CN109067193A - A kind of cascade connection type electric power electric transformer and its imbalance compensation control method - Google Patents

A kind of cascade connection type electric power electric transformer and its imbalance compensation control method Download PDF

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CN109067193A
CN109067193A CN201810939314.6A CN201810939314A CN109067193A CN 109067193 A CN109067193 A CN 109067193A CN 201810939314 A CN201810939314 A CN 201810939314A CN 109067193 A CN109067193 A CN 109067193A
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voltage
stage
phase
current
control
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CN109067193B (en
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曲正伟
姚云枭
王云静
郭蕊
孟令楠
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Nanjing Yanzhan Technology Co ltd
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Yanshan University
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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
    • H02M5/00—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases
    • H02M5/40—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC
    • H02M5/42—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC by static converters
    • H02M5/44—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC by static converters using discharge tubes or semiconductor devices to convert the intermediate DC into AC
    • H02M5/453—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC by static converters using discharge tubes or semiconductor devices to convert the intermediate DC into AC using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M5/458—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC by static converters using discharge tubes or semiconductor devices to convert the intermediate DC into AC using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M5/4585—Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC by static converters using discharge tubes or semiconductor devices to convert the intermediate DC into AC using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only having a rectifier with controlled elements
    • 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
    • H02J3/26—Arrangements for eliminating or reducing asymmetry in polyphase 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
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
    • 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
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/50—Arrangements for eliminating or reducing asymmetry in polyphase networks

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)
  • Supply And Distribution Of Alternating Current (AREA)

Abstract

本发明提供一种级联型电力电子变压器的不平衡补偿控制方法，包括控制组件和变压器，变压器由输入整流级、隔离级以及输出逆变级构成。其中输入级为三相星接的级联H桥整流器，隔离级为多个独立的双有源桥变流器，输出级为单相PWM逆变器。本发明的控制方法包括输入整流级分层控制单元、隔离级电压闭环控制单元以及输出逆变级恒压和均流控制单元，输入级的分层控制单元又分为上层控制单元和下层控制单元，其中上层控制单元由坐标变换、正序解耦控制和负序电流抑制三部分组成，下层控制单元为相内均压控制。采用本发明提供的控制方法，可以同时解决PET在网侧电压和三相负载不平衡时的负序电流补偿问题，从而促进电力电子变压器在工程实际中的应用。

The invention provides an unbalance compensation control method of a cascaded power electronic transformer, which includes a control component and a transformer. The transformer is composed of an input rectification stage, an isolation stage and an output inverter stage. The input stage is a three-phase star-connected cascaded H-bridge rectifier, the isolation stage is a plurality of independent dual active bridge converters, and the output stage is a single-phase PWM inverter. The control method of the present invention includes an input rectification stage layered control unit, an isolation stage voltage closed-loop control unit, and an output inverter stage constant voltage and current sharing control unit, and the layered control unit of the input stage is further divided into an upper layer control unit and a lower layer control unit , where the upper control unit is composed of coordinate transformation, positive sequence decoupling control and negative sequence current suppression, and the lower control unit is intra-phase voltage equalization control. The control method provided by the invention can simultaneously solve the negative sequence current compensation problem of the PET when the grid-side voltage and the three-phase load are unbalanced, thereby promoting the application of the power electronic transformer in engineering practice.

Description

A kind of cascade connection type electric power electric transformer and its imbalance compensation control method
Technical field
The invention belongs to electric power electric transformer technical fields, and in particular to a kind of cascade connection type electric power electric transformer is not Balanced compensated control method.
Background technique
Electric power electric transformer (Power Electronic Transformer, PET), also known as solid-state transformer (Solid State Transformer, SST), it is a kind of power transformation that traditional Industrial Frequency Transformer is substituted in the electric system of power electronics Device, other than being able to achieve traditional transformation and isolation, also have both reactive compensation, harmonics restraint, power bi-directional transmission and The function of multi output power supply.
In recent years, with the continuous development of PET technology, in mesohigh power distribution network application more and more attention has been paid to.And In high pressure applications, since the resistance to voltage levels of device for power switching are limited, frequently with modularization or cascade structure to improve The input voltage that electric power electric transformer can be born.Wherein the more extensive two kinds of topologys of application are that U.S.'s future is renewable respectively Electric energy transmission and management project (Future Renewable Electric Energy Delivery and Management, FREEDM) use based on Cascade H bridge rectifier single-phase PET topology and the Chinese Academy of Sciences develop it is how electric based on modularization The three-phase PET topology of flat inverter (Modular Multilevel Converter, MMC).Both topologys are in ideal power grid With the various functions that can realize PET under the operating condition of three phase symmetry load well, but in practical power distribution network, due to system Often there is the operating condition of asymmetrical three-phase in the investment of failure or extensive single-phase load, voltage on line side and output lateral load, If can not compensate to above-mentioned imbalance, PET can inject negative-sequence current to power grid, pollute to bulk power grid, together When each phase high voltage direct current capacitor voltage as caused by negative-sequence current it is unbalanced, the switching device of input stage can be made due to excessively electric It presses and damages.Therefore, the Compensation Strategies studied under three-phase imbalance have very PET in the popularization of engineering in practice Important meaning.
