CN113022834A - Composite energy storage device, control system and control method - Google Patents

Composite energy storage device, control system and control method Download PDF

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Publication number
CN113022834A
CN113022834A CN201911360777.8A CN201911360777A CN113022834A CN 113022834 A CN113022834 A CN 113022834A CN 201911360777 A CN201911360777 A CN 201911360777A CN 113022834 A CN113022834 A CN 113022834A
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voltage
igbt module
value
energy storage
duty ratio
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CN113022834B (en
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庄伟�
孙小强
许峰
屈崇
刘予学
罗昊
黄鹤
员钦升
代建
邵梦麟
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711th Research Institute of CSIC
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
    • 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
    • Y02T70/00—Maritime or waterways transport
    • Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
    • Y02T70/5218—Less carbon-intensive fuels, e.g. natural gas, biofuels
    • Y02T70/5236—Renewable or hybrid-electric solutions

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Dc-Dc Converters (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses a composite energy storage device, a control system and a control method, wherein the composite energy storage device comprises an input end, an output end, a first supporting capacitor C1, a second supporting capacitor C2 and an energy storage circuit. A first IGBT module, a second IGBT module, a third IGBT module and a fourth IGBT module are sequentially connected in series between the input end and the output end; the first supporting capacitor C1 is connected between the connection position between the second IGBT module and the third IGBT module and the input end; the second support capacitor C2 is connected between the junction between the second IGBT module and the third IGBT module and the output terminal; the tank circuit is connected between a junction between the first IGBT module and the second IGBT module and a junction between the third IGBT module and the fourth IGBT module. The composite energy storage device provided by the invention can be arranged on a direct current bus in a direct current distribution type ship electric propulsion system, can stabilize the voltage of the direct current bus, and fully ensures the power supply reliability, safety and continuity of the direct current distribution system.

Description

Composite energy storage device, control system and control method
Technical Field
The invention relates to the technical field of direct-current distribution type ship electric propulsion systems, in particular to a composite energy storage device, a control system and a control method.
Background
In the field of ship power, a direct-current distribution type electric propulsion system is widely used due to the advantages of small size, light weight, convenience in accessing new energy, flexibility in control, good energy-saving property and the like. In a dc electric propulsion system, a diesel generator is generally used as a prime mover, and power is transmitted through a common dc bus, modulated by an inverter, and supplied to a load device such as a drive motor.
The driving motor has better speed regulation performance, and can realize the feedback of braking power under the assistance of the inverter, but the driving motor can generate larger load dynamic state and has higher response requirement on the power, however, because the diesel engine is influenced by the inherent speed regulation characteristic and the mechanical rotational inertia, the requirement of power change can not be met. Specifically, the rapid drop or rise of the bus voltage may be caused by the sudden increase or sudden release of the propulsion load, and in addition, in the braking process, in order to rapidly reduce or even reverse the rotation speed of the propeller, the reverse excitation torque makes the driving motor in a power generation state, and feedback energy can be generated in a short time to raise the bus voltage. Due to the structural or design limitation of electronic devices such as rectifiers or inverters, the bus voltage is too low, so that the corresponding load cannot obtain enough power to be used or even to be restarted after power loss, and the bus voltage is too high, so that the load can be damaged or even a circuit can be burnt out.
Accordingly, there is a need to provide a composite energy storage device, control system and control method that at least partially address the above-mentioned problems.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
According to a first aspect of the present invention, there is provided a composite energy storage device comprising:
the power supply comprises an input end and an output end, wherein a first IGBT module, a second IGBT module, a third IGBT module and a fourth IGBT module are sequentially connected in series between the input end and the output end;
a first support capacitance C1, the first support capacitance C1 being connected between the input and the junction between the second IGBT module and the third IGBT module;
a second support capacitance C2, the second support capacitance C2 being connected between the output and the junction between the second IGBT module and the third IGBT module; and
the energy storage circuit is connected between the joint between the first IGBT module and the second IGBT module and the joint between the third IGBT module and the fourth IGBT module, and a first reactor L1 is arranged on the energy storage circuit.
Optionally, the energy storage circuit further comprises an energy storage device ESS in series with the first reactor L1.
Optionally, the energy storage device ESS comprises at least one of a lithium battery and a super capacitor.
