KR102500296B1 - Voltage power converter system Suppressing Power Oscillations in DC bus - Google Patents

Abstract

The present invention relates to a voltage power converter system applied to a DC microgrid and capable of damping vibration of a voltage bus. In a voltage power converter system connected in parallel to a DC bus with at least one load and at least one converter, at least A voltage power converter (VSC), which includes one semiconductor switch, is connected to the DC bus, and is a converter that outputs a DC voltage ( ), a line inductance ( ) provided between an output terminal of the voltage power converter and the DC bus, The output capacitor (C) provided between the positive terminal and the negative terminal of the output terminal of the voltage power converter, and the output DC voltage ( ) of the converter, which is the voltage across the output capacitor, the voltage ( ) of the DC bus, and the voltage power supply And a controller for controlling the semiconductor switch based on a measured value of an input current ( ) of the converter and an output current ( ) flowing through the line inductor and an output DC nominal voltage command value ( ) of the converter, the controller comprising: It is characterized by vibration control based on passivity to attenuate power vibration of the DC bus.

Description

Voltage power converter system suppressing power oscillations in DC bus

The present invention relates to a voltage power converter system, and more particularly, to a voltage power converter system that is applied to a direct current microgrid and can damp oscillations of voltage bus power.

Recently, DC power systems have the advantage of having no reactive power and fewer power conversion steps, so they are receiving a lot of attention in transmission and distribution fields such as ships, aircraft, buildings, and data centers that require high power density.

A DC microgrid refers to a localized power supply system centered on distributed energy resources independent of the existing wide-area power system. The power sources of DC microgrids can consist of diesel engines, gas turbines, photovoltaic and wind power systems, fuel cells, etc., ranging from a few kW to hundreds of MW depending on the type of microgrid, such as residential, educational, industrial and commercial applications. It has a power capacity of and has a range, and the structure of a typical DC microgrid is shown in FIG.

Despite these advantages, the DC microgrid system has some technical problems to be solved, such as stability and accurate sharing of output power and current. In particular, the oscillation of power and current occurring in the DC microgrid system is one of the problems to be solved. was

Conventionally, vibrations of power and current as described above are damped in various ways. As an example, there was a method of adding a droop control loop including a low pass filter (LPF) to the controller of the DC source side of the DC microgrid system. In this method, if the bandwidth of the voltage control loop is low, the cutoff frequency of the low-pass filter must be very low. For stable operation of the DC microgrid system, the cutoff frequency of the low-pass filter must be set appropriately. There was a problem that was not easy to set up properly.

Some examples of vibration attenuation of power and current, feedforward control technology for input voltage errors that can be applied to applications involving variable DC sources, output using observers whose structure and implementation are relatively complex compared to other control methods A current feedback method, a virtual impedance method for suppressing vibration components below the cutoff frequency of the feedback filter, and an output current feedback control for compensating the output of the voltage regulator have been proposed. Although the above-described methods can effectively suppress oscillations of power and current, in order to normally suppress oscillations of power and current, various parameters of the system must be adjusted, and it is not easy to adjust these parameters.

T. Dragicevic, P. Wheeler, and F. Blaabjerg, Eds., DC distribution systems and microgrids. Institution of Engineering and Technology, 2018.

The present invention has been made to solve the above problems, and the purpose of the voltage power converter system according to the present invention is a voltage power converter capable of attenuating the power oscillation of the DC bus of the DC microgrid in a manner different from the prior art. in providing the system.
This research was supported by the Korea Electric Power Corporation's 2018 basic research and development project research fund (assignment number: R18XA06-35)

)을 출력하는 컨버터인 전압 전원 컨버터(VSC), 상기 전압 전원 컨버터의 출력단과 상기 DC 버스 사이에 구비된 라인 인덕턴스(

), 상기 전압 전원 컨버터의 출력단의 양의 단자와 음의 단자 사이에 구비된 출력 커패시터(C) 및 상기 출력 커패시터의 양단 전압인 컨버터의 출력 DC 전압(

), 상기 DC 버스의 전압(

), 상기 전압 전원 컨버터의 입력 전류(

), 및 상기 라인 인턱터를 통해서 흐르는 출력 전류(

)의 측정값 및 상기 컨버터의 출력 DC 공칭 전압 지령치(

)에 기초하여 상기 반도체 스위치를 제어하는 제어기를 포함하고, 상기 제어기는, DC 버스의 전력 진동을 감쇠하기 위해 수동성 기반(Passivity-based)으로 전력의 진동을 제어하는 것을 특징으로 한다.In the voltage power converter system connected in parallel to at least one load and at least one converter and a DC bus according to the present invention for solving the above problems, including at least one semiconductor switch, connected to the DC bus and the DC voltage (

A voltage power converter (VSC), which is a converter that outputs ), and a line inductance provided between the output terminal of the voltage power converter and the DC bus (

), an output capacitor C provided between the positive terminal and the negative terminal of the output terminal of the voltage power converter, and the output DC voltage of the converter, which is the voltage of both ends of the output capacitor (

), the voltage of the DC bus (

), the input current of the voltage power converter (

), and the output current flowing through the line inductor (

) and the output DC nominal voltage command value of the converter (

), and a controller controlling the semiconductor switch based on a passivity-based method to attenuate the power oscillation of the DC bus.

, 상기

, 상기

, 상기

에 기초하여 전압 전원 컨버터의 입력 전류 지령치

을 산출하는 전압 제어 모듈 및 상기

, 상기

, 상기

, 상기

에 기초하여 상기 전압 전원 컨버터의 출력 전압 지령치를 산출하는 전류 제어 모듈을 포함하는 것을 특징으로 한다.In addition, the controller

, remind

, remind

, remind

The input current command value of the voltage power converter based on

A voltage control module that calculates and the

, remind

, remind

, remind

It characterized in that it comprises a current control module for calculating the output voltage command value of the voltage power converter based on.

를 산출하는 전압 제어부를 포함하고, 상기 전압 제어 오차 산출부는, 상기

, 상기

, 상기

의 진동 성분,

에 기초한

보상 성분, 및

의 고주파 성분에 기초한

보상 성분에 기초하여 상기 전압 제어 오차를 산출하는 것을 특징으로 한다.In addition, the voltage control module may receive a voltage control error calculation unit that calculates a voltage control error, the voltage control error, and reduce the voltage control error.

And a voltage control unit that calculates, wherein the voltage control error calculation unit,

, remind

, remind

the vibration component of

based on

compensating component, and

based on the high-frequency components of

It is characterized in that the voltage control error is calculated based on the compensation component.

