CN104319801A - Modular multi-level converter bridge arm circulation control method - Google Patents
Modular multi-level converter bridge arm circulation control method Download PDFInfo
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- CN104319801A CN104319801A CN201410556820.9A CN201410556820A CN104319801A CN 104319801 A CN104319801 A CN 104319801A CN 201410556820 A CN201410556820 A CN 201410556820A CN 104319801 A CN104319801 A CN 104319801A
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- bridge arm
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- circulation
- control method
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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
- H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
- H02M1/084—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters using a control circuit common to several phases of a multi-phase system
-
- 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
- H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
- H02M1/088—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters for the simultaneous control of series or parallel connected semiconductor devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/483—Converters with outputs that each can have more than two voltages levels
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Inverter Devices (AREA)
Abstract
The invention relates to a modular multi-level converter bridge arm circulation control method. The method comprises: collecting all momentary values of bridge arm current for any phase bridge arm, using the average value of all momentary values of the bridge arm current as a set value for PR control and the average value of momentary values of the upper and lower bridge arms of the corresponding phase as a feedback value, inputting the error values of the set value and the feedback value to a PR controller, using the processed output value as the compensation value of the bridge arm voltage of the corresponding phase, and thereby achieving circulation control of the corresponding bridge arm.
Description
Technical field
The present invention relates to a kind of multi-level inverter bridge arm circular current control method, belong to Power System Flexible power transmission and distribution, electric and electronic technical field.
Background technology
Along with development and the application of power electronic technology in electric power system of all-controlling power electronics device, the Technology of HVDC based Voltage Source Converter based on voltage source converter comes into one's own day by day.Modularization multi-level converter is the one of voltage source converter in flexible direct current power transmission system application, is widely used in high voltage direct current transmission and new forms of energy connecting system with its significant advantage.
MMC topology in the ideal case, thinks that the capacitance voltage of submodule is constant.And actual bridge arm current is made up of AC and DC component, discharge and recharge can be carried out to electric capacity, cause its voltage fluctuation, thus cause three facies unit upper and lower bridge arm voltage sums inconsistent each other, the brachium pontis circulation that final generation is flowed between three facies units, make bridge arm current wave distortion, not only affect capacity and the safe clearance of converter valve, and unnecessary loss can be produced.
When MMC normally runs, due to its working mechanism, the three alternate inside circulation that can there are 2 frequency multiplication negative phase-sequence character, cause bridge arm current to distort, and increase converter loss.MMC circulation is 2 frequency multiplication negative phase-sequence character mainly.Conventional brachium pontis circular current control method takes two conversion of frequency multiplication negative phase-sequence rotating coordinate system and alternate decoupling zeros, based on PI controller, astatic control (coordinate is transformed to dq coordinate system) is carried out to the DC quantity after circulation coordinate transform, the control precision of circulation is met the demands.Under desirable grid conditions, during above-mentioned PI controls, phase place is by taking self-generating strategy, as shown in Figure 1, phase-locked without the need to alternating voltage.But when mains frequency fluctuation or when there is drift, the steady-state behaviour of circulation during the PI control under phase place self-generating strategy and dynamic property is adopted obviously to be deteriorated, when being mains frequency fluctuation as shown in Figure 2, based on phase place self-generating PI controller brachium pontis circulation static Simulation result, when being mains frequency fluctuation as shown in Figure 3, based on phase place self-generating PI controller brachium pontis circulation Dynamic Simulation Results.When fluctuation or drift occur mains frequency, after employing dq conversion decoupling zero, dq axle component is no longer DC quantity, and now PI controller cannot realize the astatic control of circulation, can affect the control precision of brachium pontis circulation largely.
Summary of the invention
The object of this invention is to provide a kind of multi-level inverter bridge arm circular current control method, in order to solve when mains frequency occurs to fluctuate or drift about and be phase-locked without alternating voltage, based on pi regulator, the problem that closed-loop control can affect brachium pontis circulation control precision is largely carried out on circulation.
