WO2011036005A1 - Method for operation of a modular multilevel converter, and multilevel converter - Google Patents

Method for operation of a modular multilevel converter, and multilevel converter Download PDF

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Publication number
WO2011036005A1
WO2011036005A1 PCT/EP2010/062245 EP2010062245W WO2011036005A1 WO 2011036005 A1 WO2011036005 A1 WO 2011036005A1 EP 2010062245 W EP2010062245 W EP 2010062245W WO 2011036005 A1 WO2011036005 A1 WO 2011036005A1
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Prior art keywords
converter
cos
sin
csub
component
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PCT/EP2010/062245
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German (de)
French (fr)
Inventor
Philipp MÜNCH
Steven Liu
Original Assignee
Siemens Aktiengesellschaft
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Priority to EP10759595A priority Critical patent/EP2481148A1/en
Publication of WO2011036005A1 publication Critical patent/WO2011036005A1/en

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/66—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal
    • H02M7/68—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters
    • H02M7/72—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/79—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/797—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/483—Converters with outputs that each can have more than two voltages levels
    • H02M7/4835—Converters with outputs that each can have more than two voltages levels comprising two or more cells, each including a switchable capacitor, the capacitors having a nominal charge voltage which corresponds to a given fraction of the input voltage, and the capacitors being selectively connected in series to determine the instantaneous output voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0003—Details of control, feedback or regulation circuits

Definitions

  • the invention relates to a method for operating a modular multilevel converter, which in each case has a plurality of submodules connected in series, each with a DC capacitor, in its branches.
  • a modular multilevel inverter of this type is described in an article by R. Marquardt and A. Lesnicar “New Concept for High Voltage Modular Multilevel Converter” published in “PESC 2004 Conference Aachen”, 2004.
  • the DC link energy is to regulate and to balance the energy in the branches of the inverter.
  • the invention has for its object to operate a modular multilevel inverter so that the control of the DC link energy and the balancing of the branches of Um ⁇ judge can be done well and quickly.
  • the voltages across the DC capacitors are each
  • Each branch to form a capacitor sum voltage, respectively, and to determine the DC component of the capacitor sum voltages, respectively, a parameter estimator using a vibration model for the intermediate circuit energy values
  • the DC component of the intermediate circuit energy values and A k i and A k 2 further parameters of the vibration model and ⁇ indicates the angular frequency of an AC voltage network connected to the converter.
  • the essential advantage of the method according to the invention is that it allows the DC component of the capacitor sum voltages to be determined quickly as a result of the use of the parameter estimator, which leads to a good control behavior of the converter.
  • the DC component of the capacitor sum voltages is required. If this DC component is determined exactly and quickly, the overall control behavior of the converter is also good. Is carried out to achieve According to the invention, that the DC component is present, or each for refreshes ⁇ economic sampling already estimated in advance even for the next sample point is present, the control of which is preferred in order ⁇ judge digital, then leaves.
  • Such algorithms include the recursive least squares algorithm, the recursive extended least squares algorithm, the recursive method of the auxiliary variables (instrumental variables), the recursive prediction error method and the recursive maximum likelihood method or algorithm.
  • the DC component of the intermediate circuit energy values can be determined particularly quickly if the estimator is a least squares estimator with a vibration model for the intermediate circuit energy values
  • a 0 + An * cos (cot) + A 12 * sin (cot) + A 2 i * cos (2cot) + A 22 * sin (2cot) is used, in the Ao the DC component of the intermediate circuit energy values and to A22 further parameters of the vibration model and ⁇ indicates the angular frequency of the AC voltage network connected to the inverter (1).
  • the time dependence of the parameters Pa ⁇ is defined by a linear function or an exponential function.
  • the method according to the invention can be carried out in a particularly simple manner, but possibly at the expense of a greater inaccuracy, using a vibration model with parameters A 0 to A 2 2 which are constant over time. If the model agrees well with the real signal, the procedure works well with the simple model.
  • the invention further relates to a modular multi-level converter, which in each case has in its branches a plurality of series-connected sub-modules, each with a Gleichwoodskonden ⁇ sator, and has as its object to design such a converter so that it is distinguished by a good control behavior.
  • a summing circuit for forming each of the dc capacitors of the individual submodules of each branch is connected to a modular multilevel converter of the type given above a capacitor sum voltage from the voltages connected to the DC capacitors of the submodules, and each summing circuit is followed in each case by a Paramter estimator, the vibration model
  • Such a modular multilevel converter configured in accordance with the invention is characterized by good control behavior because it allows the DC component of the capacitor envelope voltages to be detected quickly.
  • the modular multilevel inverter can also be a vibration model
  • Fig. 1 shows an embodiment of a modu lar ⁇ multilevel inverter according to the invention
  • FIG. 2 shows an exemplary embodiment of a submodule of the converter according to FIG. 1.
  • the modular multilevel converter 1 shown in FIG. 1 has six branches Zpl, Zp2 and Zp3 as well as Znl, Zn2 and Zn3, each consisting of an equal number of submodules SM of matching design.
  • Each submodule SM can be designed in a known manner, as shown in FIG. 2.
  • the submodule SM two semiconductor scarf ⁇ ter Sl and S2, which rectifier Gl and G2, and a DC capacitor Csub are connected in parallel.
  • a capacitor voltage ucm drops across the DC capacitor Csub.
  • Corresponding direct voltages fall on the DC capacitor of all submodules according to FIG. 1.
  • the branch current is denoted in FIG. 2 and the voltage at the submodule SM is denoted by us.
  • each of the branches Zpl to Zn3 of the converter 1 is assigned a summing circuit Spl, Sp2 and Sp3 as well as Snl, Sn2 and Sn3.
  • Each of the Summierschal ⁇ lines Spl to Sn3 has as many inputs Aspl to Asn3, as the branches Zpl to Zn3 submodules SM and DC ⁇ capacitors Csub have.
  • the DC voltage ucm at the DC capacitor Csub of the respective submodule SM is detected by the respective summing circuit Spl to Sn3;
  • a capacitor sum voltage uc is formed from the detected individual direct voltages ucm, the corresponding measurement signals Mspl, Msp2 and Msp3 and Msnl, Msn2 and Msn3 at the outputs Auspl, Ausp2 and Ausp3 and Ausnl, Ausn2 and Ausn3 of the summing circuits Spl until Sn3 and to the entrance Espl, Esp2 and Esp3 as well as Esnl, Esn2 and
  • Esn3 each of a parameter estimator Lspl, Lsp2 and Lsp3 so ⁇ as Lsnl, Lsn2 and Lsn3 is transmitted.
  • Ao (t) give the DC component of the capacitor sum voltage uc (t) and An (t) to A 12 (t) further parameters of the vibration model;
  • ⁇ denotes the Kreisfre acid sequence of the connected to the modular multi-level inverter alternating voltage network N.
  • the clarity hal ⁇ BER is not shown in Fig.l in detail how each parameter estimator LSPL to Lsn3 with one of the frequency of the alternating-voltage network N corresponding measured variable are applied.
  • time-dependent parameters A 0 (t) to A 22 (t) are used by the parameter estimators Lspl to Lsn3, whereby a transient events having the curve A (t) have a can achieve higher speed or accuracy;
  • this is also relatively expensive.
  • time dependence is a linear function or an exponential function ⁇ example, can be selected.
  • the above-mentioned parameters AO (t) to A4 (t) are recursively calculated in the parameter estimators Lspl to Lsn3, so that these parameters can be tapped at the outputs of the parameters -responsers Lspl to Lsn3, respectively.
  • a control device, not shown in FIG. 1, of the modular multilevel converter 1 can thus be supplied with the DC component AO (t) for regulating the intermediate circuit energy and for balancing the branches Zpl to Zn3.
  • the DC component A0 (t) are each very quickly Availability checked ⁇ supply, resulting in a highly responsive control and balancing.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)

Abstract

The invention relates to the operation of a modular multilevel converter (1) which, in each of its branches (Zp1, Zp2, Zp3; Zn1, Zn2, Zn3), has a plurality of series-connected sub-modules (SM) each having a DC voltage capacitor (Csub). In order to allow a converter such as this to be operated such that the control of its intermediate- circuit energy and the balancing of the branches of the converter can be carried out well and quickly, the voltages across the DC voltage capacitors (Csub) in each branch (Zp1, Zp2, Zp3; Zn1, Zn2, Zn3) are detected, in each case forming a capacitor sum voltage. In order to determine the DC component of the capacitor sum voltages, a parameter estimator (Lsp1, Lsp2, Lsp3; Lsn1, Lsn2, Lsn3) is used in each case, using an oscillation model uc (t) = A0+Ak1*cos (kωt) +Ak2*sin (kωt) for k=1 to n in which A0 indicates the DC component of the capacitor sum voltage and Ak1 and Ak2 indicate further parameters of the oscillation model, and ω indicates the angular frequency of the AC voltage power supply system (N) which is connected to the modular multilevel converter (1). The invention also relates to a modular multilevel converter.

Description

Beschreibung description
Verfahren zum Betreiben eines modularen Multilevel-Umrichters und Multilevel-Umrichter Method of operating a modular multilevel inverter and multilevel inverter
Die Erfindung bezieht sich auf ein Verfahren zum Betreiben eines modularen Multilevel-Umrichters, der in seinen Zweigen jeweils mehrere in Reihe geschaltete Submodule mit jeweils einem Gleichspannungskondensator aufweist. The invention relates to a method for operating a modular multilevel converter, which in each case has a plurality of submodules connected in series, each with a DC capacitor, in its branches.
Ein modularer Multilevel-Umrichter dieser Art ist in einem Aufsatz von R. Marquardt und A. Lesnicar „New Concept for High Voltage-Modular Multilevel Converter" beschrieben, veröffentlicht in „PESC 2004 Conference Aachen", 2004. Bei einem solchen Umrichter ist die Zwischenkreisenergie zu regeln und die Energie in den Zweigen des Umrichters zu balancieren. A modular multilevel inverter of this type is described in an article by R. Marquardt and A. Lesnicar "New Concept for High Voltage Modular Multilevel Converter" published in "PESC 2004 Conference Aachen", 2004. In such a converter, the DC link energy is to regulate and to balance the energy in the branches of the inverter.
Der Erfindung liegt die Aufgabe zugrunde, einen modularen Multilevel-Umrichter so zu betreiben, dass die Regelung der Zwischenkreisenergie und das Balancieren der Zweige des Um¬ richters gut und schnell erfolgen können. The invention has for its object to operate a modular multilevel inverter so that the control of the DC link energy and the balancing of the branches of Um ¬ judge can be done well and quickly.
Zur Lösung dieser Aufgabe werden bei einem modularen Multilevel-Umrichter der eingangs angegebenen Art erfindungsgemäß die Spannungen an den Gleichspannungskondensatoren jedesTo solve this problem, according to the invention, in a modular multilevel inverter of the type specified in the introduction, the voltages across the DC capacitors are each
Zweiges unter Bildung jeweils einer Kondensatorsummenspannung erfasst, und es wird zur Ermittlung des Gleichanteils der Kondensatorsummenspannungen jeweils ein Parameter-Schätzer unter Verwendung eines Schwingungsmodells für die Zwischen- kreisenergiewerte Each branch to form a capacitor sum voltage, respectively, and to determine the DC component of the capacitor sum voltages, respectively, a parameter estimator using a vibration model for the intermediate circuit energy values
uc(t)= A0+Akl*cos (kcot) +Ak2*sin (kcot) für k=l bis n uc (t) = A 0 + A kl * cos (kcot) + A k2 * sin (kcot) for k = 1 to n
verwendet, used
in dem Ao den Gleichanteil der Zwischenkreisenergiewerte und Aki und Ak2 weitere Parameter des Schwingungsmodells sowie ω die Kreisfrequenz eines mit dem Umrichter verbundenen Wechselspannungsnetzes angibt. in the Ao the DC component of the intermediate circuit energy values and A k i and A k 2 further parameters of the vibration model and ω indicates the angular frequency of an AC voltage network connected to the converter.
Der wesentliche Vorteil des erfindungsgemäßen Verfahrens be- steht darin, dass bei ihm der Gleichanteil der Kondensatorsummenspannungen infolge des Einsatzes des Parameter- Schätzers schnell ermittelt werden kann, was zu einem guten Regelverhalten des Umrichters führt. Zur Regelung der Zwi- schenkreisenergie und zum Balancieren der Zweige des Umrich- ters ist nämlich der Gleichanteil der Kondensatorsummenspannungen erforderlich. Wird dieser Gleichanteil exakt und schnell bestimmt, dann ist dadurch auch das Regelverhalten des Umrichters insgesamt gut. Erfolgt die Regelung des Um¬ richters digital, was bevorzugt wird, dann lässt sich erfin- dungsgemäß erreichen, dass der Gleichanteil jeweils zum aktu¬ ellen AbtastZeitpunkt vorliegt oder sogar für den folgenden Abtastpunkt bereits vorausgeschätzt vorliegt. The essential advantage of the method according to the invention is that it allows the DC component of the capacitor sum voltages to be determined quickly as a result of the use of the parameter estimator, which leads to a good control behavior of the converter. In order to regulate the intermediate circuit energy and to balance the branches of the converter, the DC component of the capacitor sum voltages is required. If this DC component is determined exactly and quickly, the overall control behavior of the converter is also good. Is carried out to achieve According to the invention, that the DC component is present, or each for refreshes ¬ economic sampling already estimated in advance even for the next sample point is present, the control of which is preferred in order ¬ judge digital, then leaves.
Bevorzugt angewendet werden Parameter-Schätzer, die einen re- kursiven Algorithmus benutzen. Zu derartigen Algorithmen gehören der rekursive Least-Square-Algorithmus , der rekursive erweiterte Least-Square-Algorithmus, die rekursive Methode der Hilfsvariablen (instrumental variables) , die rekursive Prediction-error-Methode und die rekursive Maximum- Likelihood-Methode bzw. Algorithmus. Preference is given to parameter estimators which use a recursive algorithm. Such algorithms include the recursive least squares algorithm, the recursive extended least squares algorithm, the recursive method of the auxiliary variables (instrumental variables), the recursive prediction error method and the recursive maximum likelihood method or algorithm.
Besonders schnell lässt sich der Gleichanteil der Zwischen- kreisenergiewerte ermitteln, wenn als Schätzer ein Least- Square-Schätzer mit einem Schwingungsmodell für die Zwischen- kreisenergiewerte The DC component of the intermediate circuit energy values can be determined particularly quickly if the estimator is a least squares estimator with a vibration model for the intermediate circuit energy values
uc ( t ) =  uc (t) =
A0+An*cos (cot) +A12*sin (cot) +A2i*cos (2cot) +A22*sin (2cot) verwendet wird, in dem Ao den Gleichanteil der Zwischenkreisenergiewerte und An bis A22 weitere Parameter des Schwingungsmodells sowie ω die Kreisfrequenz eines mit dem Umrichter (1) verbundenen Wechselspannungsnetzes angibt. A 0 + An * cos (cot) + A 12 * sin (cot) + A 2 i * cos (2cot) + A 22 * sin (2cot) is used, in the Ao the DC component of the intermediate circuit energy values and to A22 further parameters of the vibration model and ω indicates the angular frequency of the AC voltage network connected to the inverter (1).
Bei dem erfindungsgemäßen Verfahren kann mit Parametern unterschiedlicher Art geschätzt werden. Dabei ist es zur Erzei- lung einer hohen Genauigkeit vorteilhaft, wenn ein Schwingungsmodell mit zeitabhängigen Parametern Ao (t) bis A22 (t) verwendet wird. In the method according to the invention can be estimated with parameters of different types. In this case, it is advantageous for the generation of high accuracy if a vibration model with time-dependent parameters Ao (t) to A22 (t) is used.
Zur Erzielung einer relativ einfach durchführbaren Schätzung ist es ferner vorteilhaft, wenn die Zeitabhängigkeit der Pa¬ rameter durch eine lineare Funktion oder eine Exponential- funktion vorgegeben wird. To achieve a relatively easily workable estimate, it is further advantageous if the time dependence of the parameters Pa ¬ is defined by a linear function or an exponential function.
Besonders einfach, jedoch ggf. unter Inkaufnahme einer größe¬ ren Ungenauigkeit lässt das erfindungsgemäße Verfahren mit einem Schwingungsmodell mit zeitlich konstanten Parametern A0 bis A22 durchführen. Stimmt das Modell gut mit dem wirklichen Signal überein, arbeitet das Verfahren auch mit dem einfachen Modell genau. The method according to the invention can be carried out in a particularly simple manner, but possibly at the expense of a greater inaccuracy, using a vibration model with parameters A 0 to A 2 2 which are constant over time. If the model agrees well with the real signal, the procedure works well with the simple model.
Die Erfindung betrifft ferner einen modularen Multilevel- Umrichter, der in seinen Zweigen jeweils mehrere in Reihe geschaltete Submodule mit jeweils einem Gleichspannungskonden¬ sator aufweist, und stellt sich die Aufgabe, einen solchen Umrichter so auszubilden, dass er sich durch ein gutes Regelverhalten auszeichnet. The invention further relates to a modular multi-level converter, which in each case has in its branches a plurality of series-connected sub-modules, each with a Gleichspannungskonden ¬ sator, and has as its object to design such a converter so that it is distinguished by a good control behavior.
Zur Lösung dieser Aufgabe ist an einen modularen Multilevel- Umrichter der oben wieder gegebenen Art erfindungsgemäß an die Gleichspannungskondensatoren der einzelnen Submodulen jedes Zweiges jeweils eine Summierschaltung zur Bildung jeweils einer Kondensatorsummenspannung aus den Spannungen an den Gleichspannungskondensatoren der Submodule angeschlossen, und jeder Summierschaltung ist jeweils ein Paramter-Schätzer nachgeordnet, der das Schwingungsmodell To achieve this object, according to the invention, a summing circuit for forming each of the dc capacitors of the individual submodules of each branch is connected to a modular multilevel converter of the type given above a capacitor sum voltage from the voltages connected to the DC capacitors of the submodules, and each summing circuit is followed in each case by a Paramter estimator, the vibration model
uc = A0+Akl*cos (kcot) +Ak2*sin (kcot) für k=l bis n uc = A 0 + A kl * cos (kcot) + A k2 * sin (kcot) for k = 1 to n
benutzt und der mit seinem Eingang mit einem die Kreisfre¬ quenz des mit dem modularen Multilevel-Umrichters verbundenen Wechselspannungsnetzes wieder gebenden Messsignal beauf¬ schlagt ist und an seinem Ausgang eine den Gleichanteil ent- haltende Messgröße abgibt. is used and with its input with a the Kreisfre ¬ frequency of the connected to the modular multilevel inverter AC power again reproduced measuring signal beauf ¬ hits and emits at its output a DC component containing metric.
Ein solchermaßen erfindungsgemäß ausgestalteter modularer Multilevel-Umrichter zeichnet sich durch ein gutes Regelverhalten aus, weil mit ihm der Gleichanteil der Kondensatorsum- menspannungen schnell erfasst werden kann. Such a modular multilevel converter configured in accordance with the invention is characterized by good control behavior because it allows the DC component of the capacitor envelope voltages to be detected quickly.
Der Einfachheit halber kann der modulare Multilevel-Umrichter auch ein Schwingungsmodell For simplicity, the modular multilevel inverter can also be a vibration model
uc(t) = Ao+An*cos (cot) +A12*sin (cot) +A21*cos (2cot) +A22*sin (2cot) benutzen. Use uc (t) = Ao + An * cos (cot) + A 12 * sin (cot) + A 21 * cos (2cot) + A 22 * sin (2cot).
Zur weiteren Erläuterung der Erfindung ist in For further explanation of the invention is in
Fig. 1 ein Ausführungsbeispiel eines erfindungsgemäßen modu¬ laren Multilevel-Umrichters und in Fig. 1 shows an embodiment of a modu lar ¬ multilevel inverter according to the invention and in
Fig. 2 ein Ausführungsbeispiel eines Submoduls des Umrichters nach Fig. 1 dargestellt. 2 shows an exemplary embodiment of a submodule of the converter according to FIG. 1.
Der in Fig. 1 gezeigte modulare Multilevel-Umrichter 1 weist sechs Zweige Zpl, Zp2 und Zp3 sowie Znl, Zn2 und Zn3 auf, die jeweils aus einer gleichen Anzahl von Submodulen SM übereinstimmender Ausführung bestehen. Jedes Submodul SM kann in bekannter Weise so ausgeführt sein, wie es die Fig. 2 zeigt. So weist gemäß Figur 2 das Submodul SM zwei Halbleiterschal¬ ter Sl und S2 auf, denen Gleichrichter Gl und G2 sowie ein Gleichspannungskondensator Csub parallel geschaltet sind. Im Betrieb des Umrichters 1 bzw. des Submoduls SM fällt an dem Gleichspannungskondensator Csub eine Kondensatorspannung ucm ab. Entsprechende Gleichspannungen fallen an den Gleichspannungskondensator aller Submodule gemäß Fig. 1. Mit iz ist in Figur 2 der Zweigstrom und mit us die Spannung am Submodul SM bezeichnet . The modular multilevel converter 1 shown in FIG. 1 has six branches Zpl, Zp2 and Zp3 as well as Znl, Zn2 and Zn3, each consisting of an equal number of submodules SM of matching design. Each submodule SM can be designed in a known manner, as shown in FIG. 2. Thus, according to Figure 2, the submodule SM two semiconductor scarf ¬ ter Sl and S2, which rectifier Gl and G2, and a DC capacitor Csub are connected in parallel. During operation of the converter 1 or of the submodule SM, a capacitor voltage ucm drops across the DC capacitor Csub. Corresponding direct voltages fall on the DC capacitor of all submodules according to FIG. 1. With iz, the branch current is denoted in FIG. 2 and the voltage at the submodule SM is denoted by us.
Wie Fig. 1 ferner erkennen lässt, ist jedem der Zweige Zpl bis Zn3 des Umrichters 1 eine Summierschaltung Spl, Sp2 und Sp3 sowie Snl, Sn2 und Sn3 zugeordnet. Jede der Summierschal¬ tungen Spl bis Sn3 weist so viele Eingänge Aspl bis Asn3 auf, wie die Zweige Zpl bis Zn3 Submodule SM bzw. Gleichspannungs¬ kondensatoren Csub haben. Über jeden Eingang Aspl bis Asn3 wird von der jeweiligen Summierschaltung Spl bis Sn3 die Gleichspannung ucm an dem Gleichspannungskondensator Csub des jeweiligen Submoduls SM erfasst; in den Summierschaltungen Spl bis Sn3 wird aus den erfassten einzelnen Gleichspannungen ucm eine Kondensatorsummenspannung uc gebildet, die als entsprechendes Messsignal Mspl, Msp2 und Msp3 sowie Msnl, Msn2 und Msn3 an den Ausgängen Auspl, Ausp2 und Ausp3 sowie Ausnl, Ausn2 und Ausn3 der Summierschaltungen Spl bis Sn3 ansteht und an den Eingang Espl, Esp2 und Esp3 sowie Esnl, Esn2 undAs can also be seen from FIG. 1, each of the branches Zpl to Zn3 of the converter 1 is assigned a summing circuit Spl, Sp2 and Sp3 as well as Snl, Sn2 and Sn3. Each of the Summierschal ¬ lines Spl to Sn3 has as many inputs Aspl to Asn3, as the branches Zpl to Zn3 submodules SM and DC ¬ capacitors Csub have. By means of each input Aspl to Asn3, the DC voltage ucm at the DC capacitor Csub of the respective submodule SM is detected by the respective summing circuit Spl to Sn3; In the summing circuits Spl to Sn3, a capacitor sum voltage uc is formed from the detected individual direct voltages ucm, the corresponding measurement signals Mspl, Msp2 and Msp3 and Msnl, Msn2 and Msn3 at the outputs Auspl, Ausp2 and Ausp3 and Ausnl, Ausn2 and Ausn3 of the summing circuits Spl until Sn3 and to the entrance Espl, Esp2 and Esp3 as well as Esnl, Esn2 and
Esn3 jeweils eines Paramter-Schätzers Lspl, Lsp2 und Lsp3 so¬ wie Lsnl, Lsn2 und Lsn3 übertragen wird. Esn3 each of a parameter estimator Lspl, Lsp2 and Lsp3 so ¬ as Lsnl, Lsn2 and Lsn3 is transmitted.
Jedem Parameter-Schätzer Lspl bis Lsn3, bei dem es sich bei- spielsweise um einen Least-Square-Schätzer handeln kann, ist im hier beschriebenen Ausführungsbeispiel ein Schwingungsmo¬ dell vorgegeben, das sich durch folgende Gleichung mathematisch beschreiben lässt: uc(t) = A0 (t) +An (t) *cos (cot) +Ai2 (t) *sin (cot) +A2i (t) *cos (2cot) + A22 (t) *sin (2cot) Each parameter estimator LSPL to Lsn3, which examples can be a least square estimator to play is set in the embodiment described herein, a Schwingungsmo ¬ model which can be described mathematically by the following equation: uc (t) = A 0 (t) + An (t) * cos (cot) + A i2 (t) * sin (cot) + A 2 i (t) * cos (2cot) + A 22 (t) * sin (2cot)
In dieser Gleichung geben Ao (t) den Gleichanteil der Kondensatorsummenspannung uc(t) und An (t) bis A12 (t) weitere Para¬ meter des Schwingungsmodells an; ω bezeichnet die Kreisfre¬ quenz des mit dem modularen Multilevel-Umrichters verbundenen Wechselspannungsnetzes N. Der besseren Übersichtlichkeit hal¬ ber ist in der Fig.l nicht im Einzelnen dargestellt, wie die einzelnen Parameter-Schätzer Lspl bis Lsn3 mit einer der Frequenz des Wechselspannungsnetzes N entsprechenden Messgröße beaufschlagt sind. In this equation, Ao (t) give the DC component of the capacitor sum voltage uc (t) and An (t) to A 12 (t) further parameters of the vibration model; ω denotes the Kreisfre acid sequence of the connected to the modular multi-level inverter alternating voltage network N. The clarity hal ¬ BER is not shown in Fig.l in detail how each parameter estimator LSPL to Lsn3 with one of the frequency of the alternating-voltage network N corresponding measured variable are applied.
Bei dem durch die obige Gleichung beschriebenen Schwingungs- modell werden von den Parameter-Schätzern Lspl bis Lsn3 zeitabhängige Parameter A0(t) bis A22 (t) benutzt, womit man bei transienten Vorgängen, die den Verlauf A(t) haben, eine höhere Geschwindigkeit bzw. Genauigkeit erzielen kann; allerdings ist dies auch relativ aufwendig. Als Zeitabhängigkeit kann beispielsweise eine lineare Funktion oder eine Exponential¬ funktion gewählt werden. In the vibration model described by the above equation, time-dependent parameters A 0 (t) to A 22 (t) are used by the parameter estimators Lspl to Lsn3, whereby a transient events having the curve A (t) have a can achieve higher speed or accuracy; However, this is also relatively expensive. As time dependence is a linear function or an exponential function ¬ example, can be selected.
In den Parameter -Schätzern Lspl bis Lsn3 werden rekursiv die oben angegebenen Parameter AO (t) bis A4 (t) berechnet, so dass an den Ausgängen der Parameter -Schätzer Lspl bis Lsn3 jeweils diese Parameter abgegriffen werden können. Einer in der Fig. 1 nicht dargestellten Regeleinrichtung des modularen Multilevel-Umrichters 1 kann somit der Gleichanteil AO (t) zur Regelung der Zwischenkreisenergie und zum Balancieren der Zweige Zpl bis Zn3 zugeführt werden. Mittels der Schätzung steht der Gleichanteil A0 (t) jeweils sehr schnell zur Verfü¬ gung, was zu einer schnell reagierenden Regelung und Balancierung führt. The above-mentioned parameters AO (t) to A4 (t) are recursively calculated in the parameter estimators Lspl to Lsn3, so that these parameters can be tapped at the outputs of the parameters -responsers Lspl to Lsn3, respectively. A control device, not shown in FIG. 1, of the modular multilevel converter 1 can thus be supplied with the DC component AO (t) for regulating the intermediate circuit energy and for balancing the branches Zpl to Zn3. Using the estimate is the DC component A0 (t) are each very quickly Availability checked ¬ supply, resulting in a highly responsive control and balancing.

Claims

Patentansprüche claims
1. Verfahren zum Betreiben eines modularen Multilevel- Umrichters (1), der in seinen Zweigen A method of operating a modular multilevel converter (1) operating in its branches
(Zpl, Zp2, Zp3; Znl, Zn2, Zn3) jeweils mehrere in Reihe geschalte te Submodule (SM) mit jeweils einem Gleichspannungskondensa¬ tor (Csub) aufweist, Each having a plurality of peeled in series th sub-modules (SM) each having a gate Gleichspannungskondensa ¬ (Csub); (Znl, Zn2, Zn3 ZPL, Zp2, Zp3)
d a d u r c h g e k e n n z e i c h n e t, dass d a d u r c h e c e n c i n e s that
• die Spannungen an den Gleichspannungskondensatoren  • the voltages on the DC capacitors
(Csub) jedes Zweiges ( Zpl , Zp2 , Zp3 ; Znl , Zn2 , Zn3 ) unter Bildung jeweils einer Kondensatorsummenspannung erfasst werden und  (Csub) of each branch (Zpl, Zp2, Zp3, Znl, Zn2, Zn3) are detected to form one capacitor sum voltage, respectively, and
• zur Ermittlung des Gleichanteils der Kondensatorsummenspannungen jeweils ein Parameter-Schätzer  • a parameter estimator for determining the DC component of the capacitor summation voltages
(Lspl , Lsp2 , Lsp3 ; Lsnl , Lsn2 , Lsn3 ) unter Verwendung eines Schwingungsmodells uc(t) für die Zwischenkreisenergie- werte  (Lspl, Lsp2, Lsp3, Lsnl, Lsn2, Lsn3) using a mode of oscillation uc (t) for the intermediate circuit energies
uc(t) = A0+Akl*cos (kcot) +Ak2*sin (kcot) für k=l bis n verwendet wird, uc (t) = A 0 + A kl * cos (kcot) + A k2 * sin (kcot) is used for k = 1 to n
• in dem Ao den Gleichanteil der Zwischenkreisener- giewerte und Aki und Ak2 weitere Parameter des Schwingungsmodells sowie ω die Kreisfrequenz eines mit dem Umrichter (1) verbundenen Wechselspannungs netzes angibt. In which Ao indicates the DC component of the intermediate circuit power values and A ki and A k 2 further parameters of the vibration model and ω indicates the angular frequency of an AC voltage network connected to the converter (1).
2. Verfahren nach Anspruch 1, 2. The method according to claim 1,
d a d u r c h g e k e n n z e i c h n e t, dass d a d u r c h e c e n c i n e s that
• Parameter-Schätzer (Lspl , Lsp2 , Lsp3 ; Lsnl , Lsn2 , Lsn3 ) mit rekursivem Algorithmus verwendet werden.  • Parameter estimators (Lspl, Lsp2, Lsp3, Lsnl, Lsn2, Lsn3) can be used with recursive algorithm.
3. Verfahren nach Anspruch 1 oder 2, 3. The method according to claim 1 or 2,
d a d u r c h g e k e n n z e i c h n e t , dass • als Schätzer ein Parameter-Schätzer mit einem Schwingungsmodell für die Zwischenkreisenergiewerte characterized in that • as estimator a parameter estimator with a vibration model for the intermediate circuit energy values
uc ( t ) =  uc (t) =
Ao+An*cos (cot) +A12*sin (cot) +A2i*cos (2cot) +A22*sin (2cot) verwendet wird, Ao + An * cos (cot) + A 12 * sin (cot) + A 2 i * cos (2cot) + A 22 * sin (2cot) is used,
• in dem Ao den Gleichanteil der Zwischenkreisenergiewerte und An bis A22 weitere Parameter des • in the Ao the DC component of the intermediate circuit energy values and to A 22 further parameters of the
Schwingungsmodells sowie co die Kreisfrequenz eines mit dem Umrichter (1) verbundenen Wechselspannungs- netzes angibt.  Oscillation model and co indicates the angular frequency of an AC voltage network connected to the converter (1).
4. Verfahren nach einem der vorangehenden Ansprüche, 4. The method according to any one of the preceding claims,
d a d u r c h g e k e n n z e i c h n e t, dass d a d u r c h e c e n c i n e s that
• ein Schwingungsmodell mit zeitabhängigen Parametern  • a vibration model with time-dependent parameters
A0 (t) bis A22 (t) verwendet wird. A 0 (t) to A 22 (t) is used.
5. Verfahren nach Anspruch 4, 5. The method according to claim 4,
d a d u r c h g e k e n n z e i c h n e t, dass d a d u r c h e c e n c i n e s that
• die Zeitabhängigkeit der Parameter durch eine lineare Funktion oder eine Exponentialfunktion vorgegeben wird.  • the time dependence of the parameters is given by a linear function or an exponential function.
6. Verfahren nach einem der Ansprüche 1 bis 3, 6. The method according to any one of claims 1 to 3,
d a d u r c h g e k e n n z e i c h n e t, dass d a d u r c h e c e n c i n e s that
ein Schwingungsmodell mit zeitlich konstanten Parametern A0 bis A22 verwendet wird. a vibration model with temporally constant parameters A 0 to A 22 is used.
7. Modularer Multilevel-Umrichter (1), der in seinen Zweigen (Zpl, Zp2, Zp3; Znl, Zn2, Zn3) jeweils mehrere in Reihe geschalte¬ te Submodule (SM) mit jeweils einem Gleichspannungskondensa- tor (Csub) aufweist, Each having a plurality of peeled ¬ th row in sub-modules (SM) each having a gate Gleichspannungskondensa- (Csub); 7. Modular multi-level inverter (1), which in its branches (Znl, Zn2, Zn3 ZPL, Zp2, Zp3)
d a d u r c h g e k e n n z e i c h n e t, dass d a d u r c h e c e n c i n e s that
• an die Gleichspannungskondensatoren (Csub) der einzelnen Submodulen (SM) jedes Zweiges ( Zpl , Zp2 , Zp3 ; Znl , Zn2 , Zn3 ) jeweils eine Summierschaltung ( Spl , Sp2 , Sp3 ; Snl , Sn2 , Sn3 ) zur Bildung jeweils einer Kondensatorsummenspannung aus den Spannungen an den Gleichspannungskondensatoren • to the DC capacitors (Csub) of the individual submodules (SM) of each branch (Zpl, Zp2, Zp3, Znl, Zn2, Zn3) in each case a summation circuit (Spl, Sp2, Sp3, Snl, Sn2, Sn3) for forming in each case one capacitor sum voltage from the voltages at the DC capacitors
(Csub) der Submodule (SM) angeschlossen ist und  (Csub) of the submodule (SM) is connected and
• jeder Summierschaltung ( Spl , Sp2 , Sp3 ; Snl , Sn2 , Sn3 ) jeweils ein Parameter-Schätzer nachgeordnet ist, der das Schwingungsmodell  • Each summing circuit (Spl, Sp2, Sp3, Snl, Sn2, Sn3) is followed by a parameter estimator, which is the vibration model
uc(t) = A0+Aki*cos (kcot) +Ak2*sin (kcot) für k=l bis n uc (t) = A 0 + A k i * cos (kcot) + A k2 * sin (kcot) for k = 1 to n
benutzt und der mit seinem Eingang  used and the one with his entrance
(Espl , Esp2 , Esp3 ; Esnl , Esn2 , Esn3 ) mit einem die Kreisfre¬ quenz ω des mit dem modularen Multilevel-Umrichters (1) verbundenen Wechselspannungsnetzes (N) wieder gebenden Messsignal beaufschlagt ist und an seinem Ausgang (Espl, ESP2, ESP3; ESNL, Esn2, Esn3) associated with a frequency ω of the Kreisfre ¬ with the modular multi-level inverter (1) alternating-voltage network (N) reproducing the test signal is applied at its output, and
(Alpl, Alp2, Alp3;Alnl, Aln2, Aln3) eine den Gleichanteil enthaltende Messgröße abgibt.  (Alpl, Alp2, Alp3, Alnl, Aln2, Aln3) gives a measured variable containing the DC component.
8. Umrichter nach Anspruch 7, 8. Converter according to claim 7,
d a d u r c h g e k e n n z e i c h n e t, dass d a d u r c h e c e n c i n e s that
jeder Summierschaltung ( Spl , Sp2 , Sp3 ; Snl , Sn2 , Sn3 ) das Schwin¬ gungsmodell each summing circuit (Spl, Sp2, Sp3, Snl, Sn2, Sn3) the vibration ¬ tion model
uc (t) =A0 (t) +An*cos (cot) +A12*sin (cot) +A21*cos (2cot) +A22*sin (2cot) benutzende Parameter-Schätzer nachgeordnet sind. uc (t) = A 0 (t) + An * cos (cot) + A 12 * sin (cot) + A 21 * cos (2cot) + A 22 * sin (2cot) are second-order parameter estimators.
PCT/EP2010/062245 2009-09-25 2010-08-23 Method for operation of a modular multilevel converter, and multilevel converter WO2011036005A1 (en)

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CN102420533A (en) * 2011-12-04 2012-04-18 中国科学院电工研究所 Hybrid multilevel current conversion circuit topology structure and control method thereof
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