CN104993533A - Modular multilevel converter inter-bridge-arm energy balance control method - Google Patents
Modular multilevel converter inter-bridge-arm energy balance control method Download PDFInfo
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Abstract
The invention provides a modular multilevel converter inter-bridge-arm energy balance control method. An inter-bridge-arm energy balance control component is superposed in a modulation signal output by a conventional control system; the method provided by the invention is combined with a conventional control strategy and an intra-bridge-arm voltage balance control method; and stability of a system for connecting with a weak alternating current system and under transmission power fluctuation is improved. According to the invention, energy difference value between upper and lower bridge arms is calculated by a PI regulator to obtain a given amplitude of circulation current, a PR regulator is used for controlling a modular multilevel circulation current tracking fundamental frequency circulation given signal, and a balance component obtained by calculation of the PR regulator is superposed with a modulation signal of an original system, so that energy balance control between the upper bridge arm and the lower bridge arm is achieved, and the system stability is improved.
Description
Technical field
The present invention relates to many level flexible DC power transmission current transformer control technology field, particularly, relate to a kind of based on modular multilevel topological structure current transformer capacitance energy storage control modular multi-level converter brachium pontis between energy equilibrium control method.
Background technology
Technology of HVDC based Voltage Source Converter has been widely used in offshore grid-connected wind farm system, along with the continuous expansion of marine wind electric field scale, electric pressure and the capacity requirement of flexible DC power transmission current transformer also improve constantly, the coastal area portion electrical network that waits belongs to weak AC system simultaneously, and this has higher requirement to the control of current transformer.
Modular multi-level converter is based on modular power unit, adopt plural serial stage structure, improve system voltage grade, power cell topological structure conventional at present comprises half-bridge, full-bridge and half-bridge and full-bridge mixed structure, the Large Copacity flexible direct current power transmission system put into operation all adopts half-bridge structure, this kind of structure does not have isolating power for DC side fault, switching device is easily caused to damage under the bipolar short-circuit conditions of system dc, existing lot of documents proposes the modular multilevel structure of improvement at present, mainly contain clamping type Shuangzi modular structure and full-bridge modules structure, there is the locking function of DC Line Fault, it is the main development direction of following modular multi-level converter, but practical engineering application is also less at present.For above-mentioned various modular multilevel structure when connecting weak AC system; because Power Output for Wind Power Field exists larger fluctuation; easily cause grid side AC voltage fluctuations; thus it is uneven to make current transformer DC side both positive and negative polarity busbar voltage occur; if do not controlled this; to have a strong impact on and network electric energy quality, even cause the protection act such as current transformer brachium pontis overvoltage because of bipolar imbalance, so that system shutdown.
Find by prior art documents, " based on the HVDC light system .2010 of modular multi-level converter; 34 (2): 53-58 " that the people such as Liu Zhongqi deliver in Automation of Electric Systems approaches the modulator approach of (NLM) for adopting the modular multi-level converter of half-bridge structure to describe a kind of level recently, and capacitor voltage balance strategy in brachium pontis.The NLM method adopted, obtains the number that 6 all modules of brachium pontis are " input " or " excision " state according to the amplitude of control signal through rounding operation is approximate.Recycling capacitance voltage sort method, in conjunction with the brachium pontis sense of current, specifically determines the module sequence number dropping into and excise.When making electric current be charging direction, the module that capacitance voltage is minimum is input state, and the module that capacitance voltage is the highest is excision state; Otherwise when electric current is course of discharge, the module that capacitance voltage is the highest is input state, the module that capacitance voltage is minimum is excision state.But the document to each brachium pontis capacitance voltage and balance do not add control, when system connects weak AC network, easily there is the uneven situation of both positive and negative polarity in through-put power fluctuation, threatens current transformer safety.
Summary of the invention
For above shortcomings in prior art, the object of this invention is to provide energy equilibrium control method between a kind of modular multi-level converter brachium pontis, by controlling the balance of brachium pontis capacitance stores energy, realize voltage balancing control between modular multilevel brachium pontis, to ensure in the fluctuation of current transformer through-put power and weak AC network connection procedure, both positive and negative polarity busbar voltage balances, calculate institute at the grid voltage orientation vector control method of current transformer routine and obtain superposition balance control component on control signal basis, under realizing disturbance operating mode, system balancing controls.Can cooperatively interact with existing ripe control method, the double-closed-loop control structure of conventional power/voltage-to-current is had no effect, be easy to realization and the transformation of existing engineering system.
