CN113924533A - Synchronization method of control system and control system - Google Patents
Synchronization method of control system and control system Download PDFInfo
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- CN113924533A CN113924533A CN202180002976.0A CN202180002976A CN113924533A CN 113924533 A CN113924533 A CN 113924533A CN 202180002976 A CN202180002976 A CN 202180002976A CN 113924533 A CN113924533 A CN 113924533A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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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
- H02M1/00—Details of apparatus for conversion
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25213—Synchronisation, address and data
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Abstract
The invention provides a synchronization method of a control system, which is applied to the control system and comprises the following steps: the first controller is configured to send a custom communication frame to the plurality of second controllers simultaneously, wherein the custom communication frame comprises a frame header and an original interactive data packet; and second controllers, each second controller configured to perform the following actions: and extracting the synchronous signal according to the frame header of the self-defined communication frame, and extracting the application information according to the original interactive data packet.
Description
Technical Field
The invention relates to the technical field of new energy, in particular to a synchronization method of a control system and the control system applying the method.
Background
Under the high-power application scene of the converter, the cooperative work of a plurality of converters is the main mode of system capacity expansion. Carrier synchronization is one of the key technologies for converter coordination. If the carrier wave is asynchronous, circulation current occurs among the converters, so that grid-connected current is seriously distorted, power waste, heat and interference are caused, and the safety and reliability of the whole system are affected.
The synchronization method of the control system when the existing multiple converters work cooperatively mainly comprises the following steps:
firstly, a master controller and a slave controller in a plurality of converter control systems are connected through a communication line, and then the master controller generates a special synchronous signal to be transmitted to each slave controller, and the synchronization is carried out periodically. The method has the disadvantages that an additional communication line is required to transmit a special synchronous signal besides the control data, so that the number of the connecting lines is increased; in part, special hardware circuitry is required for generating the synchronization signal, increasing hardware costs.
And secondly, the master controller and the slave controller communicate in a CAN bus mode, and the master controller synchronizes by sending a CAN synchronization frame to the slave controller. The method has the defects that the transmission rate of CAN communication is low, and the synchronization effect is influenced; in addition, CAN communication is easy to be interfered under a high-voltage electromagnetic environment, data transmission is influenced, and stability is poor.
And thirdly, the master controller and the slave controller communicate with each other in an Ethernet communication mode, for example, an EtherCAT communication mode. The synchronization between the controllers depends on the clock synchronization function provided by EtherCAT; although the method has higher synchronization precision which can reach 40ns, the method has the defects of dependence on special software and hardware, additional cost investment and inconvenience for diagnosis after faults occur.
Disclosure of Invention
The invention aims to provide a synchronization method of a control system, which is applied to the control system and aims to solve the problems that the synchronization of a plurality of current transformers in cooperative work needs an additional special synchronization line, the anti-interference capability is weak, the synchronization precision is low, additional software and hardware are invested and the like.
In order to solve the above technical problem, the present invention provides a synchronization method for a control system, where the synchronization method for the control system includes:
the first controller is configured to send a custom communication frame to the plurality of second controllers simultaneously, wherein the custom communication frame comprises a frame header and an original interactive data packet; and
second controllers, each second controller configured to perform the following actions:
extracting the synchronization signal according to a header of the custom communication frame, an
Extracting application information of the converter device according to the original interactive data packet, wherein the application information comprises control information and control instructions, and the application information comprises converter state data besides the control information and the control instructions,
log files, etc.
Optionally, in the synchronization method of the control system, the synchronization method of the control system is applied to a control system, which is used for controlling a power generation, storage or energy conversion device and comprises a first controller and a second controller;
between a first controller and its corresponding second controller:
the first controller comprises a custom communication main module which sends a custom communication frame to the second controller and receives the custom communication frame sent by the second controller;
the second controller comprises a custom communication slave module which sends a custom communication frame to the first controller and receives the custom communication frame sent by the first controller;
the user-defined communication master module sends a user-defined communication frame to each user-defined communication slave module in a first inherent period;
and each custom communication slave module sends custom communication frames to the custom communication master module in a second inherent period.
