CN111030488A - Capacitor voltage grouping round-robin returning method with filtering function based on MMC distributed control structure - Google Patents

Capacitor voltage grouping round-robin returning method with filtering function based on MMC distributed control structure Download PDF

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CN111030488A
CN111030488A CN201911286627.7A CN201911286627A CN111030488A CN 111030488 A CN111030488 A CN 111030488A CN 201911286627 A CN201911286627 A CN 201911286627A CN 111030488 A CN111030488 A CN 111030488A
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capacitor voltage
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CN111030488B (en
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杨顺风
刘顺
苏航
王海宇
黄景春
邸世民
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Southwest Jiaotong University
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    • 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
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
    • 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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]

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Abstract

The invention discloses a capacitor voltage grouping round-robin returning method with a filtering function based on an MMC distributed control structure. Only one local controller group returns the collected local sub-module capacitor voltage information to the central controller at each return moment, and all the local controllers return the collected local sub-module capacitor voltage information at regular intervals in sequence in a grouping round-robin manner; and reasonably setting the return frequency of the submodule capacitor voltage round-robin return method to realize filtering of the phase average capacitor voltage. The method can effectively solve the problem of large communication burden in an MMC distributed control system, and the filtering function of the proposed sub-module capacitor voltage round-robin returning method can replace a low-pass filtering link in phase-averaged capacitor voltage control, so that the control delay introduced by the low-pass filtering link can be reduced.