Optionally, the input terminal is provided with a second reactor L2; and/or
The output terminal is provided with a third reactor L3.
Optionally, the hybrid energy storage device is for connection to a dc bus in a dc distribution type marine electric propulsion system.
Optionally, the dc bus is connected with a power generation device, and a propulsion inverter is arranged between the dc bus and the power generation device; and/or
The direct current bus is connected with a driving motor, and a propulsion inverter is arranged between the direct current bus and the driving motor.
The composite energy storage device provided by the invention can be arranged on a direct current bus in a direct current distribution type ship electric propulsion system, can stabilize the voltage of the direct current bus in the process of generating large dynamic load and generating feedback energy due to braking by the direct current bus, ensures that the dynamic adjustment rate is not more than 10 percent, the static adjustment rate is not more than 5 percent, the corresponding time is not more than 100ms, and fully ensures the power supply reliability, the safety and the continuity of the direct current distribution system.
According to a second aspect of the invention, there is provided a control system for controlling the composite energy storage device according to the first aspect of the invention, the control system comprising:
a first voltage detection device for obtaining a terminal voltage measurement value between the input terminal and the output terminal;
a second voltage detection device for obtaining a first voltage difference value Δ V between the first supporting capacitor C1 and the second supporting capacitor C2C；
First current detection means for acquiring a current measurement value of the first reactor L1;
a PI controller;
a direction module;
a memory unit; and
a control module for receiving and processing given data in the control system and adjusting duty cycle given values of the first IGBT module, the second IGBT module, the third IGBT module and the fourth IGBT module.
According to a third aspect of the present invention, there is provided a control method for a control system according to the second aspect of the present invention, the control method comprising:
obtaining a first voltage difference Δ V between the first support capacitor C1 and the second support capacitor C2CAnd a measured average value I of the current of said first reactor L10Outputting voltage-sharing control duty ratio adjustment quantity delta d with directionVC'*；
Obtaining terminal voltage given value VbusAverage value V of measured terminal voltage of sumbusOutputting a constant voltage control duty ratio correction value delta d' according to the second voltage difference;
obtaining the adjustment quantity delta d of the voltage-sharing control duty ratio with the directionVC'and the constant voltage control duty cycle correction value Δ d'. outputting a plurality of duty cycle set values for the first IGBT module, the second IGBT module, the third IGBT module, and the fourth IGBT module, respectively.
Optionally, obtaining a first voltage difference Δ V between the first support capacitance C1 and the second support capacitance C2CAnd a measured average value I of the current of said first reactor L10Outputting voltage-sharing control duty ratio adjustment quantity delta d with directionVC' includes:
obtaining the first voltage difference value DeltaVCOutput voltage-sharing control duty ratio adjustment quantity delta dVC*；
Obtaining the current measurement average value I0Outputting the current measurement average value I0The direction of (a); and
obtaining the adjustment quantity delta d of the voltage-sharing control duty ratioVCAnd the average value of current measurement I0The direction of (1), outputting the voltage-sharing control duty ratio adjustment quantity delta d with the directionVC'*。
Optionally, the given value V of the terminal voltage of the generator is obtainedbusAverage value V of measured terminal voltage of sumbusAnd a second voltage difference value therebetween, outputting a constant voltage control duty ratio correction value Δ d', including:
obtaining terminal voltage given value VbusAverage value V of measured terminal voltage of sumbusA second voltage difference between them, a given value of output current I0*；
Obtaining the given value of the current I0And the average value of current measurement I0The current difference between the two outputs a constant voltage control duty ratio given value delta d;
obtaining the given value delta d and the initial value d of the constant voltage control duty ratio0And outputting the constant voltage control duty ratio correction value delta d'.