Optionally, in the synchronization method of the control system, the custom communication frame is fixed to n bytes, and the frame header and the original interactive data packet can be distinguished by a coding method or a method of setting the frame header as fixed data, so that the custom communication master module and the custom communication slave module can identify the frame header in each received frame;
after receiving the custom communication frame, the custom communication slave module generates a de-framing signal and generates a synchronization signal according to the de-framing signal;
the synchronization signal is used for carrier synchronization, switch synchronization, or sampling synchronization, such as a carrier synchronization signal or a switch synchronization signal.
Optionally, in the synchronization method of the control system, the step of generating the synchronization signal includes:
the first controller and each second controller are electrified, loaded and started;
the self-defined communication master module and each self-defined communication slave module respectively start to operate;
the user-defined communication master module sends a user-defined communication frame to each user-defined communication slave module until the sending time of the communication frames of the slave stations are strictly aligned;
after the user-defined communication main module sends each frame of user-defined communication frame, sending the next frame according with the first fixed period, and repeating the steps;
each custom communication slave module identifies a frame header from the received custom communication frame to generate a de-framing signal;
and each self-defined communication slave module generates a synchronous signal according to the de-framing signal.
Optionally, in the synchronization method of the control system, the step of generating the synchronization signal further includes: the self-defined communication master module can identify the time difference of the self-defined communication frames sent from each self-defined communication slave module, and adjusts the sending time of the self-defined communication frames sent to each self-defined communication slave module so as to reduce the jitter of the synchronous signals and improve the synchronization precision.
The invention also provides a control system for implementing the synchronization method of the control system, which is used for controlling the energy conversion device and comprises a first controller and a second controller.
The energy conversion device comprises at least one converter, a converter cluster and/or a converter assembly.
Each first controller corresponds to a plurality of second controllers, and each second controller correspondingly controls one coordinated converter; each second controller is connected with the first controller through a group of communication lines.
Optionally, in the control system, the first controller and the second controller are both provided with a custom communication module on their respective embedded processors; the first controller is provided with a self-defined communication master module, and the second controller is provided with a self-defined communication slave module;
the custom communication master module and the custom communication slave module mutually interact with a custom communication frame.
Optionally, in the control system, the number of the first controllers is multiple, each first controller correspondingly controls multiple second controllers, and each second controller correspondingly controls one coordinated converter;
selecting a reference controller from the plurality of first controllers, wherein the rest of the first controllers are used as follow-up controllers which are connected to the reference controller through a group of communication lines;
in the plurality of first controllers, besides the reference controller, the following controller is required to carry a self-defined communication master module and a self-defined communication slave module; the reference controller only carries a self-defined communication main module.
Optionally, in the control system, the step of generating the synchronization signal includes:
the plurality of first controllers and each second controller are electrified, loaded and started;
a reference controller in the first controllers performs data frame interaction with a custom communication slave module of the following controller through a custom communication master module, wherein the reference controller determines the time difference between the following controller and the reference controller by identifying the departure time and the return time of the custom communication frame;
after receiving the frame header from the reference controller, the following controller starts to send a custom communication frame to a corresponding second controller at the same time;
the reference controller adjusts the starting time of sending the self-defined communication frame to the corresponding second controller according to the identified time difference, so that the starting time is consistent with the starting time of sending the self-defined communication frame to the second controller by the following controller;
each custom communication slave module identifies a frame header from the received custom communication frame, generates a de-framing signal and generates a synchronization signal according to the de-framing signal.
Optionally, the control system further includes a master controller, where the number of the first controllers is multiple, the master controller correspondingly controls multiple first controllers, each first controller correspondingly controls multiple second controllers, and each second controller correspondingly controls a coordinated converter;
the first controller is connected to the master controller through a group of communication lines respectively, so that a multi-stage star-shaped communication topology is formed;
in the plurality of first controllers, a self-defined communication master module and a self-defined communication slave module are required to be carried; the master controller only carries a self-defined communication main module.
