CN107196327A - The feed forward control method of suppression module voltage-source type converter valve oscillation of power - Google Patents
The feed forward control method of suppression module voltage-source type converter valve oscillation of power Download PDFInfo
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- CN107196327A CN107196327A CN201710564494.XA CN201710564494A CN107196327A CN 107196327 A CN107196327 A CN 107196327A CN 201710564494 A CN201710564494 A CN 201710564494A CN 107196327 A CN107196327 A CN 107196327A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
- H02J2003/365—Reducing harmonics or oscillations in HVDC
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]
Abstract
The invention provides a kind of feed forward control method of suppression module voltage-source type converter valve oscillation of power, this method includes：Acquisition module voltage source commutation valve system side is active with idle, three-phase voltage Usabc, three-phase current IsabcUpper bridge arm current ITabc, lower bridge arm current IBabcAnd DC voltage Udc；To the Usabc、IsabcDQ conversion is carried out, system side component of voltage u is obtainedsdq(usd、usq), feedback current component isDQ(IsD、IsQ)；Calculate outer shroud meritorious reference current IrD, obtain the idle reference current I of outer shroudrQ；The IrD、IrQWith isDQThrough decoupling reference voltage U is obtained with PI controlsrefDQ；According to the DC voltage UdcObtain feed-forward control signals；The reference voltage under DQ axles is added with feed-forward signal, the reference voltage U of feedforward control is obtainedreffabc；Through loop current suppression, the change of current obtained under static abc coordinates suppresses voltage Uzabc；By the UreffabcWith the UzabcSuperposition, obtains the reference voltage of upper and lower bridge arm, modulation, the switch controlling signal of acquisition module voltage source commutation valve is approached through nearest level.
Description
Technical field
Shaken the present invention relates to Technology of HVDC based Voltage Source Converter, more particularly to a kind of suppression module voltage-source type converter valve power
The feed forward control method swung.
Background technology
Modular multilevel converter (Modular Multilevel Converter, MMC) is using controllable turn-off type electricity
Power electronic device and pulse width modulating technology (pulse width modulation, PWM), can both realize active power and
The independent control of reactive power, can power to passive network again, be a kind of novel multi-level converter topological structure, it has also become
The study hotspot of current International Power electronic applications.D.C. high voltage transmission (high based on modularization voltage source commutation valve
Voltage direct current, HVDC) system, the shortcoming of silicon controlled rectifier direct current can be overcome, in connection generation of electricity by new energy
(such as wind-power electricity generation, solar power generation) to power network, to distant loads, construct city load center power etc. field have it is wide
Wealthy application prospect.But, in the case of flexible direct current converter valve overhead line, long range, small-power conveying, easily occur straight
The oscillation problem of voltage and power is flowed, application of the high-power converter valve under small-power is limited, in order to extend converter valve work
Interval, suppresses the vibration of DC voltage and power, it is necessary to which modularization voltage source commutation valve oscillation of power is suppressed.
The content of the invention
In order to solve the above technical problems, the main purpose of the embodiment of the present invention is to provide a kind of suppression module voltage source
The feed forward control method of type converter valve oscillation of power, this method also includes,
Acquisition module voltage source commutation valve system side is active with idle, three-phase voltage Usabc, three-phase current IsabcUpper bridge arm
Electric current ITabc, lower bridge arm current IBabcAnd DC voltage Udc；
To the Usabc、IsabcDQ conversion is carried out, system side component of voltage u under two-phase rotating coordinate system is obtainedsdq(usd、
usq), feedback current component isDQ(IsD、IsQ)；
Outer shroud meritorious reference current I is calculated with active feedback according to active referencerd, according to the idle control mode of outer shroud, choosing
Select reactive current and calculate mode, obtain the idle reference current I of outer shroudrq；
The outer shroud is calculated to obtained meritorious reference current IrD, idle reference current IrQWith the feedback current isDQThrough
Decoupling controls to obtain the reference voltage U under DQ axles with PIrefDQ；
According to the DC voltage UdcFeed-forward control signals are obtained, at the DC voltage control end by the DC voltage
With reference voltage Udc *It is poor to make, and in non-voltage controling end by the DC voltage LPF, obtains difference signal, is accumulated through ratio
Point or ratio control after obtain be based on D axle feed-forward control signals UfDQ, Q axle feed-forward control signals UfQAnd DQ axles feedforward control letter
Number UfDQ；
The reference voltage under DQ axles is added with the feed-forward signal, i.e. UrefDQ+UfDQ、UrefDQ+UfD、UrefDQ+UfQEnter
Row DQ inverse transformations, obtain the reference voltage U of feedforward controlreffabc；
Through loop current suppression, the two-arm electric current I up and downTabc、IBabcIt is averaging, then carries out the 2 frequency multiplication DQ conversion of negative phase-sequence, obtains
To the DQ components of change of current electric current, the voltage U of the suppression change of current exported by an inner ring PI controlszDQ, then through 2 frequency multiplication DQ
Inverse transformation, the change of current obtained under static abc coordinates suppresses voltage Uzabc；
By the UreffabcWith the UzabcSuperposition, obtains the reference voltage of upper and lower bridge arm, modulation is approached through nearest level,
The switch controlling signal of acquisition module voltage source commutation valve, to realize the suppression of modularization voltage source commutation valve oscillation of power.
