CN104917190A - Decentralized control method for H-bridge cascaded power grid static reactive power compensator - Google Patents
Decentralized control method for H-bridge cascaded power grid static reactive power compensator Download PDFInfo
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- CN104917190A CN104917190A CN201510289158.XA CN201510289158A CN104917190A CN 104917190 A CN104917190 A CN 104917190A CN 201510289158 A CN201510289158 A CN 201510289158A CN 104917190 A CN104917190 A CN 104917190A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/10—Flexible AC transmission systems [FACTS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/40—Arrangements for reducing harmonics
Abstract
The invention provides a decentralized control method for an H-bridge cascaded power grid static reactive power compensator, and relates to a control method for a power grid compensator. The method comprises the decentralized control method, i.e. the control method of combination of upper computer centralized control and lower computer control. Two parts of current loop, voltage loop and DC side voltage equalizing control are realized by an AC side through PI control. Total DC voltage of each phase of the STATCOM is enabled to be stabilized at the designated value through reactive instruction adjustment of a voltage external loop. Current internal loop control adopts PI control on a controller so that current i of the AC side is detected to control energy inputted to a single-phase full-bridge DC side, and the voltage value of an inverter DC side is controlled by controlling active power flowing into a single-phase full bridge. The H-bridge-based cascaded STATCOM has great dynamic and static performance, high response speed, low harmonic content and great output characteristic so that a balance problem of voltage between phases of the DC side and capacitor voltage of all modules in the phases in the cascaded STATCOM can be effectively solved, and thus the decentralized control method for the H-bridge cascaded power grid static reactive power compensator has extremely high practical engineering value.
Description
Technical field
The present invention relates to a kind of power network compensation device control method, particularly relate to a kind of decentralized control method of H bridge cascade electrical network Static Var Compensator.
Background technology
Static passive compensation device (Static Synchronous Compensator, STATCOM) belongs to reactive power compensation device of new generation, is an important member in flexible AC transmitting system FACTS family.Have fast response time, harmonic current little, the advantages such as reactive power, device volume are little, loss is low can be regulated continuously, when grid collapses or sudden increase in load, dynamically can provide voltage support rapidly, improve system safety maintenance level, reduce low pressure release load quantity, prevent because transient voltage collapses the pernicious power outage of large area caused, can also play simultaneously and suppress voltage flicker, damping system to vibrate, improve the effects such as the quality of power supply.
H bridge cascaded multilevel structure is the important topological structure realizing high-voltage large-capacity STATCOM, and the full-bridge modules separate by DC side is composed in series.Compared with transformer multiple inverter configuration, this incomplete structure transformer, has saved cost, but DC voltage between valve group is uneven and inner each module DC capacitor voltage imbalance of every phase valve group is the matter of utmost importance that H bridge cascade STATCOM needs solution.
At present, the method that more existing dc-voltage balance controls has been applied in cascade STATCOM, and achieve good performance, there is document Summers T, Betz R, Mirzaeva G.Phase leg voltage balancing of a cascaded H-Bridge converter based STATCOM using zero sequence injection [C] // 13th European Conference on Power Electronics and Applications.Barcelona, Spain:IEEE, 2009:1-10. proposes a kind of method based on residual voltage for H bridge cascade STATCOM, but the method does not consider the unbalanced factor of grid side, and regulating power is more weak, be used in cascade connection type combining inverter and there is limitation, also have document cascade STATCOM dc-voltage balance control method [J]. Electric Machines and Control, 2010, propose by exchanging trigger impulse in 14 (11): 31-36., the ON time of every interior each module is mutually made to reach balance, but along with the increase of H bridge module number, the comparing element of voltage and the rotation of pulse are bound to cause control impuls to lag behind external load situation, can not reach the requirement of reactive power current compensation.
Existing main circuit topological structure, H bridge cascade multi-level STATCOM is all better than two level STATCOMs in place capacity, electric pressure, equivalent switching frequency and harmonic characterisitic, is the focus of research and the important directions of development.See document: cascaded H-bridges SVG DC capacitor voltage balance control method [J]. electric power network technique, 2013,37 (9): 2632-2635.Its topological structure is particularly suitable for high-voltage large-capacity STATCOM field.Its main circuit topological structure as shown in Figure 1.