The present invention is achieved by the following technical solutions.
Energy equilibrium control method between a kind of modular multi-level converter brachium pontis, comprises the following steps:
The first step, calculates brachium pontis electric capacity storage power, comprise brachium pontis all cascade module capacitance voltages storage power add and;
Capacitance voltage storage power computational methods are:
wherein, W
cbe a capacitance voltage stored energy, C is capacitance, U
dcfor capacitance voltage mean value;
Described brachium pontis electric capacity storage power is NW
c, wherein N is a brachium pontis cascade module number, and think that all module capacitance voltage is consistent in brachium pontis herein, in brachium pontis, each cascade module capacitor voltage balance controls to adopt the capacitance voltage sort method recorded in the open source literature provided in background technology;
Second step, based on PI (proportional, integral) adjuster, calculates brachium pontis electric capacity storage power balance control module and exports;
Comprise the following steps
(1) the set-point W of current transformer upper and lower brachium pontis storage power difference is calculated
c_refwith the actual feedback NW of the upper and lower brachium pontis energy difference of reality
cerror signal Δ W
c; By the error signal Δ W of above-mentioned set-point and actual feedback
csend into pi regulator;
(2) by error signal Δ W
cas the input of pi regulator, through proportional, integral (PI) computing, the output of pi regulator is the current amplitude Setting signal I for energy balance
w_ref;
3rd step, based on ratio-resonance (PR) adjuster, calculates electric capacity storage power balance control signal;
Comprise the following steps
(1) by the current amplitude Setting signal I of energy balance
w_refthe Setting signal i controlling required electric current is balanced with grid phase signal multiplication
w_ref;
i
w_ref＝I
w_ref·sinα
Wherein α is grid phase angle;
(2) calculated equilibrium controls the Setting signal i of required electric current
w_refwith loop current i
cirerror signal Δ i
w_cir;
Described loop current is i
cir=0.5 (i
up+ i
down), wherein i
upand i
downbe respectively the current value of brachium pontis and lower brachium pontis on current transformer;
(3) by error signal Δ i
w_ciras the input of PR adjuster, through ratio-resonance (PR) computing, the output of PR adjuster is the control signal U for energy balance
w_ref;
4th step, the energy balance control signal U that three-phase is calculated respectively
w_refcontrol signal U ' is exported with the former controller of current transformer
ref_abcsuperimposedly obtain current transformer three-phase modulations signal U
ref_abc.
Preferably, described cascade module can be half-bridge structure, full bridge structure and half-bridge and full-bridge mixed structure.
Preferably, be composed in series through reactor L1 and reactor L2 between the upper and lower brachium pontis of described current transformer; Described upper and lower brachium pontis is sequentially connected in series composition by the high-pressure side of multiple cascade module and low-pressure end.
Preferably, the input of described pi regulator and error signal Δ W
csignal connects, the output of described pi regulator and current amplitude Setting signal I
w_refsignal connects; Wherein, PI demodulator structure is as shown in Fig. 4 (a);
Preferably, described grid phase angle α can be obtained by phase-locked loop.
Preferably, described PR adjuster comprises scale operation link to input signal and resonance operation link, after scale operation link and the parallel connection of resonance operation link, more respectively with input, output signal and connect; Wherein, the input of PR adjuster and error signal Δ i
w_cirbe connected, the output of PR adjuster and the control signal U of energy balance
w_refbe connected.
According to energy equilibrium control method between modular multi-level converter brachium pontis provided by the invention, given value of current numerical value needed for energy balance is calculated by electric capacity storage power balance controlling unit, energy balance control signal is exported based on PR adjuster, make brachium pontis circulation tracing preset, realize the object of power model storage power balance in current transformer upper and lower bridge arm.The balance control signal that calculating obtains directly can export modulation signal with the vector control method of grid voltage orientation and directly superpose, compatible with existing control method, is easy to existing control system optimization and transformation.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention can connect energy imbalance between the uneven or brachium pontis of the both positive and negative polarity that occurs under weak AC system or through-put power fluctuation operating mode to current transformer and suppresses;
2, the present invention can with capacitance voltage in brachium pontis of the prior art with the use of, effectively improve current transformer Immunity Performance and dynamic property.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is modular multilevel brachium pontis energy equilibrium control method structure chart;
In Fig. 2 brachium pontis energy equilibrium control method, power model allows structure, and wherein, (a) is the first structure, and (b) is the second structure;
Fig. 3 modular multilevel one phase bridge arm structure;
Fig. 4 pi regulator and PR controller structure, wherein, (a) is proportional, integral (PI) controller, and (b) is ratio-resonance (PR) controller.