을 입력 받고 상기

의 진동 성분을 출력하는 고주파 통과 필터인 제1HPF(HPF4), 상기

을 입력 받고 상기

의 고주파 성분에 비례하는

보상 성분을 출력하는

보상부(HPF3 & r_c) 및 상기

의 고주파 성분에 비례하는

고주파 보상 성분을 출력하는

고주파 보상부 및 상기

의 저주파 성분에 비례하는

저주파 보상 성분을 출력하는

저주파 보상부를 포함하는 것 을 특징으로 한다.In addition, the voltage control error calculator,

and remind

A first HPF (HPF4), which is a high-pass filter that outputs vibration components of

and remind

proportional to the high-frequency component of

outputting the compensation component

Compensation unit (HPF3 & r _c ) and the above

proportional to the high-frequency component of

outputting high-frequency compensation components

High-frequency compensator and the

proportional to the low-frequency component of

Outputting the low frequency compensation component

It is characterized in that it includes a low frequency compensator.

에 상기

의 진동 성분을 더하고,

보상 성분,

고주파 보상 성분, 및

저주파 보상 성분을 빼서 상기 전압 제어 오차를 산출하는 것을 특징으로 한다.In addition, the voltage control error calculator,

Remind me to

Add the vibration component of

compensation component,

a high-frequency compensation component, and

It is characterized in that the voltage control error is calculated by subtracting the low frequency compensation component.

, 상기

의 고주파 성분에 기초한

보상 성분,

의 고주파 성분에 기초한

보상 성분,

에 기초한

보상 성분에 기초하여 상기 전류 제어 오차를 산출하는 것을 특징으로 한다.The current control module includes a current control error calculation unit that calculates a current control error and a current control unit that receives the current control error and calculates the semiconductor switch ON/OFF command to reduce the current control error, , the current control error calculator,

, remind

based on the high-frequency components of

compensation component,

based on the high-frequency components of

compensation component,

based on

It is characterized in that the current control error is calculated based on the compensation component.

을 입력 받고 상기

의 진동 성분에 비례하는

보상 성분을 산출하는

보상부(HPF2 & k2) 상기

을 입력 받고 상기 IDC 고주파 성분에 기초한

고주파 보상 성분을 출력하는 고주파 통과 필터인 HPF1, 상기

을 입력 받고 상기

의 고주파 성분에 비례하는

고주파 보상 성분을 출력하는

고주파 보상부(HPF3) 및 상기

을 입력 받고 상기

의 저주파 성분에 비례하는

저주파 보상 성분을 출력하는

저주파 보상부(LPF1);를 포함하는 것을 특징으로 한다.In addition, the current control error calculator,

and remind

proportional to the vibration component of

Calculating the Compensation Component

Compensation section (HPF2 & k2) above

is input and based on the IDC high frequency component

HPF1, which is a high-pass filter that outputs a high-frequency compensation component;

and remind

proportional to the high-frequency component of

outputting high-frequency compensation components

High frequency compensator (HPF3) and the

and remind

proportional to the low-frequency component of

Outputting the low frequency compensation component

It is characterized in that it includes; a low frequency compensator (LPF1).

에 상기

고주파 보상 성분을 더하고,

보상 성분,

고주파 보상 성분 및

저주파 보상 성분을 빼서 상기 전류 제어 오차를 산출하는 것을 특징으로 한다.In addition, the current control error calculator,

Remind me to

Add a high-frequency compensation component,

compensation component,

high-frequency compensation component and

It is characterized in that the current control error is calculated by subtracting the low frequency compensation component.

According to the voltage power converter system according to the present invention as described above, since the IDA-PBC technique is applied to the converter of the DC microgrid and controlled, it is based on passivity (Passivity- based) has the effect of damping the vibration of the system.

1 is a schematic diagram of a typical DC microgrid.
2 is a circuit diagram of a simplified DC microgrid.
Figure 3 is a schematic diagram of converters with different types of direct current output.
4 is a control block diagram and an equivalent circuit diagram of a DC voltage source converter;
5 is an equivalent circuit diagram including line impedance and droop control gain and composed of one source and one load.
6 is a Bode diagram and a pole-zero map for showing the effect of bus impedance to which droop control is applied.
7 is a Bode diagram and a pole-zero map for showing the effect of a change in bandwidth of a voltage control loop of bus impedance.
8 is an equivalent circuit of a simplified source converter including imaginary voltage and current sources.
9 is a block diagram of vibration control proposed in the DC microgrid system of the present invention.
10 is a Bode diagram and a pole-zero map for showing the effect of a low-pass filter (LPF) used for droop control on bus impedance.
11 is a Bode plot and a pole-zero map illustrating the effect of the bandwidth of a voltage control loop on bus impedance.
12 is a graph for showing the influence of various sources according to bus impedance.
13 is a graph for showing the effect of different line impedances for two sources and one CPL bus system.
14 is a photograph of hardware used for setting up a loop simulation.
15 is a dynamic response graph of a DC microgrid without a vibration controller of the present invention.
16 is a dynamic response graph of a DC microgrid using the vibration controller of the present invention.
17 is a dynamic response graph of a DC microgrid with a low pass filter for droop control.
18 is a graph of the operating performance of a DC microgrid using the vibration controller of the present invention.
19 is a photograph of the hardware of a small-scale 100V DC power supply system consisting of a three-phase diode rectifier, two boost converters, a buck converter load, and a resistive load.
20 is a response graph according to load change of a DC microgrid without a vibration controller.
21 is a graph of the operating performance of the DC microgrid with and without the vibration controller of the present invention.
22 is a response graph according to the load change of the DC microgrid using the vibration controller of the present invention when the load is changed.

Hereinafter, a preferred embodiment of a voltage power converter system according to the present invention will be described in detail with reference to the accompanying drawings.

Figure 2 shows the circuit of a simplified general DC microgrid.

과

는 DC 버스에 병렬로 연결된다. 도 2에 도시된 기호는 다음의 의미를 나타낸다.The power source of the DC microgrid and the power converter associated with the power source are modeled as a DC-DC boost converter with an ideal DC source, and the output terminal of the DC-DC boost converter is connected to the DC bus through the line impedance. The load part of the DC-DC boost converter may be composed of constant power loads (CPL) and resistance loads. To characterize a constant power load, the buck converter uses a series control scheme for output voltage and internal current regulation, and a capacitor

class

is connected in parallel to the DC bus. The symbols shown in FIG. 2 represent the following meanings.