The embodiment of the present invention is by regarding the DC voltage of flexible direct current power transmission system as feed-forward signal, it is to avoid from system
The coordinate transform of current draw antihunt signal, filtering link, reduce amount of calculation, are easy to implement.This method can strengthen direct current
Stabilization and control of the transmission system under small-power, long distance delivery, are realized by directly correcting output voltage from converter valve
Realize the suppression of DC voltage and oscillation of power.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, embodiment will be described below
In required for the accompanying drawing that uses be briefly described, it should be apparent that, drawings in the following description are only some of the present invention
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Accompanying drawing obtains other accompanying drawings.
Fig. 1 is the system architecture signal of modularization voltage source commutation valve direct current transportation in transmission system of the embodiment of the present invention
Figure；
Fig. 2 is the feedforward control schematic flow sheet of modularization voltage source commutation valve oscillation of power of the embodiment of the present invention；
Fig. 3 is modularization voltage source commutation valve phaselocked loop schematic diagram of the embodiment of the present invention；
Fig. 4 is the idle control schematic diagram of modularization voltage source commutation valve outer shroud of the embodiment of the present invention；
Fig. 5 is modularization voltage source commutation valve outer shroud real power control schematic diagram of the embodiment of the present invention；
Fig. 6 is modularization voltage source commutation valve outer shroud current limit schematic diagram of the embodiment of the present invention；
Fig. 7 shows for the proportional integration feedforward control of modularization voltage source commutation valve voltage controling end D axles of the embodiment of the present invention
It is intended to；
Fig. 8 is the ratio feedforward control schematic diagram of modularization voltage source commutation valve voltage controling end Q axles of the embodiment of the present invention；
Fig. 9 shows for the proportional integration feedforward control of modularization voltage source commutation valve voltage controling end DQ axles of the embodiment of the present invention
It is intended to；
Figure 10 illustrates for the ratio feedforward control of modularization voltage source commutation valve voltage controling end D axles of the embodiment of the present invention
Figure；
Figure 11 illustrates for the ratio feedforward control of modularization voltage source commutation valve voltage controling end Q axles of the embodiment of the present invention
Figure；
Figure 12 illustrates for the ratio feedforward control of modularization voltage source commutation valve voltage controling end DQ axles of the embodiment of the present invention
Figure；
Figure 13 is the proportional integration feedforward control of the non-voltage controling end D axles of modularization voltage source commutation valve of the embodiment of the present invention
Schematic diagram；
Figure 14 is the proportional integration feedforward control of the non-voltage controling end Q axles of modularization voltage source commutation valve of the embodiment of the present invention
Schematic diagram；
Figure 15 is controlled for the proportional integration feedforward of the non-voltage controling end DQ axles of modularization voltage source commutation valve of the embodiment of the present invention
Schematic diagram processed；
Figure 16 illustrates for the ratio feedforward control of the non-voltage controling end D axles of modularization voltage source commutation valve of the embodiment of the present invention
Figure；
Figure 17 illustrates for the ratio feedforward control of the non-voltage controling end Q axles of modularization voltage source commutation valve of the embodiment of the present invention
Figure；
Figure 18 shows for the ratio feedforward control of the non-voltage controling end DQ axles of modularization voltage source commutation valve of the embodiment of the present invention
It is intended to；
Figure 19 is the inner ring and feedforward control block diagram that modularization voltage source commutation valve of embodiment of the present invention oscillation of power suppresses
Schematic diagram；
Figure 20 is the schematic diagram that modularization voltage source commutation valve of embodiment of the present invention loop current suppression is calculated；
Figure 21 is the schematic diagram of modularization voltage source commutation valve loop current suppression control ring of the embodiment of the present invention；
