CN113991988A - Control method for inhibiting DC (direct current) pulsating current of modular multilevel converter - Google Patents
Control method for inhibiting DC (direct current) pulsating current of modular multilevel converter Download PDFInfo
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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
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/483—Converters with outputs that each can have more than two voltages levels
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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
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal 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
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal 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, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal 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, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal 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, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
- H02M7/53873—Conversion of dc power input into ac power output without possibility of reversal 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, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with digital control
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Abstract
The invention discloses a control method for inhibiting direct current pulsating current of a modular multilevel converter, wherein the three-phase modular multilevel converter adopts 2N +1 sub-modules for uniform pulse width modulation (SUPWM), wherein the modulation process of an upper bridge arm and a lower bridge arm of each phase unit respectively comprises an integer function and a same isosceles triangle carrier wave; in each carrier period, according to A, B, C three-phase fundamental frequency reference wave ya、yb、ycCalculating the phase angle theta of each phase unit for which the carrier wave needs to be adjustedsa、θsb、θscThen, respectively adjusting the carrier phases of the upper bridge arm and the lower bridge arm of the corresponding phase unit; and then, the reference waves of the upper and lower bridge arms are modulated to respectively obtain the number of the corresponding bridge arm input sub-modules. The invention is realized by regulatingThe phase angle of the carrier wave enables voltage pulses on three-phase bridge arm inductors to be mutually offset, high-frequency zero-sequence current components of internal circulation of three phases are eliminated, and the high-frequency zero-sequence current components cannot flow into a direct-current bus of the modular multilevel converter, so that pulsating current on the direct-current side of the modular multilevel converter is restrained.
Description
Technical Field
The invention relates to the technical field of multilevel converters, in particular to a control method for inhibiting a modular multilevel converter from direct current pulsating current.
Background
The Modular Multilevel Converter (MMC) adopts a physical structure that a plurality of submodules are connected in series, each phase unit comprises an upper bridge arm and a lower bridge arm, and each bridge arm comprises a plurality of identical submodules and a bridge arm buffer inductor. The size of the output voltage at the alternating current side can be changed by changing the number of the submodules put into the upper bridge arm and the lower bridge arm of each phase unit. Compared with a two-level converter and a three-level converter, the modularized multi-level converter has more flexible output level number, higher efficiency and smaller alternating current output harmonic wave, thereby being very suitable for medium-high voltage and large capacity power electronic application occasions and having great application prospects in the fields of power electronic transformers, ship and rail traction, medium-voltage motor traction, alternating current and direct current power distribution networks, unified power flow controllers and the like.
Sub-module unified pulse width modulation (SUPWM) is a commonly used modular multilevel converter modulation technique. The SUPWM combines rounding and carrier modulation, each bridge arm only uses one carrier, the alternating current waveform quality is better than that of the recent level approximation modulation, and the algorithm complexity is obviously lower than that of other PWM modulation methods, so that the SUPWM has special advantages. However, the modulation causes a large pulse voltage to appear on the bridge arm inductance, and the three-phase zero-sequence pulse voltage generates corresponding harmonic current in the three phases and then flows into the direct current side of the modular multilevel converter to cause a large direct current pulsating current, so that the waveform of the direct current is distorted, and further, the problems of increased line loss, unstable transmission power and the like are caused, and the long-term reliable operation of the system is damaged. However, no research has been made to provide a corresponding solution to this problem.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a control method for inhibiting the direct current pulsating current of a modular multilevel converter.
The purpose of the invention can be realized by the following technical scheme:
a control method for suppressing the DC ripple current of a modular multilevel converter comprises the following steps:
the modulation of an upper bridge arm and a lower bridge arm of each phase unit of the modular multilevel converter comprises an integer function and a carrier;
respectively adjusting the phases of the upper bridge arm carrier and the lower bridge arm carrier of the three phases in each carrier period;
obtaining the number of input sub-modules needed by an upper bridge arm and a lower bridge arm according to mathematical operation, rounding and carrier modulation of SUPWM modulation;
and according to the number of the submodules required to be input by each bridge arm, the capacitance voltage of all the submodules and the direction of the current of the bridge arm, the upper bridge arm and the lower bridge arm can respectively obtain the driving signals of all the submodules.