For achieving the above object, the solution of the present invention comprises: a kind of multi-level inverter bridge arm circular current control method, for arbitrary phase brachium pontis, gather the instantaneous value of all bridge arm current, using the set-point that the mean value of the instantaneous value of described all bridge arm current controls as PR, the mean value of the current instantaneous value of the upper and lower bridge arm of corresponding phase is as value of feedback, the error amount of set-point and value of feedback inputs PR controller, output valve after process, as the offset of corresponding phase bridge arm voltage, realizes the control to corresponding brachium pontis circulation.
The transfer function model of PR controller is
Circular current control method provided by the invention carries out phase-locked calculating without the need to gathering three-phase alternating voltage, only need gather 6 bridge arm current, and averaged is as reference value, and the mean value of each phase upper and lower bridge arm electric current, as value of feedback, can control.And be carry out PR control under three-phase abc rest frame, avoid Coordinate Conversion and alternate decoupling zero, with routine based on PI controller brachium pontis circular current control method compared with, computing is simple without trigonometric function and coordinate transform, enormously simplify the complexity of Digital Implementation, optimize control method, save sensor hardware resource simultaneously.
Particularly when fluctuation or skew occur mains frequency, take PR to control, realize the astatic control of sinusoidal reference signal, and the steady state controling precision of brachium pontis circulation and dynamic property all meet system requirements.
Accompanying drawing explanation
Fig. 1 is based on phase place self-generating PI controller brachium pontis circulation control block diagram;
When Fig. 2 is mains frequency fluctuation, based on phase place self-generating PI controller brachium pontis circulation static Simulation result;
When Fig. 3 is mains frequency fluctuation, based on phase place self-generating PI controller brachium pontis circulation Dynamic Simulation Results;
The modular multilevel converter structure figure of Fig. 4 to be submodule be half-bridge submodule;
Fig. 5 is PR controller integral element Bode diagram;
Fig. 6 is multi-level inverter bridge arm circular current control method schematic diagram;
Fig. 7 is based on PR controller brachium pontis circulation static Simulation result;
When Fig. 8 is mains frequency fluctuation, based on PR controller brachium pontis circulation Dynamic Simulation Results.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described in detail.
A kind of multi-level inverter bridge arm circular current control method, for arbitrary phase brachium pontis, gather the instantaneous value of all bridge arm current, using the set-point that the mean value of the instantaneous value of all bridge arm current controls as PR, the mean value of the current instantaneous value of the upper and lower bridge arm of corresponding phase is as value of feedback, the error amount of set-point and value of feedback inputs PR controller, and the output valve after process, as the offset of corresponding phase bridge arm voltage, realizes the control to corresponding brachium pontis circulation.
Based on above technical scheme, by reference to the accompanying drawings, provide with next embodiment.
The invention provides a kind of multi-level inverter bridge arm circular current control method, adopt PR to control, be not only applicable to the MMC based on half-bridge submodule, and be equally applicable to the MMC of full-bridge submodule and clamping type submodule formation.
Present embodiment for half-bridge submodule, submodule be the modular multilevel converter structure figure of half-bridge submodule as shown in Figure 4.
Under controlling to take three-phase abc rest frame to the circulation of 2 frequency multiplication negative phase-sequence character of modularization multi-level converter, PR controls.
When adopting PR control strategy, in three-phase abc rest frame, to realize the astatic control of sinusoidal reference signal, according to internal mold theorem, then require the S domain model comprising sinusoidal signal in system open loop transfer function.Set up the transfer function model of PR controller
For (1) formula, in fundamental frequency omega
0the amplitude-frequency characteristic at place is:
Yi Zhi, (2) formula is tending towards infinitely great, can realize fundamental frequency omega
0the astatic control of input signal.
