CN206947945U - The closed-loop control system of modularization subway regenerative braking super capacitor energy storage device - Google Patents
The closed-loop control system of modularization subway regenerative braking super capacitor energy storage device Download PDFInfo
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- CN206947945U CN206947945U CN201720505933.5U CN201720505933U CN206947945U CN 206947945 U CN206947945 U CN 206947945U CN 201720505933 U CN201720505933 U CN 201720505933U CN 206947945 U CN206947945 U CN 206947945U
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Abstract
It the utility model is related to a kind of closed-loop control system based on independent connection in series-parallel modularization subway regenerative braking super capacitor energy storage device, including super capacitor energy storage device and closed-loop control system.Closed-loop control system includes master controller and bottom controller.Bottom controller is arranged in the two-way DC/DC modules of DC750V and carries out the electric current progress closed-loop current control for sampling super capacitor group by being connected with the outputting inductance in the two-way DC/DC modules of corresponding DC750V.Master controller issues impulse electricity current-order to bottom controller in a broadcast mode by the CAN of high speed, and each bottom controller uploads its working condition by the bus of low speed 485 to master controller.Master controller receives operational order, and corresponding order is transmitted to bottom controller；So as to carry out DC voltage-stabilizing；Closed-loop control is pressed the two-way DC/DC modules of two groups of series connection DC750V, exports two groups of two-way DC/DC modules charging/discharging current instruction signals, two-way DC/DC modules in parallel receive identical current-order.It is parallel extended that there is the utility model scalability to facilitate.
Description
Technical field
The present invention relates to Feeding System of Urban Rail Transit technical field, and in particular to a kind of modularization subway regenerative braking
The closed-loop control system of super capacitor energy storage device.
Background technology
With the expansion at full speed of city size, existing surface transportation system can not increasingly meet townie
Transport need, will realize efficient, orderly, timesaving traffic effect, the construction of underground traffic in all the more important of seeming in recent years,
Any one large size city, the coverage of its subway system account for more than 1/3rd of urban size.
In the process of running, because subway circulation speed is fast, and website setting is more, therefore, logical between adjacent two station
For row time general control between two minutes to three minutes, which results in subway to need Fraquent start and braking, is braking
Cheng Zhong, huge braking energy can be produced.Iron energy is recycled over the ground turns into existing underground traffic reduction fortune
Seek cost, save the important topic of the operation energy.
With the development of Power Electronic Technique, super capacitor energy-storage technology, subway regenerative braking super capacitor energy storage device
Gradually applied in subway.The general principle of the device is direct current will to be regenerated caused by motor during train braking
Storage it can enter ultracapacitor group after the decompression of two-way DC/DC current transformers；In train traction accelerator, super capacitor
The energy of device group storage is fed into direct current after the boosting of two-way DC/DC current transformers and touched net, and realizes regenerating braking energy
Recycling, it is effectively improved the utilization ratio of the energy.
Mainly have following several for the control method of regenerative braking super capacitor energy storage device, prior art at present
Kind：Prior art one：The patent of invention of Zhuzhou Shidai Equipment Technology Co., Ltd《Accumulation energy type based on super capacitor
Regenerating braking energy recovery method and system》（Application number：201510186565.8）, using two-way DC/DC modules series and parallel
Two kinds of subway traction power supply standards of method compatibility DC750/1500V and various power grade demands, its control system is using upper
Machine and become public direct-current voltage, independent unsteady flow blocks current double-closed-loop control method that flow module bottom controller is combined.But
The communication mode between host computer and lower level controller and the division of detailed function are not illustrated.Prior art two：2010
Year Nanjing Aero-Space University Feng Jingjing master thesis《Regenerating braking energy based on super capacitor absorbs technology and ground
Study carefully》, employ 4 independently combinable modular constructions in the series connection of unsteady flow module high voltage side, super capacitor side, module Pressure and Control
It is complicated.Also, the program does not account for becoming flow module, the parallel extended problem of super capacitor, and its control system is entered using CAN
The communication of row upper and lower controller.But the traffic rate and finite capacity of single CAN, bottom module number is constrained, filled
It is poor to put autgmentability.Therefore, prior art does not account for the master and slave control problem of a large amount of bottom modules.