Optionally, the obtaining of the voltage-sharing control duty ratio adjustment quantity Δ d with directionVC'and the constant voltage control duty cycle correction value Δ d'. outputting a plurality of duty cycle given values for the first IGBT module, the second IGBT module, the third IGBT module, and the fourth IGBT module, respectively, includes:
obtaining the constant voltage control duty ratio correction value delta d' and the voltage-sharing control duty ratio adjustment value delta dVCA difference between 'delta', a duty cycle setpoint Δ d for the second IGBT module being output2*；
Inverting the given duty ratio value delta d for the second IGBT module2To derive and output a duty cycle setpoint Δ d for the first IGBT module1*；
Obtaining the constant voltage control duty ratio correction value delta d' and the voltage-sharing control duty ratio adjustment value delta dVCA sum value between', and outputting a duty ratio given value Δ d for the third IGBT module3*；
Inverting the given duty ratio value delta d for the third IGBT module3To derive and output a duty cycle setpoint Δ d for the fourth IGBT module4*。
Optionally, the method further comprises:
obtaining given adjustment amount of power
Figure BDA0002337108920000041
Voltage setting adjustment
Figure BDA0002337108920000042
And a memory cellThe sum of the power and the value obtained by adding the output values, and the given value V of the terminal voltage of the outputbus*。
Optionally, the method further comprises:
obtaining terminal voltage measurement average value VbusTo rated voltage UeThe third voltage difference value of the first voltage, and the given adjustment quantity of the first voltage is output
Figure BDA0002337108920000043
Optionally, the method further comprises:
obtaining a first power difference between the measured power value P and the given power value P, and outputting a second voltage given adjustment value
Figure BDA0002337108920000044
Drawings
The following drawings of the invention are included to provide a further understanding of the invention. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.
In the drawings:
fig. 1 is a schematic structural view of a part of a dc bus in a dc distribution type electric propulsion system according to an embodiment of the present invention;
FIG. 2 is a topology diagram of a composite energy storage device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a control method for a control system for a composite energy storage device according to one embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a method of controlling instantaneous energy of a composite energy storage device based on droop control, according to one embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a control method for a given adjustment to a voltage according to one embodiment of the present invention; and
fig. 6 is a schematic diagram of a control method for a given adjustment amount of power according to an embodiment of the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In order to provide a thorough understanding of the present invention, a detailed description will be given in the following description to illustrate the composite energy storage device, the control system, and the control method of the present invention. It is apparent that the invention is not limited to the specific details known to those skilled in the art. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.
It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art. In the drawings, the thicknesses of layers and regions are exaggerated for clarity, and the same elements are denoted by the same reference numerals, and thus the description thereof will be omitted.
In the field of ship power, in order to meet the requirements of redundancy and reliability of sailing and operation, a plurality of power generation devices are often arranged, each power generation device is provided with a corresponding direct current bus, and the direct current buses can be directly connected with partial loads according to the requirements, so that even if the partial direct current buses are disconnected, the power generation devices can still provide energy for the loads on the corresponding direct current buses. The direct-current bus segments and other direct-current bus segments can jointly form a ship direct-current power grid, so that electric energy is provided for loads on ships, wherein the propulsion inverters of the power generation devices can convert the electric energy output by the power generation devices into the same voltage or current, and energy supply is achieved.
As shown in fig. 1, a power generation device 103 and a driving motor 111 are disposed on a dc bus 101 according to an embodiment of the present invention, and the power generation device 103 in the embodiment may include a diesel engine and a propulsion inverter, specifically, electric energy generated by the diesel engine is converted into dc current via the propulsion inverter and transmitted to the dc bus 101. Another propulsion inverter 110 is further disposed between the driving motor 111 and the dc bus 101, and the driving motor 111 can receive electric energy from the dc bus 101 through the propulsion inverter 110, wherein the propulsion inverter 110 can convert the dc power transmitted from the dc bus 101 into ac power and transmit the ac power to the driving motor, so that the driving motor 111 outputs mechanical energy. For example, the drive motor 111 may power a crane, various pumps, and the like. The dc bus 101 in fig. 1 is further provided with a bus tie cable 112 and a feeder line 102, the bus tie cable 112 is used for connecting the dc bus 101 with other dc buses, and the feeder line 102 is used for supplying electric energy to other loads.