과

는 VSC(Voltage Source Converter)의 입력전압,

과

은 VSC의 출력전압,

과

는 VSC의 출력 커패시터,

과

는 라인 저항,

과

는 라인 인덕턴스,

는 DC버스 전압,

과

는 부하의 입력 커패시터,

과

는 부하 전류,

과

은 부하 저항이다.

class

is the input voltage of VSC (Voltage Source Converter),

class

is the output voltage of VSC,

class

is the output capacitor of VSC,

class

is the line resistance,

class

is the line inductance,

is the DC bus voltage,

class

is the input capacitor of the load,

class

is the load current,

class

is the load resistance.

System parameters of the DC microgrid shown in FIG. 2 can be set as shown in [Table 1] below.

[Table 1]

3 schematically shows different types of DC voltage power converters.

The converter shown in FIG. 3A is an AC-DC PMW converter, the converter shown in FIG. 3B is a rectifier including a back-end DC-DC converter, and the converter shown in FIG. 3C is a general DC-DC converter.

In this specification, it is assumed that a diode rectifier with a back-end DC-DC converter supplies DC power. Here, the output voltage of the rectifier is considered constant due to the large output capacitor, and consequently the output of the AC-DC PWM converter can be considered as a voltage source as shown in FIG. 2 .

To output a stable DC voltage, the output voltage of the DC power source converter (VSC) is controlled through an inner current control loop and an outer voltage control loop.

는 공칭(nominal) DC버스 전압,

는 DC VSC의 출력 전압이고,

은 DC VSC의 입력 전류,

는 라인 임피던스를 통해 흐르는 소스측의 출력 전류,

는 드룹 제어루프의 이득(gain)이다.A plurality of DC VSCs applied to a single DC microgrid generally use droop control to share power and current, and it can be seen that a V/I droop control loop is added to the control block diagram shown in FIG. there is. A low pass filter is used for droop control.

is the nominal DC bus voltage,

is the output voltage of DC VSC,

is the input current of DC VSC,

is the output current on the source side flowing through the line impedance,

is the gain of the droop control loop.

는 커패시터의 등가 직렬 저항 (small Equivalent Series Resistance, ESR)을 의미한다.In FIG. 4A , since the bandwidth of the current control loop is sufficiently higher than that of the voltage control loop, the operation of the current control loop can be simplified to a low pass filter (LPF). It can also be modeled as a current source not including a droop controller and a voltage controller and a capacitor connected in parallel with the current source,

Means the equivalent series resistance (small Equivalent Series Resistance, ESR) of the capacitor.

5 shows a circuit corresponding to one source converter and one load with a line impedance and a droop control gain where the voltage equation of the system is expressed as follows.

와

는 라인 인덕턴스와 라인 저항을 의미한다.in the above formula

and

means line inductance and line resistance.

As shown in FIG. 2, various types of loads are connected to the DC bus, and can be classified into constant power loads (CPL), constant impedance loads (CIL), and constant current loads (CCL). In the DC power system, the input impedance of the constant power load (CPL) at the operating point has a negative value, so it affects the voltage stability of the DC bus, and the input impedance of the constant power load (CPL) at the operating point is can be expressed

과

은 동작 지점에서 부하 입력 터미널의 전력과 전압을 의미한다. 도 2에는 정전력 부하(CPL)와 정임피던스 부하를 포함하는 저항부하가 도시되어 있다.in the above formula

class

is the power and voltage of the load input terminal at the operating point. 2 shows a resistive load including a constant power load (CPL) and a constant impedance load.

If rL, which is the ESR of the load-side input capacitor shown in FIG. 5, is ignored, the voltage of the DC bus capacitor can be expressed by the following equation.

과

는 부하측 커패시터와 저항이다.here

class

is the load-side capacitor and resistance.

A stability analysis must be performed to ensure the reliability or quality of the bus voltage of a distributed DC power system. Previously, stability analysis was performed with forbidden region-based methods using Nyquist contours of the impedance ratio between source and load, such as the Middlebrook Criterion, Gain and Phase Margin Criterion, and Energy Source Analysis Consortium (ESAC) Criterion. On the other hand, A. Riccobono and E. Santi, "A novel passivity-based stability criterion (PBSC) for switching converter DC distribution systems," in Proc. IEEE Appl. Power Electron. Conf. Expo, 2012, p. 2560.2567 (hereinafter referred to as Prior Art 1) proposed a passivity-based stability analysis method, which was effective for applications in which bidirectional power flow exists due to operation mode change or system reconfiguration.

For passivity-based stability analysis, a bus impedance expressed as a 1-port system is required, and the impedance can be expressed as follows.

는 총 버스 임피던스이고

~

은 서브시스템의 입력 및 출력 임피던스 (n 소스 변환기 및 m 부하 변환기)이고,

와

는 각각 버스 전압 및 버스 전류이다.here

is the total bus impedance and

~

is the input and output impedance of the subsystem (n source transformers and m load transformers),

and

are the bus voltage and bus current, respectively.

는 아래 수식과 같이 표현될 수 있다.If a system only consumes energy, the system is considered passive and

can be expressed as the formula below.

According to Prior Art 1, in the case of a linear time-invariant system, the system is stable only when the following conditions are satisfied.

(s)는 우 반면 극(right half-plane poles)을 포함하지 않음-

(s) does not include right half-plane poles

To derive the bus impedance, the output impedance of the source and the input impedance of the load are required. 5 shows an equivalent circuit consisting of one source and one load including line impedance and droop control gain, except for the voltage control loop.

)를 사용하는 DC VSC의 출력 임피던스는 메이슨의 게인 공식을 적용하여 아래와 같이 표현할 수 있다.4 and 5, the droop control (

) can be expressed as below by applying Mason's gain formula.

와

는 저역 통과 필터(LFP)의 차단 주파수,

와

는 전압 컨트롤러의 PI게인(gain),

는 전류 컨트롤러의 대역폭,

은 커패시터의 ESR이다. 덧붙여, 라인 임피던스를 포함하는 소스측의 출력 임피던스

은 아래 수식과 같이 표현할 수 있다.here

and

Is the cutoff frequency of the low pass filter (LFP),

and

is the PI gain of the voltage controller,

is the bandwidth of the current controller,

is the ESR of the capacitor. In addition, the output impedance of the source side including the line impedance

can be expressed as the formula below.

)의 변화(10Hz에서 100Hz)에 따라 드룹 제어에 사용되는 저역 통과 필터(LPF)의 영향을 도시한 것이다. 도 6a는 보드 선도이며, 도 6b는 극 영점 맵이다.6 shows the cut-off frequency of the bus impedance (

) shows the effect of the low-pass filter (LPF) used for droop control according to the change (from 10 Hz to 100 Hz). 6A is a Bode diagram, and FIG. 6B is a pole zero map.

