CN104393779B - A kind of modular multi-level converter control method based on carrier wave stacking modulation - Google Patents

A kind of modular multi-level converter control method based on carrier wave stacking modulation Download PDF

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CN104393779B
CN104393779B CN201410641553.5A CN201410641553A CN104393779B CN 104393779 B CN104393779 B CN 104393779B CN 201410641553 A CN201410641553 A CN 201410641553A CN 104393779 B CN104393779 B CN 104393779B
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signal
submodule
brachium pontis
current transformer
modulated signal
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CN104393779A (en
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刘进军
杜思行
刘腾
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Xian Jiaotong University
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Xian Jiaotong University
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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
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/483—Converters with outputs that each can have more than two voltages levels
    • H02M7/49—Combination of the output voltage waveforms of a plurality of converters

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

Abstract

The invention discloses a kind of modular multi-level converter control method based on carrier wave stacking modulation, carrier wave stacking modulation strategy is utilized to produce corresponding original modulated signal by modulating wave and triangular carrier specifically exactly, and by the detection of each brachium pontis submodule capacitor voltage is determined that capacitance voltage maximum is distinguished corresponding module with minima, exchange the modulated signal corresponding to corresponding module finally according to certain rule thus reach each submodule capacitor voltage balance.The present invention can realize each submodule capacitor voltage balance, and will not cause extra switch motion.

