phase place.
Actual electric network is not full symmetric, can when distorting, electrical network normally move in order to make the power model side that is incorporated into the power networks, the side that is incorporated into the power networks adopts the three-phase inverter Mathematical Modeling that in rotating coordinate system, positive-negative sequence combines, by this model, can control separately by the positive-negative sequence component, thereby the side that still guarantees to be incorporated into the power networks when the net side distorts can work.
Control system adopts the two closed-loop vector control system by outer voltage and current inner loop, outer voltage is used for power ratio control module busbar voltage, the output of outer voltage pi regulator is as the input of current inner loop PI, when load is undergone mutation and causes bus when fluctuation, the load-current feedforward control signal can directly be followed the tracks of the variation of busbar voltage, provide rapidly the control command of corresponding electric current loop, by electric current loop, busbar voltage is adjusted, realize dynamic response fast.
Description of drawings
Fig. 1 is the FB(flow block) of the inventive method;
Fig. 2 phase-locked loop structures block diagram;
Fig. 3 is current feed-forward decoupling zero schematic diagram.
Embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
This control device major loop is comprised of five parts, is respectively: the three-phase grid filter inductance that is connected with the net side; Fuse is connected on the inlet wire of power model, protection module when overcurrent; The loop of power circuit of the side that is incorporated into the power networks is three-phase commutation bridge, and rectifier bridge is comprised of IGBT; DC filtering grading ring joint is by resistance and Capacitance parallel connection; The inversion side is comprised of the H bridge.
System adopts modularization programming, the function of DSP and CPLD separately, and the division of labor of clear and definite DSP and CPLD.DSP is responsible for the computing of net side, and the computing of net side comprises the calculating of the software phase-lock loop of determining the voltage on line side phase place and the calculating of net side output voltage amplitude thereof; CPLD is responsible for the inversion side phase shift carrier wave pulsewidth that complete machine control system sends is decoded, the processing of overcurrent protection, overvoltage protection logic etc.; Both carry out exchanges data by data wire.
Phase place for voltage on line side is obtained, and adopt hardware phase-locked-loop during simple method, but hardware phase-locked-loop is easy to be subject to electromagnetic interference; When imbalance appears in voltage on line side, if directly carry out voltage oriented to voltage on line side, the good phase place of tracking network side group ripple in the phase-locked angle of software phase-lock loop output, in order to address this problem, first net side sampled voltage is carried out positive-negative sequence in native system and separate, the positive sequence component in the extraction voltage on line side is as the input signal of software phase-lock loop.The process of obtaining the voltage on line side phase place in system is as follows:
In order to realize phase-locked loop to the tracking of voltage on line side positive sequence component, need to positive sequence component be separated from voltage on line side with the method that positive-negative sequence is separated.Voltage on line side is comprised of positive sequence component, negative sequence component, zero-sequence component 3 parts, and in the three-phase equilibrium of net side electrical network, and not during the situation of distorted, voltage on line side is all positive sequence component, and negative sequence component and zero-sequence component are zero; When net side three-phase imbalance, negative sequence component and the zero-sequence component of voltage on line side are non-vanishing, can cause the irregular working of net side work if still regard voltage on line side as three-phase balanced system this moment.What adopt due to net side in this device is the connected mode of three-phase three-wire system, so do not comprise zero-sequence component in voltage on line side, therefore only needs to carry out positive and negative order to sampled voltage and separates and get final product, at first voltage on line side e a, e b, e cWrite as following mode:
Formula (2)
In formula:
e P a, e N a-be respectively positive sequence component and the negative sequence component of net side a phase;
e P b, e N b-be respectively positive sequence component and the negative sequence component of net side b phase;
e P c, e N c-be respectively positive sequence component and the negative sequence component of net side c phase;
e pm, e nm-be respectively the maximum of positive sequence and negative phase-sequence first-harmonic electromotive force;
θ p, θ n-be the starting phase angle of positive sequence and negative phase-sequence electromotive force.
Utilize and adopt symmetrical component method and positive-negative sequence characteristic analysis method, when finding the solution positive and negative sequence component, determine time of delay, have:
Formula (3)
In formula (2), three-phase negative/positive electromotive force sum is zero, by symmetrical component method as can be known:
Formula (4)
Can be obtained by the trigonometric function relation:
e b(t+T/3)=e b(t-2T/3)=-e b(t-2T/3+T/2)=-e b(t-T/6) formula (5)
In formula-T is an electrical network cycle;
Have the equation after positive sequence, negative phase-sequence are separated as follows:
e a P = 1 3 [ e a ( t ) - e b ( t - T / 6 ) + e c ( t - T / 3 ) e a N = 1 3 [ e a ( t ) + e b ( t - T / 3 ) - e c ( t - T / 6 ) e b P = 1 3 [ e a ( t - T / 3 ) - e b ( t ) - e c ( t - T / 6 ) e b N = 1 3 [ - e a ( t - T / 6 ) + e b ( t ) + e c ( t - T / 3 ) Formula (6)
Formula (6) has realized the separation to positive and negative sequence component.
