CN107846164A - Motor driven systems and its Discrete Control Method based on MMC - Google Patents
Motor driven systems and its Discrete Control Method based on MMC Download PDFInfo
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- CN107846164A CN107846164A CN201711096226.6A CN201711096226A CN107846164A CN 107846164 A CN107846164 A CN 107846164A CN 201711096226 A CN201711096226 A CN 201711096226A CN 107846164 A CN107846164 A CN 107846164A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/14—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation with three or more levels of voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2201/00—Indexing scheme relating to controlling arrangements characterised by the converter used
Abstract
The invention discloses a kind of motor driven systems and its Discrete Control Method based on Modular multilevel converter, the system includes Modular multilevel converter and motor, the output end connection motor of Modular multilevel converter；It includes three-phase, include upper and lower bridge arm per phase, upper and lower bridge arm includes N number of the identical submodule and bridge arm inductance being connected in series, the output end of last submodule of the input and lower bridge arm of upper first submodule of bridge arm is connected with dc bus respectively, the output end of a upper submodule is connected with the input of next submodule, and the output end of upper last submodule of bridge arm is connected by upper and lower bridge arm inductance with the input of lower first submodule of bridge arm；Tie point per mutually upper and lower bridge arm inductance is its output end, and three output ends are connected with motor three-phase.The present invention carries out discretization to the motor driven systems based on Modular multilevel converter, realizes stable operation under the more level drivers of motor.
Description
Technical Field
The invention relates to a motor drive control technology, in particular to a motor drive system discrete control method based on a Modular Multilevel Converter (MMC).
Background
The Modular Multilevel Converter (MMC) is a novel Multilevel Converter, has a highly Modular structure, is high in efficiency, and is convenient for expanding system voltage and capacity, and industrial production is realized. The modular multilevel converter drives the high-speed permanent magnet motor, a high-voltage multilevel output can be realized by the low-voltage-resistant switch without a large-capacity transformer, the equivalent switching frequency is high, the waveform is closer to a sine wave, and the system loss can be reduced.
For digital control technology, the conventional design of a motor drive controller usually adopts a zero-order keeper method, and the controller is designed in a frequency domain on the assumption that parameters such as voltage, current and the like of a system are kept unchanged in one period. For a motor driving system based on a modular multilevel converter, the data volume is large, and especially in a high-frequency stage, the assumption that parameters are kept unchanged in one sampling period does not exist. A more accurate mathematical model needs to be established, and a corresponding controller needs to be designed according to the state equation of the model.
Disclosure of Invention
The purpose of the invention is as follows: a Modular Multilevel Converter (MMC) -based motor driving system and a discrete control method thereof are provided to solve the disadvantages of the prior art.
The technical scheme is as follows: the invention discloses a motor driving system based on a modular multilevel converter, which comprises the modular multilevel converter and a motor, wherein the output end of the modular multilevel converter is connected with the motor;
the modular multilevel converter comprises three phases, wherein each phase comprises an upper bridge arm and a lower bridge arm, the upper bridge arm and the lower bridge arm respectively comprise N identical submodules SMi, i =1,2, a, N and a bridge arm inductor L which are connected in series, the input end of a first submodule of the upper bridge arm and the output end of a last submodule of the lower bridge arm are respectively connected with a direct current bus, the output end of the first submodule is connected with the input end of the next submodule, and the output end of the last submodule of the upper bridge arm is connected with the input end of the first submodule of the lower bridge arm through the upper bridge arm inductor and the lower bridge arm inductor; and the connection point of the upper bridge arm inductor and the lower bridge arm inductor of each phase is the output end of the modular multilevel converter, and the three output ends are connected with three phases of the motor.
Furthermore, the sub-module is a half-bridge module and comprises high-power controllable power electronic switches T1 and T2, two diodes and a capacitor C, wherein the high-power controllable power electronic switches T1 and T2 are respectively connected with one diode in an anti-parallel mode, then connected in series, and finally connected with the capacitor C in a parallel mode.
Further, the high-power controllable power electronic switches T1 and T2 are insulated gate bipolar transistors.
Furthermore, the number of the upper bridge arm sub-modules and the number of the lower bridge arm sub-modules are even numbers respectively.
