CN112383075B - Energy management control device of common direct current bus multi-machine operation energy storage system - Google Patents

Energy management control device of common direct current bus multi-machine operation energy storage system Download PDF

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CN112383075B
CN112383075B CN202011270303.7A CN202011270303A CN112383075B CN 112383075 B CN112383075 B CN 112383075B CN 202011270303 A CN202011270303 A CN 202011270303A CN 112383075 B CN112383075 B CN 112383075B
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voltage
analog
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CN112383075A (en
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张红娟
孙世镇
高妍
曹晋鹏
田卫东
靳宝全
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Taiyuan University of Technology
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Taiyuan University of Technology
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    • 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
    • H02J3/28—Arrangements for balancing of the load in a network by storage of energy
    • 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
    • H02J3/28—Arrangements for balancing of the load in a network by storage of energy
    • H02J3/32—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means
    • 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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P80/00—Climate change mitigation technologies for sector-wide applications
    • Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)

Abstract

The invention discloses an energy management control device of a common direct current bus multi-machine operation energy storage system, which adopts common direct current bus energy storage control to acquire information such as voltage, current, power and the like of a bus side, a super capacitor module side and a motor side in real time by considering the problems of complex load operation condition and large energy consumption of a plurality of motor driving systems, carries out state identification and power tracking, and intensively controls and manages energy through a dynamic power feedforward compensation strategy, thereby not only completing self-consumption of energy between loads, but also realizing energy coordination distribution and stable operation of a motor in braking and electric states and improving the energy utilization rate of the system. The energy-saving control method is suitable for occasions of energy-saving control of multi-motor driving systems of textile, papermaking, steel rolling, stacking machines and the like.

Description

Energy management control device of common direct current bus multi-machine operation energy storage system
Technical Field
The invention belongs to the technical field of energy-saving control, and particularly relates to an energy management control device of a common direct-current bus multi-machine operation energy storage system.
Background
With the improvement of the automation degree of industrial production, the multi-motor driving system is widely applied to control systems of textile, paper making, steel rolling, stacking machines and the like. Each motor has an electric and braking operation state in the driving process, and energy generated by braking operation is consumed in a form of heat, so that energy loss is large. An effective means is to adopt a common direct current bus mode to control and manage energy in a centralized manner, realize self-consumption of energy among loads and greatly improve the energy utilization rate of the system. However, in this way, the situation that the braking energy is too large and the inside of the system cannot be consumed by itself still exists, and the redundant braking energy still can gather the energy at the position of the direct-current bus, so that the direct-current bus voltage is pumped up.
At present, the existing solutions include that firstly, the dc bus consumes the redundant energy of the dc bus in the form of heat through the braking unit, so that the safe and normal operation of the system can be ensured, but the demand of system load conversion cannot be met in real time due to the configuration of the braking unit, and the energy loss is large. And secondly, redundant energy is fed back to the power grid through a feedback unit to realize energy conservation, but the voltage fluctuation of the power grid is caused, the harmonic content is increased, and the quality of the power grid is reduced.
Disclosure of Invention
The invention provides an energy management control device of a common direct current bus multi-machine operation energy storage system, which aims to solve the defects of the existing device and further discloses the energy management control device of the common direct current bus multi-machine operation energy storage system, which can directly recycle braking energy. The method is suitable for energy-saving control of a multi-motor driving system.