Figure 22 is the schematic diagram that modularization voltage source commutation valve upper and lower bridge arm of embodiment of the present invention reference voltage is generated；
Figure 23 is the sending end and receiving end direct current that modularization of embodiment of the present invention voltage source commutation valve does not use feedforward control
The schematic diagram of pressure；
Figure 24 is that modularization of embodiment of the present invention voltage source commutation valve does not use the sending end of feedforward control active and idle work(
The schematic diagram of rate；
Figure 25 is that modularization of embodiment of the present invention voltage source commutation valve does not use the receiving end of feedforward control active and idle work(
The schematic diagram of rate；
Figure 26 is sending end and receiving end DC voltage of modularization of the embodiment of the present invention voltage source commutation valve using feedforward control
Schematic diagram；
Figure 27 is that modularization of embodiment of the present invention voltage source commutation valve uses the sending end of feedforward control active and reactive power
Schematic diagram；
Figure 28 is that modularization of embodiment of the present invention voltage source commutation valve uses the receiving end of feedforward control active and reactive power
Schematic diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
In the case of a kind of suppression module voltage source commutation valve long range, small-power conveying
The method of DC voltage and oscillation of power, the schematic diagram of two ends modularization voltage source commutation valve long distance powedr transmission as shown in figure 1, its
The schematic flow sheet of suppressing method is as shown in Fig. 2 this method is mainly included the following steps that：
Step S1, acquisition module voltage source commutation valve system side are active with idle, three-phase voltage Usabc, three-phase current
IsabcUpper bridge arm current ITabc, lower bridge arm current IBabcAnd DC voltage Udc, wherein phaselocked loop is as shown in Figure 3；
Step S2, to the Usabc、IsabcDQ conversion is carried out, system side component of voltage u under two-phase rotating coordinate system is obtainedsdq
(usd、usq), feedback current component isDQ(IsD、IsQ)；
Step S3, according to it is active with reference to and active feedback calculate outer shroud meritorious reference current IrD, according to the idle control of outer shroud
Mode, selection reactive current calculates mode, obtains the idle reference current I of outer shroudrQ, control schematic diagram that outer shroud is idle as shown in figure 4,
Outer shroud real power control schematic diagram is as shown in figure 5, outer shroud current limit schematic diagram is as shown in Figure 6；
Step S4, the meritorious reference current I for obtaining outer shroud calculatingrD, idle reference current IrQWith the feedback electricity
Flow isDQControl to obtain the reference voltage U under DQ axles with PI through decouplingrefDQ；
Step S5, according to the DC voltage UdcFeed-forward control signals are obtained, will be described at the DC voltage control end
DC voltage and reference voltage Udc *It is poor to make, and in non-voltage controling end by the DC voltage LPF, obtains difference signal,
Obtain being based on D axle feed-forward control signals U after proportional integration or ratio controlfDQ, Q axle feed-forward control signals UfQAnd before DQ axles
Feedforward control signal UfDQ, the block diagram of control is as shown in Fig. 7-Figure 18；
Step S6, the reference voltage under DQ axles is added with the feed-forward signal, i.e. UrefDQ+UfDQ、UrefDQ+UfD、
UrefDQ+UfQDQ inverse transformations are carried out, the reference voltage U of feedforward control is obtainedreffabc, as shown in figure 19；
Step S7, through loop current suppression, the method specifically used be it is described up and down two-arm electric current ITabc、IBabcIt is averaging, then enters
The 2 frequency multiplication DQ conversion of row negative phase-sequence, obtains the DQ components of change of current electric current, the suppression change of current exported by an inner ring PI controls
Voltage UzDQ, then through 2 frequency multiplication DQ inverse transformations, the change of current obtained under static abc coordinates suppresses voltage Uzabc, such as Figure 19-Figure 21 institutes
Show；
Step S8, by the UreffabcWith the UzabcSuperposition, obtains the reference voltage of upper and lower bridge arm, then through electricity recently
It is flat to approach modulation, the switch controlling signal of acquisition module voltage source commutation valve, to realize modularization voltage source commutation valve power
The suppression of vibration, as shown in figure 22.
