CN105915090A - Hybrid modular multilevel converter suitable for low frequency operation and control method thereof - Google Patents
Hybrid modular multilevel converter suitable for low frequency operation and control method thereof Download PDFInfo
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- CN105915090A CN105915090A CN201610255806.4A CN201610255806A CN105915090A CN 105915090 A CN105915090 A CN 105915090A CN 201610255806 A CN201610255806 A CN 201610255806A CN 105915090 A CN105915090 A CN 105915090A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/483—Converters with outputs that each can have more than two voltages levels
- H02M7/49—Combination of the output voltage waveforms of a plurality of converters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/32—Means for protecting converters other than automatic disconnection
- H02M1/34—Snubber circuits
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Abstract
The invention provides a hybrid modular multilevel converter suitable for low frequency operation and a control method thereof, belongs to the field of power electronics, and aims at solving the problems of capacitor voltage fluctuation in low frequency operation of a MMC. The converter device comprises a series switch, a buffer circuit, a grounding circuit and the modular multilevel converter. The series switch is connected in series between a DC bus and the DC side of the modular multilevel converter. The buffer circuit and the grounding circuit are respectively connected in parallel at the DC side of the modular multilevel converter. The modular multilevel converter is composed of three-phase circuits. Each phase of circuit is comprises upper and lower bridge arms. Each bridge arm is formed by one electric inductor L and N submodules SM of the same structure through series connection. Each submodule SM comprises a half-bridge power unit and a capacitor C. The hybrid modular multilevel converter is used for high-voltage motor variable-frequency speed regulation.
Description
Technical field
The invention belongs to field of power electronics, be specifically related to a kind of mixed type moduleization many level change of current being applicable to low-frequency operation
Device and control method thereof.
Background technology
Modularization multi-level converter (modular multilevel converter, MMC) is as a kind of big merit of novel high pressure
Rate transformation of electrical energy technology, is widely used with fields such as power quality controllings at flexible DC power transmission in recent years.With this
Meanwhile, can people also begin to research and MMC is applied in high-voltage motor frequency control field.Because comparing traditional level
Connection H bridge type converter, MMC not only remains its major part advantage (such as high efficiency, voltage with multiple levels output, module
Change structure, install and safeguard easily), it is often more important that, it can save with high costs in cascaded H-bridges converter, volume is heavy,
Serious phase-shifting transformer is lost, can directly be powered by common DC bus.This makes overall system architecture simple flexibly,
Easily, the voltage/power grade of application is the most restricted in extension.
But the bottleneck problem that MMC faces in high-voltage motor frequency control is applied at present, i.e. in each submodule
Need to use substantial amounts of capacitor as power support component, to ensure MMC fluctuation of its capacitance voltage when full-load run
Without departing from allowed band.And along with the reduction of motor speed, the fluctuation of this capacitance voltage will become the biggest.Thus work as MMC
During dragging motor big torque low cruise, the capacitor of very high capacity don't fail to be used, cause inverter cost intensive, volume
Huge.Therefore, needed for how reducing MMC the capacity of capacitor become restriction modularization multi-level converter reduce cost,
Strengthen reliability and promote its key issue applied in high-voltage motor frequency control field.
For the problem that voltage fluctuation of capacitor during MMC low-frequency operation the is big, " modular multi-level converter of Ge Qiongxuan et al.
The control method of low-frequency operation " (see patent CN201210507664.8), " a kind of modular multilevel of Wang Baoan et al.
The low frequency mode progress control method of changer " (see patent CN201310234952.5), and Luo An's et al. is " a kind of
Modularization multi-level converter low frequency control method based on resonator filter circuit " (see patent CN201410189491.9),
Being referred to corresponding capacitance voltage pulsation suppressing method respectively, its essential idea is all dependent in MMC output voltage injecting altogether
Mode voltage, introduces the circulation of same frequency simultaneously in bridge arm current, makes to be formed between MMC upper and lower bridge arm new Power Exchange
Approach, makes capacitor can carry out discharge and recharge with higher frequency, then reduces the fluctuation of capacitance voltage.But these methods
All there are two serious problems: one is motor to be applied the common-mode voltage that amplitude is the biggest, the insulation of serious threat motor
Safety also can bring shaft current problem to affect electrical machinery life；Another problem is that the circulation injected in brachium pontis can increase bridge arm current
Amplitude, strengthen the loss of MMC, increase the cost of cooling system, also have to select current capacity bigger half simultaneously
Conductor device, is significantly increased cost.
