CN213024409U - Real-time simulation model of full-bridge modular multilevel converter - Google Patents
Real-time simulation model of full-bridge modular multilevel converter Download PDFInfo
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Abstract
The utility model discloses a real-time simulation model of a full-bridge type modular multilevel converter, which comprises six same bridge arm equivalent circuits, wherein each bridge arm equivalent circuit comprises a bridge arm inductance equivalent branch and two switch branches, one end of each switch branch is connected with one end of the bridge arm inductance equivalent branch, the other end of each switch branch is connected with a direct-current positive port or a direct-current negative port, and the other end of the bridge arm inductance equivalent branch is connected with one port of three-phase alternating current; each switch branch comprises a first equivalent resistor, a first controlled current source and a controlled voltage source, the first equivalent resistor and the first controlled current source are connected in parallel, and the controlled voltage source is respectively connected with the first equivalent resistor and the first controlled current source; the bridge arm inductance equivalent branch comprises a second equivalent resistor and a second controlled current source, and the second equivalent resistor and the second controlled current source are connected in parallel. The utility model discloses can avoid the fault current error that the mode of big or small step decoupling zero caused in the emulation calculation.
Description
Technical Field
The utility model relates to a simulation technology field especially relates to a real-time simulation model of many level of full bridge type modularization transverter.
Background
Flexible direct-current transmission based on a Modular Multilevel Converter (MMC) has the advantages of active and reactive independent control, stable direct-current voltage, less alternating-current voltage harmonic waves, small occupied area and the like, so that the flexible direct-current transmission has a great deal of applications in the aspects of large-capacity remote transmission, asynchronous networking, renewable energy grid connection and the like in recent years. The modular multilevel converter generally comprises thousands of power modules with similar structures and functions, each power module comprises a plurality of power electronic switching devices, and the modular multilevel converter has the characteristics of complex structure and high control difficulty. In order to ensure the reliability of the flexible direct-current transmission system, a digital real-time simulation system is generally used for carrying out full semi-physical simulation test on the flexible direct-current protection system in a factory and before production so as to verify that related functions and performances meet design requirements. The digital real-time simulation model of the MMC is a key part of the whole simulation system.
The existing MMC real-time simulation model is generally based on a large step size simulation calculation mode, namely, an MMC model is divided into a bridge arm model and a sub-module model through decoupling, the large step size (20-100 mu s) is adopted in a CPU to complete the simulation calculation of the bridge arm model, and the small step size (0.5-2 mu s) is adopted in an FPGA to complete the simulation calculation of the sub-module model. By adopting the mode, the real-time simulation problem of a large number of power electronic switch systems is effectively solved. However, the large error is also easily caused by the large-and-small step decoupling mode under some extreme conditions, for example, when a bridge arm is short-circuited, the short-circuit current rise rate is large, and the module response is delayed due to the asynchronous calculation mode of the bridge arm and the module large-and-small step, and finally the fault current error is large.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a real-time simulation model of full bridge type modularization multilevel converter provides the MMC little step real-time simulation's that can adopt FPGA to calculate equivalent circuit model completely to realize the decoupling zero of power module and bridge arm return circuit, avoid the fault current error that the mode of big or small step decoupling zero caused in the emulation calculation.
In order to achieve the above object, an embodiment of the present invention provides a real-time simulation model of a full-bridge modular multilevel converter, including six identical bridge arm equivalent circuits, each of the bridge arm equivalent circuits includes a bridge arm inductance equivalent branch and two switch branches, two of the switch branches are connected in parallel, one end of each of the switch branches is connected with one end of the bridge arm inductance equivalent branch, the other end of each of the switch branches is connected with a dc positive port or a dc negative port, and the other end of the bridge arm inductance equivalent branch is connected with a port of three-phase ac; each switch branch comprises a first equivalent resistor, a first controlled current source and a controlled voltage source, wherein the first equivalent resistor is connected with the first controlled current source in parallel, and the controlled voltage source is respectively connected with the first equivalent resistor and the first controlled current source; the bridge arm inductance equivalent branch comprises a second equivalent resistor and a second controlled current source, and the second equivalent resistor and the second controlled current source are connected in parallel.
Preferably, one end of the first equivalent resistor is connected to the dc positive port and one end of the first controlled current source, the other end of the first equivalent resistor is connected to the other end of the first controlled current source and one end of the controlled voltage source, the other end of the controlled voltage source is connected to one end of the second equivalent resistor and one end of the second controlled current source, the other end of the second equivalent resistor is connected to one port of the three-phase alternating current, and the other end of the second controlled current source is connected to one port of the three-phase alternating current.