The embodiment of the present invention is by regarding the DC voltage of flexible direct current power transmission system as feed-forward signal, it is to avoid from system
The coordinate transform of current draw antihunt signal, filtering link, reduce amount of calculation, are easy to implement.This method can strengthen direct current
Stabilization and control of the transmission system under small-power, long distance delivery, are realized by directly correcting output voltage from converter valve
Realize the suppression of DC voltage and oscillation of power.
According to one embodiment of the invention, using in step S5 according to converter valve whether control voltage, and adoption rate
Integration either ratio control, and feedforward control are applied to D axles, Q axles and DQ axles, and specific implementation has following several ways.
In voltage controling end, when feed-forward signal is applied to D axles using PI controls, as shown in fig. 7, joining to the DC voltage
Examine value Udc *And the DC voltage UdcIt is poor to make, and obtains DC voltage deviation delta Udc；To the DC voltage deviation delta Udc according to
Following formula carries out proportional integration processing, obtains the control signal：
UfD=Δ Udc×(kp+1/sTi) (1)
Wherein, UfDFor feed-forward control signals；kpFor proportional control factor；TiFor rotor-side integration time constant.
In voltage controling end, when feed-forward signal is applied to Q axles using PI controls, as shown in figure 8, joining to the DC voltage
Examine value Udc *And the DC voltage UdcIt is poor to make, and obtains DC voltage deviation delta Udc；To the DC voltage deviation delta Udc according to
Following formula carries out proportional integration processing, obtains the control signal：
UfQ=Δ Udc×(kp+1/sTi) (2)
Wherein, UfQFor feed-forward control signals；kpFor proportional control factor；TiFor rotor-side integration time constant.
In voltage controling end, when feed-forward signal is applied to DQ axles using PI controls, as shown in figure 9, to the DC voltage
Reference value Udc *And the DC voltage UdcIt is poor to make, and obtains DC voltage deviation delta Udc；The DC voltage deviation delta Udc is pressed
Proportional integration processing is carried out according to following formula, the control signal is obtained：
UfDQ=Δ Udc×(kp+1/sTi) (3)
Wherein, UfDQFor feed-forward control signals；kpFor proportional control factor；TiFor rotor-side integration time constant.
In voltage controling end, when feed-forward signal is applied to the control of D axles adoption rate, as shown in Figure 10, to the direct current
Press reference value Udc *And the DC voltage UdcIt is poor to make, and obtains DC voltage deviation delta Udc；To the DC voltage deviation delta Udc
Ratio processing is carried out according to the following formula, obtains the control signal：
UfD=Δ Udc×kp (4)
Wherein, UfDFor feed-forward control signals；kpFor proportional control factor.
In voltage controling end, when feed-forward signal is applied to the control of Q axles adoption rate, as shown in figure 11, to the direct current
Press reference value Udc *And the DC voltage UdcIt is poor to make, and obtains DC voltage deviation delta Udc；To the DC voltage deviation delta Udc
Ratio processing is carried out according to the following formula, obtains the control signal：
UfQ=Δ Udc×kp (5)
Wherein, UfQFor feed-forward control signals；kpFor proportional control factor.
In voltage controling end, when feed-forward signal is applied to the control of DQ axles adoption rate, as shown in figure 12, to the direct current
Press reference value Udc *And the DC voltage UdcIt is poor to make, and obtains DC voltage deviation delta Udc；To the DC voltage deviation delta Udc
Ratio processing is carried out according to the following formula, obtains the control signal：
UfDQ=Δ Udc×kp (6)
Wherein, UfDQFor feed-forward control signals；kpFor proportional control factor.