In the present embodiment, as shown in fig. 1, the dc bus 101 is further provided with a lithium battery energy storage device 104 based on a lithium battery and a super capacitor energy storage device 107 based on a super capacitor. The lithium battery energy storage device 104 comprises a lithium battery pack 106 and a bidirectional direct current conversion device 105, and the super capacitor energy storage device 107 comprises a super capacitor pack 109 and a bidirectional direct current conversion device 108. The capacity of the lithium battery is large, generally reaching more than 100wh/kg, and the lithium battery can provide electric energy for a long time for ships, but the power density is low, the charge-discharge current multiplying power is generally not more than 1C (namely 1 hour of charge or discharge is finished), and the service life and the safety of the battery can be influenced by overlarge current. The power density of the super capacitor is high, and stored energy can be filled or released within ten seconds; but the energy density is low, typically only 30% or less of that of lithium batteries. Through such a setting mode, can utilize the technical advantage who utilizes lithium cell and super capacitor simultaneously, improve the stability of direct current bus energy supply. Under the support of the bidirectional DC equipment, the super capacitor and the lithium battery can quickly respond to large dynamic load sudden change on the direct current bus, absorb braking feedback energy, stabilize bus voltage and guarantee power supply safety.
The lithium battery energy storage device 104 and the super capacitor energy storage device 107 respectively comprise a lithium battery pack 106 and a super capacitor pack 109, wherein the bidirectional direct current conversion devices have similar structures and mainly have different working voltage ranges on the power and energy storage sides. Thus, the lithium battery energy storage device 104 and the supercapacitor energy storage device 107 as a whole can be regarded as a composite energy storage device with similar structure.
Fig. 2 is a topology diagram of a composite energy storage device according to an embodiment of the invention, showing the structure of the composite energy storage device having an input for connecting to the positive pole of a dc bus and an output for connecting to the negative pole of the dc bus. A first IGBT module S1, a second IGBT module S2, a third IGBT module S3 and a fourth IGBT module S4 are sequentially connected in series between the input end and the output end. It is understood that the arrangement directions of the IGBT modules are the same. The IGBT module has the advantages of high voltage resistance, high input impedance, low conduction voltage drop and high switching speed, and can be used for a high-direct-current-voltage converter system. The IGBT modules are sequentially connected in series, so that the voltage acceptable by the composite energy storage device can be increased, and the voltage up to 5000V can be accepted to the maximum extent according to the setting requirement. The first IGBT module S1, the second IGBT module S2, the third IGBT module S3 and the fourth IGBT module S4 respectively form a half-bridge structure, and the two half-bridges form a cascade structure. A first support capacitor C1 is connected between the input terminal and the junction between the second IGBT module S2 and the third IGBT module S3, and a second support capacitor C2 is connected between the output terminal and the junction between the second IGBT module S2 and the third IGBT module S3, and preferably, the first support capacitor C1 and the second support capacitor C2 may be used for flat wave. Wherein, the igbt (insulated Gate Bipolar transistor) is an insulated Gate Bipolar transistor.
Furthermore, a tank circuit is provided, which is connected between the junction between the first IGBT module S1 and the second IGBT module S2 and the junction between the third IGBT module S3 and the fourth IGBT module S4, as shown in fig. 2, and a first reactor L1 is provided on the tank circuit. The energy storage circuit can store electric energy transmitted to the composite energy storage device by the direct current bus, for example, feedback energy generated by the braking device, and can compensate the stored electric energy for the direct current bus when the electric energy in the direct current bus is insufficient. Specifically, as shown in fig. 2, the tank circuit further includes an energy storage device ESS in series with the first reactor L1. Preferably, the energy storage device ESS may be a lithium battery pack or a super capacitor pack, and the first reactor L1 may be a low-side reactor for smoothing waves. That is, when the ESS is a lithium battery pack, the composite energy storage device is a lithium battery energy storage device, and when the ESS is a super capacitor pack, the composite energy storage device is a super capacitor energy storage device.
The composite energy storage device provided by the invention can be arranged on a direct current bus in a direct current distribution type ship electric propulsion system, can stabilize the voltage of the direct current bus in the process of generating large dynamic load and generating feedback energy due to braking by the direct current bus, ensures that the dynamic adjustment rate is not more than 10 percent, the static adjustment rate is not more than 5 percent, the corresponding time is not more than 100ms, and fully ensures the power supply reliability, the safety and the continuity of the direct current distribution system.
Further, a second reactor L2 is provided at the input end, and a third reactor L3 is provided at the output end. The second reactor L2 and the third reactor L3 may be provided at the positive electrode and the negative electrode of the high voltage side, respectively, and can suppress current ripple, and preferably, the second reactor L2 and the third reactor L3 may be used for smoothing.
