CN111122203B - Virtual configuration device of inertia and drag experiment platform - Google Patents

Virtual configuration device of inertia and drag experiment platform Download PDF

Info

Publication number
CN111122203B
CN111122203B CN202010001034.8A CN202010001034A CN111122203B CN 111122203 B CN111122203 B CN 111122203B CN 202010001034 A CN202010001034 A CN 202010001034A CN 111122203 B CN111122203 B CN 111122203B
Authority
CN
China
Prior art keywords
inertia
motor
storage element
moment
energy storage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010001034.8A
Other languages
Chinese (zh)
Other versions
CN111122203A (en
Inventor
贾锋
常彬
符杨
魏书荣
黄玲玲
谷怀广
刘璐洁
葛晓琳
季亮
范征
周佳培
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Global Energy Interconnection Research Institute
Shanghai Electric Power University
Original Assignee
Global Energy Interconnection Research Institute
Shanghai Electric Power University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Global Energy Interconnection Research Institute, Shanghai Electric Power University filed Critical Global Energy Interconnection Research Institute
Priority to CN202010001034.8A priority Critical patent/CN111122203B/en
Publication of CN111122203A publication Critical patent/CN111122203A/en
Application granted granted Critical
Publication of CN111122203B publication Critical patent/CN111122203B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/10—Determining the moment of inertia

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention provides a virtual configuration device of rotational inertia and a drag experiment platform, and belongs to the field of electricity. The invention provides a virtual configuration device of rotational inertia, which comprises: an inertia simulation motor; an inertia-simulating motor driver; and an energy storage element. The invention also provides a counter-dragging experimental platform, a rotational inertia virtual configuration device; a prime mover simulator; a generator or load simulator; and a coupling mechanism. The invention can simulate the property of physical rotational inertia more vividly, except that the acceleration/deceleration dynamic performance of the experimental platform reaches the expectation, the problems that the conventional inertia simulation method has unnecessary influence on the power of a grid-connected point and generates interaction with the original control can be avoided, and the scheme of the invention can realize energy feedback type electromagnetic braking in the halt process of the towing platform under the condition that the capacity of an energy storage element is allowable.

