CN109586590B - Multifunctional space vector modulation method for current source type current transformer - Google Patents

Multifunctional space vector modulation method for current source type current transformer Download PDF

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CN109586590B
CN109586590B CN201811447217.1A CN201811447217A CN109586590B CN 109586590 B CN109586590 B CN 109586590B CN 201811447217 A CN201811447217 A CN 201811447217A CN 109586590 B CN109586590 B CN 109586590B
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mode voltage
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CN109586590A (en
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何晋伟
张昌浩
李强
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Tianjin 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
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • 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
    • H02M1/42—Circuits or arrangements for compensating for or adjusting power factor in converters or inverters
    • 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
    • H02M1/0003—Details of control, feedback or regulation circuits
    • H02M1/0038—Circuits or arrangements for suppressing, e.g. by masking incorrect turn-on or turn-off signals, e.g. due to current spikes in current mode control
    • 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
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • H02M1/123—Suppression of common mode voltage or current
    • 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
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
    • Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes

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Abstract

The invention discloses a multifunctional space vector modulation method for a current source type converter, which can reduce the common-mode voltage of the current source type converter and compensate the reactive power of a system at the same time, and comprises the following steps: 1. mapping 9 switch current states of the current source converter to 9 vector states under an alpha beta space coordinate system according to clark transformation; 2. calculating the common-mode voltage corresponding to each vector, and providing a method for reducing and selecting zero vectors to reduce the common-mode voltage of the system; 3. converting the voltage and current of a grid-connected point of the converter into dq coordinates, respectively controlling the active power and the reactive power of a system by controlling the d-axis current and the q-axis current of the converter, and determining a modulation reference vector of the converter; 4. and (3) determining three switching vectors of the synthetic reference vector according to an ampere-second balance principle, and determining the switching state corresponding to the zero vector according to the method in the step (2). The modulation method realizes active and reactive independent control through dq coordinate transformation, and simultaneously selects a zero vector with the lowest common-mode voltage for synthesizing a reference vector to reduce the common-mode voltage of the system.