Realize that PET can solve the compensation of unbalanced load in terms of topology and controlling unit two, but from topology Improved method often will increase the complexity of circuit, usually also need matched control strategy, and cost can also increase therewith, In comparison, the method compensated from controlling unit is more practical.Conventional compensation method is real using symmetrical component method The separation of existing positive and negative order components, is then respectively controlled under respective rotating coordinate system, this method not can avoid positive and negative Sequence separates bring detection delay, and dynamic response is poor, and control system is more complex.There are also one kind to be based on injected zero-sequence voltage Compensation method, this method needs to calculate the amplitude and phase angle of offset voltage in real time according to the voltage fluctuation of DC side, so that mending The residual voltage sine repaid is poor, is easy to pollute to net side harmonic, and what is compensated is limited in scope.
Summary of the invention
In order to overcome the drawbacks of the prior art, the present invention provides a kind of imbalance compensation of cascade connection type electric power electric transformer Control system and method can solve negative-sequence current compensation problem of the PET in voltage on line side and threephase load imbalance simultaneously, from And promote the application of electric power electric transformer in practice in engineering.
Specifically, the present invention provides a kind of cascade connection type electric power electric transformer comprising transformer and control assembly, institute State transformer include input rectifying grade, isolation level and output inverse cascade,
The input rectifying grade is made of the single-phase cascade type H bridge rectifier of three star-like connections；The isolation level is more A independent double active bridge current transformers, the output end of each double active bridge current transformers are connected in parallel, and constitute low-voltage direct bus； The output inverse cascade is Single-phase PWM Inverter；
Input rectifying grade, isolation level and output inverse cascade are all made of single-phase H bridge current transformer and are controlled, single-phase H bridging Switching device in stream device is all made of powerful IGBT；
The control assembly includes input rectifying stage layered control unit, isolation level control unit and output inverse cascade control The hierarchical control unit of unit processed, input stage is divided into top level control unit and lower layer's control unit again, in top level control unit A depression of order Generalized Integrator is embedded in inhibit the negative-sequence current of net side and realize the control of net side power using positive sequence decoupling control The decoupling of system and total DC voltage are constant；Lower layer's control unit of the input rectifying grade is for overcoming circuit parameter and opening Closing influences caused by delay, maintains the electric voltage equalization between every mutually each submodule, and the isolation level is real using closed loop PI controller The low-voltage direct busbar voltage of existing each submodule is constant, and the output inverse cascade uses the control method of voltage and current double closed-loop Maintain output voltage constant.
Preferably, double active bridge current transformers of the isolation level include primary side H bridge current transformer, high frequency transformer and pair side H Bridge current transformer, configured with single phase-shifted pulse width modulation unit, single phase shift between the primary side H bridge current transformer and secondary side H bridge current transformer Pwm unit utilizes single phase-shifted pulse width modulation (Single Phase Shift-Pulse Width Modulation, SPS- PWM two-way flow of the power in isolation level current transformer) is realized.
Preferably, PR controller subject to the controller of the output inverse cascade.
Preferably, using inductor filter after three of the input rectifying grade single-phase Cascade H bridge rectifier star-like connections It is connected with AC network or AC load.
Preferably, the output end of the input stage H bridge rectifier is connected with the input terminal of DAB primary side H bridge current transformer； The primary side of the output termination high frequency transformer of DAB primary side H bridge current transformer, the secondary H bridging stream when connecting DAB pair of high frequency transformer The input terminal of device；The output end of DAB pair side H bridge current transformer is connected with the input terminal of output stage Single-phase PWM Inverter；Output stage The output end of Single-phase PWM Inverter connects low-voltage alternating-current power grid or AC load by filter.
Preferably, the present invention also provides a kind of imbalance compensation control method of cascade connection type electric power electric transformer, packets It includes:
S1, input stage hierarchical control unit be divided into top level control unit and lower layer's control unit, wherein top level control list Member inhibits three parts to form by coordinate transform, positive sequence decoupling control and negative-sequence current.