Description

Virtual configuration device of inertia and drag experiment platform
Technical Field
The invention particularly relates to a virtual configuration device of rotational inertia and a drag experiment platform, and belongs to the field of electricity.
Background
The drag model experiment platform is widely applied to dynamic simulation of power generation equipment, electric drag equipment and mechanical drag equipment. Once the conventional drag model experiment platform is designed and installed, the rotational inertia of the conventional drag model experiment platform is fixed, and the conventional drag model experiment platform has no flexibility when used as an equal-scale reduction model of actual equipment; or when the existing rotational inertia virtual configuration technology is used for dynamic simulation of power generation equipment or electric dragging equipment, the technology can generate unexpected interaction influence on a main body part in the dragging model experiment platform.
In the prior art, two motors are usually used for a power generation device or a movable die of an electric power dragging device, one motor is used as a motive power motor, and the other motor is used as a generator or a load simulation motor. When the electric inertia simulation technology used in the movable mould of the mechanical dragging equipment is directly applied to the movable mould platform of the power generation equipment or the electric dragging equipment, although the acceleration/deceleration dynamic performance of the movable mould platform can reach the expectation, the following defects exist: (1) the method comprises the following steps of (1) obtaining electricity from a power grid by electric inertia simulation, which can affect the power of a grid-connected point, (2) controlling the electric inertia simulation possibly to interact with the original control of two motors in a power generation device or a movable die of an electric dragging device, and (3) when the motors work near the rated working points, no sufficient capacity margin is available for simulating the rotational inertia. The above-described effects are not present in systems employing true moment of inertia and are undesirable.
Disclosure of Invention
The present invention is made to solve the above problems, and an object of the present invention is to provide a rotational inertia virtual configuration apparatus and a drag experiment platform.
The invention provides a virtual configuration device of rotational inertia, which is characterized by comprising the following components: the inertia simulation motor is a direct-current motor; the inertia simulation motor driver is used for driving the inertia simulation motor; and the energy storage element is a capacitor or a super capacitor, wherein the inertia simulation motor driver comprises: the filter inductor is connected with the direct current motor in series; a bi-directional step-up/down dc-dc converter connected in parallel with the dc motor; a bi-directional buck/boost dc-dc controller for controlling the electromagnetic torque of the dc motor.
The virtual rotational inertia allocation apparatus according to the present invention may further include: the inertia simulation motor is an alternating current motor; the inertia simulation motor driver is used for driving the inertia simulation motor; and the energy storage element is a capacitor or a super capacitor, wherein the inertia simulation motor driver comprises: a three-phase voltage source type converter for controlling an electromagnetic torque of the alternating current motor; the direct current bus capacitor is connected with the three-phase voltage source type converter in parallel; the bidirectional step-up/step-down dc-dc converter is connected with the direct-current bus capacitor in parallel; and a bi-directional buck/boost dc-dc controller for controlling the voltage of the dc bus capacitor.
The virtual rotational inertia configuration apparatus according to the present invention may further include a feature in which a control command of the electromagnetic torque
Figure BDA0002353495270000022
By torque command for simulating virtual moment of inertia characteristics
Figure BDA0002353495270000023
And torque command to compensate for virtual configuration loss of moment of inertia
Figure BDA0002353495270000024
Composition of torque command for simulating virtual inertia moment characteristics
Figure BDA0002353495270000025
The calculation formula of (2) is as follows:
Figure BDA0002353495270000021
in the formula (I), the compound is shown in the specification,
Figure BDA0002353495270000031
for low-pass filtering the noisy motor speed detected by a speed encoder or estimated by an observer, and for obtaining a time-derivative value, JvSimulating a virtual moment of inertia of the machine for a desired moment of inertia, a torque command for compensating for a virtual configuration loss of the moment of inertia
Figure BDA0002353495270000035
From the voltage U of the energy-storage elementscWith reference to the voltage of the energy storage element
Figure BDA0002353495270000033
The deviation between the two is obtained after the PI regulator, and the reference value of the voltage of the energy storage element
Figure BDA0002353495270000034
The calculation formula of (2) is as follows:
Figure BDA0002353495270000032
in the formula, CscIs the capacitance value of the energy storage element, Usc0Is the initial voltage value of the energy storage element, JvThe virtual moment of inertia of the machine is simulated for the desired moment of inertia and ω is a low-pass filtered value of the detected or estimated rotational speed.
The invention also provides a counter-dragging experimental platform which is characterized in that any one of the rotational inertia virtual configuration devices comprises an inertia simulation motor, an inertia simulation motor driver and an energy storage element; a prime mover simulator; a generator or load simulator; and the connecting shaft mechanism is used for constructing connection among mechanical rotating shafts of the inertia simulation motor, the motive power simulation device and the generator or the load simulation device.
The invention also provides a counter-dragging experiment platform, which can be characterized in that the connecting shaft mechanism is selected from any one of the following: two coupling units; a belt or gear transmission and a coupling unit; and a multi-output shaft coupling unit.
The invention also provides a counter-dragging experiment platform which can be characterized in that the capacity E of the energy storage element is not less than the virtual moment of inertia J of the expected moment of inertia simulation motorvAt maximum rotation speed omega of counter-towing platformmaxThe rotational kinetic energy of the rotor.