Through type (6) can be realized the separation of positive and negative order, extracts the positive sequence component of voltage on line side, and software phase-lock loop carries out Phase Tracking to positive sequence component, and method is as follows:
At first the positive sequence component that extracts is carried out CLARKE conversion and PARK conversion, obtain the positive sequence component DC component u under voltage on line side dq axle d, u q, u qBe decided to be idle component; With u qWith the given u of reality * qMake it poor, difference is inputted pi regulator obtain ω, be to accelerate the phase-locked loop toggle speed, output valve ω and the fundamental frequency ω of pi regulator carried out addition as the input of integral element, the angle θ that obtains is as the orientation angle of voltage on line side, as the idle component u of net side qWith set-point u * q=0 when equating, thinks that the voltage on line side phase place is phase-locked to complete, and θ just is identified as the angle of the resultant vector of current voltage on line side, and the phase-locked loop structures block diagram is seen Fig. 2.
If directly with sampled voltage, sample rate current, the side that is incorporated into the power networks is set up Mathematical Modeling, when when electrical network has distortion, current harmonics can occur and contain increase, may make system's cisco unity malfunction when serious; In order to deal with problems, native system adopts the mode of net side positive sequence component, negative sequence component being set up respectively math block.Because there is coupling in the positive-negative sequence current in formula (1), formula (1) Feedforward Decoupling is got formula (7), obtain new system control model, wherein the visible Fig. 3 of current feed-forward decoupling zero schematic diagram.According to noted earlier, first through type (6) obtains the positive-negative sequence component of voltage on line side, electric current, more respectively the positive-negative sequence component respectively in substitution (7), the positive-negative sequence component Mathematical Modeling of the output voltage of the side that obtains respectively being incorporated into the power networks:
Get system control model after Feedforward Decoupling:
u d = - ( K P + K I s ) ( i dref - i d ) + ωL · i q + e d u q = - ( K P + K I s ) ( i qref - i q ) - ωL · i d + e q Formula (7)
Wherein:
i DrefThe d axle component of the Voltage loop output in-dicyclo control method;
i QrefThe d axle component of the Voltage loop output in-dicyclo control method
K P-be the parameter K of current inner loop pi regulator P
K I-be the parameter K of current inner loop pi regulator I
S-Laplace's azimuth operator.
System mathematic model after the substitution positive sequence component:
u p d = - ( K P + K I s ) ( i p dref - i p d ) + ωL · i p q + e p d u p q = - ( K P + K I s ) ( i p qref - i p q ) - ωL · i p d + e p q Formula (8)
Wherein:
u p d, u p q-be d axle component and the q axle component of the off line side output voltage of dq axle positive sequence component;
e p d, e p q-be d axle component and the q axle component of voltage on line side positive sequence component under the dq axle;
i p d, i p q-be d axle component and the q axle component of the off line side input current of dq axle positive sequence component;
i p DrefThe d axle positive sequence component of the Voltage loop output in-dicyclo control method;
i p QrefThe d axle positive sequence component of the Voltage loop output in-dicyclo control method.
System mathematic model after the substitution negative sequence component:
u n d = - ( K P + K I s ) ( i n dref - i n d ) + ωL · i n q + e n d u p q = - ( K P + K I s ) ( i n qref - i n q ) - ωL · i n d + e n q Formula (9)
Wherein:
u n d, u n q-be d axle component and the q axle component of the off line side output voltage of dq axle negative sequence component;
e n d, e n q-be d axle component and the q axle component of the off line side voltage of dq axle negative sequence component;
i n d, i n q-be d axle component and the q axle component of the off line side input current of dq axle negative sequence component;
i n DrefThe d axle negative sequence component of the Voltage loop output in-dicyclo control method;
i n QrefThe d axle negative sequence component of the Voltage loop output in-dicyclo control method.
Through type (8) and formula (9) can calculate the positive-negative sequence component of the output voltage of the side that is incorporated into the power networks, thereby realize the independent control of positive-negative sequence component.
For realizing the quick response of busbar voltage, system adopts two closed-loop vector of outer voltage and current inner loop to control, and implementation is as follows:
The active current value i that the outer voltage pi regulator produces * DrefAs the set-point of current inner loop pi regulator, and with the value of feedback i that detects dRelatively, obtain after the current PI adjuster in formula (8) Recycling net side mathematical modulo pattern (7) and current feed-forward decoupling method thereof can calculate corresponding output voltage real component.The control of reactive current ring is identical with real power control, in like manner obtains in formula (9) by the current PI adjuster Wait until again the idle component of corresponding output voltage, for realizing the control of unity power factor, reactive current component i * qBe set as zero.So far, calculating by outer voltage and current inner loop, obtained the amplitude of net side output voltage, again in conjunction with the phase-locked angle in software phase-lock loop, obtain amplitude and phase place that the output of net side is pressed, utilize at last the vector controller of DSP inside, realize the SVPWM(space vector pulse width modulation) vector control.
Said process all can be realized with programmed method of the prior art, not be further limited at this.
Above embodiment is more preferably embodiment of the present invention, and the common variation that those skilled in the art carries out in the technical solution of the present invention scope and replacement all should be included in protection scope of the present invention.