Optionally, in the control system, the step of generating the synchronization signal includes:
the master controller, each first controller and each second controller are electrified, loaded and started;
the self-defined communication master module and each self-defined communication slave module respectively start to operate;
the self-defined communication master module of the master controller sends a self-defined communication frame to the self-defined communication slave module of the first controller, and the sending time of the communication frames of the respective defined communication slave modules are strictly aligned;
after the main module of the customized communication of the master controller sends a frame of customized communication frame, the next frame is sent according with the first fixed period, and the steps are repeated;
the self-defined communication slave module of the first controller identifies a frame header in a received self-defined communication frame, generates a de-framing signal and generates a synchronization signal according to the de-framing signal;
after the first controllers are synchronized, the user-defined communication frames are sent to the second controllers at the same time, and the steps are repeated;
the self-defined communication slave module of the second controller identifies the frame head in the received self-defined communication frame, generates a de-framing signal and generates a synchronization signal according to the de-framing signal.
The invention also provides a power generation system comprising a controller configured to perform the synchronization method of the above control system.
The control system provided by the invention is used for controlling a power generation, storage or energy conversion device and is provided with a controller, and the controller executes the synchronization method of the control system. The control system comprises a power generation system and/or an energy storage system, and specifically comprises a wind power generation system, a hydroelectric power generation system, a photovoltaic power generation system, a tidal power generation system and the like; the controller may be implemented in software, hardware or firmware or a combination thereof. The controller may be present alone or may be part of a component.
In the synchronization method and the control system of the control system provided by the invention, the first controller simultaneously sends the self-defined communication frame to the plurality of second controllers, each second controller extracts the synchronization signal according to the frame header of the self-defined communication frame and extracts the application information of the converter device according to the original interactive data packet of the self-defined communication frame, so that the data analysis can be carried out, the synchronization can be carried out, no additional hardware synchronization line is needed, no special synchronization signal or synchronization frame needs to be transmitted in the converter control system, only normal communication and interactive data frames among the controllers are needed, the high-precision synchronization requirement can be met, and the synchronization precision can reach 25 ns.
Drawings
FIG. 1 is a schematic diagram of a converter control system in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a custom communication frame of a converter control system in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a plurality of first controller connections in a converter control system in accordance with an embodiment of the present invention;
fig. 4 is a schematic diagram of the connection between the master controller and the first controller in the converter control system according to an embodiment of the present invention.
Detailed Description
The invention is further elucidated with reference to the drawings in conjunction with the detailed description.
It should be noted that the components in the figures may be exaggerated and not necessarily to scale for illustrative purposes. In the figures, identical or functionally identical components are provided with the same reference symbols.
In the present invention, "disposed on …", "disposed over …" and "disposed over …" do not exclude the presence of an intermediate therebetween, unless otherwise specified. Further, "disposed on or above …" merely indicates the relative positional relationship between two components, and may also be converted to "disposed below or below …" and vice versa in certain cases, such as after reversing the product direction.
In the present invention, the embodiments are only intended to illustrate the aspects of the present invention, and should not be construed as limiting.
In the present invention, the terms "a" and "an" do not exclude the presence of a plurality of elements, unless otherwise specified.
It is further noted herein that in embodiments of the present invention, only a portion of the components or assemblies may be shown for clarity and simplicity, but those of ordinary skill in the art will appreciate that, given the teachings of the present invention, required components or assemblies may be added as needed in a particular scenario. Furthermore, features from different embodiments of the invention may be combined with each other, unless otherwise indicated. For example, a feature of the second embodiment may be substituted for a corresponding or functionally equivalent or similar feature of the first embodiment, and the resulting embodiments are likewise within the scope of the disclosure or recitation of the present application.
It is also noted herein that, within the scope of the present invention, the terms "same", "equal", and the like do not mean that the two values are absolutely equal, but allow some reasonable error, that is, the terms also encompass "substantially the same", "substantially equal". By analogy, in the present invention, the terms "perpendicular", "parallel" and the like in the directions of the tables also cover the meanings of "substantially perpendicular", "substantially parallel".
The numbering of the steps of the methods of the present invention does not limit the order of execution of the steps of the methods. Unless specifically stated, the method steps may be performed in a different order.