Preferably, the six identical bridge arm equivalent circuits are divided into two groups, one group is three upper bridge arms, the other group is three lower bridge arms, one end of each upper bridge arm is connected with the direct current positive electrode port, and the other end of each upper bridge arm is connected with one port of the three-phase alternating current; one end of the lower bridge arm is connected with the direct current negative electrode port, and the other end of the lower bridge arm is connected with one port of three-phase alternating current.
Preferably, the voltage of the controlled voltage source is
Wherein, U1Is the voltage value of the controlled voltage source, U1_kThe terminal voltage of the two ends of the kth full-bridge power module in the full-bridge modular multilevel converter is shown, n is the module number of the full-bridge power module in the full-bridge modular multilevel converter, and k is more than or equal to 1 and less than or equal to n.
Preferably, a module capacitor in each full-bridge power module is equivalent to a third equivalent resistor and a third controlled current source, the third equivalent resistor and the third controlled current source are connected in parallel, and the voltage of the module capacitor is UC＝RC(IC+IhC) (ii) a Wherein, UCIs the voltage value, R, of the module capacitorCIs the resistance value of the third equivalent resistor, ICFor the value of the current flowing through the module capacitor, IhCIs the current value of the third controlled current source.
Preferably, the voltage across the first equivalent resistor is US1＝RS(IhS1+i1) (ii) a Wherein, US1Is the voltage value, R, across the first equivalent resistorSIs a resistance value of the first equivalent resistance, IhS1Is the current value of the first controlled current source i1The current value is the current value flowing through the switch branch where the first equivalent resistor is located.
Preferably, the voltage at two ends of the equivalent branch of the bridge arm inductance is UL＝RL(IhL+ i); wherein, ULThe voltage value R of the two ends of the bridge arm inductance equivalent branch circuitLIs the resistance value of the second equivalent resistance, IhLThe current value of the second controlled current source is i, i is the current value flowing through the equivalent branch of the bridge arm inductance, i is i1+i2，i2The current value of the other switch branch of the bridge arm inductance equivalent branch is the current value of the other switch branch.
Compared with the prior art, the embodiment of the utility model provides a pair of real-time simulation model of full bridge type modularization multilevel converter provides the little step real-time simulation's of MMC equivalent circuit model that can adopt FPGA to calculate completely to realize the decoupling zero of power module and bridge arm return circuit, avoid the fault current error that the mode of big or small step decoupling zero caused in the emulation calculation.
Drawings
Fig. 1 is a schematic structural diagram of a real-time simulation model of a full-bridge modular multilevel converter according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a topology of a conventional full-bridge modular multilevel converter according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a real-time simulation method of a full-bridge modular multilevel converter according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, it is a schematic structural diagram of a real-time simulation model of a full-bridge modular multilevel converter provided in an embodiment of the present invention, where the simulation model includes six identical bridge arm equivalent circuits, each of the bridge arm equivalent circuits includes a bridge arm inductance equivalent branch and two switch branches, two of the switch branches are connected in parallel, one end of each of the switch branches is connected to one end of the bridge arm inductance equivalent branch, the other end of each of the switch branches is connected to a dc positive port or a dc negative port, and the other end of the bridge arm inductance equivalent branch is connected to one port of a three-phase ac power; each switch branch comprises a first equivalent resistor, a first controlled current source and a controlled voltage source, wherein the first equivalent resistor is connected with the first controlled current source in parallel, and the controlled voltage source is respectively connected with the first equivalent resistor and the first controlled current source; the bridge arm inductance equivalent branch comprises a second equivalent resistor and a second controlled current source, and the second equivalent resistor and the second controlled current source are connected in parallel.
It should be noted that, referring to fig. 2, a schematic topology structure diagram of a conventional full-bridge modular multilevel converter according to an embodiment of the present invention is provided. As shown in fig. 2, the Modular Multilevel Converter (MMC) is connected to the three-phase ac port and the dc positive and negative ports. Each MMC comprises six bridge arms, and each bridge arm comprises a bridge arm inductor and n full-bridge power modules connected in series. Each full-bridge power module comprises four power electronic switches and a module capacitor. Each power electronic switch is composed of an Insulated gate bipolar power tube (IGBT) and a diode connected in anti-parallel. The on/off of the four switches is controlled, so that the input or the exit of the module capacitor can be controlled, the bridge arm voltage and the bridge arm current are controlled, and the alternating current-direct current power conversion is realized.
