CN107482928A - A kind of D.C. high voltage transmission modularization multi-level converter and its control method - Google Patents
A kind of D.C. high voltage transmission modularization multi-level converter and its control method Download PDFInfo
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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
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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
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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
- H02M7/487—Neutral point clamped inverters
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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
- H02M7/53—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 using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
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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
- H02M1/0067—Converter structures employing plural converter units, other than for parallel operation of the units on a single load
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- 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]
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Abstract
The invention discloses a kind of D.C. high voltage transmission modularization multi-level converter and its control method, including：Three facies units, each facies unit include two symmetrically upper bridge arm, lower bridge arms；Bridge arm, including N number of submodule and the reactor connected with submodule；Submodule, it is double Clamp submodules.The D.C. high voltage transmission modularization multi-level converter and its control method of the present invention, MMC can be equivalent into two independent subtopology structures, realize double-throw enter, it is double excision, single-throw list cut and single singulation throw etc. working condition, and submodule is ranked up using the electric voltage frequency method of weighting, make the IGBT of submodule switching frequency uniform.
Description
Technical Field
The invention relates to the field of high-voltage direct-current transmission. More particularly, the present invention relates to a modular multilevel converter for high voltage direct current transmission and a control method thereof.
Background
In recent years, Modular Multilevel Converters (MMC) are widely applied to high-voltage direct-current transmission systems, so that a multi-terminal high-voltage direct-current transmission technology is easy to implement. However, in actual operation, the capacitor voltage of the power module is easy to fluctuate, and the capacitor voltage of the modular multilevel converter for high-voltage direct-current transmission must be balanced and controlled to be controlled within a certain fluctuation range as much as possible, so that the influence on the system is reduced.
In the process of controlling the balance of the capacitor voltage, the switching frequency of the switching device is too high, and the use frequencies of different switches are uneven, which easily causes the reduction of the stability and reliability of the system.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a modular multilevel converter for a high-voltage direct-current transmission system, wherein sub-modules can be equivalent to two independent sub-topology structures, and the working states of double input, double cutting, single input and single cut, single input and the like are realized.
The invention also aims to provide a capacitance-voltage balance control method of the modular multilevel converter for the high-voltage direct-current transmission system, which sequences the submodule by adopting a voltage-frequency weight method so as to ensure that the switching frequency of the IGBT of the submodule is uniform.
To achieve these objects and other advantages in accordance with the invention, a modular multilevel converter for high voltage direct current transmission comprises:
each phase unit comprises an upper bridge arm and a lower bridge arm which are symmetrical;
the bridge arm comprises N sub-modules and a reactor connected with the sub-modules in series;
a sub-module which is a doubly clamped sub-module.
Preferably, the double-clamping sub-module comprises 5 IGBTs, two diodes and two independent capacitors C; wherein the IGBT has a diode connected in anti-parallel therewith.
The object of the invention is also achieved by a method for controlling a modular multilevel converter for high voltage direct current transmission, comprising:
step 1, collecting sub-module quantity N input by an upper bridge arm and a lower bridge arm in a control period before collecting by a controlleron-1And the number of excised submodules Noff-1；
Step 2, in the period, the number N of submodules required to be put into the controlleron-2Or the number of cut-out sub-modules Noff-2Judging the operating mode of execution by the current direction of the bridge arm;
step 3, sequencing the sub-modules by using a voltage-frequency weight method;
step 4, the MMC enters a corresponding working mode, the sub-modules carry out switching-in or switching-out state conversion according to the sequence until the voltage difference value delta U of the sub-modules is smaller than the set allowable deviation U of the capacitor voltagez。
Preferably, the voltage-frequency weighting method comprises calculating voltage-frequency weightsThe steps of (1):
wherein U is the capacitance voltage value of the ith sub-module; f is the switching frequency of the ith sub-module; λ is a current influence factor; w is a1iThe voltage weight coefficient of the ith sub-module; w is a2iIs the frequency weight coefficient of the ith sub-module.
Preferably, the method further comprises the following steps: sub-module weighting according to voltage-frequencyThe values are sorted in order from large to small.