In non-voltage controling end, when feed-forward signal is applied to D axles using PI controls, as shown in figure 13, to the direct current
Press reference value Udc *And the DC voltage UdcIt is poor to make, and obtains DC voltage deviation delta Udc；To the DC voltage deviation delta Udc
Proportional integration processing is carried out according to the following formula, obtains the control signal：
UfD=Δ Udc×(kp+1/sTi) (7)
Wherein, UfDFor feed-forward control signals；kpFor proportional control factor；TiFor rotor-side integration time constant.
In non-voltage controling end, when feed-forward signal is applied to Q axles using PI controls, as shown in figure 14, to the direct current
Press reference value Udc *And the DC voltage UdcIt is poor to make, and obtains DC voltage deviation delta Udc；To the DC voltage deviation delta Udc
Proportional integration processing is carried out according to the following formula, obtains the control signal：
UfQ=Δ Udc×(kp+1/sTi) (8)
Wherein, UfQFor feed-forward control signals；kpFor proportional control factor；TiFor rotor-side integration time constant.
In non-voltage controling end, when feed-forward signal is applied to DQ axles using PI controls, as shown in figure 15, to the direct current
Press reference value Udc *And the DC voltage UdcIt is poor to make, and obtains DC voltage deviation delta Udc；To the DC voltage deviation delta Udc
Proportional integration processing is carried out according to the following formula, obtains the control signal：
UfDQ=Δ Udc×(kp+1/sTi) (9)
Wherein, UfDQFor feed-forward control signals；kpFor proportional control factor；TiFor rotor-side integration time constant.
In non-voltage controling end, when feed-forward signal is applied to the control of D axles adoption rate, as shown in figure 16, to the direct current
Voltage reference value Udc *And the DC voltage UdcIt is poor to make, and obtains DC voltage deviation delta Udc；To the DC voltage deviation delta
Udc carries out ratio processing according to the following formula, obtains the control signal：
UfD=Δ Udc×kp (10)
Wherein, UfDFor feed-forward control signals；kpFor proportional control factor.
In non-voltage controling end, when feed-forward signal is applied to the control of Q axles adoption rate, as shown in figure 17, to the direct current
Voltage reference value Udc *And the DC voltage UdcIt is poor to make, and obtains DC voltage deviation delta Udc；To the DC voltage deviation delta
Udc carries out ratio processing according to the following formula, obtains the control signal：
UfQ=Δ Udc×kp (11)
Wherein, UfQFor feed-forward control signals；kpFor proportional control factor.
In non-voltage controling end, when feed-forward signal is applied to the control of DQ axles adoption rate, as shown in figure 18, to the direct current
Voltage reference value Udc *And the DC voltage UdcIt is poor to make, and obtains DC voltage deviation delta Udc；To the DC voltage deviation delta
Udc carries out ratio processing according to the following formula, obtains the control signal：
UfDQ=Δ Udc×kp (12)
Wherein, UfDQFor feed-forward control signals；kpFor proportional control factor.
By step S1-S7 calculate the calculating reference voltage after obtaining applying feedforward control, step S8 will be calculated and obtained
Loop current suppression control signal, both are mutually added and subtracted, and respectively obtain the reference voltage of upper and lower bridge arm, modulated rear i.e. achievable voltage
The vibration of power and voltage of the source converter valve under long range, low-power.
In order to illustrate more clearly of technical scheme, illustrated below with a detailed embodiment.
The embodiment of the present invention to research system carried out transient state time-domain-simulation.Emulation use 3000MVA DC voltages ±
The two ends of the long distance powedr transmission of 500kV use metallic return are emulated, and power sending end uses constant dc power control, power receiving end
Using voltage control is determined, sending end and receiving end are unit power factor, and not taking, the sending end that braking measure is obtained and receiving end are straight
Flow voltage simulation waveform as shown in figure 23, as shown in figure 24, the active reactive waveform of receiving end is as schemed for the active reactive waveform of sending end
Shown in 25.From time domain waveform as can be seen that DC voltage and the wave component containing 1Hz in power.
Add in the controls after feedforward control module, sending end is as shown in figure 26 with receiving end DC voltage simulation waveform,
As shown in figure 27, the active reactive waveform of receiving end is as shown in figure 28 for the active reactive waveform of sending end.Comparison diagram 23 and Figure 26, Figure 24
And Figure 27, Figure 25 and Figure 28, from waveform, it by increasing feedforward control module, can keep away modularization voltage source commutation valve
Exempt from the DC voltage and oscillation of power under small-power, it is consistent with theory analysis.