The existing MMC real-time simulation model is generally based on a large-step size simulation calculation mode, namely, an MMC model is divided into a bridge arm model and a sub-module model through decoupling, the simulation calculation of the bridge arm model is completed by adopting a large step size in a CPU, and the simulation calculation of the sub-module model is completed by adopting a small step size in an FPGA (field programmable gate array), but the large-step size decoupling mode easily causes large errors under some extreme working conditions, for example, when a bridge arm short circuit occurs, the short circuit current rise rate is large, and the asynchronous calculation mode of the bridge arm and the module large step size causes the module response to be delayed, and finally causes the large fault current error.
In order to solve the problems, the invention provides an MMC small-step real-time simulation model which can be completely calculated by adopting an FPGA.
In order to solve the above problem, the utility model provides a can adopt the little step real-time simulation model of MMC that FPGA calculated completely, see FIG. 1, wherein, every bridge arm inductance equivalence is an equivalent resistance and one and accompanies historical current source, and the full bridge type power module equivalence of n series connections is two parallel switch branch roads, and every switch branch road comprises an equivalent voltage source, an equivalent resistance and one and accompanies historical current source. In the simulation calculation, because the related data of the module capacitance in the full-bridge type power module is needed, each module capacitance is also subjected to equivalent processing, and the equivalent processing is equivalent to an equivalent resistor and an accompanying historical current source, which is shown in the circuit structure of a dashed box at the right side in fig. 1. It should be noted that the equivalent circuit of the module capacitor is only needed in the calculation, and is not drawn in the equivalent circuit model of the MMC, and is already embodied in the equivalent voltage source of the switching branch.
Specifically, the real-time simulation model of the full-bridge modular multilevel converter comprises six identical bridge arm equivalent circuits, each bridge arm equivalent circuit comprises a bridge arm inductance equivalent branch and two switch branches, the two switch branches are connected in parallel, one end of each switch branch is connected with one end of the bridge arm inductance equivalent branch, the other end of each switch branch is connected with a direct-current positive electrode port or a direct-current negative electrode port, and the other end of the bridge arm inductance equivalent branch is connected with one port of three-phase alternating current. The other end of the switch branch equivalent to the bridge arm equivalent circuit of the upper bridge arm is connected with the direct-current positive electrode port, and the other end of the switch branch equivalent to the bridge arm equivalent circuit of the lower bridge arm is connected with the direct-current negative electrode port. Each switch branch comprises a first equivalent resistor, a first controlled current source and a controlled voltage source, the first equivalent resistor and the first controlled current source are connected in parallel, and the controlled voltage source is respectively connected with the first equivalent resistor and the first controlled current source; the bridge arm inductance equivalent branch comprises a second equivalent resistor and a second controlled current source, and the second equivalent resistor and the second controlled current source are connected in parallel.
The embodiment of the utility model provides a pair of real-time simulation model of full bridge type modularization multilevel converter provides the little step real-time simulation's of MMC equivalent circuit model that can adopt FPGA to calculate completely to realize the decoupling zero of power module and bridge arm return circuit, avoid the fault current error that the mode of big or small step decoupling zero caused in the emulation calculation.
As an improvement of the above scheme, one end of the first equivalent resistor is connected to the dc positive port and one end of the first controlled current source, the other end of the first equivalent resistor is connected to the other end of the first controlled current source and one end of the controlled voltage source, the other end of the controlled voltage source is connected to one end of the second equivalent resistor and one end of the second controlled current source, the other end of the second equivalent resistor is connected to one port of the three-phase alternating current, and the other end of the second controlled current source is connected to one port of the three-phase alternating current.
Specifically, a specific connection relationship between the switch branch and the bridge arm inductance equivalent branch is described by taking a bridge arm equivalent circuit equivalent to an upper bridge arm as an example, one end of the first equivalent resistor is connected to the direct current positive electrode port and one end of the first controlled current source respectively, the other end of the first equivalent resistor is connected to the other end of the first controlled current source and one end of the controlled voltage source respectively, the other end of the controlled voltage source is connected to one end of the second equivalent resistor and one end of the second controlled current source respectively, the other end of the second equivalent resistor is connected to one port of three-phase alternating current, and the other end of the second controlled current source is connected to one port of three-phase alternating current. That is to say, after the first equivalent resistor and the first controlled current source are connected in parallel to form a whole, one end of the whole is connected with the positive direct current port, the other end of the whole is connected with one end of the controlled voltage source, and the other end of the controlled voltage source is connected with the equivalent branch of the bridge arm inductor.
