CN110212797B - MMC fault-tolerant operation strategy based on hot standby vector substitution - Google Patents

MMC fault-tolerant operation strategy based on hot standby vector substitution Download PDF

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CN110212797B
CN110212797B CN201910429844.0A CN201910429844A CN110212797B CN 110212797 B CN110212797 B CN 110212797B CN 201910429844 A CN201910429844 A CN 201910429844A CN 110212797 B CN110212797 B CN 110212797B
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白志红
李奕飞
陈浩奇
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Zhejiang University ZJU
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/10—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers
    • H02H7/12—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers
    • H02H7/122—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters
    • H02H7/1225—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters responsive to internal faults, e.g. shoot-through
    • 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
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/483—Converters with outputs that each can have more than two voltages levels
    • 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
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/483—Converters with outputs that each can have more than two voltages levels
    • H02M7/4835—Converters with outputs that each can have more than two voltages levels comprising two or more cells, each including a switchable capacitor, the capacitors having a nominal charge voltage which corresponds to a given fraction of the input voltage, and the capacitors being selectively connected in series to determine the instantaneous output voltage

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Abstract

The invention discloses an MMC fault-tolerant operation strategy based on hot standby vector substitution, which comprises the following steps: (1) when the MMC normally operates, two sub-modules of each identical bridge arm of the MMC are combined, three phases are integrated to form a new control sub-unit, and each sub-unit independently controls by using a space vector modulation strategy; (2) when the MMC sub-module is monitored to be in fault, the fault sub-module is bypassed, corresponding healthy sub-modules in other sub-modules are set as hot standby sub-modules, and vectors required by the sub-modules are constructed by controlling the number of actual working sub-modules and capacitance voltages of the actual working sub-modules; (3) and the constructed vector is used for replacing the missing vector in the subunit, thereby ensuring the fault-tolerant operation of the MMC and keeping the amplitude of the line voltage unchanged. By using the invention, half of submodules of one phase bridge arm are allowed to have faults, hardware is not increased, and the peak value of the line voltage and the level number of the line voltage can be simultaneously ensured to a certain extent.

