CN104993494A - Motor simulator based on four-quadrant power electronic converter and method - Google Patents
Motor simulator based on four-quadrant power electronic converter and method Download PDFInfo
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- CN104993494A CN104993494A CN201510269047.2A CN201510269047A CN104993494A CN 104993494 A CN104993494 A CN 104993494A CN 201510269047 A CN201510269047 A CN 201510269047A CN 104993494 A CN104993494 A CN 104993494A
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Abstract
The invention provides a motor simulator based on four-quadrant power electronic converter and a method. The motor simulator comprises an input switch, an input transformer, a connection inductor, a power unit, an output inductor and an output switch. Modulating waves are added on a rectification side of the power unit so as to allow the voltage of the power unit to become stable. Voltage and current on the output end of the four-quadrant power electronic converter are controlled so that the four-quadrant power electronic converter is changed to produce or absorb active or reactive power, thereby simulating running characteristics of a synchronous generator, an asynchronous generator, a synchronous motor and an asynchronous motor. During simulation of characteristics of generators, the converter can be used for providing power for load, providing a test source for the load so as to detect characteristics of the load, and also adjusting reactive power of the grid power. During simulation of the motor, the converter can be used for providing load for a to-be-detected power supply so as to detect the characteristics of the power supply, or be used as the load for adjusting power balance of the power grid. The motor simulator is convenient to control and responses timely.
Description
Technical field
The present invention relates to electric and electronic technical field, particularly relate to a kind of motor simulation device and method based on four-quadrant electronic power convertor.
Background technology
Motor has vital effect in industrial production and development test.Synchronous generator, asynchronous generator can send active power and perception, capacitive reactive power, therefore can for load supplying or gain merit to electrical network, Reactive-power control.Synchronous motor, asynchronous motor can absorb active power and perception, capacitive reactive power, therefore can gain merit as load or to electrical network, Reactive-power control.
Because the inertia of conventional motors is large, low-response and function has limitation, more complicated to the control of motor, therefore, favored by power electronic equipment simulated machine characteristic.Application number be 201410157692.0 Chinese invention patent disclose " the micro-operated control method of a kind of microgrid based on virtual synchronous generator ", this patent utilization power electronics simulates the characteristic of synchronous generator, synchronous generator can be simulated meritorious adjustment and Reactive-power control is carried out to microgrid, also can realize the switching under the different operational mode of microgrid simultaneously, but the method can only simulate the operation characteristic of synchronous generator, there is certain limitation.
Summary of the invention
The object of the present invention is to provide a kind of motor simulation device and method based on four-quadrant electronic power convertor, both can simulate the characteristic of synchronous generator, asynchronous generator, the characteristic of synchronous motor, asynchronous motor can also be simulated.
For achieving the above object, the present invention adopts following technical scheme:
A kind of motor simulation device based on four-quadrant electronic power convertor, comprise input switch, input transformer, connect reactance, power cell, output reactance, output switch and the first control system, described input transformer adopts three single-phase transformer cascaded structures, former limit adopts delta connection, secondary adopts many vice-side winding structure, each vice-side winding connects reactance and single power cell all successively, cascade form is adopted to couple together between single power cell on each vice-side winding, composition single-phase power cells, power cell is made up of three single-phase power cells, the output of three single-phase power cells is connected with electrical network or Devices to test by output reactance and output switch respectively, the output of power cell adopts the wye connection of band center line, the inverter side of the first control system control connection power cell, modulate for the formation of the inverter side of modulating wave to power cell,
Described first control system is when forming modulating wave, first PI control is carried out to the reference value of power cell inverter side active power and the difference of actual value, first control system also carries out PI control to the reference value of power cell inverter side reactive power and the difference of actual value simultaneously, the PI control result of active power and reactive power is carried out coordinate transform, obtain the current reference value of power cell inverter side, the difference of this reference value and power cell inverter side current actual value is carried out repetitive study control by the first control system again, obtain voltage modulation signal, then the first control system is by the output voltage of current transformer output and the modulation voltage addition being ahead of output end voltage 90 °, obtain voltage feedforward control signal, finally, this voltage feedforward control signal is added with voltage modulation signal by the first control system, obtain the modulating wave of power cell inverter side, this modulating wave is added in the inverter side of power cell, can modulate the inverter side of power cell, thus the phase place of adjusting device output voltage and output current.