In another embodiment of the present invention, the present invention may further include a characteristic that the allowable charge/discharge power P of the energy storage element satisfies the following equation:
Figure BDA0002353495270000041
wherein omega is the rotating speed of the twin-towed platform, which can be obtained by low-pass filtering the measured or estimated rotating speed,
Figure BDA0002353495270000042
maximum possible acceleration of the speed of rotation of the twin-towed platform, JvA virtual moment of inertia of the motor is simulated for the desired moment of inertia.
The invention also provides a counter-dragging experiment platform which can be characterized in that the virtual moment of inertia J of the motor is simulated when the expected moment of inertiavWhen the voltage value is larger than 0, the initial voltage value U of the energy storage element before the start of the counter-dragging experiment platform sc00; simulating virtual moment of inertia J of motor when desired moment of inertiavWhen the voltage is less than 0, the initial voltage value U of the energy storage element before the start of the counter-dragging experiment platformsc0＝Un，UnIs the rated voltage of the energy storage element.
Action and Effect of the invention
According to the towing experiment platform, the rotational inertia simulation device is formed by adopting the independent motor and the electric energy storage element, and the electric energy storage element simulates the storage and release of mechanical kinetic energy, so that the towing experiment platform can simulate the property of physical rotational inertia more vividly, and effectively avoids the problems that the power of a grid-connected point is influenced and interaction is generated with the original control by a conventional electric inertia simulation method, and the scheme of the invention can realize energy feedback type electromagnetic braking in the stopping process of the towing platform under the condition that the capacity of the energy storage element is allowed.
Drawings
FIGS. 1-3 are schematic diagrams of three different split-drag experimental platforms in example 1 of the present invention;
fig. 4 is an electromagnetic torque command generation diagram of a rotary inertia virtual motor in embodiment 1 of the present invention;
fig. 5 is a virtual rotational inertia configuration apparatus using a dc motor according to embodiment 2 of the present invention;
fig. 6 is a virtual rotational inertia configuration apparatus using an ac motor according to embodiment 3 of the present invention;
FIG. 7 is a diagram illustrating the effect of the virtual moment of inertia on the towing platform according to the exemplary embodiment of the present invention;
fig. 8 is a graph of electromagnetic torque over time for a rotary inertia simulation motor in a test example of the present invention;
FIG. 9 is a voltage fluctuation diagram of the energy storage device in the test example of the present invention.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is specifically described below by combining the embodiment and the attached drawings.
< example 1>
A drag experiment platform comprises a rotary inertia virtual motor, a motive power simulation motor, a load motor (a generator or a load simulation motor), an inertia simulation motor driver, an energy storage element and a connecting shaft mechanism.
Fig. 1-3 are schematic diagrams of three different split-drag experimental platforms in an embodiment of the invention.
As shown in fig. 1, the coupling mechanism is 2 coupling units, and specifically, the coupling units are all couplings having basic functions.
The prime power simulation motor, the inertia simulation motor and the load motor (the generator or the load simulation motor) are arranged on a straight line at a time, and the two connecting shaft units are respectively used for connecting the prime power simulation motor and the inertia simulation motor and connecting the inertia simulation motor and the load motor (the generator or the load simulation motor).
The inertia simulation motor driver is connected with the rotary inertia simulation motor and used for driving and controlling the rotary inertia simulation motor.
The energy storage element is connected with the inertia simulation motor driver and used for storing energy.
As shown in fig. 2, the coupling mechanism is a coupling unit and a transmission having a transmission ratio, and specifically, the transmission may be a belt or a gear transmission.
The prime power simulation motor is connected with the connecting shaft unit, the connecting shaft unit is connected with the transmission device, and the transmission device is simultaneously connected with the rotational inertia simulation motor and the load motor (a generator or a load simulation motor).
The inertia simulation motor driver is connected with the rotary inertia simulation motor and used for driving and controlling the rotary inertia simulation motor.
The energy storage element is connected with the inertia simulation motor driver and used for storing energy.
As shown in fig. 3, the coupling mechanism is a multi-coupling unit,
the prime power simulation motor, the inertia simulation motor and the load motor (a generator or a load simulation motor) are respectively connected with the multi-output shaft connecting unit.
The inertia simulation motor driver is connected with the rotary inertia simulation motor and used for driving and controlling the rotary inertia simulation motor.
The energy storage element is connected with the inertia simulation motor driver and used for storing energy.
Fig. 1 to 3 only illustrate the mechanical relationship between the rotating shafts of the three motors, and the specific arrangement positions of the three motors are not limited, for example, the inertia simulation motor in fig. 1 may be located at the leftmost end or the rightmost end. The coaxial transmission shown in fig. 1 is a preferred solution in view of possible transmission errors of the belt/gear transmission, but it should be noted that the motor in the middle position in the solution shown in fig. 1 requires shafts at both ends.
In this example, the split-drag experimental platform shown in fig. 1 was used.