In order to solve the technical problems, the invention provides an energy management control device of a common direct current bus multi-machine operation energy storage system, which comprises a main circuit unit, a signal acquisition unit and a control unit, wherein the main circuit unit comprises a three-phase rectifier, a filter capacitor, a brake unit, a first inverter, a first alternating current motor, a second inverter, a second alternating current motor, a bidirectional DC/DC converter, a super capacitor module, a direct current bus positive pole and a direct current bus negative pole; the signal acquisition unit comprises a first voltage sensor, a first analog-to-digital conversion circuit, a first power sensor, a second analog-to-digital conversion circuit, a second power sensor, a third analog-to-digital conversion circuit, a second voltage sensor, a fourth analog-to-digital conversion circuit, a current sensor and a fifth analog-to-digital conversion circuit; the control unit comprises a load power calculation module, a load state judgment module, an SOC calculation module, a brake mode switch, an electric mode switch, a first voltage setting module, a first voltage regulator, a first adder, a first current regulator, a first PWM driving module, a first logic operation module, a first dynamic power feedforward compensation module, a second voltage setting module, a second voltage regulator, a second adder, a second current regulator, a second PWM driving module, a second logic operation module, a second dynamic power feedforward compensation module, a selection switch, a digital-to-analog conversion circuit and a brake protection control module;
u, V, W three-phase lines are correspondingly connected to the three-phase input end of the three-phase rectifier, the DC + output end and the DC-output end of the three-phase rectifier are connected to the DC side of the first inverter and the DC side of the second inverter through the positive DC bus and the negative DC bus, and a filter capacitor, a first voltage sensor and a brake unit are arranged in parallel between the positive DC bus and the negative DC bus; the alternating current side of the first inverter is connected to the first alternating current motor through a first power sensor, and the alternating current side of the second inverter is connected to the second alternating current motor through a second power sensor; the positive end and the negative end of the high-voltage side of the bidirectional DC/DC converter are respectively connected with the positive end of a direct-current bus and the negative end of the direct-current bus, the positive end and the negative end of the low-voltage side of the bidirectional DC/DC converter are connected with the positive end of the super capacitor module through a current sensor, the negative end and the low-voltage side of the bidirectional DC/DC converter are directly connected with the negative end of the super capacitor module, and a second voltage sensor is connected between the bidirectional DC/DC converter and the super capacitor module in parallel;
the second analog-to-digital conversion circuit is connected between the first power sensor and the load power calculation module, the third analog-to-digital conversion circuit is connected between the second power sensor and the load power calculation module, wherein the first power sensor and the second power sensor respectively collect power instantaneous values of the first alternating current motor and the second alternating current motor, the power instantaneous values are converted by the second analog-to-digital conversion circuit and the third analog-to-digital conversion circuit and then input into the load power calculation module, the load power calculation module calculates and then outputs a total power value of the motors to the load state judgment module, and the load state judgment module outputs a level signal to the option switch port A2; the first voltage sensor collects the actual value of the bus voltage and transmits the actual value to the first dynamic power feedforward compensation module through the first analog-to-digital conversion circuit; the second voltage sensor collects the actual voltage value of the super capacitor and transmits the actual voltage value to the first dynamic power feedforward compensation module through the fourth analog-to-digital conversion circuit; the motor total power value output by the load power calculation module is transmitted to the first dynamic power feedforward compensation module, and the first dynamic power feedforward compensation module receives the three parts of data and outputs the data to the first adder after compensation operation; the first voltage regulator regulates according to a super capacitor voltage reference value output by the first voltage setting module and a super capacitor voltage actual value output by the fourth analog-to-digital conversion circuit, outputs a result and transmits the result to the first adder, signals output by the first adder and the super capacitor current actual value output by the fifth analog-to-digital conversion circuit are both transmitted to the first current regulator, and signals output by the first current regulator are transmitted to the first logic operation module through the first PWM driving module to generate PWM signals; the braking mode switch comprehensively judges the SOC value of the super capacitor output by the SOC calculation module and the actual voltage value of the super capacitor output by the fourth analog-to-digital conversion circuit, and outputs the result to the first logic operation module, and the first logic operation module performs AND operation on the braking mode switch and the output signal of the first PWM driving module and then sends the output signal to the selection switch port A1;
a bus voltage reference value given by a second voltage given module and a bus voltage actual value output by a first analog-to-digital conversion circuit are both transmitted to a second voltage regulator, the second voltage regulator outputs a signal to a second adder, a second dynamic power feedforward compensation module performs compensation operation on the bus voltage actual value from the first analog-to-digital conversion circuit and a motor total power value of a load power calculation module and then outputs a calculation result to the second adder, a signal output by the second adder and a super capacitor current actual value output by a fifth analog-to-digital conversion circuit are both transmitted to the second current regulator, and an output signal of the second current regulator generates a PWM signal through a second PWM driving module and then is input to a second logic operation module; the electric mode switch carries out comprehensive judgment on the SOC value output by the SOC calculation module and the actual value of the voltage of the super capacitor output by the fourth analog-to-digital conversion circuit and outputs the SOC value and the actual value of the voltage of the super capacitor to the second logic operation module, the second logic operation module sends the SOC value and the actual value of the voltage of the super capacitor output by the fourth analog-to-digital conversion circuit to a selection switch port A3 after carrying out AND operation on output signals of the electric mode switch and the second PWM driving module, when a selection switch port A2 is a high-level signal, the selection switch is connected with a port A1, when a selection switch port A2 is a low-level signal, the selection switch is connected with a port A3, and the output of the selection switch is transmitted to the bidirectional DC/DC converter through the digital-to-analog conversion circuit;
logic signals output by the brake mode switch and actual values of bus voltage output by the first analog-to-digital conversion circuit are both transmitted to the brake protection control module, and the brake protection control module outputs logic signals to the brake unit after judgment.