In a resistive load, the input impedance on the load side can be expressed as:

는 정전력 부하(CPL)에서 수식 3으로부터

로 대체될 수 있다. 수식 12와 수식 13을 수식 5로 대체함으로써, 1개의 소스와 1개의 부하를 가진 버스의 임피던스를 다음과 같이 얻을 수 있다.Incidentally,

From Equation 3 at constant power load (CPL)

can be replaced with By replacing Equations 12 and 13 with Equation 5, the impedance of a bus with one source and one load can be obtained as follows.

In the present invention, the influence of the cut-off frequency of the low-pass filter (LPF) used in the droop control and bandwidth of the voltage control loop is examined for passivity-based stability analysis.

Figure 6 shows the effect of a low pass filter (LPF) used for droop control on bus impedance with one source and one constant power load (CPL). 6A and 6B are Bode plots and pole zero maps of bus impedance. When the cutoff frequency is 50Hz, the phase is lower than -90° close to 400Hz. In this case, the passivity condition of the bus impedance is not satisfied despite the absence of the right half-plane pole as shown in Figure 6b. On the other hand, when the cutoff frequency is below 40Hz, the passivity condition is satisfied.

Figure 7 shows the effect of voltage control loop bandwidth on bus impedance with one source and one constant power load (CPL). 7A is a Bode diagram of bus impedance, and FIG. 7B is an enlarged view between 200 Hz and 1.5 kHz of the portion shown in FIG. 7A. As shown in FIG. 7 , instability occurs as the bandwidth of the voltage control loop of the power converter increases. When the bandwidth is set to 600Hz, the passive condition is not satisfied because the phase near the bandwidth frequency is slightly below -90°. In Fig. 7c there is a right half-plane pole when the bandwidth is selected as 1.5 kHz.

The network representation of a resistive system with independent storage elements interacting with the environment can be expressed as a mathematical model of a Port Controlled Hamilton System (PCHS), which can be expressed as:

와

는 상호 연결 및 소산 행렬이다.

는 해밀턴 함수이며,

는 외란(diaturbance) 행렬, g는 외부 포트 연결 행렬, u는 제어 입력, y는 시스템의 출력이다. 위 첨자인 T는 행렬의 전치를 의미한다.in the above formula

and

is the interconnection and dissipation matrix.

is the Hamiltonian function,

is the disturbance matrix, g is the external port connection matrix, u is the control input, and y is the output of the system. The superscript T means the transposition of the matrix.

The goal of interconnection and damping assignment passivity-based control (IDA-PBC) is to satisfy the state-feedback control law u=β(x) such that the closed-loop dynamics of the controlled system is a PCHS with dissipation. is to find

Hereinafter, a voltage power converter system according to an embodiment of the present invention is modeled.

) 및 전류 소스(

)가 도 5의 등가 회로에 새로 추가되어 도 8에 도시된 본 발명의 일실시예에 의한 전압 전원 컨버터 시스템의 등가회로가 된다. 본 발명은 이러한 가상 전압을 추가하여 전압 및 전류 제어 루프의 기본 구조를 수정하지 않고도 전력 및 전류 진동을 효과적으로 보상 하도록 할 수 있는 효과가 있다.A virtual voltage source (

) and a current source (

) is newly added to the equivalent circuit of FIG. 5 to become an equivalent circuit of the voltage power converter system according to the embodiment of the present invention shown in FIG. 8 . The present invention has an effect of effectively compensating for power and current oscillations without modifying the basic structure of the voltage and current control loop by adding such a virtual voltage.

)을 출력하는 컨버터인 전압 전원 컨버터(VSC)(100), 상기 전압 전원 컨버터(100)의 출력단과 상기 DC 버스 사이에 구비된 라인 인덕터(

)(200), 전압 전원 컨버터(100)의 출력단의 양의 단자와 음의 단자 사이에 구비된 출력 커패시터(C)(300), 및 상기 출력 커패시터의 양단 전압인 컨버터의 출력 DC 전압(

), 상기 DC 버스의 전압(

), 상기 전압 전원 컨버터의 입력 전류(

), 및 상기 라인 인턱터를 통해서 흐르는 출력 전류(

)의 측정값 및 상기 컨버터의 출력 DC 공칭 전압 지령치(

)에 기초하여 상기 반도체 스위치를 제어하는 제어기를 포함한다.Referring to FIG. 8 , a voltage power converter system according to an embodiment of the present invention relates to a voltage power converter system connected in parallel to at least one load and at least one converter and a DC bus, and includes at least one semiconductor switch. And, connected to the DC bus, DC voltage (

A voltage power converter (VSC) 100, which is a converter that outputs ), and a line inductor provided between the output terminal of the voltage power converter 100 and the DC bus (

) 200, an output capacitor (C) 300 provided between the positive terminal and the negative terminal of the output terminal of the voltage power converter 100, and the output DC voltage of the converter, which is the voltage of both ends of the output capacitor (

), the voltage of the DC bus (

), the input current of the voltage power converter (

), and the output current flowing through the line inductor (

) and the output DC nominal voltage command value of the converter (

) and a controller for controlling the semiconductor switch based on

The controller described above performs vibration control based on passivity in order to attenuate power vibration of the DC bus, and the controller will be described later.

In FIG. 8 , dynamic equations of current and voltage oscillation components can be expressed as the following equation.

In the above formula, the superscript ~ represents the vibration component.

According to Equations 17 and 18 described above, the state variable for PCHS can be set as follows.

In the above formula, D is defined as follows.

The control input is selected as in Equation 21 below, and the output variable is expressed as in Equation 22 below.

At this time, the Hamilton function is set as follows.

From Equations 15 to 23 above, the PCHS form of the vibration component in DC VSC is derived as follows.

에서 안정성을 얻기 위해, 폐쇄 루프 시스템의 원하는 역학

을 다음과 같이 설정할 수 있다.equilibrium point

In order to obtain the stability at , the desired dynamics of the closed-loop system

can be set as follows:

는 평형점

에서 최소화된다. 제어법칙 u=β(x)를 사용하면 소산이 있는 PCHS 폼은

와

을 이용하여 다음과 같이 표현될 수 있다.In Equation 30 above,

is the equilibrium point

is minimized in Using the control law u = β(x), the dissipative PCHS form is

and

can be expressed as:

및

를 선택하여 다음 조건을 충족해야한다.To obtain control laws based on the desired Hamiltonian function

and

must meet the following conditions:

,

,

및 벡터 함수

를 찾을 수 있다고 가정하면 원하는 에너지 함수에 대한 PDE 편미분 방정식이 다음과 같이 주어진다.About PCHS

,

,

and vector function

Assuming that can be found, the PDE partial differential equation for the desired energy function is given by

는 다음 조건을 충족해야 한다.In Equation 36 above, the vector function

must meet the following conditions:

When these conditions are met, the closed-loop system becomes a PCH foam with dissipation:

를 다음과 같이 설정할 수 있다.In order to satisfy the conditions of Equations 37 to 39

can be set as follows:

와

는 다음과 같이 선택될 수 있다.Likewise,

and

can be selected as follows.

