CN103593521A - Efficient simulation modeling method for full-bridge cascading type multi-level converter - Google Patents

Efficient simulation modeling method for full-bridge cascading type multi-level converter Download PDF

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CN103593521A
CN103593521A CN201310535377.2A CN201310535377A CN103593521A CN 103593521 A CN103593521 A CN 103593521A CN 201310535377 A CN201310535377 A CN 201310535377A CN 103593521 A CN103593521 A CN 103593521A
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full
submodule
cascade
equivalent
bridge
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CN103593521B (en
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罗雨
饶宏
李岩
黎小林
许树楷
李立浧
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China Southern Power Grid Co Ltd
Research Institute of Southern Power Grid Co Ltd
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Abstract

The invention relates to an efficient simulation modeling method for a full-bridge cascading type multi-level converter, and belongs to the technical field of power transmission and distribution. The efficient simulation modeling method is characterized in that equivalence is carried out on a sub-module of the full-bridge cascading type multi-level converter and a Dommel equivalent calculation model for a bridge arm, and the problem that in the locking stage of the full-bridge cascading type multi-level converter, a switch tube conducting state changes during two simulation moments is processed by adding a switch element. Due to the fact that the calculated quantity in simulation operation is reduced by reducing the number of variable impedance circuit braches in electromagnetic transient simulation software, the efficient simulation of the full-bridge cascading type multi-level converter is achieved. The efficient simulation modeling method is clear in principle, and stable and reliable in calculation result.

Description

The efficient emulation modeling method of full-bridge cascade multi-level transverter
Technical field
The efficient emulation modeling method that the present invention relates to a kind of full-bridge cascade multi-level transverter, belongs to power transmission and distribution technical field.
Background technology
For sustainable development, need, utilize the developing direction that has become Future Power System with renewable energy power generations such as sun power, wind energies.These generation modes have away from main electrical network, the fluctuation feature such as larger in time.Flexible DC power transmission system is based on voltage source converter (Voltage Source Converter, VSC) and pulse width modulating technology (Pulse Width Modulation, PWM) by DC voltage inversion, be all controlled alternating voltages of amplitude and phase place, and can independently control fast transmitted active power and reactive power, greatly strengthen the dirigibility of transmission of electricity, become the electric power transfer mode of being potential most that realizes the stable connection between renewable energy power generation and main electrical network.Due to full-bridge cascade multi-level transverter (H-Bridge Modular Multilevel Converter, HBMMC) there is public direct-current end, and have easy expansion, meritorious idle can decoupling zero control, harmonic characteristic is outstanding, switching device loss is little, and can process DC Line Fault, module capacitance quantity, take up an area the features such as space is little, be very suitable for flexible DC power transmission system, there is vast potential for future development.
The full-bridge cascade multi-level transverter using at engineering field often needs the submodule of cascade enormous amount, in single submodule, conventionally comprise 8 above electronic power switches, and the electronic power switch device state in different submodule is separate often.At current general electromagnetic transient simulation software (ElectroMagnetic Transient Program, EMTP) in algorithm, switching device is become the variable resistor of two states by equivalence, if therefore adopt detailed device model in simulation study, each emulation has the equivalent calculation admittance of many electronic power switch device branch roads to need more new state constantly, this will make bus admittance matrix in each emulation constantly, have a large amount of row to need trigonometric ratio again, and change in order to eliminate power electronic devices between twice emulation constantly the miscount that on off state causes, also need the state variable under accurate switching time to carry out interpolation, this is very slow by the simulation velocity that causes comprising full-bridge cascade multi-level transverter model, if adopt device model to carry out emulation to the full-bridge cascade multi-level transverter model of practical engineering cascade magnitude, its simulation time will almost cannot be accepted.
Summary of the invention
The object of the invention is to propose a kind of equivalent simulation calculation modeling method that makes the full-bridge cascade multi-level transverter that simulation calculation is quick, result of calculation is reliable and stable.