Single power cell on described each vice-side winding adopts two H bridges connected mode back-to-back, left side H bridge is rectification side, and right side H bridge is inverter side, and H bridge adopts all-controlled semiconductor device, and be all parallel with reverse fly-wheel diode, between two H bridges, be parallel with storage capacitor.
Cascade form is adopted to couple together between single power cell on described each vice-side winding, cascade number is by treating that the electric pressure of simulated machine is determined, the inverter side of the single power cell of every phase adopts phase-shifting carrier wave Sine Wave Pulse Width Modulation mode to control.
Also comprise the second control system, the rectification side of the second control system control connection power cell, be used for forming modulating wave to modulate power cell rectification side, when forming modulating wave, second control system is averaging by first the voltage at the storage capacitor two ends collected being carried out sliding window, after obtaining the mean value of one-period, again the difference of the rated voltage at this mean value and storage capacitor two ends is carried out PI control, after the voltage of input transformer vice-side winding that the output signal that PI controls collects with voltage transformer is multiplied by the second control system again, obtain the reference value of power cell input current, then, the difference of the measured value of the power cell input current that this reference value and current transformer collect by the second control system carries out P control, obtain modulation signal, then, second control system obtains feed-forward control signals after the voltage of input transformer vice-side winding is carried out P control, finally, modulation signal is added with feed-forward control signals by the second control system, the modulating wave of power cell rectification side can be obtained, this modulating wave is added in the rectification side of power cell, can modulate the rectification side of power cell, make storage capacitor to have stable voltage.
Based on a motor simulation method for four-quadrant electronic power convertor, comprise the following steps successively
(1) first close input switch, input transformer is devoted oneself to work, and storage capacitor starts charging;
(2) voltage U needed for selection
ref, electric current I
ref, phase angle theta
ref, calculate active power reference value P
ref, reactive power reference qref Q
ref, wherein, P
ref=U
refi
refcos θ
ref, Q
ref=U
refi
refsin θ
ref, subscript ref represents electrical network;
(3) power sensor is utilized to gather active-power P and the reactive power Q of power cell inverter side, by the active power reference value P calculated
refwith measure power cell inverter side the difference of active-power P input a PI controller, by the reactive power reference qref Q calculated
refwith measure power cell inverter side the difference input of reactive power Q carry out input the 2nd PI controller, the active power after PI controls and reactive power obtain the current reference value i of power cell inverter side after coordinate transform
*; The computing formula of the one PI controller is
the computing formula of the 2nd PI controller is
wherein, k
p3, k
p4be proportionality coefficient, k
i3, k
i4be integral coefficient, subscript p represents ratio, and subscript i represents integration;
(4) current transformer is utilized to gather the current actual value i of power cell inverter side
s, by the current reference value i of the power cell inverter side that step (3) obtains
*with the current actual value i of power cell inverter side
sdifference carry out repetitive study control, obtain modulation signal V
m1;
(5) voltage transformer harvester output end voltage u is utilized
s, by voltage u
sbe multiplied by proportionality coefficient k
p5after obtain the synchronous component k with output voltage
p5u
s, voltage u
s ⊥be multiplied by proportionality coefficient k
p6after obtain the component k being ahead of output voltage 90 °
p6u
s ⊥, k
p5u
swith k
p6u
s ⊥after addition, obtain feed-forward control signals V
m2, by modulation signal V
m1with feed-forward control signals V
m2after addition, obtain the modulating wave V of single power cell inverter side
m, voltage u
s ⊥for being ahead of the voltage of device output end voltage 90 °, subscript p represents ratio;
(6) the modulating wave V of single power cell inverter side step (5) obtained
mstagger successively 180/N, N is the number of every phase power cell, can obtain the modulating wave of each power cell;
(7) modulating wave of each power cell step (6) obtained is added in the inverter side of power cell successively, controls the inverter side of power cell, thus the phase place of adjusting device output voltage and power output.