Description

Multifunctional space vector modulation method for current source type current transformer
Technical Field
The invention relates to a space vector modulation method of a multifunctional current source type converter, in particular to a modulation method capable of simultaneously reducing common-mode voltage of a current source converter and realizing maximum power factor operation of the converter.
Background
The converter technology is a technology for converting electric energy from direct current to alternating current or from alternating current to direct current, and plays an important role in the industrial application at present. The three-phase current source type converter is widely applied, and the principle is that a main circuit is built by adopting a switching tube, and the switching state of the switching tube is controlled by matching with a corresponding modulation method, so that the waveform of input/output current is approximate to sine. The basic principle of the current source converter space vector modulation method is that nine PWM current states of a current source type three-phase full-bridge converter are subjected to coordinate transformation to obtain nine static current vectors, three-phase sinusoidal reference current is subjected to coordinate transformation to obtain reference current vectors, then a plurality of vectors in the nine static current vectors are selected to synthesize the reference current vectors according to an ampere-second balance principle, and the switching state of each switching tube is determined accordingly. Theoretical derivation and experiments show that the space vector modulation has the advantages of high direct current utilization rate, good harmonic characteristics and the like.
Because the zero vector is not selected by the traditional space vector modulation method, the common-mode voltage peak value of the converter is higher, and the system insulation is not facilitated. By adopting the method of adding the common mode reactor, the influence of the common mode voltage can be reduced to a certain extent, but the system volume and the cost are increased. On the other hand, due to the existence of the filter capacitor of the LC filter circuit on the alternating current side of the converter, the grid node has a leading power factor.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a multifunctional space vector modulation method for a current source type converter, which can reduce the common-mode voltage of the converter and realize the maximum power factor operation of the converter under the condition of not adding a common-mode reactor or having a small common-mode reactor.
The purpose of the invention is realized by the following technical scheme:
the multifunctional space vector modulation method for the current source type current transformer comprises the following steps:
(1) performing Clark coordinate transformation on three-phase PWM current corresponding to 9 switching states of the current source type converter, transforming the three-phase PWM current into a two-phase space current vector on an alpha beta plane, and dividing the two-phase space current vector into two groups according to the length: zero vector (I)a0、Ib0And Ic0) Non-zero vector (I)1…I6) (ii) a The transformation formula is (1-1)
Figure BDA0001885981790000021
Wherein iwa(t)、iwb(t)、iwc(t) is a three-phase PWM current, iα(t)、iβ(t) is the alpha, beta axis components of the two phase space current vector I (t);
(2) calculating the common-mode voltage generated by each switch state according to the current source type converter common-mode voltage generation principle to obtain a modulation method for reducing the common-mode voltage;
(3) mapping the voltage and current of a grid-connected point of the converter to a dq rotating coordinate system through park coordinate transformation, controlling the active power and reactive power of the converter by controlling the d-axis and q-axis currents of the converter, realizing the maximum power factor operation of the converter, and determining a reference vector modulated by a space vector;
(4) determining three switching vectors and action time of the synthetic reference vector according to an ampere-second balance principle, and determining the switching state corresponding to the zero vector according to the method in the step (2).
Further, the step (2) specifically comprises the following steps:
(1) the converter common mode voltage is determined by equation (1-2):
Figure BDA0001885981790000022
wherein v iscmvFor converter common mode voltage, vgpAnd vgnGrounding voltages of an upper bus and a lower bus on the direct current side of the converter;
(2) calculating the common mode voltage corresponding to 9 switch states, and generating a common mode voltage peak value of U by using the zero vector obtained by the formula (1-2) under the condition of neglecting the voltage drop of the filter inductor at the alternating current sidemThe common mode voltage peak value corresponding to the non-zero vector is 0.5Um，UmThe peak value of the grid phase voltage is obtained;
(3) selecting a zero vector with the minimum common-mode voltage according to the power grid voltage for synthesizing a reference vector:
Figure BDA0001885981790000023
wherein v isa、vb、vcIs the three-phase voltage of the power grid.
Further, in the step (3), the implementation of the active and reactive independent control of the converter includes the following steps:
(1) transforming the grid voltage and the grid-connected current into a dq rotating coordinate system by a park formula (1-4), and calculating the active power and the reactive power of the system:
Figure BDA0001885981790000024
Figure BDA0001885981790000031
Figure BDA0001885981790000032
wherein omega is the voltage angular velocity of the power grid, and t is time;
Figure BDA0001885981790000033
is a voltage vector, U, in dq coordinatesgd、UgqAs a vector of voltage
Figure BDA0001885981790000034
A d-axis q-axis component of (1);
Figure BDA0001885981790000035
is a current vector in dq coordinates, Igd、IgqAs a vector of current
Figure BDA0001885981790000036
D-axis q-axis component of (i)a、ib、icThree-phase grid-connected current is adopted as the converter; p, Q are active and reactive power of the converter;
(2) the active and reactive power of the system can be independently controlled by respectively controlling the d-axis and q-axis currents of the converter through the formulas (1-6), and a reference vector is determined according to the active and reactive power.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the invention can simultaneously reduce the common-mode voltage of the current source type converter and realize the unit power factor operation of the system. And aiming at the problem of common-mode voltage of the current source converter, calculating the common-mode voltage generated by each switching vector. Analysis indicates that the peak value of the common-mode voltage of the converter is generated by the zero vector corresponding to the switch state, and therefore the method for selecting the zero vector is proposed to reduce the common-mode voltage of the system. And aiming at the problem that the LC filter causes a system advanced power factor, a direct power control strategy is provided. And (3) independently controlling the d-axis and q-axis currents of the converter under a dq rotating coordinate system, and compensating the reactive current of the LC filter to realize the maximum power factor operation of the converter. And obtaining a system reference modulation wave by a power control strategy, determining a switching signal by a space vector modulation method for selecting a zero vector, and driving the converter to operate.
2. The common-mode voltage corresponding to each switch state of the current source converter is calculated. Indicating that the common mode voltage peak value of the system is generated by a zero vector, and reducing the common mode voltage peak value of the converter by selecting the zero vector. Meanwhile, aiming at the problem of advanced power factor, direct power control is realized through active and reactive decoupling under dq coordinates, and the maximum power factor of the current source converter can be operated.
