CN110148944B - High-power-density island interactive UPS and comprehensive control method thereof - Google Patents
High-power-density island interactive UPS and comprehensive control method thereof Download PDFInfo
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- H—ELECTRICITY
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02J9/062—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems for AC powered loads
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- H—ELECTRICITY
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Abstract
Description
技术领域technical field
本发明UPS控制技术领域,特别是一种高功率密度海岛互动式UPS综合控制方法。The present invention is in the technical field of UPS control, in particular to a high-power density sea-island interactive UPS comprehensive control method.
背景技术Background technique
随着现代网络技术和信息产业的进一步发展,许多电子设备重要负荷供电中断所带来的损失也变的越来越严重。不间断电源(Uninterruptible Power Supply-UPS)可以向负载提供连续、优质、高效和可靠,且具有保护和检测功能的交流电源,在计算机、通信、金融、交通、国防和电力等部门得到了十分广泛的应用。With the further development of modern network technology and information industry, the losses caused by the interruption of the power supply of many important loads of electronic equipment have become more and more serious. Uninterruptible Power Supply (UPS) can provide continuous, high-quality, high-efficiency and reliable AC power to the load, and has protection and detection functions. Applications.
随着越来越多的非线性负荷接入海岛电力系统,海岛电力系统谐波污染越来越严重,谐波泛滥影响着电网的安全经济运行,电网谐波治理也越来越重要。传统的UPS很少考虑由于非线性负载引起的谐波与无功污染,以及储能电池充放电与控制直流侧电压的合理切换。考虑到在线互动式结构的UPS在市电正常供电下,一侧通过市电对蓄电池进行充电,另一侧控制补偿市电供电电压,因此考虑在市电通过变换器对蓄电池进行充放电的同时,附加电网的谐波及无功电流补偿控制,改善电能质量,并且在市电故障旁路后,UPS的两个变换器输出并联共同供电,减少了UPS的设计容量,提高了功率密度。因此,基于在线互动式UPS结构,需要有一种合理的控制方式,保证在市电波动时,逆变器补偿海岛供电电压质量,整流器补偿电网电能质量;市电故障后,逆变器、整流器并联输出供电电压,各个变换器承受的电流应力减少一半,提高功率密度。As more and more nonlinear loads are connected to the island power system, the harmonic pollution of the island power system is becoming more and more serious. Traditional UPS seldom considers harmonics and reactive power pollution caused by nonlinear loads, as well as reasonable switching between charging and discharging of energy storage batteries and controlling the DC side voltage. Considering that the UPS of the online interactive structure is normally powered by the mains, one side charges the battery through the mains, and the other side controls and compensates the mains supply voltage. Therefore, it is considered that the mains is charging and discharging the battery through the converter at the same time. , Additional power grid harmonic and reactive current compensation control, improve power quality, and after the mains fault bypass, the two converter outputs of the UPS are connected in parallel to supply power, which reduces the design capacity of the UPS and improves the power density. Therefore, based on the online interactive UPS structure, a reasonable control method is required to ensure that when the mains power fluctuates, the inverter compensates for the quality of the island power supply voltage, and the rectifier compensates for the power quality of the grid; after the mains failure, the inverter and rectifier are connected in parallel. When outputting the supply voltage, the current stress of each converter is reduced by half, and the power density is improved.
发明内容SUMMARY OF THE INVENTION
本发明旨在提供一种高功率密度海岛互动式UPS及其综合控制方法,在市电波动时,逆变器补偿海岛供电电压质量,整流器补偿电网电能质量;市电故障后,逆变器、整流器并联输出供电电压,各个变换器承受的电流应力减少一半,提高功率密度。The invention aims to provide a high power density island interactive UPS and a comprehensive control method thereof. When the mains power fluctuates, the inverter compensates for the quality of the island power supply voltage, and the rectifier compensates for the power quality of the grid; after the mains failure, the inverter, The rectifiers are connected in parallel to output the supply voltage, the current stress of each converter is reduced by half, and the power density is improved.
