CN110943469A - Single-stage energy storage converter and control method thereof - Google Patents
Single-stage energy storage converter and control method thereof Download PDFInfo
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Abstract
The invention discloses a single-stage energy storage converter with an isolation transformer, which comprises: the alternating current end of each phase of branch is connected with an alternating current power grid, and the direct current end of each phase of branch is connected with a storage battery; the structure of each phase leg comprises: an isolation transformer, an alternating current filter, an alternating current soft start circuit, a filter circuit, a bridge inverter circuit, a direct current bus capacitor, a direct current filter and a direct current soft start circuit are sequentially connected in series from an alternating current network end to a direct current storage battery end; the positive electrodes of the output ends of the three-phase branch direct-current bus capacitors are connected through a direct-current contactor; and the negative electrodes of the output ends of the three-phase branch direct-current bus capacitors are connected through a direct-current contactor. The invention has the beneficial effects that: the power grid applicability of the energy storage converter can be improved, and the energy storage converter can work stably and reliably when the power grid is unbalanced.
Description
Technical Field
The invention relates to the technical field of energy storage converters, in particular to a single-stage energy storage converter and a control method thereof.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Along with the development of micro-grid energy storage, the application occasions and the power grid applicability of the energy storage converter are more and more concerned by people. Most of existing energy storage converters adopt a three-phase half-bridge structure, and under the condition that the withstand voltage of power switching tubes meets requirements, the three-phase half-bridge structure only adopts six power switching tubes, each bridge arm only has two switching tubes, and any two phases are coupled, so that when a three-phase power grid is unbalanced, the control performance of the three-phase power grid is deteriorated, and even a fault occurs.
The three-phase half-bridge structure determines that the single-stage energy storage converter only has one direct current output end, cannot meet the connection work of batteries with different voltage grades on the same energy storage converter, and cannot realize the gradient utilization of the batteries.
Disclosure of Invention
In order to solve the problems, the invention provides a single-stage energy storage converter and a control method thereof, which adopt a three-phase full-bridge structure, solve the working problem when the power grid is unbalanced, simultaneously change a hardware structure, increase function control, realize that a direct current output end can be connected with batteries with different voltage levels, and reduce the input cost of the energy storage converter suitable for different batteries.
In some embodiments, the following technical scheme is adopted:
a single-stage energy storage converter with an isolation transformer, comprising: the alternating current end of each phase of branch is connected with an alternating current power grid, and the direct current end of each phase of branch is connected with a storage battery; the structure of each phase leg comprises: an isolation transformer, an alternating current filter, an alternating current soft start circuit, a filter circuit, a bridge inverter circuit, a direct current bus capacitor, a direct current filter and a direct current soft start circuit are sequentially connected in series from an alternating current network end to a direct current storage battery end;
the positive electrodes of the output ends of the three-phase branch direct-current bus capacitors are connected through a direct-current contactor; and the negative electrodes of the output ends of the three-phase branch direct-current bus capacitors are connected through a direct-current contactor.
In other embodiments, the following technical solutions are adopted:
an isolation transformer free single stage energy storage converter comprising: the alternating current end of each phase of branch is connected with an alternating current power grid, and the direct current end of each phase of branch is connected with a storage battery; the structure of each phase leg comprises: an alternating current filter, an alternating current soft start circuit, a filter circuit, a bridge type inverter circuit, a direct current bus capacitor, a direct current filter and a direct current soft start circuit are sequentially connected in series from an alternating current network end to a direct current storage battery end;
the positive electrodes of the output ends of the three-phase branch direct-current bus capacitors are connected through a direct-current contactor; and the negative electrodes of the output ends of the three-phase branch direct-current bus capacitors are connected through a direct-current contactor.
Through the on-off of the control direct current contactor, the single-stage energy storage converter can be connected with batteries with different voltage grades to work normally, and the input cost of the energy storage converter for different batteries is reduced.