Compared with the prior art, the invention has the beneficial effects that:
the energy management control device of the multi-machine operation energy storage system connects the direct current sides of the inverters of all motor driving systems together to uniformly distribute and manage the energy of all the motors, so that the energy consumption among multiple motors can be realized, the braking energy generated in the operation process of the multiple motors can be comprehensively recycled through a direct current bus, the energy coordination distribution and the stable operation of the motors in the braking and electric states can be realized through a dynamic power feedforward compensation strategy, and the energy utilization rate is improved. The method is suitable for occasions where the energy utilization rate needs to be improved in a multi-motor driving system such as textile, papermaking, steel rolling and stacking machines.
Drawings
Fig. 1 is a schematic diagram of an energy management control device of a common dc bus multi-machine operation energy storage system provided by the invention.
In the figure: 1. a three-phase rectifier; 2. a filter capacitor; 3. a brake unit; 4. a first inverter; 5. a first alternating current motor; 6. a second inverter; 7. a second alternating current motor; 8. a bidirectional DC/DC converter; 9. a super capacitor module; 10. a first voltage sensor; 11. a first analog-to-digital conversion circuit; 12. a first power sensor; 13. a second analog-to-digital conversion circuit; 14. a second power sensor; 15. a third analog-to-digital conversion circuit; 16. a second voltage sensor; 17. a fourth analog-to-digital conversion circuit; 18. a current sensor; 19. a fifth analog-to-digital conversion circuit; 20. a load power calculation module; 21. a load state judgment module; an SOC calculation module; 23. a brake mode switch; 24. an electric mode switch; 25. a first voltage setting module; 26. a first voltage regulator; 27. a first adder; 28. a first current regulator; 29. a first PWM driving module; 30. a first logical operation module; 31. a first dynamic power feedforward compensation module; 32. a second voltage setting module; 33. a second voltage regulator; 34. a second adder; 35. a second current regulator; 36. a second PWM driving module; 37. a second logical operation module; 38.; a second dynamic power feedforward compensation module; 39. a selector switch; 40. a digital-to-analog conversion circuit; 41. a brake protection control module; 42. a direct current bus is positive; 43. the dc bus is negative.
Detailed Description
The present invention is further illustrated by, but is not limited to, the following examples.
Referring to fig. 1, fig. 1 is a schematic diagram of an energy management control device of a common dc bus multi-machine operation energy storage system according to the present invention. The device includes: the system comprises a main circuit unit, a signal acquisition unit and a control unit, wherein the main circuit unit comprises a three-phase rectifier 1, a filter capacitor 2, a brake unit 3, a first inverter 4, a first alternating current motor 5, a second inverter 6, a second alternating current motor 7, a bidirectional DC/DC converter 8, a super capacitor module 9, a direct current bus positive 42 and a direct current bus negative 43; the signal acquisition unit comprises a first voltage sensor 10, a first analog-to-digital conversion circuit 11, a first power sensor 12, a second analog-to-digital conversion circuit 13, a second power sensor 14, a third analog-to-digital conversion circuit 15, a second voltage sensor 16, a fourth analog-to-digital conversion circuit 17, a current sensor 18 and a fifth analog-to-digital conversion circuit 19; the control unit comprises a load power calculation module 20, a load state judgment module 21, an SOC calculation module 22, a brake mode switch 23, an electric mode switch 24, a first voltage setting module 25, a first voltage regulator 26, a first adder 27, a first current regulator 28, a first PWM driving module 29, a first logic operation module 30, a first dynamic power feedforward compensation module 31, a second voltage setting module 32, a second voltage regulator 33, a second adder 34, a second current regulator 35, a second PWM driving module 36, a second logic operation module 37, a second dynamic power feedforward compensation module 38, a selection switch 39, a digital-to-analog conversion circuit 40 and a brake protection control module 41.