Description

MMC fault-tolerant operation strategy based on hot standby vector substitution
Technical Field
The invention relates to the field of electrical engineering, in particular to an MMC fault-tolerant operation strategy based on hot standby vector substitution.
Background
For MMC, assuming that each phase has n sub-modules, the probability of normal operation of each module is r, and the probability of normal operation of the n sub-modules is rn. So the reliability of the single-phase MMC inverter is rn. For the same single-phase MMC inverter, if one sub-module can be allowed to fail, its reliability is rn+n×rn-1× (1-r). it is apparent that the reliability of fault tolerant systems is much higher than systems that are not fault tolerant.
Existing fault-tolerant strategies may be classified as software fault-tolerant and hardware fault-tolerant.
Fault tolerance of the standby sub-module is a traditional hardware fault tolerance mode and is divided into cold standby and hot standby. For cold standby, the advantage is lower losses, but it takes time to charge the capacitor, so the input speed of the cold standby submodule is slower. For hot standby, the loss is large and the algorithm is complex. The fault-tolerant mode of the standby sub-module can ensure that the phase voltage and the line voltage of the MMC inverter after the fault occurs are not different from the phase voltage and the line voltage in the normal state. However, this approach increases the economic cost and also increases the loss of the MMC during operation.
For fault tolerance of software MMC, it is common to bypass the corresponding bridge arm or the corresponding bridge arm and the corresponding sub-module. The method is simple to operate, ensures the output of the maximum power, reduces the voltage level number, and causes waste to a certain extent due to the bypass of healthy sub-modules. And a zero drift strategy is also applied to carry out fault tolerance, and the fault tolerance aims at ensuring normal line voltage but cannot ensure the maximum output voltage. In addition, the MMC is controlled by the SVM, when a fault occurs, a submodule corresponding to a bridge arm is bypassed, a new vector is generated, the new vector can be used for synthesizing a flux linkage, and the mode reduces the level number of line voltage.
Hardware fault tolerance increases the cost of hardware, and software fault tolerance, while avoiding the addition of more hardware, does not guarantee both line voltage peak and line voltage level quantities.
Disclosure of Invention
The invention provides an MMC fault-tolerant operation strategy based on hot standby vector substitution, which allows half of submodules of a phase bridge arm to have faults without increasing hardware and can simultaneously ensure the peak value of line voltage and the level quantity of the line voltage to a certain extent.
The technical scheme of the invention is as follows:
an MMC fault-tolerant operation strategy based on hot standby vector replacement comprises the following steps:
(1) when the MMC normally operates, two sub-modules of each identical bridge arm of the MMC are combined, three phases are integrated to form a new control sub-unit, and each sub-unit independently controls by using a space vector modulation strategy;
(2) when the MMC sub-module is monitored to be in fault, the fault sub-module is bypassed, corresponding healthy sub-modules in other sub-modules are set as hot standby sub-modules, and vectors required by the sub-modules are constructed by controlling the number of actual working sub-modules and capacitance voltages of the actual working sub-modules;
(3) and the constructed vector is used for replacing the missing vector in the subunit, thereby ensuring the fault-tolerant operation of the MMC and keeping the amplitude of the line voltage unchanged.
The inventionThe MMC is structurally provided with six three-phase bridge arms, when the number of the sub-modules of one same bridge arm in the MMC is even, two sub-modules of one same bridge arm are combined, the six three-phase sub-modules form a sub-unit, and each sub-unit can output 2Ucap、UcapAnd three voltages of 0, corresponding to N, O, P switch states respectively;
when the number of the sub-modules of one phase and one bridge arm is odd, one sub-unit consists of three phases of three sub-modules, and the output voltage is 2U cap0 corresponds to N, P switch states, and each remaining subunit consists of six three-phase submodules.
In one subunit, the P-state is defined as (0, 0); o state is defined as (1,0) or (0, 1); the N state is defined as (1, 1). The vectors are divided into large, medium and small vectors according to their sizes. Wherein 1 represents the sub-module on state, and 0 represents the sub-module off state.
In addition, since the seven-segment method outputs a smaller harmonic than the five-segment method, each sub-module outputs a vector in the seven-segment method.
In the step (1), the same bridge arm subunit performs time-staggered sampling on the same reference signal, the number of sampling points is consistent with the number of subunits in the MMC, and the output voltage of the bridge arm is the sum of the output voltages of the subunits. Because the voltage waveforms output by the subunits are different, and the bridge arm outputs are superposed for the output of each subunit, the quasi-sinusoidal multilevel state is finally presented. The increased number of sample points and the appearance of new vector directions cause the resultant flux linkage to more closely approximate a circle.
In the step (2), the specific way of constructing the vector required by the subunit is as follows: bypassing the faulty submodule, and reducing the number of the submodules actually working in the faulty phase by half in a hot standby mode, so that the capacitance voltage of the faulty phase submodule is changed from the original UcapBecome 2Ucap. Only one submodule in each subunit in the fault phase is in a working state, so that the voltage output by the subunit in the fault phase is 0 or 2UcapI.e., the faulty phase for each subunit still has P, N state, and no O state. The rest is not in working stateThe submodules of the state are all in a hot standby state.