In another embodiment, a modular multilevel converter-based motor driving system discrete control method includes the following steps:
(1) Establishing MMC output mathematical model equation
According to kirchhoff's law, the bridge arm voltage can be expressed as:
wherein E is the DC bus voltage v pj 、v nj J-phase upper and lower bridge arm voltages, i pj 、i nj J phases of upper and lower bridge arm currents, i j J phase current on the AC side, L bridge arm inductance, L s Is the inductance of the motor winding, R s Is the motor winding resistance, e j J = a, b, c for each opposite potential of the motor;
therefore, the MMC output mathematical model equation can be obtained by the bridge arm voltage mathematical model equation:
definition ofThen MMThe output mathematical model equation of C is:
(2) Clarke and Park conversion is carried out on the MMC output mathematical model equation (2) to obtain an MMC output mathematical model under a dq coordinate system:
wherein v is d 、v q Are each v j D-and q-axis components transformed to dq coordinate system, e d 、e q Are each e j D-and q-axis components, i, transformed into dq-coordinate system d 、i q Are respectively i j Transforming to d-axis and q-axis components in a dq coordinate system;
according to the MMC output mathematical model equation (4), the following can be obtained:
wherein, ω is e The angular velocity of the motor;
discretizing (5) to establish a discrete domain model:
wherein, the first and the second end of the pipe are connected with each other,
wherein i d (t n )、i q (t n ) Are each t n D-axis and q-axis currents v obtained by sampling and calculating at any moment d (t n )、v q (t n ) Are each t n D-axis and q-axis voltages calculated at times, e d (t n )、e q (t n ) Are each t n Moment motor d-axis and q-axis back-emf, T s Is the current loop sampling period, omega e The angular velocity of the motor;
(3) MMC current loop design
The discrete controller design is as follows:
wherein the content of the first and second substances,d-axis and q-axis current instruction values are respectively obtained, K is a control coefficient, and a transfer function in a z domain can be further obtained:
wherein, I d Is i d (t n +T s ) In the form of expression in the Z domain,is composed ofIn the Z domain, in order to ensure system stability, and all poles are within the unit circle, K is in the range of 0<K<1；
By the formulas (6) and (10), it is possible to obtain:
therefore, the temperature of the molten steel is controlled,
so MMC is t under dq coordinate system n D-axis and q-axis currents i obtained by sampling and calculating at any moment d (t n )、i q (t n ) And d-axis and q-axis output voltages v at the next time d (t n +T s )、v q (t n +T s ) The relationship is as follows:
wherein the content of the first and second substances,
Φ PM is a motor permanent magnet flux linkage;
(4) V is to be d (t n +T s )、v q (t n +T s ) Obtaining three-phase output voltage v through dq/abc conversion a (t n +T s )、v b (t n +T s ) And v c (t n +T s ) And as a three-phase modulation signal of the MMC, carrying out carrier phase shift modulation on the MMC.
Has the beneficial effects that: compared with the prior art, the motor driving system based on the modular multilevel converter is discretized, a discrete mathematical model is established, the discrete controller of the driving system is designed according to the delay one-beat characteristic of the digital signal processor, and stable operation of the motor under multilevel driving is realized. The discrete control method has the following advantages:
(1) Each bridge arm of the modularized multi-level bridge comprises N sub-modules, the bearing voltage of each sub-module is Vdc/N (Vdc is direct current bus voltage), the specification requirements on power electronic switching devices are reduced on medium-high voltage high-power occasions, and system expansion is easy to realize;
(2) The modularized multi-level converter has high equivalent switching frequency, reduces the requirement of a motor on high switching frequency of a switching device and system loss, and saves hardware resources;
(3) The designed discrete controller has strong dynamic characteristics and is suitable for the actual operation of a digital signal processor;
(4) The stable operation of the motor driving system based on the MMC is realized, and the reliability is high.