U, V, W three phase lines are all connected to the input end of a three-phase rectifier 1, the DC + output end and the DC-output end of the three-phase rectifier 1 are respectively connected to the DC sides of a first inverter 4 and a second inverter 6 through a DC bus positive 42 and a DC bus negative 43, a filter capacitor 2, a first voltage sensor 10 and a brake unit 3 are connected in parallel between the DC bus positive 42 and the DC bus negative 43, the AC side of the first inverter 4 is connected to a first AC motor 5 through a first power sensor 12, and the AC side of the second inverter 6 is connected to a second AC motor 7 through a second power sensor 14; the high-voltage side + end and the high-voltage side-end of the bidirectional DC/DC converter 8 are respectively connected with a direct-current bus positive 42 and a direct-current bus negative 43, the low-voltage side + end of the bidirectional DC/DC converter 8 is connected with the + end of the super capacitor module 9 through the current sensor 18, the low-voltage side-end of the bidirectional DC/DC converter 8 is directly connected with the low-voltage end of the super capacitor module 9, and the second voltage sensor 16 is connected between the bidirectional DC/DC converter 8 and the super capacitor module 9 in parallel.
The first power sensor 12 and the second power sensor 14 respectively collect power instantaneous values of the first alternating current motor 5 and the second alternating current motor 7, the power instantaneous values are converted by the second analog-to-digital conversion circuit 13 and the third analog-to-digital conversion circuit 15 and then input to the load power calculation module 20, the load power calculation module 20 outputs a total power value of the motors to the load state judgment module 21 after calculation, and the load state judgment module 21 outputs a level signal to a port A2 of the selection switch 39; the first voltage sensor 10 collects the actual value of the bus voltage, the first analog-to-digital conversion circuit 11, the second voltage sensor 16 collects the actual value of the super capacitor voltage, the fourth analog-to-digital conversion circuit 17 and the total power value of the motor output by the load power calculation module 20 are all transmitted to the first dynamic power feedforward compensation module 31, and the first dynamic power feedforward compensation module 31 outputs the actual value of the bus voltage to the first adder 27 after compensation operation; the first voltage regulator 26 adjusts the reference value of the super capacitor voltage output by the first voltage setting module 25 and the actual value of the super capacitor voltage output by the fourth analog-to-digital conversion circuit 17 and then transmits the adjusted values to the first adder 27, the signal output by the first adder 27 and the actual value of the super capacitor current output by the fifth analog-to-digital conversion circuit 19 are both transmitted to the first current regulator 28, and the signal output by the first current regulator 28 generates a PWM signal through the first PWM driving module 29 and transmits the PWM signal to the first logic operation module 30; the braking mode switch 23 comprehensively determines the SOC value of the super capacitor output from the SOC calculation module 22 and the actual voltage value of the super capacitor output from the fourth analog-to-digital conversion circuit 17, and then outputs the result to the first logic operation module 30, and the first logic operation module 30 performs and operation on the output signals of the braking mode switch 23 and the first PWM driving module 29, and then sends the output signals to the port a1 of the selection switch 39.
The bus voltage reference value output by the second voltage setting module 32 and the bus voltage actual value output by the first analog-to-digital conversion circuit 11 are both transmitted to the second voltage regulator 33, the second voltage regulator 33 outputs a signal to the second adder 34, the second dynamic power feedforward compensation module 38 performs compensation operation on the bus voltage actual value from the first analog-to-digital conversion circuit 11 and the motor total power value of the load power calculation module 20 and then outputs the bus voltage actual value and the motor total power value to the second adder 34, the signal output by the second adder 34 and the super capacitor current actual value output by the fifth analog-to-digital conversion circuit 19 are both transmitted to the second current regulator 35, and the output signal of the second current regulator 35 generates a PWM signal through the second PWM driving module 36 and inputs the PWM signal to the second logic operation module 37; the electric mode switch 24 comprehensively judges the SOC value output from the SOC calculation module 22 and the actual value of the supercapacitor voltage output from the fourth analog-to-digital conversion circuit 17 and outputs the SOC value and the actual value to the second logic operation module 37, the second logic operation module 37 sends the SOC value and the actual value to the port A3 of the selection switch 39 after performing and operation on the output signals of the electric mode switch 24 and the second PWM driving module 36, when the port a2 of the selection switch 39 is a high level signal, the selection switch 39 turns on the port a1, when the port a2 of the selection switch 39 is a low level signal, the selection switch 39 turns on the port A3, and the output of the selection switch 39 is transmitted to the bidirectional DC/DC converter 8 through the digital-to-analog conversion circuit 40; the logic signal output by the brake mode switch 23 and the actual value of the bus voltage output by the first analog-to-digital conversion circuit 11 are both transmitted to the brake protection control module 41, and the brake protection control module 41 outputs the logic signal to the brake unit 3 after judgment.