Adopt three-phase three-wire system, three-phase H bridge is by star-like connection, and be often composed in series by n H bridge module, each intermodule DC bus capacitor is separate.In figure: connecting reactance is
for three-phase mains voltage;
for three phase mains electric current;
for STATCOM three-phase output voltage;
for the offset current of STATCOM;
for threephase load electric current
[6].
Power Exchange between STATCOM and electrical network realizes by the size and phase place changing cascade STATCOM output voltage.The voltage and current signal recorded feeding STATCOM controller and reference value are compared, controller, then according to the control method that the present invention proposes, is that the switching device of inverter exports Trig control signal.
In STATCOM practical work process, the control of Voltage loop, AC needs to a small amount of active power of DC side transmission with the active loss of building-out capacitor and switching device.And each inversion unit parameter there are differences, the meritorious compensation rate causing each unit to need is different, because every mutually each inversion unit is that cascaded structure and each inversion unit output current are equal, so traditional control method can only accomplish that each inversion unit absorbs equal active power compensation rate, compensation rate is equal and not identical some the unit direct voltages that will inevitably make of waste raise other reductions, see document: H bridge cascade STATCOM DC voltage balance controls research [J]. power electronic technology, 2014,48 (1): 39-40.
Summary of the invention
The object of the present invention is to provide a kind of decentralized control method of H bridge cascade electrical network Static Var Compensator, the structure that the method adopts host computer to combine with slave computer, host computer realizes AC voltage, current double closed-loop controls, and slave computer realizes the Balance route of each module capacitance voltage of DC side.This control method of experiment show is effective.
The object of the invention is to be achieved through the following technical solutions:
A decentralized control method for H bridge cascade electrical network Static Var Compensator, described method comprises following control program:
Adopt decentralized control method, namely host computer centralized control and slave computer control the control mode that combines, the switch control rule employing CPS-SPWM technology of H bridge cascade converter, and the employing of idle test section is based on the closed-loop detection circuit of instantaneous reactive power theory; The control of whole system comprises AC PI control realization electric current loop, Voltage loop and DC side Pressure and Control two parts; Make the total direct voltage of each phase of STATCOM through the adjustment of outer voltage to idle instruction, be stabilized in designated value, obtain the prerequisite controlled in single-phase DC side total voltage under, Pressure and Control are realized to the DC capacitor voltage of single-phase each module; The control of current inner loop adopts PI to control to controller, and the open-loop transfer function of computing system forward direction is G
io(S); The control of Voltage loop needs to a small amount of active power of DC side transmission to AC, the active loss of building-out capacitor and switching device; Each inversion unit parameter there are differences, the meritorious compensation rate of each unit is different, and because every mutually each inversion unit is cascaded structure, namely each inversion unit output current is equal, therefore control DC voltage, the open-loop transfer function of outer voltage equivalent model is G
vo(S); DC bus capacitor Pressure and Control are to inverter unit-single-phase full bridge AC output voltage U
dci, the fluctuation of DC capacitor voltage and the meritorious relevant of this single-phase full bridge of input, AC output voltage U
dcicontrolled, so detect the current i of AC, the energy of control inputs single-phase full bridge DC side, by control to flow into single-phase full bridge meritorious come the magnitude of voltage of control inverter DC side.
The decentralized control method of described a kind of H bridge cascade electrical network Static Var Compensator, described Voltage loop and DC side Pressure and Control two parts, PC control realizes calculating with accurate the quick tracking of the reactive current of transient changing in electrical network, each referenced reactive current needing to compensate mutually is provided fast and accurately to slave computer, after slave computer receives the referenced reactive current of host computer, calculate the referenced reactive current i needing to revise according to the output reactive current of STATCOM at that time
ha.
The decentralized control method of described a kind of H bridge cascade electrical network Static Var Compensator, described in
（1）。
The decentralized control method of described a kind of H bridge cascade electrical network Static Var Compensator, the control of described current inner loop adopts PI to control to controller, and shunt inductance is L, t
sfor the switch motion time delay of inverter, T
cfor feedback and the sampling time delay of sampling system, Kpwm represents the multiplication factor of inverter, K
pand K
ibe respectively proportionality coefficient and the integral coefficient of electric current loop PI.
The decentralized control method of described a kind of H bridge cascade electrical network Static Var Compensator, the control of described Voltage loop, the open-loop transfer function G of outer voltage equivalent model
vo(S) be:
(2)
Wherein T
vcfor the time of delay of signals collecting and feedback.
