CN110501919A - Modularization multi-level converter number physical mixed emulation interface design method - Google Patents
Modularization multi-level converter number physical mixed emulation interface design method Download PDFInfo
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Abstract
The invention discloses a kind of modularization multi-level converter number physical mixed emulation interface design methods, and described method includes following steps: Step 1: deriving MMC mathematical model according to MMC operation logic；Step 2: designing digital physical interface conversion factor, guarantee that the response of MMC experiment porch is equivalent to correspond to the response of high-power MMC converter station by digital physical interface conversion factor；Step 3: carrying out abbreviation to its mathematical model according to MMC operation characteristic, it is a variable capacitance controlled by modulating wave by each bridge arm equivalent of MMC, the every equivalent of MMC is the RLC series arm that upper and lower bridge arm inductance, bridge arm dead resistance and equivalent variable capacitance are constituted, influence in view of conversion factor to circuit parameter derives under the domain s through the transformed DIM method compensating impedance of conversion factor.The configuration of the present invention is simple is easily achieved, and be can satisfy digital physics and is mixed analogue system stability and accuracy requirement.
Description
Technical field
The invention belongs to field of power electronics, are related to a kind of modularization multi-level converter number physical mixed emulation interface
Design method.
Background technique
The DC grid that modularization multi-level converter (modular multilevel converter, MMC) is constituted is dynamic
State behavior is complicated, transient response is fast, and traditional Digital Simulation can not meet the requirement of simulation velocity and precision simultaneously.Equal proportion object
Reason dynamic model experiment platform model machine can be used for simulating flexible direct current power grid, but program cost is extremely high, and ground object fix,
It is poor to emulate flexibility.Therefore, the verifying of flexible direct current power grid correlation theory has to take more advanced emulation mode.
Digital physical mixed emulation, also known as power hardware are imitative at ring (power hardware-in-the-loop, PHIL)
Very, by it is in large scale in system, be difficult to be simulated with the part that hardware is built with Real Time Digital Simulator, and for primary study or
Structural load, the part for being difficult to Accurate Model realize that form existing Digital Simulation object has practical object again with true physical equipment
The digital physical hybrid simulation system for managing Devices to test is the effective hand for carrying out the research of flexible direct current power grid and engineering design verifying
Section.
To connect digital side and physical side, need to design suitable digital physical interface.Damped impedance method
(damping impedance method, DIM) is when compensating impedance is identical with physical side equivalent impedance with high
Stability margin and precision are a kind of most widely used interface methods.For flexible DC transmission PHIL system, physical side is MMC
Etc. non-linear power electronic equipment, mathematical models show complicated time-variant nonlinear, it tends to be difficult to obtain.Another party
Face, is limited by the constraint of laboratory research environment and the export quota of power amplifier, and the MMC in laboratory is often difficult to reach
The voltage and power grade of soft straight engineering.For this purpose, corresponding conversion factor should be arranged at digital physical interface so as to by small-power
The MMC of grade is converted to the high-power MMC under soft straight system-level.In the presence of interface conversion factor, the compensating impedance of DIM method
Also it will be affected by it and change, however still lack design considerations without accurate detailed theoretical research at present.