Summary of the invention
The problem that the invention aims to solve the voltage fluctuation of capacitor existed during MMC low-frequency operation, the present invention provides one
Plant mixed type moduleization many level current converter and the control method thereof being applicable to low-frequency operation.
The mixed type moduleization many level current converter being applicable to low-frequency operation of the present invention, described current converter includes that series connection is opened
Pass, buffer circuit, grounded circuit and modularization multi-level converter；
Described tandem tap is connected between dc bus and the DC side of modularization multi-level converter, buffer circuit and ground connection
Circuit is connected in parallel on the DC side of modularization multi-level converter respectively；
Modularization multi-level converter is made up of three-phase circuit, and each circuitry phase includes upper and lower two brachium pontis, and each brachium pontis is by one
Individual submodule SM identical with N number of structure for inducer L is in series, and each submodule SM includes a half-bridge power
Unit and a capacitor C.
Tandem tap uses all-controlling power electronics device to realize.
Tandem tap is insulated gate bipolar transistor or integrated gate commutated thyristor or gate level turn-off thyristor.
Tandem tap uses half control type power electronic devices to realize.
Described buffer circuit is by resistance RSWith electric capacity CSIn series.
Described grounded circuit is by earth resistance Rg1With earth resistance Rg2Series connection, and obtain earth point.
Described method comprises the steps:
Step one: the capacitance voltage of each submodule in detection module multilevel converter, calculates its meansigma methods Uavg, and
By this meansigma methods and given voltage Udc/ N compares, and its difference sends into the first pi regulator, the output warp of the first pi regulator
Square-wave generator obtains the duty cycle signals that dutycycle is D；
U in formuladcFor DC bus-bar voltage, N is the submodule comprised in each brachium pontis in modularization multi-level converter
Number；
Step 2: duty cycle signals step one obtained acts on tandem tap, controls being switched on or off of tandem tap；
Step 3: capacitance voltage meansigma methods U of computing module multilevel converter each circuitry phase Neutron module respectivelyavg_j
By with total capacitance voltage meansigma methods UavgRelatively, its difference is sent in the second pi regulator, the output of the second pi regulator
With Idc(rated)/ 3 are added, and obtain given amplitude I of each brachium pontis circulationcj；
A phase during wherein j represents A, B and C three-phase, Idc(rated)For modularization multi-level converter rated power operation
Time DC bus current size；
Step 4: the I that step 3 is obtainedcjThe duty cycle signals obtained with step one is multiplied, and obtains final circulation and controls
Instruction icj *, and by icj *The circulation i obtained with detectioncjRelatively, its difference obtains voltage control signal u through the 3rd pi regulatorcj；
Step 5: by ucjWith voltage bias signal UoffsetAfter addition, then it is individually subtracted and adds ac output voltage signal
uo_j, obtain reference signal u of upper bridge arm voltageref_ujReference signal u with lower bridge arm voltageref_lj；
Wherein voltage bias signal UoffsetIt is calculated by equation below:
And UoRepresent output AC voltage uo_jAmplitude；
Step 6: finally by uref_ujWith uref_ljModulate through phase-shifting carrier wave, obtain the driving signal of each submodule, control corresponding
Switching device in submodule.
In described step one, the effect of the first pi regulator is to ensure that the energy balance that modularization multi-level converter is total.
The energy that in described step 3, the effect of the second pi regulator is to ensure that in the three-phase circuit of modularization multi-level converter
Mutually equilibrium.
The beneficial effects of the present invention is, the present invention proposes a kind of mixed type moduleization many level topological structure, and accordingly
Operation control method, so that voltage fluctuation of capacitor is greatly reduced.Compare other existing schemes, present invention can ensure that brachium pontis electricity
Stream amplitude is within rated current, it is to avoid increase loss, it is not necessary to use the semiconductor device that capacity is bigger.The more important thing is,
Motor will not be caused common-mode voltage by the present invention, and strong has promoted MMC answering in high-voltage motor frequency control field
With.