In MMC, circulation is 2 times of fundamental frequency character, then resonance angular frequency ω in controller
0be 200 π (respective frequencies is 100Hz).Its integration item transfer function Bode diagram as shown in Figure 5.Can find out that in 100hz place open-loop gain be infinity, the DAZ gene of offset of sinusoidal signal can be realized.
(1) Digital Implementation of formula can in the following ways:
First adopt bilinear transformation, carry out the discretization of continuous domain.Transformation for mula is:
Formula (3) is substituted into (1) Shi Ke get:
Every phase all comprises a PR controller.As shown in Figure 6, respectively the instantaneous value of six bridge arm current is sampled, ask for the mean value (theoretical value is 1/3 of direct current Idc) of these 6 bridge arm current instantaneous values, using the set-point of this mean value as brachium pontis circulation; Ask for the mean value (theoretical value is 1/3 of brachium pontis circulation+direct current Idc) of the upper and lower bridge arm electric current of the corresponding phase of PR controller, using the value of feedback of this mean value as brachium pontis circulation.
The error amount of set-point and value of feedback is through the process of PR controller, and the output valve of PR controller is as the offset u of place phase bridge arm voltage
diffj_ref, to realize the direct control of brachium pontis circulation.
This control method only need gather converter 6 bridge arm current instantaneous values and participate in controlling.Without the need to obtaining the phase information of three-phase alternating voltage, decreasing the complexity of controller, saving sensor hardware resource simultaneously, computing is simple, without trigonometric function and coordinate transform, enormously simplify the complexity of Digital Implementation.
Shown in Fig. 7, during for controlling based on PR under mains frequency fluctuation, brachium pontis circulation steady-state behaviour.Before 0.5s, mains frequency is normal, and the control precision of its circulation meets the demands.In the 0.5s moment, mains frequency fluctuates, and between 48Hz to 52Hz, according to 4Hz/0.1s fluctuation (in Practical Project, the amplitude of variation of mains frequency and speed are far below this, only carry out principle emulation herein), other Parameter Conditions are constant.When mains frequency fluctuates (departing from power frequency 50Hz), within brachium pontis circulation peak value can be controlled in 1A.Control (circulation peak value 3A) compared to the PI shown in Fig. 2, circulation precision improves, and meets control precision requirement, and does not change with the fluctuation of mains frequency, has good anti-mains frequency disturbance performance.And the converter stability of a system is not affected.
As shown in Figure 8, for affecting the dynamic property that circulation controls when mains frequency fluctuates.During 0.3s, converter perception is idle by 35MVar step to 80MVar, and electrical network, between 48Hz to 52Hz, fluctuates according to 4Hz/0.1s, other parameter constants.The maximum dynamic current peak value of Fig. 8 bridge arm circulation is 1A, almost non-overshoot, and the response time is within half circulation cycle.Its dynamic property is obviously better than the circulation of PI shown in Fig. 3 and controls, and whole process bridge arm current almost non-overshoot, the response time is in half power frequency cycle.Do not affect converter stability, the dynamic property of bridge arm current is good, completely not by the impact of electrical network frequency fluctuation.
Be presented above concrete execution mode, but the present invention is not limited to described execution mode.Basic ideas of the present invention are above-mentioned basic scheme, and for those of ordinary skill in the art, according to instruction of the present invention, designing the model of various distortion, formula, parameter does not need to spend creative work.The change carried out execution mode without departing from the principles and spirit of the present invention, amendment, replacement and modification still fall within the scope of protection of the present invention.
Claims (2)
1. a multi-level inverter bridge arm circular current control method, it is characterized in that, for arbitrary phase brachium pontis, gather the instantaneous value of all bridge arm current, using the set-point that the mean value of the instantaneous value of described all bridge arm current controls as PR, the mean value of the current instantaneous value of the upper and lower bridge arm of corresponding phase is as value of feedback, and the error amount of set-point and value of feedback inputs PR controller, output valve after process, as the offset of corresponding phase bridge arm voltage, realizes the control to corresponding brachium pontis circulation.