Also comprise step (8) to step (13), be specially:
(8) utilize voltage transformer to gather the voltage at storage capacitor two ends, be designated as u
dc, slided window and be averaging the mean value obtaining one-period
subscript dc represents direct current;
(9) by mean value that step (8) obtains
with the reference value of storage capacitor both end voltage
difference DELTA u
dcinput the 3rd PI controller, obtain signal delta I, reference value
size equal the rated voltage of storage capacitor; The computing formula of the 3rd PI controller is
wherein, k
pfor proportionality coefficient, p represents ratio, k
ifor integral coefficient, i represents integration, and s represents Laplace transform;
(10) the voltage u of voltage transformer Gather and input transformer secondary winding is utilized
s1, the signal delta I that step (9) is obtained and input transformer vice-side winding voltage u
s1the reference value of power cell input current is obtained after being multiplied
subscript s1 indication transformer secondary, subscript s indication transformer;
(11) current transformer is utilized to gather the input current i of power cell
s, by the reference value of power cell input current
with the measured value i of power cell input current
sdifference DELTA i
sinput the first P controller, be multiplied by proportionality coefficient k
p1after, obtain voltage modulation signal u
m1, wherein, subscript p represents ratio;
(12) the voltage u of input transformer vice-side winding will collected
s1input the second P controller, be multiplied by proportionality coefficient k
p2after, obtain voltage feedforward control signal u
m2, by voltage modulation signal u
m1with voltage feedforward control signal u
m2be added, obtain the modulating wave u of power cell rectification side
m, wherein, subscript s1 indication transformer secondary, subscript s indication transformer, subscript p represents ratio;
(13) by modulating wave u that step (12) obtains
mbe added in the rectification side of power cell, make storage capacitor to have stable voltage.
The present invention can simulate the characteristic of synchronous generator, synchronous motor, asynchronous generator, asynchronous motor simultaneously.
When electric current leading voltage 0 ~ 90 °, current transformer sends active power power and capacitive reactive power; When current lagging voltage 0 ~ 90 °, current transformer sends active power and lagging reactive power, and now current transformer simulates synchronous or asynchronous generator characteristic.
When electric current leading voltage 90 ~ 180 °, current transformer absorbs active power and lagging reactive power; When current lagging voltage 90 ~ 180 °, current transformer absorbs active power and capacitive reactive power, and now current transformer simulates synchronous or asynchronous motor characteristic.
When generator property, current transformer can be load and provides power supply, and also can be load provides test pill to detect load characteristic, also adjustable power system reactive power etc.; When motor characteristic, current transformer is as load, and can be the nuclear-electric power supply that needs checking provides load to detect power supply characteristic, also can be used as load regulation grid power balance etc.; The present invention simultaneously adopts four-quadrant electronic power convertor simulated machine, and it is convenient to control, and response in time.
Accompanying drawing explanation
Fig. 1 is the motor simulation device topology diagram based on four-quadrant electronic power convertor of the present invention;
Fig. 2 is the circuit diagram of power cell in Fig. 1 shown device;
Fig. 3 is the topological structure schematic diagram of Monophase electric power electronic inverter in Fig. 1 shown device;
Fig. 4 is the rectification side of power cell shown in Fig. 2 modulating wave generating algorithm block diagram;
Fig. 5 be current transformer grid-connected time power cell inverter side modulating wave generating algorithm block diagram;
Fig. 6 is output end voltage current vector figure single-phase shown in Fig. 3.
Embodiment
As shown in Figure 1 to Figure 3, motor simulation device based on four-quadrant electronic power convertor of the present invention comprises input switch 101, input transformer 102, connect reactance 103, power cell 104, output reactance 105, output switch 106, first control system and the second control system, input transformer 102 adopts the structure of three single-phase transformer series connection, former limit adopts delta connection, secondary adopts many vice-side winding structure, each vice-side winding connects reactance 103 and single power cell respectively, cascade form is adopted to couple together between single power cell on each vice-side winding, composition single-phase power cells, cascade number is by treating that the electric pressure of analogue system is determined, phase-shifting carrier wave Sine Wave Pulse Width Modulation (CPS-SPWM) mode is adopted to control between single power cell on each vice-side winding, power cell 104 is made up of three single-phase power cells, the output of three single-phase power cells is connected with electrical network or Devices to test by output reactance 105 and output switch 106 respectively, the output of power cell 104 adopts the wye connection of band center line.
Single power cell on each vice-side winding all adopts two H bridges connected mode back-to-back, and left side H bridge is rectification side, and right side H bridge is inverter side, and storage capacitor C is parallel between two H bridges, G1, G2, G3, G4, G5, G6, G7, G8 are the IGBT being parallel with reverse fly-wheel diode.