The following describes the synchronization method and the control system of the control system according to the present invention in further detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The invention aims to provide a synchronization method of a control system, which is applied to the control system, wherein the control system is used for controlling an energy conversion device so as to solve the problems that the synchronization of a plurality of current transformers in the prior art needs an additional special synchronization line when the current transformers work cooperatively, the anti-interference capability is weak, the synchronization precision is low, additional software and hardware are invested and the like.
In order to achieve the above object, the present invention provides a synchronization method for a control system when a converter apparatus works cooperatively and a converter control system, including: the first controller is configured to send a custom communication frame to the plurality of second controllers simultaneously, wherein the custom communication frame comprises a frame header and an original interactive data packet; and second controllers, each second controller configured to perform the following actions: and extracting a synchronous signal according to a frame header of the self-defined communication frame, and extracting application information of the current converting device according to the original interactive data packet.
The invention provides a synchronization method of a control system when converter devices work cooperatively, which is applied to a converter control system and comprises the following steps as shown in figures 1-4: the first controller is configured to send a custom communication frame to the plurality of second controllers simultaneously, wherein the custom communication frame comprises a frame header and an original interactive data packet; and second controllers, each second controller configured to perform the following actions: and extracting a synchronous signal according to a frame header of the self-defined communication frame, and extracting application information of the current converting device according to the original interactive data packet. The first controller may be a master controller, and the second controller may be a slave controller. The master controller and the slave controllers are subordinate to the converter control system; the converter device comprises at least one converter, a converter cluster and/or a converter assembly.
In one embodiment of the present invention, as shown in fig. 1, in the synchronization method of the control system, between a first controller and a second controller corresponding thereto: the first controller comprises a custom communication main module which sends a custom communication frame to the second controller and receives the custom communication frame sent by the second controller; the second controller comprises a custom communication slave module which sends a custom communication frame to the first controller and receives the custom communication frame sent by the first controller; the user-defined communication master module sends a user-defined communication frame to each user-defined communication slave module in a first inherent period; and each custom communication slave module sends custom communication frames to the custom communication master module in a second inherent period.
In an embodiment of the present invention, in the synchronization method of the control system, as shown in fig. 2, the custom communication frame is fixed to n bytes, and the frame header and the original interactive data packet can be distinguished by a coding method or a method of setting the frame header as fixed data, so that the custom communication master module and the custom communication slave module can identify the frame header in each frame; and after receiving the custom communication frame, the custom communication slave module generates a de-framing signal and generates a synchronization signal according to the de-framing signal.
In an embodiment of the present invention, in the converter control system, the step of generating the synchronization signal includes: the first controller and each second controller are electrified, loaded and started; the self-defined communication master module and each self-defined communication slave module respectively start to operate; the user-defined communication master module sends a user-defined communication frame to each user-defined communication slave module until the sending time of the communication frames of the slave stations are strictly aligned; after the user-defined communication main module sends each frame of user-defined communication frame, sending the next frame according with the first fixed period, and repeating the steps; each custom communication slave module identifies a frame header from the received custom communication frame to generate a de-framing signal; and each self-defined communication slave module generates a synchronous signal according to the de-framing signal.
In an embodiment of the present invention, in the converter control system, the step of generating the synchronization signal further includes: the self-defined communication master module can identify the sequence time difference of the self-defined communication frames sent from each self-defined communication slave module, and adjusts the sending time of the self-defined communication frames sent to each defined communication slave module so as to reduce the jitter of the synchronous signals and improve the synchronization precision; jitter of synchronization signals that each define a communication slave module includes: the first controller sends out jitter of wiring and components between a bit stream and communication lines, jitter caused by length variation of the communication lines, jitter caused by uneven medium of the communication lines, jitter of the wiring and the components between the communication lines and the communication lines which respectively define the bit stream received by the communication slave module, and jitter of analysis time caused by crystal oscillator difference of the second controllers.
In an embodiment of the present invention, as shown in fig. 2, a schematic diagram of a custom communication frame is provided, where a data frame is fixed to n bytes and divided into two parts: frame header and data packet.