The decentralized control method of described a kind of H bridge cascade electrical network Static Var Compensator, described DC bus capacitor pressure equalizing control method, calculates the difference U between capacitance voltage and designated value
dcthe correction G of slave computer modulating wave is obtained through PI controller, judge the output voltage that improve or reduce inverter unit according to sense of current again, the host computer that disturbance quantity is added to afterwards is issued on the modulating wave of this inverter unit, realizes controlling DC capacitor voltage.
Advantage of the present invention and effect are:
The present invention proposes a kind of decentralized control method combined based on host computer (DSP) and slave computer (DSP+FPGA), host computer DSP is used for voltage, current double closed-loop control algolithm, slave computer is for realizing the DC capacitor voltage Balance route of each module and producing the carrier phase sinusoidal pulse width modulation pulse of this module, the system configuration of this method is reasonable, dynamic response is quick, and reliability is higher.The feasibility of emulation and experimental verification topological structure and control strategy and validity, can carry out reactive power compensation preferably.H bridge cascade STATCOM based on decentralized control strategy has good dynamic and static performance, fast response time, harmonic content is few, output characteristic is good, can effectively solve DC side voltage between phases in cascade STATCOM with mutually in the equilibrium problem of each module capacitance voltage, there is very high engineering practical value.
Accompanying drawing explanation
Fig. 1 is H bridge cascade STATCOM main circuit structure figure;
Fig. 2 is H bridge cascade STATCOM overall control block diagram;
Fig. 3 is electric current loop equivalent model figure;
Fig. 4 is Voltage loop equivalent model figure;
Fig. 5 is that inverter unit DC side all presses equivalent model figure;
Fig. 6 is DC side three phase capacitance voltage pattern;
Fig. 7 is net side phase voltage and phase current simulation waveform figure;
Fig. 8 is experimental prototype picture;
Fig. 9 (a) exports nine level voltage figure for inversion;
Fig. 9 (b) is oscillogram after inverter output voltage filtering.
Embodiment
Below in conjunction with accompanying drawing illustrated embodiment, the present invention is described in detail.
The control method of H bridge cascade STATCOM of the present invention, comprises following process:
1 decentralized control method
The switch control rule of H bridge cascade converter adopts CPS-SPWM technology.Idle test section adopts the closed-loop detection circuit based on instantaneous reactive power theory.The control of whole system comprises AC PI control realization electric current loop, Voltage loop and DC side Pressure and Control two parts, and total control block diagram as shown in Figure 2.
Cascade STATCOM adopts the thought of decentralized control, and namely host computer centralized control and slave computer control the control mode that combines.PC control mainly realizes calculating with accurate the quick tracking of the reactive current of transient changing in electrical network, each referenced reactive current needing to compensate mutually is provided fast and accurately to slave computer, after slave computer receives the referenced reactive current of host computer, calculate the referenced reactive current i needing to revise according to the output reactive current of STATCOM at that time
ha.I in Fig. 2
fa* be given value of current value, I
fafor actual current value, V
dcsumfor single-phase DC side total voltage being detected, V
dcreffor total voltage set-point, V
dcifor single-phase H bridge DC side voltage.Make total DC voltage stability of each phase of STATCOM in designated value and then the realization ensureing the idle function of STATCOM compensation network through the adjustment of outer voltage to idle instruction, finally obtain the prerequisite controlled in single-phase DC side total voltage under, Pressure and Control are realized to the DC capacitor voltage of single-phase each module.
2 electric current loop PI control
The control of current inner loop ensures that STATCOM output current quick and precisely follows the tracks of the basic place of grid side reactive current, adopts PI to control to the design of controller, and when consideration Delay Factor, electric current loop equivalent model is as shown in Figure 3:
Shunt inductance is L, t
sfor the switch motion time delay of inverter, T
cfor feedback and the sampling time delay of sampling system, Kpwm represents the multiplication factor of inverter, K
pand K
ibe respectively proportionality coefficient and the integral coefficient of electric current loop PI.The open-loop transfer function calculating system forward as figure is G
io(S):
（1）
The control of 3 Voltage loop
In STATCOM practical work process, AC needs to a small amount of active power of DC side transmission with the active loss of building-out capacitor and switching device.And each inversion unit parameter there are differences, the meritorious compensation rate causing each unit to need is different, because every mutually each inversion unit is that cascaded structure and each inversion unit output current are equal, therefore need to control DC voltage, outer voltage equivalent model as shown in Figure 4:
Obtain the open-loop transfer function G of outer voltage equivalent model
vo(S) be:
（2）
Wherein T
vcfor the time of delay of signals collecting and feedback.