The equivalent simulation calculation modeling method of full-bridge cascade multi-level transverter of the present invention, described full-bridge cascade multi-level transverter is comprised of six brachium pontis, every two brachium pontis series connection forms a facies unit, every brachium pontis is by cascade submodule, guide switch and brachium pontis reactance L are composed in series, wherein submodule includes insulated gate bipolar thyristor IGBT1, IGBT2, IGBT3, IGBT4, diode D1, D2, D3, D4 and capacitor C, switching device branch road of every insulated gate bipolar thyristor and a diode reverse formation in parallel, the cascade of every two switching device branch roads is also in parallel with capacitor C, the node NF docking with the external world the tie point of two switching device branch roads cascade as submodular circuits, NT, the equivalent simulation calculation modeling method of full-bridge cascade multi-level transverter comprises the following steps:
1) capacitor C in submodule is substituted to controlled time-varying reactance equivalence for the parallel branch of IGBT1, IGBT2, IGBT3, IGBT4 and diode D1, D2, D3, D4 with Bei Ruilong equivalent calculation model;
2) according to solve parallel branch that the previous moment t-Δ t switching tube start pulse signal of t constantly determines IGBT1, IGBT2, IGBT3, IGBT4 and diode D1, D2, D3, D4 with controlled time-varying reactance in the t-Δ t resistance in the moment;
3) according to step 2) in definite t-Δ t IGBT1, IGBT2, IGBT3, IGBT4 and the resistance of the parallel branch of diode D1, D2, D3, D4 and the electric current of t-Δ t moment submodule external interface are tried to achieve constantly the flow through current i of submodule electric capacity of t-Δ t constantly c(t-Δ t);
4) according to the current i that solves the t-Δ t moment submodule electric capacity obtaining in step 3) c(t-Δ t) and t-2 Δ t historic state record amount (the voltage v of capacitor C constantly cthe current i of (t-2 Δ t), capacitor C c(t-2 Δ t)) adopt trapezoidal integration to solve to obtain the t-Δ t voltage v of submodule capacitor C constantly c(t-Δ t);
5) according to the voltage v of the t-Δ t submodule capacitor C calculating in step 3), step 4) cthe current i of (t-Δ t), capacitor C cthe equivalent calculation model of definite t moment submodule in (t-Δ t) and t switching tube start pulse signal substitution step 1) constantly;
6) the t equivalent calculation model simplification of submodule is constantly become to an equivalent calculation model that only comprises the Dai Weinan pattern of historical voltage source and resistance;
7) will in step 6), obtain the merging of connecting of a plurality of submodule equivalent calculation models, obtain the equivalent calculation model of full-bridge cascade multi-level converter bridge arm;
8), according to the concrete topological structure of submodule, determine the place an order booster diode position of the outside access of a brachium pontis of in submodule whole locking situations of switching device.
Above-mentioned steps 1), in, the inverse parallel branch road of insulated gate bipolar thyristor IGBT1, IGBT2, IGBT3, IGBT4 and diode D1, D2, D3, D4 is taken as a resistance and treated by the resistance branch of insulated gate bipolar thyristor triggering impulse control in the process of solving circuit numerical solution;
Switching branches in above-mentioned submodular circuits is taken as resistance and treated by resistance branch G1, G2, G3, the G4 of the control of insulated gate bipolar thyristor triggering impulse in the process of solving circuit numerical solution.
Said method is applicable to the full-bridge cascade multi-level rectifier in flexible DC power transmission field, is also applicable to the transverter topology that other adopt full-bridge cascade.
Said method is applicable to cascade multi-level STATCOM.
The present invention proposes a kind of based on Dommel equivalent calculation principle, the equivalent Simulation Calculation of full-bridge cascade multi-level transverter realizing in general electromagnetic transient simulation calculates.This method is externally equivalent to an independent Dommel equivalent calculation model by the brachium pontis of full-bridge cascade multi-level transverter, only introduces a variableimpedance branch road in system node admittance matrix; The electric current and voltage value of brachium pontis equivalent circuit is all unifiedly calculated in network matrix; Electric capacity quantity of state in brachium pontis submodule adopts trapezoidal integration to upgrade.Adopt this method can make that simulation calculation is quick, result of calculation is reliable and stable.The present invention is a kind of equivalent simulation calculation modeling method that makes the full-bridge cascade multi-level transverter that simulation calculation is quick, result of calculation is reliable and stable.Institute of the present invention extracting method is not only applicable to the full-bridge cascade multi-level rectifier in flexible DC power transmission field, is also applicable to the transverter topology that other adopt full-bridge cascade, as cascade multi-level STATCOM.