The inverter side of the first control system control connection power cell 104, modulate for the formation of the inverter side of modulating wave to power cell 104, first control system is when forming modulating wave, first PI control is carried out to the reference value of power cell 104 inverter side active power and the difference of actual value, first control system also carries out PI control to the reference value of power cell 104 inverter side reactive power and the difference of actual value simultaneously, the PI control result of active power and reactive power is carried out coordinate transform, obtain the current reference value of power cell 104 inverter side, the difference of this reference value and power cell 104 inverter side current actual value is carried out repetitive study control by the first control system again, obtain voltage modulation signal, then the first control system is by the output voltage of current transformer output and the modulation voltage addition being ahead of output end voltage 90 °, obtain voltage feedforward control signal, finally, this voltage feedforward control signal is added with voltage modulation signal by the first control system, obtain the modulating wave of power 104 unit inverter side, this modulating wave is added in the inverter side of power cell, can modulate the inverter side of power cell, thus the phase place of adjusting device output voltage and then output current.
The rectification side of the second control system control connection power cell 104, be used for forming modulating wave to modulate power cell 104 rectification side, when forming modulating wave, second control system is averaging by first the voltage at the storage capacitor C two ends collected being carried out sliding window, after obtaining the mean value of one-period, again the difference of the rated voltage at this mean value and storage capacitor C two ends is carried out PI control, after the voltage of input transformer 102 vice-side winding that the output signal that PI controls collects with voltage transformer is multiplied by the second control system again, obtain the reference value of power cell 104 input current, then, the difference of the measured value of power cell 104 input current that this reference value and current transformer collect by the second control system carries out P control, obtain modulation signal, then, second control system obtains feed-forward control signals after the voltage of input transformer 102 vice-side winding is carried out P control, finally, modulation signal is added with feed-forward control signals by the second control system, the modulating wave of power cell 104 rectification side can be obtained, this modulating wave is added in the rectification side of power cell 104, can modulate the rectification side of power cell 104, make that storage capacitor C has stable voltage.
As shown in Fig. 4 Fig. 5, the motor simulation method based on four-quadrant electronic power convertor of the present invention comprises the following steps successively:
(1) first close input switch 101, input transformer 102 is devoted oneself to work, and storage capacitor C starts charging;
(2) utilize voltage transformer to gather the voltage at storage capacitor C two ends, be designated as u
dc, slided window and be averaging the mean value obtaining one-period
wherein subscript dc represents direct current;
The voltage u at storage capacitor two ends
dcactually comprise DC component and alternating current component, but the amplitude of alternating current component is less and not easily controlled, so will to u
dccontrol change into its DC component
control, by u
dcsliding window is averaging the mean value obtaining one-period
i.e. DC component
sliding window is averaging and adopts sliding window fft analysis method, is known technology, does not repeat them here.
(3) by mean value that step (2) obtains
with the reference value of storage capacitor C both end voltage
difference DELTA u
dcinput the 3rd PI controller, obtain signal delta I, the computing formula of the 3rd PI controller is
wherein, k
pfor proportionality coefficient, p represents ratio, k
ifor integral coefficient, i represents integration, and s represents Laplace transform, reference value
size equal the rated voltage at storage capacitor C two ends, obtain by looking into handbook, Δ u
dcdo difference by software to obtain.
(4) the voltage u of voltage transformer Gather and input transformer 102 vice-side winding is utilized
s1, the signal delta I that step (3) is obtained and input transformer 102 vice-side winding voltage u
s1the reference value of power cell 104 input current is obtained after being multiplied
wherein subscript s1 represents input transformer 102 secondary, and subscript s represents input transformer 102, Δ I and input transformer 102 vice-side winding voltage u
s1be multiplied and pass through software simulating.
(5) current transformer is utilized to gather the input current i of power cell 104
s, by the reference value of power cell 104 input current
with the measured value i of power cell 104 input current
sdifference DELTA i
sinput the first P controller, be multiplied by proportionality coefficient k
p1, obtain voltage modulation signal u
m1, wherein, subscript p represents ratio, and subscript p1 is only differentiation effect, and non-variables, subscript m, m1 and s only play differentiation effect, and non-variables, Δ i
sdo difference by software to obtain.
(6) the voltage u of input transformer 102 vice-side winding will collected
s1input the second P controller, be multiplied by proportionality coefficient k
p2after, obtain voltage feedforward control signal u
m2, by the voltage modulation signal u that step (5) obtains
m1with voltage feedforward control signal u
m2be added, obtain the modulating wave u of power cell 104 rectification side
m, by this modulating wave u
mbe added in the rectification side of power cell 104, the voltage on storage capacitor C is made to keep stable, wherein, subscript s1 represents input transformer 102 secondary, and subscript s represents input transformer 102, and subscript m, m2 all play differentiation effect, and non-variables, subscript p represents ratio, and subscript p2 is only differentiation effect, and non-variables.