4 DC bus capacitor pressure equalizing control methods
Inverter unit-single-phase full bridge is analyzed: that controlled is AC output voltage U
dci, and not flow through the current i of DC capacitor, so the size that can not realize control i is to control DC bus capacitor C
divoltage, the fluctuation of DC capacitor voltage and this single-phase full bridge of input meritorious relevant, and AC output voltage U
dcicontrolled, so the current i of AC can be detected, carry out the energy of control inputs single-phase full bridge DC side, and then by control to flow into single-phase full bridge meritorious come the magnitude of voltage of control inverter DC side.
If Fig. 5 is the control block diagram that inverter unit DC capacitor voltage is all pressed, due to the every total multiple inverter unit mutually of inverter, so be difficult to realize centralized control in host computer to the Pressure and Control of numerous inverter unit DC bus capacitors, so its function is embodied in slave computer.Difference U between concrete controlling calculation capacitance voltage and designated value
dcthe correction G of slave computer modulating wave is obtained through PI controller, judge it is the output voltage that improve or reduce inverter unit according to sense of current again, the modulating wave that the host computer that disturbance quantity is added to afterwards issues this inverter unit reaches the object to DC capacitor voltage control.
Emulation and experimental analysis
1 emulation
Utilize Matlab/Simulink simulation software to build the system simulation model of Fig. 1, simulation parameter sees the following form.
Table 1 system emulation parameter
Fig. 6 totally shows DC side three phase capacitance voltage in alternate relation,
the interior mutually relation of each phase direct voltage.As seen from the figure, 4 wavy curves of every phase direct voltage are completely different, and after control strategy runs 0.05 second, three-phase voltage reaches balance substantially, and the reaction time is 2.5 cycles, has response speed faster.
Figure 7 shows that the voltage of grid side in whole compensation process and the phase difference of electric current change, as can be seen from the figure control strategy runs voltage on line side and electric current in rear 2.5 cycle times and namely reaches same-phase, illustrate and carried out good compensation to idle, demonstrate rapidity and the correctness of this control strategy further.
2 experiments
In order to verify further simulation algorithm, control strategy, build experimental prototype, as shown in Figure 8.Specific experiment condition is as follows: system power supply is made up of the load of power source generator resistance sense, is laboratory autonomous Design.Adopt three-phase regulator to obtain three line state voltages of cascade STATCOM device, it is convenient that amplitude regulates.Host computer adopts the DSP 2812 of TI company, and slave computer adopts the EP4CE15F17C8N type FPGA of DSP2812 and ALTER company to combine.
In order to verify feasibility and the superiority of decentralized control strategy, test adjustment is carried out to it.Fig. 9 (a) inversion exports nine level voltages, waveform after the filtering of Fig. 9 (b) inverter output voltage; Be depicted as 4H bridge cascade nine electrical level inverter output voltage and filtered voltage waveform, result shows, the good output of device, control system can realize higher equivalent switching frequency under lower switching frequency, harmonic content is few, and experiment proves the feasibility of decentralized control strategy in cascade STATCOM.
Claims (6)
1. a decentralized control method for H bridge cascade electrical network Static Var Compensator, is characterized in that, described method comprises following control program:
Adopt decentralized control method, namely host computer centralized control and slave computer control the control mode that combines, the switch control rule employing CPS-SPWM technology of H bridge cascade converter, and the employing of idle test section is based on the closed-loop detection circuit of instantaneous reactive power theory; The control of whole system comprises AC PI control realization electric current loop, Voltage loop and DC side Pressure and Control two parts; Make the total direct voltage of each phase of STATCOM through the adjustment of outer voltage to idle instruction, be stabilized in designated value, obtain the prerequisite controlled in single-phase DC side total voltage under, Pressure and Control are realized to the DC capacitor voltage of single-phase each module; The control of current inner loop adopts PI to control to controller, and the open-loop transfer function of computing system forward direction is G
io(S); The control of Voltage loop needs to a small amount of active power of DC side transmission to AC, the active loss of building-out capacitor and switching device; Each inversion unit parameter there are differences, the meritorious compensation rate of each unit is different, and because every mutually each inversion unit is cascaded structure, namely each inversion unit output current is equal, therefore control DC voltage, the open-loop transfer function of outer voltage equivalent model is G
vo(S); DC bus capacitor Pressure and Control are to inverter unit-single-phase full bridge AC output voltage U
dci, the fluctuation of DC capacitor voltage and the meritorious relevant of this single-phase full bridge of input, AC output voltage U
dcicontrolled, so detect the current i of AC, the energy of control inputs single-phase full bridge DC side, by control to flow into single-phase full bridge meritorious come the magnitude of voltage of control inverter DC side.