According to a second aspect of the invention, there is also provided a control system for controlling the composite energy storage device according to the first aspect of the invention. The control system comprises a first voltage detection device, a second voltage detection device, a first current detection device, a PI controller, a direction module, a memory unit and a control module.
In one embodiment of the invention, the first voltage detection device is used for obtaining a terminal voltage measured value between an input terminal and an output terminal in the composite energy storage device; the second voltage detection device is used for acquiring a first voltage difference value delta V between the first supporting capacitor C1 and the second supporting capacitor C2C(ii) a The first current detection device is used for acquiring a current measurement value of the first reactor L1; the PI controller is used for receiving given data in the control system, for example, the PI controller can receive a voltage difference value or a current difference value and the like and output corresponding data; the direction module is used for acquiring the direction of given data in the control system, such as the direction of voltage or current, and the memory unit is used for simulating power, specifically for simulating real-time power of all loads in the direct current bus; the control module is used for receiving and processing various given data acquired from the control system, and can timely adjust the duty ratio values of the first IGBT module S1, the second IGBT module S2, the third IGBT module S3 and the fourth IGBT module S4 according to the data, so that the stability of the output power in the composite energy storage device is ensured, and the output voltage of the bus is stabilized.
Through the control system in the embodiment, the working state of the composite energy storage device can be monitored and controlled, and the duty ratio value in the IGBT module can be adjusted according to monitored data and given data, so that the stability of the voltage of the connected direct-current bus is improved, and the stability of a power supply system is improved.
According to a third aspect of the present invention, a control method is provided for controlling the control system according to the second aspect of the present invention to realize the control of the composite energy storage device according to the first aspect of the present invention, and finally, the effect of stabilizing the voltage of the connected dc bus can be achieved.
In one embodiment of the invention, the control method is to control the composite energy storage device by using a control system, and specifically, the control method comprises the following steps:
s1: obtaining a first voltage difference Δ V between a first support capacitance C1 and a second support capacitance C2CAnd the average value of the current measurements I of the first reactor L10Outputting voltage-sharing control duty ratio adjustment quantity delta d with directionVC'*。
Illustratively, the first voltage difference value Δ V may be acquired by the second voltage detection means in the control system according to the second aspect of the inventionCThen, the current measurement value of the first reactor L1 is obtained by the first current detection device in the control system according to the second aspect of the invention, and the corresponding current measurement average value I is obtained by the control system0. Then, as shown in fig. 3, the PI controller 301 obtains the first voltage difference Δ VCAnd outputting the voltage-sharing control duty ratio adjustment quantity delta d after calculationVCMean value of current measurement I0The direction of the current is determined after the current passes through the filtering module 302 and the direction module 303 in sequence, and the switch measures the average value I according to the current0Direction of (1) determining the duty ratio adjustment quantity delta d of voltage-sharing controlVCDirection of the voltage-sharing control duty ratio adjustment quantity delta d in the belt direction is finally obtainedVC'*. The filtering module 302 may be a low-pass filter.
S2: obtaining terminal voltage given value VbusAverage value V of measured terminal voltage of sumbusAnd a second voltage difference value between the first voltage and the second voltage, and outputting a constant voltage control duty ratio correction value delta d'.
Illustratively, terminal voltage set value VbusThe voltage of the composite energy storage device in the normal working state is obtained, but the voltage in the direct current bus can change at any time in the actual working state, at the moment, the voltages at the two ends of the composite energy storage device can be detected in real time through the first voltage detection device in the control system according to the second aspect of the invention, and the control system is used for obtaining the corresponding terminal voltage measurement average value Vbus. Then, as shown in FIG. 3, the terminal voltage is given by a value VbusAverage value V of measured terminal voltage of sumbusDifferencing to obtain a second voltage difference value, PI controller 304 obtainsTwo voltage difference values are calculated to output current given value I0*. Then the control system sets the current to a given value I0And the average value of current measurement I0The difference is output to the PI controller 305, the PI controller 305 obtains the difference and outputs a given value Δ d of the constant voltage control duty ratio by calculation, and then the control system outputs the given value Δ d of the constant voltage control duty ratio and an initial value d of the duty ratio0And summing to obtain a constant-voltage control duty ratio correction value delta d'. Wherein, the initial value d of the duty ratio0The duty ratio value of a plurality of IGBT modules in the composite energy storage device in the initial working state is obtained.