3. The multifunctional space vector modulation strategy based on the current source converter can reduce the common-mode voltage of the converter and compensate the reactive current of a system to ensure the maximum power factor operation of the system.
Drawings
Fig. 1 is a schematic diagram of a current source rectifier topology according to an embodiment of the invention.
Fig. 2 is a space vector diagram of a current source converter.
FIG. 3 is a common mode voltage simulation waveform.
Fig. 4 is a simulation waveform diagram of the load current on the dc side of the converter.
Fig. 5(a), 5(b) and 5(c) are waveform diagrams of the ac side grid voltage, grid-connected current and PWM current of the converter, respectively.
Detailed Description
The present invention is described in detail below with reference to the accompanying drawings, so that those skilled in the art can better understand the present invention.
Taking a current source rectifier as an example, fig. 1 is a circuit diagram of an embodiment of the present invention. As shown in fig. 1, the current source rectifier adopts a three-phase full bridge topology as a rectifying circuit, and each full bridge is composed of six power switching tubes, in this embodiment, Insulated Gate Bipolar Transistors (IGBTs) with inverse diodes.
The invention relates to a multifunctional space vector modulation method for a current source rectifier, which basically comprises the following steps:
step 1: according to current source converter constraint conditions: at any moment, a certain full bridge has two switching devices on at the same time, one is positioned in the upper half bridge, and the other is positioned in the lower half bridge. Under this constraint, the current source rectifier can determine 9 three-phase PWM current states. And transforming the coordinates of the 9 three-phase PWM current states to obtain 9 two-phase space current vectors. These vectors can be divided into two groups by length: zero vector (
Figure BDA0001885981790000041
And
Figure BDA0001885981790000042
) Non-zero vector
Figure BDA0001885981790000043
The transformation formula is (2-1), the space vector diagram is shown in figure 2, and the corresponding switch state classification is shown in table 1.
Figure BDA0001885981790000044
Wherein iwa(t)、iwb(t)、iwc(t) is a three-phase PWM current, iα(t)、iβ(t) are α and β axis components of the two-phase space current vector I (t).
TABLE 1
Figure BDA0001885981790000045
Step 2: calculating each vector yields a common mode voltage, which can be determined by
Figure BDA0001885981790000051
Wherein v iscmvFor converter common mode voltage, vgpAnd vgnThe voltage of the upper bus and the lower bus on the direct current side of the converter is grounded.
Each one of which isThe switching states correspond to common mode voltages as shown on the right side of table 1. It can be seen that the non-zero vector produces a common mode voltage peak of 0.5Um，UmThe peak value of the grid phase voltage is obtained; zero vector generated common mode voltage peak value is Um. Therefore, the primary task of suppressing the common mode voltage is to reduce the zero vector induced common mode voltage. In order to reduce the amplitude of the common-mode voltage, a zero vector selection method is adopted. The method comprises the steps of collecting three-phase grid voltage amplitude values of a current source type converter at the grid side on line in real time at each sampling moment, selecting the grid phase voltage with the minimum voltage absolute value, and selecting a corresponding zero vector as a space vector used in the current sampling period according to a formula (2-3).
Figure BDA0001885981790000052
Wherein v isa、vb、vcIs the three-phase voltage of the power grid.
And step 3: and transforming the grid voltage and the grid-connected current into a dq rotating coordinate system by a park formula (2-4), and calculating active power and reactive power of the system.
Figure BDA0001885981790000053
Figure BDA0001885981790000054
Figure BDA0001885981790000055
Wherein omega is the voltage angular velocity of the power grid, and t is time;
Figure BDA0001885981790000056
is a voltage vector, U, in dq coordinatesgd、UgqIs the d-axis q-axis component of the voltage vector;
Figure BDA0001885981790000057
is a current vector in dq coordinates, Igd、IgqFor the d-and q-axis components of the current vector, ia、ib、icThree-phase grid-connected current is adopted as the converter; p, Q are active and reactive power of the converter.
And 4, step 4: and (3) respectively controlling d-axis and q-axis currents of the converter by the formulas (2-6) to independently control the active and reactive powers of the system, and determining a space vector reference vector according to the active and reactive powers.
Figure BDA0001885981790000058
Figure BDA0001885981790000061
Wherein Id_refAnd Iq_refModulating a wave d-axis q-axis reference vector, k, for a space vectorp1、ki1And kp2、ki2Respectively d-axis q-axis PI control parameter, PrefIs active for system reference
And 5: and transforming the modulation reference vector under the dq coordinate system to an alpha beta two-phase static coordinate system. Synthesizing reference vector I by two non-zero vectors and one zero vector according to ampere-second balance principleref(t) of (d). The specific synthesis method comprises the following steps: as shown in FIG. 2, the reference vector is composed of two non-zero vectors of the sector where the reference vector is located and a zero vector selected by the formula (2-3)
Step 6: and (3) building a simulation model by using Matlab/Simulink, and verifying the converter control method provided by the invention. In order to verify the effectiveness of the technical scheme of the invention, the zero vector is not selected by adopting the traditional space vector modulation before 0.2s simulation, but the power control strategy provided by the patent is adopted, and the multifunctional space vector modulation strategy provided by the patent is adopted after 0.2 s.
Fig. 3 shows the common mode voltage comparison for two modulation strategies. It can be seen that when the traditional space vector modulation method is used, the common-mode voltage peak value is the power grid phase voltage peak value +/-311V, and after the control strategy of the patent is used for 0.2s, the common-mode voltage peak value is changed into +/-180V. Therefore, the suppression effect of the multifunctional space vector control strategy based on the current source type converter on the common-mode voltage is very obvious.
Fig. 4 shows the load current on the dc side, and it can be seen that the current on the dc side does not change before and after the two methods are switched, which indicates that the control strategy proposed in this patent does not affect the dc current performance of the rectifier.
Fig. 5 shows the phase voltage, phase current and PWM current waveforms on the network side of the rectifier. It can be seen that the phase current and the PWM current have no transient distortion at the switching instant, and the current THD has no obvious change before and after switching, which indicates that the influence of three zero vectors on the ac side current is equivalent, and also indicates that the control strategy proposed in this patent does not cause distortion of the ac current while reducing the common mode voltage. In addition, the three-phase power grid voltage is consistent with the corresponding power grid current phase, which shows that the reactive compensation strategy can correct the leading power factor caused by the filter capacitor, and the unit power factor operation of the system is realized.
In conclusion, the invention can simultaneously reduce the common-mode voltage of the current source type converter and realize the unit power factor operation of the converter, and is a novel current source converter control strategy which is worth popularizing.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (2)