In an embodiment of the present invention, in the converter control system, as shown in fig. 3, the number of the first controllers is multiple, each first controller correspondingly controls multiple second controllers, and each second controller correspondingly controls one coordinated converter; a reference controller (a first controller 2 in FIG. 3) is selected from among the plurality of first controllers, and the remaining first controllers are used as follow-up controllers (a first controller 1 in FIG. 3) connected to the reference controller through a set of communication lines. The following controller is required to carry a self-defined communication master module and a self-defined communication slave module. The reference controller only carries a self-defined communication main module.
In an embodiment of the present invention, in the converter control system, the step of generating the synchronization signal includes: the plurality of first controllers and each second controller are electrified, loaded and started; the reference controller performs data frame interaction with a custom communication slave module of the following controller through a custom communication master module, wherein the reference controller determines the time difference between the following controller and the reference controller by identifying the departure time and the return time of the custom communication frame; after receiving the frame header from the reference controller, the following controller starts to send a custom communication frame to a corresponding second controller at the same time; the reference controller adjusts the starting time of sending the self-defined communication frame to the corresponding second controller according to the identified time difference, so that the starting time is consistent with the starting time of sending the self-defined communication frame to the second controller by the following controller; each custom communication slave module identifies a frame header from the received custom communication frame, generates a de-framing signal and generates a synchronization signal according to the de-framing signal.
In an embodiment of the present invention, as shown in fig. 4, the converter control system further includes a master controller (first controllers n +1 in fig. 4), where the number of the first controllers (first controllers 1 to n in fig. 4) is plural, the master controller correspondingly controls plural first controllers, each first controller correspondingly controls plural second controllers, and each second controller correspondingly controls one coordinated converter; the first controllers are connected to the master controller through a group of communication lines respectively, and therefore a multi-stage star-shaped communication topology is formed. In the plurality of first controllers, not only a custom communication master module but also a custom communication slave module need to be carried. The master controller only carries a self-defined communication main module.
In an embodiment of the present invention, in the converter control system, the step of generating the synchronization signal includes: the master controller, each first controller and each second controller are electrified, loaded and started; the self-defined communication master module and each self-defined communication slave module respectively start to operate; the self-defined communication master module of the master controller sends a self-defined communication frame to the self-defined communication slave module of the first controller, and the sending time of the communication frames of the respective defined communication slave modules are strictly aligned; after the main module of the customized communication of the master controller sends a frame of customized communication frame, the next frame is sent according with the first fixed period, and the steps are repeated; the self-defined communication slave module of the first controller identifies a frame header in a received self-defined communication frame, generates a de-framing signal and generates a synchronization signal according to the de-framing signal; after the first controllers are synchronized, the user-defined communication frames are sent to the second controllers at the same time, and the steps are repeated; the self-defined communication slave module of the second controller identifies the frame head in the received self-defined communication frame, generates a de-framing signal and generates a synchronization signal according to the de-framing signal.
In the converter control system provided by the invention, the first controller simultaneously sends the self-defined communication frame to the plurality of second controllers, each second controller extracts the synchronous signal according to the frame header of the self-defined communication frame and extracts the application information of the converter device according to the original interactive data packet of the self-defined communication frame, so that the converter control system can analyze data and can be used for synchronization, an additional hardware synchronization line is not needed, a special synchronous signal or a special synchronous frame is not needed to be transmitted in a cooperative system, only the normal communication and the interactive data frame among the controllers are needed, the high-precision synchronization requirement can be met, and the synchronization precision can reach 25 ns.
Besides, communication lines among the controllers can adopt optical fibers, shielded cables and the like, and the anti-interference capability is high.
The invention has the following advantages:
no extra hardware synchronization line is needed, no special synchronization signal or synchronization frame is needed to be transmitted, and hardware resources are saved; the frame header and the data packet are distinguished by a certain definition mode without a complex protocol stack, so that the frame header can be identified for data analysis and can also be used for synchronization, and the realization is simple; the synchronous period can be flexibly configured; the synchronization precision is high; in the embodiment of the scheme, the actual measurement can reach 25 ns; communication lines with strong anti-interference performance, such as optical fibers or shielded cables, can be adopted to overcome the influence caused by high-voltage electromagnetic interference; the expansibility is good, and multi-stage synchronization can be realized.