Optionally, the method for calculating the adjusted phase angle of the three-phase upper and lower bridge arm carriers includes the following steps:
(1) in each carrier period, calculating the width theta of the pulse obtained by carrier modulation of the upper and lower bridge arms of the corresponding phaseuj and θljWherein j is a, b, c:
wherein ,yjFor the normalized three-phase sine fundamental frequency reference wave signals, floor is the rounding function, and N is the number of the sub-modules of each bridge arm;
(2) calculating the width theta of the voltage pulse on the three-phase bridge arm inductancea、θb、θc, wherein θj＝Min(θuj,θlj) Is expressed by taking θuj and θljThe smaller of the two;
(3) calculating the phase angle theta of the carrier wave needing to be adjustedsa、θsb、θscThe calculation method comprises the following steps:
1) if theta is greater than thetaa>θb>θcThen, then
θsa＝0 (1a)
2) If theta is greater than thetaa>θc>θbThen, then
θsa＝0 (2a)
3) If theta is greater than thetab>θa>θcThen, then
θsb＝0 (3b)
4) If theta is greater than thetab>θc>θaThen, then
θsb＝0 (4b)
5) If theta is greater than thetac>θa>θbThen, then
θsc＝0 (5c)
6) If theta is greater than thetac>θb>θaThen, then
θsc＝0 (6c)
wherein ,θuj and θljAnd j is the width of the pulse obtained by the carrier modulation of the upper bridge arm and the lower bridge arm of the corresponding phase, and is obtained by calculating in the step (1) by taking a, b or c.
Optionally, the carriers are configured as isosceles triangle carriers with the same amplitude, phase and frequency.
Optionally, the method for obtaining the driving signals of all the sub-modules by the upper and lower bridge arms respectively is a voltage equalizing method based on capacitor voltage sequencing.
In another aspect, the present invention further relates to a computer-readable storage medium storing instructions, which when executed, can implement any one of the above control methods.
In yet another aspect, a control apparatus for suppressing a dc ripple current of a modular multilevel converter includes the storage medium described above.
The invention has the beneficial effects that:
according to the control method, the carriers of the upper bridge arm and the lower bridge arm of each phase unit are set to be identical, the maximum alternating current level number can be increased from N +1 to 2N +1, and the alternating current voltage waveform quality is improved due to the increase of the level number. In addition, the phase angle of the three-phase carrier wave is adjusted in real time, the direct current pulsating current of the modular multilevel converter is effectively inhibited, and the direct current side current and the power quality are greatly improved.
Although the control method regulates the three-phase carrier wave, the upper and lower carrier waves of each phase are changed simultaneously, so that the waveform quality of the alternating-current phase voltage is not influenced obviously. Compared with the traditional SUPWM, the control method provided by the invention not only effectively inhibits the direct current pulsating current of the modular multilevel converter, but also hardly reduces the waveform quality of the alternating current phase voltage.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a topological block diagram of a three-phase modular multilevel converter and its sub-modules;
FIG. 2 is a block diagram of the control method proposed by the present invention implemented in phase j;
FIG. 3 shows the phase angle θ of the three-phase carrier wave to be adjustedsa、θsb、θscThe calculation method of (2) is implemented in a block diagram;
fig. 4 is a schematic diagram of the effects of A, B, C three-phase carrier phase adjustment, upper and lower bridge arm carrier modulation pulse waveforms, and phase shift of voltage pulses on bridge arm inductors in the method provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In some examples of the invention, a control method for suppressing the DC pulsating current of a modular multilevel converter is disclosed, and the width theta of the voltage pulse on the three-phase upper and lower bridge arm inductors is calculated in each carrier cyclea、θb、θcAccording to thetaa、θb、θcThe magnitude relation between the two phase angles gives the phase angle theta which needs to be adjusted in all 6 casessa、θsb、θscBy determining which of these cases is the case, the phase angles of the three-phase carriers are adjusted A, B, C, respectively. The control method provided by the invention can enable pulse voltages on three-phase bridge arm inductors to be mutually offset, eliminates high-frequency zero-sequence current of bridge arm circulation, enables the high-frequency zero-sequence current not to flow into a direct current bus, and inhibits the magnitude of direct current pulsating current of the modular multilevel converter from the source.
