CN109728586A - The redundant fault-tolerant control method and device of chain type triangular form STATCOM - Google Patents
The redundant fault-tolerant control method and device of chain type triangular form STATCOM Download PDFInfo
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Abstract
The present invention provides the redundant fault-tolerant control method and device of a kind of chain type triangular form STATCOM, comprising: the failure block number of H bridge submodule in statistics three-phase converting link；If failure block number is less than preset redundant module number, the triangular carrier of each phase, DC voltage instruction value is adjusted according to the H bridge submodule operation block number in phase each in three-phase, and the H bridge submodule of failure is made to be latched pulse, issue by-pass switch action signal；If more than, by H bridge sub-module fault signal reporting and carry out trip operation, terminate；Judge whether by-pass switch closes a floodgate normal, if normal, improves current loop control using feed-forward type electric current virtual impedance, dynamic regulation direct current pressure ring PI controller parameter improves DC voltage response and carries out redundancy fault-tolerant processing, terminates；By-pass switch tripping fault-signal is then reported and carried out trip operation if abnormal, is terminated.The program carries out real-time compensation for the disturbance of failure process, keeps the stabilization of ssystem transfer function in transient process.
Description
Technical field
The present invention relates to Redundancy Fault-tolerant Technology field, in particular to a kind of redundancy fault-tolerant control of chain type triangular form STATCOM
Method and device processed.
Background technique
With economic and scientific and technological level fast development, power quality is paid close attention to jointly as power department and power consumer
Focus, in particular with the extensive use of various electronic devices and precision equipment, so that user wishes that power supply enterprise is capable of providing
The electric energy of high-efficiency high-quality.And asynchronous motor, transformer, electric arc furnaces especially power electronic equipment are answered extensively in electric system
With many enterprise day power consumption are huge in industrial circle, and load is in non-linear and impact, has caused a variety of power qualities and has asked
Topic, main includes that power factor is low, harmonic content is high, three-phase imbalance, power rush, voltage flicker and voltage fluctuation.
STATCOM (static synchronous compensator, static synchronous compensator) conduct is more effective
Pressure regulation means, its reactive current output can be constant in very big voltage change range, remains to provide when voltage is low stronger
Reactive power support, and can be continuously adjusted in from perception to capacitive gamut.In addition, STATCOM can also inhibit voltage flicker, mention
High power system transient stability is horizontal.STATCOM is divided to for star-like, two kinds of structures of triangular form.The capacity of star topology is smaller, and triangular form is opened up
The power grade flutterred is larger.
High pressure STATCOM mostly uses cascade structure at present, but with the increase of cascade quantity, system jam it is general
Rate also will increase.So cascade STATCOM must have corresponding redundant measure.Application No. is CN201410566074.1, name
A kind of cascade structure is referred to as mentioned in the patent application document of " a kind of New Cascading STATCOM current transforming unit fault-tolerance approach "
STATCOM redundant fault-tolerant method, this method comprises the following steps:
1. detecting threephase load electric current iaL、ibL、icL, calculate and extract load-side reactive current Δ Iq, for compensating power grid
In reactive power.
2. before failures, the sum of each H bridge DC side voltage and setting voltage value being sent into PI controller, obtain DC voltage
Active component Δ Id is controlled, by instructing the control of active component, so that current transforming unit is absorbed network re-active power, realizes DC side
Voltage it is steady.
3. after failure, failure H bridge is bypassed, by each phase H bridge DC side voltage UdciIt is sent into fault redundance controller, output refers to
Active component Δ Id is enabled to inhibit the coupling characteristic of current transforming unit, realizes that each phase voltage under malfunction is stablized.
4. will test the electric network reactive-load electric current Δ I of extractionqPass through the feedforward solution of number 2 with output order active component Δ Id
Coupling link obtains the current indirect control that command voltage signal Vd and Vq realizes current transforming unit.
5. according to the failure operation state of system, using the coordinate transformation method in number 5 by command voltage signal before failure
Vd and Vq is converted to three-phase modulations signal Va, Vb, Vc, and command voltage signal Vd and Vq is sent into modulation parameter after failure and corrects mould
Block is to realize the STATCOM parameters revision under malfunction.
6. finally by phase-shifting carrier wave modulation system make current transforming unit export three-phase voltage Va, Vb, Vc, with compensate power grid without
Function power.