The hot standby submodule has the following setting principle: and determining whether each submodule is in a hot standby state or a working state by analyzing the capacitance voltage of each submodule and the current direction of a bridge arm and using a capacitance voltage sequencing method.
In step (3), due to the sub-unit failing phase lacking an O-state, the sub-unit lacks the corresponding small vector and the medium vector, the small vector is replaced by the corresponding redundant vector, and the medium vector is synthesized by the corresponding large vector. At this time, the seven-segment mode is still adopted for modulation, and only after the sub-module fails, the adopted vector changes.
The amplitude of the output line voltage is kept unchanged because only the number of submodules put into each fault phase is halved, and the capacitor voltage of the submodules is doubled.
The hot standby vector substitution-based MMC fault-tolerant operation strategy improves the utilization rate of the sub-modules through hot standby healthy sub-modules, allows half of the sub-modules of one phase of bridge arm to have faults at most, and does not increase extra hardware. By means of vector substitution, a more perfect flux linkage can be generated. The method guarantees the peak value of the line voltage and the level quantity of the line voltage to a certain extent. The invention is suitable for occasions ensuring line voltage and has good effect when being applied to medium and high voltage motors.
Drawings
FIG. 1 is a flowchart illustrating an implementation of an MMC fault-tolerant operation strategy based on hot standby vector replacement according to the present invention;
FIG. 2 is a topology of a three-phase MMC of an embodiment of the present invention;
FIG. 3 is a topology of the MMC sub-module of FIG. 2;
FIG. 4 is a diagram of all vectors of a subunit according to an embodiment of the present invention;
FIG. 5 illustrates MMC line voltage variation;
FIG. 6 shows a variation of capacitance and voltage of an A-phase upper bridge arm submodule of an MMC;
FIG. 7 shows the variation of the capacitance and voltage of the sub-module of the lower bridge arm in phase A of the MMC;
FIG. 8 shows the line voltage U in the simulation experimentcaA schematic diagram;
FIG. 9 is an AB line voltage FFT analysis without fault;
fig. 10 is an AB line voltage FFT analysis after fault tolerant control.
Detailed Description
The invention will be described in further detail below with reference to the drawings and examples, which are intended to facilitate the understanding of the invention without limiting it in any way.
The MMC fault-tolerant operation strategy based on hot standby vector substitution is carried out on the basis of a submodule recombination SVM modulation strategy. The fault-tolerant strategy adopts seven-segment modulation. The five-segment and seven-segment differ in the way the zero vector is implemented centrally. The five-segment places the zero vector in the middle and the seven-segment places the zero vector in the middle and on both sides. The five-section type has the characteristics of less switching times; the seven-segment type switching circuit has the characteristics that when one vector is switched to the other vector, only one phase changes, but three phases change in one switching period, the switching loss is large, and the harmonic content is low.
As shown in fig. 1, in an MMC fault-tolerant operation strategy based on hot standby vector replacement, any two sub-modules of the same bridge arm are regarded as a group, three phases of six sub-modules are used as a sub-unit, each sub-unit is controlled by using an SVM control signal when the MMC normally operates, and different sub-units are subjected to time-staggered sampling to synthesize multiple levels. The control signal of the lower bridge arm is matched with the upper bridge arm, so that the number of the sub-modules which are put into each phase at a time is a fixed value.
When the MMC sub-module is monitored to be out of order, the sub-module with the fault is positioned and bypassed, corresponding healthy sub-modules in other sub-modules are set as hot standby sub-modules, and vectors required by the sub-modules are constructed by controlling the number of actual working sub-modules and capacitance voltage of the actual working sub-modules.
As shown in fig. 2, for an MMC topology with N sub-modules per bridge arm, taking a combination of two sub-modules per phase as an example, two sub-modules constitute one phase of a sub-unit, and three phases are combinedIt is a complete subunit. Each subunit can output 2Ucap、UcapAnd three voltages of 0, which may correspond to N, O, P states, respectively, and then space vector modulation may be applied to each subunit. Sampling moments of all the subunits are staggered with each other, and the subunits are controlled by independently applying a space vector modulation strategy according to self sampling reference. And finally, keeping the capacitor voltage balance of the sub-modules by analyzing the capacitor voltage of each sub-module and the current direction of a bridge arm and using a capacitor voltage sequencing method.
As shown in fig. 3, which is the topology of the MMC sub-module, T1And T2And conducting complementarily. When T is1Conduction, T2When not conducted, the capacitor C is connected into the circuit, the sub-module is in an input state, and the output voltage is Ucap. When T is2Conduction, T1When the sub-module is not conducted, the capacitor C is not connected with the circuit, the sub-module is in a cut-out state, and the output voltage is 0.
As shown in fig. 4, for all vector diagrams of a subunit, assuming that the a-phase submodule fails, an O state cannot be generated, and the vector is scratched out as a loss vector. The sequence numbers of the large and small sectors are indicated in the figure.