For the systems shown in fig. 1-3, only the case where all the transmission ratios are 1 is considered in consideration of the uncertainty of the combination (if there is a case where the transmission ratio of a certain coupling unit is not equal to 1, the rotational inertia, torque and rotation speed of one side of the coupling unit are converted to the other side according to the transmission ratio for calculation, and the method in the prior art can be referred to). If the rotary inertia of the prime power simulation motor is J1The moment of inertia of the moment of inertia simulation motor is J2The moment of inertia of the generator or load-simulating motor is J3. Suppose the expected moment of inertia of the whole drag experiment platform is JsumThe desired moment of inertia simulates the simulated virtual moment of inertia J of the motorvIs Jv＝Jsum-(J1+J2+J3)
Fig. 4 is an electromagnetic torque command generation diagram of the rotary inertia virtual motor in embodiment 1 of the present invention.
If Jv is as shown in FIG. 4>0, initial electric energy does not need to be stored in the energy storage element before the experiment platform is started; if Jv<0, the initial electric energy to be stored in the energy storage element before the experiment platform is started should be not less than
Figure BDA0002353495270000071
ωmaxThe maximum rotation speed of the experimental platform. The rotational inertia simulation motor adopts torque control, and an electromagnetic torque command of the rotational inertia simulation motor is composed of two parts
Figure BDA0002353495270000072
One part is a virtual rotary inertia dynamic characteristic simulation branch circuit which provides a torque instruction for simulating the dynamic characteristic of the virtual rotary inertia
Figure BDA0002353495270000073
The part of the command is detected by a rotating speed encoder or estimated by an observer to obtain the rotating speed omega of the motor containing noisemTo itAfter low-pass filtering, obtaining a differential and multiplying the differential by Jv, wherein the specific calculation formula is as follows:
Figure BDA0002353495270000074
another part of the loss compensation branch circuit provides a torque instruction for compensating the loss of the virtual configuration device of the rotational inertia
Figure BDA0002353495270000081
This part is maintained at a certain level related to the current motor speed ω by closed-loop control of the energy storage element voltage in order to counteract the constant drop in energy storage element voltage caused by losses of the virtual configuration of the rotational inertia means.
Figure BDA0002353495270000082
By the voltage U of the energy storage elementscWith reference to the voltage of the energy storage element
Figure BDA0002353495270000083
The deviation between the two is obtained through a PI regulator, and PI parameters are as small as possible on the premise of sufficiently compensating the loss of the virtual configuration device of the rotational inertia.
Wherein the reference value of the voltage of the energy storage element
Figure BDA0002353495270000084
The calculation formula of (2) is as follows:
Figure BDA0002353495270000085
wherein, CscIs the capacitance value of the energy storage element, Usc0Is the initial voltage value of the energy storage element, JvThe virtual moment of inertia of the machine is simulated for the desired moment of inertia and ω is a low-pass filtered value of the detected or estimated rotational speed. The control parameter of the PI control is small, integral control is recommended to be used as the leading factor, and the PI parameter is as small as possible on the premise of sufficiently compensating the loss of the virtual configuration device of the rotational inertia.
In addition, the energy storage element used by the counter-dragging experiment platform of the embodiment should meet the following requirements:
1. capacity E or capacitance C of energy storage elementscSelection of (2). The capacity of the energy storage element should be not less than the maximum rotating speed omega of the counter-towing platform at which the moment of inertia Jv virtually configured by the moment of inertia virtual configuration device is virtually configuredmaxThe rotational kinetic energy of the device is provided,
Figure BDA0002353495270000086
in the formula of UnThe energy storage element is rated for voltage. From this the lower limit of the capacitance value of the energy storage element can be determined, which should also be selected with a margin.
2. The charge/discharge power requirements of the energy storage element. The charging power and the discharging power P of the energy storage element should always meet the following requirements,
Figure BDA0002353495270000091
wherein omega is the rotating speed of the twin-towed platform, which can be obtained by low-pass filtering the measured or estimated rotating speed,
Figure BDA0002353495270000092
maximum possible acceleration of the speed of rotation of the twin-towed platform, JvA virtual moment of inertia of the motor is simulated for the desired moment of inertia. The power can be measured and calculated in simulation by taking extreme conditions as input.
3. Initial voltage value U of energy storage element before starting of drag experiment platformsc0. If Jv>0, i.e. when it is desired to increase the moment of inertia of the split-drag experiment platform by means of the virtual configuration device of the moment of inertia, U sc00. If Jv<0, i.e. when it is desired to reduce the moment of inertia of the split-drag experiment platform by means of the virtual configuration device of the moment of inertia, Usc0＝Un。
< example 2>
Fig. 5 shows a virtual rotational inertia allocation apparatus using a dc motor according to embodiment 2 of the present invention.
As shown in fig. 5, a virtual rotational inertia configuration apparatus, configured to be installed in a drag-and-drop experiment platform, which may be installed in the drag-and-drop experiment platform in embodiment 1, includes a rotational inertia simulation motor, an inertia simulation motor driver, and an energy storage element.
The inertia simulation motor is a direct current motor.
And the inertia simulation motor driver is used for driving the inertia simulation motor.
An energy storage element, which can be a capacitor or a super capacitor, and a capacitance value C thereofscVirtual moment of inertia J of drag experiment platform for reference practical applicationvDesign, | JvThe greater the | the required CscThe larger, in this embodiment the supercapacitor.
Wherein, inertia simulation motor drive includes:
and the filter inductor is connected with the direct current motor in series.
And the bidirectional step-up/step-down dc-dc converter is connected with the direct-current motor in parallel.
A bi-directional buck/boost dc-dc controller for controlling the electromagnetic torque of the dc motor.
The electromagnetic torque command for the bi-directional step-up/down dc-dc converter controller is obtained using the method shown in fig. 4 in embodiment 1.