Preferably, the operation modes include:
when the number of the submodules needing to be switched in or out is not changed, the bridge arm current is greater than zero, and the first mode is adopted;
when the number of the submodules needing to be switched in or out is not changed, the bridge arm current is smaller than zero, and the mode is a second mode;
when the number of the submodules needing to be put into the converter is increased, the bridge arm current is greater than zero, and the mode is a third mode;
when the number of the submodules needing to be put into the converter is increased, the bridge arm current is smaller than zero, and the fourth mode is adopted;
when the number of the submodules needing to be put into the converter is reduced, the number of the submodules needing to be cut is increased, and the bridge arm current is greater than zero, so that the converter is in a fifth mode;
and when the number of the submodules needing to be put into the converter is reduced, the number of the submodules needing to be cut is increased, the bridge arm current is smaller than zero, and the sixth mode is adopted.
Preferably, the first mode will have been engagedLargest submodule and in cut-out stateThe smallest submodule starts to exchange and will be put intoSubmodule of the second largest size and in the switched-out stateThe submodules with the second smallest number are exchanged in sequence until the difference value delta U between the voltage of the input submodule and the voltage of the submodule in the cut-out state is smaller than the set allowable deviation U of the capacitor voltagez；
When executing the second mode, will be switched outLargest sub-dieBlock and in the throw-in stateThe smallest submodule starts to exchange and is cut outSubmodule second largest and in input stateThe submodules with the second smallest number are exchanged in sequence until the difference value delta U between the voltage of the cut-out submodule and the voltage of the submodule in the switching-in state is smaller than the set allowable deviation U of the capacitor voltagez。
Preferably, in the third mode, the number m of the submodules to be newly input is calculated, and the submodules in the switching-out state are selectedThe m sub-modules at the lowest are switched to the input state; and then, switching the sub-modules which are put into and switched out until the difference value delta U between the voltage of the put-in sub-module and the voltage of the switched-out sub-module is smaller than the set allowable deviation U of the capacitor voltagez；
When the fourth mode is executed, the number m of the submodules needing to be newly input is calculated, and the submodules in the switching-out state are selectedThe m highest submodules are switched into the input state; and then, switching the switched-in sub-modules and the switched-out sub-modules until the voltage difference delta U between the switched-out sub-modules and the switched-in sub-modules is smaller than the set capacitor voltage allowable deviation Uz。
Preferably, the fifth mode is: calculating the number k of the submodules needing to be newly cut out, and selecting the submodules in the input stateThe highest k sub-modules switch the k sub-modules into a switching-out state; and then, switching the sub-modules which are put into and switched out until the difference value delta U between the voltage of the put-in sub-module and the voltage of the switched-out sub-module is smaller than the set allowable deviation U of the capacitor voltagez；
When the sixth mode is executed, the number k of the sub-modules needing to be newly switched out is calculated, and the sub-modules in the input state are selectedThe lowest k sub-modules switch the k sub-modules into a switching-out state; and then, switching the sub-modules which are put into and switched out until the difference value delta U between the voltage of the put-in sub-module and the voltage of the switched-out sub-module is smaller than the set allowable deviation U of the capacitor voltagez。
Preferably, when the current impact factor lambda is equal to 1,when the current influencing factor lambda is equal to-1,wherein,is the average voltage.
The invention has the beneficial effects that: 1. MMC topological structure can be equivalent to two ordinary MMC topological structure of independent operation, and two submodule piece electric capacity mutually independent charge, put the point, can realize two input, two excision, single input single-cutting and single-cutting four kinds of states, and operating mode is various, realizes more performances. 2. According to the capacitance voltage balance control method, the switching frequency and the capacitance voltage value of the IGBT of the submodule are calculated according to a certain weight by adopting a voltage-frequency weight method, then are sequenced according to the weight calculated values, the influence of the switching frequency is taken into consideration, and the switching frequency of the IGBT of the submodule is uniform on the basis of ensuring the capacitance voltage balance.
Drawings
Fig. 1 is a block diagram of a Modular Multilevel Converter (MMC) for a high voltage direct current transmission system according to the invention.
Fig. 2 is a sub-module structure diagram of a Modular Multilevel Converter (MMC) of the present invention.