Drawings
FIG. 1 is a topology diagram of a modular multilevel converter based motor drive system;
FIG. 2 is a circuit diagram of a modular multilevel converter based motor drive system;
fig. 3 is a schematic diagram of discrete sampling and duty cycle updating of a digital signal processor.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a topological diagram of a motor driving system based on a modular multilevel converter, which is composed of the modular multilevel converter and a motor, and the output end of the modular multilevel converter is connected with the motor. The modular multilevel converter comprises three phases A, B and C, each phase is formed by connecting an upper bridge arm, a lower bridge arm and a bridge arm inductor L in series, the upper bridge arm and the lower bridge arm respectively comprise N sub-modules SM 1-SMn, and in order to enable the modular multilevel converter to output zero level, the number of the bridge arm sub-modules is even; the connection point of the upper bridge arm inductor L and the lower bridge arm inductor L is an alternating current side electrical interface of the modular multilevel converter, three alternating current nodes are externally connected with the motor, and the circuit topologies of all sub-modules SM 1-SMn are the same and are all half-bridge modules.
Each sub-module comprises high-power controllable power electronic switches T1 and T2, and the T1 and the T2 can be insulated gate bipolar transistors (IGBT for short); anti-parallel diodes of T1 and T2; a submodule direct-current capacitor C; each submodule is in a half-bridge structure; the switching devices T1 and T2 are respectively connected with a diode in an anti-parallel mode, then connected in series and then connected with the capacitor C in parallel. The input end of the first submodule of the upper bridge arm and the output end of the last submodule of the lower bridge arm are respectively connected with a direct current bus, and the output end of the last submodule of the upper bridge arm is connected with the input end of the next submodule.
A method for discrete control of a motor driving system based on a modular multilevel converter comprises the steps of establishing an MMC output mathematical model equation, establishing a discrete domain model in a discretization mode, designing a discrete controller, calculating a modulation voltage signal of an MMC required at the next moment according to current sampled at the current moment, and carrying out carrier phase shift modulation on the MMC. The method specifically comprises the following steps:
(1) Establishing MMC output mathematical model equation
Fig. 2 is a circuit diagram of a motor driving system based on a modular multilevel converter, and according to kirchhoff's law, bridge arm voltages can be expressed as:
wherein E is the DC bus voltage v pj 、v nj J-phase upper and lower bridge arm voltages, i pj 、i nj J phases of upper and lower bridge arm currents, i j J phase current on the AC side, LIs bridge arm inductance, L s Is the inductance of the motor winding, R s Is the motor winding resistance, e j J = a, b, c for each opposite potential of the motor.
Therefore, the MMC output mathematical model equation can be obtained by the bridge arm voltage mathematical model equation:
definition ofThe MMC outputs a mathematical model equation as follows:
(2) Clarke and Park conversion is carried out on the MMC output mathematical model equation (2) to obtain an MMC output mathematical model under a dq coordinate system:
wherein v is d 、v q Are each v j D-and q-axis components transformed into dq-coordinate system, e d 、e q Are each e j D-and q-axis components, i, transformed to dq-coordinate system d 、i q Are respectively i j And d-axis and q-axis components transformed to a dq coordinate system.
FIG. 3 is a schematic diagram of discrete sampling and duty cycle updating of a digital signal processor, showing a carrier period start t n Current sampling is carried out at any moment, and the duty ratio obtained by the calculation of the sampling current value is at the next sampling point t n +T s The time is updated, i.e. there is a delay of one carrier period (current loop sampling period).
According to the state space equation under the continuous time domain:
where X (t) is an n-dimensional state vector, U (t) is an r × 1 input column vector, A is an n × n square matrix, and B is an n × r control matrix.
Discretizing the vector to obtain:
X(t n +T s )＝F(T s )X(t n )+G(T s )V (6)；
wherein, F (T) s ) Is an m × n output matrix, G (T) s ) Is an m x r direct transfer matrix.
Rewriting formula (4) as:
wherein, ω is e Is the angular velocity of the motor.
Discretizing the formula (7) to establish a discrete domain model:
wherein the content of the first and second substances,
wherein i d (t n )、i q (t n ) Are each t n D-axis and q-axis currents v obtained by sampling and calculating at any moment d (t n )、v q (t n ) Are each t n D-axis and q-axis voltages calculated at times, e d (t n )、e q (t n ) Are each t n Moment motor d-axis and q-axis back-emf, T s Is the current loop sampling period, omega e Is the angular velocity of the motor.