Coordinate transform: the three-phase voltage e of net sideabcActive voltage component e is obtained after dq coordinate transformdWith idle electricity Press component eq；The three-phase current i of net sideabcWatt current measured value i is obtained after dq coordinate transformsdIt is measured with reactive current Value isq, watt current measured value isdWith reactive current measured value isqRespectively by a trapper to obtain respective positive sequence Component, watt current isdPositive-sequence component beReactive current isqPositive-sequence component be
Positive sequence decoupling: the high voltage direct current capacitor average voltage U of all modules is acquireddc_ave, and and reference valueMake Difference obtains the reference value of watt current using a pi regulatorSimultaneously by the reference value of reactive currentIt is set as 0, for realizing the unity power factor correction of net side, the watt current reference value that will be previously obtainedIt is referred to reactive current ValueActive voltage reference signal is obtained by a decoupling controller with after respective positive-sequence component measured value work difference respectively usdWith reactive voltage reference signal usq；
Negative-sequence current inhibits: watt current reference value isd *With watt current measured value isdIt is wide by a depression of order after work difference Adopted integrator obtains the thermal compensation signal u of active voltagedcom；Reactive current reference value isq *With reactive current measured value isqAfter making difference The thermal compensation signal u of reactive voltage is obtained by a depression of order Generalized Integratorqcom；
By the thermal compensation signal u of active voltagedcomSubtract reference signal usdAnd the feed-forward voltage e with net sidedIt is added, idle electricity The thermal compensation signal u of pressureqcomSubtract the reference signal u obtained from the output of positive sequence decoupling controlsqAnd the feed-forward voltage e with net sideq It is added, finally obtains the modulated voltage signal of input stage by dq inverse transformation respectively
S2, input rectifying grade lower layer's control unit be phase in Pressure and Control, specifically: acquisition xth phase (x ∈ a, b, C }) the DC capacitor voltage U of internal each submoduledc_x_1,...,Udc_x_N, and the DC capacitor average voltage with xth phase Udc_x_aveIt is poor to make, and is multiplied after a proportional controller with the sign function of watt current, finally obtains with by top level control Modulation voltage reference signalIt is first multiplied and is added again, finally obtain the modulation voltage u of each submodulexm1,uxm1,...uxmN；
The low-voltage direct busbar voltage that S3, isolation level adjust each submodule using closed-loop control is constant, and uses SPS-PWM Two-way flow of the modulation technology power in isolation level current transformer, the control method of N number of submodule is all the same, x-th of son The low-voltage direct capacitor voltage measuring value U of module (x=1,2 .., N)dc_LxWith low-voltage direct busbar voltage reference value Udc_L *Make After difference, the phase-shift control angle of each DAB current transformer is obtained by pi regulatorEach DAB current transformer is controlled respectively Flow of power；
S4, output stage closed-loop control: in output stage control, the measured value u of inverse cascade output voltagexIt is electric with output first The reference value u of pressurex *It is poor to make, and then believes again divided by the output current reference that N obtains each submodule by a quasi- PR controller Number ix *, in this, as the input of current inner loop, respectively with the output current measurement value i of each submodulex_1,ix_2,...,ix_NMake Difference finally obtains the modulated voltage signal u of each submodule by a quasi- PR controllerx_1,ux_2,...,ux_N。
Preferably, modulation voltage reference signal of the input stage rectifier under α β shafting can indicate are as follows:
U in formulaαAnd U *β* the modulation voltage reference signal under α β shafting, E are indicatedd,EqFor the active and nothing of power grid electromotive force Function component,WithIndicate the active and reactive voltage of PI controller output, ω1The angular frequency of power grid is indicated, when t is indicated Between, I2d,I2qFor two frequency multiplication of negative phase-sequence is active and the amplitude of reactive component,For the initial phase angle of negative sequence component；
UαAnd U *β* only contain fundamental positive sequence and negative sequence component in, wherein positive-sequence component is used for the power of control system transmission, Negative sequence component is used to inhibit the negative-sequence current of net side.
Preferably, the trapper frequency in step S1 is 100HZ.
Compared with prior art, the present invention has the advantage that
1, disclosed by the invention that control strategy is assisted based on depression of order Generalized Integrator, cascade connection type PET reply can be improved not The ability of balance condition makes PET still be able to achieve the power transmission of high quality when net side and load-side three-phase imbalance occur.
2, the compensation method based on ROGI adjuster that the present invention uses can effectively inhibit the net side under uneven operating condition Negative-sequence current, with it is traditional based on double dq shaftings divide sequence compensation method compared with, possess in response speed and compensation effect bright Aobvious advantage.
3, imbalance compensation control method disclosed by the invention only works in three-phase imbalance, will not influence PET and exists Normal operation under the conditions of voltage and load balance.
4, unbalance control scheme disclosed by the invention can make PET when voltage on line side is seriously asymmetric, still maintain The high power quality of alternating current-direct current output, this makes PET be provided with certain fault ride-through capacity.
5, imbalance compensation control strategy disclosed by the invention, suitable for the application of any voltage class and any The cascade connection type PET of number of modules, can also be extended in the PET of three-phase four-wire system.
Detailed description of the invention
Fig. 1 is the cascade connection type electric power electric transformer main circuit topological structure schematic diagram that the present invention uses.
Fig. 2 is the existing point sequence imbalance compensation control principle drawing based on double dq shaftings.
Fig. 3 is the input stage top level control schematic diagram proposed by the present invention based on the auxiliary control of ROGI adjuster.
Fig. 4 is Pressure and Control schematic diagram in the input rectifying grade lower layer phase of the invention used.
Fig. 5 is the voltage close loop control principle drawing for the isolation level that the present invention uses.
Fig. 6 is the output stage Single-phase PWM Inverter voltage and current double closed-loop control based on quasi- PR controller that the present invention uses Schematic diagram processed.
Fig. 7 is simulation waveform when asymmetrical three-phase occurs in voltage on line side.
Fig. 8 is simulation waveform when threephase load power occurs uneven.
Current on line side simulation waveform when Fig. 9 is point sequence compensating controller using double dq shaftings.
Figure 10 is current on line side simulation waveform when being compensated using unbalance control scheme of the invention.
Figure 11 is using the compensated net side A phase voltage of control program and current waveform figure of the invention.
Figure 12 is simulation waveform when serious asymmetrical three-phase occurs in voltage on line side.
Figure 13 is using the unbalance control scheme of the invention input compensation in voltage on line side serious asymmetrical three-phase Current on line side simulation waveform.
Specific embodiment
Below with reference to the attached drawing exemplary embodiment that the present invention will be described in detail, feature and aspect.It is identical attached in attached drawing Icon note indicates element functionally identical or similar.Although the various aspects of embodiment are shown in the attached drawings, unless special It does not point out, it is not necessary to attached drawing drawn to scale.