Under normal operating conditions, the vector order of action is shown in tables 1 to 6.
TABLE 1
Figure BDA0002068633050000061
TABLE 2
Figure BDA0002068633050000062
TABLE 3
Figure BDA0002068633050000063
TABLE 4
Figure BDA0002068633050000064
Figure BDA0002068633050000071
TABLE 5
Figure BDA0002068633050000072
TABLE 6
Figure BDA0002068633050000073
Under the condition of the fault of the A-phase submodule, the A-phase fault comprises the conditions that one submodule has the fault in one subunit, two submodules have the faults in one subunit, a plurality of subunits have the faults in the submodules and the like. When phase A loses the O state, the order of vector action is shown in tables 7-12:
TABLE 7
Figure BDA0002068633050000074
Figure BDA0002068633050000081
TABLE 8
Figure BDA0002068633050000082
TABLE 9
Figure BDA0002068633050000083
Watch 10
Figure BDA0002068633050000084
TABLE 11
Figure BDA0002068633050000091
TABLE 12
Figure BDA0002068633050000092
If a sub-module of a sub-unit fails. First, the failed sub-module is bypassed. While in other subunits there will be one sub-module that becomes a hot spare sub-module. Therefore, the number of the sub-modules which are put into the system each time is halved compared with the number of the sub-modules which are not in fault, and the capacitance voltage of the fault phase sub-module is doubled. For each phase of the fault corresponding to a sub-cell, the O state is lost, while the P, N state is generated. Vector substitution is next performed. Due to sub-module failure, some vectors may no longer exist. For small vectors, there are redundant vectors that can be substituted; for medium vectors, the synthesis needs to be performed with large vectors. Finally, the capacitor voltage sequencing strategy used balances the capacitor voltages of the sub-modules.
The following analyzes the substitution of the centering vectors.
The 3, 4, 5, 6 small sector portion of tables 8 and 11 relates to the replacement of the medium vector, and it can be seen that the medium vector is only needed if the desired resultant vector falls within the 3, 4, 5, 6 small sectors of table 8 sector two and the 3, 4, 5, 6 small sectors of table 11 sector five.
In the normal state, only the middle vector [ OPN ] in sector two and the middle vector [ ONP ] in sector five are shown to participate in the vector application sequence. While
2×[OPN]＝[NPN]+[PPN]
2×[ONP]＝[NNP]+[PNP]
Wherein [ NPN ], [ PPN ], [ NNP ] and [ PNP ] are large vectors.
The reason why such replacement is possible is:
[OPN]×2T1＝[NPN]×T1+[PPN]×T1
[ONP]×2T2＝[NNP]×T2+[PNP]×T2
wherein T is1Is seven-segment type of middle [ OPN]Acting for a period of time，T2Is a seven-segment type of medium [ ONP]Acting for a certain period of time. The above two equations are true as can be seen from the equation substituted by the vector.
As for the action sequence of vector composition, taking the 3 small sectors where the composition vector falls in two sectors as an example, the action sequence of the vector when no failure occurs is as follows:
NON OON OPN OPO OPN OON NON
the sequence of vector action of the fault-tolerant strategy after the fault occurs is as follows:
NON PPO NPN OPO PPN PPO NON
namely, two large vectors are placed at the position of the original middle vector, so that the seven segments are used, and the whole is equivalent.
The fault type comprises the conditions that one sub-module in one sub-unit of one phase has a fault, two sub-modules in one sub-unit of one phase have faults, and sub-modules in a plurality of sub-units of one phase have faults. And the number of the sub-units of the upper bridge arm and the lower bridge arm is the number of the sub-module faults allowed by the upper bridge arm and the lower bridge arm.
To verify the effect of the fault tolerance strategy, the results of the simulation are given below.
The simulation condition is set to be that one submodule of the upper and lower bridge arms of the phase A has a fault, and the simulation parameters are shown in a table 13.
Watch 13
And if one submodule of the upper and lower bridge arms of the phase A fails, bypassing the two submodules. While the hot standby configuration P, N state is applied, followed by vector substitution. Wherein the hot standby is achieved by applying a capacitive voltage sequencing.
As can be seen from fig. 5, after the fault occurs, the line voltage starts to be disordered, and the waveform has a large difference from the normal condition. After the fault-tolerant strategy is adopted, the line voltage is not greatly different from the normal condition. The analysis was performed using the CA line voltage in FIG. 8 as an example. The waveform shown in the circle is one level less and has a voltage bump. This is because the medium vector has no redundant vector. The medium vector can only be synthesized by two adjacent large vectors, which causes the waveform to change, and mainly causes the harmonic wave to increase.
As can be seen from fig. 6 and 7, after a fault occurs, the faulty sub-module is bypassed and the capacitor voltage of the faulty sub-module becomes 0. After fault-tolerant control, the capacitor voltage of the fault phase submodule is twice of the capacitor voltage of the submodule without fault.
Fig. 9 and 10 are FFT analysis of 10 cycles of the waveform taken after 0.8 seconds. Comparing the two graphs, the amplitude of the line voltage fundamental wave generated by the fault-tolerant method is not much different from the line voltage under the normal state, and the harmonic content is increased.
The embodiments described above are intended to illustrate the technical solutions and advantages of the present invention, and it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, additions and equivalents made within the scope of the principles of the present invention should be included in the scope of the present invention.