Claims (2)

1. the control method of a high pressure cascade energy feedback transducer power module, is characterized in that, the method comprises the following steps:
1) extract voltage on line side positive-negative sequence component and current on line side positive-negative sequence component;
2) the voltage on line side positive sequence component of extracting in described step 1) is input in software phase-lock loop, gets the voltage on line side phase place; _
3) at first adopt voltage on line side positive-negative sequence component and the current on line side positive-negative sequence component that extracts in described step 1), the positive-negative sequence Mathematical Modeling that builds control system is shown below:
u d = - L ( di d dt ) + ωL · i q + e d u q = - L ( di q dt ) - ωL · i d + e q Formula (1)
Wherein:
u d, u q-be d axle component and the q axle component of the off line side output voltage of dq axle;
e d, e q-be d axle component and the q axle component of voltage on line side under the dq axle;
i d, i q-be d axle component and the q axle component of the off line side input current of dq axle;
L-be net side inlet wire inductance;
ω-be electrical network angular speed;
Adopt described positive-negative sequence Mathematical Modeling, voltage signal and current signal that sample circuit transmission comes are processed, namely positive sequence component and negative sequence component are entered in following formula simultaneously, positive sequence component value and the negative sequence component value of the output voltage of the side that obtains being incorporated into the power networks;
4) according to described step 2) the voltage vector positive-negative sequence component of the side that is incorporated into the power networks that obtains of the voltage on line side phase place that obtains and step 3), carry out space vector pulse width modulation, obtain net side output voltage.
2. the control method of high pressure cascade energy feedback transducer power module according to claim 1, is characterized in that, in described step 3), adopts the d shaft current rate of change in dicyclo control method acquisition formula (1) With q shaft current rate of change
CN2013100393792A 2013-01-31 2013-01-31 Control method of high-voltage cascade energy feedback converter power module Pending CN103117562A (en)

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Cited By (5)

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CN103501176A (en) * 2013-09-24 2014-01-08 南车株洲电力机车研究所有限公司 Phase detection method and circuit and phase locking synchronous circuit
CN103901285A (en) * 2014-02-27 2014-07-02 国电南京自动化股份有限公司 Method for detecting cascading type high-voltage inverter power unit input default phase
CN105932671A (en) * 2016-06-02 2016-09-07 三重型能源装备有限公司 Power grid voltage phase-locking method and system
CN106556762A (en) * 2016-11-30 2017-04-05 广东明阳龙源电力电子有限公司 A kind of control strategy for tandem type high voltage converter burn-in test
CN106571634A (en) * 2015-10-10 2017-04-19 中国船舶重工集团公司第七二三研究所 Digitalized three-phase system power factor correction apparatus and correction method

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103501176A (en) * 2013-09-24 2014-01-08 南车株洲电力机车研究所有限公司 Phase detection method and circuit and phase locking synchronous circuit
CN103501176B (en) * 2013-09-24 2016-09-14 南车株洲电力机车研究所有限公司 A kind of method for detecting phases and circuit, and Phase-locked Synchronous Circuit
CN103901285A (en) * 2014-02-27 2014-07-02 国电南京自动化股份有限公司 Method for detecting cascading type high-voltage inverter power unit input default phase
CN103901285B (en) * 2014-02-27 2016-05-04 国电南京自动化股份有限公司 A kind of detection method of cascaded high-voltage frequency converter power cell input phase failure
CN106571634A (en) * 2015-10-10 2017-04-19 中国船舶重工集团公司第七二三研究所 Digitalized three-phase system power factor correction apparatus and correction method
CN105932671A (en) * 2016-06-02 2016-09-07 三重型能源装备有限公司 Power grid voltage phase-locking method and system
CN105932671B (en) * 2016-06-02 2018-03-09 三一重型能源装备有限公司 A kind of line voltage phase-lock technique and system
CN106556762A (en) * 2016-11-30 2017-04-05 广东明阳龙源电力电子有限公司 A kind of control strategy for tandem type high voltage converter burn-in test

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