Accompanying drawing explanation
Fig. 1 is the circuit structure of full-bridge cascade multi-level transverter;
Fig. 2 is the circuit structure diagram of submodule in Fig. 1;
Fig. 3 is the equivalent calculation model of full-bridge type submodule and full-bridge submodule;
Fig. 4 is that full-bridge type submodule is at t-Δ t equivalent calculation model constantly;
Fig. 5 is the simplest equivalent calculation model of submodule Dai Weinan pattern;
Fig. 6 is the simplest equivalent calculation model of full-bridge cascade multi-level converter bridge arm;
Fig. 7 is the circuit structure of full-bridge cascade multi-level converter bridge arm in locking situation.
Embodiment
The equivalent simulation calculation modeling method of full-bridge cascade multi-level transverter of the present invention, the structure of a facies unit of described full-bridge cascade multi-level transverter as shown in Figure 1, facies unit is in series by two brachium pontis, and every brachium pontis is composed in series by cascade submodule, guide switch and brachium pontis reactance L.Wherein the structure of submodule as shown in Figure 2, include insulated gate bipolar thyristor IGBT1, IGBT2, IGBT3, IGBT4, diode D1, D2, D3, D4 and capacitor C, switching device branch road of every insulated gate bipolar thyristor and a diode reverse formation in parallel, the cascade of every two switching device branch roads is also in parallel with capacitor C, using the tie point of two switching device branch roads cascade as submodular circuits, with extraneous node NF, the NT docking, the equivalent simulation calculation modeling method of full-bridge cascade multi-level transverter comprises the following steps:
1) capacitor C in submodule is substituted to controlled time-varying reactance equivalence for the parallel branch of insulated gate bipolar thyristor IGBT1, IGBT2, IGBT3, IGBT4 and diode D1, D2, D3, D4 with Bei Ruilong equivalent calculation model;
2) according to solve parallel branch that the previous moment t-Δ t switching tube start pulse signal of t constantly determines insulated gate bipolar thyristor IGBT1, IGBT2, IGBT3, IGBT4 and diode D1, D2, D3, D4 with controlled time-varying reactance in the t-Δ t resistance in the moment;
3) according to step 2) in definite t-Δ t insulated gate bipolar thyristor IGBT1, IGBT2, IGBT3, IGBT4 and the resistance of the parallel branch of diode D1, D2, D3, D4 and the electric current of t-Δ t moment submodule external interface are tried to achieve constantly the flow through current i of submodule electric capacity of t-Δ t constantly c(t-Δ t);
4) according to the current i that solves the t-Δ t moment submodule electric capacity obtaining in step 3) c(t-Δ t) and t-2 Δ t historic state record amount (the voltage v of capacitor C constantly cthe current i of (t-2 Δ t), capacitor C c(t-2 Δ t)) adopt trapezoidal integration to solve to obtain the t-Δ t voltage v of submodule capacitor C constantly c(t-Δ t);
5) according to the current status v of the t-Δ t submodule capacitance voltage C calculating in step 3), step 4) c(t-Δ t), i cthe equivalent calculation model of definite t moment submodule in (t-Δ t) and t switching tube start pulse signal substitution step 1) constantly;
6) the t equivalent calculation model simplification of submodule is constantly become to an equivalent calculation model that only comprises the Dai Weinan pattern of historical voltage source and resistance;
7) will in step 6), obtain the merging of connecting of a plurality of submodule equivalent calculation models, obtain the equivalent calculation model of full-bridge cascade multi-level converter bridge arm;
8), according to the concrete topological structure of submodule, determine the place an order booster diode position of the outside access of a brachium pontis of in submodule whole locking situations of switching device.