The invention discloses it is a kind of based on depression of order Generalized Integrator auxiliary control cascade connection type PET imbalance compensation strategy, By one ROGI adjuster of insertion in the decoupling control link of positive dq shafting, positive-negative sequence current is uniformly controlled, Link is separated with positive-negative sequence due to not needing instruction current calculating, so that the control of input stage has obtained apparent simplification.
A kind of typical PET is topological as shown in Figure 1, including three rectification, isolation, inversion parts.Wherein rectification stage is by three The single-phase cascade type H bridge rectifier of a star-like connection forms, and carries out switch control using phase-shifting carrier wave modulation (CPS-PWM) technology System.Isolation level is multiple independent double active bridge (DualActive Bridge, DAB) current transformers；Output stage is that single-phase PWM is inverse Become device.It is connected using inductor filter with utility network after three single-phase rectification stage star-like connections.The output end of DAB can be simultaneously It is linked to together, constitutes low-voltage direct bus, supply distributed generation resource, energy storage device and DC load access.And inverter is defeated Outlet can both connect low-voltage alternating-current power grid, can also connect AC load.
When the threephase load imbalance of ac output end, the electric current of each phase transimission power is different, can make the three of net side There is negative sequence component in phase current, pollutes to power grid.Part document is separated using a kind of as shown in Figure 2 based on positive-negative sequence Double dq shaftings under unbalance control strategy, although can effectively inhibit the negative-sequence current of net side, control system is more complex, And not can avoid positive-negative sequence separation bring compensation delay, the dynamic property of controller is poor.
And the control strategy that this patent proposes, it is by being embedded in a ROGI adjuster in decoupling control link to inhibit The negative-sequence current of net side is not only adapted to voltage on line side and loads asymmetric operating condition, but also can obtain high electric energy matter The alternating current-direct current of amount exports, and is a kind of simple and practical compensation method.Below with reference to the mathematical model of PET input stage to this paper not Balanced compensated strategy is analyzed.
Such as Fig. 1, a kind of typical cascade connection type PET input stage topology, every phase is made of N number of cascaded H-bridges rectification module, three-phase Star-like connection between input, and do not include zero sequence electricity without the neutral conductor between net side power supply and output end load, therefore in system Stream.
When net side and load-side occur uneven, the supply voltage of net side can be indicated are as follows:
In formula, ea,eb,ecFor the instantaneous electromotive force of net side；Ep,En,EzFor positive and negative, zero-sequence component the width of voltage on line side Value；Be positive the phase angles of negative zero order components.
If be not controlled to the imbalance of system, negative sequence component will occur in the input current of net side, may be expressed as:
In formula, LacFor the filter inductance of net side；Ra,Rb,RcFor the equivalent series resistance of rectification output end, it is for characterizing The switching loss of system is compared with the power that the AC load of output stage consumes, and often can be ignored.
Dq transformation, expression formula of the available three-phase bridge arm input terminal electric current under dq shafting are carried out to formula (3)
By decoupling control, active and reactive current control device can be indicated are as follows:
In formula, ia,ib,icFor the three-phase transient current of net side；Ip,InFor the amplitude of net side positive-negative sequence current；θp,θnFor The first phase of positive-negative sequence current.
The input current of Cascade H bridge rectifier can indicate are as follows:
When system occurs uneven, the negative sequence component of current on line side will appear 2 harmonics under dq shafting, at this time Active and reactive current may be expressed as:
I in formula1d,i1qFor active and reactive current DC component, I2d,I2qFor the amplitude of two harmonic of negative phase-sequence,For The initial phase angle of negative sequence component.
Non differential regulation can not be carried out to the negative sequence component of 2 frequencys multiplication only with PI controller, therefore decouples control in positive sequence herein A ROGI adjuster is embedded on the basis of system, for inhibiting the negative-sequence current of net side.The hierarchical control of input stage includes upper Layer control and lower layer's control, for top level control block diagram as shown in figure 3, comprising coordinate transform, positive sequence decoupling and negative-sequence current inhibit three A part.
The purpose of coordinate transform is in order to which voltage and current to be transformed into dq shafting, conveniently to the active and idle of net side Electric current is respectively controlled.Such as Fig. 3, eabcAnd iabcThe three-phase voltage and electric current for respectively indicating net side, after dq coordinate transform To respective active and reactive component (esd,esq),(isd,isq)。isdAnd isqAlso respectively by a 100Hz trapper to Obtain respective positive-sequence component
Positive sequence decouples link for realizing active and reactive current control device decoupling.Such as Fig. 3,Indicate high straightening The reference value of capacitance voltage is flowed,Indicate the high voltage direct current capacitor average voltage of all modules, the two is made to pass through after difference The reference value of one PI controller watt currentThe reference value of reactive currentIt is set as 0, for realizing the list of net side Position PFC.isd *And isq *Respectively with respective positive-sequence component measured valueIt is obtained after making difference by decoupling control Active and reactive voltage reference signal usdAnd usq.Here s is the abbreviation of source, and source refers to power supply, that is, power grid, Therefore the electric current that target electric current under s just refers to grid side is taken, similarly L is the abbreviation of load, takes target electric current under L and just refers to The electric current of load-side.