The content of the invention
Technical problem to be solved：
The present invention provides a kind of independent series and parallel modularization subway regenerative braking super capacitor with highly scalable
The closed-loop control system of energy storage device.
Technical scheme：
A kind of closed-loop control system of modularization subway regenerative braking super capacitor energy storage device, it is characterised in that：Including
Independent connection in series-parallel modularization subway regenerative braking super capacitor energy storage device and closed-loop control system.
The independent connection in series-parallel modularization subway regenerative braking super capacitor energy storage device includes direct current net-fault, super capacitor
Group module and the two-way DC/DC modules of DC750V；One group of super capacitor group module is connected to the two-way DC/DC modules of one group of DC750V
One group of regenerative braking module；The direct current net-fault both ends two groups of regenerative braking modules of connecting are respectively：First regenerative braking module
With the second regenerative braking module；The first regenerative braking module and at least one set of regenerative braking wired in parallel；Described second again
Raw brake module and at least one set of regenerative braking wired in parallel.
The closed-loop control system includes master controller and bottom controller.It is double that the bottom controller is arranged on DC750V
Into DC/DC modules, carry out sampling super electricity by with the outputting inductance in the two-way DC/DC modules of corresponding DC750V being connected
The electric current of appearance group carries out closed-loop current control.Master controller is by the CAN of high speed in a broadcast mode to each bottom controller
Punching, discharge current instruction are issued, each bottom controller uploads its working condition by 485 buses of low speed to master controller.
The master controller receives upper monitoring machine or the operational order of manually input, and will corresponding order transmit to
Bottom controller；So as to carry out DC voltage-stabilizing；Closed-loop control is pressed to the two-way DC/DC modules of two groups of series connection DC750V, and
Two groups of two-way DC/DC modules charge and discharge current command signals are exported, two-way DC/DC modules in parallel receive identical current-order.
The bottom controller receives the current-order that master controller issues, and super capacitor group mould is sampled by outputting inductance
The electric current of block carries out closed-loop current control, and carries out quick overcurrent protection：Block pwm pulse, disconnect dc switch K1；Bottom control
The status information of corresponding ultracapacitor group is uploaded to master controller by device processed.
Further, bottom controller detects that two-way DC/DC module failures corresponding to it are out of service, by the signal
Master controller is reached, the master controller equal magnitude reduces the power output of the two-way DC/DC modules of two groups of series connection, energy storage device
Drop volume is run.
Further, it is described to press closed loop control process further comprising the steps of：
（1）It is artificial that direct current net-fault upper voltage limit desired value U is setdcH-refWith lower limit desired value UdcL-ref, and two are detected in real time
The DC voltage U of the two-way DC/DC modules of groupdc1、Udc2, they and be direct current total voltage Udc-t, difference is two groups of inversion modules
DC voltage deviation Udc-n；The total voltage-stabilizing controller of direct current is by UdcH-refAnd UdcL-refRespectively with Udc-tIt is compared, works as UdcH-ref＜
Udc-tWhen, the total voltage-stabilizing controller of direct current calculates UdcH-refAnd Udc-tBetween error, using error as input signal input PI control
Device, super capacitor charging current is exported by PI controllers and instructs Id-ref；Work as UdcL-ref＞ Udc-tWhen, the total voltage-stabilizing controller of direct current
Calculate UdcL-refAnd Udc-tBetween error, input PI controllers using error as input signal, pass through PI controllers and export super electricity
Discharge capacitor current-order Id-ref；Direct current even pressure controller is by command value 0 and DC voltage deviation Udc-nIt is compared, between obtaining
Error, using error as input signal input PI controllers, obtain the power deviation correction of two groups of two-way DC/DC modules
Id-n；By Id-refSubtract Id-n, obtain the charge/discharge current instruction I of first group of two-way DC/DC moduled1-ref, by Id-refAdd
Id-n, obtain the charge/discharge current instruction I of second group of two-way DC/DC moduled2-ref；Id1-refAnd Id2-refDistinguished by CAN
It is handed down to the bottom controller of upper and lower two groups two-way DC/DC modules of series connection；
（2）The bottom controller of upper group of each two-way DC/DC module in parallel receives identical discharge charge by CAN