Compared with the synchronization method of the existing control system, the synchronization method of the control system has the improvement points that:
the data exchange between the controllers is only normal without transmitting a special synchronous signal or transmitting an extra synchronous frame; the interactive data frame is divided into two parts, wherein the total number of the data frame is n bytes: frame header and data packet.
The frame header and the data packet are distinguished by a certain definition mode, and the frame header is identified, so that the data analysis can be carried out, and the synchronization can also be carried out; the definition mode may be a coding mode, or may be fixed data, or other modes that can distinguish the frame header and the data packet.
The synchronization period is flexible and adjustable, because the deframing signal is generated once per frame, the transmission time of each frame of data can be adjusted by configuring the length of each frame of data or inserting idle time, and then the synchronization signal is configured to be generated once every N frames by configuration.
The multiple converter control systems comprise multiple first controllers and multiple second controllers, wherein each first controller corresponds to multiple second controllers, and each second controller corresponds to one coordinated converter; each second controller is connected with the first controller through a group of communication lines, so that a star-shaped communication topological structure is formed; the communication line can be a cable with stronger anti-interference capability, such as an optical fiber, a shielding cable and the like.
The first controller and the second controller realize a self-defined communication module on respective embedded processors; the self-defined communication module is highly modularized and is divided into a master station module (a self-defined communication master module) and a slave station module (a self-defined communication slave module) and is used for interacting self-defined communication frames between the first controller and the second controller;
the user-defined communication main module periodically sends user-defined communication frames to each slave station module, and the next frame is sent immediately after each frame is sent, and the process is repeated; accordingly, the respective defined communication slave module also periodically transmits custom communication frames to the master module.
The self-defined communication frame has n bytes in total and is divided into two parts: frame header and data packet; the self-defined communication frame enables the frame header and an original interactive data packet (data packet for short) to be distinguished through a certain definition mode, so that the self-defined communication module can identify the frame header in each frame; subsequently generating a deframe signal from the slave module, the synchronous signal coming from it; the definition mode mentioned in the above can be a coding mode, or can be fixed data, or other.
As shown in fig. 1, the present invention provides a control system when a plurality of converters are operated cooperatively; the plurality of converter control systems comprise a first controller and n second controllers, wherein each second controller correspondingly controls a coordinated converter; each second controller is connected with the first controller through a group of communication lines, so that a star-shaped communication topology structure is formed.
As shown in fig. 2, the present invention provides a custom communication frame format; in the specific embodiment, the frame header is defined as special data SOF, and the data does not appear in the rest data packets; the synchronization steps are as follows: the first controller and each second controller are electrified, loaded and started; the user-defined communication master station module and each slave station module respectively start to operate; the self-defined communication master station module sends a self-defined communication frame to each slave station module until the sending time of the communication frame of each slave station is strictly aligned; after the master station module finishes sending each frame of communication frame, next frame is sent again and again; each self-defined communication slave station module identifies a frame header SOF from a received communication frame to generate a de-framing signal; and each self-defined communication slave station module generates a synchronous signal according to the de-framing signal.
As shown in fig. 3, the present invention provides another control system when a plurality of converters are operated cooperatively; the converter control systems comprise two first controllers and 2 x n second controllers, wherein each first controller correspondingly controls n second controllers, and each second controller correspondingly controls one cooperative converter; the two first controllers are connected through a group of communication lines, the first controller 2 realizes the master station module in the communication of the two first controllers, and the first controller 1 realizes the slave station module; the specific synchronization steps are as follows: two first controllers and each second controller are electrified, loaded and started; the two first controllers carry out data frame interaction through a user-defined communication module, wherein the first controller 2 determines the time difference between the first controller 1 and the first controller 2 by identifying the user-defined frame leaving time and the frame returning time; after receiving the SOF from the first controller 2, the first controller 1 starts to send a custom communication frame to the n second controllers at the same time; the first controller 2 adjusts the starting time of sending the self-defined communication frame to the n second controllers according to the identified time difference between the two first controllers, so that the starting time is consistent with the time of sending the self-defined communication frame to the second controllers by the first controller 1; each self-defined communication slave station module identifies a frame header SOF from a received communication frame and generates a de-framing signal, and then generates a synchronization signal according to the de-framing signal.