As an improvement of the above scheme, the six identical bridge arm equivalent circuits are divided into two groups, one group is three upper bridge arms, the other group is three lower bridge arms, one end of each upper bridge arm is connected with the direct current positive electrode port, and the other end of each upper bridge arm is connected with one port of three-phase alternating current; one end of the lower bridge arm is connected with the direct current negative electrode port, and the other end of the lower bridge arm is connected with one port of three-phase alternating current.
Specifically, the six identical bridge arm equivalent circuits are divided into two groups, one group is three upper bridge arms, the other group is three lower bridge arms, one end of each upper bridge arm is connected with a direct-current positive electrode port, the other end of each upper bridge arm is connected with one port of three-phase alternating current, and the ports are a-phase ports, b-phase ports or c-phase ports; one end of the lower bridge arm is connected with the direct-current negative port, the other end of the lower bridge arm is connected with one port of three-phase alternating current, and the port can be an a-phase port, a b-phase port or a c-phase port.
As an improvement of the above scheme, the voltage of the controlled voltage source is
Wherein, U1Is the voltage value of the controlled voltage source, U1_kThe terminal voltage of the two ends of the kth full-bridge power module in the full-bridge modular multilevel converter is shown, n is the module number of the full-bridge power module in the full-bridge modular multilevel converter, and k is more than or equal to 1 and less than or equal to n.
In particular, the voltage of the controlled voltage source is
Wherein, U1For the voltage value of the controlled voltage source, U1_kIs the port voltage at two ends of the kth full-bridge power module in the full-bridge modular multilevel converter, and n is the mode of the full-bridge power module in the full-bridge modular multilevel converterThe number of the blocks, i.e. n is the number of modules in series connection of one bridge arm of the MMC, and is usually 100-500, and k is more than or equal to 1 and less than or equal to n.
It should be noted that the port voltage of each power module is the voltage of the module capacitor or 0, and is determined according to the states of the four power electronic switches in each power module. Meanwhile, when the states of the four power electronic switches in each power module are determined, the capacitance current of the corresponding module capacitor can be obtained according to the bridge arm current.
In order to obtain the port voltage of each power module and the capacitance current of the module capacitor more intuitively according to the state of each power electronic switch, the invention provides an attached table as shown in table 1, wherein the attached table lists the corresponding relation between various switch states and the port voltage of the power module and the capacitance current of the module capacitor. Generally, the data of the first 5 columns are input, and then the data of the last three columns can be output, that is, the capacitance current of the module capacitance and the port voltage of the power module can be obtained by looking up table 1, wherein U1K and U2And k is the port voltage of the corresponding kth power module in the two switch branches of the bridge arm equivalent circuit respectively.
TABLE 1 correspondence of various switch states to port voltage of power module, capacitance current of module capacitor
S1, S2, S3, and S4 in table 1 are four power electronic switches shown in fig. 2, where "1" in the S1-S4 column indicates an on signal, "0" indicates an off signal, "+" in the i column indicates that the arm current is positive, and "-" indicates that the arm current is negative, and the positive direction of the current is aligned with the direction of the arrow in fig. 1.
As an improvement of the above scheme, a module capacitor in each full-bridge power module is equivalent to a third equivalent resistor and a third controlled current source, the third equivalent resistor and the third controlled current source are connected in parallel, and the voltage of the module capacitor is UC＝RC(IC+IhC) (ii) a Wherein，UCIs the voltage value, R, of the module capacitorCIs the resistance value of the third equivalent resistor, ICFor the value of the current flowing through the module capacitor, IhCIs the current value of the third controlled current source.
Specifically, a module capacitor in each full-bridge power module is equivalent to a third equivalent resistor and a third controlled current source, the third equivalent resistor and the third controlled current source are connected in parallel, and the voltage of the module capacitor is UC＝RC(IC+IhC) (ii) a Wherein, UCIs the voltage value of the module capacitor, i.e. the voltage value at the two ends of the third equivalent resistor, RCIs the resistance value of the third equivalent resistor, ICThe value of the current flowing through the module capacitor, IhCIs the current value of the third controlled current source. The data are all corresponding data at the same simulation time.
