CN113258553B - Direct-current bus voltage stabilization control method for comprehensive electric power system of pure battery powered ship - Google Patents
Direct-current bus voltage stabilization control method for comprehensive electric power system of pure battery powered ship Download PDFInfo
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- CN113258553B CN113258553B CN202110646422.6A CN202110646422A CN113258553B CN 113258553 B CN113258553 B CN 113258553B CN 202110646422 A CN202110646422 A CN 202110646422A CN 113258553 B CN113258553 B CN 113258553B
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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
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
Abstract
The invention discloses a direct-current bus voltage stabilization control method for a comprehensive electric power system of a pure battery power ship, which comprises the following steps of: 1) connecting a battery into a DC/DC converter, and connecting an auxiliary control loop to detect a current value on a direct current bus capacitor; 2) a first-order inertia link is adopted to condition the current value on the direct current bus capacitor; 3) and applying the regulated direct current bus capacitance current to a PI control input end of the DC/DC converter. According to the invention, the auxiliary control loop is introduced into the voltage controller of the battery access DC/DC converter, so that the damping of the voltage oscillation of the direct current bus is increased, and the potential instability risk of the direct current bus voltage of the comprehensive power system of the pure battery power ship under the action of the power source load is effectively solved. According to the invention, the proportion coefficient k of the first-order inertia link in the auxiliary control loop is adjusted, so that the free adjustment of the additional damping component can be conveniently realized.
Description
Technical Field
The invention relates to the technical field of safe operation of a micro-grid, in particular to a direct-current bus voltage stabilization control method for a comprehensive electric power system of a pure battery power ship.
Background
In order to increase the energy-saving and emission-reducing strength of ships and promote the development of green shipping, new energy ships adopting 'oil to electricity' have become the development trend of new ships. The pure battery power integrated power system is a typical power system framework of a new energy ship, and is characterized in that: the battery is adopted to replace the traditional diesel engine, the mechanical propulsion system and the electric power system which are mutually independent in the traditional ship are combined into a whole, and the electric power is uniformly supplied to the electric propulsion, the daily equipment and the like in an electric energy mode.
In the pure battery power integrated power system, a battery is used as a power supply of the system, the power supply is generally provided for a direct current bus through a DC/DC converter, and the constant voltage control of the direct current bus is realized by the voltage control of the DC/DC converter. The propulsion load formed by the propulsion frequency converter and the propulsion motor is used as the main load of the system, the direct-current bus voltage is not controlled, and the frequency-conversion and voltage-conversion electric energy conversion is realized through the propulsion frequency converter by relying on the direct-current bus voltage, so that the propulsion motor is driven to rotate to provide power for ship navigation. And when the direct current bus voltage port is viewed, the propulsion load has the power source operation characteristic, and the power source is represented as a negative resistance under disturbance, so that negative damping is introduced to the dynamic state of the direct current bus voltage. If the stabilization control of the DC/DC converter on the DC bus voltage cannot inhibit the negative damping introduced by the power source operation characteristic of the propulsion load, the DC bus voltage will have instability risk, and a serious challenge is brought to the safe and stable operation of the comprehensive power system of the pure battery power ship.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a direct-current bus voltage stabilizing control method of a comprehensive electric power system of a pure battery power ship.
In order to achieve the purpose, the direct current bus voltage stabilization control method of the comprehensive power system of the pure battery power ship is characterized by comprising the following steps of:
1) connecting a battery into a DC/DC converter, and connecting an auxiliary control loop to detect a current value on a direct current bus capacitor;
2) a first-order inertia link is adopted to condition the current value on the direct current bus capacitor;
3) and applying the regulated direct current bus capacitance current to a PI control input end of the DC/DC converter.
Preferably, the expression of the auxiliary control loop in step 1) is:
in the formula (I), the compound is shown in the specification,f 1for the output of the auxiliary control loop, T and k are respectively the time constant and the proportional amplification coefficient of the first-order inertia element, s represents the Laplace operator,I c and connecting the current on the direct current bus capacitor of the DC/DC converter for the battery.