In figure, 1 is cascade module; V
dcfor direct voltage, K
pfor proportional component multiplication factor (getting constant), K
ifor integral element multiplication factor (getting constant), K
rfor being resonance link method multiple (getting constant), s is differential operator, w
0for electrical network angular frequency.
Embodiment
Below embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed execution mode and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Embodiment
Present embodiments provide energy equilibrium control method between a kind of modular multi-level converter brachium pontis, superposing control signal on existing control strategy basis, realize electric capacity storage power balance between brachium pontis and control.The control method that the present embodiment provides is comprised capacitance energy storage and calculates link (being realized by capacitance energy storage computing module), energy balance controlling unit (being realized by energy balance control module) and balance calculated signals link (being realized by balanced signal computing module), specifically comprises the steps:
The first step, utilizes capacitance energy storage computing module, calculates electric capacity storage power.The input of capacitance energy storage computing module is connected with lower brachium pontis capacitance voltage average value signal with brachium pontis capacitance voltage average value signal in A phase respectively.The output of capacitance energy storage computing module is connected with upper and lower brachium pontis energy differences respectively.
Second step, based on pi regulator, calculates the energy balance control module output that brachium pontis electric capacity stores.The input end signal of energy balance control module is the difference signal of the given and actual feedback of a phase upper and lower bridge arm capacitance energy storage difference.The output of energy balance control module and the given value of current signal i of energy balance
w_refbe connected.
3rd step, based on ratio-resonance (PR) adjuster, utilize balanced signal computing module, calculate electric capacity storage power balance control signal, balanced signal computing module input is connected with the difference signal of loop current with the Setting signal of the electric current of energy balance.The output of balanced signal computing module exports as energy balance control signal.
4th step, as shown in Figure 1, the energy balance control signal calculated respectively by three-phase and the former controller of current transformer export that control signal is superimposed obtains current transformer three-phase modulations signal.
Further, current transformer is composed in series by power model (cascade module), and wherein cascade module can be half-bridge structure, full bridge structure and half-bridge and full-bridge mixed structure.
Further, a phase upper and lower bridge arm structure, is composed in series through reactor L1, L2 by upper brachium pontis, lower brachium pontis, and wherein upper and lower brachium pontis is sequentially connected in series by the high-pressure side of N number of cascade module and low-pressure end and forms.
Further, the output of energy balance control module and line voltage same-phase, grid phase information is obtained by phase-locked loop.
Further, PR adjuster comprises and calculates two parts to the scale operation of input signal and resonance, after proportional component and the parallel connection of resonance link, then with input, output signal and connect.Its input is connected with loop current error signal, and its output is connected with the control signal of energy balance.
Energy equilibrium control method between the modular multi-level converter brachium pontis that the present embodiment provides, export in modulation signal in existing control system and superpose energy balance control component between brachium pontis, combine with voltage balancing control method in existing control strategy and brachium pontis, improve system connect weak AC system and through-put power fluctuation operating mode under the stability of a system.The amplitude in control method, energy differences between upper and lower bridge arm being obtained loop current through pi regulator computing is given, PR adjuster control moduleization many level circulation is utilized to follow the tracks of fundamental frequency circulation Setting signal, PR adjuster calculates the component that is balanced and superposes with original system modulation signal, realize energy balance between upper and lower bridge arm to control, contribute to improving the stability of a system.
Below in conjunction with drawings and Examples, the technical scheme of the present embodiment is described in further detail.The present embodiment is achieved through the following technical solutions, and comprises the following steps:
The first step, based on Fig. 1 control structure, for A phase brachium pontis, calculates brachium pontis electric capacity storage power, comprise or lower brachium pontis all cascade module electric capacity storage power add with.Completed by capacitance energy storage computing module, module input and brachium pontis capacitance voltage average value signal U in A phase
dc_up, and lower brachium pontis capacitance voltage average value signal U
dc_downbe connected.Module exports and upper and lower bridge arm energy differences (NW
c) be connected.