As an improvement of the scheme, the voltage across the first equivalent resistor is US1＝RS(IhS1+i1) (ii) a Wherein, US1Is the voltage value, R, across the first equivalent resistorSIs a resistance value of the first equivalent resistance, IhS1Is the current value of the first controlled current source i1The current value is the current value flowing through the switch branch where the first equivalent resistor is located.
Specifically, the voltage across the first equivalent resistor is US1＝RS(IhS1+i1) (ii) a Wherein, US1Is the voltage value, R, across the first equivalent resistorSIs the resistance value of the first equivalent resistance, IhS1Is the current value of the first controlled current source, i1The value of the current flowing through the switch branch where the first equivalent resistor is located is shown. The data are all corresponding data at the same simulation time.
As an improvement of the scheme, the voltage at two ends of the equivalent branch of the bridge arm inductor is UL＝RL(IhL+ i); wherein, ULThe voltage value R of the two ends of the bridge arm inductance equivalent branch circuitLIs the resistance value of the second equivalent resistance, IhLIs the second receiverControlling the current value of a current source, i is the current value flowing through the equivalent branch of the bridge arm inductor, i is i1+i2，i2The current value of the other switch branch of the bridge arm inductance equivalent branch is the current value of the other switch branch.
Specifically, the voltage at two ends of the equivalent branch of the bridge arm inductance is UL＝RL(IhL+ i); wherein, ULIs the voltage value, R, of the two ends of the bridge arm inductance equivalent branchLIs the resistance value of the second equivalent resistor, IhLIs the current value of the second controlled current source, i is the current value flowing through the equivalent branch of the bridge arm inductance, i is i1+i2，i2The current value of the other switching branch of the bridge arm inductance equivalent branch is the current value of the other switching branch of the bridge arm inductance equivalent branch. The data are all corresponding data at the same simulation time.
In order to deepen the understanding of the present invention, referring to fig. 3, the embodiment of the present invention provides a schematic flow chart of a real-time simulation method for a full-bridge modular multilevel converter. The real-time simulation method is briefly described as follows, and comprises the following specific steps:
constructing an equivalent circuit model of the full-bridge modular multilevel converter; the equivalent circuit model can be specifically referred to the circuit structure on the left side of fig. 1.
And initializing system parameters of the equivalent circuit model to start electromagnetic transient simulation calculation of the full-bridge modular multilevel converter. The system parameters of the equivalent circuit model are initialized, so that the equivalent circuit model and the MMC have the same external characteristics, and the simulation time length and the simulation step length are set at the same time.
And updating the states of four power electronic switches of each power module in the full-bridge modular multilevel converter and the input bridge arm current to obtain the port voltage and the capacitance current of each power module. Because the state of the power electronic switch of each power module of the MMC and the bridge arm current directly affect the voltage and current of each branch in the equivalent circuit model, the original characteristic data of the MMC needs to be used as the original data of the simulation calculation.
Obtaining the current of a switch branch circuit, the current of a bridge arm inductance equivalent branch circuit and the current of a module capacitor branch circuit at the current simulation moment; and the module capacitor branch is equivalent to a module capacitor in the power module.
Updating the voltage of each branch and the current of each branch at the next simulation moment according to the voltage-current relationship of each branch; each branch comprises a switch branch, a bridge arm inductance equivalent branch and a module capacitor branch.
According to the voltage of each branch and the current of each branch, the bridge arm current of each bridge arm equivalent circuit can be calculated, and therefore the bridge arm current of each bridge arm equivalent circuit can be obtained.
Judging whether the current simulation duration reaches a preset threshold value, if so, outputting three-phase current and direct current of alternating current, and finishing simulation; if not, increasing the current simulation duration by a preset simulation step length to continuously update the states of the four power electronic switches of each power module in the full-bridge modular multilevel converter and the input bridge arm current, namely, returning to the third step of the steps.
To sum up, the embodiment of the utility model provides a real-time simulation model of full-bridge type modularization multilevel converter, has proposed the complete calculation equivalent circuit that is applicable to full-bridge type MMC small step size modeling to realize full-bridge power module and bridge arm circuit decoupling based on the ideal transformer method, the parallel calculation advantage of FPGA can fully be utilized to the power module part; solving the power module switch state based on a table look-up method, avoiding iterative computation, thereby not needing a CPU, but directly adopting an FPGA (field programmable gate array) and realizing programming with small step length, and avoiding precision loss caused by switching large and small step lengths; based on the anti-parallel switch branch, the natural phase change of the bridge arm current at the zero crossing point is realized, and the zero crossing point error is avoided. Utilize the utility model discloses a method that the model was imitated will simulate the dynamic characteristic of MMC under various operating modes more accurately to promote control protection system research and development and test effect.
