CN111293942A - Performance improvement method for vehicle network system under multi-working-condition operation - Google Patents

Performance improvement method for vehicle network system under multi-working-condition operation Download PDF

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CN111293942A
CN111293942A CN202010153825.2A CN202010153825A CN111293942A CN 111293942 A CN111293942 A CN 111293942A CN 202010153825 A CN202010153825 A CN 202010153825A CN 111293942 A CN111293942 A CN 111293942A
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phase
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voltage
smc
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CN111293942B (en
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刘志刚
张雨婷
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Southwest Jiaotong University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • 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
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention discloses a method for improving the performance of a vehicle network system under multi-working-condition operation, which comprises the following steps: step 1: establishing a single traction drive unitd‑qA mathematical model under a coordinate system; step 2: applying a sliding mode variable structure control strategy based on state observation to a network side converter (LSC) of EMUs; the method does not depend on an accurate mathematical model, and has good adaptability to a complex system; compared with the traditional PI control and SMC, the control strategy of ESO + SMC is moreThe control performance is good, voltage fluctuation is small when braking is carried out, robustness to system parameter change and load change is strong, and the low-frequency oscillation phenomenon generated in the running process of the motor train unit can be effectively restrained.

Description

Performance improvement method for vehicle network system under multi-working-condition operation
Technical Field
The invention relates to the technical field of electrified railway motor train units, in particular to a method for improving the performance of a train network system under multi-working-condition operation.
Background
With the continuous improvement of scientific technology in China, alternating current-direct current-alternating current (AC-DC-AC) type locomotives are widely applied in China. The complexity of the traction power supply system is greatly increased, the change of the running working condition of the train, the different control methods adopted by the rectifier side and the like all have certain influence on the performance of the train network system, such as the phenomena of overshoot, slow response speed, large harmonic distortion rate, large interference on the system during braking, long time for recovering to a steady state during load change and the like. There is also the Low Frequency Oscillation (LFO) of traction power supply systems, which has occurred in many countries, such as norway, germany, switzerland etc. Studies have shown that low frequency oscillations may even occur in train operation situations where a sudden loss of traction power may have serious consequences.
At present, a great deal of research for improving the performance of the system by optimizing the control strategy of the network side rectifier is carried out at home and abroad. Mollerstedt et al suggest that the stability of the vehicle-grid coupled system is determined by the control strategy of the grid-side converter (LSC). Liu et al proposed LSC control strategies based on multivariable control and passive control, successfully suppressing LFO from occurring.
Sliding Mode Control (SMC) is a nonlinear control strategy in which the control structure changes with time and the change of a controlled system, and has the advantages of simple structure, wide parameter range, good adaptability to a nonlinear system, and the like. Compared with the traditional control strategy, the SMC has better dynamic and static characteristics. However, SMC is sensitive to load variations of LSC, and requires more state variable information to obtain good control effect
Disclosure of Invention
The invention provides a method for improving the performance of a vehicle network system under multi-working-condition operation, which can reduce the interference on the DC side voltage during braking, has better anti-interference capability on the change of system parameters and the change of loads, and can effectively inhibit a low-frequency oscillation phenomenon LFO (linear frequency oscillator) generated by Electric Multiple Units (EMUs) under various working conditions.
The technical scheme adopted by the invention is as follows:
a method for improving the performance of a vehicle network system under multi-working-condition operation comprises the following steps:
step 1: establishing a mathematical model of a single traction transmission unit under a d-q coordinate system;
step 2: and applying a sliding mode variable structure control strategy based on state observation to a network side converter (LSC) of the EMUs.
Further, the step 2 analyzes the outer ring voltage control module and the inner ring current control module respectively.