It includes active and idle two parts that negative-sequence current, which inhibits link, and the control of the two is just the same, with watt current For, reference value id *Measured value idThe thermal compensation signal u of active voltage is obtained by a ROGI adjuster after work differencedcom。
The compensation term u of active voltage and reactive voltagedcomAnd uqcomReference signal u is individually subtractedsdAnd usq, then it is electric with net side Press edAnd eqIt is added, finally obtains the modulated voltage signal of input stage by dq inverse transformation.Since this method does not need positive-negative sequence point From link, divides sequence compensation method based on double dq shaftings relative to such as Fig. 2, enormously simplify the complexity of control unit.
Lower layer's control of input stage maintains every mutually each submodule for overcoming influence caused by circuit parameter and switching delay Electric voltage equalization between block, control block diagram are as shown in Figure 4.Acquire the DC capacitor of xth phase (x ∈ { a, b, c }) internal each submodule Voltage Udc_x_1,...,Udc_x_N, and the DC capacitor average voltage U with xth phasedc_x_aveIt is poor to make, by a proportional controller Be multiplied afterwards with the sign function of watt current, finally with the modulation voltage reference signal that is obtained by master controlFirst be multiplied phase again Add, finally obtains the modulation voltage u of each submodulexm1,uxm1,...uxmN。
The isolation level DAB current transformer is used for the Power Exchange of input stage and output stage.It is of the present invention such as Fig. 5 Isolation level voltage close loop control principle drawing.It is constant using each submodule low-voltage direct busbar voltage of closed loop PI control and regulation, and And the two-way flow using SPS-PWM modulation technology power in isolation level current transformer.In figure, Udc_L *It is low-voltage direct mother The reference signal of line, Udc_LxIt is the low-voltage direct capacitor voltage measuring value of x-th of submodule, wherein x=1,2 ..., N.Measurement Value Udc_LxWith reference value Udc_L *The phase-shift control angle of each DAB current transformer is obtained after PI is controlledIt controls respectively The flow of power of each DAB.
It is the output stage Single-phase PWM Inverter voltage and current double closed-loop of the present invention based on quasi- PR controller such as Fig. 6 Control principle drawing, in figure, ux *And uxThe respectively reference value and measured value of inverse cascade output voltage, ix *Indicate each submodule output The reference value of electric current, ix_1,ix_2,...,ix_NRespectively indicate the output current measurement of each mutually N number of submodule, ux_1,ux_2,..., ux_NIt is the modulated voltage signal of N number of shunt chopper.The control method of three-phase is identical, by taking U phase as an example, in output stage control In system, it is poor that the measured value of inverse cascade output voltage is made with reference value first, obtains every height divided by N using after quasi- PR controller The output current reference signal of module, as the input of current inner loop, then respectively with the output current measurement of each submodule It is poor that value is made, and finally obtains the modulated voltage signal of each submodule by quasi- PR controller.Herein, why controlled using quasi- PR Device processed rather than PI controller are that PR control is more preferable to the DAZ gene effect of AC signal because subject to, and uses voltage electricity The control method of stream two close cycles can make output voltage constant and the stream of each submodule in parallel.
Below with reference to the transmission function of ROGI adjuster, to cascade connection type PET imbalance compensation controlling party disclosed by the invention The principle of method is analyzed.
The transmission function of ROGI adjuster is respectively as shown in formula (7)
The transmission function of ROGI only has-j ωrOne pole, therefore work as ωrWhen=2 π * 100rad/s, controller only- Gain is maximum at 100Hz, and the gain at other frequencies is almost 0, therefore ROGI can not influence forward-order current component Under the premise of, negative sequence component is adjusted.
Negative-sequence current controller based on ROGI, output can be expressed as
In formulaWithThe active and reactive voltage compensation rate of controller output is respectively indicated,Indicate Laplace Inverse transformation, * indicate convolution algorithm.
With the increase of time t, the exponential term of Section 2 can be quicklyd increase in formula (8), and value will be considerably beyond first item. Therefore formula (8) can be with Approximate Equivalent are as follows:
It is controlled by positive sequence decoupling control and negative-sequence current, reference voltage signal can be under dq shafting for input stage rectifier It indicates are as follows:
Dq inverse transformation is carried out to formula (10), expression formula of the reference voltage signal under α β shafting can be obtained are as follows:
U in formulaαAnd U *β* the modulation voltage reference signal under α β shafting is indicated.
Only contain fundamental positive sequence and negative phase-sequence in the modulated signal of input stage Cascade H bridge rectifier it can be seen from formula (11) Component, wherein positive-sequence component is used for the power of control system transmission, and negative sequence component is used to inhibit the negative-sequence current of net side.
In actual operation, the fluctuation range that mains frequency allows is -2.5~+1.5Hz, if directlying adopt ROGI adjusting Device, when mains frequency fluctuates, the robustness of controller is poor, it is therefore desirable to introduce cutoff frequency ωc, to improve control The gain bandwidth range of device.ROGI adjuster at this time becomes depression of order quasi-resonance adjuster (Reduced order quasi- Resonant, ROQR), shown in transmission function such as formula (12).