Fig. 3 is a flow chart of a method of controlling the capacitor voltage balance of a modular multilevel converter for a high voltage direct current transmission system according to the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
Fig. 1-3 show a Modular Multilevel Converter (MMC) for a hvdc transmission system according to an implementation form of the invention, which comprises three identical phase cells as shown in fig. 1, each phase cell comprising two fully symmetrical upper and lower legs, each leg comprising N sub-modules and a reactor connected in series, each phase cell being fed with N sub-modules, U, in steady state operationdThe bridge arm reactor is the direct-current side voltage of the MMC, can inhibit interphase circulating current, reduce the harmonic distortion rate of bridge arm current, and can inhibit the rise of fault current under serious faults so as to protect the power electronic device of the MMC.
The specific structure of a submodule of the MMC is shown in fig. 2, and comprises 5 IGBTs, a diode switch group, two diodes and two independent capacitors C, as shown in table 1, when the submodule normally operates, T5 keeps an on state, D6 and D7 are reversely cut off, the whole topological structure can be equivalent to two common MMC topological structures which independently operate, the two submodule capacitors can be mutually independently charged and discharged, four states of double input, double cut, single input, single cut and single cut can be realized, the operating modes are various, more performances are realized, and the defect that other submodules cannot cut off direct-current fault short-circuit current can be overcome,
when the direct current fault occurs, the MMC is integrally locked, all IGBTs are locked, as shown in Table 1, when the current is positive, T1, T2, T3, T4 and T5 are all locked, namely, the current flows through D1, D4, D5 and two capacitors C which are connected in series and are charged, when the alternating current voltage and the capacitor voltage of a submodule in the MMC are clamped with each other, the charging is stopped, the direct current short-circuit current is cut off, and the output voltage is 2UC in different current directions after locking; when the current is negative, the current flows through the D3, the D5, the D6 and the D7 and the two capacitors, and the two capacitors are connected in parallel and charged. When the alternating voltage and the capacitance voltage of the MMC neutron module are clamped mutually, the charging is stopped, the direct short-circuit current is cut off, and the output voltage is U in different current directions after lockingC。
TABLE 1 summary of sub-module operating conditions
Compared with a universal MMC topological structure, the MMC provided by the invention has the advantages that the added switching device enhances the control flexibility of the sub-module, and the MMC has the direct-current fault short-circuit current cutting-off capability.
The invention also discloses a capacitance voltage balance control method of the modular multilevel converter for the high-voltage direct-current transmission system, which comprises the following steps as shown in figure 3:
step 1, collecting sub-module quantity N input by an upper bridge arm and a lower bridge arm in a control period before collecting by a controlleron-1And the number of excised submodules Noff-1；
Step 2, this period, controllerThe number of sub-modules N to be put intoon-2Or the number of cut-out sub-modules Noff-2Judging the operating mode of execution by the current direction of the bridge arm; (ii) a The working modes comprise six working modes which are respectively a first mode, a second mode, a third mode, a fourth mode, a fifth mode and a sixth mode;
when the number of the submodules needing to be switched in or out is not changed, and the bridge arm current is greater than zero, executing a first mode;
when the number of the submodules needing to be switched in or out is not changed, and the bridge arm current is less than zero, executing a second mode;
when the number of the submodules needing to be put into the converter is increased and the bridge arm current is greater than zero, executing a third mode;
when the number of the submodules needing to be put into the converter is increased and the bridge arm current is less than zero, executing a fourth mode;
when the number of the submodules needing to be put into is reduced, the number of the submodules needing to be cut out is increased, and the bridge arm current is greater than zero, a fifth mode is executed;
when the number of the submodules needing to be input is reduced, the number of the submodules needing to be cut is increased, and the bridge arm current is smaller than zero, a sixth mode is executed;
step 3, sequencing the sub-modules by using a voltage-frequency weight method;
the voltage-frequency weight method comprises the following steps: calculating voltage-frequency weights
Wherein, U is the capacitance voltage value of the ith sub-module, and the unit is volt; f is the switching frequency of the ith sub-module; lambda [ alpha ]iIs a current influence factor and has no dimension; w is a1iIs the ithVoltage weight coefficient of the submodule without dimension; w is a2iThe frequency weight coefficient of the ith sub-module is zero dimension. In practical use, neglecting the influence of environmental factors on the voltage weight, the voltage weight coefficient w of the sub-module1iIs constant and takes value as 1; current influencing factor lambdaiWhen is coming into contact withλi-1; when in useλi1, average voltage
Preferably, the frequency weight coefficient w of the ith sub-module2iAs a piecewise function:
when f isi＜1/4fDIV，w2i＝0.138；
Wherein f isDIVThe average value of the switching frequency of the IGBTs of the sub-modules within 0.1s is 336/N times, wherein N is the number of the sub-modules contained in a certain bridge arm in the MMC, and each bridge arm contains 20 sub-modules in general;
when 1/4fDIV≤fi＜2/3fDIV，w2i＝0.276；
When 2/3fDIV≤fi≤fDIV，w2i＝0.38；
Step 4, the MMC enters a corresponding working mode, the sub-module is switched into a switching-in state or a switching-out state until the voltage difference value delta U of the sub-module is smaller than the set allowable deviation U of the capacitor voltagezAt this time, the sub-module switching-in and switching-out adjustment is completed, and one level step change is completed.