Described electric capacity storage power meter method is:
wherein W
cbe a capacitance voltage stored energy, C is capacitance, U
dcfor capacitance voltage mean value.
Described electric capacity storage power add and for NW
c(N=100), wherein N is a brachium pontis concatenation unit number, and think that all module capacitance voltage is consistent in brachium pontis herein, in brachium pontis, each module capacitance voltage balancing control can adopt published capacitance voltage sort method in aforementioned documents.
Described cascade module is as shown in Fig. 2 (a) He Fig. 2 (b), can be half-bridge structure, full bridge structure and half-bridge and full-bridge mixed structure, half-bridge structure be in parallel with electric capacity C after being connected by two switching devices (IGBT1, IGBT2).IGBT1 and IGBT2 tie point is module high voltage end, and electric capacity negative pole is module low-pressure end.Full bridge structure module is in parallel again after having four switching devices (IGBT1 ~ IGBT4) to connect between two, then composes in parallel with electric capacity C, IGBT1 and IGBT2 tie point is module high voltage end, IGBT3 and IGBT4 tie point is module low-pressure end.
A described phase bridge arm structure as shown in Figure 3, is composed in series through reactor L1, L2 by upper brachium pontis, lower brachium pontis, and wherein upper and lower brachium pontis is sequentially connected in series by the high-pressure side of N number of cascade module and low-pressure end and forms.
Second step, based on pi regulator, calculates brachium pontis electric capacity storage power balance control module and exports.As shown in Figure 1, completed by energy balance control module, module input signal is the given W of A phase upper and lower bridge arm capacitance energy storage difference
c_ref=0 and actual feedback NW
cdifference signal Δ W
c.The output of module and the given value of current signal i of energy balance
w_refbe connected.
Described computational methods comprise the following steps
(1) set-point (W of current transformer upper and lower bridge arm storage power difference is calculated
c_ref) with the actual feedback (NW of actual upper and lower bridge arm energy difference
c) difference.By error (the Δ W of above-mentioned set-point and feedback
c) send into energy balance control module.
(2) by Δ W
cas the input of adjuster, through proportional, integral (PI) computing, the output of adjuster is the current amplitude Setting signal I for energy balance
w_ref.
Described control module is made up of pi regulator, its input and Δ W
csignal connects, and exports and I
w_refsignal connects.Pi regulator structure, as shown in Fig. 4 (a), by proportional component and integral element parallel connection, then is connected with outputing signal with input signal.
3rd step, based on ratio-resonance (PR) adjuster, calculates electric capacity storage power balance control signal, as shown in Figure 1, is completed by balanced signal computing module, the Setting signal i of the electric current of module input and energy balance
w_refwith loop current i
cirdifference signal Δ i
w_cirbe connected.Module exports as energy balance control signal U
w_ref.
Described computational methods comprise the following steps
(1) by the current amplitude Setting signal I of energy balance
w_refthe Setting signal i controlling required electric current is balanced in grid phase signal multiplication
w_ref.
i
w_ref＝I
w_ref·sinα
Wherein α is grid phase angle, can be obtained by phase-locked loop.
(2) the Setting signal i of the electric current of energy balance is calculated
w_refwith loop current i
cirdifference DELTA i
w_cir.
Described loop current is i
cir=0.5 (i
up+ i
down), wherein i
upand i
downbe respectively brachium pontis and lower bridge arm current value on current transformer.
(3) by Δ i
w_ciras the input of PR adjuster, through ratio-resonance computing, the output of adjuster is the control signal U for energy balance
w_ref.
Described PR adjuster comprises and calculates two parts to the scale operation of input signal and resonance, as shown in Fig. 4 (b), after proportional component and the parallel connection of resonance link, then with input, output signal and connect.Its input and loop current error signal Δ i
w_cirbe connected, the control signal U of its output and energy balance
w_refbe connected.
4th step, as shown in Figure 1, the energy balance control signal U that three-phase is calculated respectively
w_refcontrol signal U ' is exported with the former controller of current transformer
ref_abcsuperimposedly obtain current transformer three-phase modulations signal U
ref_abc.