As shown in fig. 4, the present invention provides another control system when a plurality of converters are operated cooperatively; the converter control systems comprise n +1 first controllers and n x m second controllers, wherein each first controller correspondingly controls m second controllers, and each second controller correspondingly controls one cooperative converter; the first controllers 1-n are respectively connected to the first controller n +1 through a group of communication lines, so that a multi-stage star-shaped communication topology is formed; the communication between the n +1 first controllers is realized by the slave station modules of the first controllers 1-n, and the master station module of the first controller n + 1; the specific synchronization steps are as follows: each first controller and each second controller are electrified, loaded and started; the user-defined communication master station module and each slave station module respectively start to operate; a master station module of a first controller n +1 sends a self-defined communication frame to slave station modules of first controllers 1-n until the sending time of the communication frames of the slave station modules are strictly aligned; after the master station module of the first controller n +1 finishes sending each frame of communication frame, next sending the next frame, and repeating the steps; the slave station modules of the first controllers 1 to n identify frame headers SOF from received communication frames, generate de-framing signals and generate synchronous signals according to the de-framing signals; after the first controllers 1-n are synchronized, starting to send the self-defined communication frames to each second controller at the same time, and repeating the steps; and the slave station module on the second controller identifies the frame head SOF from the received communication frame, generates a de-framing signal and generates a synchronization signal according to the de-framing signal.
In summary, the above embodiments describe the different configurations of the converter control system in detail, and it goes without saying that the present invention includes but is not limited to the configurations listed in the above embodiments, and any modifications based on the configurations provided by the above embodiments are within the scope of protection of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (12)
1. A synchronization method of a control system, characterized in that the synchronization method of the control system comprises:
the first controller is configured to send a custom communication frame to the plurality of second controllers simultaneously, wherein the custom communication frame comprises a frame header and an original interactive data packet; and
second controllers, each second controller configured to perform the following actions:
extracting the synchronization signal according to a header of the custom communication frame, an
And extracting the application information according to the original interactive data packet.
2. The synchronization method of a control system according to claim 1, applied to a control system for controlling a power generation, storage or energy conversion device, the control system comprising a first controller and a second controller;
between a first controller and its corresponding second controller:
the first controller comprises a custom communication main module which sends a custom communication frame to the second controller and receives the custom communication frame sent by the second controller;
the second controller comprises a custom communication slave module which sends a custom communication frame to the first controller and receives the custom communication frame sent by the first controller;
the user-defined communication master module sends a user-defined communication frame to each user-defined communication slave module in a first inherent period;
and each custom communication slave module sends custom communication frames to the custom communication master module in a second inherent period.
3. The synchronization method of the control system according to claim 2, wherein the custom communication frame is fixed to n bytes, and the frame header and the original interactive data packet can be distinguished by encoding or setting the frame header as fixed data, so that the custom communication master module and the custom communication slave module can recognize the frame header in each received frame;
after receiving the custom communication frame, the custom communication slave module generates a de-framing signal and generates a synchronization signal according to the de-framing signal;
the synchronization signal is used for carrier synchronization, switching synchronization, or sampling synchronization.
4. The synchronization method of a control system according to claim 3, wherein the step of generating a synchronization signal comprises:
the first controller and each second controller are electrified, loaded and started;
the self-defined communication master module and each self-defined communication slave module respectively start to operate;
the user-defined communication master module sends a user-defined communication frame to each user-defined communication slave module until the sending time of the communication frames of the slave stations are strictly aligned;
after the user-defined communication main module sends each frame of user-defined communication frame, sending the next frame according with the first fixed period, and repeating the steps;
each custom communication slave module identifies a frame header from the received custom communication frame to generate a de-framing signal;
and each self-defined communication slave module generates a synchronous signal according to the de-framing signal.
