CN113991988B - Control method for restraining direct current ripple current of modularized multi-level converter - Google Patents
Control method for restraining direct current ripple current of modularized multi-level converter Download PDFInfo
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- CN113991988B CN113991988B CN202111252113.7A CN202111252113A CN113991988B CN 113991988 B CN113991988 B CN 113991988B CN 202111252113 A CN202111252113 A CN 202111252113A CN 113991988 B CN113991988 B CN 113991988B
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Classifications
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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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- Inverter Devices (AREA)
Abstract
The invention discloses a control method for inhibiting direct current ripple current of a modularized multi-level converter, wherein the three-phase modularized multi-level converter adopts 2N+1 Submodule Unified Pulse Width Modulation (SUPWM), and the upper bridge arm modulation process and the lower bridge arm modulation process of each phase unit respectively comprise a rounding function and an identical isosceles triangle carrier; in each carrier period, according to A, B, C three-phase fundamental frequency reference wave y a 、y b 、y c Calculating the phase angle theta of the carrier wave of each phase unit to be regulated sa 、θ sb 、θ sc Then respectively adjusting carrier phases of an upper bridge arm and a lower bridge arm of the corresponding phase unit; and the upper bridge arm reference wave and the lower bridge arm reference wave are modulated to respectively obtain the numbers of corresponding bridge arm input submodules. According to the invention, by adjusting the phase angle of the carrier wave, the voltage pulses on the three-phase bridge arm inductance are mutually offset, the high-frequency zero-sequence current component of the three-phase internal circulation is eliminated, and the high-frequency zero-sequence current component cannot flow into the direct current bus of the modularized multi-level converter, so that the pulsating current of the direct current side of the modularized multi-level converter is restrained.
Description
Technical Field
The invention relates to the technical field of multilevel converters, in particular to a control method for restraining direct current ripple current of a modularized multilevel converter.
Background
The modularized multi-level 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 output voltage of the alternating current side can be changed by changing the number of submodules input by the upper bridge arm and the lower bridge arm of each phase unit. Compared with two-level and three-level converters, the modularized multi-level converter has more flexible output level number, higher efficiency and smaller AC output harmonic wave, thus being very suitable for power electronic application occasions with high voltage and large capacity, and having great application prospect in the fields of power electronic transformers, ship and rail traction, medium voltage motor dragging, AC/DC power distribution network, unified power flow controller and the like.
Sub-module unified pulse width modulation (SUPWM) is a commonly used modular multilevel converter modulation technique. SUPWM combines rounding and carrier modulation, each bridge arm only uses one carrier, the alternating current waveform quality is better than that of the latest level approximation modulation, and the algorithm complexity is obviously lower than that of other PWM modulation methods, so that the method has special advantages. However, the modulation can cause larger pulse voltage on bridge arm inductance, the zero sequence pulse voltage of the three phases can generate corresponding harmonic current in the three phases, and then the corresponding harmonic current flows into the direct current side of the modularized multi-level converter to cause larger 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 endangered. However, no research has been done to address this problem.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a control method for restraining direct current ripple current of a modularized multi-level converter.
The aim of the invention can be achieved by the following technical scheme:
a control method for restraining DC ripple current of a modularized multi-level converter comprises the following steps:
the modulation of the upper bridge arm and the lower bridge arm of each phase unit of the modularized multi-level converter comprises a rounding function and a carrier wave;
respectively adjusting the phases of the upper bridge arm carrier wave and the lower bridge arm carrier wave of the three phases in each carrier wave period;
according to the mathematical operation, rounding and carrier modulation of SUPWM modulation, the number of the sub-modules required by the upper bridge arm and the lower bridge arm can be obtained;
and according to the number of the sub-modules required to be put into each bridge arm, the capacitance voltage of all the sub-modules and the direction of the bridge arm current, the upper bridge arm and the lower bridge arm can respectively obtain driving signals of all the sub-modules.