Electric current-order Id1-ref；Upper group of each blocks current controller compares Id1-refWith respective super capacitor electric current I error, by error
PI controllers are inputted as input signal, the output of PI controllers is superimposed with the super-capacitor voltage U each connected, respectively cut
The control output U of ripple device1-ref；The bottom controller of the following group each two-way DC/DC module in parallel is received identical by CAN
Charge/discharge current instruction Id2-ref；Each blocks current controller of the following group compares Id2-refWith respective super capacitor electric current I mistake
Difference, PI controllers are inputted using error as input signal, the output of PI controllers is superimposed with the super-capacitor voltage each connected
U, obtain the control output U of each chopper2-ref；
（3）The control output U of each two-way DC/DC modules1-ref、U2-refRespectively enter phase-shifting carrier wave modulation module and carry out PWM
Modulation, obtain respective 2m roads pulse control signal PWM and switch control is carried out to 2m IGBT of chopper, wherein m refers to double
The number of phase-shifting carrier wave control is used to DC/DC modules.
Beneficial effect：
（1）The present invention is worked in coordination using CAN and 485 dual bus can effectively improve message capacity, ensure that device bottom
The scalability of amount controller, facilitate parallel extended.
（2）Bottom controller carries out closed-loop current control nearby to two-way DC/DC modules in the present invention, with master controller
By bus switch information, make the interconnection line of system few.
（3）It can support that redundancy running, reliability are very high in this programme.
Brief description of the drawings
Fig. 1 is closing based on independent connection in series-parallel modularization subway regenerative braking super capacitor energy storage device disclosed by the invention
Ring control system architecture schematic diagram；
Fig. 2 is the two-way DC/DC inside modules structural representations of DC750V of the present invention；
Fig. 3 is main controller controls system block diagram；
Fig. 4 is bottom controller control system block diagram.
Embodiment
The present invention will be described below in conjunction with the accompanying drawings：
As shown in figure 1, independent connection in series-parallel modularization subway regenerative braking super capacitor energy storage device includes two groups of DC750V
Two-way DC/DC modules DC side series connection meets that DC1500V is applied；The two-way DC/DC wired in parallel of every group of DC750V, meets different electricity
Stream demand.Ultracapacitor group is independently connected with respective two-way DC/DC modules.TV1, TV2 are DC voltage Hall sensor,
The DC bus-bar voltage of the two-way DC/DC modules of two groups of series connection is sampled respectively, carries out voltage stabilizing control.
Wherein described independent connection in series-parallel modularization subway regenerative braking super capacitor energy storage device includes direct current and touches net, be super
Level capacitance group module and the two-way DC/DC modules of DC750V；One group of super capacitor group module and the two-way DC/DC modules of one group of DC750V
It is connected to one group of regenerative braking module；The direct current net-fault both ends two groups of regenerative braking modules of connecting are respectively：First regeneration system
Dynamic model block（1-1）With the second regenerative braking module（2-1）；The first regenerative braking module（1-1）Made with least one set regeneration
Dynamic model block（1-2）It is in parallel；The second regenerative braking module and at least one set of regenerative braking module（2-2）It is in parallel；
As shown in Fig. 2 the two-way DC/DC modules of DC750V：Some IGBT half-bridges bridge arms using phase-shifting carrier wave control are in parallel
Chopper circuit is formed, uses 3 tunnels in parallel in the present embodiment, equivalent switching frequency is actual 3 times.Output switch ripple frequency
Height, output LCL filter size can be reduced, reduce cost.L1, L2, L3 are the filter inductances of 3 IGBT half-bridge bridge arms, energy
Enough realize the double action of suppressed carrier phase shift high frequency circulating currents and LCL filter current transformer side filter inductance.Cf and L4 difference
It is high-frequency filter capacitor, the output inductor of LCL filter；TA is current Hall sensor, detection ultracapacitor group fill,
Discharge current, carry out closed-loop current control and quick overcurrent protection；TV is voltage sensor, detects ultracapacitor group voltage,
Prevent and overcharge, cross and put, and carry out the voltage feedforward control of electric current loop；Ld and Cd is DC side filter inductance, electricity respectively
Hold, prevent IGBT chopper circuits switching harmonics pollution direct current from touching net；K1 is dc circuit breaker, and excessively stream is carried out to ultracapacitor group
Protection；F1, F2 are DC fuses, for short-circuit protection.TA is that current Hall sensor is connected with bottom controller.