(7) voltage U needed for selection
ref, electric current I
ref, phase angle theta
ref, calculate active power reference value P
ref, reactive power reference qref Q
ref, wherein, P
ref=U
refi
refcos θ
ref, Q
ref=U
refi
refsin θ
ref, subscript ref represents electrical network.
The outlet side of device of the present invention is connected to certain position of electrical network, therefore voltage U
refdetermine, electric current I
refand phase angle theta
refthen need to determine voluntarily according to user.
(8) power sensor is utilized to gather active-power P and the reactive power Q of power cell 104 inverter side, by the active power reference value P calculated
refinput a PI controller with the difference of the active-power P measuring power cell 104 inverter side, the computing formula of a PI controller is
by the reactive power reference qref Q calculated
refwith measure power cell inverter side the difference of reactive power Q input the 2nd PI controller, the computing formula of the 2nd PI controller is
after dq-abc conversion (i.e. coordinate transform), the current reference value i of power cell inverter side is obtained through the active power after PI controls and reactive power
*;
K
p3, k
p4be proportionality coefficient, k
i3, k
i4be integral coefficient, subscript p represents ratio, and subscript i represents integration, and subscript p3, p4, i3, i4 are all only differentiation effect, and non-variables; Dq-abc converts, and namely coordinate is transformed to known technology, does not repeat them here.
(9) current transformer is utilized to gather the current actual value i of power cell 104 inverter side, the current reference value i of power cell 104 inverter side step (8) obtained
*carry out repetitive study control with the difference of the current actual value i of power cell 104 inverter side, obtain modulation signal V
m1, subscript m and m1 only play differentiation effect, and non-variables.
Repetitive study control process as shown in Fig. 6 Block Diagrams, k in figure
rfor feedback proportional coefficient, for ensureing certain stability margin, k in the present embodiment
rget 0.8 ~ 2; k
ffor forgetting factor, usual value is less than 1, and in the present embodiment, value is 0.95; k
sfor repeating control coefrficient, work as k
rwith k
fafter value is determined, k
svalue influential system stability, works as k
swhen=2, system is in neutrality, therefore k
sget 0 ~ 2, k in the present embodiment
svalue is 1 ~ 1.5, e
-sTrepresent the time delay operator of learning cycle, repetitive study control process utilizes the periodicity of error signal to compensate, and enables the circular error of system progressively decay or eliminate, thus makes system export the control strategy reaching re-set target.Utilize repetitive study control, can guarantee that the static receiver error compensated is zero while realizing accurately following the tracks of instruction current.In the present invention, utilize above-mentioned repetitive study control process, voltage modulation signal V can be made
m1reach desired value.
(10) voltage transformer harvester output end voltage u is utilized
s, for A phase, be the voltage between output terminals A N 2 in Fig. 3, by output end voltage u
sbe multiplied by proportionality coefficient k
p5after obtain and output end voltage u
ssynchronous component k
p5u
s, voltage u
s ⊥be multiplied by proportionality coefficient k
p6after obtain the component k being ahead of output voltage 90 °
p6u
s ⊥, voltage u
s ⊥for being ahead of the voltage of device output end voltage 90 °, phase shifting transformer can be utilized to obtain, k
p5u
swith k
p6u
s ⊥after addition, obtain feed-forward control signals V
m2, by the modulation signal V that step (9) obtains
m1with feed-forward control signals V
m2be added, obtain the modulating wave V of single power cell inverter side
m, wherein, subscript p represents ratio, and subscript p5, p6, m, m2, s all only play differentiation effect, and non-variables.
Single power cell adopts cascade form, by the modulating wave V of above-mentioned single power cell inverter side
mstagger successively 180/N, N is the number of every phase power cell, can obtain the modulating wave of each power cell.
(11) modulating wave of each power cell step (10) obtained is added in the inverter side of power cell 104 successively, controls power cell 104, thus the phase place of regulation output voltage and output current.