Description

Capacitor voltage grouping round-robin returning method with filtering function based on MMC distributed control structure
Technical Field
The invention relates to the field of high-voltage direct-current power transmission, in particular to an MMC distributed control structure.
Background
At present, in the middle and high voltage application fields (such as high voltage direct current transmission and medium voltage motor drive), a Modular Multilevel Converter (MMC) has become one of the most promising topologies due to its many characteristics such as flexibility, expandability, and high reliability. Due to the limitation of the control capability of the controller, the MMC centralized control structure adopting a single controller can only bear the control task of an MMC with a small number of Sub-modules (SM), and cannot be used for an MMC system containing a large number of Sub-modules. The centralized control architecture greatly limits the flexibility and scalability of MMCs.
In order to solve the disadvantages of the centralized control structure, a distributed control structure capable of maintaining flexibility and extensibility of the MMC system has been receiving attention from researchers at home and abroad in recent years. The general distributed control structure can be summarized into a control structure of a 'one-master-multiple-slave' type, and is composed of three parts: a central controller, a communication network, a plurality of local controllers. Wherein, the central controller executes output current control, circulation control and phase average capacitance voltage control; the local controller executes the balance control of the sub-module capacitor voltage, and the data transmission between the central controller and the local controller is realized by means of a communication network. Because the implementation of the phase average capacitance voltage control in the central controller needs to acquire the capacitance voltages of all the sub-modules of one phase, and the acquisition of the capacitance voltages is completed in the local controller, the local controller needs to transmit all the sub-module capacitance voltages back to the central controller in real time, and particularly when the number of the sub-modules is large, huge communication burden is caused. It is a very meaningful task to reduce the problem of communication burden in the MMC distributed control system. In addition, in order to avoid interference of the ac ripple in the phase-averaged capacitor voltage on other control targets, a low-pass filtering link is usually added in the phase-averaged capacitor voltage control loop to filter the ac ripple, but the low-pass filtering link increases the delay of the phase-averaged capacitor voltage control loop, so that the stability margin of the control loop is reduced.
Disclosure of Invention
In view of the above deficiencies of the prior art, the object of the present invention is to: a new capacitor voltage return method is designed to solve the problem of large communication burden in an MMC distributed control system, and the filtering function of the proposed sub-module capacitor voltage round-robin return method is utilized to replace the low-pass filtering link of a phase-averaged capacitor voltage control loop so as to reduce the control delay introduced by the low-pass filtering link.
The MMC distributed control architecture still employs the existing technology architecture. As shown in the attached figure 1, comprises three parts: a central controller, a communication network and 2N local controllers (1-N on the upper bridge arm and N + 1-2N on the lower bridge arm) arranged in each sub-module (SM). Wherein, the central controller executes the bridge arm current iuAnd ilSampling, output current control, circulation control and phase average capacitance voltage control; each local controller performs sampling, equalization control and PWM signal generation of local sub-module capacitor voltage; cooperative control and information exchange between the central controller and the local controllers are realized by means of a communication network.
In order to achieve the purpose of the invention, the invention adopts the following technical means to control the return of the sub-module capacitor voltage:
a submodule capacitor voltage grouping round-robin returning method with a filtering function based on an MMC distributed control structure is characterized in that in the MMC distributed control structure formed by a central controller, a communication network and 2N ground controllers located in submodules, the N ground controllers located in an upper bridge arm are numbered as 1-N ground controllers, the N ground controllers located in a lower bridge arm are numbered as N + 1-2N ground controllers, and the two groups of the ground controller of one upper bridge arm and the ground controller of one lower bridge arm are combined into a ground controller group G in sequenceiI is 1,2, … … N; thus, 2N local controllers constitute N local controllersGroup, concretely the following, G1: a local controller 1 and a local controller N + 1; g2: a local controller 2 and a local controller N + 2; g3: a local controller 3, a local controller N + 3; … …, GN: a local controller N and a local controller 2N; the 2N local controllers transmit the collected local sub-module capacitance voltage information back to the central controller to realize phase average capacitance voltage control, and the transmission back of the sub-module capacitance voltage information is realized by a grouping round transmission method as follows: only one local controller group returns the collected local sub-module capacitor voltage information to the central controller at each return moment; the local controller group is composed of G1～GNSequentially and circularly returning the collected capacitance and voltage information of the local sub-modules at equal time intervals; entering a new periodic cycle … … after the N backhaul moments are completed; at a specific backhaul time T1～TNFor example, the order in which the local controller sequentially returns the capacitor voltage information of the local controller group sub-modules is as follows: g1，G2，G3，……，GN(ii) a Let the interval between backhaul moments be TtSaid backhaul interval TtIs determined by the following formula:
Tt＝1/ft，ftto achieve a return frequency for phase averaged capacitor voltage filtering.
The sub-module capacitor voltage packet round robin feedback method proposed by the present invention is shown in fig. 2, assuming that the local controller group G1～NThe average value of the capacitor voltages of the two sub-modules in the corresponding group is recorded as uc_g1～NPhase average capacitance voltage uc_avAnd self-updating is carried out at each return moment according to the average value of the returned capacitor voltage of a group of (2) sub-modules, and the updated phase average capacitor voltage is kept until the next return moment. By TN～TN+2The variation of the average capacitance voltage value is explained specifically at the momentNPhase average capacitor voltage of uc_av(TN)＝[uc_g1(T1)+uc_g2(T2)+…+uc_gN-1(TN-1)+uc_gN(TN)]N, the value is maintained until the nextA return time TN+1At the return time TN+1Local controller group G1Returning the collected capacitor voltage values u of the two local submodulesc_g1By uc_g1(T1) Is updated to uc_g1(TN+1) So at the return time TN+1Phase average capacitance voltage value is uc_av(TN) Is updated to uc_av(TN+1)＝[uc_g2(T2)+…+uc_gN-1(TN-1)+uc_gN(TN)+uc_g1(TN+1)]N, this value is maintained until the next backhaul time TN+2. According to the above process, the phase-averaged capacitor voltage u at the kth feedback timec_av(k) Is represented as follows:
Figure BDA0002318163790000021
in the above formula, uc_av_rippleRepresenting the ac ripple of the phase averaged capacitor voltage. Consider u in the above formulac_av_rippleAnd a backhaul interval TtIf the feedback frequency f in the proposed round-robin feedback scheme is properly sett(ft＝1/Tt) The filtering of the phase-averaged capacitor voltage, i.e. u, can be realizedc_av_rippleIs always 0. Therefore, the feedback frequency f for realizing the function of filtering the phase-averaged capacitor voltagetThe solving strategy is as follows: making the expression of the AC ripple in the phase-averaged capacitor voltage constantly equal to 0, and inversely solving the back-transmission frequency f capable of realizing the phase-averaged capacitor voltage filteringt。