Optionally, the phase angle calculating method for adjusting the carrier waves of the upper bridge arm and the lower bridge arm of the three phases comprises the following steps:
(1) At each timeIn one carrier period, calculating the width theta of the pulse obtained by modulating the carrier wave of the upper bridge arm and the lower bridge arm of the corresponding phase uj and θlj Where j=a, b, c:
wherein ,yj For the normalized three-phase sine fundamental frequency reference wave signal, floor is the rounding function, and N is the number of sub-modules of each bridge arm;
(2) Calculating the width θ of the voltage pulse on the three-phase bridge arm inductance a 、θ b 、θ c, wherein θj ＝Min(θ uj ,θ lj ) Represents taking theta uj and θlj The smaller of the two;
(3) Calculating the phase angle theta of the carrier wave to be regulated sa 、θ sb 、θ sc The calculation method comprises the following steps:
1) If theta is a >θ b >θ c Then
θ sa ＝0 (1a)
2) If theta is a >θ c >θ b Then
θ sa ＝0 (2a)
3) If theta is b >θ a >θ c Then
θ sb ＝0 (3b)
4) If theta is b >θ c >θ a Then
θ sb ＝0 (4b)
5) If theta is c >θ a >θ b Then
θ sc ＝0 (5c)
6) If theta is c >θ b >θ a Then
θ sc ＝0 (6c)
wherein ,θuj and θlj And (3) respectively obtaining the widths j of pulses obtained by modulating the carrier waves of the upper bridge arm and the lower bridge arm of the corresponding phase, and obtaining a, b or c by calculating in the step (1).
Optionally, the carriers are configured as isosceles triangle carriers with the same amplitude, phase and frequency.
Optionally, the method that the upper bridge arm and the lower bridge arm can respectively obtain the driving signals of all the sub-modules is a voltage equalizing method based on capacitor voltage sequencing.
In another aspect, the present invention also relates to a computer readable storage medium storing instructions that, when executed, implement any of the above-described control methods.
In yet another aspect, a control device for suppressing 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 of the invention, the carrier waves 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 increased level number. In addition, the direct current pulsating current of the modularized multi-level converter is effectively restrained by adjusting the phase angle of the three-phase carrier wave in real time, and the direct current side current and the power quality are greatly improved.
The control method of the invention adjusts the three-phase carrier wave, but the upper carrier wave and the lower carrier wave of each phase are changed at the same time, so that the waveform quality of the alternating-current phase voltage is not affected obviously. Compared with the traditional SUPWM, the control method not only effectively inhibits the direct current ripple current of the modularized multi-level converter, but also hardly reduces the waveform quality of the alternating current phase voltage.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a topological structure diagram of a three-phase modular multilevel converter and its sub-modules;
FIG. 2 is a block diagram of an embodiment of the control method according to the present invention in phase j;
fig. 3 is a phase angle θ that the three-phase carrier needs to adjust sa 、θ sb 、θ sc A block diagram of a computing method implementation;
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 voltage pulse phase shift on the bridge arm inductance in the method proposed by the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are exemplary only for 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 DC ripple current of a modular multilevel converter is disclosed, which calculates the width θ of voltage pulses on the inductors of the upper and lower three-phase legs in each carrier period a 、θ b 、θ c According to theta a 、θ b 、θ c The magnitude relation between the two phases gives the phase angle theta to be adjusted under all 6 conditions sa 、θ sb 、θ sc By judging which case, the phase angles of the A, B, C three-phase carriers are respectively adjusted. The control method provided by the invention can enable three kinds of controlThe pulse voltages on the phase bridge arm inductances are mutually offset, so that the high-frequency zero sequence current of the bridge arm circulation is eliminated, the high-frequency zero sequence current cannot flow into the direct current bus, and the direct current pulsating current of the modularized multi-level converter is restrained from the source.