와

는 진동 컨트롤러의 이득이다.here

and

is the gain of the vibration controller.

은 낮기 때문에, 전압 전원 컨버터(100)의 커패시터 전압과 출력 전압의 진동 성분은 동일한 것으로 간주된다. 따라서 수식 36으로부터 전력 및 전류 진동 감쇠에 대한 제어 법칙

는 다음과 같이 도출될 수 있다.On the other hand, in FIG. 8

Since is low, the oscillation component of the capacitor voltage and the output voltage of the voltage power converter 100 is considered to be the same. Therefore, from Equation 36, the control law for power and current oscillation damping

can be derived as follows.

및

는 각 신호의 고역 통과 필터링된 양이다.here

and

is the high-pass filtered quantity of each signal.

)이 다음과 같이 얻어진다.Adding Equations 43 and 44 to the voltage and current criteria, respectively, creates a new criterion for vibration (

) is obtained as follows.

는 저역 통과 필터링 된

양이다.here

is low pass filtered

It is a sheep.

9 is a block diagram of a controller included in the voltage power converter system according to an embodiment of the present invention described above.

As shown in FIG. 9 , the controller of the voltage power converter system according to an embodiment of the present invention may include a voltage control module 410 and a current control module 420.

, 상기

, 상기

, 상기

에 기초하여 전압 전원 컨버터의 입력 전류 지령치

을 산출한다.The voltage control module 410 is

, remind

, remind

, remind

The input current command value of the voltage power converter based on

yields

The voltage control module 410 may largely include a voltage control error calculator (not shown) and a voltage controller (not shown) for the above-described operation.

, 상기

, 상기

의 진동 성분,

에 기초한

보상 성분, 및

의 고주파 성분에 기초한

보상 성분에 기초하여 상기 전압 제어 오차를 산출하며, 상술한 바와 같은 동작을 위해 제1HPF(411)

보상부(412),

고주파 보상부(413), 및

저주파 보상부(414)를 포함할 수 있다.The voltage control error calculator calculates a voltage control error. More specifically, referring to FIG. 9, the voltage control error calculation unit

, remind

, remind

the vibration component of

based on

compensating component, and

based on the high-frequency components of

Calculate the voltage control error based on the compensation component, and for the above-described operation, the first HPF (411)

Compensation unit 412,

a high frequency compensator 413, and

A low frequency compensator 414 may be included.

을 입력 받고 상기

의 진동 성분을 출력하는 고주파 통과 필터일 수 있다.Referring to FIG. 9, the first HPF 411 is

and remind

It may be a high-pass filter that outputs a vibration component of

보상부(412)는 상기

을 입력 받고 상기

의 고주파 성분에 비례하는

보상 성분을 출력한다.Referring to Figure 9,

Compensation unit 412 is

and remind

proportional to the high-frequency component of

Output the compensation component.

고주파 보상부(413)는 상기

의 고주파 성분에 비례하는

고주파 보상 성분을 출력한다.Referring to Figure 9,

The high frequency compensator 413 is

proportional to the high-frequency component of

Outputs a high-frequency compensation component.

저주파 보상부(414)는 상기

의 저주파 성분에 비례하는

저주파 보상 성분을 출력한다.Referring to Figure 9,

The low frequency compensator 414 is

proportional to the low-frequency component of

Output the low-frequency compensation component.

를 산출한다. 전압 제어부에서 산출된 전압 전원 컨버터의 입력 전류 지령치

는 후술할 전류 제어 모듈(420)로 입력된다.The voltage control unit receives the voltage control error from the voltage control error calculation unit and inputs the input current command value of the voltage power converter to reduce the voltage control error.

yields Input current command value of the voltage power converter calculated by the voltage control unit

Is input to the current control module 420 to be described later.

, 상기

, 상기

, 상기

에 기초하여 상기 전압 전원 컨버터의 출력 전압 지령치를 산출하며, 상기한 바와 같은 동작을 위해 전류 제어 오차 산출부(도번 미도시)와 전류 제어부(도번 미도시)를 포함할 수 있다.The current control module 420 may be located at the rear end of the voltage control module 410 in a control sequence,

, remind

, remind

, remind

Calculate the output voltage command value of the voltage power converter based on , and may include a current control error calculator (not shown) and a current control unit (not shown) for the above-described operation.

에 상기

고주파 보상 성분을 더하고,

보상 성분,

고주파 보상 성분 및

저주파 보상 성분을 빼서 전류 제어 오차를 산출하며,

보상부(HPF2 & k2)(421), HPF1,

고주파 보상부(HPF3)(422) 및

저주파 보상부(LPF1)(423)를 포함할 수 있다.Current error calculator,

Remind me to

Add a high-frequency compensation component,

compensation component,

high-frequency compensation component and

Calculate the current control error by subtracting the low-frequency compensation component,

Compensation unit (HPF2 & k2) 421, HPF1,

A high frequency compensator (HPF3) 422 and

A low frequency compensator (LPF1) 423 may be included.

보상부(HPF2 & k2)(421)는 상기

을 입력 받고 상기

의 진동 성분에 비례하는

보상 성분을 산출한다.

The compensation unit (HPF2 & k2) 421 is

and remind

proportional to the vibration component of

Compensation component is calculated.

을 입력 받고 상기 IDC 고주파 성분에 기초한

고주파 보상 성분을 출력하는 고주파 통과 필터이다. HPF1은 상술했던

고주파 보상부(413)에 포함한다. 즉, HPF1는 전류 오차 산출부에도 포함되며, 상술한

고주파 보상부(413)에도 포함되어 공유된다.HPF1 above

is input and based on the IDC high frequency component

It is a high-pass filter that outputs a high-frequency compensation component. HPF1 described above

It is included in the high frequency compensator 413. That is, HPF1 is also included in the current error calculation unit, and

It is also included in the high frequency compensator 413 and shared.

고주파 보상부(HPF3)(422)는 상기

을 입력 받고 상기

의 고주파 성분에 비례하는

고주파 보상 성분을 출력한다.

고주파 보상부(HPF3)(422)는 앞서 설명했던

보상부(412)에도 포함된다. 즉,

고주파 보상부(HPF3)(422)는

보상부(412)와 공유된다.