DC voltage and oscillation of power of modularization of the embodiment of the present invention voltage source commutation valve under long range, small-power are asked
Topic, it is proposed that the feed forward control method based on DC voltage, specifically includes ratio feedforward control, the proportional integration of voltage controling end
Feedforward control, ratio feedforward control, the proportional integration feedforward control of non-voltage controling end, and the additional control is added separately to D
Axle, Q axles and DQ axles, and the relevant parameter of controller is devised, real-time simulation has been carried out, the embodiment of the present invention has been demonstrated and carries
The validity of the control strategy gone out, can effectively suppression module voltage source commutation valve in direct current over long distances, under small-power
Pressure and oscillation of power.The embodiment of the present invention avoids coordinate transform and resonance amount controller under DQ coordinates, reduces calculating
Amount, is easy to implement.
One of ordinary skill in the art will appreciate that realizing that all or part of step in above-described embodiment method can lead to
Cross program to instruct the hardware of correlation to complete, the program can be stored in a computer read/write memory medium, such as
ROM/RAM, magnetic disc, CD etc..
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail it is bright, should be understood that the foregoing is only the present invention specific embodiment, the guarantor being not intended to limit the present invention
Scope is protected, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. should be included in this
Within the protection domain of invention.
Claims (19)
1. a kind of feed forward control method of suppression module voltage-source type converter valve oscillation of power, it is characterised in that methods described
Including,
Acquisition module voltage source commutation valve system side is active with idle, three-phase voltage Usabc, three-phase current IsabcUpper bridge arm current
ITabc, lower bridge arm current IBabcAnd DC voltage Udc；
To the Usabc、IsabcDQ conversion is carried out, system side component of voltage u under two-phase rotating coordinate system is obtainedsdq(usd、usq), it is anti-
The current component i of feedbacksDQ(IsD、IsQ)；
Outer shroud meritorious reference current I is calculated with active feedback according to active referencerD, according to the idle control mode of outer shroud, select nothing
Work(Current calculation mode, obtains the idle reference current I of outer shroudrQ；
The outer shroud is calculated to obtained meritorious reference current IrD, idle reference current IrQWith the feedback current isDQThrough decoupling
Control to obtain the reference voltage U under DQ axles with PIrefDQ；
According to the DC voltage UdcFeed-forward control signals are obtained, at the DC voltage control end by the DC voltage with joining
Examine voltage Udc *It is poor to make, and in non-voltage controling end by the DC voltage LPF, obtains difference signal, through proportional integration or
Obtain being based on D axle feed-forward control signals U after ratio controlfDQ, Q axle feed-forward control signals UfQAnd DQ axle feed-forward control signals
UfDQ；
The reference voltage under DQ axles is added with the feed-forward signal, i.e. UrefDQ+UfDQ、UrefDQ+UfD、UrefDQ+UfQCarry out DQ
Inverse transformation, obtains the reference voltage U of feedforward controlreffabc；
Through loop current suppression, the two-arm electric current I up and downTabc、IBabcIt is averaging, then carries out the 2 frequency multiplication DQ conversion of negative phase-sequence, is changed
The DQ components of electric current are flowed, the voltage U of the suppression change of current exported by an inner ring PI controlszDQ, then through 2 frequency multiplication DQ contravariant
Change, the change of current obtained under static abc coordinates suppresses voltage Uzabc；
By the UreffabcWith the UzabcSuperposition, obtains the reference voltage of upper and lower bridge arm, then approaches modulation through nearest level,
The switch controlling signal of acquisition module voltage source commutation valve.
2. according to the method described in claim 1, it is characterised in that described by the outer shroud reference current and the feedback electricity
Stream, controls to obtain the reference voltage U under DQ axles through decoupling with PIrefDQ(UrefD、UrefQ) include,
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3. according to the method described in claim 1, it is characterised in that described according to the DC voltage UdcAnd the DC voltage
Reference value Udc *D axles, which are applied to, to obtain feed-forward control signals, i.e. feed-forward signal includes,
When being feedovered to DC voltage control end converter valve, to the direct voltage reference value Udc *And the direct current
Press UdcIt is poor to make, and obtains DC voltage deviation delta Udc；
Carry out proportional integration processing according to the following formula to the DC voltage deviation delta Udc, obtain the control signal：
UfD=Δ Udc×(kp+1/sTi)
Wherein, UfDFor feed-forward control signals；kpFor proportional control factor；TiFor rotor-side integration time constant.