Claims (6)

1. An MMC fault-tolerant operation strategy based on hot standby vector replacement is characterized by comprising the following steps:
(1) when the MMC normally operates, two sub-modules of each identical bridge arm of the MMC are combined, three phases are integrated to form a new control sub-unit, and each sub-unit independently controls by using a space vector modulation strategy;
(2) when the MMC sub-module is monitored to be in fault, the fault sub-module is bypassed, corresponding healthy sub-modules in other sub-modules are set as hot standby sub-modules, and vectors required by the sub-modules are constructed by controlling the number of actual working sub-modules and capacitance voltages of the actual working sub-modules;
(3) and the constructed vector is used for replacing the missing vector in the subunit, thereby ensuring the fault-tolerant operation of the MMC and keeping the amplitude of the line voltage unchanged.
2. The MMC fault-tolerant operation strategy based on hot spare vector replacement of claim 1, wherein in step (1), the structure of the MMC is a three-phase six-leg when M is MWhen the number of the sub-modules of the same bridge arm in the MC is even, two sub-modules of the same bridge arm are combined, three phases of six sub-modules form a sub-unit, and each phase of each sub-unit can output 2Ucap、UcapAnd three voltages of 0, corresponding to N, O, P switch states respectively;
when the number of the sub-modules of one phase and one bridge arm is odd, one sub-unit consists of three phases of three sub-modules, and the output voltage is 2Ucap0 corresponds to N, P switch states, and each remaining subunit consists of six three-phase submodules.
3. The MMC fault-tolerant operating strategy of claim 1, wherein each sub-module outputs a vector in a seven-segment manner.
4. The MMC fault-tolerant operation strategy based on hot standby vector replacement of claim 1, wherein in the step (1), the same bridge arm subunit samples the same reference signal in a time-staggered manner, the number of sampling points is consistent with the number of subunits in the MMC, and the output voltage of the bridge arm is the sum of the output voltages of the subunits.
5. The MMC fault-tolerant operation strategy of claim 1 based on hot spare vector replacement, characterized in that in step (2), the hot spare submodule is set according to the following rules:
and determining whether each submodule is in a hot standby state or a working state by analyzing the capacitance voltage of each submodule and the current direction of a bridge arm and using a capacitance voltage sequencing method.
6. The MMC fault-tolerant operation strategy of claim 1, characterized in that, in step (2), the vector needed by the sub-unit is constructed in the following way:
bypassing the faulty submodule, and reducing the number of the submodules of the faulty phase actually working by half in a hot standby mode to enable the capacitance voltage of the faulty phase submodule to be changed from the original UcapIs changed into 2Ucap(ii) a At the moment, only one submodule of each subunit of the fault phase is in a working state, and the external output voltage of the subunit of the fault phase is 0 or 2UcapEach subunit still has P, N status and no O status, and the remaining submodules that are not active are all in hot standby status.
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Fault-Tolerant Space Vector Modulation for Modular Multilevel Converters With Bypassed Faulty Submodules;Mohsen Aleenejad 等;《IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS》;20190331;第66卷(第3期);第2463-2473 *

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