In other examples of the present invention, a control method for suppressing dc ripple current of a modular multilevel converter is disclosed, wherein the modular multilevel converter and a sub-module topology thereof are shown in fig. 1. The A, B, C three phases of the modular multilevel converter respectively comprise an upper bridge arm and a lower bridge arm, and each bridge arm comprises N identical submodules and a bridge arm inductor. Fig. 2 shows a control implementation block diagram of the proposed control method in phase j, where j is a, b, and c. The proposed control adopts SUPWM modulation, the modulation process of the upper and lower bridge arms of each phase unit comprises a down-rounding function floor and an isosceles triangle carrier W with the same amplitude, phase and frequencyuj and WljWherein the phase of the carrier is adjustable. Firstly, respectively calculating and adjusting the phase angles of the three-phase upper and lower bridge arm carriers to corresponding positions in each carrier period. Then, the fundamental frequency reference wave-y of the upper and lower bridge arms of each phasej and yjThe input submodels required by the upper bridge arm and the lower bridge arm can be obtained respectively through mathematical operation, rounding and carrier modulation required by SUPWM modulationNumber of blocks nujAnd nlj. Finally, according to the number of the submodules required to be input by each bridge arm, the capacitor voltages of all the submodules and the direction of the current of the bridge arm, the upper bridge arm and the lower bridge arm can respectively obtain the driving signals of all the submodules by adopting a traditional voltage-sharing method based on capacitor voltage sequencing, so that n is input finallyuj and nljAnd a sub-module.
The calculation of the phase angle of the A, B, C three-phase upper and lower bridge arms, which needs to be adjusted, is shown in fig. 3, and includes the following steps:
(1) in each carrier wave period, according to a normalized A, B, C three-phase sinusoidal fundamental frequency reference wave signal yjCalculating the pulse width theta of the upper and lower bridge arms corresponding to the phase obtained by carrier modulationuj and θljThe specific calculation method comprises the following steps:
(2) calculating the width theta of the voltage pulse on the three-phase bridge arm inductancea、θb、θc, wherein θj＝Min(θuj,θlj) Is expressed by taking θuj and θljThe smaller of the two;
(3) calculating the phase angle theta of the carrier wave needing to be adjustedsa、θsb、θscThe specific calculation method comprises the following steps:
1) if theta is greater than thetaa>θb>θcThen, then
θsa＝0 (1a)
2) If theta is greater than thetaa>θc>θbThen, then
θsa＝0 (2a)
3) If theta is greater than thetab>θa>θcThen, then
θsb＝0 (3b)
4) If theta is greater than thetab>θc>θaThen, then
θsb＝0 (4b)
5) If theta is greater than thetac>θa>θbThen, then
θsc＝0 (5c)
6) If theta is greater than thetac>θb>θaThen, then
θsc＝0 (6c)
wherein ,θuj and θljAnd j is the width of the pulse obtained by the carrier modulation of the upper bridge arm and the lower bridge arm of the corresponding phase, and is obtained by calculating in the step (1) by taking a, b or c.
Fig. 4 is a schematic diagram showing a possible implementation effect of A, B, C three-phase carrier phase adjustment, upper and lower bridge arm carrier modulation pulse waveforms, and phase shift of voltage pulses on bridge arm inductors in one carrier period. Under the control provided by the invention, A, B, C three-phase upper and lower bridge arms are modulated to obtain widths thetaua、θla、θub、θlb、θuc、θlcPulse waveform of (wherein θ)ua and θla、θub and θlb、θuc and θlcThe sum of each two is equal to 2 pi), thereby generating widths theta on the three-phase upper and lower bridge arm inductors respectivelya、θb、θcThe pulse voltage of (2). In the case shown in FIG. 4, θ is satisfieda>θb>θc, and θa+θb+θ c0. According to the formula (1), theta sa0, so the a phase carrier is stationary; thetasb＝-(θua+θub) 2, so that the B-phase carrier is shifted to the left by- (theta)ua+θub)/2；θsc＝(θuc+θuc) 2, so that the C-phase carrier is shifted to the right (θ)uc+θuc)/2. Correspondingly, the voltage u on the three-phase bridge arm inductancelsa、ulsb、ulscThe phases of the three phases are changed and just offset with each other, so that the sum u of the voltages on the three-phase upper and lower bridge arm inductorslsa+ulsb+ulscIs constantly zero during one carrier period, so that the direct current idcIs suppressed.
In addition, in other examples of the present invention, a computer-readable storage medium is also disclosed. The computer-readable storage medium stores computer instructions that, when executed, enable the control method of the above example.