Preferably, the expression of the control logic of step 3) is:
in the formula (I), the compound is shown in the specification,f 2the battery is connected to the input of a voltage controller PI controller of the DC/DC converter,U dcref is a direct-current bus voltage command value,U dcf andI loadf respectively the filtered values of the direct current bus voltage and the load current of the converter,k droop for the current droop factor of the converter load current,f 1is the output of the auxiliary control loop.
Preferably, the expression of the first-order inertia element in the step 2) is
T and k are respectively a time constant and a proportional amplification coefficient of a first-order inertia link, and s represents a Laplace operator.
Preferably, the step 2) adjusts the damping component introduced by the auxiliary control loop by adjusting the proportionality coefficient k of the first-order inertia link, and the specific implementation process is as follows:
21) the value range of the proportionality coefficient k of the first-order inertia link is 0-10;
22) increasing the proportionality coefficient k of the first-order inertia link, namely increasing the damping component introduced by the auxiliary control loop to the voltage oscillation of the direct-current bus;
23) and reducing the proportionality coefficient k of the first-order inertia link, namely reducing the damping component introduced by the auxiliary control loop to the voltage oscillation of the direct-current bus.
Preferably, when the current value of the dc bus capacitor is conditioned in step 2), the auxiliary control loop is used for controlling the dc bus capacitorf 1The output of (2) is zero, namely the auxiliary control loop has no influence on the steady-state performance of the system; when the voltage of the direct current bus oscillates, the current on the direct current bus capacitor oscillates at the same frequency, and the oscillation phase is 90 degrees ahead of the oscillation phase of the voltage of the direct current bus; the current on the direct current bus capacitor is conditioned by a first-order inertia link and then acts on the input of a voltage controller PI controller to introduce damping to the direct current bus voltage oscillation.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, an auxiliary control loop is introduced into a voltage controller of a battery access DC/DC converter, so that the damping of direct-current bus voltage oscillation is increased, and the potential instability risk of the direct-current bus voltage of the comprehensive power system of the pure battery power ship under the action of a power source load is effectively solved;
(2) according to the invention, the proportion coefficient k of the first-order inertia link in the auxiliary control loop is adjusted, so that the free adjustment of the additional damping component can be conveniently realized;
(3) according to the invention, only a link of detecting the capacitance and current of the direct current bus of the converter is added on the basis of the original control, the current is conditioned through a first-order inertia link and then acts on the PI controller of the converter voltage controller, other hardware equipment is not additionally added, and the communication mode is not required to be modified, so that the existing converter is convenient to upgrade and reform, the popularization is easy, and the direct engineering application is convenient.
Drawings
Fig. 1 is a schematic structural diagram of an implementation system of a direct-current bus voltage stabilization control method of a comprehensive electric power system of a pure battery powered ship according to the present invention.
Fig. 2 is a schematic diagram illustrating the effect of the stabilization control method provided by the present power generation on the stability of the dc bus voltage.
FIG. 3 is a schematic diagram of a variation trend of a DC bus voltage dynamic leading characteristic root along with a first-order inertia element proportionality coefficient k in an auxiliary control loop.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
Fig. 1 shows an application scenario of the present invention and a battery access DC/DC converter control scheme. The application scene of the invention is a pure battery power ship comprehensive power system. The battery is connected into the DC/DC converter and a double-loop control scheme is adopted, the outer loop voltage control is used for maintaining the voltage of the direct current bus to be constant, the output current droop control is used for realizing the power sharing among the multiple converters, and the inner loop current control is used for realizing the dynamic performance improvement and the fault current limiting. The method for stabilizing and controlling the voltage of the direct current bus is shown in a dotted line part in the figure, detects the current on the capacitor of the direct current bus, and acts on the input of a PI (proportional integral) controller of the voltage controller after passing through a first-order inertia link. In the drawingsU dcref AndU dc respectively indicating a command value and an actual value of the direct current bus voltage of the converter;I load is the converter load current;I lref andI l respectively representing the instruction value and the actual value of the current on the filter inductor of the converter;k droop the current sag factor of the converter load current is obtained;I c the current is the current on the direct current bus capacitor of the converter; and T and k are respectively a time constant and a proportional amplification coefficient of a first-order inertia link in the auxiliary control loop.