Operationally, the modulating wave obtained in above-mentioned steps adds rectification side and the inverter side of power cell respectively in the present invention, measures amplitude and the phase place of output end voltage and electric current respectively, as shown in Figure 6,
for output end voltage,
for output end current, θ is output end current
advanced output end voltage
angle, with output end voltage
as with reference to vector, work as output end current
at first quartile, namely during 0 ~ 90 °, the advanced output end voltage phase place of output end current phase place, current transformer sends active power and capacitive reactive power; Work as output end current
at IV quadrant, namely during 0 ~ 90 °, output end current delayed phase output end voltage phase place, current transformer sends active power and lagging reactive power, the characteristic of current transformer simulation synchronous generator and asynchronous generator in above two kinds of situations.
Work as output end current
at II quadrant, namely during 90 ~ 180 °, the advanced output end voltage phase place of output end current phase place, current transformer absorbs active power and perceptual inactivity; Work as output end current
at III quadrant, namely during 90 ~ 180 °, output end current delayed phase output end voltage phase place, current transformer absorbs active power and capacitive reactive power, the characteristic of current transformer simulation synchronous motor and asynchronous motor in above two kinds of situations.
Claims (6)
1. the motor simulation device based on four-quadrant electronic power convertor, it is characterized in that: comprise input switch, input transformer, connect reactance, power cell, output reactance, output switch and the first control system, described input transformer adopts three single-phase transformer cascaded structures, former limit adopts delta connection, secondary adopts many vice-side winding structure, each vice-side winding connects reactance and single power cell all successively, cascade form is adopted to couple together between single power cell on each vice-side winding, composition single-phase power cells, power cell is made up of three single-phase power cells, the output of three single-phase power cells is connected with electrical network or Devices to test by output reactance and output switch respectively, the output of power cell adopts the wye connection of band center line, the inverter side of the first control system control connection power cell, modulate for the formation of the inverter side of modulating wave to power cell,
Described first control system is when forming modulating wave, first PI control is carried out to the reference value of power cell inverter side active power and the difference of actual value, first control system also carries out PI control to the reference value of power cell inverter side reactive power and the difference of actual value simultaneously, the PI control result of active power and reactive power is carried out coordinate transform, obtain the current reference value of power cell inverter side, the difference of this reference value and power cell inverter side current actual value is carried out repetitive study control by the first control system again, obtain voltage modulation signal, then the first control system is by the output voltage of current transformer output and the modulation voltage addition being ahead of output end voltage 90 °, obtain voltage feedforward control signal, finally, this voltage feedforward control signal is added with voltage modulation signal by the first control system, obtain the modulating wave of power cell inverter side, this modulating wave is added in the inverter side of power cell, can modulate the inverter side of power cell, thus the phase place of adjusting device output voltage and output current.
2. a kind of motor simulation device based on four-quadrant electronic power convertor as claimed in claim 1, it is characterized in that: the single power cell on described each vice-side winding adopts two H bridges connected mode back-to-back, left side H bridge is rectification side, right side H bridge is inverter side, H bridge adopts all-controlled semiconductor device, and be all parallel with reverse fly-wheel diode, between two H bridges, be parallel with storage capacitor.
3. a kind of motor simulation device based on four-quadrant electronic power convertor as claimed in claim 2, it is characterized in that: between the single power cell on described each vice-side winding, adopt cascade form to couple together, cascade number is by treating that the electric pressure of simulated machine is determined, the inverter side of the single power cell of every phase adopts phase-shifting carrier wave Sine Wave Pulse Width Modulation mode to control.
4. a kind of motor simulation device based on four-quadrant electronic power convertor as claimed in claim 3, it is characterized in that: also comprise the second control system, the rectification side of the second control system control connection power cell, be used for forming modulating wave to modulate power cell rectification side, when forming modulating wave, second control system is averaging by first the voltage at the storage capacitor two ends collected being carried out sliding window, after obtaining the mean value of one-period, again the difference of the rated voltage at this mean value and storage capacitor two ends is carried out PI control, after the voltage of input transformer vice-side winding that the output signal that PI controls collects with voltage transformer is multiplied by the second control system again, obtain the reference value of power cell input current, then, the difference of the measured value of the power cell input current that this reference value and current transformer collect by the second control system carries out P control, obtain modulation signal, then, second control system obtains feed-forward control signals after the voltage of input transformer vice-side winding is carried out P control, finally, modulation signal is added with feed-forward control signals by the second control system, the modulating wave of power cell rectification side can be obtained, this modulating wave is added in the rectification side of power cell, can modulate the rectification side of power cell, make storage capacitor to have stable voltage.