Summary of the invention
The present invention, which is directed to digital physical interface conversion factor, to be influenced DIM interface compensating impedance to lack asking for theoretical basis
Topic, provides a kind of modularization multi-level converter number physical mixed emulation interface design method.The present invention is according to modularization
The operation characteristic of multilevel converter carries out abbreviation to its mathematical model, derives through the transformed damped impedance interface of conversion factor
Compensating impedance.This method structure is simple, is easily achieved, and can satisfy digital physics mixing analogue system stability and accuracy is wanted
It asks.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of modularization multi-level converter number physical mixed emulation interface design method, includes the following steps:
Step 1: deriving MMC mathematical model according to MMC operation logic, wherein MMC mathematical model is as follows:
In formula, R, L respectively indicate the inductance of MMC bridge arm equivalent resistance and bridge arm reactor, ujIndicate j phase alternating voltage,
uDCIndicate DC bus-bar voltage, uujFor bridge arm voltage in j phase, iujAnd iljThe respectively upper and lower bridge arm current of j phase, mujAnd mljPoint
Not Wei the upper and lower bridge arm of j phase modulating wave, N is submodule number, and C is submodule capacitor；
Step 2: designing digital physical interface conversion factor, guarantee that the response of MMC experiment porch passes through digital physical interface
Conversion factor is equivalent to correspond to the response of high-power MMC converter station, wherein MMC experiment porch conversion to high-power MMC converter station
Time-domain expression under grade are as follows:
Relationship between MMC experiment porch and the MMC topological parameter of high-power MMC converter station are as follows:
In formula, kuAnd kiThe voltage and current conversion factor of respectively large and small power MMC, subscript " ' " indicate high-power MMC
Physical quantity；
It is one by each bridge arm equivalent of MMC Step 3: carrying out abbreviation to its mathematical model according to MMC operation characteristic
The variable capacitance controlled by modulating wave, when MMC is operated normally, in order to guarantee that DC side output voltage is constant, upper and lower bridge arm is thrown
The sum of submodule quantity entered is constantly equal to N, the every equivalent of MMC be upper and lower bridge arm inductance, bridge arm dead resistance and it is equivalent can
The RLC series arm constituted is held in power transformation, it is contemplated that influence of the conversion factor to circuit parameter derives and become under the domain s through conversion factor
DIM method compensating impedance after changing, wherein compensating impedance Z*Are as follows:
The present invention derives MMC mathematical model by MMC operation logic, according to digital physics no-load voltage ratio to physical side MMC direct current
Side equivalent impedance is converted, and the compensating impedance for being suitable for DIM method is derived.Compared with the prior art, the present invention has following excellent
Point:
1, the present invention is different for flexible DC transmission number physics mixing analogue system number, physical side power grade
Problem starts with from the mathematical model of modularization multi-level converter and has derived folding between large and small power converter station parameter in detail
Coefficient is calculated, guarantees that small-power dynamic model platform can accurately reflect the characteristic of soft straight converter station.
2, the present invention pushes away on the basis of fully considering soft straight PHIL system number, physical side power grade difference problem
MMC DC side equivalent impedance model is led, makes that it is suitable for the compensating impedances of soft straight PHIL damped impedance interface.
3, one aspect of the present invention can guarantee that small-power MMC experiment porch can accurately reflect the characteristic of soft straight converter station, separately
On the one hand, damped impedance interface can satisfy the requirement of the stability and accuracy of soft straight PHIL emulation, strong applicability.
Detailed description of the invention
Fig. 1 is the topological structure schematic diagram of existing three-phase modular multilevel converter；
Fig. 2 is the structural schematic diagram of back-to-back flexible DC transmission PHIL system；
Fig. 3 is MMC DC side equivalent impedance simplified model；
Fig. 4 is DC bus short trouble experimental waveform.
Specific embodiment
Further description of the technical solution of the present invention with reference to the accompanying drawing, and however, it is not limited to this, all to this
Inventive technique scheme is modified or replaced equivalently, and without departing from the spirit and scope of the technical solution of the present invention, should all be covered
Within the protection scope of the present invention.
The present invention provides a kind of modularization multi-level converter number physics on the basis of considering digital physics no-load voltage ratio
Hybrid simulation method of interface, specific step is as follows for the method:
Step 1: deriving MMC mathematical model according to MMC operation logic.
The topological structure of the modularization multi-level converter of existing three-phase is as shown in Figure 1.Wherein every phase contains upper and lower two
Bridge arm, each bridge arm include a bridge arm reactor L and the identical submodule of N number of structure, and each submodule is by a power list
Member and a capacitor C are formed in parallel, and each power cell is half-bridge structure or other similar power cell.
According to Kirchhoff's law, column write the circuit equation of MMC:
ij=ilj-iuj(4)；
Wherein, R, L respectively indicate the inductance of MMC bridge arm equivalent resistance and bridge arm reactor, ujIndicate j phase alternating voltage,
uDCIndicate DC bus-bar voltage, uujAnd uljThe respectively upper and lower bridge arm voltage of j phase, iDCIndicate DC current, iujAnd iljRespectively
The upper and lower bridge arm current of j phase.