In other embodiments, the following technical solutions are adopted:
a control method of a single-stage energy storage converter comprises the following steps:
when the direct current ends of the three-phase branch circuits are connected with storage batteries of different models and voltage grades, the connection between the output ends of the direct current bus capacitors of the three-phase branch circuits is disconnected;
after the soft start stage is completed, respectively acquiring values of alternating current voltage, inductive current, direct current bus voltage and direct current for each phase of branch; setting a direct-current voltage given value and a current given value;
according to the collected value, obtaining a driving signal for driving the switching tube of the phase branch bridge type inverter circuit to be switched on and off after operation;
and controlling the amplitude difference and the phase angle between the alternating current sinusoidal waveform output by the bridge inverter circuit and the power grid voltage to obtain a current waveform with the same phase as the power grid voltage, so as to charge the storage battery.
In other embodiments, the following technical solutions are adopted:
a control method of a single-stage energy storage converter comprises the following steps:
when the direct current ends of the three-phase branch circuits are connected with storage batteries with the same type and voltage class, the direct current bus capacitor output ends of the three-phase branch circuits are connected; setting the direct-current voltage given value and the charging current given value of the three-phase branch to be respectively the same;
after the soft start stage is completed, respectively acquiring values of alternating current voltage, inductive current, direct current bus voltage and direct current for each phase of branch;
obtaining a driving signal for driving the switching tube of the phase branch bridge type inverter circuit to be switched on and off after operation according to the collected value and the set value;
and controlling a phase angle between an alternating current sine waveform output by the bridge inverter circuit and the power grid voltage to obtain a current waveform with the same phase as the power grid voltage, so as to charge the storage battery.
Compared with the prior art, the invention has the beneficial effects that:
the control method of the energy storage converter based on the biquad generalized integral and the virtual hysteresis processing technology is provided, the corresponding energy storage converter is developed, the problems of single-phase digital coordinate transformation and phase locking are solved, the problem of power supply adaptability of the energy storage converter is solved, and the reliability of the energy storage converter in different power supply modes and in a power grid voltage unbalance state is improved.
The bidirectional alternating current-direct current conversion control method is provided, a three-phase discrete operation circuit topology framework is constructed, the problem of charging and discharging of batteries with different voltage grades by the same energy storage converter is solved, and the application range of the energy storage converter is widened. The positive pole and the negative pole of the three-phase branch direct current bus capacitor output end are connected through the direct current contactors respectively, the single-stage energy storage converter is connected with batteries of different voltage levels to work normally by controlling the on-off of the direct current contactors, and the input cost of the energy storage converter for different batteries is reduced.
The conversion from a three-phase four-wire system power supply mode to a three-phase three-wire system power supply mode can be realized by simply changing the wiring mode of the single-stage energy storage converter, and the same machine can be suitable for different power grid power supply modes.
Drawings
Fig. 1 is a circuit topology diagram of a single-stage energy storage converter with an isolation transformer according to an embodiment of the present invention;
fig. 2 is a circuit topology diagram of a single-stage energy storage converter without an isolation transformer according to a first embodiment of the present invention;
fig. 3 is a control block diagram of a single-stage energy storage converter according to an embodiment of the present invention;
FIG. 4 is a block diagram of a phase-locked loop of a single-stage energy-storage converter according to an embodiment of the present invention;
fig. 5 is a block diagram of coordinate transformation of a single-stage energy storage converter according to an embodiment of the present invention.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example one
In one or more embodiments, a single-stage energy storage converter with an isolation transformer is disclosed, as shown in fig. 1, each phase of the single-stage energy storage converter is separately connected with a transformer for isolation, alternating current is directly converted into direct current to charge a battery, and meanwhile, the battery is discharged and connected to the grid, and the single-stage energy storage converter can achieve the functions of adjusting the output voltage of the direct current and adjusting the current. The AC end of the single-stage energy storage converter is connected with an AC power grid A, B, C, N, the DC end is provided with three groups of connecting terminals, and each group of terminals can be connected with a battery; and the alternating current end is connected with an alternating current lightning protector, so that the single-stage energy storage converter is protected from lightning.