4. according to the method described in claim 1, it is characterised in that described according to the DC voltage UdcAnd DC voltage reference
Value Udc *Q axles, which are applied to, to obtain feed-forward control signals, i.e. feed-forward signal includes,
When being feedovered to DC voltage control end converter valve, to the direct voltage reference value Udc *And the direct current
Press UdcIt is poor to make, and obtains DC voltage deviation delta Udc；
Carry out proportional integration processing according to the following formula to the DC voltage deviation delta Udc, obtain the control signal,
UfQ=Δ Udc×(kp+1/sTi)
Wherein, UfQFor feed-forward control signals；kpFor proportional control factor；TiFor rotor-side integration time constant.
5. according to the method described in claim 1, it is characterised in that according to DC voltage UdcAnd direct voltage reference value Udc *With
The acquisition feed-forward control signals based on DQ axles, i.e. feed-forward signal, which can be applied to DQ axles simultaneously, to be included,
When being feedovered to DC voltage control end converter valve, to the direct voltage reference value Udc *And the direct current
Press UdcIt is poor to make, and obtains DC voltage deviation delta Udc；
Carry out proportional integration processing according to the following formula to the DC voltage deviation delta Udc, obtain the control signal：
UfDQ=Δ Udc×(kp+1/sTi)
Wherein, UfDQFor feed-forward control signals；kpFor proportional control factor；TiFor rotor-side integration time constant.
6. according to the method described in claim 1, it is characterised in that described according to DC voltage UdcAnd direct voltage reference value
Udc *D axles, which are applied to, to obtain feed-forward control signals, i.e. feed-forward signal includes,
When being feedovered to DC voltage control end converter valve, to the direct voltage reference value Udc *And the direct current
Press UdcIt is poor to make, and obtains DC voltage deviation delta Udc；
To the DC voltage deviation delta UdcRatio processing is carried out according to the following formula, obtains the control signal,
UfD=Δ Udc×kp
Wherein, UfDFor feed-forward control signals；kpFor proportional control factor.
7. according to the method described in claim 1, it is characterised in that described according to DC voltage UdcAnd direct voltage reference value
Udc *Q axles, which are applied to, to obtain feed-forward control signals, i.e. feed-forward signal includes,
When being feedovered to DC voltage control end converter valve, to the direct voltage reference value Udc *And the direct current
Press UdcIt is poor to make, and obtains DC voltage deviation delta Udc；
To the DC voltage deviation delta UdcRatio processing is carried out according to the following formula, obtains the control signal,
UfQ=Δ Udc×kp
Wherein, UfQFor feed-forward control signals；kpFor proportional control factor.
8. according to the method described in claim 1, it is characterised in that described according to DC voltage UdcAnd direct voltage reference value
Udc *DQ axles can be applied to simultaneously to obtain the feed-forward control signals based on DQ axles, i.e. feed-forward signal includes,
When being feedovered to DC voltage control end converter valve, to the direct voltage reference value Udc *And the direct current
Press UdcIt is poor to make, and obtains DC voltage deviation delta Udc；
To the DC voltage deviation delta UdcRatio processing is carried out according to the following formula, obtains the control signal,
UfDQ=Δ Udc×kp
Wherein, UfDQFor feed-forward control signals；kpFor proportional control factor.
9. according to the method described in claim 1, it is characterised in that the acquisition feed-forward control signals, methods described also includes,
When non-dc voltage controling end converter valve is feedovered, by UdcLPF is carried out, DC voltage deviation delta U is obtaineddc；
To the DC voltage deviation delta UdcProportional integration processing is carried out according to the following formula, obtains the feed-forward control signals of the D axles,
UfD=Δ Udc×(kp+1/sTi)
Wherein, UfDFor feed-forward control signals；kpFor proportional control factor；TiFor rotor-side integration time constant.