Further, s is definedujIt (k) is the switch function of k-th of submodule in bridge arm in j phase, which reflects submodule
Switching state:
When k-th of submodule investment of bridge arm in j phase, sujIt (k) is 1, the output voltage u of submoduleuj(k) it is equal to submodule
Block capacitance voltage uCuj(k), capacitance current iCuj(k) it is equal to bridge arm current iuj；When k-th of submodule excision of bridge arm in j phase,
sujIt (k) is 0, submodule output voltage uuj(k) and capacitance current iCujIt (k) is 0.Therefore, to each submodule of bridge arm in j phase
It can arrange and write following equation group:
uuj(k)=suj(k)uCuj(k) (6)；
iCuj(k)=suj(k)iuj(7)；
The equation of lower bridge arm submodule is similar with the equation of upper bridge arm submodule:
ulj(k)=slj(k)uClj(k) (9)；
iClj(k)=slj(k)ilj(10)；
The formula describes the MMC detail mathematic model indicated using switch function, and the capacitor of each submodule is corresponding
A differential equation, when submodule quantity is more, model will become sufficiently complex.It is flat using bridge arm here to be simplified
Equal method handles above-mentioned high-order model.Assuming that the capacitance voltage of all submodules, electric current are equal in the same bridge arm, and full
Foot:
uCuj(k)=uCuj(12)；
iCuj(k)=iCuj (13)。
The sum of switch function of all submodules is equal to the modulating wave of bridge arm in bridge arm, it may be assumed that
Wherein, mujFor the modulating wave of bridge arm in j phase, for half-bridge submodule, the value range of modulating wave is [0,1], table
Show the investment ratio of a bridge arm submodule.It brings formula (12)~(14) into formula (1)~(8), is obtained after abbreviation:
ij=ilj-iuj(18)；
uuj=NmujuCuj(19)；
For the relationship between more intuitive embodiment MMC combined-voltage and bridge arm current, control, the formula is changed
It writes:
Wherein, mljFor the modulating wave of j phase lower bridge arm, N is submodule number, and C is submodule capacitor.
Step 2: designing digital physical interface conversion factor, guarantee that the response of MMC experiment porch can be connect by digital physics
The conversion factor of mouth is equivalent to correspond to the response of high-power MMC converter station.
Fig. 2 is system construction drawing mentioned by the method, wherein digital side is the soft straight grade converter station of constant voltage, object
Reason side is to determine power converter station model machine, and the two passes through digital physical interface and is connected.Wherein, digital physical interface method is damping resistance
The three-phase alternating current output end of anti-method, physical side small-power MMC model machine connects ohmic load R ' load.
According to P=UI, voltage, electric current and power three check and balance, once it is determined that two of them variable, third variable
Value just therefore be fixed up.Based on this, three voltage, electric current and power conversion factors need to only determine two of them.
Digital physical interface only feeds back physical side port voltage or current signal to digital side, but the phase same sex inside physical side
The proportionate relationship that the physical quantity of matter should all fix.
Formula (21), (22) show to contain only voltage, electric current, topological parameter and control parameter in MMC mathematical model, not have
Directly reflect the variation of power, digital physical interface conversion factor only considers voltage and current conversion factor:
Wherein, kuAnd kiThe voltage and current conversion factor of respectively large and small power MMC, subscript " ' " indicate high-power MMC
Physical quantity.
Only when small-power MMC experiment porch obtains the complete phase of control mode of high-power converter station after conversion with it
Meanwhile the modulated signal that the two generates could be completely the same, guarantees that fixation is presented in the stable state and dynamic characteristic between size MMC
Proportionate relationship.The two modulating wave may be expressed as:
Formula (23), (24) are substituted into formula (21), in (22), obtain the conversion of small-power MMC dynamic model experiment platform to high-power
Time-domain expression under converter station grade:
The response of MMC dynamic model platform can be equivalent to correspond to the high-power MMC change of current by the conversion factor of digital physical interface
The response stood, formula (24), (25) and formula (20), (21) items need to be equal to each other, and obtain the relationship between two MMC topological parameters
Are as follows:
Step 3: carrying out abbreviation to its mathematical model according to MMC operation characteristic, derive through the transformed DIM of conversion factor
Method compensating impedance.
The essence of MMC operation is constantly to change the submodule quantity put into each bridge arm by modulating wave, to realize
Transformation of electrical energy.It can be a variable capacitance controlled by modulating wave by each bridge arm equivalent of MMC according to this process.