Ultracapacitor group：Be by device ultracapacitor carry out series and parallel packet, and with corresponding two-way DC/
DC modules are independently connected.
Master controller is responsible for receiving upper monitoring machine or the operational order of manually input, carries out DC voltage-stabilizing, two groups of strings
Join two-way DC/DC intermodules and press closed-loop control, and export two groups of two-way DC/DC modules charge and discharge current command signals, it is in parallel
Two-way DC/DC modules receive identical current-order.
The bottom controller of two-way DC/DC inside modules receives the current-order that master controller is issued with CAN, then
Super capacitor electric current I is sampled by current Hall sensor TA and carries out closed-loop current control, and carries out quick overcurrent protection：Block
Pwm pulse, disconnect dc switch K1.Bottom controller is by two-way DC/DC modules and the ultracapacitor group being connected with the module
Status information by 485 bus feedbacks to master controller.
If some two-way DC/DC module failure is out of service, master controller equal magnitude reduces two groups of two-way DC/DC of series connection
The power output of module, energy storage device drop volume operation.
As shown in figure 3, the process of voltage close loop control is as follows：
1）It is artificial that direct current net-fault upper voltage limit desired value U is setdcH-refWith lower limit desired value UdcL-ref, and two are detected in real time
The DC voltage U of the two-way DC/DC modules of groupdc1、Udc2, they and be direct current total voltage Udc-t, difference is two groups of inversion modules
DC voltage deviation Udc-n；The total voltage-stabilizing controller of direct current is by UdcH-refAnd UdcL-refRespectively with Udc-tIt is compared, works as UdcH-ref＜
Udc-tWhen, the total voltage-stabilizing controller of direct current calculates UdcH-refAnd Udc-tBetween error, using error as input signal input PI control
Device, super capacitor charging current is exported by PI controllers and instructs Id-ref；Work as UdcL-ref＞ Udc-tWhen, the total voltage-stabilizing controller of direct current
Calculate UdcL-refAnd Udc-tBetween error, input PI controllers using error as input signal, pass through PI controllers and export super electricity
Discharge capacitor current-order Id-ref；Direct current even pressure controller is by command value 0 and DC voltage deviation Udc-nIt is compared, between obtaining
Error, using error as input signal input PI controllers, obtain the power deviation correction of two groups of two-way DC/DC modules
Id-n；By Id-refSubtract Id-n, obtain the charge/discharge current instruction I of first group of two-way DC/DC moduled1-ref, by Id-refAdd
Id-n, obtain the charge/discharge current instruction I of second group of two-way DC/DC moduled2-ref；Id1-refAnd Id2-refDistinguished by CAN
It is handed down to the bottom controller of upper and lower two groups two-way DC/DC modules of series connection.
As shown in figure 4, so that two-way DC/DC modules use 3 tunnel phase-shifting carrier waves as an example, the process of its control electric current closed-loop control
It is as follows：
1）The bottom controller of upper group of each two-way DC/DC module in parallel receives identical charge/discharge by CAN
Current-order Id1-ref；Upper group of each blocks current controller compares Id1-refWith respective super capacitor electric current I error, error is made
PI controllers are inputted for input signal, the output of PI controllers is superimposed with the super-capacitor voltage U each connected, obtains each copped wave
The control output U of device1-ref；The bottom controller of the following group each two-way DC/DC module in parallel receives identical by CAN
Charge/discharge current instructs Id2-ref；Each blocks current controller of the following group compares Id2-refWith respective super capacitor electric current I error,
PI controllers are inputted using error as input signal, the output of PI controllers is superimposed with the super-capacitor voltage U each connected, obtained
Control to each chopper exports U2-ref；
2）The control output U of each two-way DC/DC modules1-ref、U2-refRespectively enter phase-shifting carrier wave modulation module and carry out PWM
Modulation, obtains respective 6 road pulse control signal PWM1,2,3,4,5,6Switch control is carried out to 6 IGBT of chopper.