(3) MMC current loop design
The discrete controller design is as follows:
wherein the content of the first and second substances,d-axis and q-axis current instruction values are respectively obtained, K is a control coefficient, and a transfer function under a z domain can be further obtained:
wherein, I d Is i d (t n +T s ) In the form of expression in the Z domain,is composed ofIn the Z domain, in order to ensure the stability of the system, all poles should be within the unit circle, so the range of K is 0<K<1。
By the formulae (8) and (12), it is possible to obtain:
therefore, the first and second electrodes are formed on the substrate,
so MMC is t under dq coordinate system n D-axis and q-axis currents i obtained by sampling and calculating at moment d (t n )、i q (t n ) And the d-axis and q-axis output voltages v at the next time d (t n +T s )、v q (t n +T s ) The relationship is as follows:
wherein, the first and the second end of the pipe are connected with each other,
Φ PM is a permanent magnet flux linkage of the motor.
(4) V is to be d (t n +T s )、v q (t n +T s ) Obtaining three-phase output voltage v through dq/abc conversion a (t n +T s )、v b (t n +T s ) And v c (t n +T s ) Namely, the three-phase modulation signal of the MMC.
V required by the next moment is obtained a (t n +T s )、v b (t n +T s ) And v c (t n +T s ) As the modulation signal of MMC, the phase shift modulation of carrier is carried out on MMC, thereby realizing the mode for the motor driving system in the practical engineering application of adopting a digital signal processorThe block multilevel converter operates stably.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (5)
1. Motor drive system based on many level of modularization converter, its characterized in that: the modularized multi-level converter comprises a modularized multi-level converter and a motor, wherein the output end of the modularized multi-level converter is connected with the motor;
the modular multilevel converter comprises three phases, each phase comprises an upper bridge arm and a lower bridge arm, the upper bridge arm and the lower bridge arm respectively comprise N identical submodules SMi, i =1,2, 9, N and a bridge arm inductor L which are connected in series, the input end of a first submodule of the upper bridge arm and the output end of a last submodule of the lower bridge arm are respectively connected with a direct current bus, the output end of the last submodule of the upper bridge arm is connected with the input end of the next submodule, and the output end of the last submodule of the upper bridge arm is connected with the input end of the first submodule of the lower bridge arm through the upper bridge arm inductor and the lower bridge arm inductor; and the connection point of the upper bridge arm inductor and the lower bridge arm inductor of each phase is the output end of the modular multilevel converter, and the three output ends are connected with three phases of the motor.
2. The modular multilevel converter based motor drive system of claim 1, wherein: the sub-module is a half-bridge module and comprises high-power controllable power electronic switches T1 and T2, two diodes and a capacitor C, wherein the T1 and the T2 are respectively connected with one diode in an anti-parallel mode, then connected in series and finally connected with the capacitor C in parallel.
3. The modular multilevel converter-based motor drive system of claim 2, wherein: the high-power controllable power electronic switches T1 and T2 are insulated gate bipolar transistors.
4. The modular multilevel converter based motor drive system of claim 1, wherein: the number of the upper bridge arm sub-modules and the number of the lower bridge arm sub-modules are even numbers respectively.
5. A discrete control method of a motor driving system based on a modular multilevel converter is characterized by comprising the following steps:
(1) Establishing MMC output mathematical model equation
According to kirchhoff's law, the bridge arm voltage can be expressed as:
wherein E is the DC bus voltage v pj 、v nj J-phase upper and lower bridge arm voltages, i pj 、i nj J phases of upper and lower bridge arm currents, i j J phase current on the AC side, L bridge arm inductance, L s Is the inductance of the motor winding, R s Is the motor winding resistance, e j J = a, b, c for each opposite potential of the motor;
therefore, the MMC output mathematical model equation can be obtained by the bridge arm voltage mathematical model equation:
definition ofThe MMC outputs a mathematical model equation as follows:
(2) Clarke and Park conversion is carried out on an MMC output mathematical model equation (2) to obtain an MMC output mathematical model under a dq coordinate system:
wherein v is d 、v q Are each v j D-and q-axis components transformed to dq coordinate system, e d 、e q Are each e j D-and q-axis components, i, transformed into dq-coordinate system d 、i q Are respectively i j Transforming to d-axis and q-axis components in a dq coordinate system;
according to the MMC output mathematical model equation (4), the following can be obtained:
wherein, ω is e The angular velocity of the motor;
discretizing (5) to establish a discrete domain model:
wherein the content of the first and second substances,
wherein i d (t n )、i q (t n ) Are each t n D-axis and q-axis currents v obtained by sampling and calculating at any moment d (t n )、v q (t n ) Are each t n Calculated by time of dayd-and q-axis voltages, e d (t n )、e q (t n ) Are each t n Moment motor d-axis and q-axis back-emf, T s Is the current loop sampling period, omega e The angular velocity of the motor;
(3) MMC current loop design
The discrete controller design is as follows:
wherein, the first and the second end of the pipe are connected with each other,d-axis and q-axis current instruction values are respectively obtained, K is a control coefficient, and a transfer function under a z domain can be further obtained:
wherein, I d Is i d (t n +T s ) In the form of expression in the Z domain,is composed ofIn the Z domain, in order to ensure system stability, and all poles are within the unit circle, K is in the range of 0<K<1；
By the formulae (6) and (10), it is possible to obtain:
therefore, the first and second electrodes are formed on the substrate,
so MMC is t under dq coordinate system n D-axis and q-axis currents i obtained by sampling and calculating at moment d (t n )、i q (t n ) And the d-axis and q-axis output voltages v at the next time d (t n +T s )、v q (t n +T s ) The relationship is as follows:
wherein, the first and the second end of the pipe are connected with each other,
Φ PM is a permanent magnet flux linkage of the motor;
(4) V is to be d (t n +T s )、v q (t n +T s ) Obtaining three-phase output voltage v through dq/abc conversion a (t n +T s )、v b (t n +T s ) And v c (t n +T s ) And as a three-phase modulation signal of the MMC, carrying out carrier phase shift modulation on the MMC.
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| CN109004814A (en) * | 2018-08-13 | 2018-12-14 | 南昌工程学院 | A kind of submodule capacitor voltage balance control system for MMC |
| CN109039124A (en) * | 2018-08-13 | 2018-12-18 | 南昌工程学院 | MMC capacitance voltage balance control method based on phase shift space vector modulation |
| CN109830995A (en) * | 2018-12-28 | 2019-05-31 | 浙江华云清洁能源有限公司 | A kind of energy source router and the isolated island control strategy based on the energy source router |
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| GB2538270A (en) * | 2015-05-13 | 2016-11-16 | Offshore Renewable Energy Catapult | Power converter |
| CN106329979A (en) * | 2016-10-08 | 2017-01-11 | 东南大学 | MMC double circulation suppression method for high-speed permanent magnet motor system |
| CN106385214A (en) * | 2016-09-29 | 2017-02-08 | 东南大学 | High-speed permanent magnet synchronous motor control method based on modular multilevel converter |
| CN106451531A (en) * | 2016-09-09 | 2017-02-22 | 湖南大学 | Multi-phase and high-power generation-conversion integrated system and control method thereof |
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| CN104811069A (en) * | 2015-05-13 | 2015-07-29 | 山东大学 | Prediction control method for modularized multi-level inverter |
| GB2538270A (en) * | 2015-05-13 | 2016-11-16 | Offshore Renewable Energy Catapult | Power converter |
| CN106451531A (en) * | 2016-09-09 | 2017-02-22 | 湖南大学 | Multi-phase and high-power generation-conversion integrated system and control method thereof |
| CN106385214A (en) * | 2016-09-29 | 2017-02-08 | 东南大学 | High-speed permanent magnet synchronous motor control method based on modular multilevel converter |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109004814A (en) * | 2018-08-13 | 2018-12-14 | 南昌工程学院 | A kind of submodule capacitor voltage balance control system for MMC |
| CN109039124A (en) * | 2018-08-13 | 2018-12-18 | 南昌工程学院 | MMC capacitance voltage balance control method based on phase shift space vector modulation |
| CN109004814B (en) * | 2018-08-13 | 2020-03-24 | 南昌工程学院 | Submodule capacitor voltage balance control system for MMC |
| CN109039124B (en) * | 2018-08-13 | 2020-06-09 | 南昌工程学院 | MMC capacitor voltage balance control method based on phase-shift space vector modulation |
| CN109830995A (en) * | 2018-12-28 | 2019-05-31 | 浙江华云清洁能源有限公司 | A kind of energy source router and the isolated island control strategy based on the energy source router |
| CN109830995B (en) * | 2018-12-28 | 2021-03-02 | 浙江华云清洁能源有限公司 | Island control strategy based on energy router |
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