Further, the step 1 process is as follows:
s11: the single traction transmission unit of the motor train unit consists of a traction network, a rectifier, an intermediate direct current circuit, an inverter and a motor;
s12: the inverter and the motor are equivalent to a non-constant direct current power supply il：
Figure BDA0002403353870000021
In the formula: i.e. ilIs a direct current side power supply, R is a phase equivalent resistor in a three-phase equivalent circuit at the alternating current side of the inverter, L is a phase equivalent inductor in the three-phase equivalent circuit at the alternating current side of the inverter,
Figure BDA0002403353870000024
is ikAnd ekIs the angle between the vectors of (a) and theta is ukAnd ekAngle between the vectors of (U)dcThe intermediate direct current side voltage is adopted, m is the pulse broadband modulation ratio of the inverter, tau is the time constant of the transient component, rho is the amplitude factor of the alternating back electromotive force, and omega is the fundamental wave angular frequency of the network side voltage;
wherein the motor is equivalent to a star-connected three-phase symmetrical circuit, wherein each phase is composed of an R-L series load and an alternating current power supply ekIn series, the three-phase voltages of the circuit being set to ukThe three-phase current is set to ik；k＝1,2,3；
S13: the method comprises the following steps of respectively writing KCL and KVL equations on an alternating current side and a direct current side of the EMU to obtain a mathematical model under a d-q coordinate system of the EMU grid-side converter:
Figure BDA0002403353870000022
in the formula: c is a DC-side support capacitor, LnFor equivalent leakage inductance, R, of traction winding of traction transformernIs line resistance, t is time, SdAnd SqRespectively, active and reactive components, i, of the switching function S to a two-phase rotating coordinate systemdAnd iqRespectively, the EMUs network side current inConversion to active and reactive components in a two-phase rotating coordinate system, edAnd eqRespectively, the voltage u of the EMUs network sidenAnd converting the active component and the reactive component under the two-phase rotating coordinate system.
Further, the outer ring voltage control module model is constructed as follows:
interference part ESO:
for a second order system:
Figure BDA0002403353870000023
in the formula, x1、x2To be observed for the system, x10、x20Is a known term of1(t)、a2(t) is an uncertainty term that,
a1(t)、a2(t) its upper boundary is A1、A2：
Figure BDA0002403353870000031
Defining an observation error e1＝x1-z1、e2＝x2-z2Wherein z is1、z2Are respectively the values x to be observed1、x2An estimated value of (d);
for a second order system, the switching function is:
s1＝e1
s2＝e2
for x1And x2The following sliding-mode observer was constructed:
Figure BDA0002403353870000032
in the formula:
Figure BDA0002403353870000033
are each z1、z2Derivative of, L1、L2Sgn(s) is a sign function;
let Pdq＝edid+eqiq,x1＝1/2(Udc)2,x2＝Pl＝ulil,PlIs the load true power, x2The derivative of (a) is denoted as y (t); the third equation in equation (1) can be written as:
Figure BDA0002403353870000034
in the formula:
Figure BDA0002403353870000035
are respectively x1、x2A derivative of (a);
constructing a sliding-mode observer:
Figure BDA0002403353870000036
s1and s2The derivative of (c) is:
Figure BDA0002403353870000037
and (3) stability analysis:
setting:
Figure BDA0002403353870000038
defining a lyapunov function V:
Figure BDA0002403353870000039
in the formula: s is a sphere domain;
then there are:
Figure BDA0002403353870000041
the constructed sliding mode observer meets the existence condition of a sliding mode, and x is equal to z in the sliding mode;
dc side voltage tracking section SMC:
let phi be dUdcDt, then Udc、iqThe error value of sum φ is defined as:
Figure BDA0002403353870000042
in the formula:
Figure BDA0002403353870000048
and phirefAre respectively Udc、iqAnd a reference value of phi;
establishing two slip form surfaces s1、s2Are respectively connected with Udc、iqCorrespondingly:
Figure BDA0002403353870000043
wherein β, β1And β2Is the amplification gain;
the second equation of the above equation is simplified:
Udcrefis a given constant, therefore, dUdcref/dt＝0；
According to the expression of formula (1), substituting the above formula:
Figure BDA0002403353870000044
wherein λ is β2/β1；
Derived from coordinate transformation power conservation:
Figure BDA0002403353870000045
according to formula (1):
Figure BDA0002403353870000046
neglecting the resistance RnSuppose diq0 and eqWhen the value is 0, the switching function S is obtainedq：
Figure BDA0002403353870000047
Then obtain idReference value i ofdref：
Figure BDA0002403353870000051
Because: i.e. il＝z2/UdcThe above formula can be organized as:
Figure BDA0002403353870000052
and obtaining the voltage outer ring control module according to the formula.