The preset conditions are as follows:
uc_av_ripple≡0
according to the trigonometric function algorithm, the following relationship can be obtained:
Figure BDA0002318163790000031
the meaning of the above formula is equivalent to 2f for a frequencyoThe sinusoidal signal is sampled continuously and equally (the sampling frequency is also the return)Frequency is denoted as ft＝1/Tt) And the result obtained by summing the data of the N times of sampling is constantly 0, namely the sinusoidal component does not appear in the obtained result, so that the filtering of the sinusoidal signal is achieved.
First, according to shannon's sampling theorem, the data sampled N times must be guaranteed to reproduce the sinusoidal signal, so it must satisfy:
ft≥2*2fo＝4fo
secondly, solving the expression to finally obtain the return frequency f for realizing the phase-average capacitance-voltage filteringt：
Figure BDA0002318163790000032
Wherein: [ x ] represents the largest integer not exceeding x.
The sub-module capacitor voltage round-robin returning method with the filtering function can effectively solve the problem of large communication burden in an MMC distributed control structure, and the filtering function of the sub-module capacitor voltage round-robin returning method can replace a low-pass filtering link in phase-averaged capacitor voltage control, so that the control delay caused by the low-pass filtering link can be reduced.
Drawings
Fig. 1 is a technical structural diagram of an MMC distributed control structure.
Fig. 2 is a timing diagram of the sub-module capacitor voltage packet round-robin feedback method according to the present invention.
Detailed Description
In an MMC distributed control structure consisting of a central controller, a communication network and 2N local controllers located in each sub-module (SM), as shown in fig. 1, the sub-module capacitor voltage packet round robin method proposed by the present invention is implemented as follows: the N ground controllers positioned on the upper bridge arm are numbered as ground controllers 1-N, and the N ground controllers positioned on the lower bridge arm are numbered as ground controllers N + 1-2N. And combining the ground controller of an upper bridge arm and the ground controller of a lower bridge arm into a ground controller in sequenceGroup GiI is 1,2, … … N; thus, 2N local controllers constitute N local controller groups, specifically, G1: a local controller 1 and a local controller N + 1; g2: a local controller 2 and a local controller N + 2; g3: a local controller 3, a local controller N + 3; … …, GN: a local controller N and a local controller 2N. The capacitor voltage packet round robin feedback scheme proposed by the present invention is shown in FIG. 2, where only one set of local controllers G is provided at each feedback timeiReturning the collected capacitance and voltage information of the local sub-module to the central controller; local controller group G1～NSequentially and circularly returning the collected capacitance and voltage information of the local sub-modules at equal intervals; a new cycle … … is entered after the N time interval periods are completed. At a specific backhaul time T1～TNFor example, the order in which the local controller sequentially returns the capacitor voltage information of the local controller group sub-modules is as follows: g1，G2，G3，……，GN。
Return frequency f for realizing filtering function of submodule capacitor voltage grouping round-robin return methodtWas obtained according to the following:
generally, the capacitor voltages of the sub-modules in one bridge arm are the same, and the main ac ripples in the capacitor voltages of the sub-modules are fundamental frequency and double frequency components. The sub-module capacitor voltages of the upper and lower bridge arms are expressed as follows:
Figure BDA0002318163790000041
wherein: u. ofc1～NRepresenting the capacitance voltages of submodules 1 to N (located at an upper bridge arm); u. ofcN+1～2NRepresenting the capacitance voltage of the sub-modules N + 1-2N (positioned on a lower bridge arm); u. ofc_dc、uc_1、uc_2Respectively representing the direct current component, the fundamental frequency component amplitude and the double frequency component amplitude in the sub-module capacitor voltage; omegaoRepresenting the angular frequency (omega) of the AC side of the MMCo＝2πfo，foFrequency on the ac side); theta1And theta2Respectively representing fundamental frequency in sub-module capacitor voltageComponent and a double frequency component. Phase averaged capacitance voltage uc_avThe average value of the capacitor voltages of 2N sub-modules of the upper bridge arm and the lower bridge arm is represented as follows:
Figure BDA0002318163790000042
suppose a local controller group G1～NThe average value of the capacitor voltages of the two sub-modules in the corresponding group is recorded as uc_g1～N，uc_g1～NCan be expressed as follows:
Figure BDA0002318163790000043
according to the above formula, the phase-averaged capacitor voltage uc_avCan be re-expressed as:
Figure BDA0002318163790000044
based on the above formula, the phase average capacitor voltage is also obtained by averaging the average values of the capacitor voltages of the sub-modules in the group of N local controller groups.
Based on the packet round robin retransmission scheme proposed by the present invention (shown in fig. 2), it is assumed that the interval between two consecutive retransmission time instants is TtPhase average capacitance voltage uc_avAnd self-updating is carried out at each return moment according to the average value of the returned capacitor voltage of a group of (2) sub-modules, and the updated phase average capacitor voltage is kept until the next return moment. By TN～TN+2The variation of the average capacitance voltage value is explained specifically at the momentNPhase average capacitor voltage of uc_av(TN)＝[uc_g1(T1)+uc_g2(T2)+…+uc_gN-1(TN-1)+uc_gN(TN)]N, this value is maintained until the next backhaul time TN+1At the return time TN+1The local controller group 1 returns the collected capacitor voltage values u of the two local sub-modulesc_g1By uc_g1(T1) Is updated to uc_g1(TN+1) So at the return time TN+1Phase average capacitance voltage value is uc_av(TN) Is updated to uc_av(TN+1)＝[uc_g2(T2)+…+uc_gN-1(TN-1)+uc_gN(TN)+uc_g1(TN+1)]N, this value is maintained until the next backhaul time TN+2. According to the above process, the phase-averaged capacitor voltage u at the kth feedback timec_av(k) Is represented as follows:
Figure BDA0002318163790000051
in the above formula uc_av_rippleRepresenting the ac ripple of the phase averaged capacitor voltage. Consider u in the above formulac_av_rippleAnd a backhaul interval TtIf the feedback frequency f in the proposed round-robin feedback scheme is properly sett(ft＝1/Tt) The filtering of the phase-averaged capacitor voltage, i.e. u, can be realizedc_av_ripple0. Now, assuming that the ac ripple of the phase-averaged capacitor voltage is 0, the back-pass frequency f of the filtering function can be realized by back-steppingt. The preset conditions are therefore as follows:
uc_av_ripple≡0
according to the trigonometric function algorithm, the following relationship can be obtained:
Figure BDA0002318163790000052
the meaning of the above formula is equivalent to 2f for a frequencyoThe sinusoidal signal is sampled N times at successive equal intervals (the sampling frequency, i.e. the return frequency, is denoted f)t＝1/Tt) And the result obtained by summing the data of the N times of sampling is constantly 0, namely the sinusoidal component does not appear in the obtained result, so that the filtering of the sinusoidal signal is achieved.
First, according to shannon's sampling theorem, the data sampled N times must be guaranteed to reproduce the sinusoidal signal, so it must satisfy:
ft≥2*2fo＝4fo
secondly, solving the expression to finally obtain the return frequency f for realizing the phase-average capacitance-voltage filteringt：：
Figure BDA0002318163790000053
Wherein: [ x ] represents the largest integer not exceeding x.
In summary, the capacitor voltage round robin scheme for reducing the communication burden provided in the present invention can implement filtering of the phase average capacitor voltage by using the designed feedback frequency of the (—) scheme.