5. utilize a kind of motor simulation device based on four-quadrant electronic power convertor described in claim 4 to carry out the method simulated, it is characterized in that: comprise the following steps successively
(1) first close input switch, input transformer is devoted oneself to work, and storage capacitor starts charging;
(2) voltage U needed for selection
ref, electric current I
ref, phase angle theta
ref, calculate active power reference value P
ref, reactive power reference qref Q
ref, wherein, P
ref=U
refi
refcos θ
ref, Q
ref=U
refi
refsin θ
ref, subscript ref represents electrical network;
(3) power sensor is utilized to gather active-power P and the reactive power Q of power cell inverter side, by the active power reference value P calculated
refwith measure power cell inverter side the difference of active-power P input a PI controller, by the reactive power reference qref Q calculated
refwith measure power cell inverter side the difference input of reactive power Q carry out input the 2nd PI controller, the active power after PI controls and reactive power obtain the current reference value i of power cell inverter side after coordinate transform
*; The computing formula of the one PI controller is
the computing formula of the 2nd PI controller is
wherein, k
p3, k
p4be proportionality coefficient, k
i3, k
i4be integral coefficient, subscript p represents ratio, and subscript i represents integration;
(4) current transformer is utilized to gather the current actual value i of power cell inverter side
s, by the current reference value i of the power cell inverter side that step (3) obtains
*with the current actual value i of power cell inverter side
sdifference carry out repetitive study control, obtain modulation signal V
m1;
(5) voltage transformer harvester output end voltage u is utilized
s, by voltage u
sbe multiplied by proportionality coefficient k
p5after obtain the synchronous component k with output voltage
p5u
s, voltage u
s ⊥be multiplied by proportionality coefficient k
p6after obtain the component k being ahead of output voltage 90 °
p6u
s ⊥, k
p5u
swith k
p6u
s ⊥after addition, obtain feed-forward control signals V
m2, by modulation signal V
m1with feed-forward control signals V
m2after addition, obtain the modulating wave V of single power cell inverter side
m, voltage u
s ⊥for being ahead of the voltage of device output end voltage 90 °, subscript p represents ratio;
(6) the modulating wave V of single power cell inverter side step (5) obtained
mstagger successively 180/N, N is the number of every phase power cell, can obtain the modulating wave of each power cell;
(7) modulating wave of each power cell step (6) obtained is added in the inverter side of power cell successively, controls the inverter side of power cell, thus the phase place of adjusting device output voltage and power output.
6. a kind of motor simulation method based on four-quadrant electronic power convertor as claimed in claim 5, is characterized in that, also comprise step (8) to step (13), be specially:
(8) utilize voltage transformer to gather the voltage at storage capacitor two ends, be designated as u
dc, slided window and be averaging the mean value obtaining one-period
subscript dc represents direct current;
(9) by mean value that step (8) obtains
with the reference value of storage capacitor both end voltage
difference DELTA u
dcinput the 3rd PI controller, obtain signal delta I, reference value
size equal the rated voltage of storage capacitor; The computing formula of the 3rd PI controller is
wherein, k
pfor proportionality coefficient, p represents ratio, k
ifor integral coefficient, i represents integration, and s represents Laplace transform;
(10) the voltage u of voltage transformer Gather and input transformer secondary winding is utilized
s1, the signal delta I that step (9) is obtained and input transformer vice-side winding voltage u
s1the reference value of power cell input current is obtained after being multiplied
, subscript s1 indication transformer secondary, subscript s indication transformer;
(11) current transformer is utilized to gather the input current i of power cell
s, by the reference value of power cell input current
with the measured value i of power cell input current
sdifference DELTA i
sinput the first P controller, be multiplied by proportionality coefficient k
p1after, obtain voltage modulation signal u
m1, wherein, subscript p represents ratio;
(12) the voltage u of input transformer vice-side winding will collected
s1input the second P controller, be multiplied by proportionality coefficient k
p2after, obtain voltage feedforward control signal u
m2, by voltage modulation signal u
m1with voltage feedforward control signal u
m2be added, obtain the modulating wave u of power cell rectification side
m, wherein, subscript s1 indication transformer secondary, subscript s indication transformer, subscript p represents ratio;
(13) by modulating wave u that step (12) obtains
mbe added in the rectification side of power cell, make storage capacitor to have stable voltage.
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