Accompanying drawing explanation
Fig. 1 is mixed type moduleization many level current converter of the first connection type of tandem tap in detailed description of the invention
Principle schematic；
Fig. 2 is mixed type moduleization many level current converter of tandem tap Second Linking Method form in detailed description of the invention
Principle schematic；
Fig. 3 is mixed type moduleization many level current converter of the third connection type of tandem tap in detailed description of the invention
Principle schematic；
Fig. 4 is tandem tap based on IGBT in detailed description of the invention；
Fig. 5 is tandem tap based on IGCT in detailed description of the invention；
Fig. 6 is tandem tap based on IGBT cascade in detailed description of the invention；
Fig. 7 is tandem tap based on IGCT cascade in detailed description of the invention；
Fig. 8 is the principle schematic of modularization multi-level converter in detailed description of the invention；
Fig. 9 is the principle schematic of control method in detailed description of the invention；
Figure 10 is detailed description of the invention example waveform figure when being operated in rated frequency 50Hz；
Figure 11 is detailed description of the invention example waveform figure when being operated in low frequency 2Hz；
Figure 12 is driving signal and the electric current example waveform figure of tandem tap in detailed description of the invention.
Figure 13 is motor common-mode voltage example waveform figure in detailed description of the invention.
Detailed description of the invention
Detailed description of the invention one: combine Fig. 1 and present embodiment is described, is applicable to the mixed of low-frequency operation described in present embodiment
Mould assembly modular multilevel current converter and control method thereof, principle as it is shown in figure 1, this current converter include tandem tap,
Buffer circuit, grounded circuit and modularization multi-level converter；
Described tandem tap is connected between dc bus and the DC side of modularization multi-level converter, buffer circuit and ground connection
Circuit is connected in parallel on the DC side of modularization multi-level converter respectively；
Modularization multi-level converter is made up of three-phase circuit, and each circuitry phase includes upper and lower two brachium pontis, and each brachium pontis is by one
Individual submodule SM identical with N number of structure for inducer L is in series, and each submodule SM includes a half-bridge power unit
With a capacitor C.
Tandem tap can have other a connection type, as shown in Figure 1, Figure 2 and Figure 3.
Tandem tap can use all-controlling power electronics device, such as insulated gate bipolar transistor IGBT, as shown in Figure 4,
Integrated gate commutated thyristor IGCT, or gate level turn-off thyristor GTO, it is possible to for half control type power electronic devices, as
IGCT, as shown in Figure 5.The cascade of semiconductor device can also be used, as shown in Figure 6 and Figure 7.
The tandem tap of present embodiment is in addition to being connected between dc bus and modularization multi-level converter, it is also possible to collection
Become in the middle of input rectification circuit.
Buffer circuit is by resistance RSWith electric capacity CSIn series.
Grounded circuit is by earth resistance Rg1With earth resistance Rg2Series connection, and obtain earth point
The structure of modularization multi-level converter, as shown in Figure 8, including three-phase circuit, every circuitry phase includes upper and lower two bridges
Wall, totally six, upper brachium pontis includes an inducer L and modules A rmuj, lower brachium pontis includes an inducer L and module
Armwj, j=A, B, C, represent three-phase circuit；
Modules A rmujOr modules A rmwjThe submodule SM identical by N number of structurenStacking forms, n=1 ... N；Each
Submodule SMnIncluding two IGBT (S1With S2) and a capacitor；
Present embodiment also provides for the control method of a kind of mixed type moduleization many level current converter being applicable to low-frequency operation,
As it is shown in figure 9, specifically comprise the following steps that
Step one: the capacitance voltage of each submodule in detection module multilevel converter, calculates its meansigma methods Uavg, and
By this meansigma methods and given voltage Udc/ N compares, and its difference sends into the first pi regulator, the output warp of the first pi regulator
Square-wave generator obtains the duty cycle signals that dutycycle is D；
U in formuladcFor DC bus-bar voltage, N is the submodule comprised in each brachium pontis in modularization multi-level converter
Number；