为解决上述技术问题,本发明所采用的技术方案是:一种高功率密度海岛互动式UPS,其包括滤波器、静态开关、变压器、逆变器、整流器、储能电池组和控制器;所述滤波器接市电输出端,所述静态开关接在滤波器输出端和变压器输入端之间;所述逆变器、整流器分别与变压器两个隔离的端口相连,所述储能电池组接在两个变换器的直流母线上;所述控制器与采样电路连接并经过驱动保护电路驱动上述逆变器和整流器。In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is: a high power density island interactive UPS, which includes a filter, a static switch, a transformer, an inverter, a rectifier, an energy storage battery pack and a controller; The filter is connected to the mains output end, the static switch is connected between the filter output end and the transformer input end; the inverter and the rectifier are respectively connected to the two isolated ports of the transformer, and the energy storage battery is connected to On the DC bus lines of the two converters; the controller is connected to the sampling circuit and drives the inverter and the rectifier through the drive protection circuit.
本发明所述综合控制方法包括逆变器控制部分和整流器控制部分:The comprehensive control method of the present invention includes an inverter control part and a rectifier control part:
所述逆变器控制部分包括:The inverter control part includes:
1)检测市电输出电压us、负载电流iL、逆变器输入电流iinv和输出电压uinv、整流器输入电流irec和输出电压urec、直流侧电压udc;1) Detect mains output voltage u s , load current i L , inverter input current i inv and output voltage u inv , rectifier input current i rec and output voltage u rec , DC side voltage u dc ;
2)将市电输出电压us经锁相环计算得到同步相角θs,并检测市电是否故障;2) Calculate the synchronous phase angle θ s by calculating the mains output voltage u s through the phase-locked loop, and detect whether the mains is faulty;
3)若市电故障,断开静态开关,将负载参考电压幅值U* L与同步相角θs合成计算,得到u* L作为逆变器的输出电压指令,该输出电压指令与其实际输出电压uinv做差送入PI控制器,得到内环参考电流iinvr,再经过比例谐振控制实现无静差跟踪;当市电故障时,整流器切换至V/F控制,输出电压经过PI控制后得到内环电流指令irec1;若市电正常,将市电输出电压us滞后90°得到对应β轴的电压分量,再经过αβ/dq变换,得到旋转坐标系下的电压分量ud,uq,根据负载参考电压幅值U* L计算得到负载参考电压的q轴分量uql;3) If the mains fails, turn off the static switch, synthesize and calculate the load reference voltage amplitude U * L and the synchronous phase angle θ s , and obtain u * L as the output voltage command of the inverter, the output voltage command and its actual output. The difference of the voltage u inv is sent to the PI controller to obtain the inner loop reference current i invr , and then through the proportional resonance control to achieve no static error tracking; when the mains fails, the rectifier switches to V/F control, and the output voltage is controlled by PI. Obtain the inner loop current command i rec1 ; if the mains is normal, lag the mains output voltage u s by 90° to obtain the voltage component corresponding to the β axis, and then through αβ/dq transformation to obtain the voltage components ud , u in the rotating coordinate system q , calculate the q-axis component u ql of the load reference voltage according to the load reference voltage amplitude U * L ;
4)将ud和uql变换至αβ坐标下,得到负载参考输出电压再与输出电压us相减最终得到逆变器的输出电压指令,输出电压指令与实际输出电压uinv做差送入PI控制器,得到内环参考电流iinvr,内环参考电流iinvr经过比例谐振控制得到逆变器的驱动信号;4) Transform u d and u ql to αβ coordinates to obtain the load reference output voltage Then subtract the output voltage u s to finally obtain the output voltage command of the inverter. The difference between the output voltage command and the actual output voltage u inv is sent to the PI controller to obtain the inner loop reference current i invr , and the inner loop reference current i invr passes through The proportional resonance control obtains the drive signal of the inverter;