The specific way of electromagnetic torque control can be referred to the existing mature scheme, and the method in fig. 5 can also be used.
A bi-directional buck/boost dc-dc controller comprising: the device comprises a torque detection or calculation module, a torque loop PI regulator, a current loop PI regulator and a comparator.
The torque detection or calculation module is used for obtaining the motor torque Te；
Torque loop PI regulator for receiving torque commands
Figure BDA0002353495270000101
And motor torque Te；
The current loop PI regulator is used for receiving an output signal of the torque loop PI regulator and a current detection value;
the comparator is used for receiving the output signal of the current loop PI regulator and the triangular carrier wave and outputting an electromagnetic torque command to the bidirectional buck/boost dc-dc converter.
< example 3>
Fig. 6 shows a virtual rotational inertia arrangement apparatus using an ac motor according to embodiment 3 of the present invention.
As shown in fig. 6, a virtual rotational inertia configuration apparatus, configured to be installed in a counter-dragging experiment platform, may be installed in the counter-dragging experiment platform in embodiment 1, and includes a rotational inertia simulation motor, an inertia simulation motor driver, and an energy storage element.
The inertia simulation motor is an alternating current motor.
The inertia simulation motor driver is used for driving the inertia simulation motor.
The energy storage element can be a capacitor or a super capacitor, and the capacitance value C of the energy storage elementscVirtual moment of inertia J of drag experiment platform for reference practical applicationvDesign, | JvThe greater the | the required CscThe larger, in this embodiment the supercapacitor.
Wherein, inertia simulation motor drive includes: a three-phase voltage source type converter, a dc bus capacitor, a bi-directional step-up/step-down dc-dc converter, and a bi-directional step-up/step-down dc-dc controller (not shown in the figure).
The three-phase voltage source type inverter is used for controlling the electromagnetic torque of the alternating current motor.
And the direct current bus capacitor has a smaller capacitance value and is connected in parallel with the three-phase voltage source type converter.
The bidirectional buck/boost dc-dc converter is connected in parallel with the dc bus capacitor.
A bi-directional buck/boost dc-dc controller is used to control the voltage of the dc bus capacitor.
The electromagnetic torque command of the three-phase voltage source type converter is obtained by the method shown in fig. 4 in example 1. The specific manner of electromagnetic torque control is referred to the well-established protocols in the prior art. And the bus capacitor voltage reference value of the bidirectional step-up/step-down dc-dc converter controller is designed according to the working requirement of the three-phase voltage source type converter.
< test example >
The counter-dragging experiment platform in the embodiment 1 is tested in a Matlab simulation environment, wherein the rotational inertia simulation motor, the inertia simulation motor driver and the energy storage element all adopt the technical scheme in the embodiment 2.
Three groups of simulations are adopted for comparison, wherein the actual system inertia adopts larger actual rotational inertia, and the inertia time constant is 12 s; the small rotational inertia adopts smaller actual rotational inertia, and the inertia time constant is 6 s; the small moment of inertia + the virtual moment of inertia adopts the actual moment of inertia with an inertia time constant of 6s, and the virtual moment of inertia with an inertia time constant of 6s is provided by a moment of inertia simulation motor. All other parameters in the three sets of simulations were the same.
Fig. 7 is a diagram illustrating the effect of the present invention on the virtual moment of inertia of the towing platform. Fig. 8 is a graph showing the electromagnetic torque of a rotational inertia simulation motor in a test example of the present invention with time. FIG. 9 is a voltage fluctuation diagram of the energy storage device in the test example of the present invention.
As shown in fig. 7, it can be seen that the "small moment of inertia + virtual moment of inertia" rotational speed response substantially matches the "actual system inertia", indicating that the solution of the present invention is feasible.
Fig. 8 is a schematic diagram showing the change of the electromagnetic torque of the simulated motor with time for the moment of inertia.
As shown in fig. 9, the voltage of the energy storage element fluctuates, the rotational inertia simulation motor in the simulation is a common practice of the motor, and when the electromagnetic torque of the rotational inertia simulation motor is negative, the rotational inertia simulation motor is in a power generation state, and the energy storage element is charged; when the electromagnetic torque of the rotational inertia simulation motor is in an electric state when the rotational inertia simulation motor is positive, the energy storage element discharges, and the expected effect is achieved.
From the whole simulation process, the rotating speed of the counter-towing platform is increased, and the virtual inertia Jv(simulation J of this example)v>0) Storing the rotational kinetic energy as a voltage rise of the energy storage element. Because the rotational kinetic energy corresponding to the virtual rotational inertia is totally reflected in the charging and discharging of the relatively independent energy storage elements, other counter-dragging platforms cannot be subjected to other operationsPartly with an influence.
Effects and effects of the embodiments
According to the counter-dragging experimental platform related to the embodiment 1, because three motors are adopted, one motor is used as a motive power motor, the other motor is used as a generator or a load motor, and the other motor and the electric energy storage element form a rotational inertia simulation device, the embodiment 1 can simulate the property of physical rotational inertia more vividly, the acceleration/deceleration dynamic performance of the experimental platform is expected, the problems that the power of a grid-connected point is influenced by electric inertia simulation and interaction is generated with original control can be avoided, and the energy feedback type electromagnetic braking in the stopping process of the counter-dragging platform can be realized under the condition that the capacity of the energy storage element is allowed.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.