In order to verify the present invention, it is imitative that three-phase cascade PET identical with Fig. 1 topology has been built based on Matlab/Simulink True mode.Its main simulation parameter is as follows:
Rated capacity: 2MVA
Net side line voltage: 10kV (virtual value)
Cascade module number: 3
Three-phase nominal load power: 360kW
Simulation process is as follows: before 0.45s, voltage on line side three-phase symmetrical, threephase load is 360kW.Net after 0.45s There is slight asymmetry in side voltage, and the load of U phase remains unchanged, and bearing power decline 20%, the W phase load power of V phase becomes Originally 50%.It is put under double dq shaftings respectively in 0.45s and divides sequence compensating controller and imbalance compensation proposed by the present invention Scheme, the effect of comparison negative-sequence current compensation.Fig. 7-Figure 13 gives simulation result of the invention.
It is voltage on line side variation simulation waveform of the invention such as Fig. 7, before 0.45s, voltage on line side three-phase symmetrical, Occur after 0.45s slight asymmetric.
It is threephase load changed power simulation waveform of the invention such as Fig. 8.Before 0.45s, threephase load power is 1: The variation of the ratio between back loading of 1:1,0.45s is 1:0.8:0.5.
Fig. 9 and Figure 10 respectively shows point sequence compensation control and unbalance control scheme of the invention based on double dq shaftings Compensation effect.Can intuitively it find out from comparison of wave shape, when using compensation scheme of the invention, after approximately passing through 0.04 second The electric current of net side just restores balance, and divides sequence compensating controller using double dq shaftings, when need to pass through very long response in 0.15 second Between, and compensated current on line side still remains slight asymmetry.
The reason of causing the above results not can avoid positive-negative sequence point when essentially consisting in use point sequence compensating three-phase unbalance From the detection delay in bring a quarter period, and coordinate transform excessive in control program and complicated instruction calculate shadow The precision of compensation is rung.And unbalance control scheme of the invention is used, instruction current calculating, which is avoided, with positive-negative sequence separates ring Section, substantially increases the response speed of imbalance compensation controller.
Such as Figure 11, be using the compensated A phase voltage of unbalance control scheme and current simulations waveform of the invention, can be with Compensated PET work is found out in unity power factor state, and the power quality of output is high.
It is simulation waveform when voltage on line side occurs serious asymmetric such as Figure 12, before 0.45s, voltage on line side three is opposite Claim, it is original 70% that A phase voltage, which is fallen, after 0.45s.
It is using the unbalance control scheme of the invention input compensation in voltage on line side serious asymmetrical three-phase such as Figure 13 Current on line side simulation waveform.Simulation result shows when network voltage occurs seriously to fall, using controlling party of the invention Method remains to so that current on line side keeps three-phase symmetrical, this explanation can not only using the three-phase PET of ROGI adjuster auxiliary control Unbalanced load is compensated, also there is certain fault ride-through capacity.
Finally, it should be noted that above-described embodiments are merely to illustrate the technical scheme, rather than to it Limitation；Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should understand that: It can still modify to technical solution documented by previous embodiment, or to part of or all technical features into Row equivalent replacement；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side The range of case.

Claims (8)

1.一种级联型电力电子变压器的不平衡补偿控制方法，其特征在于，其包括变压器以及控制组件，所述变压器包括输入整流级、隔离级以及输出逆变级，1. A method for unbalance compensation control of a cascaded power electronic transformer, characterized in that it includes a transformer and a control assembly, and the transformer includes an input rectification stage, an isolation stage and an output inverter stage, 所述输入整流级由三个星形连接的单相级联型H桥整流器组成；所述隔离级为多个独立的双有源桥变流器，各个双有源桥变流器的输出端并联在一起，构成低压直流母线；所述输出逆变级为单相PWM逆变器；The input rectification stage is composed of three star-connected single-phase cascaded H-bridge rectifiers; the isolation stage is a plurality of independent dual active bridge converters, and the output terminals of each dual active bridge converter connected in parallel to form a low-voltage DC bus; the output inverter stage is a single-phase PWM inverter; 输入整流级、隔离级以及输出逆变级均采用单相H桥变流器进行控制，单相H桥变流器中的开关器件均采用大功率的IGBT；The input rectification stage, isolation stage and output inverter stage are all controlled by single-phase H-bridge converters, and the switching devices in the single-phase H-bridge converters are all high-power IGBTs; 所述控制组件包括输入整流级分层控制单元、隔离级控制单元以及输出逆变级控制单元，输入级的分层控制单元又分为上层控制单元和下层控制单元，在上层控制单元中嵌入一个降阶广义积分器以抑制网侧的负序电流并且采用正序解耦控制实现网侧功率控制的解耦以及总的直流电压恒定；所述输入整流级的下层控制单元用于克服电路参数和开关延迟造成的影响，维持每相各个子模块间的电压均衡，所述隔离级采用闭环PI控制器实现各个子模块的低压直流母线电压恒定，所述输出逆变级采用电压电流双闭环的控制方法维持输出电压恒定。