The high frequency compensator (HPF3) 422 is

and remind

proportional to the high-frequency component of

Outputs a high-frequency compensation component.

The high frequency compensator (HPF3) 422 has been previously described.

It is also included in the compensation unit 412. in other words,

The high frequency compensator (HPF3) 422 is

It is shared with the compensation unit 412.

저주파 보상부(LPF1)(423)는 상기

을 입력 받고 상기

의 저주파 성분에 비례하는

저주파 보상 성분을 출력한다.

The low frequency compensator (LPF1) 423 is

and remind

proportional to the low-frequency component of

Output the low-frequency compensation component.

The current controller receives the current control error and calculates the semiconductor switch ON/OFF command to reduce the current control error.

및

)이 전압 소스와 전류 소스에 추가된다. 본 발명에서 드룹 제어는 전압 전원 컨버터간의 전력과 전류의 균형을 맞추는 데 사용된다.Each of the voltage control module 410 and the current control module 420 shown in FIG. 9 is used to adjust the output voltage and the internal current. In addition, as shown in FIG. 8, in this embodiment, control of vibration is an additional control input (

and

) is added to the voltage source and current source. In the present invention, droop control is used to balance power and current between voltage power converters.

High-pass filters HPF1 to HPF4 are used to collect the vibrational components of the feedback signal. To remove the switching frequency ripple in the feedback signal, the cut-off frequencies of LPFv and LPFi are set to 1/10 of the switching frequency. In the case of droop control, high-frequency components are removed using LPFd. The cutoff frequencies of the filters are listed in Table I.

8 and 9, the output impedance of the voltage power converter (DC VSC) can be derived as follows.

,

,

및

는 출력전압(

), DC-버스 전압(

), 출력 전류(

) 및 입력 전류(

)에 대한 고역 통과 필터의 전달함수이며,

는 라인 임피던스이다.here

,

,

and

is the output voltage (

), the DC-bus voltage (

), the output current (

) and input current (

) is the transfer function of the high-pass filter for

is the line impedance.

가

와 같으면 다음 조건이 얻어진다.In Equations 27, 30 and 41

go

, the following condition is obtained.

Therefore, the condition presented in Equation 39 is satisfied, and the system is stable.

,

)이 있다. 이러한 이득을 결정하기 위한 기본 조건은 수식 32 및 33에 나와 있다. 그러나 만족스러운 성능을 얻기 위해서는 반복적인 시간 영역 시뮬레이션을 수행해야 한다. 이러한 문제점을 피하기 위해 다음과 같은 이득 선택 기술이 개발되었습니다.As shown in Equations 43 and 44, for the proposed controller there are two gains (

,

) is there. The basic conditions for determining these gains are given in Equations 32 and 33. However, iterative time-domain simulations must be performed to obtain satisfactory performance. To avoid these problems, the following gain selection technique has been developed.

Substituting Equations 43 and 44 into Equation 24, the system dynamic equation for damping control can be obtained as follows.

In Equation 50, the characteristic equation can be expressed as:

When comparing Equation 51 to the quadratic equation

은 각각 다음과 같이 표현된다.Damping ratio ζ and natural frequency for PCHS

are each expressed as:

In Equations 51 and 52, the resulting controller gain is given by

은 전압 제어 루프의 대역폭와 같거나 낮아야한다. 또한 오버 슈트를 방지하기 위해 감쇠비를 단일로 설정할 수 있다.Natural frequencies in Equations 55 and 56

must be less than or equal to the bandwidth of the voltage control loop. In addition, the damping ratio can be set to single to prevent overshoot.

은 전압 제어 루프의 대역폭과 동일하게 설정되며 감쇠비 ζ는 1로 설정한다.Hereinafter, the effect of the proposed active damping control method is verified. where f1 to f4 are set to 3 Hz and the natural frequency of the controller

is set equal to the bandwidth of the voltage control loop, and the damping ratio ζ is set to 1.

가 50Hz일 때 기존 방법과 제안 된 방법의 버스 임피던스에 대한 보드 플롯과 극 영점 지도를 보여준다. 기존 방식의 경우 버스 임피던스의 수동성 조건을 만족하지 못하는 반면, 제안 된 제어에서는 400Hz 부근의 위상 보상으로 인해 수동성 조건을 만족한다. 또한, 오른쪽 반평면 극이 있이 없음을 보여준다.10a and 10b show

Bode plot and pole zero map of the bus impedance of the existing method and the proposed method are shown when is 50 Hz. In the case of the existing method, the passivity condition of the bus impedance is not satisfied, whereas the proposed control satisfies the passivity condition due to phase compensation around 400Hz. It also shows that there is no right half-plane pole.

As shown in Fig. 11b, in the proposed method, it can be seen that the pole located close to the right hand side moved farther away from the left hand hand.

11 shows the effect when the bandwidth of the voltage control loop is set to 200 Hz, 400 Hz, 600 Hz and 800 Hz. As can be seen from FIG. 7, the passive condition is not satisfied when the bandwidth of the voltage control loop is high. However, even if the control bandwidth is high for the proposed method, the passive condition is satisfied due to phase compensation as shown in FIG. 11A. Also, as shown in Figure 11b, the pole moves to the left half-plane further on the imaginary axis.

)의 수가 증가함에 따라 버스 임피던스의 보드 선도가 도시되어 있다. 여기서 각 소스 측의 라인 임피던스는 동일하다고 가정한다. 소스(

)의 수가 증가함에 따라 크기(dB)는 감소하지만 위상은 변하지 않음을 알 수 있다. 따라서 본 발명에 의한 전원 전압 컨버터 시스템은 더 많은 소스가 연결 되어도 수동성 조건을 만족한다.12 is a source (

The Bode plot of the bus impedance as the number of ) increases is shown. It is assumed here that the line impedance on each source side is the same. sauce(

As the number of ) increases, it can be seen that the magnitude (dB) decreases but the phase does not change. Therefore, the power voltage converter system according to the present invention satisfies the passivity condition even when more sources are connected.

13 shows a Bode plot of bus impedance for a bus system consisting of two sources and one constant power load (CPL), assuming that the two line impedances are different. Although the phase changes due to the difference between the two line impedances, the value is still within the range that satisfies the passivity condition. Analysis of the output capacitance variation is not shown due to space limitations, but its effect on the passivity condition of the bus impedance is relatively insignificant.

및

)이 포함된다.

또는

을 부적절하게 선택하면 수동성 조건이 충족되지 않아 시스템이 불안정해진다.The DC bus impedance in Equation 47 is the control gain (

and

) are included.

or

Improperly chosen, the passivity condition is not met and the system becomes unstable.