5. The synchronization method of a control system according to claim 4, wherein the step of generating a synchronization signal further comprises: the self-defined communication master module can identify the time difference of the self-defined communication frames sent from each self-defined communication slave module, and adjusts the sending time of the self-defined communication frames sent to each self-defined communication slave module so as to reduce the jitter of the synchronous signals and improve the synchronization precision.
6. A control system for implementing the synchronization method of the control system according to claim 1, for controlling the energy conversion device, comprising a first controller and a second controller;
the energy conversion device comprises at least one converter, a converter cluster and/or a converter assembly;
each first controller corresponds to a plurality of second controllers, and each second controller correspondingly controls one coordinated converter; each second controller is connected with the first controller through a group of communication lines.
7. The control system of claim 6, wherein the first controller and the second controller each have a custom communication module on their respective embedded processors; the first controller is provided with a self-defined communication master module, and the second controller is provided with a self-defined communication slave module;
the custom communication master module and the custom communication slave module mutually interact with a custom communication frame.
8. The control system of claim 7, wherein the number of the first controllers is plural, each first controller controls a plurality of second controllers, and each second controller controls a cooperative converter;
selecting a reference controller from the plurality of first controllers, wherein the rest of the first controllers are used as follow-up controllers which are connected to the reference controller through a group of communication lines;
in the plurality of first controllers, besides the reference controller, the following controller is required to carry a self-defined communication master module and a self-defined communication slave module; the reference controller only carries a self-defined communication main module.
9. The control system of claim 8, wherein the step of generating a synchronization signal comprises:
the plurality of first controllers and each second controller are electrified, loaded and started;
a reference controller in the first controllers performs data frame interaction with a custom communication slave module of the following controller through a custom communication master module, wherein the reference controller determines the time difference between the following controller and the reference controller by identifying the departure time and the return time of the custom communication frame;
after receiving the frame header from the reference controller, the following controller starts to send a custom communication frame to a corresponding second controller at the same time;
the reference controller adjusts the starting time of sending the self-defined communication frame to the corresponding second controller according to the identified time difference, so that the starting time is consistent with the starting time of sending the self-defined communication frame to the second controller by the following controller;
each custom communication slave module identifies a frame header from the received custom communication frame, generates a de-framing signal and generates a synchronization signal according to the de-framing signal.
10. The control system according to claim 7, further comprising a plurality of master controllers, wherein the number of the first controllers is plural, the master controllers correspondingly control the plurality of first controllers, each first controller correspondingly controls a plurality of second controllers, and each second controller correspondingly controls a cooperative converter;
the first controller is connected to the master controller through a group of communication lines respectively, so that a multi-stage star-shaped communication topology is formed;
in the plurality of first controllers, a self-defined communication master module and a self-defined communication slave module are required to be carried; the master controller only carries a self-defined communication main module.
11. The control system of claim 10, wherein the step of generating a synchronization signal comprises:
the master controller, each first controller and each second controller are electrified, loaded and started;
the self-defined communication master module and each self-defined communication slave module respectively start to operate;
the self-defined communication master module of the master controller sends a self-defined communication frame to the self-defined communication slave module of the first controller, and the sending time of the communication frames of the respective defined communication slave modules are strictly aligned;
after the main module of the customized communication of the master controller sends a frame of customized communication frame, the next frame is sent according with the first fixed period, and the steps are repeated;
the self-defined communication slave module of the first controller identifies a frame header in a received self-defined communication frame, generates a de-framing signal and generates a synchronization signal according to the de-framing signal;
after the first controllers are synchronized, the user-defined communication frames are sent to the second controllers at the same time, and the steps are repeated;
the self-defined communication slave module of the second controller identifies the frame head in the received self-defined communication frame, generates a de-framing signal and generates a synchronization signal according to the de-framing signal.
12. A power generation system comprising a controller configured to perform the method of any one of claims 1 to 5.
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| PCT/CN2021/115863 WO2023028904A1 (en) | 2021-09-01 | 2021-09-01 | Synchronization method for control system, and control system |
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