This method makes when system breaks down, and can only bypass without cutting off non-faulting phase same position H bridge submodule
Block directly enhances the utilization rate of H bridge submodule, but this method can not be straight by the parameter improvement of dynamic regulation PI controller
Flow voltage loop.
Summary of the invention
The embodiment of the invention provides the redundant fault-tolerant control methods and device of a kind of chain type triangular form STATCOM, pass through
Feed-forward type electric current virtual impedance improves current closed-loop transmission function, passes through dynamic regulation direct current pressure ring pi controller
Parameter improvement direct current pressure ring transmission function, the disturbance for failure process have carried out real-time compensation, have maintained transient process
The stabilization of middle ssystem transfer function.
The redundant fault-tolerant control method of chain type triangular form STATCOM includes:
Count the failure block number of H bridge submodule in three-phase converting link；
The failure block number is compared with preset redundant module number；
If the failure block number is less than preset redundant module number, run according to the H bridge submodule in phase each in three-phase
Block number adjusts the triangular carrier of each phase, DC voltage instruction value, and the H bridge submodule of failure is made to be latched pulse, issues H bridge submodule
Block by-pass switch action signal；If the failure block number is greater than preset redundant module number, will be on H bridge sub-module fault signal
Trip operation is reported and carried out, is terminated；
Judge whether by-pass switch closes a floodgate normal, if normal, improve current loop control using feed-forward type electric current virtual impedance,
Improved current loop control transmission function is obtained, according to improved current loop control transmission function dynamic regulation direct current pressure ring ratio
Example integral controller parameter improvement DC voltage response, obtains improved direct current pressure ring transmission function, according to described improved
Current loop control transmission function and the improved direct current pressure ring transmission function carry out redundancy fault-tolerant processing, terminate；If not just
Often, then by-pass switch tripping fault-signal is reported and is carried out trip operation, terminate.
The redundancy fault-tolerant control device of chain type triangular form STATCOM includes:
Statistical module, for counting the failure block number of H bridge submodule in three-phase converting link；
Comparison module, for the failure block number to be compared with preset redundant module number；
Switch trip action module is used for when the failure block number is less than preset redundant module number, according in three-phase
H bridge submodule operation block number in each phase adjusts the triangular carrier of each phase, DC voltage instruction value, and makes the H bridge submodule of failure
Block is latched pulse, issues H bridge submodule by-pass switch action signal；It is greater than preset redundant module number in the failure block number
When, by H bridge sub-module fault signal reporting and trip operation is carried out, is terminated；
Judgment module, for judging that it is whether normal that by-pass switch closes a floodgate；
Redundancy fault-tolerant processing module, for being improved using feed-forward type electric current virtual impedance when by-pass switch closes a floodgate normal
Current loop control obtains improved current loop control transmission function, according to improved current loop control transmission function dynamic regulation
The response of direct current pressure ring pi controller parameter improvement DC voltage, obtains improved direct current pressure ring transmission function, root
Redundancy fault-tolerant processing is carried out according to the improved current loop control transmission function and the improved direct current pressure ring transmission function,
Terminate；
Switch trip action module is also used to: when by-pass switch closes a floodgate abnormal, by by-pass switch tripping fault-signal
Trip operation is reported and carried out, is terminated.
The embodiment of the invention also provides a kind of computer equipments, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, the processor realize chain type described above when executing the computer program
The redundant fault-tolerant control method of triangular form STATCOM.
The embodiment of the invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage
There is the computer program for the redundant fault-tolerant control method for executing chain type triangular form STATCOM described above.