The control component includes an input rectification level hierarchical control unit, an isolation level control unit and an output inverter level control unit. The hierarchical control unit of the input level is further divided into an upper control unit and a lower control unit, and a control unit is embedded in the upper control unit Reduce the order of the generalized integrator to suppress the negative sequence current of the grid side and adopt the positive sequence decoupling control to realize the decoupling of the grid side power control and the constant total DC voltage; the lower control unit of the input rectification stage is used to overcome the circuit parameters and The influence caused by the switching delay maintains the voltage balance between each sub-module of each phase. The isolation stage adopts a closed-loop PI controller to realize the constant voltage of the low-voltage DC bus of each sub-module. The output inverter stage adopts voltage and current double closed-loop control method to maintain a constant output voltage. 2.根据权利要求1所述的级联型电力电子变压器，其特征在于：所述隔离级的双有源桥变流器包括原边H桥变流器、高频变压器和副边H桥变流器，所述原边H桥变流器和副边H桥变流器之间配置有单移相脉宽调制单元，用于实现功率在隔离级变流器中的双向流动。2. The cascaded power electronic transformer according to claim 1, characterized in that: the dual active bridge converter of the isolation stage comprises a primary side H-bridge converter, a high-frequency transformer and a secondary side H-bridge converter A single phase-shift pulse width modulation unit is arranged between the primary side H-bridge converter and the secondary side H-bridge converter to realize bidirectional flow of power in the isolation level converter. 3.根据权利要求1所述的级联型电力电子变压器，其特征在于：所述输出逆变级的控制器为准PR控制器。3. The cascaded power electronic transformer according to claim 1, characterized in that: the controller of the output inverter stage is a quasi-PR controller. 4.根据权利要求1所述的级联型电力电子变压器，其特征在于：所述输入整流级的三个单相级联H桥整流器星形连接后再经过电感滤波与交流电网或交流负载相连。4. The cascaded power electronic transformer according to claim 1, characterized in that: the three single-phase cascaded H-bridge rectifiers of the input rectification stage are star-connected and then connected to the AC power grid or the AC load through inductance filtering . 5.根据权利要求1所述的级联型电力电子变压器，其特征在于：所述的输入级H桥整流器的输出端与DAB原边H桥变流器的输入端相连接；DAB原边H桥变流器的输出端接高频变压器的原边，高频变压器的副边连接DAB副边H桥变流器的输入端；DAB副边H桥变流器的输出端与输出级单相PWM逆变器的输入端相连接；输出级单相PWM逆变器的输出端通过滤波器连接低压交流电网或交流负载。5. The cascaded power electronic transformer according to claim 1, characterized in that: the output end of the input stage H bridge rectifier is connected with the input end of the DAB primary side H bridge converter; the DAB primary side H The output terminal of the bridge converter is connected to the primary side of the high-frequency transformer, and the secondary side of the high-frequency transformer is connected to the input terminal of the DAB secondary H-bridge converter; the output terminal of the DAB secondary H-bridge converter is single-phase with the output stage The input ends of the PWM inverter are connected; the output end of the single-phase PWM inverter in the output stage is connected to a low-voltage AC grid or an AC load through a filter. 6.一种级联型电力电子变压器的不平衡补偿控制方法，其特征在于：其包括：6. A method for unbalance compensation control of a cascaded power electronic transformer, characterized in that it comprises: S1、输入级的分层控制单元分为上层控制单元和下层控制单元，其中上层控制单元由坐标变换、正序解耦控制和负序电流抑制三部分组成；S1. The hierarchical control unit of the input stage is divided into an upper control unit and a lower control unit, wherein the upper control unit is composed of three parts: coordinate transformation, positive sequence decoupling control and negative sequence current suppression; 坐标变换：网侧的三相电压eabc经过dq坐标变换后得到有功电压分量ed和无功电压分量eq；网侧的三相电流iabc经过dq坐标变换后得到有功电流测量值isd和无功电流测量值isq，有功电流测量值isd和无功电流测量值isq分别经过一个陷波器从而得到各自的正序分量，有功电流isd的正序分量为无功电流isq的正序分量为 Coordinate transformation: the three-phase voltage e abc on the grid side is transformed by dq coordinates to obtain the active voltage component e d and the reactive voltage component e q ; the three-phase current i abc on the grid side is transformed by dq coordinates to obtain the measured value of active current i sd and the reactive current measurement value i sq , the active current measurement value i sd and the reactive current measurement value i sq are respectively passed through a notch filter to obtain their respective positive sequence components. The positive sequence component of the active current isd is The positive sequence component of reactive current i sq is 正序解耦：采集所有模块的高压直流电容电压平均值Udc_ave，并与参考值作差，再经过一个PI调节器得到有功电流的参考值同时将无功电流的参考值设置为0，用于实现网侧的单位功率因数校正，将前面得到的有功电流参考值和无功电流参考值分别与各自的正序分量测量值作差后经过一个解耦控制器得到有功电压参考信号usd和无功电压参考信号usq；Positive sequence decoupling: collect the average value U dc_ave of the high-voltage DC capacitor voltage of all modules, and compare it with the reference value Make a difference, and then get the reference value of active current through a PI regulator At the same time the reference value of the reactive current Set it to 0, it is used to realize the unit power factor correction on the grid side, and the active current reference value obtained earlier will be and reactive current reference The active voltage reference signal u sd and the reactive voltage reference signal u sq are obtained through a decoupling controller