Claims (7)

1. A virtual rotational inertia configuration apparatus, comprising:
the inertia simulation motor is a direct-current motor;
the inertia simulation motor driver is used for driving the inertia simulation motor; and
the energy storage element is a capacitor or a super capacitor,
wherein the inertia simulating motor driver includes:
a filter inductor connected in series with the DC motor;
a bi-directional buck/boost dc-dc converter connected in parallel with the dc motor;
a bi-directional step-up/down dc-dc controller for controlling an electromagnetic torque of the DC motor,
control command of the electromagnetic torque
Figure FDA0003269290940000011
By torque command for simulating virtual moment of inertia characteristics
Figure FDA0003269290940000012
And for supplementingTorque command to compensate for virtual configuration loss of moment of inertia
Figure FDA0003269290940000013
The components of the composition are as follows,
the torque instruction for simulating the virtual inertia moment characteristic
Figure FDA0003269290940000014
The calculation formula of (2) is as follows:
Figure FDA0003269290940000015
in the formula (I), the compound is shown in the specification,
Figure FDA0003269290940000016
for low-pass filtering the noisy motor speed detected by a speed encoder or estimated by an observer, and for obtaining a time-derivative value, JvSimulating a virtual moment of inertia of the motor for the desired moment of inertia,
torque command to compensate for virtual configuration losses of rotational inertia
Figure FDA0003269290940000017
From the voltage U of the energy-storage elementscWith reference to the voltage of the energy storage element
Figure FDA0003269290940000018
The deviation between the two is obtained after the PI regulator,
reference value of the voltage of the energy storage element
Figure FDA0003269290940000019
The calculation formula of (2) is as follows:
Figure FDA00032692909400000110
in the formula, CscIs the capacitance value of the energy storage element, Usc0Is the initial voltage value of the energy storage element, JvThe virtual moment of inertia of the machine is simulated for the desired moment of inertia and ω is a low-pass filtered value of the detected or estimated rotational speed.
2. A virtual rotational inertia configuration apparatus, comprising:
the inertia simulation motor is an alternating current motor;
the inertia simulation motor driver is used for driving the inertia simulation motor; and
the energy storage element is a capacitor or a super capacitor,
wherein the inertia simulating motor driver includes:
a three-phase voltage source type converter for controlling an electromagnetic torque of the alternating-current motor;
the direct current bus capacitor is connected with the three-phase voltage source type converter in parallel;
a bi-directional buck/boost dc-dc converter connected in parallel with the dc bus capacitor; and
a bi-directional buck/boost dc-dc controller for controlling the voltage of the DC bus capacitance,
control command of the electromagnetic torque
Figure FDA0003269290940000021
By torque command for simulating virtual moment of inertia characteristics
Figure FDA0003269290940000022
And torque command to compensate for virtual configuration loss of moment of inertia
Figure FDA0003269290940000023
The components of the composition are as follows,
the torque instruction for simulating the virtual inertia moment characteristic
Figure FDA0003269290940000024
The calculation formula of (2) is as follows:
Figure FDA0003269290940000025
in the formula (I), the compound is shown in the specification,
Figure FDA0003269290940000026
for low-pass filtering the noisy motor speed detected by a speed encoder or estimated by an observer, and for obtaining a time-derivative value, JvSimulating a virtual moment of inertia of the motor for the desired moment of inertia,
torque command to compensate for virtual configuration losses of rotational inertia
Figure FDA0003269290940000027
From the voltage U of the energy-storage elementscWith reference to the voltage of the energy storage element
Figure FDA0003269290940000028
The deviation between the two is obtained after the PI regulator,
reference value of the voltage of the energy storage element
Figure FDA0003269290940000029
The calculation formula of (2) is as follows:
Figure FDA0003269290940000031
in the formula, CscIs the capacitance value of the energy storage element, Usc0Is the initial voltage value of the energy storage element, JvThe virtual moment of inertia of the machine is simulated for the desired moment of inertia and ω is a low-pass filtered value of the detected or estimated rotational speed.
3. A drag experiment platform, comprising:
the virtual rotational inertia configuration apparatus according to any one of claims 1 to 2, comprising an inertia simulation motor, an inertia simulation motor driver, and an energy storage element;
a prime mover simulator;
a generator or load simulator;
and the connecting shaft mechanism is used for constructing connection among mechanical rotating shafts of the inertia simulation motor, the motive power simulation device and the generator or the load simulation device.
4. A split-drag experiment platform according to claim 3,
wherein the coupling mechanism is selected from any one of the following:
two coupling units;
a belt or gear transmission and a coupling unit;
and a multi-output shaft coupling unit.
5. A split-drag experiment platform according to claim 3,
wherein the capacity E of the energy storage element is not less than the virtual moment of inertia J of the expected moment of inertia simulation motorvAt maximum rotation speed omega of counter-towing platformmaxThe rotational kinetic energy of the rotor.
6. A split-drag experiment platform according to claim 3,
wherein the allowable charging/discharging power P of the energy storage element satisfies the following formula:
Figure FDA0003269290940000041
wherein omega is the rotating speed of the twin-towed platform, which can be obtained by low-pass filtering the measured or estimated rotating speed,
Figure FDA0003269290940000042
maximum possible acceleration of the speed of rotation of the twin-towed platform, JvPeriod of time ofThe desired moment of inertia simulates the virtual moment of inertia of the motor.
7. A split-drag experiment platform according to claim 3,
wherein, when the desired moment of inertia is desired, the virtual moment of inertia J of the motor is simulatedvWhen the voltage value is larger than 0, the initial voltage value U of the energy storage element before the start of the drag test platformsc0＝0；
Simulating virtual moment of inertia J of motor when desired moment of inertiavWhen the voltage value is less than 0, the initial voltage value U of the energy storage element before the start of the drag test platformsc0＝Un，UnIs the rated voltage of the energy storage element.
CN202010001034.8A 2020-01-02 2020-01-02 Virtual configuration device of inertia and drag experiment platform Active CN111122203B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010001034.8A CN111122203B (en) 2020-01-02 2020-01-02 Virtual configuration device of inertia and drag experiment platform