1. The multifunctional space vector modulation method for the current source type current transformer is characterized by comprising the following steps of:
(1) performing Clark coordinate transformation on three-phase PWM current corresponding to 9 switching states of the current source type converter, transforming the three-phase PWM current into a two-phase space current vector on an alpha beta plane, and dividing the two-phase space current vector into two groups according to the length: zeroVector (I)a0、Ib0And Ic0) Non-zero vector (I)1、I2、I3、I4、I5、I6) (ii) a The transformation formula is (1-1)
Figure FDA0002660135390000011
Wherein iwa(t)、iwb(t)、iwc(t) is a three-phase PWM current, iα(t)、iβ(t) is the alpha, beta axis components of the two phase space current vector I (t);
(2) calculating the common-mode voltage generated by each switch state according to the current source type converter common-mode voltage generation principle to obtain a modulation method for reducing the common-mode voltage; the method specifically comprises the following steps:
(201) the converter common mode voltage is determined by equation (1-2):
Figure FDA0002660135390000012
wherein v iscmvFor converter common mode voltage, vgpAnd vgnGrounding voltages of an upper bus and a lower bus on the direct current side of the converter;
(202) calculating the common mode voltage corresponding to 9 switch states, and generating a common mode voltage peak value of U by a zero vector obtained by a formula (1-2) under the condition of neglecting the voltage drop of the filter inductor at the alternating current sidemThe common mode voltage peak value corresponding to the non-zero vector is 0.5Um，UmThe peak value of the grid phase voltage is obtained;
(203) selecting a zero vector with the minimum common-mode voltage according to the power grid voltage for synthesizing a reference vector:
Figure FDA0002660135390000013
wherein v isa、vb、vcFor three-phase voltage of the grid, Ia0、Ib0、Ic0Three zero vectors;
(3) mapping the voltage and current of a grid-connected point of the converter to a dq rotating coordinate system through park coordinate transformation, controlling the active power and reactive power of the converter by controlling the d-axis and q-axis currents of the converter, realizing the maximum power factor operation of the converter, and determining a reference vector modulated by a space vector;
(4) determining three switching vectors and action time of the synthetic reference vector according to an ampere-second balance principle, and determining the switching state corresponding to the zero vector according to the method in the step (2).
2. The multifunctional space vector modulation method for the current source type converter according to claim 1, wherein in the step (3), the implementation of the active and reactive independent control of the converter comprises the following steps:
(1) transforming the grid voltage and the grid-connected current into a dq rotating coordinate system by a park formula (1-4), and calculating the active power and the reactive power of the system:
Figure FDA0002660135390000021
Figure FDA0002660135390000022
Figure FDA0002660135390000023
wherein omega is the voltage angular velocity of the power grid, and t is time;
Figure FDA0002660135390000024
is a voltage vector, U, in dq coordinatesgd、UgqAs a vector of voltage
Figure FDA0002660135390000025
A d-axis q-axis component of (1);
Figure FDA0002660135390000026
is a current vector in dq coordinates, Igd、IgqAs a vector of current
Figure FDA0002660135390000027
D-axis q-axis component of (i)a、ib、icThree-phase grid-connected current is adopted as the converter; p, Q are active and reactive power of the converter; v. ofa、vb、vcThe three-phase voltage of the power grid is obtained;
(2) and respectively controlling d-axis and q-axis currents of the converter by formulas (1-6) to independently control the active and reactive power of the system, and determining a reference vector according to the control result.
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