Energy equilibrium control method between the modular multi-level converter brachium pontis that the present embodiment provides, the energy equilibrium control method adopted directly can superpose with existing control strategy, not the former controller architecture of influential system and optimum configurations.Under connection weak AC system or through-put power fluctuation operating mode by brachium pontis between energy balance control capacitor voltage balance between brachium pontis, avoid system to occur overvoltage or the serious uneven and protection act of both positive and negative polarity, cause system shutdown.This control method combines with existing capacitance voltage ordering strategy simultaneously, capacitance voltage ordering strategy realizes brachium pontis inner module capacitor voltage balance, control method superposing control component in modulation signal in the present invention, make total voltage balance between upper and lower bridge arm, the two combination effectively can improve stability and the vulnerability to jamming of system cloud gray model.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (6)
1. an energy equilibrium control method between modular multi-level converter brachium pontis, is characterized in that, comprise the following steps:
Step 1, calculates brachium pontis electric capacity storage power, comprise brachium pontis all cascade module capacitance voltages storage power add and;
Described capacitance voltage storage power computational methods are:
wherein, W
cbe a capacitance voltage stored energy, C is capacitance, U
dcfor capacitance voltage mean value;
Described brachium pontis electric capacity storage power is NW
c, wherein N is a brachium pontis cascade module number, and in brachium pontis, all module capacitance voltage is consistent;
Step 2, based on pi regulator, calculates brachium pontis electric capacity storage power balance and controls to export, comprise the following steps:
Step 2.1, calculates the set-point W of current transformer upper and lower brachium pontis storage power difference
c_refwith the actual feedback NW of the upper and lower brachium pontis energy difference of reality
cerror signal Δ W
c; By error signal Δ W
csend into pi regulator;
Step 2.2, by error signal Δ W
cas the input of pi regulator, through proportional, integral computing, the output of pi regulator is the current amplitude Setting signal I for energy balance
w_ref;
Step 3, based on PR adjuster, calculates electric capacity storage power balance control signal, comprises the following steps:
Step 3.1, by the current amplitude Setting signal I of energy balance
w_refthe Setting signal i controlling required electric current is balanced with grid phase signal multiplication
w_ref;
I
w_ref=I
w_refsin α, wherein, α is grid phase angle;
Step 3.2, calculated equilibrium controls the Setting signal i of required electric current
w_refwith loop current i
cirerror signal Δ i
w_cir;
Described loop current is i
cir=0.5 (i
up+ i
down), wherein, i
upand i
downbe respectively the current value of brachium pontis and lower brachium pontis on current transformer;
Step 3.3, by error signal Δ i
w_ciras the input of PR adjuster, through ratio-resonance computing, the output of PR adjuster is the control signal U for energy balance
w_ref;
Step 4, the energy balance control signal U that three-phase is calculated respectively
w_refcontrol signal U ' is exported with the former controller of current transformer
ref_abcsuperimposedly obtain current transformer three-phase modulations signal U
ref_abc.
2. energy equilibrium control method between modular multi-level converter brachium pontis according to claim 1, is characterized in that, is composed in series between the upper and lower brachium pontis of described current transformer through reactor L1 and reactor L2; Described upper and lower brachium pontis is sequentially connected in series composition by the high-pressure side of multiple cascade module and low-pressure end.
3. energy equilibrium control method between modular multi-level converter brachium pontis according to claim 1 and 2, is characterized in that, described cascade module adopts half-bridge structure and/or full bridge structure.
4. energy equilibrium control method between modular multi-level converter brachium pontis according to claim 1, is characterized in that, the input of described pi regulator and error signal Δ W
csignal connects, the output of described pi regulator and current amplitude Setting signal I
w_refsignal connects.
5. energy equilibrium control method between modular multi-level converter brachium pontis according to claim 1, is characterized in that, described grid phase angle α is obtained by phase-locked loop.
6. energy equilibrium control method between modular multi-level converter brachium pontis according to claim 1, it is characterized in that, described PR adjuster comprises scale operation link to input signal and resonance operation link, after scale operation link and the parallel connection of resonance operation link, more respectively with input, output signal and connect; Wherein, the input of PR adjuster and error signal Δ i
w_cirbe connected, the output of PR adjuster and the control signal U of energy balance
w_refbe connected.
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| CN108599583A (en) * | 2018-07-05 | 2018-09-28 | 西南交通大学 | A kind of Universal flexible Energy Management System based on Modular multilevel converter |
| CN108599583B (en) * | 2018-07-05 | 2023-09-29 | 西南交通大学 | General flexible energy management system based on modularized multi-level converter |
| CN111277155A (en) * | 2019-10-31 | 2020-06-12 | 西南交通大学 | Method for restraining control conflict in MMC distributed control system |
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