In other examples of the invention, a control method for suppressing dc ripple current of a modular multilevel converter is disclosed, wherein the modular multilevel converter and its sub-module topology are shown in fig. 1. The A, B, C three phases of the modularized multi-level converter respectively comprise an upper bridge arm and a lower bridge arm, and each bridge arm comprises N identical sub-modules 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, c. The proposed control adopts SUPWM modulation, and the modulation process of the upper bridge arm and the lower bridge arm of each phase unit comprises a downward rounding function floor and an isosceles triangle carrier wave W with identical amplitude, phase and frequency uj and Wlj Wherein the phase of the carrier is adjustable. Firstly, the phase angles of the upper bridge arm carrier and the lower bridge arm carrier of the three phases are respectively calculated and adjusted to corresponding positions in each carrier period. Then, the fundamental frequency reference wave-y of the upper and lower bridge arms of each phase j and yj The number n of the sub-modules required by the upper bridge arm and the lower bridge arm can be obtained respectively through the mathematical operation, rounding and carrier modulation required by SUPWM modulation uj And n lj . Finally, according to the number of sub-modules required to be put into each bridge arm, the capacitance voltage of all the sub-modules and the direction of the current of the bridge arm, a traditional voltage equalizing method based on capacitance voltage sequencing is adopted, and the upper and lower bridge arms can respectively obtain the driving signals of all the sub-modules, so that each input n is finally obtained uj and nlj And a sub-module.
The phase angle calculation required to be adjusted by the carrier waves of the upper bridge arm and the lower bridge arm of A, B, C is shown in fig. 3, and the method comprises the following steps:
(1) In each carrier period, according to the normalized A, B, C three-phase sine fundamental frequency reference wave signal y j Calculating the width theta of the pulse obtained by carrier modulation of the upper bridge arm and the lower bridge arm of the corresponding phase uj and θlj The specific calculation method comprises the following steps:
(2) Calculating the width θ of the voltage pulse on the three-phase bridge arm inductance a 、θ b 、θ c, wherein θj ＝Min(θ uj ,θ lj ) Represents taking theta uj and θlj The smaller of the two;
(3) Calculating the phase angle theta of the carrier wave to be regulated sa 、θ sb 、θ sc The specific calculation method comprises the following steps:
1) If theta is a >θ b >θ c Then
θ sa ＝0 (1a)
2) If theta is a >θ c >θ b Then
θ sa ＝0 (2a)
3) If theta is b >θ a >θ c Then
θ sb ＝0 (3b)
4) If theta is b >θ c >θ a Then
θ sb ＝0 (4b)
5) If theta is c >θ a >θ b Then
θ sc ＝0 (5c)
6) If theta is c >θ b >θ a Then
θ sc ＝0 (6c)
wherein ,θuj and θlj And (3) respectively obtaining the widths j of pulses obtained by modulating the carrier waves of the upper bridge arm and the lower bridge arm of the corresponding phase, and obtaining a, b or c by calculating in the step (1).
One possible implementation of the carrier phase adjustment of A, B, C, the carrier modulation pulse waveforms of the upper and lower legs, and the phase shift of the voltage pulse on the leg inductance within one carrier period is shown in fig. 4. Under the control of the present invention, the upper and lower arms of A, B, C three phases are modulated to obtain the widths theta ua 、θ la 、θ ub 、θ lb 、θ uc 、θ lc Pulse waveform (wherein θ) ua and θla 、θ ub and θlb 、θ uc and θlc The sum of every two is equal to 2 pi), thereby generating the width theta on the three-phase upper and lower bridge arm inductances a 、θ b 、θ c Is set in the above-described state). In the case shown in FIG. 4, satisfy θ a >θ b >θ c, and θa +θ b +θ c =0. According to formula (1), θ sa =0, so the a-phase carrier is stationary; θ sb ＝-(θ ua +θ ub ) 2, thus the B-phase carrier shifts left- (θ) ua +θ ub )/2；θ sc ＝(θ uc +θ uc ) And/2, thus the C-phase carrier shifts right (θ uc +θ uc )/2. Correspondingly, the voltage u across the three-phase bridge arm inductance lsa 、u lsb 、u lsc The phase of the three-phase upper and lower bridge arm inductance is changed along with the change and just counteracted, so that the sum u of the voltages on the three-phase upper and lower bridge arm inductance lsa +u lsb +u lsc Constant zero in one carrier period, thus direct current i dc Is suppressed.