In embodiments of the present invention, current closed-loop transmission function is improved by feed-forward type electric current virtual impedance, by dynamic
State adjusts direct current pressure ring pi controller parameter improvement direct current pressure ring transmission function, for the disturbance of failure process
Real-time compensation has been carried out, the stabilization of ssystem transfer function in transient process is maintained.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the redundant fault-tolerant control method flow chart of chain type triangular form STATCOM provided in an embodiment of the present invention a kind of；
Fig. 2 is the circuit diagram of chain type triangular form STATCOM provided in an embodiment of the present invention a kind of；
Fig. 3 is improved Redundant Control conceptual design modulated provided in an embodiment of the present invention than variation schematic diagram；
Fig. 4 is a kind of improved current loop control transmission function block diagram provided in an embodiment of the present invention；
Fig. 5 is a kind of improved Voltage loop control transmission function block diagram provided in an embodiment of the present invention；
Fig. 6 is the triangular form provided in an embodiment of the present invention that control system transmission function is improved using dynamic virtual impedance
STATCOM control method the general frame；
Fig. 7 is improved current loop control Bode diagram provided in an embodiment of the present invention；
Fig. 8 is improved Voltage loop control Bode diagram provided in an embodiment of the present invention；
Fig. 9 is the redundancy fault-tolerant control device structural frames of chain type triangular form STATCOM provided in an embodiment of the present invention a kind of
Figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
In embodiments of the present invention, the redundant fault-tolerant control method of chain type triangular form STATCOM a kind of, such as Fig. 1 are provided
It is shown, this method comprises:
Step 1: the failure block number of H bridge submodule in statistics three-phase converting link；
Step 2: the failure block number is compared with preset redundant module number；
Step 3: if the failure block number is less than preset redundant module number, (chain type triangular form STATCOM device should be able to
Continuous service), then according to the H bridge submodule operation in phase each in three-phase, block number adjusts the triangular carrier of each phase, DC voltage refers to
Value is enabled, and the H bridge submodule of failure is made to be latched pulse, issues H bridge submodule by-pass switch action signal；If the failure block number
Greater than preset redundant module number, by H bridge sub-module fault signal reporting and trip operation is carried out, is terminated；
Step 4: judging whether by-pass switch closes a floodgate normal, if normal, improve electric current using feed-forward type electric current virtual impedance
Ring control, obtains improved current loop control transmission function, according to improved current loop control transmission function dynamic regulation direct current
The response of Voltage loop pi controller parameter improvement DC voltage, obtains improved direct current pressure ring transmission function, according to institute
It states improved current loop control transmission function and the improved direct current pressure ring transmission function carries out redundancy fault-tolerant processing, knot
Beam；By-pass switch tripping fault-signal is then reported and carried out trip operation if abnormal, is terminated.
In embodiments of the present invention, step 1 is accomplished in that
Three-phase converting link includes all H bridge submodules of a, b, c three-phase.When every phase converting link has H bridge submodule that event occurs
When barrier, signal can be sent to monitor control system, H bridge sub-module fault number will add 1, finally count total H bridge submodule
Number of faults.
In embodiments of the present invention, in step 3, the H bridge submodule operation block number according in phase each in three-phase is adopted
With phase-shifting carrier wave Sinusoidal Pulse Width Modulation (CPS-SPWM) adjust each phase triangular carrier (modulation wave signal when triangular carrier),
DC voltage instruction value (U*dcav_ab).Direct relation is had no with improving function.
In embodiments of the present invention, the present invention is using chain type triangular form STATCOM device as shown in Figure 2.Wherein
Network voltage uga,ugb,ugc；The exchange side output voltage u of devicesa,usb,usc；Electric current i in angleab,ibc,ica；Reactor L；H bridge
Submodule voltage udc, capacitor Cpm, discharge resistance Rpm.Electric current iab,ibc,icaWhat is flowed through is exactly H bridge submodule.
Fig. 3 is improved Redundant Control conceptual design modulated than variation schematic diagram, as shown in figure 3, before failure, performance
It is:In failure initial time, performance is:Voltage with
When current temporary state adjusts process, performance is:When entering redundancy fault-tolerant progress steady-state process,
Performance is:
Wherein, u* and u respectively represent instruction value and actual value；
Footmark 0,1 respectively represents before failure and failure initial time；
udcav_abFor H bridge submodule average voltage；
udc_eFor H bridge submodule voltage rating；
kpwmFor modulation ratio；
uline_peakFor grid line voltage；
NpmFor total number of modules of H bridge submodule；
udc_abFor normal work H bridge submodule voltage and；
NfauFor the number of faults of H bridge submodule.
As shown in figure 3, being latched moment in failure H bridge submodule, the H bridge submodule number of investment changes, and modulation ratio will increase
Greatly.Based on Fig. 2 and Fig. 3, it is contemplated that current loop is control target with electric current, is improved using feed-forward type electric current virtual impedance scheme
Electric current loop；DC voltage response is improved using the method for the pi controller parameter of dynamic regulation direct current pressure ring.