Then, the control system uses the obtained constant voltage control duty ratio correction value delta d' and the voltage-sharing control duty ratio adjustment value delta d in the belt directionVC' A plurality of different duty cycle adjustment values for the IGBT modules are calculated. Illustratively, the constant voltage control duty ratio correction value Δ d' and the voltage-sharing control duty ratio adjustment value Δ d are comparedVC' differencing to give a given duty cycle value Δ d for the second IGBT module S22A first step of; inverting the given duty cycle value Δ d for the second IGBT module S22To derive a given duty cycle value Δ d for the first IGBT module S11A first step of; constant voltage control duty ratio correction value delta d' and voltage-sharing control duty ratio adjustment value delta dVC' summing up yields a given duty cycle value Δ d for the third IGBT module S33A first step of; inverting the given duty cycle value Δ d for the third IGBT module S33To derive a given duty cycle value Δ d for the fourth IGBT module S44*。
According to the control method in the embodiment, the current in the composite energy storage device is adjusted by changing the given duty ratio values of the plurality of IGBT modules, and finally the voltage in the direct current bus is stabilized.
The working condition of the composite energy storage device can change along with the change of the actual load, so that the terminal voltage given value can be adjusted according to the actual working condition. The present embodiment further includes:
obtaining given adjustment amount of power
Figure BDA0002337108920000091
Voltage settingAmount of adjustment
Figure BDA0002337108920000092
Power sum value added with the output value of the memory unit, and output terminal voltage given value Vbus*。
Illustratively, as shown in fig. 4, the control system obtains an initial given power given adjustment amount according to the working state of the composite energy storage device
Figure BDA0002337108920000101
And voltage setting adjustment amount
Figure BDA0002337108920000102
And simultaneously, a memory unit in the control system simulates the power of the load in the direct current bus in real time according to the working condition of the direct current bus. The control system obtains the given power adjustment
Figure BDA0002337108920000103
Voltage setting adjustment
Figure BDA0002337108920000104
And the sum of the power added to the output value of the memory unit 401 and transmitted to the clipping module 402, whereby the clipping module 402 outputs a given adjustment amount
Figure BDA0002337108920000105
The given adjustment amount
Figure BDA0002337108920000106
Typically not exceeding 5% of the rated voltage, and a given adjustment of the output
Figure BDA0002337108920000107
Is a value in percent form, which is then compared with the rated voltage UeObtaining a given power value P after multiplication, wherein the given power value P is the droop coefficient theta of the composite energy storage devicedroopMultiplying to obtain the set value V of terminal voltagebusWhereby the regulation is based on the difference in output power on the DC busAnd the voltage output value of the composite energy storage device is integrated, and finally droop control is realized. It is understood that the above control method can be controlled by the pulse driving module 403 to implement periodic control, wherein the step size is 0.4 to 1 second.
In the present embodiment, a control method for determining a voltage set adjustment amount is also provided. The control method comprises the following steps:
obtaining terminal voltage measurement average value VbusTo rated voltage UeThe third voltage difference value of the first voltage, and the given adjustment quantity of the first voltage is output
Figure BDA0002337108920000108
Illustratively, as shown in fig. 5, the first voltage detection device is used to obtain the measured average value V of the terminal voltage between the input terminal and the output terminal of the composite energy storage devicebusThe control module measures the average value V of the terminal voltagebusTo rated voltage UeAnd obtaining a third voltage difference value by difference. The control module transmits the third voltage difference value to the direction module 501 to determine the direction of the difference value, and then transmits the difference value to the magnitude comparison module 502 to deviate from the voltage by the given value
Figure BDA0002337108920000109
And (5) comparing the sizes. Illustratively, when the absolute value of the difference is greater than or equal to the voltage deviation given value
Figure BDA00023371089200001010
If so, the output value of the amplitude comparison module 502 is 1, otherwise, the output value is 0. The direction module 501 transmits the obtained direction value to the multi-channel selection module, and the output value of the amplitude comparison module 502 is used as the output value of the multi-channel selection module. Illustratively, when the output value of the amplitude comparison module 502 is 1, the multi-way selection module will output the direction value of the direction module; when the output value of the amplitude comparison module 502 is 0, the multiplexing module will output a constant value (e.g., 0). Then, the output value of the multi-path selection module and the voltage adjustment step length in percentage form
