WO2015075923A1

WO2015075923A1 - Power conversion device

Info

Publication number: WO2015075923A1
Application number: PCT/JP2014/005812
Authority: WO
Inventors: 毅古賀; 片岡　幹彦; 秀明江崎; 浜松　正典; 鷹取　正夫; 杉本　和繁; 大野　達也; 武憲檜野
Original assignee: 川崎重工業株式会社
Priority date: 2013-11-20
Filing date: 2014-11-19
Publication date: 2015-05-28
Also published as: JP2015100234A; JP6386718B2

Abstract

One example of this power conversion device comprises a system-side conversion device (101) connected to a power-supply system (2), a rotary-machinery-side conversion device (102) connected to a motor-generator (3), and an electricity-storage device (103) connected therebetween. The system-side conversion device (101) has a system-side power converter (11) and a system-side controller (12) that makes said system-side power converter (11) operate as a virtual synchronous generator with respect to the power-supply system (2) so as to perform a first system-side conversion operation and a second system-side conversion operation on the basis of the same control law. The rotary-machinery-side conversion device (102) has a rotary-machinery-side power converter (16) and a rotary-machinery-side controller (17) that makes said rotary-machinery-side power converter (16) perform a first rotary-machinery-side conversion operation and a second rotary-machinery-side conversion operation on the basis of the same control law, each of said operations being performed so as to bring the measured voltage across the electricity-storage device (103) to a prescribed voltage.

Description

Power converter

This invention relates to the power converter device used for a motor generator in a microgrid, a ship, etc.

In order to stabilize power quality in a microgrid (small-scale power distribution network) or a power system in a ship, a configuration in which a secondary battery is connected to the power system via a power converter is known. (For example, refer to Patent Documents 1 and 2).

On the other hand, there are those described in Patent Document 3 and Non-Patent Document 1 as power converters applied to motor generators (shaft generators) used in ships.

JP 2007-244068 A JP 2012-130146 A US 2012/03092242 A1

Patent Document 3 discloses a power conversion device that is applied to a motor generator used in a ship and controls electric power between a power supply system and a motor generator. In this power conversion device, the operation of the main engine (motor) connected to the motor generator directly or via the speed reducer / speed increaser by switching the operation / stop of the motor generator that supplies power to the power supply system A form is employed in which the control method is switched by switching the stop and by switching between the generator operation mode and the motor operation mode of the motor generator. As a result, system stability issues such as power system frequency and voltage fluctuations and accident response capability when unscheduled equipment stops or when the load on the power system changes while the motor generator is in the electric operation mode. There was a shortage of.

Further, Non-Patent Document 1 discloses a power converter for a shaft generator. In this power converter, in the generator operation mode, when the generator is tripped when the load is shared by the generator that supplies power to the system and the governor loop, the frequency cannot be determined by itself. Therefore, the frequency becomes indefinite, the system cannot be maintained, and the accident response capability is lacking. Further, when the shaft generator is in the motor operation mode, the system-side converter performs constant DC voltage control, so that the system frequency cannot be compensated quickly.

The present invention has been made to solve the above-described problems, and provides a power conversion device capable of stabilizing the frequency and voltage of a power supply system regardless of the operating state of the power conversion device. It is aimed.

In order to achieve the above object, a power converter according to an aspect of the present invention is a power converter connected between a power supply system and a motor generator, and is connected to the power supply system. A system side converter, a rotating machine side converter connected to the motor generator, and a power storage device connected to a DC wiring connecting the system side converter and the rotating machine side converter, The system side conversion device converts the DC power input from the power storage device into AC power and outputs the AC power to the power system, and the AC power input from the power system is converted to DC power. A system side power converter configured to selectively perform a second system side conversion operation to be converted and output to the power storage device, an AC voltage output from the system side power converter to the power system, and Using the measured value of AC current, Assuming that a virtual synchronous generator capable of operating as a motor instead of the main power converter is connected to the power system, the system power converter is connected to the power system with the virtual synchronization. By operating as a generator, there is a system-side controller that causes the system-side power converter to perform the first system-side conversion operation and the second system-side conversion operation based on the same control law. The rotating machine side conversion device receives the first rotating machine side conversion operation for converting the AC power input from the motor generator into DC power and outputs the DC power to the power storage device, and is input from the power storage device. A rotating machine side power converter configured to alternatively perform a second rotating machine side conversion operation for converting DC power to AC power and outputting the converted power to the motor generator, based on the same control law The rotating machine side power converter has the first The turning-side conversion operation and the second rotating machine-side converting operation are performed, and each of the first rotating machine-side converting operation and the second rotating machine-side converting operation is measured by the measured voltage of the power storage device. And a rotating machine side controller that performs the control so that the voltage becomes a predetermined voltage.

According to this configuration, even when the operation state of the power conversion device is switched, for example, when the operation mode is switched between the generator operation mode and the motor operation mode of the motor generator, the system controller controls the control law. Since the system side power converter is controlled based on the same control law without switching, and the rotating machine side controller controls the rotating machine side power converter based on the same control law without switching the control law. The power converter as a whole is controlled based on the same control law without switching the control law. Then, the system-side power converter is controlled to output power to the power supply system on the assumption that a virtual synchronous generator is connected to the power supply system instead of the system-side power converter. Thereby, it is possible to perform frequency control and voltage control similar to those of an actual generator. For example, it is possible to stabilize the power quality of its own system in cooperation with a normal generator. As described above, the power conversion device is always controlled based on the same control law without switching the control law due to the change of the operation state, and the same frequency control as that of the actual generator is applied to the power supply system. Regardless of the operation status of the power conversion device, the operation status of the main engine directly or indirectly connected to the motor generator, the power supply configuration of the system, etc. Even if an accidental shift to independent operation occurs, the frequency and voltage of the power supply system can be stabilized. Further, the rotating machine side power converter connected to the motor generator is controlled so that the voltage of the power storage device becomes a predetermined voltage. Thereby, the voltage of the power storage device is maintained at a predetermined voltage, and the generator simulation operation by the system-side power converter can be stabilized.

Further, the system-side controller is a governor model for calculating an internal phase difference angle of the virtual synchronous generator, a deviation of the reactive power that the system-side power converter outputs to the power system with respect to a reactive power command value, The AVR model that calculates the internal induced voltage of the virtual synchronous generator based on the deviation of the AC voltage output to the power supply system by the grid-side power converter with respect to the output voltage command value, and the governor model. A generator model for calculating a current command value corresponding to an output current of the virtual synchronous generator based on the internal phase difference angle and the internal induced voltage calculated by the AVR model, and the generator model The voltage command value for making the deviation between the current command value and the feedback value of the alternating current output to the power supply system zero is calculated, and this voltage command value is converted into a PWM signal. A PWM converter that outputs to the system power converter, and the governor model calculates and outputs an angular speed deviation of the AC voltage output from the system power converter to the power system with respect to an angular speed command value. A deviation calculator, an active power deviation calculator that calculates a deviation of the active power that the grid-side power converter outputs to the power supply system with respect to an active power command value, and a deviation calculated by the active power deviation calculator A calculation unit that multiplies a gain and outputs a value obtained by performing a first-order lag calculation; a subtracter that subtracts the output of the angular velocity deviation calculation unit from the output of the calculation unit; You may make it have an integrator which calculates a phase difference angle.

According to this configuration, when power is being supplied from the power supply system to the motor generator, in a steady state or during a transition such as a change in the active power command value, the other power supply system connected Load sharing with a generator or the like can be performed.

The system-side controller performs an angular velocity deviation calculation unit that calculates an angular velocity deviation of an AC voltage output from the system-side power converter to the power supply system with respect to an angular velocity command value, and performs a primary delay operation on the deviation. A filter unit that subtracts a value subjected to delay calculation from the deviation and outputs the value, and an active power deviation calculation unit that calculates a deviation of the active power with respect to the active power command value, and an output value of the filter unit And the deviation calculated by the active power deviation calculator may be configured to operate the power converter on the power supply system as the virtual synchronous generator.

According to this configuration, when power is supplied from the power supply system to the motor generator, the output of the filter unit becomes zero in a steady state, and active power can be supplied following the active power command value. . In addition, during a transition such as a change in the active power command value, the output of the filter unit varies from zero, so it is possible to share the load with other generators connected to the power supply system.

The system controller includes a governor model for calculating an internal phase difference angle of the virtual synchronous generator, a deviation of reactive power output to the power system by the system power converter with respect to a reactive power command value, and an output voltage An AVR model for calculating an internal induced voltage of the virtual synchronous generator based on a deviation of an AC voltage output to the power supply system from the system-side power converter with respect to a command value, and an internal calculated by the governor model A generator model that calculates a current command value corresponding to an output current of the virtual synchronous generator based on the phase difference angle and the internal induced voltage calculated by the AVR model, and the generator model that is calculated by the generator model A PWM converter that converts a current command value into a PWM signal and outputs the PWM signal to the grid-side power converter, and the governor model is configured so that the grid-side power converter for the angular velocity command value An angular velocity deviation calculator that calculates the angular velocity deviation of the AC voltage output to the power supply system, and a filter that performs a first-order lag calculation on the deviation, subtracts the value obtained by the first-order lag calculation from the deviation, and outputs the value. An active power deviation calculating unit that calculates a deviation of the active power that the grid-side power converter outputs to the power system with respect to an active power command value, and a predetermined gain for the deviation calculated by the active power deviation calculating unit. A calculation unit that outputs a value obtained by multiplying and performing a first-order lag calculation, a subtractor that subtracts the output of the filter unit from the output of the calculation unit, and calculates the internal phase difference angle by integrating the output of the subtractor You may make it have an integrator to do.

The filter unit may be configured to include a limiting unit that limits a value obtained by performing the first-order lag calculation to be within a predetermined limit range.

According to this configuration, when power is supplied from the power supply system to the motor generator, even in a steady state, the angular velocity deviation of the portion exceeding the limit range of the limiter is output from the filter unit. Load sharing with other generators connected to the power supply system can be performed.

The system-side controller receives an active power command value from the outside, and active power corresponding to the active power command value is supplied from the power storage device to the power supply system or from the power storage device to the power supply system. The system-side power converter is configured to be controlled, and the rotating machine-side controller is input with the active power command value input to the system-side controller, and according to the active power command value The active power obtained by adding the active power and the active power corresponding to the deviation of the measured voltage of the power storage device with respect to the predetermined voltage is from the motor generator to the power storage device, or from the power storage device to the motor generator. You may be comprised so that the said rotary machine side power converter may be controlled so that it may be supplied.

According to this configuration, since the active power command value input to the system controller is also input to the rotating machine controller, feedforward control is performed so that the voltage of the power storage device becomes a predetermined voltage, and the power storage device It becomes possible to suppress the fluctuation of the voltage from the predetermined voltage.

The present invention has the above-described configuration, regardless of the operation state of the power conversion device, the operation state of the main engine directly or indirectly connected to the motor generator, or the power supply configuration of the system. There is an effect that it is possible to provide a power conversion device capable of stabilizing the frequency and voltage of the system.

The above object, other objects, features, and advantages of the present invention will become apparent from the following detailed description of preferred embodiments with reference to the accompanying drawings.

FIG. 1 is a schematic block diagram illustrating an example of a system to which a power conversion device according to an embodiment of the present invention is applied. FIG. 2 is a schematic block diagram illustrating a more specific application example of the power conversion device according to the embodiment of the present invention. FIG. 3 is a functional block diagram of the system controller of the power conversion device shown in FIGS. 1 and 2. FIG. 4 is a block diagram illustrating details of the rotating machine side conversion device of the power conversion device illustrated in FIGS. 1 and 2. FIG. 5 is a phasor diagram showing the relationship among the internal induced voltage, the output voltage, and the output current in the equivalent circuit for one phase of the virtual generator.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the following description, the same or corresponding elements are denoted by the same reference symbols throughout all the drawings, and redundant description thereof is omitted. Further, the present invention is not limited to the following embodiment.

(Embodiment)
〔overall structure〕
FIG. 1 is a schematic block diagram illustrating an example of a system to which a power conversion device according to an embodiment of the present invention is applied.

The power conversion device 1 according to the present embodiment is connected between an AC power supply system (bus) 2 that is an AC circuit and a motor generator 3. The AC power supply system 2 is connected to at least one power load 4 and at least one prime mover generator 5. Moreover, the commercial power system 6 may be connected to the AC power supply system 2, and a power storage facility (not shown) such as a secondary battery may be connected. As described above, the AC power supply system 2 to which the power conversion device 1 is connected may be connected to the commercial power system 6 or may be an independent power supply system that is not connected to the commercial power system 6. Also good.

Here, any one of a motor, a flywheel, a crankshaft, a prime mover, a speed reducer, a speed increaser, a wheel, a propeller, and the like is connected to the mechanical shaft 3a of the motor generator 3. The motor generator 3 may be a synchronous machine (synchronous motor generator) or an induction machine (induction motor generator).

Each of the power converter 1, the power load 4, the prime mover generator 5, and the commercial power system 6 is provided with circuit breakers S1, S4, S5, and S6 that are disconnected from the AC power supply system 2 when an abnormality or the like occurs. You may have been.

FIG. 2 is a schematic block diagram showing a more specific application example of the power conversion device 1 of the present embodiment.

In this case, the AC power supply system 2 (hereinafter referred to as “power supply system 2”) is a power supply system in the ship, and the power supply system 2 is normally operated with a generator 7 made of, for example, a diesel generator. Thus, electric power is supplied to the electric power load 4 in the ship. Moreover, although not shown in figure, the same circuit breaker (S1 etc.) as FIG. 1 may be provided.

Here, the main shaft of the speed reducer 8 is connected to the mechanical shaft 3 a of the motor generator 3. Although not shown, the speed reducer 8 is connected to, for example, a main engine (prime mover) of the ship and is connected to a propeller that propels the ship, and is driven by the power of the main engine and / or the motor generator 3. The propeller is rotated.

The power conversion device 1 is provided between the power supply system 2 and the motor generator 3, and is connected to the power supply system 2. The power conversion device 101 is connected to the motor generator 3, and the rotating machine side conversion device 102 is connected to the motor generator 3. The power storage device 103 is provided. The power storage device 103 is connected between the wirings of the DC wiring 104 that connects the system side conversion device 101 and the rotating machine side conversion device 102. As the power storage device 103, a capacitor is illustrated, but a secondary battery may be used.

The system-side converter 101 includes a system-side power converter 11, a system-side controller 12 that controls the system-side power converter 11, and voltages Vr, Vs, Vt of each of the three phases (r-phase, s-phase, t-phase) A voltage detection unit 13 using a voltage sensor (voltage measurement PT) for detecting current, and a current sensor for detecting currents ir, is, it of each of the three phases (r phase, s phase, t phase) of the system side A current detection unit 14 using a current measurement PC). The system side three-phase voltages Vr, Vs, Vt detected by the voltage detector 13 and the system side three-phase currents ir, is, it detected by the current detector 14 are input to the system controller 12. . In FIG. 1, the voltage detection unit 13 and the current detection unit 14 are not shown.

Further, the rotating machine side conversion device 102 includes a rotating machine side power converter 16 connected to the system side power converter 11 by the DC wiring 104, a rotating machine side controller 17 that controls the rotating machine side power converter 16, and the positive and negative of the power storage device 104. And a voltage detector 18 for detecting a DC voltage V _DC between both terminals. The DC voltage _VDC detected by the voltage detection unit 18 is input to the rotating machine side controller 17. In FIG. 1, the voltage detector 18 is not shown.

The system-side controller 12 and the rotating machine-side controller 17 are each configured by a control device such as an FPGA (field-programmable gate array), a PLC (programmable logic controller), or a microcontroller. The system controller 12 and the rotating machine controller 17 may be configured by a common (single) controller.

In addition, the system controller 12 and the rotating machine controller 17 change the operating state of the power converter 1 such as an active power command value P ^* , which will be described later, from the general control device 9 which is an external host control system. A command or the like is input.

[Details of system side converter 101]
The system side power converter 11 includes, for example, six switching elements each including a diode connected in antiparallel. The power converter 11 is formed of a semiconductor element, and for example, an IGBT is used for each switching element.

The system-side controller 12 outputs a control signal (PWM signal) input to the control terminal of each of the switching elements (for example, the gate terminal of the IGBT) to the power converter 11 to turn each switching element on and off. The power converter 11 is caused to function as an inverter or a converter.

Next, the configuration of the system controller 12 will be described in detail. FIG. 3 is a functional block diagram of the system controller 12. Hereinafter, an adder, a subtracter, and an adder / subtractor are not distinguished from each other and are referred to as an adder / subtractor (the same applies to the description of FIG. 4).

The system-side controller 12 includes a PWM conversion unit 20, a generator model 30, a generator control model 65 having an AVR model 40 and a governor model 50, a PLL calculation unit 61,

dq conversion units

62 and 63, a voltage An effective value calculation unit 64 is provided. These are functions realized by the system-side controller 12 executing a program built therein.

The system-side controller 12 controls the power converter 11 so that the system-side power converter 11 operates as a virtual synchronous generator (hereinafter also referred to as “virtual generator”) with respect to the power supply system 2. It is configured.

The generator model 30 is a model of a synchronous generator body that can also operate as an electric motor. The generator control model 65 is a control model (calculation block) in which the function of the synchronous generator is modeled using predetermined calculation parameters. The generator control model 65 is a control model in which a governor and an AVR that control the synchronous generator are modeled, and any model that includes the governor model and the AVR model may be used. Moreover, as the generator model 30, a well-known thing can be used, for example, a Park model etc. can be used.

The PLL calculation unit 61 is a phase and angular velocity calculation unit that calculates the phase θ and the angular velocity ω of the system side voltage using the system side three-phase voltages Vr, Vs, and Vt detected by the voltage detection unit 13. The PLL calculation unit 61 calculates a line voltage from the three-phase voltages Vr, Vs, and Vt, performs PLL calculation using these values, and calculates the phase θ and the angular velocity ω of the system side voltage. Such a PLL calculation unit 61 is disclosed in, for example, the above-mentioned Patent Document 2 (Japanese Patent Application Laid-Open No. 2012-130146) and the like, and is well-known, and details thereof are omitted here.

The dq converter 62 includes a system-side three-phase voltage (output voltage of the power converter 11) Vr, Vs, Vt detected by the voltage detector 13 and a system-side voltage phase θ calculated by the PLL calculator 61. Is entered. Then, the dq conversion unit 62 performs dq conversion on the three-phase voltages Vr, Vs, and Vt using the system-side voltage phase θ, and calculates the d-axis component V _d and the q-axis component V _q of the voltage.

Further, the dq conversion unit 63 includes a system-side three-phase current (output current of the power converter 11) ir, is, it detected by the current detection unit 14 and a system-side voltage phase calculated by the PLL calculation unit 61. θ is input. Then, dq converting section 63 uses the mains voltage phase theta, three-phase currents ir, IS, and dq convert it to calculate the d-axis component i _d and the q-axis component i _q of the current.

Moreover, the voltage effective value calculating unit 64 calculates the system side voltage effective value V _g from V _q and V _d calculated by the dq conversion unit 62 using the following equation.

Moreover, although not shown in figure, the system side controller 12 has an electric power calculation part, and in this electric power calculation part, to the system side based on system side three-phase voltage Vr, Vs, Vt and electric current ir, is, it. The active power P and reactive power Q to be output are calculated, the active power P is given to the governor model 50, and the reactive power Q is given to the AVR model 40. Here, the power calculation unit may calculate the grid-side active power P and the reactive power Q by the following equations, for example.

Further, the governor model 50 includes a control for giving a deviation of the active power P with respect to the active power command value P ^* input from the outside (the overall control device 9), a governor speed drooping characteristic, and a PLL for the angular speed command value ω ^* . Based on the deviation of the angular velocity ω calculated by the calculator 61, the internal phase difference angle δ of the virtual generator is calculated. The angular velocity command value ω ^* may be input from the outside (the overall control device 9) or may be held inside the governor model 50. The angular velocity command value ω ^* is a predetermined angular velocity (angular velocity reference value) corresponding to, for example, a frequency of 60 Hz, and the velocity drooping characteristic has a frequency drop corresponding to 5% of the frequency of 60 Hz, for example, when a rated active power is output.

Specifically, in the governor model 50, the adder / subtractor 51 calculates a deviation by subtracting the active power P from the active power command value P ^* , and outputs the deviation to the droop block 52. The droop block 52 outputs a value obtained by multiplying the output of the adder / subtractor 51 by a predetermined calculation according to the speed drooping characteristic of the governor (for example, a value obtained by multiplying a real constant gain K _gd ) to the low-pass filter unit 53. The low-pass filter unit 53 gives a first-order lag to the output of the droop block 52 and outputs this to the adder / subtractor 54. The reason for giving the first-order lag is to prevent the response to the active power deviation from becoming sensitive.

On the other hand, the adder / subtracter 55 calculates an angular velocity deviation by subtracting the angular velocity ω calculated by the PLL calculation unit 61 from the angular velocity command value ω ^* , and outputs this to the high-pass filter unit 56.

The angular velocity deviation input to the high-pass filter unit 56 is input to the upper / lower limiter 57 and the adder / subtractor 59. The input angular velocity deviation is limited by the upper / lower limiter 57 within the limit range in which the upper limit value (for example, 0 × 2π) and the lower limit value (for example, −2 × 2π) are determined, and is sent to the temporary delay filter unit 58. Entered. Then, a first-order delay is given by the temporary delay filter unit 58 and is input to the adder / subtractor 59. The adder / subtractor 59 subtracts the output of the temporary delay filter unit 58 from the angular velocity deviation output from the adder / subtractor 55 and outputs the subtraction value to the adder / subtractor 54.

The adder / subtractor 54 subtracts the output of the adder / subtractor 59 (= the output of the high pass filter unit 56) from the output of the low pass filter unit 53, and this subtraction value is input to the integrator 60, integrated by the integrator 60, and the internal phase difference. The angle δ is calculated. The internal phase difference angle δ is output to the generator model 30.

The AVR model 40 includes a control of giving a deviation of the reactive power Q with respect to the reactive power command value Q ^* , a voltage drooping characteristic of the AVR, a voltage effective value command value V _g ^* (hereinafter, “output voltage command value V _g ^* ”). And the internal induced voltage E _f is calculated based on the system side voltage effective value V _g . The reactive power command value Q ^* is input from the outside (the overall control device 9). The output voltage command value V _g ^* may be input from the outside (the overall control device 9) or may be held inside the AVR model 40. The output voltage command value V _g ^* is, for example, a predetermined value (AC voltage reference value) of 202V. Further, the system side voltage effective value V _g is input from the voltage effective value calculation unit 64.

Specifically, in the AVR model 40, the adder / subtractor 41 outputs a value (reactive power deviation) obtained by subtracting the reactive power Q from the reactive power command value Q ^* to the droop block 42. The droop block 42 outputs, to the low-pass filter unit 43, a value obtained by multiplying the output of the adder / subtractor 41 by a predetermined calculation according to the drooping characteristic of the AVR (for example, a product of a real constant gain K _ad ). The low-pass filter unit 43 gives a first-order delay to the output of the droop block 42 and outputs this to the adder / subtractor 44. The reason for giving the first-order lag is to prevent the response to the reactive power deviation from becoming sensitive.

On the other hand, the output voltage command value V _g ^* is input to the adder / subtractor 44. The adder / subtractor 44 adds the output of the low-pass filter unit 43 and the output voltage command value V _g ^*, and further subtracts the system side voltage effective value V _g from the added value (voltage deviation taking into account the reactive power deviation). Is output to the PI control block 45. The PI control block 45 performs proportional-integral compensation on the output of the adder / subtractor 44 to calculate the internal induced voltage E _f and outputs it to the generator model 30.

The generator model 30 simulates a synchronous generator as a virtual generator. Here, the virtual generator includes an internal induced voltage E _f due to the field of the virtual generator, an internal impedance of the virtual generator (winding reactance x and winding resistance r of the armature), and an output voltage of the virtual generator. It is modeled using V _g (complex voltage vector) and output current I (complex current vector).

FIG. 5 is a phasor diagram showing the relationship among the internal induced voltage E _f , the output voltage V _g, and the output current (current command value I ^* ) in the equivalent circuit for one phase of the virtual generator.

The generator model 30 includes an internal phase difference angle δ calculated by the governor model 50, an internal induced voltage E _f calculated by the AVR model 40, a d-axis component V _d of the output voltage calculated by the dq converter 62, and Based on the q-axis component V _q and the given internal impedances r and x, the command value I ^* (the q-axis current command value i _q ^* and the d-axis current command value i _d ^* ) of the virtual generator output current Is calculated.

More specifically, in the generator model 30, the calculation unit 31 obtains sin δ from the internal phase difference angle δ and outputs it to the multiplier 32, and the multiplier 32 multiplies the value E by the sin δ and the internal induced voltage E _f. _q is calculated. Further subtractor 33 subtracts the q-axis component _{V q} from the multiplier values _{E q,} and outputs to the subtraction value _{_{ΔV q (= E f sinδ-}} V q) the operation unit 36.

Further, the calculation unit 31 calculates cos δ from the internal phase difference angle δ and outputs it to the multiplier 34, and the multiplier 34 calculates a multiplication value E _d of cos δ and the internal induced voltage E _f . Further subtractor 35 subtracts the d-axis component _{V d} from the multiplier value _{E d,} and outputs to the subtraction value _{_{ΔV d (= E f cosδ-}} V d) an arithmetic unit 36.

Then, the calculation unit 36 calculates the q-axis current command value i _q ^* and the d-axis current command value i _d ^* .

That is, in the generator model 30, the q-axis current command value i _q ^* and the d-axis current command value i _d ^* are calculated and output to the PWM conversion unit 20 using the following relational expression.

Of the above relational expressions, the calculation unit 36 performs an operation based on the calculation formula of i _q ^{* and} the calculation formula of i _d ^* . The generator model 30 is configured as a control model for calculating a command value for current feedback control.

Next, the PWM conversion unit 20 calculates the current command value (i _q ^* , i _d ^* ) calculated by the generator model 30 and the feedback value (i _q , i _d ) of the alternating current output to the power supply system 2. The voltage command value for making the deviation of zero is calculated, and the voltage command value is converted into a PWM signal and output to the system side power converter 11. That is, the power converter 11 is controlled to output a current corresponding to the command value I ^* (i _q ^* , i _d ^* ) of the output current calculated by the generator model 30. Specifically, the PWM conversion unit 20 includes adders /

subtractors

21 and 22, PI control blocks 23 and 24, a dq inverse conversion unit 25, and a PWM signal generation unit 26.

Subtracter 21, from the generator model 30 d-axis current command value is input from the i _d ^*, calculates d-axis error current by subtracting the d-axis component i _d of the output current inputted from the dq conversion section 63 This is output to the PI control block 23 (d-axis current controller). The PI control block 23 performs proportional integral compensation on the d-axis error current to calculate a d-axis voltage command value V _d ^*, and outputs this to the dq inverse conversion unit 25.

On the other hand, the adder / subtracter 22 subtracts the q-axis component i _q of the output current input from the dq converter 63 from the q-axis current command value i _q ^* input from the generator model 30 to obtain the q-axis error current. This is calculated and output to the PI control block 24 (q-axis current controller). The PI control block 24 performs proportional integral compensation on the q-axis error current to calculate a q-axis voltage command value V _q ^*, and outputs this to the dq inverse conversion unit 25.

The dq reverse conversion unit 25 performs dq reverse conversion of the d-axis voltage command value V _d ^* and the q-axis voltage command value V _q ^* using the system-side voltage phase θ, and the system-side three-phase voltage output command value Vr ^*. , Vs ^* , Vt ^* are generated and output to the PWM signal generator 26.

The PWM signal generation unit 26 converts the three-phase voltage output command values Vr ^* , Vs ^* , and Vt ^* into a PWM signal and outputs the PWM signal to the system-side power converter 11. Thus, feedback control is performed so that the output current of the power converter 11 becomes a current corresponding to the d-axis current command value i _d ^* and the q-axis current command value i _q ^* calculated by the generator model 30.

[Details of the rotating machine side conversion device 102]
FIG. 4 is a block diagram showing details of the rotating machine side conversion device 102.

The rotating machine side power converter 16 is configured by three single-

phase inverters

16x, 16y, and 16z, and each of the single-

phase inverters

16x, 16y, and 16z of each phase has four switching units each including a diode connected in antiparallel. It is comprised by the element. The power converter 16 is formed of a semiconductor element, and for example, an IGBT is used for each switching element. Each of the single-

phase inverters

16x, 16y, and 16z has a DC wiring 104 connected to the bipolar terminals of the power storage device 103 connected to each DC portion thereof.

The output lines (AC side wiring) of the single-

phase inverters

16x, 16y, and 16z are connected to the motor generator 3, and the current values (currents ix, iy, and iz of each phase) of the output lines are current sensors. Detected by 19x, 19y, and 19z and input to the dq converter 87 of the rotating machine side controller 17.

When the motor generator 3 is a synchronous motor generator, a magnetic pole position sensor is provided. The magnetic pole position (angle) θ _MG1 detected by this magnetic pole position sensor is input to the dq converter 87 and the dq reverse converter 88 of the rotating machine side controller 17. Further, the angular velocity calculating section (not shown), the calculated mechanical angular ωrm_MG1 of the motor generator 3 from the magnetic pole position (angle) theta _MG1, the mechanical angular ωrm_MG1, the operating

section

74 and 75 of the rotary-side controller 17 And a conversion unit (not shown). The mechanical angular velocity ωrm_MG1 input to the conversion unit is converted to an electrical angular velocity ωre_MG1 and input to the multiplier 82 of the interference component correction circuit 80.

In addition, when the motor generator 3 is an induction motor generator, an angular velocity sensor is provided. The mechanical angular velocity ωrm_MG1 detected by the angular velocity sensor is input to the

calculation units

74 and 75. The mechanical angular velocity ωrm_MG1 is converted into an electrical angular velocity ωre_MG1 by a conversion unit (not shown) and input to the multiplier 82. In addition, a magnetic pole position (angle) θ _MG1 is calculated from the mechanical angular velocity ωrm_MG1 by a calculation unit (not shown) and input to the dq conversion unit 87 and the dq inverse conversion unit 88.

The rotating machine side controller 17 outputs PWM signals (PWM_X_cmd, PWM_Y_cmd, PWM_Z_cmd) that are input to the control terminals (for example, the gate terminals of the IGBT) of the switching elements of the single-

phase inverters

16x, 16y, and 16z. The power converter 16 functions as an inverter or a converter by turning on and off the element.

Next, the configuration of the rotating machine side controller 17 will be described in detail. FIG. 4 shows functional blocks of the rotating machine side controller 17. The DC voltage _VDC is a measurement voltage of the power storage device 104 input from the voltage detection unit 18 of FIG. The DC voltage set value V ^* _DC is held (stored) in advance in the rotating machine side controller 17. Moreover, the active power command value P ^* is input to the rotation-side controller 17 is the same as the active power command value P ^* is input to the mains controller 12 of FIG. 3, the external (integration control apparatus 9 ).

The dq converter 87 of the rotating machine side controller 17 uses the magnetic pole position (angle) θ _MG1 to detect the X-phase, Y-phase, and Z-phase currents ix, iy, and iz detected by the

current sensors

19x, 19y, and 19z. And qq component i _q _MG1 and d axis component i _d _MG1 of the output current are calculated and output to the interference component correction circuit 80, and the q axis component i _q _MG1 is output to the adder / subtractor 78. The d-axis component i _d _MG1 is output to the adder / subtractor 76.

In the interference component correction circuit 80, the multiplier 82 multiplies the electric angular velocity ωre_MG1 of the motor generator 3 by the d-axis inductance 81 (predetermined value L _d ), and outputs the value to the

multipliers

83 and 84. Multiplier 83 multiplies the output value of multiplier 82 by q-axis component i _q _MG1 and outputs the value to adder / subtractor 85. On the other hand, the multiplier 84 multiplies the output value of the multiplier 82 by the d-axis component i _d _MG1, and outputs the value to the adder / subtractor 86.

The adder / subtracter 85 adds the output value of the multiplier 83 to the output value of the PI control block 77 described later (d-axis voltage command value before correction), and the adder / subtractor 86 adds the output value of the PI control block 79 described later. By subtracting the output value of the multiplier 84 from the output value (q-axis voltage command value before correction), the d-axis voltage command value V in which the mutual interference component corresponding to the d-axis current value and the q-axis current value is compensated. and to calculate the _d ^* _MG1 and q-axis voltage command value V _q ^* _MG1.

It is well known to provide such an interference component correction circuit 80 and is not limited to the above configuration.

Next, the d-axis current command value calculation unit 75 calculates a d-axis current command value i _d ^* _MG ₁ corresponding to the mechanical angular velocity ωrm_MG 1, and outputs this to the adder / subtractor 76. For example, when the mechanical angular velocity ωrm_MG1 is equal to or lower than a predetermined value (“a”), the d-axis current command value i _d ^* _MG1 is set to 0. When the mechanical angular velocity ωrm_MG1 exceeds the predetermined value a, the d-axis is taken into consideration. The current command value i _d ^* _MG1 is output as a predetermined value b (b <0). Further, when the mechanical angular velocity ωrm_MG1 exceeds the predetermined value a, the d-axis current command value i _d ^* _MG1 corresponding to the degree of the excess may be output.

The adder / subtractor 76 calculates the d-axis error current by subtracting the d-axis component i _d _MG1 of the output current input from the dq conversion unit 87 from the d-axis current command value i _d ^* _MG1, and calculates it as a PI control block. 77 (d-axis current controller). The PI control block 77 performs proportional-integral compensation on the d-axis error current and outputs it to the adder / subtractor 85. The adder / subtracter 85 adds the output value of the multiplier 83 to the output value of the PI control block 77 (d-axis voltage command value before correction), and inversely converts this value (d-axis voltage command value V _d ^* _MG1) to dq. To the unit 88.

Next, the q-axis current command value calculation unit 70 includes an adder / subtractor 71, a PI control block 72, an adder / subtractor 73, and a q-axis current correction value calculation unit 74.

The adder-subtracter 71, and calculates an error voltage by subtracting the DC voltage V _DC from DC voltage setting value V ^* _DC, and outputs it to the PI control block 72 (DC voltage controller). The PI control block 72 performs proportional-integral compensation on this error voltage and outputs it to the adder / subtractor 73.

On the other hand, the q-axis current correction value calculation unit 74 converts the mechanical angular speed ωrm_MG1 of the motor generator 3 into the electrical angular speed ωre_MG1, and uses this to convert the active power command value P ^* into an active current command value that becomes a q-axis current correction value. Is output to the adder / subtractor 73. Specifically, the effective current command value (q-axis current correction value) is calculated by the following equation.

Effective current command value = k × P ^* / ωre_MG1 (k is a predetermined coefficient)
The adder / subtracter 73 adds the output value (pre-correction q-axis current command value) of the PI control block 72 and the effective current command value (q-axis current correction value) from the calculation unit 74 to add the q-axis current command value i. _q ^* _MG1 is calculated and output to the adder / subtractor 78.

Thus, in the generation of the q-axis current command value i _q ^* _MG1, the active power command value P ^* input to the system-side controller 12 is input, and the q-axis current command value i _q ^* is added to that value ^. Since _MG1 is generated, feedforward control is performed so that the voltage of the power storage device 104 becomes the set value V ^* _DC, and the voltage fluctuation of the power storage device 104 can be minimized.

The output value of the PI control block 72 may be output to the adder / subtractor 78 as it is as the q-axis current command value i _q ^* _MG1 without providing the q-axis current correction value calculation unit 74 and the adder / subtractor 73. . Also in this case, the measurement voltage V _DC of the power storage device 104 is controlled to be a constant voltage (V ^* _DC ). The fluctuation of _DC (the voltage of the power storage device 104) can be made smaller, which is preferable.

Next, the adder / subtractor 78 subtracts the q-axis component i _q _MG1 of the output current input from the dq converter 87 from the q-axis current command value i _d ^* _MG1, and calculates the q-axis error current. Output to the PI control block 79 (q-axis current controller). The PI control block 79 performs proportional-integral compensation on the q-axis error current and outputs it to the adder / subtractor 86. The adder / subtracter 86 subtracts the output value of the multiplier 83 from the output value of the PI control block 79 (q-axis voltage command value before correction), and inversely converts this value (q-axis voltage command value V _q ^* _MG1) to dq. To the unit 88.

Next, the dq reverse conversion unit 88 performs dq reverse conversion on the d-axis voltage command value V _d ^* _MG1 and the q-axis voltage command value V _q ^* _MG1 using the magnetic pole position (angle) θ _MG1 of the motor generator 3. The three-phase (X phase, Y phase, Z phase) voltage output command values Vx ^* _MG1, Vy ^* _MG1, Vz ^* _MG1 are generated and output to the

PWM signal generators

89x, 89y, 89z of the respective phases. To do.

The

PWM signal generators

89x, 89y, 89z use the voltages V _DCx , V _DCy , V _DCz of the DC parts of the

inverters

16x, 16y, 16z, respectively, to output the voltage output command values Vx ^* _MG1, Vy ^* _MG1, Vz. ^* PWM signals PWM_X_cmd, PWM_Y_cmd, and PWM_Z_cmd corresponding to _MG1 are generated and output to the single-

phase inverters

16x, 16y, and 16z. Thereby, feedback control is performed so that the output current of the power converter 16 becomes a current corresponding to the d-axis current command value i _d ^* _MG1 and the q-axis current command value i _q ^* _MG1.

[Operation of power conversion device 1]
Next, an example of operation | movement of the power converter device 1 is demonstrated. Here, as shown in FIG. 2, the case where the power supply system 2 is an inboard power supply system will be described.

First, the speed reducer 8 is connected to the main engine and the propeller, the propeller is rotated via the speed reducer 8 by the power of the main engine, and the mechanical shaft 3a of the motor generator 3 connected to the speed reducer 8 is rotating. Explain the case.

First, when the motor generator 3 is operated in the generator operation mode, in the power conversion device 1, the rotating machine side power converter 16 functions as a converter, and the system side power converter 11 functions as an inverter. State (first operating state). At this time, under the control of the system side controller 12, the active power corresponding to the active power command value P ^* and the system side voltage angular velocity ω (frequency of the power system 2) is supplied from the system side power converter 11 to the power system. 2 is supplied. In addition, reactive power corresponding to the reactive power command value Q ^* and the system side voltage effective value V _g (voltage of the power system 2) at that time is supplied from the system side power converter 11 to the power system 2.

In this case, the load can be shared with another generator (for example, the generator 7) connected to the power supply system 2 or another power converter (not shown) having a droop according to the system side voltage angular velocity ω.

Moreover, the other generator (for example, generator 7) connected to the power supply system 2 can also be stopped. Therefore, even when an unexpected operation stop of the generator 7 occurs, power can be supplied to the power supply system 2. That is, the power system 2 in the ship can be operated independently only by the power supply from the power conversion device 1. In this case, the output power becomes equal to the power consumption of all the loads 4 connected to the power supply system 2. In addition, the steady-state deviation remains depending on the droop setting for fluctuations in the active power load and reactive power load, but the frequency (angular velocity) and voltage of the power supply system 2 are set values (angular velocity command value ω ^* , output voltage command value V _g ^* ). The magnitude of the deviation can be adjusted by setting such as droop.

Next, when the active power command value P ^* is changed from the overall control device 9 and the motor generator 3 is operated in the motor operation mode, in the power conversion device 1, the system-side power converter 11 functions as a converter. Then, the rotating machine side power converter 16 becomes an operating state (second operating state) in which it functions as an inverter. At this time, the active power corresponding to the active power command value P ^* and the system-side voltage angular velocity ω (frequency of the power supply system 2) is supplied from the power supply system 2 to the motor generator 3 by the control of the system-side controller 12. Supplied. Thereby, torque in the speed increasing direction can be applied to the propeller main shaft via the speed reducer 8.

Further, when the ship is navigating at low speed, the motor generator 3 is operated in the motor operation mode with the main engine stopped, and the ship is navigated by the electric power from the power supply system 2 as described above. it can.

As described above, the second operation in which the power conversion device 1 supplies the active power from the power supply system 2 to the motor generator 3 from the first operation state in which the active power is supplied from the motor generator 3 to the power supply system 2. when it is switched to the state or the like when it is switched vice versa, when it is changed active power command value P ^* operating condition is changed by the general control device 9, the active power command value P ^* is rotary machine side Since it is also input to the controller 17, feedforward control is performed so that the voltage of the power storage device 103 becomes the set value V ^* _{DC under} the control of the rotating machine side controller 17, and the voltage fluctuation of the power storage device 104 is minimized. can do.

In the power conversion device 1 of the present embodiment, even if the operation state is switched, for example, the active power command value P ^* is changed by the overall control device 9, the system side controller 12 makes the system side power converter 11 the same. Control is performed based on the control law, and the rotating machine side controller 17 is configured to control the rotating machine side power converter 11 based on the same control law. Therefore, the power conversion apparatus 1 as a whole also switches the control law. Without being controlled based on the same control law.

For example, even when the generator operation mode of the motor generator 3 and the operation mode of the motor operation mode are switched and the operation state of the power conversion device 1 is switched, the operation of the power conversion device 1 can be performed without changing the control law. It becomes possible. Moreover, also in the case of a critical stop of the main generator (for example, the generator 7 in FIG. 2), the power conversion device 1 can be operated without changing the control law. Further, when the power supply system 2 is connected to another power supply system (for example, a commercial power system), the power supply system 2 is connected to the other power supply system when disconnected from the other power supply system or from the disconnected state. Sometimes, the power conversion device 1 can be operated without changing the control law.

Then, the system-side power converter 11 is controlled to output power to the power supply system 2 on the assumption that the virtual generator is connected to the power supply system 2 instead of the system-side power converter 11. As a result, frequency control and voltage control similar to those of an actual generator can be performed, and even if a load fluctuation occurs in the power supply system 2, the power quality of the own system is stabilized in cooperation with the normal generator. Can be achieved. In addition, the power supply system 2 does not require operation of another generator, and only the system-side power converter 11 can generate a single operation.

As described above, the power conversion device 1 is always controlled based on the same control law without switching the control law by changing the operation state, and the power system 2 has the same frequency as the actual generator. Since the control and the voltage control are performed, the frequency and voltage of the power supply system 2 can be stabilized regardless of the operating state of the power conversion apparatus 1 and even if a load fluctuation occurs in the power supply system 2.

Further, the rotating machine side power converter 16 connected to the motor generator 3 is controlled so as to operate so that the voltage of the power storage device 103 becomes the DC voltage set value V ^* _DC . Thereby, the voltage of the power storage device 103 is maintained at the predetermined voltage V ^* _DC , and the generator simulation operation by the system-side power converter 11 can be stabilized. Further, since the same active power command value P ^* as that of the system side controller 12 is input to the q-axis current command value calculation unit 70 of the rotating machine side controller 17, the power storage is performed even when the active power command value P ^* is changed. It is possible to satisfactorily maintain the set value V ^* _{DC while} suppressing fluctuations in the voltage of the device 103 as much as possible.

In the governor model 50 of the system controller 12, the high-pass filter unit 56 may not include the limiter 57. In this case, when power is supplied from the power supply system 2 to the motor generator 3, the output of the high-pass filter unit 56 becomes zero in a steady state, and the active power supplied by the active power command value P ^* follows. It becomes possible. In addition, during a transition such as a change in the active power command value P ^* , the output of the high-pass filter unit 56 varies from zero, so that it is possible to share the load with other generators connected to the power supply system 2. it can.

Further, when the high-pass filter unit 56 includes the limiter 57 as in the present embodiment, the limit range of the limiter 57 is maintained even in a steady state when power is supplied from the power supply system 2 to the motor generator 3. Since the deviation of the angular velocity in the part exceeding the value is output from the high-pass filter unit 56, it is possible to share the load with other generators connected to the power supply system 2. Even when another generator connected to the power supply system 2 is tripped or lost, the governor loop functions with a frequency deviation (angular velocity deviation) that exceeds the limit range of the limiter 57, and the system frequency beyond that. In addition, the power system 2 can be stabilized by determining the system frequency by the generator model.

Further, the high pass filter unit 56 may not be provided. In this case, since the deviation of the angular velocity, which is the output of the adder / subtractor 55, is input to the adder / subtractor 54, the load sharing with other generators connected to the power supply system 2 can be performed at all times.

From the above description, many modifications and other embodiments of the present invention are apparent to persons skilled in the art. Accordingly, the foregoing description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The details of the structure and / or function may be substantially changed without departing from the spirit of the invention.

The present invention is useful as a power converter that can stabilize the frequency and voltage of the power supply system regardless of the operating state of the power converter.

DESCRIPTION OF SYMBOLS 1 Power converter 2 AC power supply system 3 Motor generator 11 System side power converter 12 System side controller 13 Voltage detection part 14 Current detection part 16 Rotation machine side power converter 17 Rotation machine side controller 18 Voltage detection part 20 PWM Conversion unit 30 Generator model 40 AVR model 50 Governor model 51 Adder / subtracter (active power deviation calculation unit)
52 Droop block (calculation unit)
53 Low-pass filter section (calculation section)
54 Adder / Subtracter
55 Adder / Subtractor (Angular Velocity Deviation Calculator)
56 High-pass filter section (filter section)
57 Upper / Lower Limiter (Limiting means)
58 Temporary delay filter unit 59 Adder / Subtractor 60 Integrator 101 System side conversion device 102 Rotating machine side conversion device 103 Power storage device 104 DC wiring

Claims

A power converter connected between a power system and a motor generator,
A system-side converter connected to the power supply system;
A rotating machine side converter connected to the motor generator;
A power storage device connected to a DC wiring connecting the system side conversion device and the rotating machine side conversion device,
The system side conversion device is:
A first system side conversion operation for converting DC power input from the power storage device into AC power and outputting the AC power, and AC power input from the power supply system is converted into DC power and the power storage device A grid-side power converter configured to alternatively perform a second grid-side conversion operation to be output to
A virtual synchronous generator that can operate as an electric motor instead of the system-side power converter using the measured values of the AC voltage and the AC current that the system-side power converter outputs to the power system. By operating the grid-side power converter as the virtual synchronous generator with respect to the power supply system, assuming that the grid-side power converter is connected to the grid, the grid-side power converter is connected to the grid-side power converter based on the same control law. A system-side controller that performs one system-side conversion operation and the second system-side conversion operation;
The rotating machine side converter is
A first rotating machine side conversion operation for converting AC power input from the motor generator into DC power and outputting the DC power, and converting DC power input from the power storage device into AC power A rotating machine side power converter configured to alternatively perform a second rotating machine side conversion operation to be output to the motor generator;
Based on the same control law, the rotating machine side power converter performs the first rotating machine side converting operation and the second rotating machine side converting operation, and the first rotating machine side converting operation and A power converter, comprising: a rotary machine side controller that causes each of the second rotary machine side conversion operations to be performed so that a measurement voltage of the power storage device becomes a predetermined voltage.
The system controller is
A governor model for calculating an internal phase difference angle of the virtual synchronous generator;
Based on the deviation of the reactive power that the grid-side power converter outputs to the power system with respect to the reactive power command value, and the deviation of the AC voltage that the grid-side power converter outputs to the power system with respect to the output voltage command value An AVR model for calculating an internal induced voltage of the virtual synchronous generator;
A generator model that calculates a current command value corresponding to the output current of the virtual synchronous generator based on the internal phase difference angle calculated by the governor model and the internal induced voltage calculated by the AVR model;
A voltage command value for making a deviation between a current command value calculated by the generator model and a feedback value of an alternating current output to the power system zero is calculated, and the voltage command value is converted into a PWM signal. And a PWM converter that outputs to the grid-side power converter,
The governor model is
An angular velocity deviation calculating unit that calculates and outputs an angular velocity deviation of an AC voltage output to the power supply system by the grid-side power converter with respect to an angular velocity command value;
An active power deviation calculating unit that calculates a deviation of active power output to the power supply system by the grid-side power converter with respect to an active power command value;
A calculator that outputs a value obtained by multiplying the deviation calculated by the active power deviation calculator by a predetermined gain and performing a first-order lag calculation;
A subtractor for subtracting the output of the angular velocity deviation calculation unit from the output of the calculation unit;
The power converter according to claim 1, further comprising an integrator that integrates an output of the subtractor to calculate the internal phase difference angle.
The system controller is
An angular velocity deviation calculating unit that calculates an angular velocity deviation of an AC voltage output to the power supply system by the grid-side power converter with respect to an angular velocity command value;
A filter unit that performs a first-order lag calculation on the deviation, subtracts the value subjected to the first-order lag calculation from the deviation, and outputs the value;
An active power deviation calculating unit that calculates the deviation of the active power with respect to the active power command value;
The system-side power converter is configured to operate as the virtual synchronous generator for the power supply system based on the output value of the filter unit and the deviation calculated by the active power deviation calculation unit. Item 4. The power conversion device according to Item 1.
The system controller is
A governor model for calculating an internal phase difference angle of the virtual synchronous generator;
Based on the deviation of the reactive power that the grid-side power converter outputs to the power system with respect to the reactive power command value, and the deviation of the AC voltage that the grid-side power converter outputs to the power system with respect to the output voltage command value An AVR model for calculating an internal induced voltage of the virtual synchronous generator;
A generator model that calculates a current command value corresponding to the output current of the virtual synchronous generator based on the internal phase difference angle calculated by the governor model and the internal induced voltage calculated by the AVR model;
A voltage command value for making a deviation between a current command value calculated by the generator model and a feedback value of an alternating current output to the power system zero is calculated, and the voltage command value is converted into a PWM signal. And a PWM converter that outputs to the grid-side power converter,
The governor model is
An angular velocity deviation calculating unit that calculates an angular velocity deviation of an AC voltage output to the power supply system by the grid-side power converter with respect to an angular velocity command value;
A filter unit that performs a first-order lag calculation on the deviation, subtracts the value subjected to the first-order lag calculation from the deviation, and outputs the value;
An active power deviation calculating unit that calculates a deviation of active power output to the power supply system by the grid-side power converter with respect to an active power command value;
A calculator that outputs a value obtained by multiplying the deviation calculated by the active power deviation calculator by a predetermined gain and performing a first-order lag calculation;
A subtractor for subtracting the output of the filter unit from the output of the arithmetic unit;
The power converter according to claim 1, further comprising an integrator that integrates an output of the subtractor to calculate the internal phase difference angle.
The power converter according to claim 3 or 4, wherein the filter unit is configured to include a limiting unit configured to limit a value obtained by performing the first-order lag calculation within a predetermined limit range.
The system controller is
An active power command value is input from the outside, and the grid-side power is supplied so that active power corresponding to the active power command value is supplied from the power storage device to the power supply system or from the power storage device to the power supply system. Configured to control the transducer,
The rotating machine side controller is:
The active power command value input to the system controller is input, and the active power according to the active power command value and the active power according to the deviation of the measured voltage of the power storage device with respect to the predetermined voltage are added together The rotating electric machine-side power converter is configured to be controlled so that the active power thus supplied is supplied from the motor generator to the power storage device or from the power storage device to the motor generator. The power conversion device according to any one of 5.