In embodiments of the present invention, in step 4, current loop control is improved using feed-forward type electric current virtual impedance, obtained
Improved current loop control transmission function, comprising:
DC voltage is obtained in real time；
Dynamic modulation ratio is determined according to the DC voltage；
Gain coefficient and impedance function according to the dynamic modulation than obtaining impedance；
According to the dynamic modulation ratio and impedance function, improved current closed-loop transmission function is obtained.
Improved current loop control transmission function is shown in Fig. 4, and the purpose for increasing virtual impedance is, so that in dashed rectangle etc.
Effect transmission function is close before and after failure.
It, can root as follows in conjunction with Fig. 3 according to the improved current loop control transmission function block diagram that Fig. 4 is provided
Dynamic modulation ratio is determined according to the DC voltage:
Wherein, kpwmtFor the dynamic modulation ratio of t moment；uline_peaktFor the grid line voltage of t moment；udc_abtWhen for t
Carve H bridge submodule voltage and；ZlrFor the system impedance comprising resistance, inductance；Zlr(s) it indicates system impedance carrying out La Pula
This transforms to frequency domain variable, i.e. impedance function；kpwm0It is the dynamic modulation ratio before failure；uline_peak
For the grid line voltage before failure, NpmFor total H bridge submodule number； udc_eFor the voltage rating of H bridge submodule；Gdt(s) it is
Control algolithm with the delay such as communicate；Gop_iIt (s) is open current loop transmission function；Gsam(s) it is delayed for current sample；S indicates to carry out
Laplace transform is to frequency domain variable；
Gain coefficient and impedance function according to the dynamic modulation than obtaining impedance as follows, i.e., seek above formula
Solution:
Wherein, kgian_iFor the gain coefficient of impedance, directly give；TsFor the control period of modulating wave；
In view of there are discretization latency issues for order transfer function, for simplicity, Zlr(s) letter is still transmitted using single order
Number:
Zlr(s)=(1-kpwmt/kpwm0)(0.0145s+0.59)；
Low-pass first order filter progress is increased to prevent the calculating of differential discretization from high frequency mutation occur for above formula
Optimization, finally obtained impedance function Zlr(s) are as follows:
As follows according to the dynamic modulation ratio and impedance function, obtains the improved current closed-loop of t moment and pass
Delivery function:
Wherein, Gco_iab(s) improved current closed-loop transmission function, G are indicatedPR(s) PR (ratio resonance control is indicated
Device) control transmission function.
In embodiments of the present invention, in step 4, dynamic regulation direct current pressure ring pi controller parameter improvement is straight
Voltage responsive is flowed, improved direct current pressure ring transmission function is obtained, specifically includes:
DC voltage response is improved according to the parametric gain of preset pi controller, obtains improved DC voltage
Ring transmission function.
Improved Voltage loop control transmission function is shown in Fig. 5, in order to keep the transmission function in dashed rectangle before and after failure
Be close, can dynamic design PI controller parametric gain kgain_dc=kpwmt/kpwm0；Then improved direct current pressure ring transmits letter
Number is specifically determined according to following formula:
Wherein, Cco_dcIndicate improved direct current pressure ring transmission function；
C (s)=kgain_dcGPI(s)Gdtdc(s)Gop_dc(s), D (s)=C (s) Gsam(s)；
Wherein, Gop_iab(s) open current loop transmission function is indicated；GPI(s) indicate that section proportional-plus-integral controller transmits letter
Number；Gdtdc(s) total delay of the algorithm of substitution voltage control loop is indicated；Gop_dc(s) direct current pressure ring transmission function is indicated.
The specific control block diagram of the improved STATCOM after direct current pressure ring and electric current loop after joined virtual impedance
As shown in Figure 6, wherein PLL is phaselocked loop, and θ is that extraction electric network voltage phase is poor, must be exported to PIIt carries out
Clipping, total modulating waveAlso must clipping, prevent ovennodulation phenomenon.
In embodiments of the present invention, using the redundant fault-tolerant control method of chain type triangular form STATCOM proposed by the present invention
Effect after carrying out redundancy fault-tolerant is as shown in FIG. 7 and 8.
It can be seen that G according to the improved current loop control Byrd map analysis result of Fig. 7co_iab1For do not break down primary
Moral figure, Gco_iab2The Bode diagram of 4 module failure moments occurs for three-phase.Gco_iab3It is primary of increase virtual impedance after failure
Moral figure.For amplitude curve, the G near 50Hz, 150Hzco_iab3With Gco_iab1Closely, deviation is less than 0.03db.For phase
Angular curve, the G around 50Hz, 150Hzco_iab3With Gco_iab1Closely, deviation is less than 1 degree.As it can be seen that virtual impedance can be to being
System disturbance compensates, and transmission function is consistent substantially before and after achieving the purpose that failure.