The specific work flow under the six modes is as follows:
when the first mode is executed: first, it is judgedλi-1; when in useλi1 is ═ 1; secondly, the voltage-frequency weight is calculated according to a voltage-frequency weight methodWeighting the sub-modules by voltage-frequencySorting the values; finally, the already inputLargest submodule and in cut-out stateThe smallest submodule starts to exchange and will be put intoSubmodule of the second largest size and in the switched-out stateThe submodules with the second smallest number are exchanged in sequence until the difference value delta U between the voltage of the input submodule and the voltage of the submodule in the cut-out state is smaller than the set allowable deviation U of the capacitor voltagezAt this time, the sub-module input/output adjustment is completed.
When executing the second mode, firstly, the first mode is judgedλi-1; when in useλi1 is ═ 1; secondly, the voltage-frequency is calculated according to a voltage-frequency weight methodWeight ofWeighting the sub-modules by voltage-frequencySorting is carried out; finally, the cut-outLargest submodule and in input stateThe smallest submodule starts to exchange and is cut outSubmodule second largest and in input stateThe submodules with the second smallest number are exchanged in sequence until the difference value delta U between the voltage of the cut-out submodule and the voltage of the submodule in the switching-in state is smaller than the set allowable deviation U of the capacitor voltagezAt this time, the sub-module input/output adjustment is completed.
When the third mode is executed, it is first judgedλi-1; when in useλi1 is ═ 1; secondly, the voltage-frequency weight is calculated according to a voltage-frequency weight methodWeighting the sub-modules by voltage-frequencySorting is carried out; thirdly, the number m of the submodules needing to be newly input is calculated, andwhere m is Non-2-Non-1(ii) a Selecting sub-modules in a switched-out stateThe m sub-modules at the lowest are switched to the input state; finally, the submodules which are put into and cut out are exchanged, and the principle is as follows: will be thrown intoLargest submodule and remaining in switched-out stateThe smallest submodule starts to exchange and will be put intoThe second largest submodule is switched out of the restThe submodules with the second smallest number are exchanged in sequence until the difference value delta U between the voltage of the input submodule and the voltage of the submodule in the cut-out state is smaller than the set allowable deviation U of the capacitor voltagezAt this time, the sub-module input/output adjustment is completed.
When the fourth mode is executed, it is first judgedλi-1; when in useλi1 is ═ 1; secondly, the voltage-frequency weight is calculated according to a voltage-frequency weight methodWeighting the sub-modules by voltage-frequencySorting is carried out; then, the product is processedThen, calculating the number m of the submodules needing to be newly input, wherein m is equal to Non-2-Non-1(ii) a Selecting sub-modules in a switched-out stateThe m highest submodules are switched into the input state; finally, the submodules which are put into and cut out are exchanged, and the principle is as follows: cutting out the remainingLargest submodule and in input stateThe smallest submodule is exchanged and the rest is cut outSubmodule second largest and in input stateThe submodules with the second smallest number are exchanged in sequence until the difference value delta U between the voltage of the cut-out submodule and the voltage of the submodule in the switching-in state is smaller than the set allowable deviation U of the capacitor voltagezAt this time, the sub-module input/output adjustment is completed.