after making difference with their respective positive sequence component measurement values; 负序电流抑制：有功电流参考值isd *与有功电流测量值isd作差后经过一个降阶广义积分器得到有功电压的补偿信号udcom；无功电流参考值isq *与无功电流测量值isq作差后经过一个降阶广义积分器得到无功电压的补偿信号uqcom；Negative-sequence current suppression: active current reference value i sd * and active current measurement value i sd make a difference and pass through a reduced-order generalized integrator to obtain active voltage compensation signal u dcom ; reactive current reference value i sq * and reactive current After the measured value i sq is made a difference, the reactive voltage compensation signal u qcom is obtained through a reduced-order generalized integrator; 将有功电压的补偿信号udcom减去参考信号usd并与网侧的前馈电压ed相加、无功电压的补偿信号uqcom减去从正序解耦控制的输出得到的参考信号usq并与网侧的前馈电压eq相加，最后分别经过dq反变换得到输入级的调制电压信号 Subtract the reference signal u sd from the compensation signal u dcom of the active voltage and add it to the feedforward voltage ed on the grid side, subtract the reference signal u obtained from the output of the positive sequence decoupling control from the compensation signal u qcom of the reactive voltage sq and added to the feed-forward voltage e q of the grid side, and finally undergo dq inverse transformation to obtain the modulation voltage signal of the input stage S2、输入整流级的下层控制单元为相内均压控制，具体为：采集第x相(x∈{a,b,c})内部各子模块的直流电容电压Udc_x_1,...,Udc_x_N，并与第x相的直流电容平均电压Udc_x_ave作差，经过一个比例控制器后与有功电流的符号函数相乘，最后与由上层控制得到的调制电压参考信号先相乘再相加，最终得到各子模块的调制电压uxm1,uxm1,...uxmN；S2. The lower control unit of the input rectification stage is for intra-phase voltage equalization control, specifically: collecting the DC capacitor voltage U dc_x_1 ,...,U of each sub-module inside the x-th phase (x∈{a,b,c}) dc_x_N , and make a difference with the average voltage U dc_x_ave of the DC capacitor of the xth phase, after passing through a proportional controller, multiply it with the sign function of the active current, and finally with the modulation voltage reference signal obtained by the upper layer control Multiply first and then add, and finally get the modulation voltage u xm1 , u xm1 ,...u xmN of each sub-module; S3、隔离级采用闭环控制调节各子模块的低压直流母线电压恒定，并采用SPS-PWM调制技术实现功率在隔离级变流器中的双向流动，N个子模块的控制方法均相同，第x个子模块(x＝1,2,..,N)的低压直流电容电压测量值Udc_Lx和低压直流母线电压参考值Udc_L *作差后，经过PI调节器得到各DAB变流器的移相控制角分别控制各个DAB变流器的功率流动；S3. The isolation stage adopts closed-loop control to adjust the low-voltage DC bus voltage of each sub-module to be constant, and uses SPS-PWM modulation technology to realize the bidirectional flow of power in the isolation-level converter. The control methods of N sub-modules are the same, and the x-th sub-module After the measured value U dc_Lx of the low-voltage DC capacitor voltage of the module (x=1,2,..,N) and the reference value U dc_L * of the low-voltage DC bus voltage are compared, the phase-shift control of each DAB converter is obtained through the PI regulator horn Individually control the power flow of each DAB converter; S4、输出级闭环控制：在输出级控制中，逆变级输出电压的测量值ux首先和输出电压的参考值ux *作差，然后经过一个准PR控制器再除以N得到各个子模块的输出电流参考信号ix *，以此作为电流内环的输入，分别和每个子模块的输出电流测量值ix_1,ix_2,...,ix_N作差，最后经过一个准PR控制器得到各个子模块的调制电压信号ux_1,ux_2,...,ux_N。S4. Closed-loop control of the output stage: In the output stage control, the measured value u x of the output voltage of the inverter stage is firstly compared with the reference value u x * of the output voltage, and then divided by N through a quasi-PR controller to obtain each sub- The output current reference signal i x * of the module is used as the input of the current inner loop, which is respectively compared with the output current measurement value i x_1 , i x_2 ,..., i x_N of each sub-module, and finally passes through a quasi-PR control The controller obtains the modulation voltage signals u x_1 , u x_2 ,..., u x_N of each sub-module. 7.根据权利要求6所述的级联型电力电子变压器的不平衡补偿控制方法，其特征在于：输入级整流器在αβ轴系下的调制电压参考信号可以表示为：7. The unbalance compensation control method of cascaded power electronic transformer according to claim 6, characterized in that: the modulation voltage reference signal of the input stage rectifier under the αβ axis system can be expressed as: 式中Uα*和Uβ*表示αβ轴系下的调制电压参考信号，Ed,Eq为电网电动势的有功和无功分量，和表示PI控制器输出的有功和无功电压，ω1表示电网的角频率，t表示时间，I2d,I2q为负序二倍频有功和无功分量的幅值，为负序分量的初相角；In the formula, U α* and U β* represent the modulation voltage reference signal under the αβ axis system, E d , E q are the active and reactive components of the grid electromotive force, and Indicates the active and reactive voltage output by the PI controller, ω 1 indicates the angular frequency of the power grid, t indicates the time, I 2d , I 2q are the amplitudes of active and reactive components of negative sequence double frequency, is the initial phase angle of the negative sequence component; Uα*和Uβ*中仅含有基波正序和负序分量，其中正序分量用于控制系统传输的功率，负序分量用于抑制网侧的负序电流。U α* and U β* only contain fundamental positive and negative sequence components, of which the positive sequence component is used to control the power transmitted by the system, and the negative sequence component is used to suppress the negative sequence current on the grid side. 8.根据权利要求6所述的级联型电力电子变压器的不平衡补偿控制方法，其特征在于：步骤S1中的陷波器频率为100HZ。8. The unbalance compensation control method of cascaded power electronic transformer according to claim 6, characterized in that: the frequency of the notch filter in step S1 is 100HZ.
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