Taking the a-phase circuit structure as an example, the transformer T1 plays a role in isolation and transformation; the alternating current filter filters alternating current EMC interference; the alternating-current soft start circuit consists of a main alternating-current contactor, an auxiliary alternating-current contactor and a soft start resistor, so that the slow charging effect on a rear-stage direct-current bus capacitor is realized during power-on, and the impact of large current generated at the moment of power-on the single-stage energy storage converter and a power grid is avoided; the LC filter circuit consists of an alternating current filter inductor and a filter capacitor, and filters high-frequency components of the SPWM wave generated by the bridge type inverter circuit to obtain a smooth alternating current waveform; the bridge type inverter circuit consists of IGBTs (insulated gate bipolar transistors), the IGBTs are connected with a direct current bus capacitor, each bridge arm of the IGBT bridge type inverter circuit is connected with an absorption capacitor, the absorption capacitors absorb high-frequency peaks generated when the IGBT bridge type inverter circuit acts and play a role in protecting the IGBTs, the direct current bus capacitor plays a role in supporting and filtering direct current voltage, and the IGBT bridge type inverter circuit inverts a direct current voltage waveform into a high-frequency SPWM (sinusoidal pulse width modulation) voltage waveform; the direct current filter filters out direct current EMC interference; the direct current soft start loop consists of a main direct current contactor, an auxiliary direct current contactor and a soft start resistor, and the impact of large current generated in the electrifying moment on the single-stage energy storage converter and the battery is avoided.
B. The circuit structure and device parameters of the phase C are identical to those of the phase A, and are not described repeatedly.
A. B, C the output ends of the three-phase DC bus capacitors are connected through the DC contactor, the positive poles and the negative poles are respectively and independently connected, the three-phase DC bus capacitors can be connected together or completely separated by controlling the on-off of the DC contactor, the positive poles of the three-phase DC bus capacitors are connected together after the DC contactor is closed, the negative poles of the DC bus capacitors are connected together, at the moment, the three-phase DC + and DC-ends can only be connected with the batteries with the same voltage class, after the DC contactor is disconnected, the three-phase DC is mutually independent, at the moment, the three-phase DC + and DC-ends can be respectively connected with the batteries with different voltage classes, and the applicability of the same energy storage converter to the batteries with different voltage classes is realized.
In other embodiments, in the connection mode shown in fig. 1, the connection relationship between the power grid and the transformer is changed, so that three-phase three-wire power supply can be conveniently realized, the primary sides of the single-stage energy storage converter transformers shown in fig. 1 are sequentially connected end to end, that is, the primary sides of the transformers are connected into a triangular connection relationship, so that three-phase three-wire power supply can be realized, the wiring mode of the single-stage energy storage converter is simply changed, the conversion from a three-phase four-wire system power supply mode to a three-phase three-wire system power supply mode can be realized, and the same machine can be suitable.
Other circuit connection relationships are the same as those described in fig. 1, and a description thereof will not be repeated.
Example two
In one or more embodiments, an isolation transformer-free single-stage energy storage converter is disclosed, and as shown in fig. 2, one end of each ac filter of the single-stage energy storage converter is connected to N at the same time, and the other end of each ac filter is connected to the power grid A, B, C, so that the single-stage energy storage converter with no transformer isolation is realized.
In other embodiments, the connection relationship between the power grid and the ac filter is changed in the connection manner shown in fig. 2, so that three-phase three-wire power supply can be conveniently realized, the ac filters of the single-stage energy storage converter shown in fig. 2 are connected end to end in sequence, that is, the filters are connected into a triangular connection relationship, so that three-phase three-wire power supply can be realized, and the connection relationship of other circuits is the same as that described in fig. 2, and will not be described repeatedly herein.
EXAMPLE III
In one or more embodiments, a method for controlling a single-stage energy storage converter is disclosed, and with reference to fig. 3, the method includes:
taking the phase-A control process as an example, the energy storage converter is connected with a power grid through an alternating current filter and a transformer T1, the DC1+ and the DC 1-on the DC side are connected with the anode and the cathode of a battery, and meanwhile, the types and the voltage grades of the batteries connected with the DC2+ and the DC2-, the DC3+ and the DC 3-are different from those of the batteries connected with the DC1+ and the DC 1-.