2. multi-level inverter bridge arm circular current control method according to claim 1, is characterized in that, the transfer function model of described PR controller is
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Cited By (8)
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CN106505612A (en) * | 2016-11-04 | 2017-03-15 | 上海电力学院 | High-power permanent magnet synchronous wind generating grid-connected system control method based on MMC |
CN107332257A (en) * | 2017-08-24 | 2017-11-07 | 上海交通大学 | A kind of STATCOM and its control method |
CN107408819A (en) * | 2015-03-19 | 2017-11-28 | 通用电器技术有限公司 | Electric power transmission network |
CN107634534A (en) * | 2017-09-27 | 2018-01-26 | 南方电网科学研究院有限责任公司 | Method and device for acquiring electrical parameters of main loop of flexible direct current transmission converter |
CN108494298A (en) * | 2018-03-21 | 2018-09-04 | 广东电网有限责任公司电力科学研究院 | A kind of the voltage and current inner ring control emulation mode and system of virtual synchronous machine |
CN109149612A (en) * | 2017-06-15 | 2019-01-04 | 许继集团有限公司 | Process Neutron module pressure equalizing control method is moved back in a kind of converter station and its throwing of single valve group |
CN110504853A (en) * | 2018-05-18 | 2019-11-26 | 南京理工大学 | Improvement circular current control method based on flexible DC transmission |
CN114204584A (en) * | 2021-11-25 | 2022-03-18 | 广东电网有限责任公司 | Method and device for calculating internal circulation of modular multilevel converter |
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Cited By (13)
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---|---|---|---|---|
CN107408819A (en) * | 2015-03-19 | 2017-11-28 | 通用电器技术有限公司 | Electric power transmission network |
CN107408819B (en) * | 2015-03-19 | 2021-03-09 | 通用电器技术有限公司 | Power transmission network |
CN106505612B (en) * | 2016-11-04 | 2019-06-11 | 上海电力学院 | High-power permanent magnet synchronous wind generating grid-connected system control method based on MMC |
CN106505612A (en) * | 2016-11-04 | 2017-03-15 | 上海电力学院 | High-power permanent magnet synchronous wind generating grid-connected system control method based on MMC |
CN109149612A (en) * | 2017-06-15 | 2019-01-04 | 许继集团有限公司 | Process Neutron module pressure equalizing control method is moved back in a kind of converter station and its throwing of single valve group |
CN107332257A (en) * | 2017-08-24 | 2017-11-07 | 上海交通大学 | A kind of STATCOM and its control method |
CN107634534A (en) * | 2017-09-27 | 2018-01-26 | 南方电网科学研究院有限责任公司 | Method and device for acquiring electrical parameters of main loop of flexible direct current transmission converter |
CN107634534B (en) * | 2017-09-27 | 2020-02-18 | 南方电网科学研究院有限责任公司 | Method for acquiring electrical parameters of main loop of flexible direct current transmission converter |
CN108494298B (en) * | 2018-03-21 | 2020-11-03 | 广东电网有限责任公司电力科学研究院 | Voltage and current inner loop control simulation method and system of virtual synchronous machine |
CN108494298A (en) * | 2018-03-21 | 2018-09-04 | 广东电网有限责任公司电力科学研究院 | A kind of the voltage and current inner ring control emulation mode and system of virtual synchronous machine |
CN110504853A (en) * | 2018-05-18 | 2019-11-26 | 南京理工大学 | Improvement circular current control method based on flexible DC transmission |
CN114204584A (en) * | 2021-11-25 | 2022-03-18 | 广东电网有限责任公司 | Method and device for calculating internal circulation of modular multilevel converter |
CN114204584B (en) * | 2021-11-25 | 2024-04-26 | 广东电网有限责任公司 | Calculation method and device for internal circulation of modularized multi-level converter |
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