Above-mentioned steps 1), in, the inverse parallel branch road of insulated gate bipolar thyristor IGBT1, IGBT2, IGBT3, IGBT4 and diode D1, D2, D3, D4 is taken as a resistance and treated by the resistance branch of IGBT trigger pulse control in the process of solving circuit numerical solution
Switching branches in above-mentioned submodular circuits is taken as resistance and treated by resistance branch G1, G2, G3, the G4 of the control of insulated gate bipolar thyristor triggering impulse in the process of solving circuit numerical solution.
Said method is applicable to the full-bridge cascade multi-level rectifier in flexible DC power transmission field, is also applicable to the transverter topology that other adopt full-bridge cascade.
Said method is applicable to cascade multi-level STATCOM.
Below in conjunction with accompanying drawing, describe content of the present invention in detail.
As shown in Figure 3, by the switch in the submodular circuits in accompanying drawing 2 with controlled time-varying reactance G1, G2, G3, G4 equivalence, as shown in Figure 3, electric capacity substitutes with Dommel equivalent calculation model, as controllable current source ICD in accompanying drawing 3 leads as shown in the parallel branch of GCD with electricity, the bleeder resistance RP of electric capacity in accompanying drawing 2 is led to GP equivalence by electricity as shown in Figure 3, and identical with accompanying drawing 2 of the NF in accompanying drawing 3, NT, is the circuit tie point of submodule and extraneous network.
In accompanying drawing 3
GCD = 2 C Δt ICD = - i c ( t - Δt ) - 2 C Δt v c ( t - Δt ) - - - ( 1 )
Δ t is simulation step length
The switching tube turn-on condition adopting in the present invention is switching tube forward voltage >=0, and turn-off criterion is switching tube forward current <=0.For fear of the on off state of simulation step length intermediate switch pipe, change and cause the variation of switching tube branch road resistance, suppose IGBT and diode open/close power-off lead identical, thereby avoid to emulation constantly intermediate switch state variation carry out the problem that interpolation produces.According to t time trigger signal, the expression that can obtain G1, G2, G3, G4 in accompanying drawing 3 is as shown in table 1:
Table 1
In table, FP1, FP2, FP3, FP4 are the trigger pip of IGBTT1, T2, T3, T4, and " 1 " represents open-minded, and " 0 " representative is turn-offed.GON/GOFF represents that the power-off of opening/close of IBGT and diode leads.
The system Dommel bus admittance matrix of not participating in last step-length due to the electric capacity in submodule in equivalent calculation model directly solves, and therefore cannot directly obtain the quantity of state i in formula (1) by current/voltage measuring module c(t-Δ t) and v c(t-Δ t) value, thus need in the program of equivalent model, push back again a step-length.Accompanying drawing 4 is t-Δ t full-bridge type submodule equivalent calculation model constantly.
I in accompanying drawing 4 armthe equivalent calculation model that (t-Δ t) is whole brachium pontis participates in the given value after t-Δ t moment system matrix solves.G1 ' in accompanying drawing 4, G2 ' G3 ', G4 ' are according to the t-Δ t definite switching device equivalent resistance of trigger pulse (FPU, FPL) constantly, GCP in accompanying drawing 4, GP, NF, NT are identical with the definition in accompanying drawing 3, and the ICD ' in accompanying drawing 4 represents the t-Δ t controllable current source of the Dommel equivalent calculation model of electric capacity constantly.