When the fifth mode is executed, it is first judgedλi-1; when in useλi1 is ═ 1; secondly, the voltage-frequency weight is calculated according to a voltage-frequency weight methodWeighting the sub-modules by voltage-frequencySorting is carried out; thirdly, calculating the number k of the sub-modules to be cut out newly, wherein k is Noff-2-Noff-1(ii) a Selecting sub-modules in the input stateThe highest k sub-modules switch the k sub-modules into a switching-out state; finally, the remaining submodules which are put into and switched out are exchanged, and the principle is as follows: the rest of the chargedLargest submodule and in cut-out stateThe smallest submodule starts to exchange, and the rest is put intoSubmodule of the second largest size and in the switched-out stateThe submodules with the second smallest number are exchanged in sequence until the difference value delta U between the voltage of the input submodule and the voltage of the submodule in the cut-out state is smaller than the set allowable deviation U of the capacitor voltagezAt this time, the sub-module input/output adjustment is completed.
When the sixth mode is executed, it is first judgedλi-1; when in useλi1 is ═ 1; secondly, the voltage-frequency weight is calculated according to a voltage-frequency weight methodWeighting the sub-modules by voltage-frequencySorting is carried out; thirdly, calculating the number k of the sub-modules to be cut out newly, wherein k is Noff-2-Noff-1(ii) a Selecting sub-modules in the input stateThe lowest k sub-modules switch the k sub-modules into a switching-out state; finally, the remaining submodules which are put into and switched out are exchanged, and the principle is as follows: will be cut outThe largest submodule and the rest are in the input stateThe smallest submodule is exchanged and the switched-out submodule is switchedThe second largest submodule is put into operation with the remainderThe submodules with the second smallest number are exchanged in sequence until the difference value delta U between the voltage of the input submodule and the voltage of the submodule in the cut-out state is smaller than the set allowable deviation U of the capacitor voltagezAt this time, the sub-module input/output adjustment is completed.
The voltage-frequency weight method is optimized and improved based on a common sorting algorithm, and solves the problem that the switching frequency of the IGBT is overlarge due to continuous change of the switching state of the sub-modules caused by frequent sorting of the MMC. The voltage value is often used for sequencing in a common sequencing algorithm, so that the switching frequency of the IGBTs of the sub-modules is uneven, the switching frequency of the IGBTs of part of the sub-modules is overlarge, the switching frequency and the capacitance voltage value of the IGBTs of the sub-modules are calculated according to a certain weight by a voltage-frequency weight method, sequencing is carried out according to weight calculation values, the influence of the switching frequency influence is taken into consideration, on the basis of ensuring the capacitance voltage balance, the switching frequency of the IGBTs of the sub-modules is uniform, the sequencing speed is remarkably improved, the switching loss is remarkably reduced, and the performance and the safety of the converter are ensured.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (10)
1. A modular multilevel converter for high voltage direct current transmission, comprising:
each phase unit comprises an upper bridge arm and a lower bridge arm which are symmetrical;
the bridge arm comprises N sub-modules and a reactor connected with the sub-modules in series;
a sub-module which is a doubly clamped sub-module.
2. The modular multilevel converter for high voltage direct current transmission according to claim 1, wherein the double-clamped sub-module comprises 5 IGBTs, two diodes and two independent capacitors C; wherein the IGBT has a diode connected in anti-parallel therewith.
3. A control method of a modular multilevel converter for high-voltage direct-current transmission is characterized by comprising the following steps:
step 1, collecting sub-module quantity N input by an upper bridge arm and a lower bridge arm in a control period before collecting by a controlleron-1And the number of excised submodules Noff-1；
Step 2, in the period, the number N of submodules required to be put into the controlleron-2Or the number of cut-out sub-modules Noff-2Judging the operating mode of execution by the current direction of the bridge arm;
step 3, sequencing the sub-modules by using a voltage-frequency weight method;
step 4, the MMC enters a corresponding working mode, the sub-modules carry out switching-in or switching-out state conversion according to the sequence until the voltage difference value delta U of the sub-modules is smaller than the set allowable deviation U of the capacitor voltagez。
4. The method of claim 3, wherein the voltage-frequency weighting method comprises calculating voltage-frequency weightsThe steps of (1):
<mrow> <msub> <mover> <mi>W</mi> <mo>&OverBar;</mo> </mover> <mi>i</mi> </msub> <mo>=</mo> <msub> <mi>U</mi> <mi>i</mi> </msub> <mo>&CenterDot;</mo> <msub> <mi>w</mi> <mrow> <mn>1</mn> <mi>i</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>&lambda;</mi> <mi>i</mi> </msub> <mo>&times;</mo> <msub> <mi>f</mi> <mi>i</mi> </msub> <mo>&CenterDot;</mo> <msub> <mi>w</mi> <mrow> <mn>2</mn> <mi>i</mi> </mrow> </msub> </mrow>
wherein U is the capacitance voltage value of the ith sub-module; f is the switching frequency of the ith sub-module; lambda [ alpha ]iIs a current influencing factor; w is a1iThe voltage weight coefficient of the ith sub-module; w is a2iIs the frequency weight coefficient of the ith sub-module.