The foregoing is a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations are also considered as the protection scope of the present invention.
Claims (7)
1. The real-time simulation model of the full-bridge modular multilevel converter is characterized by comprising six identical bridge arm equivalent circuits, wherein each bridge arm equivalent circuit comprises a bridge arm inductance equivalent branch and two switch branches, the two switch branches are connected in parallel, one end of each switch branch is connected with one end of the bridge arm inductance equivalent branch, the other end of each switch branch is connected with a direct-current positive electrode port or a direct-current negative electrode port, and the other end of each bridge arm inductance equivalent branch is connected with one port of three-phase alternating current; each switch branch comprises a first equivalent resistor, a first controlled current source and a controlled voltage source, wherein the first equivalent resistor is connected with the first controlled current source in parallel, and the controlled voltage source is respectively connected with the first equivalent resistor and the first controlled current source; the bridge arm inductance equivalent branch comprises a second equivalent resistor and a second controlled current source, and the second equivalent resistor and the second controlled current source are connected in parallel.
2. The real-time simulation model of the full-bridge modular multilevel converter according to claim 1, wherein one end of the first equivalent resistor is connected to the dc positive port and one end of the first controlled current source, the other end of the first equivalent resistor is connected to the other end of the first controlled current source and one end of the controlled voltage source, the other end of the controlled voltage source is connected to one end of the second equivalent resistor and one end of the second controlled current source, the other end of the second equivalent resistor is connected to one port of the three-phase alternating current, and the other end of the second controlled current source is connected to one port of the three-phase alternating current.
3. The real-time simulation model of the full-bridge modular multilevel converter according to claim 1, wherein six identical bridge arm equivalent circuits are divided into two groups, one group is three upper bridge arms, the other group is three lower bridge arms, one end of the upper bridge arm is connected with the direct current positive port, and the other end of the upper bridge arm is connected with one port of three-phase alternating current; one end of the lower bridge arm is connected with the direct current negative electrode port, and the other end of the lower bridge arm is connected with one port of three-phase alternating current.
4. The real-time simulation model of a full-bridge modular multilevel converter according to claim 1, wherein the voltage of the controlled voltage source is
Wherein, U1Is the voltage value of the controlled voltage source, U1_kThe terminal voltage of the two ends of the kth full-bridge power module in the full-bridge modular multilevel converter is shown, n is the module number of the full-bridge power module in the full-bridge modular multilevel converter, and k is more than or equal to 1 and less than or equal to n.
5. The real-time simulation model of a full-bridge modular multilevel converter according to claim 4, wherein the module capacitor in each full-bridge power module is equivalent to a third equivalent resistor and a third controlled current source, the third equivalent resistor and the third controlled current source are connected in parallel, and the voltage of the module capacitor is UC＝RC(IC+IhC) (ii) a Wherein, UCIs the voltage value, R, of the module capacitorCIs the resistance value of the third equivalent resistor, ICFor the value of the current flowing through the module capacitor, IhCIs the current value of the third controlled current source.
6. The real-time simulation model of a full-bridge modular multilevel converter according to claim 1, wherein the voltage across the first equivalent resistor is US1＝RS(IhS1+i1) (ii) a Wherein, US1Is the voltage value, R, across the first equivalent resistorSIs a resistance value of the first equivalent resistance, IhS1Is the current value of the first controlled current source i1The current value is the current value flowing through the switch branch where the first equivalent resistor is located.
7. The real-time simulation model of the full-bridge modular multilevel converter according to claim 6, wherein the voltage across the equivalent leg of the bridge arm inductor is UL＝RL(IhL+ i); wherein, ULThe voltage value R of the two ends of the bridge arm inductance equivalent branch circuitLIs the resistance value of the second equivalent resistance, IhLThe current value of the second controlled current source is i, i is the current value flowing through the equivalent branch of the bridge arm inductance, i is i1+i2，i2The current value of the other switch branch of the bridge arm inductance equivalent branch is the current value of the other switch branch.
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