In the above structure, the first power sensor 12 and the second power sensor 14 respectively collect instantaneous power values of the first ac motor 5 and the second ac motor 7, and input the instantaneous power values into the load power calculation module 20 after being converted by the second analog-to-digital conversion circuit 13 and the third analog-to-digital conversion circuit 15, the load power calculation module 20 outputs a total power value of the motor to the load state judgment module 21, and the total power value of the motor is calculated as shown in formula (1):
Figure BDA0002777466870000071
wherein P isL(t) total power of multiple motors at time t, Pn(t) is the power of the corresponding nth motor at the moment t, the formula is also suitable for the condition that n is greater than 2, and when the motor works in a braking state, P isn(t)<0, when the motor is operated in an electric state, Pn(t)>0, so that the plurality of motors have four working states, which are as follows:
state 1: the first alternating current motor 5 and the second alternating current motor 7 work in a braking state, and the load state judgment module 21 detects PL(t)<0, outputting a high level signal to the port A2 of the selection switch 39, turning on the port A1 by the selection switch 39, and transmitting the signal output by the first logic operation module 30 to the bidirectional DC/DC converter 8 through the digital-to-analog conversion circuit 40; the first voltage sensor 10 collects the actual value of the bus voltage, the first analog-to-digital conversion circuit 11, the second voltage sensor 16 collects the actual value of the super capacitor voltage, the fourth analog-to-digital conversion circuit 17 and the total power value of the motor output by the load power calculation module 20 are all transmitted to the first dynamic power feedforward compensation module 31, and the first dynamic power feedforward compensation module 31 outputs a first current compensation value to the first adder 27 after being operated by the formula (2); wherein the expression of formula (2) is:
Figure BDA0002777466870000081
wherein ic1(t) is the first current compensation value, Δ P, at time t1For a first power feedforward compensation value, Usc(t) is the voltage value of the super capacitor module 9 at the time t, CdcIs the capacitance value, U, of the filter capacitor 2d(t) is the value of the bus voltage at time t, iscAnd (T) is the current value of the super capacitor module 9 at the time T, K is the sampling period number, and Delta T is the sampling period value.
The reference value of the super capacitor voltage output by the first voltage setting module 25 and the actual value of the super capacitor voltage output by the fourth analog-to-digital conversion circuit 17 are both transmitted to the first voltage regulator 26, the first voltage regulator 26 is regulated and then output to the first adder 27, the signal output by the first adder 27 and the actual value of the super capacitor current output by the fifth analog-to-digital conversion circuit 19 are both transmitted to the first current regulator 28, and the output signal of the first current regulator 28 generates a PWM signal through the first PWM driving module 29 and is input to the first logic operation module 30.
The fourth analog-to-digital conversion circuit 17 outputs the actual value of the supercapacitor voltage to the SOC calculation module 22, and the SOC value of the supercapacitor module 9 is calculated as shown in formula (3):
Figure BDA0002777466870000082
wherein SOC (t) is the state of charge value of the super capacitor module 9 at time t, SOC (t)0) Starting t for the super capacitor module 90State of charge value of time, Q0Is the rated charge capacity of the super capacitor module 9, C is the capacitance value of the super capacitor module 9, R is the parallel equivalent resistance of the super capacitor module 9, Usc(t0) Is the start t of the super capacitor module 90Voltage at time, UscminIs the minimum working voltage, U, of the super capacitor module 9scmaxThe maximum working voltage of the super capacitor module 9.