Because the three-phase direct current output end is connected with batteries with different models and voltage grades, when the energy storage converter is electrified, the Kdc1 and the Kdc2 are firstly ensured to be disconnected, the direct current buses are respectively independent, and the three phases independently control the charging and discharging voltage and current of the batteries;
then entering a soft start stage, closing an auxiliary alternating current contactor K2, limiting the current of a soft start resistor R1, charging a direct current bus capacitor C4 after rectifying through anti-parallel diodes of bridge inverter circuits Q1, Q2, Q3 and Q4, closing an auxiliary direct current contactor K4 of a direct current soft start loop, limiting the current of a soft start resistor R2, and charging a direct current bus capacitor C4;
according to the function and performance parameters of the energy storage converter, the battery voltage is required to be greater than the direct-current voltage obtained by three-phase uncontrolled rectification; after the auxiliary contactor is closed and charged for 5s, the soft start is completed, the alternating current main contactor K1 is closed, the direct current main contactor K3 is closed, and the alternating current auxiliary contactor K2 and the direct current auxiliary contactor K4 are opened.
The control circuit samples the A-phase alternating voltage to obtain UaTo the current of the inductorL1Sampling to obtain iLSampling the DC bus voltage to obtain UdcSampling direct current to obtain Idc(ii) a Sampled power grid voltage UaObtaining U after dq coordinate transformation as shown in FIG. 5d、UqInductor current i obtained by samplingLI is obtained after dq coordinate transformation as shown in FIG. 5d、Iq；UaThe grid voltage phase θ is obtained through the PLL phase-locked loop shown in fig. 4, and all coordinate transformations are performed under the grid phase θ.
Setting a given value U of DC voltage in the process of charging the batterydcrefSetting a given value of charging current IdcrefValue of (D), UdcrefAnd a DC voltage sampling value UdcPerforming negative feedback operation to obtain error value UdcErr，UdcErrSending the data to a direct current voltage loop PI controller for PI operation to obtain a PI operation result UdcPI；IdcrefAnd the DC current sampling value IdcPerforming negative feedback operation to obtain error value IdcErr，IdcErrSending the current to a direct current loop PI controller for PI operation to obtain a PI operation result IdcPI；
UdcPIAnd IdcPIObtaining d-axis current loop current set value I after minimum value operationdref，IqrefSet to zero during charging, IdrefAnd idPerforming negative feedback operation to obtain IdErr，IdErrSending the current to a d-axis current loop PI controller for PI operation to obtain IdPI；
IqrefAnd iqPerforming negative feedback operation to obtain IqErr，IqErrSending the current to a q-axis current loop PI controller to carry out PI operation to obtain IqPI，UdAnd UqSubtract I respectivelydPIAnd IqPIThen divided by the sampled values of the bus voltage UdcNormalization is carried out, the normalized value is sent to an SPWM drive waveform generation circuit, four SPWM drive signals are generated to drive the on and off of Q1, Q2, Q3 and Q4 respectively, and peak voltages generated in stray inductance of the circuit in the on and off processes of Q1, Q2, Q3 and Q4 pass throughThe absorption capacitors C2 and C3 absorb the voltage to avoid the overvoltage damage of the IGBT, the direct-current voltage of the capacitor C4 is switched on and off through Q1, Q2, Q3 and Q4, high-frequency SPWM voltage waveforms are generated at the connection end of Q1 and Q2 and the connection end of Q3 and Q4, the high-frequency SPWM voltage waveforms are filtered by a filter loop consisting of L1, L2 and C1 to obtain a smooth alternating-current sinusoidal waveform, the amplitude difference and the phase angle between the sinusoidal waveform generated by the SPWM and the grid voltage are controlled, and therefore a current waveform iL in the same phase with the grid voltage is obtained, the energy storage converter absorbs energy from the grid, and the charging of the battery is achieved.
All the PI controllers have amplitude limiting functions, and the d-axis current loop PI controller and the q-axis current loop PI controller have the same control parameters.
Setting a given value U of bus voltage when discharging the batterydcrefIs less than the rated voltage of the battery and has a given value UdcrefAnd a feedback value UdcOutput error U is always output when balance cannot be achieveddcErrThe output value of the direct current voltage loop PI controller is always the upper limit value of amplitude limiting, and after the minimum value operation module is taken, the discharge current is set to be IdcrefDetermining; i isdcrefThe discharging function of the battery can be realized only by setting the discharge voltage to be a negative value; during discharge of the battery IqrefSet to zero; other control processes are the same as the above charging process, and are not described repeatedly here.