Further, the construction process of the inner loop current control module is as follows:
the design of the inner ring current controller adopts an exponential approach law, and then two sliding mode surfaces s1And s2Satisfies the following formula:
Figure BDA0002403353870000053
in the formula: epsilon1、ε2、k1、k2Are all constant coefficients;
obtaining reference quantities of two outputs of the current inner loop control module according to the following formula, and accordingly building the inner loop current control module:
Figure BDA0002403353870000054
in the formula: u. ofqAnd udTwo control quantities required for pulse width modulation.
The invention has the beneficial effects that:
(1) the method applies the control strategy of an interference estimation part ESO + sliding mode control SMC to an accurate model of CRH3 EMU (comprising a grid-side converter LSC, a direct-current link, an inverter and a motor); does not require an accurate mathematical model and has good adaptability to a complex system;
(2) according to the method, the application of the SMC is controlled through the ESO + sliding mode of the interference estimation part, so that the defect of poor system robustness of the SMC during load change is overcome, and better dynamic and static performances can be obtained in other aspects;
(3) the method can be used for inhibiting the low-frequency oscillation phenomenon LFO generated under various working conditions when a plurality of EMUs are put into operation.
Drawings
FIG. 1 is a control block diagram of an LSC of a CRH3 motor train unit based on ESO + SMC.
Fig. 2 is a voltage outer loop control block diagram.
FIG. 3 illustrates a U of a traction drive unit under various operating conditionsdcA simulation comparison graph of (c).
FIG. 4 shows U when regenerative braking occursdcThe simulation of (a) is compared with the enlargement.
FIG. 5 is a graph of U as the load torque of a traction drive unit changesdcA simulation comparison graph of (c).
FIG. 6 is a graph of the tracking effect of the state observer on changes in traction drive unit load torque.
FIG. 7 shows that when L isnWhen changed, is paired with UdcA simulated contrast plot of the effect of (c).
Fig. 8 is a simulation comparison graph of the suppression effect of the low frequency oscillation phenomenon LFO generated under different working conditions.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
The process of the invention is illustrated by CRH3 EMUs, comprising the following steps:
step 1: establishing a mathematical model of a single traction transmission unit under a d-q coordinate system;
the specific process is as follows:
s11: the single traction transmission unit of the motor train unit consists of a traction network, a rectifier, an intermediate direct current circuit, an inverter and a motor;
s12: the inverter and the motor are equivalent to a non-constant direct current power supply il：
Figure BDA0002403353870000061
In the formula: i.e. ilIs a direct current side power supply, R is a phase equivalent resistor in a three-phase equivalent circuit at the alternating current side of the inverter, L is a phase equivalent inductor in the three-phase equivalent circuit at the alternating current side of the inverter,
Figure BDA0002403353870000062
is ikAnd ekIs the angle between the vectors of (a) and theta is ukAnd ekAngle between the vectors of (U)dcThe intermediate direct current side voltage is adopted, m is the pulse broadband modulation ratio of the inverter, tau is the time constant of the transient component, rho is the amplitude factor of the alternating back electromotive force, and omega is the fundamental wave angular frequency of the network side voltage;
wherein the motor is equivalent to a star-connected three-phase symmetrical circuit, wherein each phase is composed of an R-L series load and an alternating current power supply ekIn series, the three-phase voltages of the circuit being set to ukThe three-phase current is set to ik；k＝1,2,3；
S13: after an equivalent circuit of the direct current side of the inverter is obtained, KCL and KVL equations are written on the alternating current side and the direct current side of the EMU respectively, and a mathematical model under a d-q coordinate system of the EMU grid-side converter is obtained:
Figure BDA0002403353870000063
in the formula: c is a DC-side support capacitor, LnFor equivalent leakage inductance, R, of traction winding of traction transformernIs line resistance, t is time, SdAnd SqRespectively, active and reactive components, i, of the switching function S to a two-phase rotating coordinate systemdAnd iqRespectively, the EMUs network side current inConversion to active and reactive components in a two-phase rotating coordinate system, edAnd eqRespectively, the voltage u of the EMUs network sidenAnd converting the active component and the reactive component under the two-phase rotating coordinate system.
Step 2: and applying a sliding mode variable structure control strategy based on state observation to a network side converter (LSC) of the EMUs.