It can be seen that C according to the improved Voltage loop control Byrd map analysis result of Fig. 8co_dc1For the Byrd not broken down
Figure, Cco_dc2The Bode diagram of 4 module failure moments, C occur for three-phaseco_dc3For the Byrd for increasing virtual impedance after failure
Figure.Cco_dc3With Cco_dc1Amplitude be less than 0.02db substantially close to, deviation.Cco_dc3With Cco_dc1Phase angle substantially close to deviation
Less than 0.5 degree.
Based on the same inventive concept, the redundancy that a kind of chain type triangular form STATCOM is additionally provided in the embodiment of the present invention is held
Wrong control device, as described in the following examples.Since the redundancy fault-tolerant control device of chain type triangular form STATCOM solves the problems, such as
Principle it is similar to the redundant fault-tolerant control method of chain type triangular form STATCOM, therefore chain type triangular form STATCOM redundancy hold
The implementation of wrong control device may refer to the implementation of the redundant fault-tolerant control method of chain type triangular form STATCOM, repeat place not
It repeats again.Used below, the group of the software and/or hardware of predetermined function may be implemented in term " unit " or " module "
It closes.Although device described in following embodiment is preferably realized with software, the combination of hardware or software and hardware
Realization be also that may and be contemplated.
Fig. 9 is the structural block diagram of the redundancy fault-tolerant control device of the chain type triangular form STATCOM of the embodiment of the present invention, is such as schemed
Shown in 9, comprising:
Statistical module 901, for counting the failure block number of H bridge submodule in three-phase converting link；
Comparison module 902, for the failure block number to be compared with preset redundant module number；
Switch trip action module 903 is used for when the failure block number is less than preset redundant module number, according to three-phase
In H bridge submodule operation block number in each phase adjust the triangular carrier of each phase, DC voltage instruction value, and make H bridge of failure
Module is latched pulse, issues H bridge submodule by-pass switch action signal；It is greater than preset redundant module number in the failure block number
When, by H bridge sub-module fault signal reporting and trip operation is carried out, is terminated；
Judgment module 904, for judging that it is whether normal that by-pass switch closes a floodgate；
Redundancy fault-tolerant processing module 905, for being changed using feed-forward type electric current virtual impedance when by-pass switch closes a floodgate normal
Into current loop control, improved current loop control transmission function is obtained, is adjusted according to improved current loop control transmission function dynamic
The response of direct current pressure ring pi controller parameter improvement DC voltage is saved, improved direct current pressure ring transmission function is obtained,
It is carried out at redundancy fault-tolerant according to the improved current loop control transmission function and the improved direct current pressure ring transmission function
Reason terminates；
Switch trip action module 903 is also used to: when by-pass switch closes a floodgate abnormal, by-pass switch tripping failure being believed
Number trip operation is reported and carried out, terminates.
The structure is illustrated below.
In embodiments of the present invention, the switch trip action module 903 is specifically used for:
The triangle that the H bridge submodule operation block number according in phase each in three-phase adjusts each phase as follows carries
Wave, DC voltage instruction value:
In embodiments of the present invention, the redundancy fault-tolerant processing module 905 is specifically used for:
DC voltage is obtained in real time；
Dynamic modulation ratio is determined according to the DC voltage；
Gain coefficient and impedance function according to the dynamic modulation than obtaining impedance；
According to the dynamic modulation ratio and impedance function, improved current closed-loop transmission function is obtained.
In embodiments of the present invention, the redundancy fault-tolerant processing module 905 is specifically used for:
Dynamic modulation ratio is determined according to the DC voltage as follows:
Wherein, kpwmtFor the dynamic modulation ratio of t moment；uline_peaktFor the grid line voltage of t moment；udc_abtFor t moment
H bridge submodule voltage and；ZlrFor the system impedance comprising resistance, inductance；Zlr(s) it indicates system impedance carrying out Laplce
Transform to frequency domain variable；kpwm0It is the dynamic modulation ratio before failure； uline_peakFor the electricity before failure
Cable voltage, NpmFor total H bridge submodule number；udc_eFor the voltage rating of H bridge submodule；Gdt(s) for control algolithm with communicate
Deng delay；Gop_iIt (s) is open current loop transmission function；Gsam(s) it is delayed for current sample；S indicates to carry out Laplace transform
To frequency domain variable；
As follows according to the dynamic modulation than obtain impedance gain coefficient and impedance function:
Wherein, kgian_iFor the gain coefficient of impedance；TsFor the control period of modulating wave；
As follows according to the dynamic modulation ratio and impedance function, improved current closed-loop transmitting letter is obtained
Number:
Wherein, Gco_iab(s) improved current closed-loop transmission function, G are indicatedPR(s) transmission function of PR control is indicated.