Although the present invention disclosed as above with preferred embodiment, they be not for limit the present invention, it is any ripe
This those skilled in the art is practised, without departing from the spirit and scope of the invention, can make various changes or retouch from working as, therefore the guarantor of the present invention
What shield scope should be defined by claims hereof protection domain is defined.
Claims (2)
- A kind of 1. closed-loop control system of modularization subway regenerative braking super capacitor energy storage device, it is characterised in that：Including only Vertical connection in series-parallel modularization subway regenerative braking super capacitor energy storage device and closed-loop control system；The independent connection in series-parallel modularization subway regenerative braking super capacitor energy storage device includes direct current net-fault, super capacitor group mould Block and the two-way DC/DC modules of DC750V；One group of super capacitor group module is connected to one group with the two-way DC/DC modules of one group of DC750V Regenerative braking module；The direct current net-fault both ends two groups of regenerative braking modules of connecting are respectively：First regenerative braking module（1-1） With the second regenerative braking module（2-1）；The first regenerative braking module（1-1）With at least one set of regenerative braking module（1-2） It is in parallel；The second regenerative braking module and at least one set of regenerative braking module（2-2）It is in parallel；The closed-loop control system includes master controller and bottom controller；The bottom controller be arranged on the two-way DC/DC modules of DC750V in, by with the corresponding two-way DC/DC moulds of DC750V Outputting inductance in block, which is connected, carries out the electric current progress closed-loop current control for sampling super capacitor group；The master controller issues punching, discharge current instruction to each bottom controller in a broadcast mode by the CAN of high speed, Each bottom controller uploads its working condition by 485 buses of low speed to master controller；The master controller is responsible for receiving the operational order of upper monitoring machine or manually input, and will corresponding order transmit to Bottom controller, so as to carry out DC voltage-stabilizing；The master controller is responsible for carrying out the two-way DC/DC modules of two groups of series connection DC750V Closed-loop control is pressed, and exports two groups of two-way DC/DC modules charge and discharge current command signals, two-way DC/DC modules in parallel receive Identical current-order；The bottom controller be responsible for receive master controller issue current-order, by outputting inductance sample super capacitor group mould The electric current of block carries out closed-loop current control, carries out quick overcurrent protection i.e. block pwm pulse disconnection dc switch K1；Bottom control Device is responsible for the status information of corresponding ultracapacitor group being uploaded to master controller.
- 2. the closed-loop control system of modularization subway regenerative braking super capacitor energy storage device according to claim 1, its It is characterised by：Bottom controller be also responsible for the two-way DC/DC module failures corresponding to detect it is out of service when by the signal Reach master controller；Now master controller is responsible for the power output that equal magnitude reduces the two-way DC/DC modules of two groups of series connection, energy storage Device drop volume operation.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110224387A (en) * | 2019-06-26 | 2019-09-10 | 西安许继电力电子技术有限公司 | A kind of urban rail super capacitor energy storage device charge and discharge control strategy |
| CN107248734B (en) * | 2017-05-09 | 2023-09-01 | 南京亚派科技股份有限公司 | Closed-loop control system of modularized subway regenerative braking super capacitor energy storage device |
-
2017
- 2017-05-09 CN CN201720505933.5U patent/CN206947945U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107248734B (en) * | 2017-05-09 | 2023-09-01 | 南京亚派科技股份有限公司 | Closed-loop control system of modularized subway regenerative braking super capacitor energy storage device |
| CN110224387A (en) * | 2019-06-26 | 2019-09-10 | 西安许继电力电子技术有限公司 | A kind of urban rail super capacitor energy storage device charge and discharge control strategy |
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