More specifically, the instructions may be in a computer readable language. The computer may be a general purpose computing device or a special purpose computing device. In a specific implementation, the computer may be a desktop computer, a laptop computer, a network server, a Personal Digital Assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device, or an embedded device. The storage medium may be any available medium that can be accessed by a computer or a data storage device including one or more integrated servers, data centers, and the like. For example, the storage medium may be, but is not limited to, a magnetic medium (e.g., a floppy Disk, a hard Disk, a magnetic tape), an optical medium (e.g., a Digital Versatile Disk (DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)).
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the protection scope of the present invention. In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
Claims (6)
1. A control method for restraining DC pulsating current of a modular multilevel converter is characterized in that: the method comprises the following steps:
the modulation of an upper bridge arm and a lower bridge arm of each phase unit of the modular multilevel converter comprises an integer function and a carrier;
respectively adjusting the phases of the upper bridge arm carrier and the lower bridge arm carrier of the three phases in each carrier period;
obtaining the number of input sub-modules needed by an upper bridge arm and a lower bridge arm according to mathematical operation, rounding and carrier modulation of SUPWM modulation;
and according to the number of the submodules required to be input by each bridge arm, the capacitance voltage of all the submodules and the direction of the current of the bridge arm, the upper bridge arm and the lower bridge arm can respectively obtain the driving signals of all the submodules.
2. The control method for suppressing the direct-current pulsating current of the modular multilevel converter according to claim 1, wherein: the method for calculating the phase angle of the adjustment of the three-phase upper and lower bridge arm carriers comprises the following steps:
(1) in each carrier period, calculating the width theta of the pulse obtained by carrier modulation of the upper and lower bridge arms of the corresponding phaseuj and θljWherein j is a, b, c:
wherein ,yjFor the normalized three-phase sine fundamental frequency reference wave signals, floor is the rounding function, and N is the number of the sub-modules of each bridge arm;
(2) calculating the width theta of the voltage pulse on the three-phase bridge arm inductancea、θb、θc, wherein θj＝Min(θuj,θlj) Is expressed by taking θuj and θljThe smaller of the two;
(3) calculating the phase angle theta of the carrier wave needing to be adjustedsa、θsb、θscThe calculation method comprises the following steps:
1) if theta is greater than thetaa>θb>θcThen, then
θsa＝0 (1a)
2) If theta is greater than thetaa>θc>θbThen, then
θsa＝0 (2a)
3) If theta is greater than thetab>θa>θcThen, then
θsb＝0 (3b)
4) If theta is greater than thetab>θc>θaThen, then
θsb＝0 (4b)
5) If theta is greater than thetac>θa>θbThen, then
θsc＝0 (5c)
6) If theta is greater than thetac>θb>θaThen, then
θsc＝0(6c)
wherein ,θuj and θljAnd j is the width of the pulse obtained by the carrier modulation of the upper bridge arm and the lower bridge arm of the corresponding phase, and is obtained by calculating in the step (1) by taking a, b or c.
3. The control method for suppressing the direct-current pulsating current of the modular multilevel converter according to claim 1, wherein: the carrier waves are configured into isosceles triangle carrier waves with the same amplitude, phase and frequency.
4. The control method for suppressing the direct-current pulsating current of the modular multilevel converter according to claim 1, wherein: the method for obtaining the driving signals of all the sub-modules by the upper bridge arm and the lower bridge arm respectively is a voltage-sharing method based on capacitor voltage sequencing.
5. A computer-readable storage medium storing instructions that, when executed, implement the control method of claims 1-4.
6. A control device for suppressing dc ripple current in a modular multilevel converter, comprising the storage medium of claim 5.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103956926A (en) * | 2014-05-15 | 2014-07-30 | 山东大学 | Low-frequency operation integrated control system and method of modularization multi-level converters |
| CN112803808A (en) * | 2020-12-31 | 2021-05-14 | 东南大学溧阳研究院 | Control method for reducing high-frequency pulsating current on direct current side of modular multilevel converter |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103956926A (en) * | 2014-05-15 | 2014-07-30 | 山东大学 | Low-frequency operation integrated control system and method of modularization multi-level converters |
| CN112803808A (en) * | 2020-12-31 | 2021-05-14 | 东南大学溧阳研究院 | Control method for reducing high-frequency pulsating current on direct current side of modular multilevel converter |
Non-Patent Citations (1)
| Title |
|---|
| SIZHAO LU等: "An Improved Submodule Unified Pulse Modulation Scheme for a Hybrid Modular Multilevel Converter", 《CES TRANSACTIONS ON ELECTRICAL MACHINES AND SYSTEMS》, vol. 1, no. 3, pages 322 - 333 * |
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