In embodiments of the present invention, the redundancy fault-tolerant processing module 905 is specifically used for:
DC voltage response is improved according to the parametric gain of preset pi controller, obtains improved DC voltage
Ring transmission function；
Improved direct current pressure ring transmission function is specifically determined according to following formula:
Wherein, Cco_dcIndicate improved direct current pressure ring transmission function；kgain_dcIndicate the parameter of pi controller
Gain, kgain_dc=kpwmt/kpwm0；
C (s)=kgain_dcGPI(s)Gdtdc(s)Gop_dc(s), D (s)=C (s) Gsam(s)；
Wherein, Gop_iab(s) open current loop transmission function is indicated；GPI(s) section proportional-plus-integral controller transmission function is indicated；
Gdtdc(s) total delay of the algorithm of substitution voltage control loop is indicated；Gop_dc(s) direct current pressure ring transmission function is indicated.
The embodiment of the invention also provides a kind of computer equipments, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, the processor realize chain type described above when executing the computer program
The redundant fault-tolerant control method of triangular form STATCOM.
The embodiment of the invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage
There is the computer program for the redundant fault-tolerant control method for executing chain type triangular form STATCOM described above.
In conclusion before the redundant fault-tolerant control method and device of chain type triangular form STATCOM proposed by the present invention utilize
The method of feedback type electric current virtual impedance improves current loop control, utilizes dynamic regulation direct current pressure ring pi controller parameter
Method improve DC voltage response, can for failure process disturbance carry out real-time compensation, keep transient process in system
The stabilization of transmission function optimizes transient current, the power response of chain type triangular form STATCOM device.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the embodiment of the present invention can have various modifications and variations.All within the spirits and principles of the present invention, made
Any modification, equivalent substitution, improvement and etc. should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of redundant fault-tolerant control method of chain type triangular form STATCOM characterized by comprising
Count the failure block number of H bridge submodule in three-phase converting link；
The failure block number is compared with preset redundant module number；
If the failure block number is less than preset redundant module number, block number is run according to the H bridge submodule in phase each in three-phase
Triangular carrier, the DC voltage instruction value of each phase are adjusted, and the H bridge submodule of failure is made to be latched pulse, is issued by H bridge submodule
Way switch action signal；If the failure block number is greater than preset redundant module number, H bridge sub-module fault signal reporting is gone forward side by side
Row trip operation terminates；
Judge whether by-pass switch closes a floodgate normal, if normal, improves current loop control using feed-forward type electric current virtual impedance, obtain
Improved current loop control transmission function, according to improved current loop control transmission function dynamic regulation direct current pressure ring ratio product
The response of sub-controller parameter improvement DC voltage, obtains improved direct current pressure ring transmission function, according to the improved electric current
Ring controls transmission function and the improved direct current pressure ring transmission function carries out redundancy fault-tolerant processing, terminates；If abnormal, then
By-pass switch tripping fault-signal is reported and carried out trip operation, is terminated.
2. the redundant fault-tolerant control method of chain type triangular form STATCOM as described in claim 1, which is characterized in that before utilization
Feedback type electric current virtual impedance improves current loop control, obtains improved current loop control transmission function, comprising:
DC voltage is obtained in real time；
Dynamic modulation ratio is determined according to the DC voltage；
Gain coefficient and impedance function according to the dynamic modulation than obtaining impedance；
According to the dynamic modulation ratio and impedance function, improved current closed-loop transmission function is obtained.