The SOC value output by the SOC calculation module 22 and the actual value of the super capacitor voltage output by the fourth analog-to-digital conversion circuit 17 are both transmitted to the brake mode switch 23, and when the SOC value is equal to the actual value of the super capacitor voltage output by the SOC calculation module<SOCmax&Usc<UscmaxIn which SOC ismaxFor the upper limit value of the super capacitor SOC, the braking mode switch 23 outputs a logic 1 signal to the first logic operation module 30, the first logic operation module 30 outputs a PWM signal to the port a1 of the selection switch 39 after taking the phase of the logic 1 signal of the braking mode switch 23 and the PWM signal generated by the first PWM driving module 29, the PWM signal output by the selection switch 39 is input to the bidirectional DC/DC converter 8 through the digital-to-analog conversion circuit 40, and the bidirectional DC/DC converter 8 starts to work in the buck mode to charge the super capacitor module 9; when the SOC is>SOCmaxOr Usc>UscmaxThe braking mode switch 23 outputs a logic 0 signal to the first logic operation module 30, the first logic operation moduleThe logic operation module 30 outputs a logic 0 signal to the port a1 of the selection switch 39 after taking the logic 0 signal of the braking mode switch 23 and the PWM signal generated by the first PWM driving module 29 together, the logic 0 signal output by the selection switch 39 locks the bidirectional DC/DC converter 8 through the digital-to-analog conversion circuit 40, and the super capacitor module 9 does not work; at this time, the logic signal output by the brake mode switch 23 and the bus voltage output by the first analog-to-digital conversion circuit 11 are both transmitted to the brake protection control module 41, and when the brake protection control module 41 detects the bus voltage value Ud>When the voltage is 600V and the logic 0 signal is input by the brake mode switch 23, the brake protection control module 41 outputs a logic 1 signal to the brake unit 3 to start the brake resistor, so that the dangerous operation of the system caused by the rise of the system voltage is avoided.
State 2: if the first ac motor 5 is in the braking state and the second ac motor 7 is in the electric state, and the braking power is greater than the electric power, at this time, the electric power required by the second ac motor 7 is completely provided by the braking power of the first ac motor 5, the remaining braking power is recovered by the energy storage device, and the load state determining module 21 detects PL(t)<0, outputting a high level signal to the port a2 of the selection switch 39, turning on the port a1 by the selection switch 39, and transmitting the signal output by the first logic operation module 30 to the bidirectional DC/DC converter 8 through the digital-to-analog conversion circuit 40, wherein the working process is the same as that in the state 1, which is not described herein again.
State 3: the first alternating current motor 5 and the second alternating current motor 7 work in an electric state, and the load state judgment module 21 detects P at the momentL(t)>0, outputting a low level signal to the port A2 of the selection switch 39, turning on the port A3 by the selection switch 39, and inputting the signal output by the second logic operation module 37 to the bidirectional DC/DC converter 8 through the digital-to-analog conversion circuit 40; the first voltage sensor 10 collects the actual value of the bus voltage, and the total power value of the motor output by the first analog-to-digital conversion circuit 11 and the load power calculation module 20 is transmitted to the second dynamic power feedforward compensation module 38, and the second dynamic power feedforward compensation module 38 outputs a second current compensation value to the second adder 34 after being calculated by the formula (4); wherein the expression of formula (4) is:
Figure BDA0002777466870000101
it ic2(t) is the second current compensation value, Δ P, at time t2A second power feed forward compensation value.
The reference value of the bus voltage output by the second voltage setting module 32 and the actual value of the bus voltage output by the first analog-to-digital conversion circuit 11 are both transmitted to the second voltage regulator 33, the second voltage regulator 33 is regulated and then output to the second adder 34, the signal output by the second adder 34 and the actual value of the super capacitor current output by the fifth analog-to-digital conversion circuit 19 are both transmitted to the second current regulator 35, and the output signal of the second current regulator 35 generates a PWM signal through the second PWM driving module 36 and is input to the second logic operation module 37.