In the charging and discharging processes, the three-phase direct-current output ends DC1+ and DC1-, DC2+ and DC2-, DC3+ and DC 3-are respectively connected with batteries of different models and voltage grades, A, B, C three-phase direct-current voltage given value Udcref and current given value Idcref need to be set to different values according to battery parameters, other control processes of the B-phase and the C-phase are the same as the processes, and repeated description is omitted here.
In other embodiments, when three-phase direct current output terminals DC1+ and DC1-, DC2+ and DC2-, DC3+ and DC 3-are connected with batteries with the same type and voltage grade, after the energy storage converter is powered on, first, Kdc1 and Kdc2 are ensured to be closed, direct current buses are ensured to be connected with each other, and A, B, C three-phase direct current voltage given value U is ensureddcrefAnd given value of current IdcrefThe same values should be set, and other charge and discharge control processes are the same as the above control processes, and will not be described again.
Other control processes connected to the power grid are the same as those described above, and will not be described again.
FIG. 4 is a block diagram of a phase-locked loop of the single-stage energy-storage converter of the present invention, where an input signal u passes through a biquad generalized integrator to obtain u 'and qu', and a corresponding transfer function formula is as follows
The input signal u is processed by biquad generalized integrator to obtain u 'with the same phase as u and qu' with lag u signal of 90 deg, the two signals are respectively sent to αβ/dq conversion to obtain u _ q signal, PI operation is carried out on the u _ q signal, feedforward signal omega f is added, an integrator is used to carry out remainder operation on the obtained integral result to 2 PI, angle theta is obtained after remainder operation, theta is sent to αβ/dq conversion to form negative feedback, when the u _ q signal obtained by αβ/dq conversion is zero, the value of theta is the angle of the phase-locked signal u, wherein the formula of αβ/dq conversion is as follows
Fig. 5 is a block diagram of coordinate transformation of a single-stage energy storage converter according to an embodiment of the present invention, where the coordinate transformation implements dq coordinate transformation of a single-phase signal, a biquad generalized integrator is used to generate two orthogonal signals, and then output of a dq axis variable is implemented according to αβ/dq transformation formula, and the implementation process is similar to that in fig. 4, and will not be described again here.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. A single-stage energy storage converter with an isolation transformer, comprising: the alternating current end of each phase of branch is connected with an alternating current power grid, and the direct current end of each phase of branch is connected with a storage battery; it is characterized in that the structure of each phase branch comprises: an isolation transformer, an alternating current filter, an alternating current soft start circuit, a filter circuit, a bridge inverter circuit, a direct current bus capacitor, a direct current filter and a direct current soft start circuit are sequentially connected in series from an alternating current network end to a direct current storage battery end;
the positive electrodes of the output ends of the three-phase branch direct-current bus capacitors are connected through a direct-current contactor; and the negative electrodes of the output ends of the three-phase branch direct-current bus capacitors are connected through a direct-current contactor.
2. The single-stage energy storage converter with the isolation transformer as claimed in claim 1, wherein the three-phase three-wire power supply can be realized by connecting the primary sides of the isolation transformers of the three-phase branch circuits end to end and connecting the primary sides of the isolation transformers in a delta connection.
3. The single-stage energy storage converter with an isolation transformer as claimed in claim 1, wherein said ac soft start circuit comprises: the main alternating current contactor is connected with the main alternating current contactor in parallel, and the main alternating current contactor is connected with a series branch consisting of an auxiliary alternating current contactor and a soft start resistor.
4. The single-stage energy storage converter with an isolation transformer as claimed in claim 1, wherein said dc soft start loop comprises: the main direct current contactor is connected with the main direct current contactor in parallel, and the main direct current contactor is connected with a series branch consisting of an auxiliary direct current contactor and a soft start resistor.