3. the redundant fault-tolerant control method of chain type triangular form STATCOM as claimed in claim 2, which is characterized in that before utilization
Feedback type electric current virtual impedance method improves current loop control, obtains improved current loop control transmission function, specifically includes:
Dynamic modulation ratio is determined according to the DC voltage as follows:
Wherein, kpwmtFor the dynamic modulation ratio of t moment；uline_peaktFor the grid line voltage of t moment；udc_abtFor t moment H bridge
Module voltage and；ZlrFor the system impedance comprising resistance, inductance；Zlr(s) it indicates to arrive system impedance progress Laplace transform
Frequency domain variable；kpwm0It is the dynamic modulation ratio before failure；uline_peakFor the grid line electricity before failure
Pressure, NpmFor total H bridge submodule number；udc_eFor the voltage rating of H bridge submodule；Gdt(s) it is delayed for control algolithm with communicating etc.；
Gop_iIt (s) is open current loop transmission function；Gsam(s) it is delayed for current sample；S indicates that carry out Laplace transform becomes to frequency domain
Amount；
As follows according to the dynamic modulation than obtain impedance gain coefficient and impedance function:
Wherein, kgian_iFor the gain coefficient of impedance；TsFor the control period of modulating wave；
As follows according to the dynamic modulation ratio and impedance function, improved current closed-loop transmission function is obtained:
Wherein, Gco_iab(s) improved current closed-loop transmission function, G are indicatedPR(s) transmission function of PR control is indicated.
4. the redundant fault-tolerant control method of chain type triangular form STATCOM as claimed in claim 3, which is characterized in that dynamic is adjusted
The response of direct current pressure ring pi controller parameter improvement DC voltage is saved, improved direct current pressure ring transmission function is obtained,
It specifically includes:
DC voltage response is improved according to the parametric gain of preset pi controller, improved direct current pressure ring is obtained and passes
Delivery function；
Improved direct current pressure ring transmission function is specifically determined according to following formula:
Wherein, Cco_dcIndicate improved direct current pressure ring transmission function；kgain_dcIndicate the parametric gain of pi controller,
kgain_dc=kpwmt/kpwm0；
C (s)=kgain_dcGPI(s)Gdtdc(s)Gop_dc(s), D (s)=C (s) Gsam(s)；
Wherein, Gop_iab(s) open current loop transmission function is indicated；GPI(s) section proportional-plus-integral controller transmission function is indicated；Gdtdc
(s) total delay of the algorithm of substitution voltage control loop is indicated；Gop_dc(s) direct current pressure ring transmission function is indicated.
5. a kind of redundancy fault-tolerant control device of chain type triangular form STATCOM characterized by comprising
Statistical module, for counting the failure block number of H bridge submodule in three-phase converting link；
Comparison module, for the failure block number to be compared with preset redundant module number；
Switch trip action module is used for when the failure block number is less than preset redundant module number, according to phase each in three-phase
In H bridge submodule operation block number adjust the triangular carrier of each phase, DC voltage instruction value, and close the H bridge submodule of failure
Pulse is locked, H bridge submodule by-pass switch action signal is issued；When the failure block number is greater than preset redundant module number, by H
Bridge sub-module fault signal reporting simultaneously carries out trip operation, terminates；
Judgment module, for judging that it is whether normal that by-pass switch closes a floodgate；
Redundancy fault-tolerant processing module, for improving electric current using feed-forward type electric current virtual impedance when by-pass switch closes a floodgate normal
Ring control, obtains improved current loop control transmission function, according to improved current loop control transmission function dynamic regulation direct current
The response of Voltage loop pi controller parameter improvement DC voltage, obtains improved direct current pressure ring transmission function, according to institute
It states improved current loop control transmission function and the improved direct current pressure ring transmission function carries out redundancy fault-tolerant processing, knot
Beam；
Switch trip action module is also used to: when by-pass switch closes a floodgate abnormal, by-pass switch tripping fault-signal being reported
And trip operation is carried out, terminate.
6. the redundancy fault-tolerant control device of chain type triangular form STATCOM as claimed in claim 5, which is characterized in that described superfluous
Remaining fault-tolerant processing module is specifically used for:
DC voltage is obtained in real time；
Dynamic modulation ratio is determined according to the DC voltage；
Gain coefficient and impedance function according to the dynamic modulation than obtaining impedance；
According to the dynamic modulation ratio and impedance function, improved current closed-loop transmission function is obtained.