Description

A kind of modular multi-level converter control method based on carrier wave stacking modulation
Technical field
The present invention relates to a kind of modular multi-level converter control method, be specifically related to a kind of based on carrier wave stacking modulation Modular multi-level converter control method.
Background technology
Along with social progress and industrial development, there is two major features in modern power systems: electrical power trans mission/distribution system is huge, power train System voltage and the continuous lifting of power grade.First, the demand of electric power is got more and more, in order to meet user to electricity by modern society The demand that power is growing, power system becomes more and more huger, and coverage is more and more wide.This gives the steady of power system Qualitative bring challenges.Simultaneously as China is vast in territory, but uneven geographical distribution of resources, in order to improve the effect of long term distance transmission of electricity Rate, the application of D.C. high voltage transmission (HVDC) technology is more and more extensive.Secondly, the load of modern power systems also has a new feature: Power electronic equipment has superior performance, is used in a large number by consumption industries such as industrial or agricultural.But, power electronic equipment is made For nonlinear load, idle and harmonic wave, along with the increase of nonlinear load capacity, its shadow to distribution system can be injected to electrical network Ring the most increasing, make system exist dangerous, unstable hidden danger.Mesohigh electrical power trans mission/distribution system is carried out reactive-load compensation, permissible It is effectively improved the stability of power system.Interconnected by HVDC transmission system (HVDC) between different electric power systems, permissible The asynchronous problem of solution system, it is also possible to stop fault to spread between the systems, be improve system stability and reliability can Row method.
Modular multi-level converter (MMC) just obtains the research widely of scholar and the strong of engineer after proposing Strong concern.Modular multi-level converter has a plurality of advantages: modularized design, low switching frequency, low-power consumption, high-quality frequency Spectral property etc..These advantages, to the manufacture of modular multi-level converter, are installed, and safeguard and bring huge convenience, also make it Mesohigh electrical network directly it is linked into without net side transformer.Modular multi-level converter has been applied to D.C. high voltage transmission now System and mesohigh utility power quality control system, become the effective ways improving electrical power trans mission/distribution system Stability and dependability.
Recently, for the research of modular multi-level converter, many academic works are suggested with achievement.Study hotspot Being concentrated mainly on the modeling to modular multi-level converter, novel modulation strategy, submodule capacitor voltage balances, and reduces by half The aspects such as the switching frequency of conductor device and emulation technology.Wherein, modulation strategy be decision module Multilevel Inverters The key point of whole output characteristics.Existing modulation strategy can be largely classified into following four classes: level modulation, tune of tabling look-up recently System, phase-shifting carrier wave modulation and carrier wave stacking are modulated.Wherein, nearest level modulation realizes process with it and simply obtains extensive answering With.Generally, this modulation strategy controls to be used in combination to guarantee the properly functioning of system with submodule capacitor voltage sequence.But should Method can increase the weight of digitial controller burden, increases extra average frequency of switching simultaneously, is unfavorable for reducing system loss；Look-up table It is then to be eliminated by particular harmonic or additive method calculates corresponding switching time and stores in controller.The method can be real The lowest switching frequency, but often there is modulation ratio discretization in it, and storage takies the problems such as great amount of hardware resources；For carrying Ripple phase shift modulation, it needs the pi regulator of substantial amounts of complexity to realize submodule capacitor voltage balance control, is unfavorable for system Stability；Carrier wave stacking modulation only needs a carrier signal, it is achieved process is relatively simple.But it is existing based on carrier wave stacking modulation The capacitor voltage balance control strategy of method can cause extra switch motion in the application, thus increases system loss.Therefore, A kind of novel modular multi-level converter capacitor voltage balance control method based on carrier wave stacking modulation strategy is needed Efficiently solve the problems referred to above.
Summary of the invention
It is an object of the invention to the shortcoming overcoming above-mentioned prior art, it is provided that a kind of mould based on carrier wave stacking modulation Massing Multilevel Inverters control method, the method can realize each submodule capacitor voltage balance, and will not cause extra Switch motion.
For reaching above-mentioned purpose, modular multi-level converter controlling party based on carrier wave stacking modulation of the present invention Method comprises the following steps:
1) the output voltage u of three-phase modular multilevel current transformer every cross streams side is obtaineda、ubAnd uc, to three-phase modular The output voltage u of Multilevel Inverters every cross streams sidea、ubAnd ucIt is normalized, and according to the result of normalized Determine during three-phase modular multilevel current transformer is mutually and go up brachium pontis and the modulating wave of lower brachium pontis, wherein, three-phase modular multilevel In current transformer, each brachium pontis includes N number of submodule；
2) recording controller produces triangle carrier signal tril, obtains N shell carrier signal, and wherein, i-th layer of carrier signal is passed through Triangle carrier signal tril and direct current biasingAddition obtains, then according to step 1) three-phase modular multilevel that obtains becomes Stream device every mutually in upper brachium pontis and the modulating wave of lower brachium pontis and each layer carrier signal to obtain N shell by carrier wave stacking modulation strategy original Modulated signal；
3) synchronization pulse S is introducedsyn, then at this synchronization pulse SsynRising edge time gather three-phase modular Each submodule capacitor voltage in Multilevel Inverters, obtains each brachium pontis capacitance voltage maximum and submodule M corresponding to minimamax And submodule Mmin；
4) in a switch periods, when carrier signal exists opening state and off state, carrier signal is PWM letter Number, otherwise, carrier signal is non-pwm signal, and this layer of modulated signal that the most current modulating wave intersects with carrier signal is PWM Signal, remaining N-1 layer modulated signal is non-pwm signal, if when bridge arm current direction is the charging of antithetical phrase module capacitance, brachium pontis The polarity of electric current is just；When bridge arm current direction is the electric discharge of submodule electric capacity, the polarity of bridge arm current is negative, is then synchronizing Pulse signal SsynDuring rising edge, the bridge arm current to modular multi-level converter is sampled, and obtains iarm；
5) just it is when the polarity of bridge arm current, and the submodule M that brachium pontis capacitance voltage is minimumMINCorresponding modulated signal During for off state, then exchange the modulated signal of this submodule and present PWM signal institute distribution sub module；Pole when bridge arm current Property be negative, and the submodule M that brachium pontis capacitance voltage is maximumMAXWhen corresponding modulated signal is off state, exchange this submodule Modulated signal with present PWM signal institute distribution sub module；When the polarity of bridge arm current is just, and brachium pontis capacitance voltage maximum Submodule MMAXWhen corresponding modulated signal is opening state, then exchange this submodule and present PWM signal institute distribution sub module Modulated signal；When bridge arm current polarity is negative, and the submodule M that capacitance voltage is minimumMINCorresponding modulated signal is open-minded During state, exchange the modulated signal of this submodule and present PWM signal institute distribution sub module, obtain N number of final modulated signal, then By described N number of final modulated signal is distributed in each brachium pontis of three-phase modular multilevel current transformer N number of as switching signal The capacitor voltage balance carrying out modular multi-level converter in the switching device of submodule controls.
Step 1) the middle output voltage u obtaining three-phase modular multilevel current transformer every cross streams sidea、ubAnd uc, wherein, ua=UmSin ω t,UmFor the AC output amplitude of three-phase modular multilevel current transformer, ω For the AC output angle frequency of three-phase modular multilevel current transformer, then three-phase modular multilevel current transformer is often intersected The output voltage u of stream sidea、ubAnd ucIt is normalized, obtains three-phase modular multilevel current transformer every cross streams side output voltage Normalization resultWherein, u a * = 1 2 m sin ωt , u b * = 1 2 m sin ( ωt - 2 3 π ) , u c * = 1 2 m sin ( ωt + 2 3 π ) , UdcFor current transformer DC side busbar voltage, m is modulation ratio, and m = U m 1 2 U dc .
Step 1) according to normalized result determine three-phase modular multilevel current transformer every mutually in upper brachium pontis and Xia Qiao The modulating wave u of armpx *And unx *, wherein,X={a, b, c}.
Step 2) described in the frequency of triangle carrier signal tril be f, amplitude is 0～1/N.
When triangle carrier signal is in crest, synchronization pulse is rising edge, when triangle carrier signal is in trough Time, synchronization pulse is trailing edge.
The method have the advantages that
Modular multi-level converter control method based on carrier wave stacking modulation of the present invention is to each submodule During capacitance voltage is balanced, by first obtaining the output electricity of three-phase modular multilevel current transformer every cross streams side Pressure, then determine three-phase modular multilevel current transformer every mutually in upper brachium pontis and the modulating wave of lower brachium pontis, and modulated by carrier wave stacking Strategy obtains N shell original modulated signal, then utilizes the rising edge of synchronization pulse to sample submodule capacitor voltage, Find out the submodule corresponding to capacitance voltage maxima and minima, finally detect the polarity of bridge arm current, and according to brachium pontis electricity The polarity of stream and the submodule M of brachium pontis capacitance voltage minimumMINOn off state, the maximum submodule M of brachium pontis capacitance voltageMAx On off state N shell original modulated signal is adjusted, obtain N number of final modulated signal, and using N number of final modulated signal as Switching signal distributes to the switching device of N number of submodule in each brachium pontis of three-phase modular multilevel current transformer, thus realizes three-phase Each submodule capacitor voltage balance in modular multi-level converter, and extra switch motion will not be caused, simple to operate, easily In realization.