4 can directly try to achieve i with reference to the accompanying drawings c(t-Δ t), asks electric current and the ICD ' sum of the GCD branch road of flowing through, and its expression formula is as follows:
i c ( t - &Delta;t ) = G 1 &prime; &CenterDot; GCD &CenterDot; i arm ( t - &Delta;t ) + [ G 1 &prime; &CenterDot; G 2 &prime; + ( G 1 &prime; + G 2 &prime; ) &CenterDot; GP ] &CenterDot; ICD &prime; G 1 &prime; &CenterDot; G 2 &prime; + ( G 1 &prime; + G 2 &prime; ) &CenterDot; GCP - - - ( 2 )
In formula
GCP=GCD+GP
GHB=G1'·G2'·G3'+G1'·G2'·G4'+G1'·G3'·G4'+G2'·G3'·G4'
+G1'·G3'·GCP+G1'·G4'·GCP+G2'·G3'·GCP+G2'·G4'·GCP
GLB = 1 1 G 1 &prime; + 1 G 2 &prime;
GRB = 1 1 G 3 &prime; + 1 G 4 &prime;
Adopt trapezoidal integration, try to achieve v c(t-Δ t) is:
v c ( t - &Delta;t ) = v c ( t - 2 &Delta;t ) + &Delta;t 2 C ( i c ( t - &Delta;t ) + i c ( t - 2 &Delta;t ) ) - - - ( 3 )
The v calculating c(t-Δ t) can export the use of the algoritic module of controlling for capacitance voltage balance.By formula (2) and formula (3) substitution (1), through merging to simplify with pause/Dai Weinan of promise, transform, can obtain the equivalent calculation model of submodule as shown in Figure 5, UMD in accompanying drawing 5 is the voltage source in submodule Dai Weinan equivalent model, RMD is the interior resistance in submodule Dai Weinan equivalent model, and NF, NT are identical with the definition in accompanying drawing 3.
The equivalent calculation model that the equivalent calculation model combination of a plurality of submodule Dai Weinan patterns of trying to achieve through said method can be obtained to brachium pontis as shown in Figure 6, UAD in accompanying drawing 6 is the voltage source in brachium pontis Dai Weinan equivalent model, RAD is the interior resistance in brachium pontis Dai Weinan equivalent model, and NF and NT are the circuit tie point of brachium pontis and extraneous network.In figure:
RAD = &Sigma; i = 1 N RMD i UAD = &Sigma; i = 1 N UMD i - - - ( 4 )
In formula, N is the submodule quantity of brachium pontis cascade.The self-defined tributary interface that obtains recycling after the Dai Weinan pattern equivalent calculation model of brachium pontis the simulation software of EMTP pattern, solves this Equivalent Model and extraneous node networking.
In full-bridge cascade multi-level transverter, IBGT turn-offs in (being brachium pontis locking) situation, in submodule, only comprise diode element, in the algorithm of fixed step size simulation software, conventionally need to carry out the mistake of interpolation to avoid numerical evaluation to produce to this switching time and state variable of naturally turn-offing device.Yet because the User Defined code in the simulation software in EMTP pattern only carries out computing constantly in emulation, cannot carry out computing to two emulation middle moment constantly, therefore the present invention utilizes the simulation software self of EMTP pattern the diode model providing and the brachium pontis equivalent calculation model of above mentioning to combine that locking process is carried out to emulation, concrete modeling as shown in Figure 7, wherein switch Brk and Brk ' are by the signal controlling that unblocks, release constantly switch Brk is closed, Brk ' opens, locking constantly switch Brk is opened, Brk ' closure, UAD, RAD, NF, NT is identical with the definition in accompanying drawing 6.G1=GOFF+GON in the derivation of idle interval full-bridge type submodule equivalent calculation model, G2=GOFF+GOFF, G3=GOFF+GON, G4=GOFF+GOFF.