Step 2: duty cycle signals step one obtained acts on tandem tap, controls being switched on or off of tandem tap；
Step 3: capacitance voltage meansigma methods U of computing module multilevel converter each circuitry phase Neutron module respectivelyavg_j
By with total capacitance voltage meansigma methods UavgRelatively, its difference is sent in the second pi regulator, the output of the second pi regulator
With Idc(rated)/ 3 are added, and obtain given amplitude I of each brachium pontis circulationcj；
A phase during wherein j represents A, B and C three-phase, Idc(rated)For modularization multi-level converter rated power operation
Time DC bus current size；
Step 4: the I that step 3 is obtainedcjThe duty cycle signals obtained with step one is multiplied, and obtains final circulation and controls
Instruction icj*, and by icj* the circulation i obtained with detectioncjRelatively, its difference obtains voltage control signal u through the 3rd pi regulatorcj；
Step 5: by ucjWith voltage bias signal UoffsetAfter addition, then it is individually subtracted and adds ac output voltage signal
uo_j, obtain reference signal u of upper bridge arm voltageref_ujReference signal u with lower bridge arm voltageref_lj；
Wherein voltage bias signal UoffsetIt is calculated by equation below:
And UoRepresent output AC voltage uo_jAmplitude；
Step 6: finally by uref_ujWith uref_ljModulate through phase-shifting carrier wave, obtain the driving signal of each submodule, control corresponding
Switching device in submodule.
In step one, the effect of the first pi regulator is to ensure that the energy balance that modularization multi-level converter is total.
The energy that in step 3, the effect of the second pi regulator is to ensure that in the three-phase circuit of modularization multi-level converter is mutual
Equilibrium.
Figure 10～13 is the experiment effect figure using above-mentioned mixed type moduleization many level current converter and control method to obtain, its
Middle DC bus-bar voltage Udc=6kV, submodule number N=6, submodule electric capacity 10mF, brachium pontis inductance 1mH, series connection is opened
Close and use IGBT.Figure 10 show waveform when being operated in rated frequency 50Hz, and now voltage fluctuation of capacitor peak-to-peak value is
40V.Figure 11～13 are operated in waveform during low frequency 2Hz, and voltage fluctuation of capacitor peak-to-peak value is about the most as seen from Figure 11
200V, increases by 500 time only than low frequency, and voltage fluctuation of capacitor is still in allowed band, and inverter can be the most properly functioning.
Figure 12 show current waveform and the driving signal of tandem tap IGBT, it is seen that tandem tap achieves Zero Current Switch,
Contribute to reducing loss.Figure 13 show the common-mode voltage of motor side, it is seen that within common-mode voltage is limited in 300V, protects
Insulation safety and the service life of motor are demonstrate,proved.
Claims (9)
1. the mixed type moduleization many level current converter being applicable to low-frequency operation, it is characterised in that described current converter
Including tandem tap, buffer circuit, grounded circuit and modularization multi-level converter；
Described tandem tap is connected between dc bus and the DC side of modularization multi-level converter, buffer circuit and ground connection
Circuit is connected in parallel on the DC side of modularization multi-level converter respectively；
Modularization multi-level converter is made up of three-phase circuit, and each circuitry phase includes upper and lower two brachium pontis, and each brachium pontis is by one
Individual submodule SM identical with N number of structure for inducer L is in series, each submodule SM include a half-bridge power unit and
One capacitor C.
The mixed type moduleization many level current converter being applicable to low-frequency operation the most according to claim 1, its feature exists
In, tandem tap uses all-controlling power electronics device to realize.
The mixed type moduleization many level current converter being applicable to low-frequency operation the most according to claim 2, its feature exists
It is insulated gate bipolar transistor or integrated gate commutated thyristor or gate level turn-off thyristor in, tandem tap.
The mixed type moduleization many level current converter being applicable to low-frequency operation the most according to claim 3, its feature exists
In, tandem tap uses half control type power electronic devices to realize.
The mixed type moduleization many level current converter being applicable to low-frequency operation the most according to claim 1, its feature exists
In, described buffer circuit is by resistance RSWith electric capacity CSIn series.