Figure BDA00023371089200001011
Multiplying to obtain the given voltage regulation
Figure BDA00023371089200001012
In the present embodiment, a control method for determining a power setting adjustment amount is also provided. The control method comprises the following steps:
obtaining a first power difference between the measured power P and a given power value P, and outputting a given adjustment of a second voltage
Figure BDA0002337108920000111
For example, as shown in fig. 6, a control system is used to obtain a power value P measured at a machine end of the composite energy storage device, and the control system obtains a first power difference value by subtracting the power value P measured at the machine end from a power given value P. The control system transmits the first power difference value to a direction module 601 to determine the direction of the difference value, and then transmits the difference value to a magnitude comparison module 602 to deviate from the power by a given value
Figure BDA0002337108920000112
Comparing the magnitudes, wherein when the absolute value of the difference is greater than or equal to the power deviation set point
Figure BDA0002337108920000113
If so, the output value of the amplitude comparison module 602 is 1, otherwise the output value is 0. The direction module 601 transmits the obtained direction value to the multi-channel selection module, and the output value of the amplitude comparison module 602 is used as the output value of the multi-channel selection module. Illustratively, when the output value of the amplitude comparison module 602 is 1, the multi-way selection module will output the direction value of the direction module; when the output value of the magnitude comparison module 602 is 0, the multi-way selection module will be a constant value (e.g., 0). Then, the output value of the multi-path selection module and the step length of the power adjustment quantity in the form of percentage
Figure BDA0002337108920000114
Multiplying to obtain the given power regulation
Figure BDA0002337108920000115
It can be understood that, in addition to the energy storage devices based on the lithium battery and the super capacitor, a plurality of other composite energy storage devices may be provided to form a composite energy storage form for the partial dc bus in fig. 1. The adjustment of the operation output power can be realized by adjusting the power given value P of the energy storage device. When the set value is a negative value, the energy storage device can be reversely charged. By adjusting the droop coefficient theta of the energy storage devicedroopThe adjustment of the distribution ratio of the instantaneous power can be realized. ThetadroopThe smaller the power characteristic, the harder the power characteristic is, and the larger power is born in the process of instantaneous power adjustment; thetadroopThe larger the representative power characteristic, the softer the power characteristic, and the less power is taken during the instantaneous power adjustment.
The present invention has been illustrated by the above embodiments, but it should be understood that the above embodiments are for illustrative and descriptive purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which variations and modifications are within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (14)

1. A composite energy storage device, comprising:
the power supply comprises an input end and an output end, wherein a first IGBT module, a second IGBT module, a third IGBT module and a fourth IGBT module are sequentially connected in series between the input end and the output end;
a first support capacitance C1, the first support capacitance C1 being connected between the input and the junction between the second IGBT module and the third IGBT module;
a second support capacitance C2, the second support capacitance C2 being connected between the output and the junction between the second IGBT module and the third IGBT module; and
the energy storage circuit is connected between the joint between the first IGBT module and the second IGBT module and the joint between the third IGBT module and the fourth IGBT module, and a first reactor L1 is arranged on the energy storage circuit.
2. The composite energy storage device of claim 1, wherein the energy storage circuit further comprises an energy storage device ESS in series with the first reactor L1.
3. The composite energy storage device of claim 2, wherein the ESS comprises at least one of a lithium battery and a super capacitor.
4. The composite energy storage device of claim 1,
the input end is provided with a second reactor L2; and/or
The output terminal is provided with a third reactor L3.
5. The composite energy storage device of claim 1, wherein the composite energy storage device is configured to be connected to a dc bus in a dc distributed marine electric propulsion system.
6. The composite energy storage device of claim 5,
the direct current bus is connected with a power generation device, and a propulsion inverter is arranged between the direct current bus and the power generation device; and/or
The direct current bus is connected with a driving motor, and a propulsion inverter is arranged between the direct current bus and the driving motor.