2. the decentralized control method of a kind of H bridge cascade electrical network Static Var Compensator according to claim 1, it is characterized in that, described Voltage loop and DC side Pressure and Control two parts, PC control realizes calculating with accurate the quick tracking of the reactive current of transient changing in electrical network, each referenced reactive current needing to compensate mutually is provided fast and accurately to slave computer, after slave computer receives the referenced reactive current of host computer, calculate the referenced reactive current i needing to revise according to the output reactive current of STATCOM at that time
ha.
3. the decentralized control method of a kind of H bridge cascade electrical network Static Var Compensator according to claim 1, is characterized in that, described in
(1).
4. the decentralized control method of a kind of H bridge cascade electrical network Static Var Compensator according to claim 1, is characterized in that, the control of described current inner loop adopts PI to control to controller, and shunt inductance is L, t
sfor the switch motion time delay of inverter, T
cfor feedback and the sampling time delay of sampling system, Kpwm represents the multiplication factor of inverter, K
pand K
ibe respectively proportionality coefficient and the integral coefficient of electric current loop PI.
5. the decentralized control method of a kind of H bridge cascade electrical network Static Var Compensator according to claim 1, is characterized in that, the control of described Voltage loop, the open-loop transfer function G of outer voltage equivalent model
vo(S) be:
（2）
Wherein T
vcfor the time of delay of signals collecting and feedback.
6. the decentralized control method of a kind of H bridge cascade electrical network Static Var Compensator according to claim 1, is characterized in that, described DC bus capacitor pressure equalizing control method, calculates the difference U between capacitance voltage and designated value
dcthe correction G of slave computer modulating wave is obtained through PI controller, judge the output voltage that improve or reduce inverter unit according to sense of current again, the host computer that disturbance quantity is added to afterwards is issued on the modulating wave of this inverter unit, realizes controlling DC capacitor voltage.
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| CN105552927A (en) * | 2016-01-28 | 2016-05-04 | 中电普瑞科技有限公司 | Parallel compensation system and method for preventing commutation failure of DC power transmission system |
| CN107154631A (en) * | 2017-05-22 | 2017-09-12 | 上海电力学院 | Dynamic voltage regulation device and adjusting method based on modular multilevel inverter |
| CN107255937A (en) * | 2017-05-10 | 2017-10-17 | 国网江西省电力公司电力科学研究院 | A kind of SVG analogue systems in parallel and its control method |
| CN113422367A (en) * | 2021-07-08 | 2021-09-21 | 山东大学 | Negative sequence voltage injection four-layer capacitor voltage balancing method of high-voltage electric energy purification equipment |
| CN114156904A (en) * | 2021-12-07 | 2022-03-08 | 东北电力大学 | Capacitor voltage indirect detection method for chain type STATCOM submodule |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105552927A (en) * | 2016-01-28 | 2016-05-04 | 中电普瑞科技有限公司 | Parallel compensation system and method for preventing commutation failure of DC power transmission system |
| CN107255937A (en) * | 2017-05-10 | 2017-10-17 | 国网江西省电力公司电力科学研究院 | A kind of SVG analogue systems in parallel and its control method |
| CN107154631A (en) * | 2017-05-22 | 2017-09-12 | 上海电力学院 | Dynamic voltage regulation device and adjusting method based on modular multilevel inverter |
| CN107154631B (en) * | 2017-05-22 | 2024-01-23 | 上海电力学院 | Dynamic voltage regulating device and regulating method based on modularized multi-level inverter |
| CN113422367A (en) * | 2021-07-08 | 2021-09-21 | 山东大学 | Negative sequence voltage injection four-layer capacitor voltage balancing method of high-voltage electric energy purification equipment |
| CN114156904A (en) * | 2021-12-07 | 2022-03-08 | 东北电力大学 | Capacitor voltage indirect detection method for chain type STATCOM submodule |
| CN114156904B (en) * | 2021-12-07 | 2023-09-29 | 东北电力大学 | Chain type STATCOM submodule capacitor voltage indirect detection method |
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