The SOC value output by the SOC calculation module 22 and the actual value of the super capacitor voltage output by the fourth analog-to-digital conversion circuit 17 are both transmitted to the electric mode switch 24, and when the SOC value is equal to the actual value of the super capacitor voltage output by the SOC calculation module>SOCmin&Usc>UscminIn which SOC isminFor the lower limit value of the super capacitor SOC, the electric mode switch 24 outputs a logic 1 signal to the second logic operation module 37, the second logic operation module 37 performs phase-joining of the logic 1 signal of the electric mode switch 23 and the PWM signal generated by the second PWM driving module 36 and outputs the PWM signal to the port a3 of the selection switch 39, the PWM signal output by the selection switch 39 is input to the bidirectional DC/DC converter 8 through the digital-to-analog conversion circuit 40, and the bidirectional DC/DC converter 8 starts to operate in the boost mode to discharge the super capacitor module 9; when SOC is reached<SOCminOr Usc<UscminWhen the power-driven mode switch 24 outputs a logic 0 signal to the second logic operation module 37, the second logic operation module 37 outputs a logic 0 signal to the port a3 of the selection switch 39 after the logic 0 signal of the power-driven mode switch 24 and the PWM signal phase generated by the second PWM driving module 36 are connected, the logic 0 signal output by the selection switch 39 locks the bidirectional DC/DC converter 8 through the digital-to-analog conversion circuit 40, the super capacitor module 9 does not work, at this time, the power required by the motor load is completely provided by the power grid, and the energy storage system does not participate in the work.
And 4: such as a first ac motor 5The braking state is achieved, the second alternating current motor 7 works in the electric state, the electric power is more than the braking power, the braking power generated by the first alternating current motor 5 is completely supplied to the second alternating current motor 7, the rest electric power required by the second alternating current motor 7 is supplied by the energy storage device or the power grid, and the load state judgment module 21 detects PL(t)>0, output the low level signal to the port a2 of the selection switch 39, the selection switch 39 turns on the port A3, and the output signal of the second logic operation module 37 is transmitted to the bidirectional DC/DC converter 8 through the digital-to-analog conversion circuit 40, which is the same as the operation process in the state 3 and is not described herein.
The above embodiments are described in the case of a two-motor drive system, but are equally applicable in the case of three or more motor systems, and will not be described in detail here.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (1)

1. The energy management control device of the common direct current bus multi-machine operation energy storage system is characterized by comprising a main circuit unit, a signal acquisition unit and a control unit, wherein the main circuit unit comprises a three-phase rectifier (1), a filter capacitor (2), a brake unit (3), a first inverter (4), a first alternating current motor (5), a second inverter (6), a second alternating current motor (7), a bidirectional DC/DC converter (8), a super capacitor module (9), a direct current bus positive (42) and a direct current bus negative (43); the signal acquisition unit comprises a first voltage sensor (10), a first analog-to-digital conversion circuit (11), a first power sensor (12), a second analog-to-digital conversion circuit (13), a second power sensor (14), a third analog-to-digital conversion circuit (15), a second voltage sensor (16), a fourth analog-to-digital conversion circuit (17), a current sensor (18) and a fifth analog-to-digital conversion circuit (19); the control unit comprises a load power calculation module (20), a load state judgment module (21), an SOC calculation module (22), a brake mode switch (23), an electric mode switch (24), a first voltage setting module (25), a first voltage regulator (26), a first adder (27), a first current regulator (28), a first PWM driving module (29), a first logic operation module (30), a first dynamic power feedforward compensation module (31), a second voltage setting module (32), a second voltage regulator (33), a second adder (34), a second current regulator (35), a second PWM driving module (36), a second logic operation module (37), a second dynamic power feedforward compensation module (38), a selection switch (39), a digital-to-analog conversion circuit (40) and a brake protection control module (41);
u, V, W three phase lines are correspondingly connected to the three-phase input end of the three-phase rectifier (1), the DC + output end and the DC-output end of the three-phase rectifier (1) are connected to the DC side of the first inverter (4) and the DC side of the second inverter (6) through the positive (42) and the negative (43) of the DC bus, and a filter capacitor (2), a first voltage sensor (10) and a brake unit (3) are arranged in parallel between the positive (42) and the negative (43) of the DC bus; the alternating current side of the first inverter (4) is connected to the first alternating current motor (5) through a first power sensor (12), and the alternating current side of the second inverter (6) is connected to the second alternating current motor (7) through a second power sensor (14); the high-voltage side + end and the high-voltage side-end of the bidirectional DC/DC converter (8) are respectively connected with a direct-current bus positive (42) and a direct-current bus negative (43), the low-voltage side + end of the bidirectional DC/DC converter (8) is connected with the + end of the super capacitor module (9) through a current sensor (18), the low-voltage side-end of the bidirectional DC/DC converter (8) is directly connected with the-end of the super capacitor module (9), and a second voltage sensor (16) is connected between the bidirectional DC/DC converter (8) and the super capacitor module (9) in parallel;