The model derivation for the outer loop voltage control module is as follows:
from fig. 1, the model of the outer loop voltage control module includes two parts: an interference estimation section (ESO section) and a DC side voltage tracking section (SMC section);
interference part ESO:
for a second order system:
Figure BDA0002403353870000071
in the formula, x1、x2To be observed for the system, x10、x20Is a known term of1(t)、a2(t) is an uncertainty term;
a1(t)、a2(t) its upper boundary is A1、A2：
Figure BDA0002403353870000072
Defining an observation error e1＝x1-z1、e2＝x2-z2Wherein z is1、z2Are respectively stand forObserved value x1、x2An estimated value of (d);
for a second order system, the switching function is:
s1＝e1
s2＝e2
for x1And x2The following sliding-mode observer was constructed:
Figure BDA0002403353870000073
in the formula:
Figure BDA0002403353870000074
are each z1、z2Derivative of, L1、L2Sgn(s) is a sign function;
let Pdq＝edid+eqiq,x1＝1/2(Udc)2,x2＝Pl＝ulil,PlIs the load true power, x2The derivative of (a) is denoted as y (t); the third equation in equation (1) can be written as:
Figure BDA0002403353870000075
in the formula:
Figure BDA0002403353870000076
are respectively x1、x2A derivative of (a);
constructing a sliding-mode observer:
Figure BDA0002403353870000077
s1and s2The derivative of (c) is:
Figure BDA0002403353870000081
and (3) stability analysis:
setting:
Figure BDA0002403353870000082
defining a lyapunov function V:
Figure BDA0002403353870000083
in the formula: s is a sphere domain;
then there are:
Figure BDA0002403353870000084
the constructed sliding mode observer meets the existence condition of a sliding mode, and x is equal to z in the sliding mode;
the dc side voltage tracking section SMC is mathematically modeled as follows:
let phi be dUdcDt, then Udc、iqThe error value of sum φ is defined as:
Figure BDA0002403353870000085
in the formula:
Figure BDA0002403353870000088
and phirefAre respectively Udc、iqAnd a reference value of phi;
establishing two slip form surfaces s1、s2Are respectively connected with Udc、iqCorrespondingly:
Figure BDA0002403353870000086
wherein β, β1And β2Is the amplification gain;
the second equation of the above equation is simplified:
Udcrefis a given constant, therefore, dUdcref/dt＝0；
According to the expression of formula (1), substituting the above formula:
Figure BDA0002403353870000087
wherein λ is β2/β1；
Derived from coordinate transformation power conservation:
Figure BDA0002403353870000091
according to formula (1):
Figure BDA0002403353870000092
neglecting the resistance RnSuppose diq0 and eqWhen the value is 0, the switching function S is obtainedq：
Figure BDA0002403353870000093
Then obtain idReference value i ofdref：
Figure BDA0002403353870000094
Because: i.e. il＝z2/UdcThe above formula can be organized as:
Figure BDA0002403353870000095
and obtaining the voltage outer ring control module according to the formula.
The model derivation for the inner loop current control module is as follows:
the design of the inner ring current controller adopts an exponential approach law, and then two sliding mode surfaces s1And s2Satisfies the following formula:
Figure BDA0002403353870000096
in the formula: epsilon1、ε2、k1、k2Are all constant coefficients;
obtaining reference quantities of two outputs of the current inner loop control module according to the following formula, and accordingly building the inner loop current control module:
Figure BDA0002403353870000097
in the formula: u. ofqAnd udTwo control quantities required for pulse width modulation.
In order to illustrate the beneficial effects of the invention, the control performance simulation results of ESO + SMC, SMC and traditional linear proportional integral control (PI) are compared and analyzed. Based on ESO + SMC, SMC and PI control respectively, LSC outputs direct current voltage U to single traction transmission unit under multi-working-condition motiondcComparative analysis was performed. As can be seen from FIG. 3, both ESO + SMC and SMC can realize the start without overshoot, and the power absorbed by the train from the network side changes under different working conditions, and the ESO + SMC and SMC are adopted to control the UdcThe resulting effect is less than under PI control. In FIG. 4, when EMU is regenerative braking, ESO + SMC, SMC may be much lower for U than for PI controldcThe resulting voltage change.