Additionally, in other examples of the invention, a computer-readable storage medium is also disclosed. The computer-readable storage medium stores computer instructions that, when executed, enable the control method in the above example.
More specifically, the instructions may be a computer-readable language. The computer may be a general purpose computer device or a special purpose computer device. In a specific implementation, the computer may be a desktop, a laptop, a web server, a palmtop (Personal Digital Assistant, PDA), a mobile handset, a tablet, 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 such as a server, data center, etc. that contains an integration of one or more available media. For example, the storage medium may be, but is not limited to, a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., digital versatile Disk (Digital Versatile Disc, DVD)), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
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 thereto, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the present invention. In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, 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 present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. 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 has shown and described the basic principles, principal 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, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims.
Claims (5)
1. A control method for restraining direct current ripple current of a modularized multi-level converter is characterized in that: the method comprises the following steps:
the modulation of the upper bridge arm and the lower bridge arm of each phase unit of the modularized multi-level converter comprises a rounding function and a carrier wave;
respectively adjusting the phases of the upper bridge arm carrier wave and the lower bridge arm carrier wave of the three phases in each carrier wave period;
according to the mathematical operation, rounding and carrier modulation of SUPWM modulation, the number of the sub-modules required by the upper bridge arm and the lower bridge arm can be obtained;
according to the number of the sub-modules required to be put into each bridge arm, the capacitance voltage of all the sub-modules and the direction of the bridge arm current, the upper bridge arm and the lower bridge arm can respectively obtain driving signals of all the sub-modules;
the phase angle calculation method for adjusting the carrier waves of the upper bridge arm and the lower bridge arm of the three phases comprises the following steps:
(1) In each carrier period, calculating the width of pulse obtained by modulating carrier wave of upper and lower bridge arms of corresponding phaseθ uj Andθ lj, wherein j=a, b, c:
wherein ,y j for the normalized three-phase sine fundamental frequency reference wave signal, floor is the rounding function,Nthe number of sub-modules for each bridge arm;
(2) Calculating the width of a voltage pulse on a three-phase bridge arm inductanceθ a 、θ b 、θ c, wherein θ j =Min(θ uj , θ lj ) Representation takingθ uj Andθ lj the smaller of the two;
(3) Calculating the phase angle of the carrier wave to be adjustedθ sa 、θ sb 、θ sc The calculation method comprises the following steps:
1) If it isθ a >θ b >θ c Then
(1a)
(1b)
(1c)
2) If it isθ a >θ c >θ b Then
(2a)
(2b)
(2c)
3) If it isθ b >θ a >θ c Then
(3a)
(3b)
(3c)
4) If it isθ b >θ c >θ a Then
(4a)
(4b)
(4c)
5) If it isθ c >θ a >θ b Then
(5a)
(5b)
(5c)
6) If it isθ c >θ b >θ a Then
(6a)
(6b)
(6c)
wherein ,θ uj andθ lj the width of the pulse obtained by the carrier modulation of the upper bridge arm and the lower bridge arm of the corresponding phase is respectively,jtaking outa、bOr (b)cCalculated by the step (1).
2. The control method for suppressing direct current ripple of a modular multilevel converter according to claim 1, wherein: the carriers are configured as isosceles triangle carriers with the same amplitude, phase and frequency.
3. The control method for suppressing direct current ripple of a modular multilevel converter according to claim 1, wherein: the method for respectively obtaining the driving signals of all the sub-modules by the upper bridge arm and the lower bridge arm is a voltage equalizing method based on capacitor voltage sequencing.
4. A computer-readable storage medium storing instructions that, when executed, implement the control method of any one of claims 1-3.
5. A control device for suppressing a direct current ripple current of a modular multilevel converter, comprising the storage medium of claim 4.
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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 |
|---|
| An Improved Submodule Unified Pulse Modulation Scheme for a Hybrid Modular Multilevel Converter;Sizhao Lu等;《CES TRANSACTIONS ON ELECTRICAL MACHINES AND SYSTEMS》;第第1卷卷(第第3期期);第322-333页 * |
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