5. An isolation transformer free single stage energy storage converter comprising: the alternating current end of each phase of branch is connected with an alternating current power grid, and the direct current end of each phase of branch is connected with a storage battery; it is characterized in that the structure of each phase branch comprises: an alternating current filter, an alternating current soft start circuit, a filter circuit, a bridge type inverter circuit, a direct current bus capacitor, a direct current filter and a direct current soft start circuit are sequentially connected in series from an alternating current network end to a direct current storage battery end;
the positive electrodes of the output ends of the three-phase branch direct-current bus capacitors are connected through a direct-current contactor; and the negative electrodes of the output ends of the three-phase branch direct-current bus capacitors are connected through a direct-current contactor.
6. The single-stage energy storage converter without isolation transformer as claimed in claim 5, wherein the three-phase three-wire power supply can be realized by connecting the filters of the three-phase branch with the ac filters connected end to end and connecting the filters in a delta connection.
7. The single-stage energy storage converter without an isolation transformer as claimed in claim 5, wherein said AC soft start loop comprises: the main alternating current contactor is connected with the main alternating current contactor in parallel, and the main alternating current contactor is connected with the main alternating current contactor in parallel and is connected with a series branch consisting of an auxiliary alternating current contactor and a soft start resistor;
alternatively, the first and second electrodes may be,
the direct current soft start loop includes: the main direct current contactor is connected with the main direct current contactor in parallel, and the main direct current contactor is connected with a series branch consisting of an auxiliary direct current contactor and a soft start resistor.
8. A control method of a single-stage energy storage converter is characterized by comprising the following steps:
when the direct current ends of the three-phase branch circuits are connected with storage batteries of different models and voltage grades, the connection between the output ends of the direct current bus capacitors of the three-phase branch circuits is disconnected;
after the soft start stage is completed, respectively acquiring values of alternating current voltage, inductive current, direct current bus voltage and direct current for each phase of branch; setting a direct-current voltage given value and a current given value;
according to the collected value, obtaining a driving signal for driving the switching tube of the phase branch bridge type inverter circuit to be switched on and off after operation;
and controlling the amplitude difference and the phase angle between the alternating current sinusoidal waveform output by the bridge inverter circuit and the power grid voltage to obtain a current waveform with the same phase as the power grid voltage, so as to charge the storage battery.
9. A control method of a single-stage energy storage converter is characterized by comprising the following steps:
when the direct current ends of the three-phase branch circuits are connected with storage batteries with the same type and voltage class, the direct current bus capacitor output ends of the three-phase branch circuits are connected; setting the direct-current voltage given value and the charging current given value of the three-phase branch to be respectively the same;
after the soft start stage is completed, respectively acquiring values of alternating current voltage, inductive current, direct current bus voltage and direct current for each phase of branch;
obtaining a driving signal for driving the switching tube of the phase branch bridge type inverter circuit to be switched on and off after operation according to the collected value and the set value;
and controlling a phase angle between an alternating current sine waveform output by the bridge inverter circuit and the power grid voltage to obtain a current waveform with the same phase as the power grid voltage, so as to charge the storage battery.
10. A method as claimed in claim 8 or 9, wherein when the battery is discharged, the value of the set dc voltage value is set to be less than the rated voltage of the battery, and the magnitude of the discharge current is determined by the set current value; and setting the given current value as a negative value to realize the discharge function of the battery.
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| CN111463814A (en) * | 2020-05-26 | 2020-07-28 | 广东电网有限责任公司电力科学研究院 | Energy storage converter and three-phase split-phase control method |
| CN113556031A (en) * | 2020-04-24 | 2021-10-26 | 南京南瑞继保电气有限公司 | Power electronic transformer and starting control method thereof |
| CN113640693A (en) * | 2020-04-24 | 2021-11-12 | 国网江苏省电力有限公司电力科学研究院 | Power electronic transformer operation system and control method |
| CN116054173A (en) * | 2023-04-03 | 2023-05-02 | 河北沃邦电力科技有限公司 | Energy storage converter control method and energy storage converter |
| CN116742679A (en) * | 2023-08-10 | 2023-09-12 | 上海百竹成航新能源有限责任公司 | Reverse starting energy storage system and reverse starting method |
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