= -2.1 및

= 2.5로 결정된다.HILS was performed to verify the proposed control method. Figure 14 shows a HILS setup consisting of an NI-PXIe-1078 chassis and modules (PXIe-1078, 8840, 7821R, PXI-6723) and a lab control board. The control board is designed with a DSP (TI-TMS320F28335), an FPGA (XILINX-XC3S400-PQ208), and an analog-to-digital converter (MAX11056). The DC microgrid model shown in FIG. 2 is implemented by Labview 2016, the power supply voltage converter (DC VSC) is implemented as a boost converter, and the load is composed of a buck converter (constant power load) and a resistor. System parameters are listed in Table I. The PI gains of the voltage and current controllers were found based on small-signal analysis of the converter model, and the proportional and integral gains of the voltage control module 410 are 2.5 and 1508. The values of the current control module 420 are 23 and 1162. The vibration controller gain is given by Equations 55 and 56.

= -2.1 and

= 2.5.

및

) 출력전압은 드룹 제어에 의해 감소한다. 과도 상태에서

의 안정화 시간은 도 16에 도시된 진동 제어의 영향으로 인해 도 15의 설정 시간보다 길어지지만, 도 16c와 도 16d에 도시된 바와 같이 출력 전류의 과도 응답에는 부정적인 영향을 미치지 않는다. 따라서 공급된 전원(

및

)의 과도 응답은 두 방법이 서로 다르지 않다.First, the dynamic response of the DC microgrid without the proposed vibration controller is shown in FIGS. 15 and 16, respectively. The load is changed from 0.2 pu to 0.8 pu, and back to 0.2 pu from 0.8 pu. In a steady state, the control performance of the method including the vibration controller of the voltage power converter system proposed in the present invention and the DC microgrid without the vibration controller are almost similar, and provide sufficient power to the constant power load and resistive load. do. The deviation of the DC bus voltage remains within 10% of the nominal value of 380V as shown in FIGS. 15B and 16B. When the load power increases, the output current increases, but (

and

) The output voltage is reduced by droop control. in transient

The stabilization time of is longer than the set time of FIG. 15 due to the influence of the vibration control shown in FIG. 16, but does not negatively affect the transient response of the output current as shown in FIGS. 16c and 16d. Therefore, the supplied power (

and

), the transient response of the two methods is not different.

Second, the superiority of the controller proposed in the present invention was demonstrated for parameter variation. There are four types of parameter change:

- Cutoff frequency of low pass filter for droop control

- Bandwidth of the voltage control loop

)- output capacitance of DC VSC (

)

)- DC bus capacitance (

)

)을 변경하여 이루어진다.The change in load power is the load resistance (

) is made by changing

가 50Hz일 때의 결과이며, DC 버스 전압의 편차는 공칭 전압 380V의 ㅁ10% 이내로 유지된다. 그러나 도 6에서 예상한 바와 같이, 특별한 진동 컨트롤러 없이 드룹 컨트롤러의 저역 통과 필터(LPF)만 사용하는 경우, 수동성 조건이 충족되지 않으므로, 큰 진동 성분이 나타나며, 부하 전력 및 DC 버스 전압에서 진동 성분의 크기는 부하조건이 0.8 p.u인 상태에서 각각 3kW 및 20V이다.17 shows the transient response of the DC microgrid when only the low-pass filter (LPF) of the droop controller is used without a special vibration controller. The load condition is changed from 0.2 pu to 0.8 pu, and then from 0.8 pu to 0.2 pu. In Figure 17i

This is the result when is 50Hz, and the deviation of the DC bus voltage is maintained within ㅁ10% of the nominal voltage of 380V. However, as expected from FIG. 6, when only the low-pass filter (LPF) of the droop controller is used without a special vibration controller, since the passivity condition is not satisfied, a large vibration component appears, and the vibration component of the load power and DC bus voltage The sizes are 3 kW and 20 V, respectively, with a load condition of 0.8 pu.

)의 대역폭을 200Hz로 설정하고

를 40Hz로 유지했을 때의 결과를 도시한 것이다. 이 경우, 도 7과 같이 버스 임피던스의 수동성 조건이 만족된다. 따라서 부하 전력과 DC 버스 전압의 진동 성분이 상대적으로 낮다. 반면에 부하가 0.8p.u로 증가하면 전압 제어 루프의 낮은 대역폭으로 인해 (c) ~ (f)와 같이 출력 전류 및 전압에 진동 성분이 나타난다.17(ii) shows a voltage control loop (

) set the bandwidth to 200 Hz and

It shows the result when kept at 40 Hz. In this case, the passivity condition of the bus impedance is satisfied as shown in FIG. 7 . Therefore, the oscillation components of load power and DC bus voltage are relatively low. On the other hand, when the load increases to 0.8pu, oscillation components appear in the output current and voltage as shown in (c) to (f) due to the low bandwidth of the voltage control loop.

17(iii) shows the transient response when the output capacitance of DC VSC is set to 2000 μF. Typically, a change in a parameter such as an increase in output capacitance detunes the PI controller and can therefore become unstable when the operating point changes. It can be seen that the passivity condition is not met when the capacitance is increased.

In (a) and (b) of FIG. 17(iii), it can be seen that the vibration components of the load power and DC-bus voltage appear at the load of 0.2 p.u. Also, the vibration component is greatly increased at the load of 0.8 p.u. 17 (iV) shows the performance when the DC-bus capacitance is set to 1000 μF, and it can be seen that there is no vibration component when the load is 0.2 p.u. However, when the load increases to 0.8p.u, a large oscillation with a peak-to-peak value of 80V appears in the bus voltage as shown in (b).

및

)이 업데이트되지 않았으며, 이는 매개 변수 변화에 대한 제안 된 방식의 견고성을 보여준다.18 shows the operating performance of a DC microgrid initially operated without a vibration controller and then with vibration control after a while. At this time, the load condition is 0.8 pu. The parameter values used in the four cases of Fig. 18 (i) to (iV) are set the same as those in Fig. 17 (i) to (iV), respectively. During initial operation, the power, voltage, and current oscillations are high, but after the vibration control proposed in the present invention is applied, all the oscillation components greatly decrease in some transient intervals. Also, as shown in (c) and (d), (g) and (h) of FIG. 18, current and power sharing is easily performed between the two voltage power converters (DC VSC). Controller gain in four cases of parameter change (

and

) was not updated, which shows the robustness of the proposed scheme to parameter changes.