7. A control system for controlling the composite energy storage device of any of claims 1-6, comprising:
a first voltage detection device for obtaining a terminal voltage measurement value between the input terminal and the output terminal;
a second voltage detection device for obtaining a first voltage difference value Δ V between the first supporting capacitor C1 and the second supporting capacitor C2C；
First current detection means for acquiring a current measurement value of the first reactor L1;
a PI controller;
a direction module;
a memory unit; and
a control module for receiving and processing given data in the control system and adjusting duty cycle given values of the first IGBT module, the second IGBT module, the third IGBT module and the fourth IGBT module.
8. A control method for a control system as claimed in claim 7, characterized by comprising:
obtaining a first voltage difference Δ V between the first support capacitor C1 and the second support capacitor C2CAnd a measured average value I of the current of said first reactor L10Outputting voltage-sharing control duty ratio adjustment quantity delta d with directionVC'*；
Obtaining terminal voltage given value VbusAverage value V of measured terminal voltage of sumbusOutputting a constant voltage control duty ratio correction value delta d' according to the second voltage difference;
obtaining the adjustment quantity delta d of the voltage-sharing control duty ratio with the directionVC'and the constant voltage control duty cycle correction value Δ d'. outputting a plurality of duty cycle set values for the first IGBT module, the second IGBT module, the third IGBT module, and the fourth IGBT module, respectively.
9. The control method according to claim 8,
the obtaining of a first voltage difference Δ V between the first support capacitance C1 and the second support capacitance C2CAnd a measured average value I of the current of said first reactor L10Outputting voltage-sharing control duty ratio adjustment quantity delta d with directionVC' includes:
obtaining the first voltage difference value DeltaVCOutput voltage-sharing control duty ratio adjustment quantity delta dVC*；
Obtaining the current measurement average value I0Outputting the current measurement average value I0The direction of (a); and
obtaining the adjustment quantity delta d of the voltage-sharing control duty ratioVCAnd the average value of current measurement I0The direction of (1), outputting the voltage-sharing control duty ratio adjustment quantity delta d with the directionVC'*。
10. The control method according to claim 8,
obtaining terminal voltage given value VbusAverage value V of measured terminal voltage of sumbusAnd a second voltage difference value therebetween, outputting a constant voltage control duty ratio correction value Δ d', including:
obtaining terminal voltage given value VbusAverage value V of measured terminal voltage of sumbusA second voltage difference between them, a given value of output current I0*；
Obtaining the given value of the current I0And the average value of current measurement I0The current difference between the two outputs a constant voltage control duty ratio given value delta d;
obtaining the given value delta d and the initial value d of the constant voltage control duty ratio0And outputting the constant voltage control duty ratio correction value delta d'.
11. The control method according to claim 8,
said obtaining said voltage sharing having a directionControlling the duty ratio adjustment Δ dVC'and the constant voltage control duty cycle correction value Δ d'. outputting a plurality of duty cycle given values for the first IGBT module, the second IGBT module, the third IGBT module, and the fourth IGBT module, respectively, includes:
obtaining the constant voltage control duty ratio correction value delta d' and the voltage-sharing control duty ratio adjustment value delta dVCA difference between 'delta', a duty cycle setpoint Δ d for the second IGBT module being output2*；
Inverting the given duty ratio value delta d for the second IGBT module2To derive and output a duty cycle setpoint Δ d for the first IGBT module1*；
Obtaining the constant voltage control duty ratio correction value delta d' and the voltage-sharing control duty ratio adjustment value delta dVCA sum value between', and outputting a duty ratio given value Δ d for the third IGBT module3*；
Inverting the given duty ratio value delta d for the third IGBT module3To derive and output a duty cycle setpoint Δ d for the fourth IGBT module4*。
12. The control method according to claim 8, characterized by further comprising:
obtaining given adjustment amount of power
Figure FDA0002337108910000031
Voltage setting adjustment
Figure FDA0002337108910000032
Power sum value added with the output value of the memory unit, and output terminal voltage given value Vbus*。
13. The control method according to claim 12, characterized by further comprising:
obtaining terminal voltage measurement average value VbusTo rated voltage UeThe third voltage difference value of the first voltage, and the given adjustment quantity of the first voltage is output
Figure FDA0002337108910000033
14. The control method according to claim 12, characterized by further comprising:
obtaining a first power difference between the measured power value P and the given power value P, and outputting a second voltage given adjustment value
Figure FDA0002337108910000034
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