The invention provides a direct-current bus voltage stabilization control method for a comprehensive electric power system of a pure battery power ship, which comprises the following steps of:
1) connecting a battery into a DC/DC converter, and connecting an auxiliary control loop to detect a current value on a direct current bus capacitor;
2) using a first-order inertia element
Conditioning the current on the direct current bus capacitor, wherein T and k are respectively a time constant and a proportional amplification coefficient of a first-order inertia link, and s represents a Laplace operator;
3) and the regulated direct current bus capacitance current acts on the input of the PI controller of the DC/DC converter.
The expression for the secondary control loop is:
in the formula (I), the compound is shown in the specification,f 1for the output of the auxiliary control loop, T and k are respectively the time constant and the proportional amplification coefficient of the first-order inertia element, s represents the Laplace operator,I c and connecting the current on the direct current bus capacitor of the DC/DC converter for the battery.
When the system is in a steady state,f 1zero, i.e. the auxiliary control loop has no influence on the steady-state performance of the system; when the voltage of the direct current bus oscillates, the current on the capacitor of the direct current bus also generates common-frequency oscillation, and the oscillation phase is 90 degrees ahead of the oscillation phase of the voltage of the direct current bus. The current on the direct current bus capacitor is conditioned by a first-order inertia link and then acts on the input of the voltage controller PI controller, and damping can be introduced to direct current bus voltage oscillation. In order to enable the additional control loop to mainly influence the damping component, after the current on the direct current bus capacitor is conditioned through a first-order inertia link, the oscillation phase is almost unchanged, and the amplitude is changed to be k times of the original amplitude. The proposed value range of the proportionality coefficient k of the first-order inertia link is 0-10, and the specific implementation is related to parameters of a PI (proportional integral) controller of a voltage controller of the DC/DC converter, parameters of a voltage current detection filtering link and the like. The damping component introduced by the auxiliary control loop can be adjusted by adjusting the proportionality coefficient k of the first-order inertia link. The proportional coefficient k is increased, so that the damping component introduced by the auxiliary control loop to the voltage oscillation of the direct-current bus can be increased, and the damping component introduced by the auxiliary control loop to the voltage oscillation of the direct-current bus can be reduced by decreasing the proportional coefficient k.
The expression of the control logic of the PI controller of the DC/DC converter is as follows:
in the formula (I), the compound is shown in the specification,f 2the battery is connected to the input of a voltage controller PI controller of the DC/DC converter,U dcref is a direct-current bus voltage command value,U dcf andI loadf respectively the filtered values of the direct current bus voltage and the load current of the converter,k droop the current sag factor of the converter load is shown.
A simulation model shown in figure 1 is built in MATLAB/SIMULINK to verify the direct-current bus voltage stabilizing control method provided by the application. The lithium battery in the simulation model is replaced by a direct-current voltage source, and the output voltage is 500V; the battery is connected into a DC/DC converter and adopts a bidirectional buck-boost converter scheme, the no-load output voltage is 750V, the capacity is 150kW, and the load current droop coefficientk droop Is 0.17; the propulsion load power is about 120 kW. And in the simulation scene, the system is in a stable state before 1s, small disturbance is applied to the system at 1s, and the dynamic response of the direct-current bus voltage under the conditions of whether a stabilizing control strategy is applied or not, the adjustment of a proportionality coefficient k under the application of the control strategy and the like is observed and compared.
As can be seen from the simulation result of fig. 2, under the stabilization control strategy, the attenuation of the dc bus voltage oscillation is significantly accelerated, and the scaling factor k is increased, which is helpful for further damping the dc bus voltage oscillation. Simulation results show that the provided method for stabilizing and controlling the direct-current bus voltage of the comprehensive electric power system of the pure battery power ship can increase the damping of direct-current bus voltage oscillation, realize the stabilization and control of the direct-current bus voltage and effectively solve the potential instability risk of the direct-current bus voltage of the comprehensive electric power system of the pure battery power ship under the action of power source load.