10. according to the method described in claim 1, it is characterised in that the acquisition feed-forward control signals, methods described is also wrapped
Include,
When non-dc voltage controling end converter valve is feedovered, by UdcLPF is carried out, DC voltage deviation delta U is obtaineddc；
To the DC voltage deviation delta UdcProportional integration processing is carried out according to the following formula, obtains the feed-forward control signals of the Q axles,
UfQ=Δ Udc×(kp+1/sTi)
Wherein, UfQFor feed-forward control signals；kpFor proportional control factor；TiFor rotor-side integration time constant.
11. according to the method described in claim 1, it is characterised in that the acquisition feed-forward control signals, methods described is also wrapped
Include,
When non-dc voltage controling end converter valve is feedovered, by UdcLPF is carried out, DC voltage deviation delta U is obtaineddc；
To the DC voltage deviation delta UdcProportional integration processing is carried out according to the following formula, obtains the feedforward control letter of the DQ axles
Number：
UfDQ=Δ Udc×(kp+1/sTi)
Wherein, UfDQFor feed-forward control signals；kpFor proportional control factor；TiFor rotor-side integration time constant.
12. according to the method described in claim 1, it is characterised in that the acquisition feed-forward control signals, methods described is also wrapped
Include,
When non-dc voltage controling end converter valve is feedovered, by UdcLPF is carried out, DC voltage deviation delta U is obtaineddc；
To the DC voltage deviation delta UdcRatio processing is carried out according to the following formula, obtains the feed-forward control signals of the D axles：
UfD=Δ Udc×kp
Wherein, UfDFor feed-forward control signals；kpFor proportional control factor.
13. according to the method described in claim 1, it is characterised in that the acquisition feed-forward control signals, methods described is also wrapped
Include,
When non-dc voltage controling end converter valve is feedovered, by UdcLPF is carried out, DC voltage deviation delta U is obtaineddc；
To the DC voltage deviation delta UdcRatio processing is carried out according to the following formula, obtains the feed-forward control signals of the Q axles,
UfQ=Δ Udc×kp
Wherein, UfQFor feed-forward control signals；kpFor proportional control factor.
14. according to the method described in claim 1, it is characterised in that the acquisition feed-forward control signals, methods described is also wrapped
Include,
When non-dc voltage controling end converter valve is feedovered, by UdcLPF is carried out, DC voltage deviation delta U is obtaineddc；
To the DC voltage deviation delta UdcRatio processing is carried out according to the following formula, obtains the feed-forward control signals of the DQ axles,
UfDQ=Δ Udc×kp
Wherein, UfDQFor feed-forward control signals；kpFor proportional control factor.
15. according to the method described in claim 1, it is characterised in that described that the feed-forward signal is added on D axles, i.e. UrefD
+UfD, it is U that Q axles, which keep constant,refQ, by UrefD+UfD、UrefQCarry out DQ inverse transformations, the reference voltage U after being feedoveredreffabc。
16. according to the method described in claim 1, it is characterised in that described that the feed-forward signal is added on Q axles, i.e. UrefQ
+UfQ, it is U that D axles, which keep constant,refD, by UrefD、UrefQ+UfQCarry out DQ inverse transformations, the reference voltage U after being feedoveredreffabc。
17. according to the method described in claim 1, it is characterised in that described that the feed-forward signal is added on DQ axles, i.e.,
UrefDQ+UfDQ, by UrefDQ+UfDQCarry out DQ inverse transformations, the reference voltage U after being feedoveredreffabc。
18. according to the method described in claim 1, it is characterised in that the method for the use be above and below two-arm electric current be averaging,
The zero-sequence current of two-arm above and below carrying out the 2 frequency multiplication DQ conversion of negative phase-sequence, obtaining, the suppression that an inner ring PI controls are exported is changed
Residual voltage U under the static coordinate of streamzabc。
19. according to the method described in claim 1, it is characterised in that the UreffabcWith UzabcSuperposition, obtains upper and lower bridge arm
Reference voltage UTreffabcAnd UBreffabc, modulation, the switch control letter of acquisition module voltage source commutation valve are approached through nearest level
Number include,
UTreffabc=Ureffabc+Uzabc
UBreffabc=Ureffabc-Uzabc。
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