7. the redundancy fault-tolerant control device of chain type triangular form STATCOM as claimed in claim 6, which is characterized in that described superfluous
Remaining fault-tolerant processing module is specifically used for:
Dynamic modulation ratio is determined according to the DC voltage as follows:
Wherein, kpwmtFor the dynamic modulation ratio of t moment；uline_peaktFor the grid line voltage of t moment；udc_abtFor t moment H bridge
Module voltage and；ZlrFor the system impedance comprising resistance, inductance；Zlr(s) it indicates to arrive system impedance progress Laplace transform
Frequency domain variable；kpwm0It is the dynamic modulation ratio before failure；uline_peakFor the grid line electricity before failure
Pressure, NpmFor total H bridge submodule number；udc_eFor the voltage rating of H bridge submodule；Gdt(s) it is delayed for control algolithm with communicating etc.；
Gop_iIt (s) is open current loop transmission function；Gsam(s) it is delayed for current sample；S indicates that carry out Laplace transform becomes to frequency domain
Amount；
As follows according to the dynamic modulation than obtain impedance gain coefficient and impedance function:
Wherein, kgian_iFor the gain coefficient of impedance；TsFor the control period of modulating wave；
As follows according to the dynamic modulation ratio and impedance function, improved current closed-loop transmission function is obtained:
Wherein, Gco_iab(s) improved current closed-loop transmission function, G are indicatedPR(s) transmission function of PR control is indicated.
8. the redundancy fault-tolerant control device of chain type triangular form STATCOM as claimed in claim 7, which is characterized in that described superfluous
Remaining fault-tolerant processing module is specifically used for:
DC voltage response is improved according to the parametric gain of preset pi controller, improved direct current pressure ring is obtained and passes
Delivery function；
Improved direct current pressure ring transmission function is specifically determined according to following formula:
Wherein, Cco_dcIndicate improved direct current pressure ring transmission function；kgain_dcIndicate the parametric gain of pi controller,
kgain_dc=kpwmt/kpwm0；
C (s)=kgain_dcGPI(s)Gdtdc(s)Gop_dc(s), D (s)=C (s) Gsam(s)；
Wherein, Gop_iab(s) open current loop transmission function is indicated；GPI(s) section proportional-plus-integral controller transmission function is indicated；Gdtdc
(s) total delay of the algorithm of substitution voltage control loop is indicated；Gop_dc(s) direct current pressure ring transmission function is indicated.
9. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor realizes any chain of Claims 1-4 when executing the computer program
The redundant fault-tolerant control method of formula triangular form STATCOM.
10. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has perform claim
It is required that the computer program of the redundant fault-tolerant control method of 1 to 4 any chain type triangular form STATCOM.
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| CN110994633A (en) * | 2019-11-19 | 2020-04-10 | 广东安朴电力技术有限公司 | Chained SVG chain link module bypass control system and control method thereof |
| CN111539170A (en) * | 2020-04-09 | 2020-08-14 | 南昌工程学院 | STATCOM redundancy submodule switch transient modeling method |
| CN111756060A (en) * | 2020-06-02 | 2020-10-09 | 国网江西省电力有限公司电力科学研究院 | Redundant fault-tolerant control algorithm of star-shaped chain type STATCOM |
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| CN114285045A (en) * | 2021-12-16 | 2022-04-05 | 广州智光电气技术有限公司 | Redundancy control method and device based on high-voltage dynamic reactive power compensation device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110994633A (en) * | 2019-11-19 | 2020-04-10 | 广东安朴电力技术有限公司 | Chained SVG chain link module bypass control system and control method thereof |
| CN110994633B (en) * | 2019-11-19 | 2021-09-03 | 广东安朴电力技术有限公司 | Chained SVG chain link module bypass control system and control method thereof |
| CN111539170A (en) * | 2020-04-09 | 2020-08-14 | 南昌工程学院 | STATCOM redundancy submodule switch transient modeling method |
| CN111539170B (en) * | 2020-04-09 | 2023-04-25 | 南昌工程学院 | STATCOM redundant sub-module switch transient modeling method |
| CN111756060A (en) * | 2020-06-02 | 2020-10-09 | 国网江西省电力有限公司电力科学研究院 | Redundant fault-tolerant control algorithm of star-shaped chain type STATCOM |
| CN114243722A (en) * | 2021-11-29 | 2022-03-25 | 深圳市禾望电气股份有限公司 | Two-in-one SVG power module and bypass control method thereof |
| CN114285045A (en) * | 2021-12-16 | 2022-04-05 | 广州智光电气技术有限公司 | Redundancy control method and device based on high-voltage dynamic reactive power compensation device |
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