Claims (2)

1. In an MMC distributed control structure consisting of a central controller, a communication network and 2N ground controllers positioned in submodules, the N ground controllers positioned in an upper bridge arm are numbered as 1-N ground controllers, the N ground controllers positioned in a lower bridge arm are numbered as N + 1-2N ground controllers, and the two groups of the ground controller of one upper bridge arm and the ground controller of one lower bridge arm are sequentially combined into a local controller group GiI is 1,2, … … N; thus, 2N local controllers constitute N local controller groups, specifically, G1: a local controller 1 and a local controller N + 1; g2: a local controller 2 and a local controller N + 2; g3: a local controller 3, a local controller N + 3; … …, respectively; gN: the local controllers N, 2N return the collected local sub-module capacitance voltage information to the central controller to realize phase average capacitance voltage control, and the return of the sub-module capacitance voltage information is realized by the following grouping round-robin return method: only one local controller group returns the collected local sub-module capacitor voltage information to the central controller at each return moment; the local controller group is composed of G1～GNSequentially and circularly returning the collected local areas at equal time intervalsModule capacitance voltage information; entering a new periodic cycle … … after the N backhaul moments are completed; at the return time T1～TNThe order of sequentially returning the capacitor voltage information of the sub-modules of the local controller group by the local controller is as follows: g1，G2，G3，……，GN(ii) a Let the interval between backhaul moments be TtSaid backhaul interval TtIs determined by the following formula:
Tt＝1/ft，ftto achieve a return frequency for phase averaged capacitor voltage filtering.
2. The MMC distributed control structure-based capacitor voltage packet round-robin backtracking method of claim 1, wherein an AC ripple and a backtracking frequency f in a phase-averaged capacitor voltagetIn relation, the return frequency f for implementing phase-averaged capacitor voltage filteringtThe solving strategy is as follows: making the expression of the AC ripple in the phase-averaged capacitor voltage constantly equal to 0, and inversely solving the back-transmission frequency f capable of realizing the phase-averaged capacitor voltage filteringt。
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CN108306484A (en) * 2017-01-12 2018-07-20 中兴通讯股份有限公司 A kind of control method of power conversion unit and power conversion unit
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