所述整流器控制部分包括:The rectifier control part includes:
1)将负载电流iL与市电电压同步信号sinθs相乘,乘积经过低通滤波器并乘以系数2,得到负载有功电流峰值;利用所述负载有功电流峰值得到UPS需补偿的补偿电流参考量ip;1) Multiply the load current i L and the mains voltage synchronization signal sinθ s , and the product is multiplied by a low-pass filter and a coefficient 2 to obtain the peak value of the active current of the load; the peak value of the active current of the load is used to obtain the compensation current that the UPS needs to compensate for reference quantity i p ;
2)将直流侧电压udc与直流电压参考值udcn相减,得到的误差信号经过PI控制器后与电网电压同步信号sinθs相乘,叠加在补偿电流参考量ip上,最终得到UPS整流器输入电流参考值irecr2;2) Subtract the DC side voltage u dc and the DC voltage reference value u dcn , the obtained error signal is multiplied by the grid voltage synchronization signal sinθ s after passing through the PI controller, superimposed on the compensation current reference value ip , and finally the UPS is obtained. Rectifier input current reference value i recr2 ;
3)将UPS整流器输入电流参考值irecr2与整流器输入电流irec作差,经过比例谐振与谐波补偿控制器得到逆变器调制波,再与载波进行比较得到整流器驱动信号。3) Difference between the UPS rectifier input current reference value i recr2 and the rectifier input current i rec , obtain the inverter modulated wave through the proportional resonance and harmonic compensation controller, and then compare it with the carrier to obtain the rectifier drive signal.
在市电故障后,若电池一直放电使直流侧电压udc<0.6udcn,则UPS输出电压质量变差,关闭UPS输出等待市电重新恢复正常。After the mains failure, if the battery has been discharged so that the DC side voltage u dc <0.6u dcn , the quality of the UPS output voltage will deteriorate, so turn off the UPS output and wait for the mains to return to normal.
本发明中,旋转坐标系下的电压分量ud,uq的表达式为:In the present invention, the expressions of the voltage components ud and u q in the rotating coordinate system are:
负载参考电压的q轴分量uql表达式为: The q-axis component u ql of the load reference voltage is expressed as:
本发明中,利用所述负载有功电流峰值得到UPS需补偿的补偿电流参考量ip的过程包括:利用负载有功电流峰值计算第h次谐波电流的直流部分,将此直流部分滤波提取后乘以电网电压同步信号sinθs和2,再与负载电流相减,即得到市电正常时,UPS需补偿的补偿电流参考量ip。In the present invention, the process of using the load active current peak value to obtain the compensation current reference value ip to be compensated by the UPS includes: using the load active current peak value to calculate the DC part of the h-th harmonic current, filtering and extracting the DC part and multiplying the Taking the power grid voltage synchronization signals sinθ s and 2, and then subtracting it from the load current, the reference amount ip of the compensation current that the UPS needs to compensate when the mains is normal can be obtained.
比例谐振与谐波补偿控制器组合后的传递函数为:The transfer function after the combination of proportional resonance and harmonic compensation controller is:
其中,Kp为比例系数,Kr为基波谐振系数,Krh为第h次谐波的谐振系数,h为负载的特征次谐波,ω为电网角频率。Among them, K p is the proportional coefficient, K r is the fundamental wave resonance coefficient, K rh is the resonance coefficient of the h-th harmonic, h is the characteristic harmonic of the load, and ω is the grid angular frequency.