It is applicable to mixed type moduleization many level current converter of low-frequency operation, its feature the most according to claim 1 or 5
Being, described grounded circuit is by earth resistance Rg1With earth resistance Rg2Series connection, and obtain earth point.
7. the control method of the mixed type module multilevel converter being applicable to low-frequency operation described in claim 1, it is special
Levying and be, described method comprises the steps:
Step one: the capacitance voltage of each submodule in detection module multilevel converter, calculates its meansigma methods Uavg, and
By this meansigma methods and given voltage Udc/ N compares, and its difference sends into the first pi regulator, the output classical prescription of the first pi regulator
Wave producer obtains the duty cycle signals that dutycycle is D；
U in formuladcFor DC bus-bar voltage, N is the submodule number comprised in each brachium pontis in modularization multi-level converter；
Step 2: duty cycle signals step one obtained acts on tandem tap, controls being switched on or off of tandem tap；
Step 3: capacitance voltage meansigma methods U of computing module multilevel converter each circuitry phase Neutron module respectivelyavg_j
By with total capacitance voltage meansigma methods UavgRelatively, its difference is sent in the second pi regulator, the output of the second pi regulator with
Idc(rated)/ 3 are added, and obtain given amplitude I of each brachium pontis circulationcj；
A phase during wherein j represents A, B and C three-phase, Idc(rated)For straight during modularization multi-level converter rated power operation
Stream bus current size；
Step 4: the I that step 3 is obtainedcjThe duty cycle signals obtained with step one is multiplied, and obtains final circulation and controls to refer to
Make icj *, and by icj *The circulation i obtained with detectioncjRelatively, its difference obtains voltage control signal u through the 3rd pi regulatorcj；
Step 5: by ucjWith voltage bias signal UoffsetAfter addition, then it is individually subtracted and adds ac output voltage signal uo_j,
Obtain reference signal u of upper bridge arm voltageref_ujReference signal u with lower bridge arm voltageref_lj；
Wherein voltage bias signal UoffsetIt is calculated by equation below:
And UoRepresent output AC voltage uo_jAmplitude；
Step 6: finally by uref_ujWith uref_ljModulate through phase-shifting carrier wave, obtain the driving signal of each submodule, control corresponding
Switching device in submodule.
The control method of the mixed type module multilevel converter being applicable to low-frequency operation the most according to claim 7,
It is characterized in that, in described step one, the effect of the first pi regulator is to ensure that the energy balance that modularization multi-level converter is total.
The control method of the mixed type module multilevel converter being applicable to low-frequency operation the most according to claim 7,
It is characterized in that, in described step 3, the effect of the second pi regulator is to ensure that in the three-phase circuit of modularization multi-level converter
Energy mutually equalize.
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Cited By (6)
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| CN107276107A (en) * | 2017-06-15 | 2017-10-20 | 上海电力学院 | Low frequency model forecast Control Algorithm based on mixed type module multilevel converter |
| 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 |
| CN109474187A (en) * | 2019-01-17 | 2019-03-15 | 哈尔滨工业大学 | A kind of modular multilevel four-quadrant frequency converter and its control method |
| CN110261709A (en) * | 2019-07-26 | 2019-09-20 | 国家电网有限公司 | A kind of detection device and method for Modularized multi-level converter sub-module |
| CN110460229A (en) * | 2019-08-26 | 2019-11-15 | 哈尔滨工业大学 | Modular multilevel frequency converter start-up circuit and its starting and low speed operation method |
| CN111541370A (en) * | 2020-05-21 | 2020-08-14 | 哈尔滨工业大学 | Flexible direct current transmission DC/DC converter for true and false bipolar interconnection |
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| CN107276107A (en) * | 2017-06-15 | 2017-10-20 | 上海电力学院 | Low frequency model forecast Control Algorithm based on mixed type module multilevel converter |
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| CN110460229A (en) * | 2019-08-26 | 2019-11-15 | 哈尔滨工业大学 | Modular multilevel frequency converter start-up circuit and its starting and low speed operation method |
| CN111541370A (en) * | 2020-05-21 | 2020-08-14 | 哈尔滨工业大学 | Flexible direct current transmission DC/DC converter for true and false bipolar interconnection |
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| CN105915090B (en) | 2018-09-11 |
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