By the operation logic of MMC it is found that DC current circulates only along closed loop flow path exchanges side without entering, therefore here
Ignore the load that exchange side is connect in the DC side impedance for seeking MMC.The parasitic electricity of bridge arm inductance, bridge arm of the upper and lower bridge arm of MMC
Resistance and equivalent variable capacitance constitute RLC series arm.Fig. 3 is the physical side MMC DC side equivalent impedance letter of the method
Change model, impedance may be expressed as:
When MMC is operated normally, in order to guarantee that DC side output voltage is constant, generally require upper and lower bridge arm submodule symmetrical
Complementation investment, i.e. the sum of the submodule quantity of any time upper and lower bridge arm investment are constantly equal to N and (have ignored the tune of loop current suppression generation
Two frequency multiplication ingredient of wave processed), therefore have muj+mlj=1.To which above formula can simplify are as follows:
And then the analytic expression of MMC DC side impedance can be acquired:
In view of the influence of the conversion factor of digital physical interface, it is added in the digital physical message interface being connected with digital side
The compensating impedance Z at place*It should be written as:
The modularization multi-level converter number physical mixed emulation interface design method provided according to the present invention, design back
The embodiment of the soft straight PHIL system of backrest.Determine that digital side is the 201 level constant voltage converter stations of 100MW, 300kV, voltage folding
Calculating coefficient value is 0.001, and electric current conversion factor value is 100, to keep the response of physical side model machine equivalent after conversion
Power converter station is determined under corresponding soft straight grade.1kW, 300V of physical side determine power converter station model machine and pass through DIM interface and number
Word side is connected, and table 1 gives system parameter.
1 experiment parameter of table
The experiment of DC bus short trouble is carried out in above-mentioned soft straight PHIL system back-to-back.It can by the experimental waveform of Fig. 4
To find out, DIM compensating impedance design method can satisfy system stability and accuracy.
Claims (5)
1. a kind of modularization multi-level converter number physical mixed emulation interface design method, it is characterised in that the method packet
Include following steps:
Step 1: deriving MMC mathematical model according to MMC operation logic；
Step 2: designing digital physical interface conversion factor, guarantee that the response of MMC experiment porch passes through digital physical interface conversion
Coefficient is equivalent to correspond to the response of high-power MMC converter station；
It is one modulated by each bridge arm equivalent of MMC Step 3: carrying out abbreviation to its mathematical model according to MMC operation characteristic
The variable capacitance of wave control processed, the every equivalent of MMC are upper and lower bridge arm inductance, bridge arm dead resistance and equivalent variable capacitance structure
At RLC series arm, it is contemplated that influence of the conversion factor to circuit parameter, derive the domain s under through the transformed DIM of conversion factor
Method compensating impedance.
2. modularization multi-level converter number physical mixed emulation interface design method according to claim 1, special
Sign is in the step 1 that MMC mathematical model is as follows:
In formula, R, L respectively indicate the inductance of MMC bridge arm equivalent resistance and bridge arm reactor, ujIndicate j phase alternating voltage, uDCTable
Show DC bus-bar voltage, uujFor bridge arm voltage in j phase, iujAnd iljThe respectively upper and lower bridge arm current of j phase, mujAnd mljRespectively j
The mutually modulating wave of upper and lower bridge arm, N are submodule number, and C is submodule capacitor.
3. modularization multi-level converter number physical mixed emulation interface design method according to claim 1, special
Sign is in the step 2 that MMC experiment porch is converted to the time-domain expression under high-power MMC converter station grade are as follows:
Relationship between MMC experiment porch and the MMC topological parameter of high-power MMC converter station are as follows:
In formula, kuAnd kiThe voltage and current conversion factor of respectively large and small power MMC, subscript " ' " indicate the object of high-power MMC
Reason amount.
4. modularization multi-level converter number physical mixed emulation interface design method according to claim 1, special
It levies and is in the step 3, the compensating impedance Z under the domain s*Are as follows:
5. modularization multi-level converter number physical mixed emulation interface design method according to claim 1, special
Sign is in the step 3, when MMC is operated normally, in order to guarantee that DC side output voltage is constant, upper and lower bridge arm investment
The sum of submodule quantity is constantly equal to N, and N is submodule number.
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Cited By (2)
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| CN111382550A (en) * | 2020-03-10 | 2020-07-07 | 南方电网科学研究院有限责任公司 | Dynamic combination real-time simulation method of modular multilevel converter and use method |
| CN113098244A (en) * | 2021-04-07 | 2021-07-09 | 全球能源互联网研究院有限公司 | Bridge arm reactance unit of MMC (modular multilevel converter) |
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| CN113098244A (en) * | 2021-04-07 | 2021-07-09 | 全球能源互联网研究院有限公司 | Bridge arm reactance unit of MMC (modular multilevel converter) |
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