5. The method of controlling a modular multilevel converter for high voltage direct current transmission according to claim 4 further comprising: sub-module weighting according to voltage-frequencyThe values are sorted in order from large to small.
6. The method of controlling a modular multilevel converter for high voltage direct current transmission according to claim 5, wherein the operation mode comprises:
when the number of the submodules needing to be switched in or out is not changed, the bridge arm current is greater than zero, and the first mode is adopted;
when the number of the submodules needing to be switched in or out is not changed, the bridge arm current is smaller than zero, and the mode is a second mode;
when the number of the submodules needing to be put into the converter is increased, the bridge arm current is greater than zero, and the mode is a third mode;
when the number of the submodules needing to be put into the converter is increased, the bridge arm current is smaller than zero, and the fourth mode is adopted;
when the number of the submodules needing to be put into the converter is reduced, the number of the submodules needing to be cut is increased, and the bridge arm current is greater than zero, so that the converter is in a fifth mode;
and when the number of the submodules needing to be put into the converter is reduced, the number of the submodules needing to be cut is increased, the bridge arm current is smaller than zero, and the sixth mode is adopted.
7. Method for controlling a modular multilevel converter for high voltage direct current transmission according to claim 6 characterized in that the first mode is to be put into operationLargest submodule and in cut-out stateThe smallest submodule starts to exchange and will be put intoSubmodule of the second largest size and in the switched-out stateThe submodules with the second smallest number are exchanged in sequence until the difference value delta U between the voltage of the input submodule and the voltage of the submodule in the cut-out state is smaller than the set allowable deviation U of the capacitor voltagez；
When executing the second mode, will be switched outLargest submodule and in input stateThe smallest submodule starts to exchange and is cut outSubmodule second largest and in input stateThe submodules with the second smallest number are exchanged in sequence until the difference value delta U between the voltage of the cut-out submodule and the voltage of the submodule in the switching-in state is smaller than the set allowable deviation U of the capacitor voltagez。
8. The method according to claim 6, wherein in the third mode, the number m of the submodules to be newly input is calculated, and the submodules in the cut-out state are selectedThe m sub-modules at the lowest are switched to the input state; and then, switching the sub-modules which are put into and switched out until the difference value delta U between the voltage of the put-in sub-module and the voltage of the switched-out sub-module is smaller than the set allowable deviation U of the capacitor voltagez；
When the fourth mode is executed, the number m of the submodules needing to be newly input is calculated, and the submodules in the switching-out state are selectedThe m highest submodules are switched into the input state; and then, switching the switched-in sub-modules and the switched-out sub-modules until the voltage difference delta U between the switched-out sub-modules and the switched-in sub-modules is smaller than the set capacitor voltage allowable deviation Uz。
9. The method of controlling a modular multilevel converter for high voltage direct current transmission according to claim 6 wherein the fifth mode is: calculating the number k of the submodules needing to be newly cut out, and selecting the submodules in the input stateThe highest k sub-modules switch the k sub-modules into a switching-out state; and then, switching the sub-modules which are put into and switched out until the difference value delta U between the voltage of the put-in sub-module and the voltage of the switched-out sub-module is smaller than the set allowable deviation U of the capacitor voltagez；
When the sixth mode is executed, the number k of the submodules needing to be newly switched out is calculated, and the submodules in the switching-in state are selectedIn the blockThe lowest k sub-modules switch the k sub-modules into a switching-out state; and then, switching the sub-modules which are put into and switched out until the difference value delta U between the voltage of the put-in sub-module and the voltage of the switched-out sub-module is smaller than the set allowable deviation U of the capacitor voltagez。
10. Method for controlling a modular multilevel converter for high voltage direct current transmission according to any of the claims 7-9, characterized in that when the current influencing factor x is equal to 1,when the current influencing factor lambda is equal to-1,wherein,is the average voltage.
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