Based on the ESO + SMC, SMC and PI control, respectively, a comparative analysis of the dc voltage Udc output for a single traction drive unit when a given load torque becomes greater or smaller, and an analysis of the tracking effect of the state observer when based on the ESO + SMC.
As shown in FIG. 5, when the set load torque becomes large at 2s and small at 5s, U is calculated under PI control and ESO + SMCdcWhen the load becomes larger (smaller), the voltage drop (rise) occurs and then returns to a stable value, the corresponding speed of Udc under the ESO + SMC is faster, and the amplitude of the voltage drop (rise) is smaller. Whereas under SMC the voltage cannot return to a stable value, so the ESO + SMC is more robust when the load varies.
In fig. 6, it can be seen that the load torque variation is still the same as that in fig. 5, and it can be seen that the power output by the state observer can better track the output power of the motor, which proves the correctness of the state observer modeling.
And respectively comparing the sensitivity of the system parameters and the inhibition effect of LFO under various working conditions when the system is operated in a multi-vehicle grid-connected mode under the control of SMC and PI.
In FIG. 7, the vehicle-side equivalent inductance LnWhen the values are respectively set to 0.003, 0.005 and 0.009, the ESO + SMC has lower sensitivity to parameter changes and stronger robustness relative to PI control; wherein, the graph a and the graph b are respectively based on PI control and ESO + SMC, LnWaveform of Udc under variation.
In fig. 8, the equivalent inductance L of the net side is changedsThe phenomenon of mismatching of vehicle network model parameters is simulated, under the PI control, the Udc generates LFO with different amplitudes under different working conditions, and under the ESO + SMC, the LFO is obviously inhibited.
The invention provides a method for improving the performance of a vehicle network system, which is applied to EMUs LSCs. A CRH3 EMUs equivalent model is built based on simulink software, and multiple operation conditions of the CRH3 EMUs from starting to uniform speed to braking are considered in detail in the vehicle network equivalent model. Changing the control strategy of EMUs LSCs to improve the performance of vehicular networking systems under multiple operating conditions is discussed. For LSC output direct current voltage U based on different working conditions of ESO + SMC, SMC and PI controldcRobustness of the system in the event of load changes, pair LnAnd carrying out simulation analysis on the sensitivity of the parameters and the suppression effect of the low-frequency oscillation.

Claims (5)

1. A method for improving the performance of a vehicle network system under multi-working-condition operation is characterized by comprising the following steps:
step 1: establishing a mathematical model of a single traction transmission unit under a d-q coordinate system;
step 2: the sliding mode variable structure control strategy based on state observation is applied to a grid-side converter LSC of the power electronic multi-unit EMUs.
2. The method for improving the performance of the vehicle network system under the multi-condition operation according to claim 1, wherein the step 2 is to analyze the outer loop voltage control module and the inner loop current control module respectively.
3. The method for improving the performance of the vehicle network system under the multi-working-condition operation according to claim 1, wherein the process of the step 1 is as follows:
s11: the single traction transmission unit of the motor train unit consists of a traction network, a rectifier, an intermediate direct current circuit, an inverter and a motor;
s12: the inverter and the motor are equivalent to a non-constant direct current power supply il：
Figure FDA0002403353860000011
In the formula: i.e. ilIs a direct current side power supply, R is a phase equivalent resistor in a three-phase equivalent circuit at the alternating current side of the inverter, L is a phase equivalent inductor in the three-phase equivalent circuit at the alternating current side of the inverter,
Figure FDA0002403353860000012
is ikAnd ekIs the angle between the vectors of (a) and theta is ukAnd ekAngle between the vectors of (U)dcThe intermediate direct current side voltage is adopted, m is the pulse broadband modulation ratio of the inverter, tau is the time constant of the transient component, rho is the amplitude factor of the alternating back electromotive force, and omega is the fundamental wave angular frequency of the network side voltage;
wherein the motor is equivalent to a star-connected three-phase symmetrical circuit, wherein each phase is composed of an R-L series load and an alternating current power supply ekIn series, the three-phase voltages of the circuit being set to ukThe three-phase current is set to ik；k＝1,2,3；
S13: the method comprises the following steps of respectively writing KCL and KVL equations on an alternating current side and a direct current side of the EMU to obtain a mathematical model under a d-q coordinate system of the EMU grid-side converter:
Figure FDA0002403353860000013
in the formula: c is a DC-side support capacitor, LnFor equivalent leakage inductance, R, of traction winding of traction transformernIs line resistance, t is time, SdAnd SqRespectively, active and reactive components, i, of the switching function S to a two-phase rotating coordinate systemdAnd iqRespectively, the EMUs network side current inConversion to active and reactive components in a two-phase rotating coordinate system, edAnd eqRespectively, the voltage u of the EMUs network sidenAnd converting the active component and the reactive component under the two-phase rotating coordinate system.