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010001034.8A CN111122203B (en) 2020-01-02 2020-01-02 Virtual configuration device of inertia and drag experiment platform

Publications (2)

Publication Number Publication Date
CN111122203A CN111122203A (en) 2020-05-08
CN111122203B true CN111122203B (en) 2021-12-24

Family

ID=70507921

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010001034.8A Active CN111122203B (en) 2020-01-02 2020-01-02 Virtual configuration device of inertia and drag experiment platform

Country Status (1)

Country Link
CN (1) CN111122203B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103091109A (en) * 2013-01-21 2013-05-08 南京航空航天大学 Wind turbine simulator and control method used for testing wind driven generator dynamic characteristics
CN108736481A (en) * 2018-05-03 2018-11-02 南京航空航天大学 A kind of aviation more electric engin AC/DC mixed power system and its design method
CN108964094A (en) * 2018-06-11 2018-12-07 全球能源互联网欧洲研究院 The active frequency coordination control method and device in region based on virtual synchronous generator
JP2019080476A (en) * 2017-10-27 2019-05-23 東京電力ホールディングス株式会社 Ac-dc converter control device
CN109873446A (en) * 2018-11-30 2019-06-11 辽宁科技学院 A kind of distributed photovoltaic power generation system control strategy based on improvement virtual synchronous generator
CN110460113A (en) * 2019-07-18 2019-11-15 河海大学 A kind of machinery inertial analogy method of inverter power supply