与现有技术相比,本发明所具有的有益效果为:本发明能在市电正常供电时,通过滤波器、静态开关和变压器向负载供电,为了维持供电电压稳定,UPS逆变器补偿负载供电电压,同时为了改善由于非线性负载接入引起的电能质量问题,整流器输出补偿电流,抵消谐波与无功电流;在供电电源掉电时,由储能电池组供电,两个变换器并联输出供电电压,此时两个变换器同时工作于V/f控制模式,为负载提供连续可靠的电压,提高了UPS功率密度(在海岛供电故障时,由储能电池组供电,两个变换器共同输出供电电压,为负载提供连续可靠的电压。在这种工况下,由于两个变换器输出并联,各个变换器承受的电流应力减少一半,因此功率密度相比传统UPS要高)。本发明在改善供电电压质量的基础上,实现了补偿由于海岛非线性负载对电力系统造成的谐波与无功污染,电路简单,成本低,效率高,可以广泛应用于对电能质量要求高的场合,尤其适合孤岛用电设备的供电。本发明可以降低UPS装置的容量和体积,并可广泛应用于谐波污染大且对电源可靠性要求高的场合。Compared with the prior art, the present invention has the beneficial effects as follows: the present invention can supply power to the load through a filter, a static switch and a transformer when the commercial power is normally supplied, and in order to maintain the stability of the power supply voltage, the UPS inverter compensates the load. At the same time, in order to improve the power quality problems caused by nonlinear load access, the rectifier outputs compensation current to offset harmonics and reactive currents; when the power supply is powered off, the energy storage battery pack supplies power, and the two converters are connected in parallel Output power supply voltage. At this time, the two converters work in the V/f control mode at the same time, providing continuous and reliable voltage for the load and improving the UPS power density (when the island power supply fails, the energy storage battery pack is used to supply power, and the two converters are powered by the energy storage battery pack. Common output supply voltage to provide continuous and reliable voltage for the load. In this case, due to the parallel connection of two converters, the current stress of each converter is reduced by half, so the power density is higher than that of traditional UPS). On the basis of improving the quality of the power supply voltage, the invention realizes compensation for harmonics and reactive power pollution caused by the non-linear load of the island to the power system. The circuit is simple, the cost is low, and the efficiency is high. In occasions, it is especially suitable for the power supply of isolated electrical equipment. The invention can reduce the capacity and volume of the UPS device, and can be widely used in the occasions where the harmonic pollution is large and the reliability of the power supply is high.
附图说明Description of drawings
图1为本发明一实施例高功率密度海岛互动式UPS结构示意图;FIG. 1 is a schematic structural diagram of a high-power-density sea-island interactive UPS according to an embodiment of the present invention;
图2为本发明一实施例高功率密度海岛互动式UPS逆变器控制框图;FIG. 2 is a control block diagram of a high power density island interactive UPS inverter according to an embodiment of the present invention;
图3为本发明一实施例高功率密度海岛互动式UPS整流器控制框图;FIG. 3 is a control block diagram of a high power density sea-island interactive UPS rectifier according to an embodiment of the present invention;
图4为本发明一实施例高功率密度海岛互动式UPS工作模式切换流程示意图。FIG. 4 is a schematic diagram of a working mode switching process of a high power density sea-island interactive UPS according to an embodiment of the present invention.
具体实施方式Detailed ways
图1为本发明一实施例高功率密度海岛互动式UPS结构示意图,包括滤波器、静态开关、逆变器、整流器、变压器、储能电池组和控制器;所述滤波器接在市电输出端,所述静态开关接在滤波器输出端和变压器输入端之间;所述逆变器和整流器与变压器两个隔离的端口相连,所述储能电池组接在两个变换器的直流母线上;所述控制器与采样电路连接并且连接变换器的驱动保护电路;所述两个变换器都是采用由IGBT构成的H桥结构。控制系统包括控制器、采样电路和驱动保护电路。1 is a schematic structural diagram of a high power density island interactive UPS according to an embodiment of the present invention, including a filter, a static switch, an inverter, a rectifier, a transformer, an energy storage battery pack and a controller; the filter is connected to the mains output The static switch is connected between the output end of the filter and the input end of the transformer; the inverter and the rectifier are connected to the two isolated ports of the transformer, and the energy storage battery pack is connected to the DC bus of the two converters The controller is connected to the sampling circuit and the drive protection circuit of the converter; the two converters both adopt an H-bridge structure composed of IGBTs. The control system includes a controller, a sampling circuit and a drive protection circuit.