= 200Hz의 잘못된 설정으로 인해 불안정한 조건에서 실험 테스트가 수행되었다. 제안된 진동 컨트롤러 없이

가 130Hz보다 낮게 설정되면 수동성이 충족된다. 부하 전력은

이 일정한 벅 컨버터의 출력 전압 크기를 조정하여 변경된다.An experiment was conducted to investigate the damping performance of the proposed control scheme. The hardware configuration of a small-scale 100V DC power supply system consisting of a three-phase diode rectifier, two boost converters, a buck converter load, and a resistive load was constructed as shown in FIG. System parameters are listed in Table 2. The execution time of the proposed decay control algorithm in DSP is 34 μs.

Experimental tests were performed under unstable conditions due to incorrect settings of = 200 Hz. Without suggested vibration controller

When is set lower than 130 Hz, passivity is satisfied. load power is

This constant is changed by scaling the output voltage of the buck converter.

는 200Hz로 설정된다. 도 20a 및 도 20b에서 볼 수 있듯이 부하 전력 및 DC 버스 전압의 진동 성분은 부하 전력이 250W일 때 크게 증가하지 않는다. 그러나 450W에서 전압 전원 컨버터(DC VSC)의 전류, 전압 및 전력은 버스 임피던스의 수동성 조건이 충족되지 않기 때문에 출력의 진동 성분은 현저하게 증가한다.20 shows the response of the proposed DC microgrid without active vibration control when the load power is changed from 200W to 450W and then back to 200W. here

is set to 200 Hz. As shown in FIGS. 20A and 20B , vibration components of the load power and the DC bus voltage do not greatly increase when the load power is 250W. However, at 450W, the current, voltage, and power of the voltage power converter (DC VSC) significantly increase the oscillation component of the output because the passivity condition of the bus impedance is not satisfied.

및

) 사이의 전력 공유는 도 21 (g) 및 (h)과 같이 달성된다.21 shows the operating performance of each DC microgrid with and without the proposed control method. At first, no vibration control is applied, so high vibration components appear, but after vibration control is activated, the vibration components are greatly suppressed. In addition, two voltage power converters (DC VSC) (

and

) is achieved as shown in FIGS. 21 (g) and (h).

가 130Hz보다 높기 때문에 실험 테스트에서 과도 응답이

가 40Hz로 설정된 HILS 결과보다 빠르다는 것을 알 수 있다.

의 값은 앞서 논의 된 바와 같이 충족되어야하는 버스 임피던스의 수동성 조건에 따라 선택된다.22 shows the response of the DC microgrid according to the proposed method. Overall, it can be seen that the vibration component is significantly reduced compared to that shown in FIG. 20 . in the experimental test

is higher than 130 Hz, so the transient response in the experimental test

It can be seen that is faster than the HILS result set to 40 Hz.

The value of is chosen according to the passivity condition of the bus impedance which must be satisfied as discussed earlier.

The present invention is not limited to the above embodiments, and the scope of application is diverse, and anyone with ordinary knowledge in the field to which the present invention belongs without departing from the gist of the present invention claimed in the claims Of course, various modifications are possible.

보상부
413 :

고주파 보상부
414 :

저주파 보상부
420 : 전류 제어 모듈
421 :

보상부
422 :

고주파 보상부
423 :

저주파 보상부100: voltage power converter
200: line inductor
300: output capacitor
410: voltage control module
411: 1st HPF
412:

reward department
413:

high frequency compensator
414:

low frequency compensation
420: current control module
421:

reward department
422:

high frequency compensator
423:

low frequency compensation

Claims (8)

A voltage power converter system connected in parallel to a DC bus with at least one load and at least one converter, comprising:
a voltage power converter (VSC) including at least one semiconductor switch, connected to the DC bus, and outputting a DC voltage;
Line inductance provided between the output terminal of the voltage power converter and the DC bus (

);
an output capacitor (C) provided between a positive terminal and a negative terminal of the output terminal of the voltage power converter; and
The output DC voltage of the converter, which is the voltage across the output capacitor (

), the voltage of the DC bus (

), the input current of the voltage power converter (

), and the output current flowing through the line inductor (

) and the output DC nominal voltage command value of the converter (

) Based on the controller for controlling the semiconductor switch; includes,
The controller,
In order to attenuate the power oscillation of the DC bus, the oscillation of power is controlled based on passivity,
The controller,
remind

, remind

, remind

, remind

The input current command value of the voltage power converter based on

A voltage control module that calculates; and
remind

, remind

, remind

, remind

A current control module for calculating an output voltage command value of the voltage power converter based on; includes,
The voltage control module,
a voltage control error calculation unit that calculates a voltage control error;
The voltage control error is received, and the voltage control error is reduced.

Including; voltage control unit that calculates
The voltage control error calculator,
remind

, remind

, remind

the vibration component of

based on

compensating component, and

based on the high-frequency components of

Calculating the voltage control error based on a compensation component
A voltage power converter system characterized by a.
delete delete According to claim 1,
The voltage control error calculator,
remind

and remind

a fourth HPF (HPF4) which is a high-pass filter outputting a vibration component of;
remind

and remind

proportional to the high-frequency component of

outputting the compensation component

compensation units (HPF3 and rc); and
remind

proportional to the high-frequency component of

outputting high-frequency compensation components

high frequency compensator; and
remind

proportional to the low-frequency component of

Outputting the low frequency compensation component

Including; low frequency compensation unit
Characterized by a voltage power converter system.
According to claim 4,
The voltage control error calculator,
remind

Remind me to

Add the vibration component of

compensation component,

a high-frequency compensation component, and

Calculating the voltage control error by subtracting a low frequency compensation component
Characterized by a voltage power converter system.
According to claim 1,
The current control module,
a current control error calculation unit that calculates a current control error; and
A current controller receiving the current control error and calculating the semiconductor switch ON/OFF command to reduce the current control error;
The current control error calculator,
remind

, remind

based on the high-frequency components of

compensation component,

based on the high-frequency components of

compensation component,

based on

Calculating the current control error based on a compensation component
Characterized by a voltage power converter system.
According to claim 6,
The current control error calculator,
remind

and remind

proportional to the vibration component of

Calculating the Compensation Component

compensation units (HPF2 and k2);
remind

is input and based on the IDC high frequency component

a first HPF (HPF1) that is a high-pass filter that outputs a high-frequency compensation component;
remind

and remind

proportional to the high-frequency component of

outputting high-frequency compensation components

a high frequency compensator (HPF3); and
remind

and remind

proportional to the low-frequency component of

Outputting the low frequency compensation component

Including; low frequency compensator (LPF1)
Characterized by a voltage power converter system.
According to claim 7,
The current control error calculator,

Remind me to

Add a high-frequency compensation component,

compensation component,

high-frequency compensation component and

Calculating the current control error by subtracting a low frequency compensation component
Characterized by a voltage power converter system.

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