For the system architecture as shown in fig. 1, a small-signal linearization model is constructed. The lithium battery in the model is replaced by a direct-current voltage source, and the output voltage is 500V; the battery is connected into a DC/DC converter and adopts a bidirectional buck-boost converter scheme, and a voltage instruction in a voltage controller of the bidirectional buck-boost converter schemeU dcref 750V, load current droop coefficientk droop Is 0.17; the propulsion load power is about 120 kW. Under the working condition, the proportional coefficient k in the auxiliary control loop is researched to resist the voltage oscillation of the direct current busThe influence of the damping characteristics.
FIG. 3 shows the DC bus voltage dynamic dominant characteristic root-dependent scaling factorkIt can be seen that, with the scaling factorkThe dynamic dominant characteristic root of the direct current bus voltage is translated leftwards. The analysis result of the characteristic root indicates the scaling coefficientkThe damping introduced by the proposed stabilizing control strategy to the direct current bus voltage oscillation is facilitated to be increased.
Those not described in detail in this specification are within the skill of the art.
Finally, it should be noted that the above detailed description is only for illustrating the technical solution of the patent and not for limiting, although the patent is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the patent can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the patent, which should be covered by the claims of the patent.
Claims (5)
1. A direct-current bus voltage stabilization control method for a comprehensive electric power system of a pure battery power ship is characterized by comprising the following steps:
1) connecting a battery into a DC/DC converter, and connecting an auxiliary control loop to detect a current value on a direct current bus capacitor;
2) a first-order inertia link is adopted to condition the current value on the direct current bus capacitor;
3) applying the conditioned direct current bus capacitance current to a PI control input end of the DC/DC converter, wherein the expression of a control logic is as follows:
in the formula (I), the compound is shown in the specification,f 2the battery is connected to the input of a voltage controller PI controller of the DC/DC converter,U dcref is a direct-current bus voltage command value,U dcf andI loadf are respectively provided withAre filtered values of the converter dc bus voltage and load current,k droop for the current droop factor of the converter load current,f 1is the output of the auxiliary control loop.
2. The direct-current bus voltage stabilization control method of the integrated power system of the pure-battery-powered ship according to claim 1, characterized by comprising the following steps: the expression of the auxiliary control loop in the step 1) is as follows:
in the formula (I), the compound is shown in the specification,f 1for the output of the auxiliary control loop, T and k are respectively the time constant and the proportional amplification coefficient of the first-order inertia element, s represents the Laplace operator,I c and connecting the current on the direct current bus capacitor of the DC/DC converter for the battery.
3. The direct-current bus voltage stabilization control method of the integrated power system of the pure-battery-powered ship according to claim 2, characterized by comprising the following steps: the expression of the first-order inertia link in the step 2) is
。
4. The direct-current bus voltage stabilization control method of the integrated power system of the pure-battery-powered ship according to claim 3, characterized by comprising the following steps: the step 2) realizes the adjustment of the damping component introduced by the auxiliary control loop by adjusting the proportionality coefficient k of the first-order inertia link, and the concrete realization process is as follows:
21) the value range of the proportionality coefficient k of the first-order inertia link is 0-10;
22) increasing the proportionality coefficient k of the first-order inertia link, namely increasing the damping component introduced by the auxiliary control loop to the voltage oscillation of the direct-current bus;
23) and reducing the proportionality coefficient k of the first-order inertia link, namely reducing the damping component introduced by the auxiliary control loop to the voltage oscillation of the direct-current bus.
5. The direct-current bus voltage stabilization control method of the integrated power system of the pure-battery-powered ship according to claim 1, characterized by comprising the following steps: when the current value on the direct current bus capacitor is regulated in the step 2), the auxiliary control loop is in a steady statef 1The output of (2) is zero, namely the auxiliary control loop has no influence on the steady-state performance of the system; when the voltage of the direct current bus oscillates, the current on the direct current bus capacitor oscillates at the same frequency, and the oscillation phase is 90 degrees ahead of the oscillation phase of the voltage of the direct current bus; the current on the direct current bus capacitor is conditioned by a first-order inertia link and then acts on the input of a voltage controller PI controller to introduce damping to the direct current bus voltage oscillation.
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