图2和图3为本发明一实施例高功率密度海岛互动式UPS控制框图,主要由故障检测模块、锁相环模块、逆变器补偿电压计算模块、负载供电电压控制模块、整流器补偿电流计算模块、直流侧稳压控制模块、比例谐振与谐波补偿控制模块组成,具体的控制策略包括以下步骤:2 and 3 are control block diagrams of a high-power-density sea-island interactive UPS according to an embodiment of the present invention, which are mainly composed of a fault detection module, a phase-locked loop module, an inverter compensation voltage calculation module, a load supply voltage control module, and a rectifier compensation current calculation module. module, DC side voltage regulation control module, proportional resonance and harmonic compensation control module, the specific control strategy includes the following steps:
1)检测市电输出电压us、负载电流iL、逆变器输入电流iinv和输出电压uinv、整流器输入电流irec和输出电压urec、直流侧电压udc;1) Detect mains output voltage u s , load current i L , inverter input current i inv and output voltage u inv , rectifier input current i rec and output voltage u rec , DC side voltage u dc ;
2)将市电输出电压us经锁相环计算得到同步相角θs,并检测市电是否故障;2) Calculate the synchronous phase angle θ s by calculating the mains output voltage u s through the phase-locked loop, and detect whether the mains is faulty;
3)若市电故障,断开静态开关,将负载参考电压幅值U* L与同步相角θs合成计算得到u* L作为逆变器的输出电压指令,与其实际输出电压uinv做差送入PI控制器,PI输出得到内环参考电流iinvr,再经过比例谐振控制实现无静差跟踪;当市电故障时,整流器也切换至V/F控制,输出电压经过PI控制后得到内环电流指令irec1,由于其输出电压指令以及电压外环电流内环控制方式与逆变器一样,两变换器输出并联,因此所承受的电流应力减少一半,功率密度提高;3) If the mains fails, turn off the static switch, and synthesize the load reference voltage amplitude U * L and the synchronous phase angle θ s to obtain u * L as the output voltage command of the inverter, and make the difference with the actual output voltage u inv It is sent to the PI controller, and the PI output obtains the inner loop reference current i invr , which is then controlled by proportional resonance to achieve no static error tracking; when the mains fails, the rectifier is also switched to V/F control, and the output voltage is controlled by PI to obtain the internal The loop current command i rec1 , because its output voltage command and voltage outer loop current inner loop control mode are the same as those of the inverter, the outputs of the two converters are connected in parallel, so the current stress suffered is reduced by half, and the power density is improved;
4)若市电正常,将步骤1)采样得到的供电电压us滞后90°得到对应β轴的电压分量,再经过αβ/dq变换,得到旋转坐标系下的电压分量ud,uq,其公式为:4) If the mains is normal, lag the power supply voltage u s sampled in step 1) by 90° to obtain the voltage component corresponding to the β-axis, and then undergo αβ/dq transformation to obtain the voltage components ud , u q in the rotating coordinate system, Its formula is:
再根据负载参考电压幅值U* L计算得到负载参考电压的q轴分量uql,公式如下:Then calculate the q-axis component u ql of the load reference voltage according to the load reference voltage amplitude U * L , the formula is as follows:
将ud和uql变换至αβ坐标下,得到负载参考输出电压再与供电电压us相减最终得到逆变器的输出电压指令,再将其与实际输出电压uinv做差送入PI控制器,输出得到内环参考电流iinvr,经过比例谐振控制得到逆变器的驱动信号;Transform u d and u ql to αβ coordinates to get the load reference output voltage Then subtract it from the power supply voltage u s to finally get the output voltage command of the inverter, and then send it to the PI controller to make a difference with the actual output voltage u inv , and output the inner loop reference current i invr , which is obtained through proportional resonance control. The drive signal of the inverter;
5)将步骤1)检测得到的负载电流iL与步骤2)检测得到的市电电压同步信号sinθs相乘,再经过低通滤波器并乘以系数2,得到负载有功电流峰值,计算公式如下:5) Multiply the load current i L detected in step 1) and the mains voltage synchronization signal sinθ s detected in step 2), and then pass through the low-pass filter and multiply by the coefficient 2 to obtain the peak value of the load active current. The calculation formula as follows:
其中Imh、φh分别为第h次谐波电流的幅值与功率因数角(h=1,2,…),可以看出直流部分为负载有功电流峰值的一半,将此直流部分滤波提取后乘以电网电压同步信号sinθs和2,再与负载电流相减,就得到市电正常时,UPS需补偿的无功与谐波参考量ip;Among them, I mh and φ h are the amplitude and power factor angle of the h-th harmonic current respectively (h=1, 2, ...). It can be seen that the DC part is half of the peak value of the active current of the load. After multiplying by the grid voltage synchronization signal sinθ s and 2, and then subtracting it from the load current, the reactive power and harmonic reference quantities ip to be compensated by the UPS when the mains is normal can be obtained;
6)将步骤1)采样得到的直流侧电压udc与直流电压参考值udcn相减,得到误差信号,经过PI控制器后与电网电压同步信号sinθs相乘,叠加在步骤5)得到的补偿电流参考量ip上,最终得到UPS整流器输入电流参考值irecr2;6) Subtract the DC side voltage u dc sampled in step 1) from the DC voltage reference value u dcn to obtain an error signal, which is multiplied by the grid voltage synchronization signal sinθ s after passing through the PI controller, and superimposed on the result obtained in step 5). Compensation current reference value i p , and finally obtains the UPS rectifier input current reference value i recr2 ;
7)将步骤3)或者步骤6)得到的整流器电流参考指令值与采样得到的电流值irec作差,经过比例谐振与谐波补偿控制器(PR+HC)得到逆变器调制波,再与载波进行比较得到变换器驱动信号,控制器传递函数如下:7) Difference between the rectifier current reference command value obtained in step 3) or step 6) and the current value i rec obtained by sampling, obtain the inverter modulated wave through the proportional resonance and harmonic compensation controller (PR+HC), and then Comparing with the carrier to get the drive signal of the converter, the transfer function of the controller is as follows:
其中Kp为比例系数,Kr为基波谐振系数,Krh为第h次谐波的谐振系数,h为负载的特征次谐波,ω为电网角频率;where K p is the proportional coefficient, K r is the fundamental wave resonance coefficient, K rh is the resonance coefficient of the h-th harmonic, h is the characteristic harmonic of the load, and ω is the grid angular frequency;
8)在市电故障后,若电池一直放电使直流侧电压udc<0.6udcn,则UPS输出电压质量变差,需关闭UPS输出等待市电重新恢复正常。8) After the mains failure, if the battery has been discharged so that the DC side voltage u dc <0.6u dcn , the UPS output voltage quality has deteriorated, and the UPS output needs to be turned off to wait for the mains to return to normal.
图4为本发明一实施例高功率密度海岛互动式UPS工作模式切换流程示意图,具体包括以下步骤:4 is a schematic diagram of a working mode switching process of a high-power-density sea-island interactive UPS according to an embodiment of the present invention, which specifically includes the following steps:
步骤1:判断此市电是否故障,若市电正常,则由UPS整流器从市电吸收有功给电池充电,稳定直流侧电压,同时控制输出补偿电流,改善市电电能质量;UPS逆变器输出补偿市电电压波动,改善供电电压质量;Step 1: Determine whether the mains is faulty. If the mains is normal, the UPS rectifier will absorb the active power from the mains to charge the battery, stabilize the DC side voltage, and control the output compensation current to improve the power quality of the mains; the UPS inverter outputs Compensate for mains voltage fluctuations and improve power supply voltage quality;
步骤2:若市电故障,判断直流侧电压是否小于额定值的0.6倍,若小于,则关闭UPS,等待市电恢复。若大于,进入步骤3;Step 2: If the mains fails, judge whether the DC side voltage is less than 0.6 times the rated value, if it is less than, turn off the UPS and wait for the mains to recover. If it is greater than, go to step 3;
步骤3:由储能电池供电,两变换器经变压器隔离并联输出,为负载提供稳定电压。Step 3: Powered by the energy storage battery, the two converters are isolated and output in parallel through the transformer to provide a stable voltage for the load.
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