Claims (5)

1. the equivalent simulation calculation modeling method of a full-bridge cascade multi-level transverter, described full-bridge cascade multi-level transverter is comprised of six brachium pontis, every two brachium pontis series connection forms a facies unit, every brachium pontis is by cascade submodule, guide switch and brachium pontis reactance L are composed in series, wherein submodule includes insulated gate bipolar thyristor IGBT1, IGBT2, IGBT3, IGBT4, diode D1, D2, D3, D4 and capacitor C, switching device branch road of every insulated gate bipolar thyristor and a diode reverse formation in parallel, the cascade of every two switching device branch roads is also in parallel with capacitor C, the node NF docking with the external world the tie point of two switching device branch roads cascade as submodular circuits, NT, the equivalent simulation calculation modeling method that it is characterized in that full-bridge cascade multi-level transverter comprises the following steps:
1) capacitor C in submodule is substituted to controlled time-varying reactance equivalence for the parallel branch of IGBT1, IGBT2, IGBT3, IGBT4 and diode D1, D2, D3, D4 with Bei Ruilong equivalent calculation model;
2) according to solving constantly tprevious moment switching tube start pulse signal determines that the parallel branch of IGBT1, IGBT2, IGBT3, IGBT4 and diode D1, D2, D3, D4 exists with controlled time-varying reactance resistance constantly;
3) according to step 2) in determine constantly the resistance of the parallel branch of IGBT1, IGBT2, IGBT3, IGBT4 and diode D1, D2, D3, D4 and the electric current of submodule external interface is tried to achieve constantly constantly the flow through electric current of submodule electric capacity ;
4) according to solving in step 3), obtain the electric current of moment submodule electric capacity with the historic state record amount (voltage of capacitor C constantly , capacitor C electric current ) adopt trapezoidal integration to solve to obtain the voltage of moment submodule capacitor C ;
5) according to calculating in step 3), step 4) the voltage of submodule capacitor C , capacitor C electric current and tin switching tube start pulse signal substitution step 1) constantly, determine tthe equivalent calculation model of moment submodule;
6) will tthe equivalent calculation model simplification of submodule constantly becomes an equivalent calculation model that only comprises the Dai Weinan pattern of historical voltage source and resistance;
7) will in step 6), obtain the merging of connecting of a plurality of submodule equivalent calculation models, obtain the equivalent calculation model of full-bridge cascade multi-level converter bridge arm;
8), according to the concrete topological structure of submodule, determine the place an order booster diode position of the outside access of a brachium pontis of in submodule whole locking situations of switching device.
2. the equivalent simulation calculation modeling method of full-bridge cascade multi-level transverter according to claim 1, it is characterized in that above-mentioned steps 1) in, the inverse parallel branch road of insulated gate bipolar thyristor IGBT1, IGBT2, IGBT3, IGBT4 and diode D1, D2, D3, D4 is taken as a resistance and treated by the resistance branch of insulated gate bipolar thyristor triggering impulse control in the process of solving circuit numerical solution.
3. the equivalent simulation calculation modeling method of full-bridge cascade multi-level transverter according to claim 1, is characterized in that switching branches in above-mentioned submodular circuits is taken as resistance branch G1, G2, G3, the G4 that resistance controls by insulated gate bipolar thyristor triggering impulse and treats in the process of solving circuit numerical solution.
4. the equivalent simulation calculation modeling method of full-bridge cascade multi-level transverter according to claim 1, it is characterized in that said method is applicable to the full-bridge cascade multi-level rectifier in flexible DC power transmission field, be also applicable to the transverter topology that other adopt full-bridge cascade.
5. the equivalent simulation calculation modeling method of full-bridge cascade multi-level transverter according to claim 4, is characterized in that said method is applicable to cascade multi-level STATCOM.
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CN110266208A (en) * 2019-06-30 2019-09-20 东北电力大学 A kind of multi-level inverter bridge arm equivalent method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104267615A (en) * 2014-09-17 2015-01-07 华南理工大学 MMC flexible direct-current system
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US10218285B2 (en) 2015-10-19 2019-02-26 Siemens Aktiengesellschaft Medium voltage hybrid multilevel converter and method for controlling a medium voltage hybrid multilevel converter
CN108229021A (en) * 2018-01-03 2018-06-29 华北电力大学 Modularization multi-level converter locking modeling method based on Real Time Digital Simulator
CN109271717A (en) * 2018-09-26 2019-01-25 广东电网有限责任公司 A kind of modeling method of the MMC electro-magnetic transient equivalent model of full-bridge submodule
CN110266208A (en) * 2019-06-30 2019-09-20 东北电力大学 A kind of multi-level inverter bridge arm equivalent method

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