4. The method for improving the performance of the vehicle network system under the multi-working-condition operation according to claim 3, wherein the outer ring voltage control module model is constructed by the following process:
interference part ESO:
for a second order system:
Figure FDA0002403353860000021
in the formula, x1、x2To be observed for the system, x10、x20Is a known term of1(t)、a2(t) is an uncertainty term that,
a1(t)、a2(t) its upper boundary is A1、A2：
Figure FDA0002403353860000022
Defining an observation error e1＝x1-z1、e2＝x2-z2Wherein z is1、z2Are respectively the values x to be observed1、x2An estimated value of (d);
for a second order system, the switching function is:
s1＝e1
s2＝e2
for x1And x2The following sliding-mode observer was constructed:
Figure FDA0002403353860000023
in the formula:
Figure FDA0002403353860000024
are each z1、z2Derivative of, L1、L2Sgn(s) is a sign function;
let Pdq＝edid+eqiq,x1＝1/2(Udc)2,x2＝Pl＝ulil,PlIs the load true power, x2The derivative of (a) is denoted as y (t); the third equation in equation (1) can be written as:
Figure FDA0002403353860000025
in the formula:
Figure FDA0002403353860000026
are respectively x1、x2A derivative of (a);
constructing a sliding-mode observer:
Figure FDA0002403353860000027
s1and s2The derivative of (c) is:
Figure FDA0002403353860000028
and (3) stability analysis:
setting:
Figure FDA0002403353860000031
defining a lyapunov function V:
Figure FDA0002403353860000032
in the formula: s is a sphere domain;
then there are:
Figure FDA0002403353860000033
the constructed sliding mode observer meets the existence condition of a sliding mode, and x is equal to z in the sliding mode;
dc side voltage tracking section SMC:
let phi be dUdcDt, then Udc、iqThe error value of sum φ is defined as:
Figure FDA0002403353860000034
in the formula:
Figure FDA0002403353860000035
and phirefAre respectively Udc、iqAnd a reference value of phi;
establishing two slip form surfaces s1、s2Are respectively connected with Udc、iqCorrespondingly:
Figure FDA0002403353860000036
wherein β, β1And β2Is the amplification gain;
the second equation of the above equation is simplified:
Udcrefis a given constant, therefore, dUdcref/dt＝0；
According to the expression of formula (1), substituting the above formula:
Figure FDA0002403353860000037
wherein λ is β2/β1；
Derived from coordinate transformation power conservation:
Figure FDA0002403353860000038
according to formula (1):
Figure FDA0002403353860000041
neglecting the resistance RnSuppose diq0 and eqWhen the value is 0, the switching function S is obtainedq：
Figure FDA0002403353860000042
Then obtain idReference value i ofdref：
Figure FDA0002403353860000043
Because: i.e. il＝z2/UdcThe above formula can be organized as:
Figure FDA0002403353860000044
and obtaining the voltage outer ring control module according to the formula.
5. The method for improving the performance of the vehicle network system under the multi-working-condition operation according to claim 4, wherein the construction process of the inner loop current control module is as follows:
the design of the inner ring current controller adopts an exponential approach law, and then two sliding mode surfaces s1And s2Satisfies the following formula:
Figure FDA0002403353860000045
in the formula: epsilon1、ε2、k1、k2Are all constant coefficients;
obtaining reference quantities of two outputs of the current inner loop control module according to the following formula, and accordingly building the inner loop current control module:
Figure FDA0002403353860000046
in the formula: u. ofqAnd udTwo control quantities required for pulse width modulation.
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