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3225035A1 (en) * 1982-07-05 1984-01-05 Siemens AG, 1000 Berlin und 8000 München DEVICE FOR TESTING A TORQUE GENERATOR
CN105826917B (en) * 2015-01-04 2019-10-08 通用电气公司 Power conversion system and its control method and wind turbine electricity generating system
CN108507805A (en) * 2017-02-24 2018-09-07 中国铁建高新装备股份有限公司 One kind being based on flywheel-generating set inertia simulation system
CN108123491B (en) * 2017-11-24 2021-06-15 南京航空航天大学 Highly integrated topology integrating motor drive and charging and discharging device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103091109A (en) * 2013-01-21 2013-05-08 南京航空航天大学 Wind turbine simulator and control method used for testing wind driven generator dynamic characteristics
JP2019080476A (en) * 2017-10-27 2019-05-23 東京電力ホールディングス株式会社 Ac-dc converter control device
CN108736481A (en) * 2018-05-03 2018-11-02 南京航空航天大学 A kind of aviation more electric engin AC/DC mixed power system and its design method
CN108964094A (en) * 2018-06-11 2018-12-07 全球能源互联网欧洲研究院 The active frequency coordination control method and device in region based on virtual synchronous generator
CN109873446A (en) * 2018-11-30 2019-06-11 辽宁科技学院 A kind of distributed photovoltaic power generation system control strategy based on improvement virtual synchronous generator
CN110460113A (en) * 2019-07-18 2019-11-15 河海大学 A kind of machinery inertial analogy method of inverter power supply

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
基于虚拟联轴电机的直流固态变压器研究;张苏捷等;《电测与仪表》;20171025;第54卷(第20期);全文 *
直流微电网分布式储能系统电流负荷动态分配方法;米阳等;《电力自动化设备》;20191031;第39卷(第10期);全文 *

Also Published As

Publication number Publication date
CN111122203A (en) 2020-05-08

Similar Documents

Publication Publication Date Title
Sebastian Modelling and simulation of a high penetration wind diesel system with battery energy storage
CN107196318B (en) V2G technology-based electric vehicle participation power grid frequency modulation control method
JP5660317B2 (en) Inter-vehicle charger
CN101636901B (en) Electric power generation system with multiple generators and/or inverters
Jiang et al. Modeling and control of an integrated wind power generation and energy storage system
CN104802630B (en) Multi-power-source coordinating control method for series-parallel hybrid power vehicle
CN101855827A (en) Revolving electric motor control system, and vehicular drive system having the revolving electric motor control system
CN104638679A (en) Self-adaptive adjustment-based frequency control method for virtual synchronous generator
CN105684285A (en) Power conversion device
CN109353231A (en) Take the drive system of electric automobile, electric car and control method of dress system
CN104553838B (en) Propulsion system
CN115276048B (en) Power optimal allocation control method for hybrid energy storage system for black start of generator
CN106849140A (en) A kind of virtual synchronous machine control method of Large Copacity energy storage, apparatus and system
CN102593858A (en) Method for controlling operation of static energy supply units and controllers for static energy supply units
KR101673797B1 (en) Series mode control method of hybrid electric vehicle
CN111122203B (en) Virtual configuration device of inertia and drag experiment platform
CN107925245B (en) Power generation system for improving charging impact, load shedding and harmonic waves
CN103207373A (en) Test system and test method of backup power of pitch system of wind turbine generator set
CN108258880B (en) Electrical system for an electromechanical power transmission chain
CN105024405A (en) Three-machine set drive variable-frequency generation system
Kroics Development of induction motor based test bench for supercapacitor braking energy recovery system testing
Chinmaya et al. A plug-in electric vehicle (PEV) with compact bidirectional CuK converter and sturdier induction motor drive
CN107221957B (en) Control method for optical storage grid-connected interface system
JPWO2015145748A1 (en) Crane apparatus, power supply unit for crane apparatus, and method for remodeling crane apparatus
CN108923454B (en) Control method and device for load virtual synchronous machine with voltage droop on direct current side

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant