WO2020186688A1 - 单相逆变器并联控制方法、控制系统及逆变器 - Google Patents

单相逆变器并联控制方法、控制系统及逆变器 Download PDF

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Publication number
WO2020186688A1
WO2020186688A1 PCT/CN2019/101272 CN2019101272W WO2020186688A1 WO 2020186688 A1 WO2020186688 A1 WO 2020186688A1 CN 2019101272 W CN2019101272 W CN 2019101272W WO 2020186688 A1 WO2020186688 A1 WO 2020186688A1
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output
phase
coordinate system
current
voltage
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PCT/CN2019/101272
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English (en)
French (fr)
Inventor
张波
孙庆文
赵俊博
刘云龙
邢学彬
王聪聪
陈玉飞
黎梅云
纪文东
朱真宗
毛涌捷
王珅
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中车青岛四方车辆研究所有限公司
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Priority to RU2021103843A priority Critical patent/RU2756177C1/ru
Priority to EP19919652.8A priority patent/EP3813245B1/en
Priority to JP2021515549A priority patent/JP7007522B2/ja
Publication of WO2020186688A1 publication Critical patent/WO2020186688A1/zh
Priority to US17/157,317 priority patent/US11101741B2/en

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    • 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
    • H02M1/36—Means for starting or stopping converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • 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
    • H02M1/0012—Control circuits using digital or numerical techniques
    • 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
    • H02M1/0067—Converter structures employing plural converter units, other than for parallel operation of the units on a single load
    • H02M1/007—Plural converter units in cascade
    • 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
    • H02M1/32—Means for protecting converters other than automatic disconnection
    • H02M1/325—Means for protecting converters other than automatic disconnection with means for allowing continuous operation despite a fault, i.e. fault tolerant converters
    • 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
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac 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
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac 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
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac 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 with automatic control of output voltage or current, e.g. switching regulators
    • 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
    • H02M7/493—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 the static converters being arranged for operation in parallel
    • 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
    • H02M7/505—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 using devices of a thyratron or thyristor type requiring extinguishing means
    • H02M7/515—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 using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only
    • H02M7/521—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 using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only in a bridge configuration
    • 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
    • H02M7/53—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 using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H02M7/53871—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
    • H02J2310/40—The network being an on-board power network, i.e. within a vehicle

Definitions

  • This application belongs to the field of power electronics technology, and relates to inverter technology, and specifically to a parallel control method for single-phase inverters, a control system and an inverter.
  • a diesel locomotive is a locomotive that uses an internal combustion engine as the motive force and drives the wheels through a transmission device. So far, China still has a large number of diesel locomotives in use. Diesel locomotives use generator cars to provide 3AC380V power supply for the entire train, and supply power for air conditioning, lighting and other systems. Due to the shortcomings of high operating costs and environmental pollution, generator cars are currently being gradually transformed into electric locomotives. The transformed electric locomotives draw power from the catenary to supply power to all loads. Due to the existence of the phase separation zone, the train is in a non-electric state when the phase separation zone is passed, and the air-conditioning, lighting and other systems cannot work normally. In order to maintain the lighting requirements for passengers during the phase separation zone, a battery and off-car power supply are installed to pass through the phase separation zone. The battery and single-phase inverter supply power to the lighting system to ensure uninterrupted lighting of passengers and avoid problems such as passenger panic.
  • the modified single-phase inverters of generator cars are used as uninterruptible power supplies to continuously supply power to the lighting system during the operation of the vehicle, which requires long hours of work, and the reliability requirements of the lighting system are improved.
  • the dual-inverter module mutual redundancy scheme is generally adopted. Two single-phase inverter modules are installed in the box. Under normal circumstances, one inverter module works and the other module is on standby; when one module fails, The other module starts and performs mutual backup through the contactor, and continues to supply power to the load.
  • This method can improve the stability of the lighting system to a certain extent, but when the two modules are switched between standby modules, there is a delay between the start of the standby module and the pickup of the mutual standby contactor. During this period, the single-phase inverter has no output. , The normal operation of the lighting system cannot be maintained, and it is difficult to ensure uninterrupted passenger lighting, and there will still be problems such as passenger panic caused by lighting interruption.
  • This application addresses the above-mentioned problems such as a delay in the mutual standby switching of single-phase inverters, resulting in no output of the single-phase inverter and discontinuous power supply, and provides a parallel control of single-phase inverters with uninterrupted power supply during the switching process.
  • Method, control system and inverter
  • this application provides a single-phase inverter parallel control method, which is used to control the output voltage of each single-phase inverter in a single-phase inverter parallel system including multiple single-phase inverters. And output current, the output currents of multiple single-phase inverters are equally divided, the specific steps are:
  • Close-loop control is performed on the d-axis DC component and the q-axis DC component in the dq coordinate system to obtain the command value of the output voltage in the dq axis;
  • the control signal SPWM pulse for regulating the output voltage of the single-phase inverter is modulated and generated.
  • a second-order generalized integrator is used to reconstruct the collected voltage variables and current variables.
  • the input of the second-order generalized integrator is Vin
  • the two outputs are Vo and qVo respectively.
  • the output Vo and the input Vin phase And the amplitude is the same
  • the output qVo and the input Vin have the same amplitude
  • the transfer function between the two output quantities and the input quantity is:
  • k is the attenuation coefficient
  • ⁇ 0 is the resonance angular frequency
  • T is the system sampling period
  • x(k) is the input of the second-order generalized integrator in this period
  • x(k-1) is the input of the second-order generalized integrator in the previous period
  • x(k-2) is two
  • y 01 (k) is the output of the second-order generalized integrator in the current period
  • y o1 (k-1) is the output of the second-order generalized integrator in the previous period
  • y o1 (k- 2) is the output of the first two periods of the second-order generalized integrator
  • y o2 (k) is the output of the second-order generalized integrator in this period
  • y 02 (k-1) Is the output of the second-order generalized integrator in the previous period
  • y 02 (k-2) is the output of the second-order generalized integrator in the first two periods
  • the current period output y 01 (k) of the second-order generalized integrator and the current period output y o2 (k) of the second-order generalized integrator are the final discrete orthogonal components of the second-order generalized integrator.
  • the orthogonal component in the ⁇ , ⁇ coordinate system is transformed into the DC component in the d, q coordinate system through PARK transformation, and the transformation formula is:
  • U d is the d-axis DC voltage component in the dq coordinate system
  • U q is the q-axis DC voltage component in the dq coordinate system
  • U ⁇ is the ⁇ -axis orthogonal voltage component in the ⁇ coordinate system
  • U ⁇ is ⁇ The ⁇ -axis orthogonal voltage component in the coordinate system.
  • the phase of the AC bus is detected by a phase-locked loop, and the target value of the q-axis DC component in the dq coordinate system of the PI controller is used to control the output to zero, so that multiple single-phase inverters output in parallel have the same phase;
  • the steps are: collect the AC bus voltage, construct the orthogonal component of the 90° delay with the bus voltage in the ⁇ coordinate system through the second-order generalized integrator, and transform the orthogonal vector in the ⁇ coordinate system into the dq coordinate system through the PARK transformation Calculate the d-axis DC voltage component U d in the dq coordinate system and the q-axis DC voltage component U q in the dq coordinate system.
  • the output voltage and output current of each single-phase inverter at the current time and the previous time are collected, and the instantaneous useful power P and instantaneous reactive power Q are calculated.
  • the instantaneous useful power P and instantaneous reactive power Q are calculated as :
  • U k is the output voltage sampling value at the current moment
  • I k is the output current sampling value at the current moment
  • U k-1 is the output voltage sampling value at the previous moment
  • I k-1 is the output current sampling value at the previous moment
  • x 2 ⁇ /N
  • N is the ratio of the power frequency period to the sampling period.
  • each single-phase inverter detects its own output active power and reactive power.
  • the output active power of the single-phase inverter with the leading phase is greater than the output active power of the single-phase inverter with the lagging phase, and each single-phase inverter is controlled by droop control.
  • the output frequency of a single-phase inverter makes the output phases of multiple single-phase inverters the same, and the active power is equally divided, and the output amplitude of each single-phase inverter is controlled by droop control to make multiple single-phase inverters
  • the output voltage amplitude of the converter is the same, and the reactive power is divided equally; the droop corresponding relationship of the droop control is:
  • f is the output frequency
  • f 0 is the initial frequency
  • k P is the active power droop coefficient
  • V is the output voltage amplitude
  • V 0 is the initial voltage amplitude
  • k Q is the reactive power droop coefficient
  • the droop coefficient of the droop control is corrected, and the corrected droop corresponding relationship is:
  • K f is the frequency correction coefficient
  • K V is the amplitude correction coefficient
  • the voltage and current double-loop control is used to perform closed-loop control on the d-axis DC component and the q-axis DC component in the dq coordinate system to obtain the command value of the output voltage in the dq axis.
  • the specific steps are: d-axis voltage loop reference command The difference between the value U dref and the voltage output value U d is entered into the d-axis voltage loop PI controller.
  • the output of the d-axis voltage loop PI controller is used as the command reference value I dref of the d-axis current loop, which is combined with the actual current output value I d After the difference, enter the d-axis current loop PI controller; the q-axis voltage loop reference command value U qref and the voltage output value U q enter the q-axis voltage loop PI controller after the difference, and the output of the q-axis voltage loop PI controller is used as the q axis
  • the command reference value I qref of the current loop is different from the actual current output value I q and then enters the q-axis current loop PI controller; the d-axis current loop output value and the q-axis current loop output value can be cross-decoupled to obtain the output voltage The command value in the dq axis.
  • the output voltage command value in the dq coordinate system is transformed into the output voltage command value in the ⁇ coordinate system through IPARK transformation, and the output voltage command value in the ⁇ and ⁇ coordinate systems is transformed into the output voltage command value in the abc coordinate system through the ICLARKE transformation.
  • Output voltage command value is transformed into the output voltage command value in the dq coordinate system through IPARK transformation, and the output voltage command value in the ⁇ and ⁇ coordinate systems is transformed into the output voltage command value in the abc coordinate system through the ICLARKE transformation.
  • the control signal SPWM pulse for adjusting the output voltage of the single-phase inverter is generated.
  • the sine modulation waves U a and U a are compared with the triangle wave U c to obtain two SPWM waves U g1 and U g3, U g1 SPWM wave drive signal as each of the single-phase inverter switch Q1, U g1 corresponding reverse signal U g2 as each of the single-phase inverter driving signal of the switching transistor Q2, as SPWM wave U g3
  • the drive signal of each single-phase inverter switch tube Q3, the reverse signal U g4 corresponding to U g3 is used as the drive signal of each single-phase inverter switch tube Q4, and the sinusoidal modulation wave is sampled at the peak or valley position of the carrier wave ,
  • Use the comparison module of the digital signal processor to generate four-channel control signal SPWM pulses that regulate the output voltage of the single-phase inverter.
  • this application also provides a parallel control system for single-phase inverters, including:
  • each single-phase inverter It is used to control the output frequency of each single-phase inverter so that the output phases of multiple single-phase inverters are the same, and the active power is divided equally, and the output amplitude of each single-phase inverter is controlled so that multiple single-phase inverters have the same output phase.
  • a control pulse generating unit for modulating and generating a control signal SPWM pulse for adjusting the output voltage of the single-phase inverter according to the output voltage command value in the abc coordinate system.
  • the one-way inverter parallel control system specifically includes:
  • Voltage and current reconstruction device that is, a device that uses a second-order generalized integrator to reconstruct the voltage and current variables of the collected voltage and current variables;
  • PARK transformation device which uses PARK transformation to transform the orthogonal component in the ⁇ coordinate system into the DC component in the dq coordinate system;
  • Power calculation device that is, a device that uses the voltage and current at the current moment and the previous moment to calculate instantaneous active power and instantaneous reactive power
  • Phase-locked loop device that is, the phase-locked loop is used to detect the phase of the AC bus, and the target value of the q-axis DC component in the d and q coordinate system of the control output is zero, so that multiple single-phase inverters output in parallel are of the same phase. ;
  • Droop control device that is, a device that uses a synchronous start droop control method to control the output frequency for active power sharing and control the output amplitude for reactive power sharing;
  • Voltage and current double-loop control device that is, a device that uses voltage and current double-loop control for closed-loop control to obtain the command value of the output voltage in the dq axis;
  • Coordinate transformation device which uses IPARK transformation to transform the output voltage command value in the dq coordinate system into the output voltage command value in the ⁇ coordinate system, and uses ICLARKE transformation to transform the output voltage command value in the ⁇ coordinate system into the abc coordinate system
  • IPARK transformation to transform the output voltage command value in the dq coordinate system into the output voltage command value in the ⁇ coordinate system
  • ICLARKE transformation to transform the output voltage command value in the ⁇ coordinate system into the abc coordinate system
  • the single-pole frequency doubling modulation unit is a control unit that modulates and generates a control signal SPWM pulse for adjusting the output voltage of the single-phase inverter according to the output voltage command value in the abc coordinate system.
  • the collected output voltage and output current of each single-phase inverter include: the output voltage and output current at the current moment, and the output voltage and output current at the previous moment.
  • it also includes a device for correcting the droop coefficient of the output frequency and the output amplitude during the parallel starting process.
  • the present application also provides an inverter, including a plurality of single-phase inverters connected in parallel, all single-phase inverters have the same structure, and the inverter also includes single-phase inverters connected in parallel.
  • the boost chopper circuit and the inverter circuit of each single-phase inverter are connected to the control unit of the parallel control system of the single-phase inverter.
  • This application controls multiple single-phase inverters to start working in parallel at the same time. After a single-phase inverter fails, any other single-phase inverter automatically assumes its load, which overcomes the restart delay problem of the mutual backup module , Realize the real sense of uninterrupted power supply, high reliability, and will not affect the driving.
  • This application uses a second-order generalized integrator to reconstruct the collected output voltage and output current, and adaptive filtering is performed while constructing the quadrature component, which improves the anti-interference ability of the system, has high phase-locking accuracy, and effectively suppresses The inrush current at the moment of grid connection.
  • This application uses a new instantaneous power calculation method to calculate the output power.
  • the instantaneous active power and instantaneous reactive power can be calculated using only the sampled values at the two preceding and subsequent moments.
  • the integration unit is not required, which overcomes the integration delay in traditional power calculations. The impact of time on stability and dynamic performance. After the load changes, the instantaneous power can be obtained in only one cycle, which reduces the calculation delay and has good dynamic tracking.
  • the use of the new instantaneous power calculation method does not require real-time trigonometric function calculation, which reduces the calculation amount of the control algorithm and occupies less DSP resources.
  • This application adopts the synchronous starting droop control strategy, which revises the droop coefficient during the parallel start process, enhances the droop effect, can quickly suppress the grid-connected impulse current, solves the problem of weak droop control during the starting process, and expands The working range of the parallel system improves the success rate of parallel starting.
  • This application adopts a single-pole frequency multiplication modulation method to make the switching frequency of the four switching tubes of the single-phase inverter the same as the carrier frequency, so that the inverter output pulse frequency is increased without changing the switching frequency of the power device Doubled, greatly reducing the volume and weight of filters such as reactors and capacitors, and reducing the cost of single-phase inverters.
  • FIG. 1 is a schematic diagram of the topological structure of the main circuit of a single-phase inverter according to an embodiment of the application;
  • FIG. 2 is a block diagram of the structure of a single-phase inverter parallel system according to an embodiment of the application;
  • FIG. 3 is a schematic diagram of the structure of a second-order generalized integrator according to an embodiment of the application.
  • FIG. 5 is a schematic diagram of a phase-locked loop based on a second-order generalized integrator according to an embodiment of the application;
  • Fig. 6 is a structural block diagram of a single-phase inverter control system according to an embodiment of the application.
  • the single-phase inverter involved is composed of a boost chopper circuit and an inverter circuit, and the main circuit topology is shown in FIG. 1.
  • the boost chopper circuit is composed of boost reactor L1, diode D1 and switch tube Q5, and boosts the battery input DC48V to DC200V.
  • the inverter circuit includes an inverter bridge composed of four switching tubes Q1, Q2, Q3 and Q4, and a filter composed of reactor L2 and capacitor C2.
  • the single-phase inverter finally isolates and boosts the voltage through the transformer T1 and outputs it to the outside. After inverting DC200V to AC220V, it provides single-phase AC power to the train.
  • the single-phase inverter parallel system involved includes at least two parallel single-phase inverters, that is, it may include two, three, four or more parallel single-phase inverters, It depends on actual requirements. Taking two single-phase inverters connected in parallel as an example, refer to the single-phase inverter parallel system shown in Figure 2. The two single-phase inverters included in the system have the same structure. Regardless of primary and secondary, parallel operation.
  • the embodiment of the application provides a parallel control method for single-phase inverters, which collects the output voltage and output current of the single-phase inverter, and transforms the voltage and current in the static abc coordinate system to the dq coordinate system through reconstruction and coordinate transformation.
  • To realize the decoupling of voltage and current obtain the command value of the output voltage in the dq axis through closed-loop control, and transform the output voltage command value in the dq coordinate system into the output voltage command value in the abc coordinate system, according to the abc coordinate system
  • the output voltage command value is modulated to generate a modulation wave to control the switching of the power device; the specific steps are:
  • the above-mentioned parallel control method for single-phase inverters of this application controls multiple single-phase inverters to start working in parallel. After one single-phase inverter fails, any other single-phase inverter automatically assumes its load, which overcomes The restart delay problem of the mutual backup module realizes the real uninterrupted power supply with high reliability and will not affect the driving.
  • a second-order generalized integrator is used to reconstruct the collected voltage variables and current variables. See FIG. 3, the input of the second-order generalized integrator Is Vin, and the two outputs are Vo and qVo respectively. Among them, the output Vo and the input Vin have the same phase and amplitude, and the output qVo has the same amplitude as the input Vin, and the phase lags 90°.
  • the transfer between the two outputs and the input The function is:
  • D(s) is the transfer function between output Vo and input Vin
  • Q(s) is the transfer function between output qVo and input Vin
  • k is the attenuation coefficient
  • ⁇ 0 is the resonance angular frequency
  • T is the system sampling period
  • x(k) is the input of the second-order generalized integrator in this period
  • x(k-1) is the input of the second-order generalized integrator in the previous period
  • x(k-2) is two
  • y 01 (k) is the output of the second-order generalized integrator in the current period
  • y o1 (k-1) is the output of the second-order generalized integrator in the previous period
  • y o1 (k- 2) is the output of the first two periods of the second-order generalized integrator
  • y o2 (k) is the output of the second-order generalized integrator whose current period is 90° behind y 01 (k)
  • y 02 (k-1) is two
  • the output of the first-order generalized integrator is 90° behind the phase of y o1 (k-1) in the previous period
  • y 02 (k-2) is the first two periods of the second-order generalized integrator that
  • the output y 01 (k) of the second-order generalized integrator in the current period and the output y o2 (k) of the second-order generalized integrator with a phase lag of 90° in the current period are the discretized orthogonal components finally output by the second-order generalized integrator.
  • the second-order generalized integrator is used to reconstruct the output voltage and output current, and the quadrature component with a phase lag of 90° is virtualized, which overcomes the problems of filter delay and poor dynamic response ability in the construction of the quadrature virtual signal in the traditional method.
  • the reconstruction method using the second-order generalized integrator can adaptively filter the collected data while constructing the orthogonal virtual quantity, and improve the anti-interference ability of the system.
  • the constructed quadrature virtual quantity can realize the decoupling control of the dq axis and provide the basis for the subsequent phase-locked loop, eliminate the influence of unfavorable factors such as DC component on the phase-locking accuracy, and effectively suppress the inrush current at the time of grid connection.
  • step S3 the orthogonal component in the ⁇ coordinate system is transformed into the direct current component in the dq coordinate system through PARK transformation, and the transformation formula is:
  • U d is the d-axis DC voltage component in the dq coordinate system
  • U q is the q-axis DC voltage component in the dq coordinate system
  • U ⁇ is the ⁇ -axis orthogonal voltage component in the ⁇ coordinate system
  • U ⁇ is ⁇ The ⁇ -axis orthogonal voltage component in the coordinate system.
  • the current is transformed by PARK to obtain the d-axis current component and the q-axis current component in the dq coordinate system.
  • the formula for the current transformation is the same as above, and will not be listed separately.
  • step S4 the output voltage and output current of each single-phase inverter at the current time and the previous time are collected, and the instantaneous useful power P and instantaneous reactive power are calculated.
  • Q Refer to Figure 4 for the calculation diagram.
  • the calculation formula of instantaneous useful power P and instantaneous reactive power Q is:
  • U k is the output voltage sampling value at the current moment
  • I k is the output current sampling value at the current moment
  • U k-1 is the output voltage sampling value at the previous moment
  • I k-1 is the output current sampling value at the previous moment
  • x 2 ⁇ /N
  • N is the ratio of the power frequency period to the sampling period.
  • step S5 the phase of the AC bus is detected by a phase-locked loop, and the target value of the q-axis DC component in the dq coordinate system of the bus output is controlled by the PI controller to zero ,
  • the phases of multiple single-phase inverters output in parallel are the same; refer to Figure 5, the specific steps are: collect the AC bus voltage, construct the second-order generalized integrator and delay the bus voltage by 90° in the ⁇ coordinate system.
  • step 2 use PARK transformation to transform the orthogonal vector in the ⁇ coordinate system into the DC component in the dq coordinate system, and calculate the d-axis DC voltage component U d and dq coordinates of the main phase voltage in the dq coordinate system
  • step 3 For the q-axis DC voltage component U q under the system, refer to step 3; when the output q-axis DC voltage component U q of the single-phase inverter is equal to zero, the output phase of the single-phase inverter is consistent with the bus phase, which is controlled by the PI controller
  • the target value of the q-axis DC voltage component U q of the bus output is zero, and the bus phase is obtained to form a closed-loop adjustment to make the phases of multiple single-phase inverters output in parallel the same.
  • phase of the AC bus is detected by the phase-locked loop, and the phase of the one-way inverter is controlled to be the same as the phase of the bus, so that the phases of multiple single-phase inverters output in parallel are the same, which reduces the inrush current at the moment of grid connection.
  • each single-phase inverter detects its own output active power and reactive power, and the output active power of the single-phase inverter with the leading phase is greater than the phase The lagging single-phase inverter outputs active power.
  • each single-phase inverter is controlled by droop control so that the output phases of multiple single-phase inverters are the same, and the active power is equally divided;
  • the output amplitude of each single-phase inverter is controlled by droop control so that The output voltage amplitudes of multiple single-phase inverters are the same, and the reactive power is divided equally;
  • the droop corresponding relationship of the droop control is:
  • f is the output frequency
  • f 0 is the initial frequency
  • k P is the active power droop coefficient
  • V is the output voltage amplitude
  • V 0 is the initial voltage amplitude
  • k Q is the reactive power droop coefficient.
  • step S6 during the parallel startup of multiple single-phase inverters, the droop coefficient of the droop control is corrected, and the corrected droop corresponding relationship is :
  • K f is the frequency correction coefficient
  • K V is the amplitude correction coefficient
  • U ref is the target voltage value
  • U is the current voltage value
  • the main circuit delay is basically the same, and it is directly connected to the grid during the soft-start process without phase lock during starting.
  • the output voltage is very small, resulting in low output active power and reactive power, and the drooping effect is relatively weak.
  • the output current of the single-phase inverter is not good, and it is easy to cause output oscillation and cause the parallel system to collapse.
  • This application adopts optimized synchronous start droop control, which can be compatible with soft start and normal operating conditions.
  • the droop coefficient can be corrected, the droop effect can be enhanced, the grid-connected impulse current can be quickly suppressed, and the system can be reliably started.
  • step S7 the voltage and current double-loop control is used to perform closed-loop control on the d-axis DC component and the q-axis DC component in the dq coordinate system, respectively, to obtain the output voltage on the dq axis
  • the specific steps are as follows: the difference between the d-axis voltage loop reference command value U dref and the voltage output value U d enters the d-axis voltage loop PI controller, and the output of the d-axis voltage loop PI controller is used as the d-axis current
  • the command reference value I dref of the loop enters the d-axis current loop PI controller after the difference with the actual current output value I d ;
  • the q-axis voltage loop reference command value U qref and the voltage output value U q enter the q-axis voltage loop after the difference PI controller, the output of the q-axis voltage loop PI controller is used
  • the voltage outer loop realizes AC output voltage stability, and the current inner loop increases the system response speed on the one hand, and on the other hand has the function of current limiting.
  • the above-mentioned d-axis voltage loop reference command value U dref is determined by those skilled in the art according to the technical requirements of the unidirectional inverter, and the q-axis voltage loop reference command value U qref is 0;
  • the above-mentioned voltage output The value U d and the voltage output value U q are respectively the d-axis DC voltage component and the q-axis DC voltage component obtained through step S3 transformation;
  • the above-mentioned actual current output value I d and actual current output value I q are respectively obtained through step S3 transformation D-axis current component and q-axis current component.
  • step S8 the output voltage command value in the dq coordinate is transformed into the output voltage command value in the ⁇ coordinate system through the IPARK transformation, and the ⁇ coordinate is transformed through the ICLARKE transformation
  • the output voltage command value under the system is transformed into the output voltage command value under the abc coordinate system.
  • the transformation formula of IPARK transformation is:
  • U ⁇ is the output voltage command value component of the ⁇ axis in the ⁇ coordinate system
  • U ⁇ is the output voltage command value component of the ⁇ axis in the ⁇ coordinate system
  • U d is the output voltage command value of the d axis in the dq coordinate system
  • U q is the output voltage command value of the q axis in the dq coordinate system.
  • U a is the output voltage command value component of the a-axis in the abc coordinate system
  • U b is the output voltage command value component of the b-axis in the abc coordinate system
  • U c is the output voltage command value component of the c-axis in the abc coordinate system .
  • step S9 according to the output voltage command value in the abc coordinate system, a control signal SPWM pulse for adjusting the output voltage of the single-phase inverter is generated.
  • the specific steps are as follows: Output voltage command value in abc coordinate system, construct two sine modulation waves U a and U b with the same amplitude and opposite phase.
  • the two sine modulation waves share a triangle wave U c as the carrier, and the sine modulation waves U a and U b SPWM wave U g1 to give two U g3 and the comparison with the triangular wave respectively U c, U g1 SPWM wave as each of the single-phase inverter drive signal switch Q1, U g1 corresponding reverse signal as each of the single U g2
  • the driving signal of the switching tube Q2 of the phase inverter, the SPWM wave U g3 is used as the driving signal of each single-phase inverter switching tube Q3, and the reverse signal U g4 corresponding to U g3 is used as the switching tube Q4 of each single-phase inverter
  • the sine modulated wave is sampled at the peak or valley position of the carrier wave, and the comparison module of DSP is used to generate the four-channel control signal SPWM pulse for adjusting the output voltage of the single-phase inverter, and drive the four switching tubes Q1, Q2, Q3, Q4.
  • the single-pole frequency doubling modulation method makes the switching frequency of the four switching tubes of the single-phase inverter the same as the carrier frequency. Without changing the switching frequency of the power device, the output pulse frequency of the single-phase inverter is doubled, greatly The volume and weight of filters such as reactors and capacitors are reduced, and the cost of single-phase inverters is reduced.
  • the embodiment of the present application further provides a parallel control system for single-phase inverters, including:
  • each single-phase inverter It is used to control the output frequency of each single-phase inverter so that the output phases of multiple single-phase inverters are the same, and the active power is divided equally, and the output amplitude of each single-phase inverter is controlled so that multiple single-phase inverters have the same output phase.
  • a control unit for modulating and generating a control signal SPWM pulse for adjusting the output voltage of the single-phase inverter according to the output voltage command value in the abc coordinate system.
  • the above-mentioned single-phase inverter parallel control system of this application controls multiple single-phase inverters in parallel to start working simultaneously. After one single-phase inverter fails, any other single-phase inverter automatically assumes its load, which overcomes The restart delay problem of the mutual backup module realizes the real uninterrupted power supply with high reliability and will not affect the driving.
  • the collected output voltage and output current of each single-phase inverter include: the output voltage and output current at the current moment, and the output at the previous moment Voltage and output current.
  • the instantaneous active power and instantaneous reactive power can be calculated by collecting the output voltage and output current at the current time and the previous time.
  • the integration unit is not required, which overcomes the stability and dynamics of the integration delay in the traditional power calculation. Performance impact. After a sudden load change, the instantaneous power can be obtained in only one cycle, which reduces the calculation delay and enables good dynamic tracking.
  • real-time trigonometric function calculation is not required in the calculation process, which reduces the calculation amount of the control algorithm and occupies less DSP resources.
  • the single-phase inverter control power and main power are both DC48V provided by the battery, and multiple single-phase inverters are powered on at the same time and start together. Since the single-phase inverters are exactly the same and the main circuit delay is basically the same, there is a phenomenon in which each single-phase inverter considers itself to be the first to start when starting. Under this working condition, multiple single-phase inverters are connected to the grid during direct soft-start without phase lock. During the soft-start process, due to the small output voltage, the output active power and reactive power are very small, and the drooping effect is relatively weak. The current sharing between multiple single-phase inverters is not good, and the output oscillation is easy to cause the parallel system to collapse .
  • the system also includes a droop for the output frequency and output amplitude during the parallel starting process
  • the coefficient correction device corrects the droop coefficient of the output frequency and the output amplitude during the parallel start process to enhance the droop effect and ensure the reliable start of the system.
  • the system includes:
  • the voltage and current reconstruction device is a device that uses a second-order generalized integrator to reconstruct the voltage and current variables collected.
  • the second-order generalized integrator is used to reconstruct the voltage and current, which not only overcomes the problems of filter delay and poor dynamic performance in the construction of orthogonal virtual signals in the traditional method, but also can adaptively filter the acquisition volume to improve the system's resistance. Interference ability.
  • the constructed orthogonal vector can not only realize the decoupling control of the d and q axes, but also provide the basis for the subsequent phase-locked loop, eliminate the influence of unfavorable factors such as DC component on the accuracy of the phase-locked loop, and effectively suppress the inrush current at the time of grid connection.
  • the PARK transformation device is a device that uses PARK transformation to transform the orthogonal component in the ⁇ coordinate system into the DC component in the dq coordinate system.
  • the power calculation device is a device that uses the voltage and current at the current moment and the previous moment to calculate instantaneous active power and instantaneous reactive power.
  • the instantaneous active power and instantaneous reactive power can be calculated by using the sampled values at the previous two moments, without the need for an integration unit, which overcomes the effect of integration delay on stability and dynamic performance in traditional power calculations. After a sudden load change, the instantaneous power can be obtained in only one cycle, which reduces the calculation delay and enables good dynamic tracking.
  • real-time trigonometric function calculation is not required in the calculation process, which reduces the calculation amount of the control algorithm and occupies less DSP resources.
  • Phase-locked loop device that is, the phase-locked loop is used to detect the phase of the AC bus, and the target value of the q-axis DC component in the d and q coordinate system of the control output is zero, so that multiple single-phase inverters output in parallel are of the same phase. .
  • the droop control device is a device that uses the synchronous start droop control method to control the output frequency for active power equalization and control the output amplitude for reactive power equalization. Synchronous start droop control is adopted to correct the droop coefficient of the output frequency and output amplitude during the parallel start process to enhance the droop effect and ensure the reliable start of the system.
  • the voltage and current double-loop control device is a device that uses voltage and current double-loop control for closed-loop control to obtain the command value of the output voltage in the dq axis.
  • Coordinate transformation device which uses IPARK transformation to transform the output voltage command value in the dq coordinate system into the output voltage command value in the ⁇ coordinate system, and uses ICLARKE transformation to transform the output voltage command value in the ⁇ coordinate system into the abc coordinate system
  • IPARK transformation to transform the output voltage command value in the dq coordinate system into the output voltage command value in the ⁇ coordinate system
  • ICLARKE transformation to transform the output voltage command value in the ⁇ coordinate system into the abc coordinate system
  • the single-pole frequency doubling modulation unit is a control unit that modulates and generates a control signal SPWM pulse for adjusting the output voltage of the single-phase inverter according to the output voltage command value in the abc coordinate system.
  • the single-pole frequency double modulation is adopted to double the output pulse frequency of the single-phase inverter without changing the switching frequency of the power device, greatly reducing the volume and weight of filters such as reactors and capacitors, and reducing the single-phase The cost of the inverter.
  • the application also provides an inverter, which includes a plurality of single-phase inverters connected in parallel, all single-phase inverters have the same structure, and the inverter further includes a single-phase inverter parallel control system, each Both the boost chopper circuit and the inverter circuit of the single-phase inverter are connected to the control unit of the parallel control system of the single-phase inverter.
  • the multiple single-phase inverters of this inverter are mutually redundant. Normally, multiple single-phase inverters start working at the same time, and one single-phase inverter supplies power to the load. When the single-phase inverter After the fault, any other single-phase inverter switches through the contactor and continues to supply power to the load.
  • the inverter including two parallel single-phase inverters as an example.
  • two single-phase inverters start working at the same time, and one single-phase inverter supplies power to the load.
  • another single-phase inverter performs mutual backup through the contactor and continues to supply power to the load. Since multiple single-phase inverters in parallel start at the same time, the networking time is shortened, and the starting reliability is high.
  • multiple single-phase inverters work at the same time, which overcomes the restart of the existing mutual backup module during the switching process The problem of time delay realizes the uninterrupted power supply of the power supply without affecting the driving.

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Abstract

一种单相逆变器并联控制方法、控制系统及逆变器，采集单相逆变器输出电压和输出电流，通过重构及坐标变换，将静止abc坐标系下的电压电流变换到dq坐标系，实现电压和电流的解耦，电流环的输出电压指令值经过坐标变换，将dq坐标系下的输出电压指令值变换为abc坐标系，根据abc坐标系下的输出电压指令值，调制生成调制波控制功率器件开关。控制多个单相逆变器并联同时启动工作，在一个单相逆变器故障后，其他任一单相逆变器自动承担其负载，克服了互备模块重启延时问题，实现了真正意义上的电源不间断供电，可靠性高，不会对行车产生影响。

Description

单相逆变器并联控制方法、控制系统及逆变器 技术领域
本申请属于电力电子技术领域，涉及逆变器技术，具体地说，涉及一种单相逆变器并联控制方法、控制系统及逆变器。
背景技术
内燃机车是以内燃机作为原动力，通过传动装置驱动车轮的机车。迄今为止，中国仍然保有大量的内燃机车进行使用，内燃机车采用发电车为全列提供3AC380V电源，为空调、照明等系统供电。由于发电车存在运行成本高、污染环境等缺点，目前正逐渐改造为电力机车，改造后的电力机车从接触网取电，为全列负载供电。由于分相区的存在，过分相区时列车处于无电状态，空调、照明等系统不能正常工作，为维持乘客过分相期间的照明要求，加装蓄电池及车下电源，在分相区内通过蓄电池和单相逆变器向照明系统供电，保证乘客照明不间断，避免引起乘客恐慌等问题。
与普通列车单相逆变器相比，发电车改造后的单相逆变器作为不间断电源，在车辆运行期间持续向照明系统供电，需要长时间工作，照明系统的可靠性要求提高。目前普遍采用双逆变器模块互备冗余的方案，在箱体内装有两个单相逆变器模块，正常情况下一个逆变器模块工作，另一个模块待机；当一个模块故障后，另一个模块起动并通过接触器进行互备，继续向负载供电。这种方式在一定程度上可以提高照明系统的稳定性，但在两个模块互备切换时，待机模块起动和互备接触器吸合均存在延时，在此期间单相逆变器没有输出，不能维持照明系统的正常工作，难以保证乘客照明不间断，仍然会存在因照明中断引起乘客恐慌等问题。
发明内容
本申请针对单相逆变器互备切换时存在延时导致单相逆变器没有输出造成供电不连续等上述问题，提供了一种切换过程中电源不间断供电的单相逆变器并联控制方法、控制系统及逆变器。
为了达到上述目的，本申请提供了一种单相逆变器并联控制方法，用于在包含多个单相逆变器的单相逆变器并联系统中控制各个单相逆变器的输出电压和输出电流，对多个单相逆变器的输出电流进行均分，其具体步骤为：
采集每个单相逆变器的输出电压和输出电流；
对采集的电压变量和电流变量进行重构，虚拟出与采集的电压变量和电流变量相位相差90°的正交虚拟量，模拟出单相逆变器并联系统在αβ坐标系下的正交分量；
将在αβ坐标系下的正交分量变换为dq坐标系下的直流分量；
计算瞬时有用功率P和瞬时无功功率Q；
检测交流母线相位，控制输出的dq坐标系下的q轴直流分量的目标值为零，使并联输出的多个单相逆变器相位相同；
控制每个单相逆变器的输出频率使多个单相逆变器的输出相位相同，进行有功功率的均分，控制每个单相逆变器的输出幅值使多个单相逆变器的输出电压幅值一致，进行无功功率的均分；
对dq坐标系下的d轴直流分量和q轴直流分量分别进行闭环控制，得到输出电压在dq轴中的指令值；
将在dq坐标下的输出电压指令值变换为αβ坐标系下的输出电压指令值，将αβ坐标系下的输出电压指令值变换为abc坐标系下的输出电压指令值；
根据abc坐标系下的输出电压指令值，调制产生调节单相逆变器输出电压的控制信号SPWM脉冲。
优选的，采用二阶广义积分器对采集的电压变量和电流变量进行重构，所述二阶广义积分器的输入为Vin，两个输出分别为Vo和qVo，其中，输出Vo和输入Vin相位及幅值相同，输出qVo与输入Vin幅值相同，相位滞后90°，两个输出量与输入量之间的传递函数为：
Figure PCTCN2019101272-appb-000001
式中，k为衰减系数，ω 0为谐振角频率；
将s域传递函数离散化后得到差分方程为：
Figure PCTCN2019101272-appb-000002
式中，T为系统采样周期，x(k)为二阶广义积分器本周期输入量，x(k-1)为二阶广义积分器前一周期输入量，x(k-2)为二阶广义积分器前两周期输入量，y 01(k)为二阶广义积分器本周期输出量，y o1(k-1)为二阶广义积分器前一周期输出量，y o1(k-2)为二阶广义积分器前两周期输出量，y o2(k)为二阶广义积分器本周期输出量，与y 01(k)相比相位滞后90°，y 02(k-1)为二阶广义积分器前一周期输出量，y 02(k-2)为二阶广义积分器前两周期输出量；
二阶广义积分器本周期输出量y 01(k)和二阶广义积分器本周期输出量y o2(k)即为二阶广义积分器最终输出的离散化正交分量。
优选的，通过PARK变换将在α、β坐标系下的正交分量变换为d、q坐标系下的直流分量，变换公式为：
Figure PCTCN2019101272-appb-000003
式中，U d为dq坐标系下的d轴直流电压分量，U q为dq坐标系下的q轴直流电压分量；U α为αβ坐标系下的α轴正交电压分量，U β为αβ坐标系下的β轴正交电压分量。
优选的，通过锁相环检测交流母线相位，利用PI控制器控制输出的dq坐标系下的q轴直流分量的目标值为零，使并联输出的多个单相逆变器相位相同；其具体步骤为：采集交流母线电压，通过二阶广义积分器构造与母线电压延时90°在αβ坐标系下的正交分量，通过PARK变换将αβ坐标系下的正交向量变换为dq坐标系下的直流分量，计算出dq坐标系下的d轴直流电压分量U d和dq坐标系下的q轴直流电压分量U q，当单相逆变器的输出q轴直流电压分量U q等于零时，单相逆变器输出相位与母线相位一致，利用PI控制器控制输出的q轴直流电压分量U q目标值为零，构成闭环调节，使并联输出的多个单相逆变器相位相同。
优选的，采集每个单相逆变器当前时刻和前一时刻的输出电压和输出电流，计算瞬时有用功率P和瞬时无功功率Q，瞬时有用功率P和瞬时无功功率Q的计算公式为：
Figure PCTCN2019101272-appb-000004
式中，U k为当前时刻输出电压采样值，I k为当前时刻输出电流采样值，U k-1为前一时刻输出电压采样值，I k-1为前一时刻输出电流采样值，x＝2π/N，N为工频周期与采样周期的比值。
进一步的，每个单相逆变器检测自身的输出有功功率和无功功率，相位超前的单相逆变器输出有功功率大于相位滞后的单相逆变器输出有功功率，通过下垂控制控制每个单相逆变器的输出频率使多个单相逆变器的输出相位相同，进行有功功率的均分，通过下垂控制控制每个单相逆变器的输出幅值使多个单相逆变器的输出电压幅值一致，进行无功功率的均分；所述下垂控制的下垂对应关系为：
Figure PCTCN2019101272-appb-000005
式中，f为输出频率，f 0为初始频率，k P为有功功率下垂系数，V为输出电压幅值，V 0为初始电压幅值，k Q为无功功率下垂系数。
进一步的，在多个单相逆变器并联起动过程中，对下垂控制的下垂系数进行修正，修正后的下垂对应关系为：
Figure PCTCN2019101272-appb-000006
式中，K f为频率修正系数，K V为幅值修正系数。
优选的，采用电压电流双环控制对dq坐标系下的d轴直流分量和q轴直流分量分别进行闭环控制，得到输出电压在dq轴中的指令值，其具体步骤为：d轴电压环参考指令值U dref与电压输出值U d做差后进入d轴电压环PI控制器，d轴电压环PI控制器的输出作为d轴电流环的指令参考值I dref，与实际电流输出值I d做差后进入d轴电流环PI控制器；q轴电压环参考指令值U qref与电压输出值U q做差后进入q轴电压环PI控制器，q轴电压环PI控制器的输出作为q轴电流环的指令参考值I qref，与实际电流输出值I q做差后进入q轴电流环PI控制器；d轴电流环输出值和q轴电流环输出值通过交叉解耦即可得到输出电压在dq轴中的指令值。
优选的，通过IPARK变换将在dq坐标下的输出电压指令值变换为αβ坐标系下的输出电压指令值，通过ICLARKE变换将α、β坐标系下的输出电压指令值变换为abc坐标系下的输出电压指令值。
优选的，根据abc坐标系下的输出电压指令值，产生调节单相逆变器输出电压的控制信号SPWM脉冲，其具体步骤：根据abc坐标系下的输出电压指令值，构造幅值相同、相位相反的两个正弦调制波U a和U a，两个正弦调制波共用一个三角波U c作为载波，正弦调制波U a和U a分别与三角波U c比较后得到两个SPWM波U g1和U g3，SPWM波U g1作为每个单相逆变器开关管Q1的驱动信号，U g1对应的反向信号U g2作为每个单相逆变器开关管Q2的驱动信号，SPWM波U g3作为每个单相逆变器开关管Q3的驱动信号，U g3对应的反向信号U g4作为每个单相逆变器开关管Q4的驱动信号，在载波的波峰或波谷位置对正弦调制波采样，利用数字信号处理器的比较模块生成调节单相逆变器输出电压的四路控制信号SPWM脉冲。
为了达到上述目的，本申请另提供了一种单相逆变器并联控制系统，包括：
用于采集每个单相逆变器的输出电压和输出电流的装置；
用于对采集的电压变量和电流变量进行重构，虚拟出与采集的电压变量和电流变量相位相差90°的正交虚拟量，模拟出单相逆变器并联系统在αβ坐标系下的正交分量的装置；
用于将在αβ坐标系下的正交分量变换为dq坐标系下的直流分量的装置；
用于计算瞬时有用功率P和瞬时无功功率Q的装置；
用于检测交流母线相位，控制输出的dq坐标系下的q轴直流分量的目标值为零，使并联输出的多个单相逆变器相位相同的装置；
用于控制每个单相逆变器的输出频率使多个单相逆变器的输出相位相同，进行有功功率的均分，并控制每个单相逆变器的输出幅值使多个单相逆变器的输出电压幅值一致，进行无功功率的均分的装置；
用于对dq坐标系下的d轴直流分量和q轴直流分量分别进行闭环控制，得到输出电压在dq轴中的指令值的装置；
用于将在dq坐标下的输出电压指令值变换为αβ坐标系下的输出电压指令值，并将αβ坐标系下的输出电压指令值变换为abc坐标系下的输出电压指令值的装置；
以及用于根据abc坐标系下的输出电压指令值，调制产生调节单相逆变器输出电压的控制信号SPWM脉冲的控制脉冲生成单元。
优选的，所述单向逆变器并联控制系统具体包括：
电压电流重构装置，即采用二阶广义积分器对采集的电压变量和电流变量进行重构电压电流重构的装置；
PARK变换装置，即利用PARK变换将在αβ坐标系下的正交分量变换为dq坐标系下的直流分量的装置；
功率计算装置，即采用当前时刻和前一时刻的电压和电流计算瞬时有功功率和瞬时无功功率的装置；
锁相环装置，即采用锁相环检测交流母线相位，控制输出的d、q坐标系下的q轴直流分量的目标值为零，使并联输出的多个单相逆变器相位相同的装置；
下垂控制装置，即采用同步起动下垂控制方式控制输出频率进行有功功率均分和控制输出幅值进行无功功率均分的装置；
电压电流双环控制装置，即采用电压电流双环控制进行闭环控制，得到输出电压在dq轴中的指令值的装置；
坐标变换装置，即采用IPARK变换将在dq坐标下的输出电压指令值变换为αβ坐标系下的输出电压指令值，并采用ICLARKE变换将αβ坐标系下的输出电压指令值变换为abc坐标系下的输出电压指令值的装置；
单极倍频调制单元，即用于根据abc坐标系下的输出电压指令值，调制产生调节单相逆变器输出电压的控制信号SPWM脉冲的控制单元。
优选的，所述采集的每个单相逆变器的输出电压和输出电流包括：当前时刻的输出电压和输出电流，以及前一时刻的输出电压和输出电流。
进一步的，还包括用于在并联起动过程中对输出频率和输出幅值的下垂系数进行修正的装置。
为了达到上述目的，本申请另提供了一种逆变器，包括多个并联的单相逆变器，所有单相逆变器的结构相同，所述逆变器还包括单相逆变器并联控制系统，每个单相逆变器的升压斩波电路和逆变电路均与单相逆变器并联控制系统的控制单元连接。
与现有技术相比，本申请的优点和积极效果在于：
(1)本申请控制多个单相逆变器并联同时起动工作，在一个单相逆变器故障后，其他任一单相逆变器自动承担其负载，克服了互备模块重启延时问题，实现了真正意义上的电源不间断供电，可靠性高，不会对行车产生影响。
(2)本申请采用二阶广义积分器对采集的输出电压和输出电流进行重构，构造正交分量的同时进行自适应滤波，提高了系统的抗干扰能力，锁相精度高，有效抑制了并网时刻的冲击电流。
(3)本申请采用新型瞬时功率计算方法计算输出功率，仅用前后两个时刻的采样值即可计算出瞬时有功功率和瞬时无功功率，不需要积分单元，克服了传统功率计算中积分延时对稳定性和动态性能的影响。在负载突变后，仅需一个周期即可得到瞬时功率，减小了计算延时，动态跟踪性好。采用新型瞬时功率计算方法不需要实时三角函数计算，减小了控制算法的计算量，占用DSP资源较少。
(4)本申请采用同步起动下垂控制策略，在并联起动过程中对下垂系数进行修正，增强下垂作用，能够快速抑制住并网冲击电流，解决了起动过程中下垂控制较弱的问题，拓宽了并联系统的工作范围，提高了并联起动的成功率。
(5)本申请采用单极倍频调制方式使单相逆变器的四个开关管的开关频率与载波频率相同，在不改变功率器件开关频率的情况下，使逆变器输出脉冲频率提高一倍，大大减小了电抗器和电容等滤波器的体积和重量，降低了单相逆变器的成本。
附图说明
图1为本申请实施例单相逆变器主电路拓扑结构示意图；
图2为本申请实施例单相逆变器并联系统结构框图；
图3为本申请实施例二阶广义积分器的结构示意图；
图4为本申请实施例瞬时功率计算示意框图；
图5为本申请实施例基于二阶广义积分器的锁相环原理图；
图6为本申请实施例单相逆变器控制系统的结构框图。
具体实施方式
下面，通过示例性的实施方式对本申请进行具体描述。然而应当理解，在没有进一步叙述的情况下，一个实施方式中的元件、结构和特征也可以有益地结合到其他实施方式中。
本申请实施例中，涉及的单相逆变器由升压斩波电路及逆变电路组成，主电路拓扑参见图1。其中，升压斩波电路由升压电抗器L1、二极管D1以及开关管Q5组成，将蓄电池输入DC48V升压至DC200V。逆变电路包括通过Q1、Q2、Q3和Q4四个开关管组成逆变桥，以及电抗器L2和电容C2组成滤波器。单相逆变器最终通过变压器T1隔离升压后对外输出，将DC200V逆变为AC220V后，向列车提供单相交流电。
本申请实施例中，涉及的单相逆变器并联系统至少包括两个并联的单相逆变器，即可以包括两个、三个、四个或更多个并联的单相逆变器，具体根据实际要求而定。以包括两个并 联的单相逆变器为例，参见图2所示的单相逆变器并联系统，该系统中包括的两个单相逆变器结构相同，两个单相逆变器不分主次，并联工作。
本申请实施例提供了一种单相逆变器并联控制方法，采集单相逆变器输出电压和输出电流，通过重构及坐标变换，将静止abc坐标系下的电压电流变换到dq坐标系，实现电压和电流的解耦，通过闭环控制得到输出电压在dq轴中的指令值，将dq坐标系下的输出电压指令值变换为abc坐标系下的输出电压指令值，根据abc坐标系下的输出电压指令值，调制生成调制波控制功率器件开关；其具体步骤为：
S1、采集每个单相逆变器的输出电压和输出电流；
S2、对采集的电压变量和电流变量进行重构，虚拟出与采集的电压变量和电流变量相位相差90°的正交虚拟量，模拟出单相逆变器并联系统在αβ坐标系下的正交分量；
S3、将在αβ坐标系下的正交分量变换为dq坐标系下的直流分量；
S4、计算瞬时有用功率P和瞬时无功功率Q；
S5、检测交流母线相位，控制输出的dq坐标系下的q轴直流分量的目标值为零，使并联输出的多个单相逆变器相位相同,使非首台启动的单相逆变器能够自动跟踪交流母线，保持相位一致，减小非首台启动逆变器并网时的冲击电流；
S6、控制每个单相逆变器的输出频率使多个单相逆变器的输出相位相同，进行有功功率的均分，控制每个单相逆变器的输出幅值使多个单相逆变器的输出电压幅值一致，进行无功功率的均分；
S7、对dq坐标系下的d轴直流分量和q轴直流分量分别进行闭环控制，得到输出电压在dq轴中的指令值；
S8、将在dq坐标下的输出电压指令值变换为αβ坐标系下的输出电压指令值，将αβ坐标系下的输出电压指令值变换为abc坐标系下的输出电压指令值；
S9、根据abc坐标系下的输出电压指令值，调制产生调节单相逆变器输出电压的控制信号SPWM脉冲。
本申请上述单相逆变器并联控制方法，控制多个单相逆变器并联同时起动工作，在一个单相逆变器故障后，其他任一单相逆变器自动承担其负载，克服了互备模块重启延时问题，实现了真正意义上的电源不间断供电，可靠性高，不会对行车产生影响。
上述单相逆变器并联控制方法的一优选实施方式，步骤S2中，采用二阶广义积分器对采集的电压变量和电流变量进行重构，参见图3，所述二阶广义积分器的输入为Vin，两个输出 分别为Vo和qVo，其中，输出Vo和输入Vin相位及幅值相同，输出qVo与输入Vin幅值相同，相位滞后90°，两个输出量与输入量之间的传递函数为：
Figure PCTCN2019101272-appb-000007
式中，D(s)为输出Vo和输入Vin之间的传递函数，Q(s)为输出qVo与输入Vin的传递函数，k为衰减系数，ω 0为谐振角频率；
将s域传递函数离散化后得到差分方程为：
Figure PCTCN2019101272-appb-000008
式中，T为系统采样周期，x(k)为二阶广义积分器本周期输入量，x(k-1)为二阶广义积分器前一周期输入量，x(k-2)为二阶广义积分器前两周期输入量，y 01(k)为二阶广义积分器本周期输出量，y o1(k-1)为二阶广义积分器前一周期输出量，y o1(k-2)为二阶广义积分器前两周期输出量，y o2(k)为二阶广义积分器本周期比y 01(k)相位滞后90°的输出量，y 02(k-1)为二阶广义积分器前一周期比y o1(k-1)相位滞后90°的输出量，y 02(k-2)为二阶广义积分器前两周期比y o1(k-2)相位滞后90°的输出量。
二阶广义积分器本周期输出量y 01(k)和二阶广义积分器本周期相位滞后90°的输出量y o2(k)即为二阶广义积分器最终输出的离散化正交分量。
采用二阶广义积分器对输出电压和输出电流进行重构，虚拟出相位滞后90°的正交分量，克服了传统方法在构建正交虚拟信号上存在的滤波延时及动态响应能力差等问题。采用二阶广义积分器重构方法在构造正交虚拟量的同时能够对采集量进行自适应滤波，提高系统的抗干扰能力。构造的正交虚拟量即可以实现dq轴解耦控制，又为后续锁相环提供基础，消除了 直流分量等不利因素对锁相精度的影响，有效抑制了并网时刻的冲击电流。
上述单相逆变器并联控制方法的一优选实施方式，步骤S3中，通过PARK变换将在αβ坐标系下的正交分量变换为dq坐标系下的直流分量，变换公式为：
Figure PCTCN2019101272-appb-000009
式中，U d为dq坐标系下的d轴直流电压分量，U q为dq坐标系下的q轴直流电压分量；U α为αβ坐标系下的α轴正交电压分量，U β为αβ坐标系下的β轴正交电压分量。同理，电流经PARK变换得到dq坐标系下的d轴电流分量和q轴电流分量，电流变换的公式同上，不再单独列举。
上述单相逆变器并联控制方法的一优选实施方式，步骤S4中，采集每个单相逆变器当前时刻和前一时刻的输出电压和输出电流，计算瞬时有用功率P和瞬时无功功率Q，计算示意图参见图4，瞬时有用功率P和瞬时无功功率Q的计算公式为：
Figure PCTCN2019101272-appb-000010
式中，U k为当前时刻输出电压采样值，I k为当前时刻输出电流采样值，U k-1为前一时刻输出电压采样值，I k-1为前一时刻输出电流采样值，x＝2π/N，N为工频周期与采样周期的比值。采用新型功率计算方法，从输出电压和输出电流的正弦特性出发，仅需采集前后两个时刻的电压和电流即可实现瞬时功率计算，不需要积分单元，克服了传统功率计算中积分延时对稳定性和动态性能的影响。在负载突变后，仅需一个周期即可得到瞬时功率，减小了计算延时，动态跟踪好。且该功率计算方法不需要实时三角函数计算，减小了控制算法的计算量，占用数字信号处理器(DSP)资源较少。
上述单相逆变器并联控制方法的一优选实施方式，步骤S5中，通过锁相环检测交流母线相位，利用PI控制器控制母线输出的dq坐标系下的q轴直流分量的目标值为零，使并联输出的多个单相逆变器相位相同；参见图5，其具体步骤为：采集交流母线电压，通过二阶广义积分器构造与母线电压延时90°在αβ坐标系下的正交分量，参考步骤2；通过PARK变换将αβ坐标系下的正交向量变换为dq坐标系下的直流分量，计算出母相电压在dq坐标系下的 d轴直流电压分量U d和dq坐标系下的q轴直流电压分量U q，参考步骤3；当单相逆变器的输出q轴直流电压分量U q等于零时，单相逆变器输出相位与母线相位一致，利用PI控制器控制母线输出的q轴直流电压分量U q目标值为零，获得母相相位，构成闭环调节，使并联输出的多个单相逆变器相位相同。通过锁相环检测交流母线相位，控制单向逆变器相位与母相相位相同，使并联输出的多个单相逆变器相位相同，减小了并网瞬间的冲击电流。
上述单相逆变器并联控制方法的一优选实施方式，步骤S6中，每个单相逆变器检测自身的输出有功功率和无功功率，相位超前的单相逆变器输出有功功率大于相位滞后的单相逆变器输出有功功率。通过下垂控制控制每个单相逆变器的输出频率使多个单相逆变器的输出相位相同，进行有功功率的均分；通过下垂控制控制每个单相逆变器的输出幅值使多个单相逆变器的输出电压幅值一致，进行无功功率的均分；所述下垂控制的下垂对应关系为：
Figure PCTCN2019101272-appb-000011
式中，f为输出频率，f 0为初始频率，k P为有功功率下垂系数，V为输出电压幅值，V 0为初始电压幅值，k Q为无功功率下垂系数。采用无互联线并联的下垂控制，通过频率的下垂实现相位的同步及有用功率均分，利用幅值的下垂实现无功功率的均分，从而实现多个单相逆变器的输出均流，保证并网后单向逆变器的相位相同。
在上述单相逆变器并联控制方法的一优选实施方式中，步骤S6中，在多个单相逆变器并联起动过程中，对下垂控制的下垂系数进行修正，修正后的下垂对应关系为：
Figure PCTCN2019101272-appb-000012
式中，K f为频率修正系数，K V为幅值修正系数。其中，K f和K V的值相等，具体计算方法如下：
K f＝K v＝U ref*U ref/(U*U)                 (7)
式中，U ref为目标电压值，U为当前电压值。
由于多个单相逆变器同时上电，一起起动，且单相逆变器的结构完全相同，主电路延时基本一致，在起动时不进行锁相直接在软起过程中进行并网。而软起过程中，输出电压很小，导致输出有功功率和无功功率都很小，下垂作用比较弱，单相逆变器输出均流不好，容易引 起输出震荡导致并联系统崩溃。本申请采用优化后的同步起动下垂控制，可以兼容软起动和正常运行的工况，对下垂系数进行修正，增强下垂作用，能够快速抑制住并网冲击电流，保证系统可靠起动。
上述单相逆变器并联控制方法的一优选实施方式，步骤S7中，采用电压电流双环控制对dq坐标系下的d轴直流分量和q轴直流分量分别进行闭环控制，得到输出电压在dq轴中的指令值，其具体步骤为：d轴电压环参考指令值U dref与电压输出值U d做差后进入d轴电压环PI控制器，d轴电压环PI控制器的输出作为d轴电流环的指令参考值I dref，与实际电流输出值I d做差后进入d轴电流环PI控制器；q轴电压环参考指令值U qref与电压输出值U q做差后进入q轴电压环PI控制器，q轴电压环PI控制器的输出作为q轴电流环的指令参考值I qref，与实际电流输出值I q做差后进入q轴电流环PI控制器；d轴电流环输出值和q轴电流环输出值通过交叉解耦即可得到输出电压在dq轴中的指令值。采用电压电流的双环控制，电压外环实现交流输出电压稳定，电流内环一方面增加系统响应速度，另一方面具有限流的作用。在本步骤中，需要说明的是：上述d轴电压环参考指令值U dref本领域技术人员根据单向逆变器的技术要求确定，q轴电压环参考指令值U qref为0；上述电压输出值U d、电压输出值U q分别为经步骤S3变换得到的d轴直流电压分量和q轴直流电压分量；上述实际电流输出值I d、实际电流输出值I q分别为经步骤S3变换得到的d轴电流分量和q轴电流分量。
上述单相逆变器并联控制方法的一优选实施方式，步骤S8中，通过IPARK变换将在dq坐标下的输出电压指令值变换为αβ坐标系下的输出电压指令值，通过ICLARKE变换将αβ坐标系下的输出电压指令值变换为abc坐标系下的输出电压指令值。其中，IPARK变换的变换公式为：
Figure PCTCN2019101272-appb-000013
式中，U α为αβ坐标系下α轴的输出电压指令值分量，U β为αβ坐标系下β轴的输出电压指令值分量，U d为dq坐标系下d轴的输出电压指令值，U q为dq坐标系下q轴的输出电压指令值。
ICLARKE变换的变换公式为：
Figure PCTCN2019101272-appb-000014
式中，U a为abc坐标系下a轴的输出电压指令值分量，U b为abc坐标系下b轴的输出电压指令值分量，U c为abc坐标系下c轴的输出电压指令值分量。
上述单相逆变器并联控制方法的一优选实施方式，步骤S9中，根据abc坐标系下的输出电压指令值，产生调节单相逆变器输出电压的控制信号SPWM脉冲，其具体步骤：根据abc坐标系下的输出电压指令值，构造幅值相同、相位相反的两个正弦调制波U a和U b，两个正弦调制波共用一个三角波U c作为载波，正弦调制波U a和U b分别与三角波U c比较后得到两个SPWM波U g1和U g3，SPWM波U g1作为每个单相逆变器开关管Q1的驱动信号，U g1对应的反向信号U g2作为每个单相逆变器开关管Q2的驱动信号，SPWM波U g3作为每个单相逆变器开关管Q3的驱动信号，U g3对应的反向信号U g4作为每个单相逆变器开关管Q4的驱动信号，利用对称规则采样法，在载波的波峰或波谷位置对正弦调制波采样，利用DSP的比较模块生成调节单相逆变器输出电压的四路控制信号SPWM脉冲，驱动四个开关管Q1、Q2、Q3、Q4。采用单极倍频调制方式使单相逆变器四个开关管的开关频率与载波频率相同，在不改变功率器件开关频率的情况下，使单相逆变器输出脉冲频率提高一倍，大大减小了电抗器和电容等滤波器的体积和重量，降低了单相逆变器的成本。
本申请实施例另提供了一种单相逆变器并联控制系统，包括：
用于采集每个单相逆变器的输出电压和输出电流的装置；
用于对采集的电压变量和电流变量进行重构，虚拟出与采集的电压变量和电流变量相位相差90°的正交虚拟量，模拟出单相逆变器并联系统在αβ坐标系下的正交分量的装置；
用于将在αβ坐标系下的正交分量变换为dq坐标系下的直流分量的装置；
用于计算瞬时有用功率P和瞬时无功功率Q的装置；
用于检测交流母线相位，控制输出的dq坐标系下的q轴直流分量的目标值为零，使并联 输出的多个单相逆变器相位相同的装置；
用于控制每个单相逆变器的输出频率使多个单相逆变器的输出相位相同，进行有功功率的均分，并控制每个单相逆变器的输出幅值使多个单相逆变器的输出电压幅值一致，进行无功功率的均分的装置；
用于对dq坐标系下的d轴直流分量和q轴直流分量分别进行闭环控制，得到输出电压在dq轴中的指令值的装置；
用于将在dq坐标下的输出电压指令值变换为αβ坐标系下的输出电压指令值，并将αβ坐标系下的输出电压指令值变换为abc坐标系下的输出电压指令值的装置；
以及用于根据abc坐标系下的输出电压指令值，调制产生调节单相逆变器输出电压的控制信号SPWM脉冲的控制单元。
本申请上述单相逆变器并联控制系统，控制多个单相逆变器并联同时起动工作，在一个单相逆变器故障后，其他任一单相逆变器自动承担其负载，克服了互备模块重启延时问题，实现了真正意义上的电源不间断供电，可靠性高，不会对行车产生影响。
在上述单相逆变器并联控制系统的优选实施方式中，所述采集的每个单相逆变器的输出电压和输出电流包括：当前时刻的输出电压和输出电流，以及前一时刻的输出电压和输出电流。通过采集的当前时刻和前一时刻两个时刻的输出电压和输出电流即可计算出瞬时有功功率和瞬时无功功率，不需要积分单元，克服了传统功率计算中积分延时对稳定性和动态性能的影响。在负载突变后，仅需一个周期即可得到瞬时功率，减小了计算延时，动态跟踪好。且在计算过程中不需要实时三角函数计算，减小了控制算法的计算量，占用DSP资源较少。
单相逆变器控制电和主电均为蓄电池提供的DC48V，多个单相逆变器同时上电，一起起动。由于单相逆变器完全相同，主电路延时基本一致，因此，在起动时存在每个单相逆变器均认为自身是首台起动的现象。这种工况下，多个单相逆变器不进行锁相直接软起过程中就进行并网。软起过程中，由于输出电压很小，进而导致输出有功功率和无功功率都很小，下垂作用比较弱，多个单相逆变器之间均流不好，容易输出震荡引发并联系统崩溃。为了增强下垂作用，能够快速抑制并网冲击电流，在上述单相逆变器并联控制系统的一优选实施方式中，该系统还包括用于在并联起动过程中对输出频率和输出幅值的下垂系数进行修正的装置，在并联起动过程中对输出频率和输出幅值的下垂系数进行修正，增强下垂作用，保证系统可靠起动。
参见图6，在单相逆变器并联控制系统优选实施方式中，该系统包括：
电压电流重构装置，即采用二阶广义积分器对采集的电压变量和电流变量进行重构电压电流重构的装置。采用二阶广义积分器进行电压电流重构，不仅克服了传统方法在构建正交虚拟信号上存在的滤波延时及动态性能差等问题，还能够对采集量进行自适应滤波，提高系统的抗干扰能力。构造的正交向量既可以实现d、q轴解耦控制，又为后续锁相环提供基础，消除了直流分量等不利因素对锁相环精度的影响，有效抑制了并网时刻的冲击电流。
PARK变换装置，即利用PARK变换将在αβ坐标系下的正交分量变换为dq坐标系下的直流分量的装置。
功率计算装置，即采用当前时刻和前一时刻的电压和电流计算瞬时有功功率和瞬时无功功率的装置。采用前后两个时刻的采样值即可计算出瞬时有功功率和瞬时无功功率，不需要积分单元，克服了传统功率计算中积分延时对稳定性和动态性能的影响。在负载突变后，仅需一个周期即可得到瞬时功率，减小了计算延时，动态跟踪好。且在计算过程中不需要实时三角函数计算，减小了控制算法的计算量，占用DSP资源较少。
锁相环装置，即采用锁相环检测交流母线相位，控制输出的d、q坐标系下的q轴直流分量的目标值为零，使并联输出的多个单相逆变器相位相同的装置。
下垂控制装置，即采用同步起动下垂控制方式控制输出频率进行有功功率均分和控制输出幅值进行无功功率均分的装置。采用同步起动下垂控制，在并联起动过程中对输出频率和输出幅值的下垂系数进行修正，增强下垂作用，保证系统可靠起动。
电压电流双环控制装置，即采用电压电流双环控制进行闭环控制，得到输出电压在dq轴中的指令值的装置。
坐标变换装置，即采用IPARK变换将在dq坐标下的输出电压指令值变换为αβ坐标系下的输出电压指令值，并采用ICLARKE变换将αβ坐标系下的输出电压指令值变换为abc坐标系下的输出电压指令值的装置。
单极倍频调制单元，即用于根据abc坐标系下的输出电压指令值，调制产生调节单相逆变器输出电压的控制信号SPWM脉冲的控制单元。采用单极倍频调制，在不改变功率器件开关频率的情况下，使单相逆变器输出脉冲频率提高一倍，大大缩小了电抗器和电容等滤波器的体积和重量，降低了单相逆变器的成本。
本申请还提供了一种逆变器，包括多个并联的单相逆变器，所有单相逆变器的结构相同，所述逆变器还包括单相逆变器并联控制系统，每个单相逆变器的升压斩波电路和逆变电路均与单相逆变器并联控制系统的控制单元连接。该逆变器的多个单相逆变器互备冗余，正常情 况下，多个单相逆变器同时起动工作，其中一个单相逆变器向负载供电，当该单相逆变器故障后，其他任一单相逆变器通过接触器进行切换，继续向负载供电。以逆变器包括两个并联的单相逆变器为例，正常情况下，两个单相逆变器同时起动工作，一个单相逆变器向负载供电，当该单相逆变器故障后，另一个单相逆变器通过接触器进行互备，继续向负载供电。由于并联的多个单相逆变器同时起动，缩短了组网时间，起动的可靠性高，正常工作时，多个单相逆变器同时工作，切换过程中克服了现有互备模块重启延时的问题，实现了电源不间断供电，不会对行车产生影响。
上述实施例用来解释本申请，而不是对本申请进行限制，在本申请的精神和权利要求的保护范围内，对本申请做出的任何修改和改变，都落入本申请的保护范围。

Claims (15)

  1. 一种单相逆变器并联控制方法，用于在包含多个单相逆变器的单相逆变器并联系统中控制各个单相逆变器的输出电压和输出电流，对多个单相逆变器的输出电流进行均分，其特征在于，其具体步骤为:
    采集每个单相逆变器的输出电压和输出电流；
    对采集的电压变量和电流变量进行重构，虚拟出与采集的电压变量和电流变量相位相差90°的正交虚拟量，模拟出单相逆变器并联系统在αβ坐标系下的正交分量；
    将在αβ坐标系下的正交分量变换为dq坐标系下的直流分量；
    计算瞬时有用功率P和瞬时无功功率Q；
    检测交流母线相位，控制输出的dq坐标系下的q轴直流分量的目标值为零，使并联输出的多个单相逆变器相位相同；
    控制每个单相逆变器的输出频率使多个单相逆变器的输出相位相同，进行有功功率的均分，控制每个单相逆变器的输出幅值使多个单相逆变器的输出电压幅值一致，进行无功功率的均分；
    对dq坐标系下的d轴直流分量和q轴直流分量分别进行闭环控制，得到输出电压在dq轴中的指令值；
    将在dq坐标下的输出电压指令值变换为αβ坐标系下的输出电压指令值，将αβ坐标系下的输出电压指令值变换为abc坐标系下的输出电压指令值；
    根据abc坐标系下的输出电压指令值，调制产生调节单相逆变器输出电压的控制信号SPWM脉冲。
  2. 如权利要求1所述的单相逆变器并联控制方法，其特征在于，采用二阶广义积分器对采集的电压变量和电流变量进行重构，所述二阶广义积分器的输入为Vin，两个输出分别为Vo和qVo，其中，输出Vo和输入Vin相位及幅值相同，输出qVo与输入Vin幅值相同，相位滞后90°，两个输出量与输入量之间的传递函数为：
    Figure PCTCN2019101272-appb-100001
    式中，k为衰减系数，ω 0为谐振角频率；
    将s域传递函数离散化后得到差分方程为：
    Figure PCTCN2019101272-appb-100002
    式中，T为系统采样周期，x(k)为二阶广义积分器本周期输入量，x(k-1)为二阶广义积分器前一周期输入量，x(k-2)为二阶广义积分器前两周期输入量，y 01(k)为二阶广义积分器本周期输出量，y o1(k-1)为二阶广义积分器前一周期输出量，y o1(k-2)为二阶广义积分器前两周期输出量，y o2(k)为二阶广义积分器本周期输出量，与y 01(k)相比相位滞后90°，y 02(k-1)为二阶广义积分器前一周期输出量，y 02(k-2)为二阶广义积分器前两周期输出量；二阶广义积分器本周期输出量y 01(k)和二阶广义积分器本周期输出量y o2(k)即为二阶广义积分器最终输出的离散化正交分量。
  3. 如权利要求2所述的单相逆变器并联控制方法，其特征在于，通过PARK变换将在αβ坐标系下的正交分量变换为dq坐标系下的直流分量，变换公式为：
    Figure PCTCN2019101272-appb-100003
    式中，U d为dq坐标系下的d轴直流电压分量，U q为dq坐标系下的q轴直流电压分量；U α为αβ坐标系下的α轴正交电压分量，U β为αβ坐标系下的β轴正交电压分量。
  4. 如权利要求3所述的单相逆变器并联控制方法，其特征在于，通过锁相环检测交流母线相位，利用PI控制器控制输出的dq坐标系下的q轴直流分量的目标值为零，使并联输出的多个单相逆变器相位相同；其具体步骤为：采集交流母线电压，通过二阶广义积分器构造与母线电压延时90°在αβ坐标系下的正交分量，通过PARK变换将αβ坐标系下 的正交向量变换为dq坐标系下的直流分量，计算出dq坐标系下的d轴直流电压分量U d和q轴直流电压分量U q，当单相逆变器的输出q轴直流电压分量U q等于零时，单相逆变器输出相位与母线相位一致，利用PI控制器控制输出的q轴直流电压分量U q目标值为零，构成闭环调节，使并联输出的多个单相逆变器相位相同。
  5. 如权利要求1所述的单相逆变器并联控制方法，其特征在于，采集每个单相逆变器当前时刻和前一时刻的输出电压和输出电流，计算瞬时有用功率P和瞬时无功功率Q，瞬时有用功率P和瞬时无功功率Q的计算公式为：
    Figure PCTCN2019101272-appb-100004
    式中，U k为当前时刻输出电压采样值，I k为当前时刻输出电流采样值，U k-1为前一时刻输出电压采样值，I k-1为前一时刻输出电流采样值，x＝2π/N，N为工频周期与采样周期的比值。
  6. 如权利要求5所述的单相逆变器并联控制方法，其特征在于，每个单相逆变器检测自身的输出有功功率和无功功率，相位超前的单相逆变器输出有功功率大于相位滞后的单相逆变器输出有功功率，通过下垂控制控制每个单相逆变器的输出频率使多个单相逆变器的输出相位相同，进行有功功率的均分，通过下垂控制控制每个单相逆变器的输出幅值使多个单相逆变器的输出电压幅值一致，进行无功功率的均分；所述下垂控制的下垂对应关系为：
    Figure PCTCN2019101272-appb-100005
    式中，f为输出频率，f 0为初始频率，k P为有功功率下垂系数，V为输出电压幅值，V 0为初始电压幅值，k Q为无功功率下垂系数。
  7. 如权利要求6所述的单相逆变器并联控制方法，其特征在于，在多个单相逆变器并联起动过程中，对下垂控制的下垂系数进行修正，修正后的下垂对应关系为：
    Figure PCTCN2019101272-appb-100006
    式中，K f为频率修正系数，K V为幅值修正系数。
  8. 如权利要求1所述的单相逆变器并联控制方法，其特征在于，采用电压电流双环控制对dq坐标系下的d轴直流分量和q轴直流分量分别进行闭环控制，得到输出电压在dq轴中的指令值，其具体步骤为：d轴电压环参考指令值U dref与电压输出值U d做差后进入d轴电压环PI控制器，d轴电压环PI控制器的输出作为d轴电流环的指令参考值I dref，与实际电流输出值I d做差后进入d轴电流环PI控制器；q轴电压环参考指令值U qref与电压输出值U q做差后进入q轴电压环PI控制器，q轴电压环PI控制器的输出作为q轴电流环的指令参考值I qref，与实际电流输出值I q做差后进入q轴电流环PI控制器；d轴电流环输出值和q轴电流环输出值通过交叉解耦即可得到输出电压在dq轴中的指令值。
  9. 如权利要求1所述的单相逆变器并联控制方法，其特征在于，通过IPARK变换将在dq坐标下的输出电压指令值变换为αβ坐标系下的输出电压指令值，通过ICLARKE变换将αβ坐标系下的输出电压指令值变换为abc坐标系下的输出电压指令值。
  10. 如权利要求9所述的单相逆变器并联控制方法，其特征在于，根据abc坐标系下的输出电压指令值，产生调节单相逆变器输出电压的控制信号SPWM脉冲，其具体步骤：根据abc坐标系下的输出电压指令值，构造幅值相同、相位相反的两个正弦调制波U a和U b，两个正弦调制波共用一个三角波U c作为载波，正弦调制波U a和U b分别与三角波U c比较后得到两个SPWM波U g1和U g3，SPWM波U g1作为每个单相逆变器开关管Q1的驱动信号，U g1对应的反向信号U g2作为每个单相逆变器开关管Q2的驱动信号，SPWM波U g3作为每个单相逆变器开关管Q3的驱动信号，U g3对应的反向信号U g4作为每个单相逆变器开关管Q4的驱动信号，在载波的波峰或波谷位置对正弦调制波采样，利用数字信号处理器的比较模块生成调节单相逆变器输出电压的四路控制信号SPWM脉冲。
  11. 一种单相逆变器并联控制系统，其特征在于，包括：
    用于采集每个单相逆变器的输出电压和输出电流的装置；
    用于对采集的电压变量和电流变量进行重构，虚拟出与采集的电压变量和电流变量相位相差90°的正交虚拟量，模拟出单相逆变器并联系统在αβ坐标系下的正交分量的装置；
    用于将在αβ坐标系下的正交分量变换为dq坐标系下的直流分量的装置；
    用于计算瞬时有用功率P和瞬时无功功率Q的装置；
    用于检测交流母线相位，控制输出的dq坐标系下的q轴直流分量的目标值为零，使并联输出的多个单相逆变器相位相同的装置；
    用于控制每个单相逆变器的输出频率使多个单相逆变器的输出相位相同，进行有功功率的均分，并控制每个单相逆变器的输出幅值使多个单相逆变器的输出电压幅值一致，进行无功功率的均分的装置；
    用于对dq坐标系下的d轴直流分量和q轴直流分量分别进行闭环控制，得到输出电压在dq轴中的指令值的装置；
    用于将在dq坐标下的输出电压指令值变换为αβ坐标系下的输出电压指令值，并将αβ坐标系下的输出电压指令值变换为abc坐标系下的输出电压指令值的装置；
    以及用于根据abc坐标系下的输出电压指令值，调制产生调节单相逆变器输出电压的控制信号SPWM脉冲的控制单元。
  12. 如权利要求11所述的单相逆变器并联控制系统，其特征在于，具体包括：
    电压电流重构装置，即采用二阶广义积分器对采集的电压变量和电流变量进行重构电压电流重构的装置；
    PARK变换装置，即利用PARK变换将在αβ坐标系下的正交分量变换为dq坐标系下的直流分量的装置；
    功率计算装置，即采用当前时刻和前一时刻的电压和电流计算瞬时有功功率和瞬时无功功率的装置；
    锁相环装置，即采用锁相环检测交流母线相位，控制输出的d、q坐标系下的q轴直流分量的目标值为零，使并联输出的多个单相逆变器相位相同的装置；
    下垂控制装置，即采用同步起动下垂控制方式控制输出频率进行有功功率均分和控制输出幅值进行无功功率均分的装置；
    电压电流双环控制装置，即采用电压电流双环控制进行闭环控制，得到输出电压在dq轴中的指令值的装置；
    坐标变换装置，即采用IPARK变换将在dq坐标下的输出电压指令值变换为αβ坐标系下的输出电压指令值，并采用ICLARKE变换将αβ坐标系下的输出电压指令值变换为abc坐标系下的输出电压指令值的装置；
    单极倍频调制单元，即用于根据abc坐标系下的输出电压指令值，调制产生调节单相逆变器输出电压的控制信号SPWM脉冲的控制单元。
  13. 如权利要求11所述的单相逆变器并联控制系统，其特征在于，所述采集的每个单相逆变器的输出电压和输出电流包括：当前时刻的输出电压和输出电流，以及前一时刻的输出电压和输出电流。
  14. 如权利要求11或12所述的单相逆变器并联控制系统，其特征在于，还包括用于在并联起动过程中对输出频率和输出幅值的下垂系数进行修正的装置。
  15. 一种逆变器，包括多个并联的单相逆变器，其特征在于，所有单相逆变器的结构相同，所述逆变器还包括单相逆变器并联控制系统，每个单相逆变器的升压斩波电路和逆变电路均与单相逆变器并联控制系统的控制单元连接。
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