the second analog-to-digital conversion circuit (13) is connected between the first power sensor (12) and the load power calculation module (20), the third analog-to-digital conversion circuit (15) is connected between the second power sensor (14) and the load power calculation module (20), wherein the first power sensor (12) and the second power sensor (14) respectively collect power instantaneous values of the first alternating current motor (5) and the second alternating current motor (7), the power instantaneous values are converted by the second analog-to-digital conversion circuit (13) and the third analog-to-digital conversion circuit (15) and then input into the load power calculation module (20), the load power calculation module (20) outputs a total power value of the motors to the load state judgment module (21) after calculation, and the load state judgment module (21) outputs a level signal to a port A2 of the selector switch (39); the method comprises the following steps that a first voltage sensor (10) collects a bus voltage actual value and transmits the bus voltage actual value to a first dynamic power feedforward compensation module (31) through a first analog-to-digital conversion circuit (11); a second voltage sensor (16) collects the actual voltage value of the super capacitor and transmits the actual voltage value to a first dynamic power feedforward compensation module (31) through a fourth analog-to-digital conversion circuit (17); the total power value of the motor output by the load power calculation module (20) is transmitted to a first dynamic power feedforward compensation module (31), and the first dynamic power feedforward compensation module (31) receives the three parts of data and outputs the data to a first adder (27) after compensation operation; the first voltage regulator (26) regulates according to a super capacitor voltage reference value output by the first voltage setting module (25) and a super capacitor voltage actual value output by the fourth analog-to-digital conversion circuit (17), then outputs a result to the first adder (27), signals output by the first adder (27) and the super capacitor current actual value output by the fifth analog-to-digital conversion circuit (19) are both transmitted to the first current regulator (28), and signals output by the first current regulator (28) are transmitted to the first logic operation module (30) through the first PWM driving module (29) to generate PWM signals; the braking mode switch (23) carries out comprehensive judgment on the SOC value of the super capacitor output from the SOC calculation module (22) and the actual value of the voltage of the super capacitor output from the fourth analog-to-digital conversion circuit (17), and then the result is output to the first logic operation module (30), and the first logic operation module (30) carries out AND operation on the output signals of the braking mode switch (23) and the first PWM driving module (29) and then sends the output signals to a port A1 of the selector switch (39);
the bus voltage reference value given by the second voltage given module (32) and the bus voltage actual value output by the first analog-digital conversion circuit (11) are both transmitted to a second voltage regulator (33), a second voltage regulator (33) outputs a signal to a second adder (34), a second dynamic power feedforward compensation module (38) performs compensation operation on the actual value of the bus voltage from the first analog-to-digital conversion circuit (11) and the total power value of the motor of the load power calculation module (20) and outputs a calculation result to the second adder (34), the signal output by the second adder (34) and the actual value of the super capacitor current output by the fifth analog-to-digital conversion circuit (19) are both transmitted to a second current regulator (35), and the output signal of the second current regulator (35) generates a PWM signal through a second PWM driving module (36) and inputs the PWM signal to a second logic operation module (37); the electric mode switch (24) comprehensively judges the SOC value output by the SOC calculation module (22) and the actual value of the super capacitor voltage output by the fourth analog-to-digital conversion circuit (17) and outputs the SOC value and the actual value of the super capacitor voltage to the second logic operation module (37), the second logic operation module (37) performs AND operation on output signals of the electric mode switch (24) and the second PWM driving module (36) and then sends the output signals to a port A3 of a selector switch (39), the selector switch (39) turns on a port A1 when the port A2 of the selector switch (39) is a high-level signal, the selector switch (39) turns on a port A3 when the port A2 of the selector switch (39) is a low-level signal, and the output of the selector switch (39) is sent to the bidirectional DC/DC converter (8) through a digital-to-analog conversion circuit (40);
logic signals output by the brake mode switch (23) and actual bus voltage values output by the first analog-to-digital conversion circuit (11) are both transmitted to the brake protection control module (41), and the brake protection control module (41) outputs logic signals to the brake unit (3) after judgment.
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