Accompanying drawing explanation
Fig. 1 is modular multi-level converter main circuit topological structure；
Fig. 2 is convention carrier stacking modulation strategy schematic diagram；
Fig. 3 (a) is that present invention PWM module when synchronizing signal rising edge is handed over capacitance voltage minima module modulated signal Change schematic diagram；
Fig. 3 (b) is that present invention PWM module when synchronizing signal rising edge is handed over capacitance voltage maximum module modulated signal Change schematic diagram；
Fig. 4 (a) is that present invention PWM module when synchronizing signal trailing edge is handed over capacitance voltage maximum module modulated signal Change schematic diagram；
Fig. 4 (b) is that present invention PWM module when synchronizing signal trailing edge is handed over capacitance voltage minima module modulated signal Change schematic diagram；
Fig. 5 is Neutron module capacitor voltage balance control method block diagram of the present invention；
Fig. 6 is that in the present invention, single triangular carrier realizes carrier wave stacking modulation strategy block diagram；
Fig. 7 (a) is the simulation waveform figure of upper brachium pontis output voltage in the present invention；
Fig. 7 (b) is the simulation waveform figure of lower brachium pontis output voltage in the present invention；
Fig. 7 (c) is the simulation waveform figure of AC side of converter output voltage in the present invention；
Fig. 7 (d) is that in the present invention, AC exports electric current and upper brachium pontis and the simulation waveform figure of lower bridge arm current；
Fig. 7 (e) is the simulation waveform figure of upper brachium pontis submodule capacitor voltage in the present invention；
Fig. 7 (f) is the simulation waveform figure of lower brachium pontis submodule capacitor voltage in the present invention；
Fig. 8 (a) is the simulation waveform figure of lower brachium pontis output voltage in the present invention；
Fig. 8 (b) is the simulation waveform figure of AC side of converter output electric current in the present invention；
Fig. 8 (c) is the simulation waveform figure of system circulation in the present invention；
Fig. 8 (d) is the simulation waveform figure of lower brachium pontis submodule capacitor voltage in the present invention；
Fig. 9 is the simulating, verifying figure that in the present invention, capacitor voltage balance controls not introduce extra switch action；
Figure 10 is that in the present invention, in capacitor voltage balance control, current transformer voltage and AC export the Steady Experimental of electric current Checking；
Figure 11 be in the present invention capacitor voltage balance control in AC output voltage and the Steady Experimental of current transformer electric current Checking；
Figure 12 (a) is AC output electric current and the dynamic reality of 3,4 submodule capacitor voltage in capacitor voltage balance control Test proof diagram；
The dynamic experiment proof diagram of four submodule capacitor voltage in the control of Figure 12 (b) capacitor voltage balance；
When in Figure 13 present invention, modulation is than sudden change, the dynamic experiment proof diagram that capacitor voltage balance controls；
In Figure 14 present invention during load changing, the dynamic experiment proof diagram that capacitor voltage balance controls；
Figure 15 (a) capacitor voltage balance controls not introduce above brachium pontis output voltage and AC output after extra switch action The experimental waveform figure of electric current；
The control of Figure 15 (b) capacitor voltage balance is upper four submodule output voltages of brachium pontis after not introducing extra switch action Experimental waveform；
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail:
Modular multi-level converter control method based on carrier wave stacking modulation of the present invention comprises the following steps:
1) the output voltage u of three-phase modular multilevel current transformer every cross streams side is obtaineda、ubAnd uc, to three-phase modular The output voltage u of Multilevel Inverters every cross streams sidea、ubAnd ucIt is normalized, and according to the result of normalized Determine during three-phase modular multilevel current transformer is mutually and go up brachium pontis and the modulating wave of lower brachium pontis, wherein, three-phase modular multilevel The each brachium pontis of current transformer includes N number of submodule；
2) recording controller produces triangle carrier signal tril, obtains N shell carrier signal, and wherein, i-th layer of carrier signal is passed through Triangle carrier signal tril and direct current biasingAddition obtains, then according to step 1) three-phase modular multilevel that obtains becomes Stream device every mutually in upper brachium pontis and the modulating wave of lower brachium pontis and each layer carrier signal to obtain N shell by carrier wave stacking modulation strategy original Modulated signal；
3) synchronization pulse S is introducedsyn, then at this synchronization pulse SsynRising edge time gather three-phase modular Each submodule capacitor voltage in Multilevel Inverters, obtains each brachium pontis capacitance voltage maximum and submodule M corresponding to minimamax And submodule Mmin；
4) in a switch periods, when carrier signal exists opening state and off state, carrier signal is PWM letter Number, otherwise, carrier signal is non-pwm signal, and this layer of modulated signal that the most current modulating wave intersects with carrier signal is PWM Signal, remaining N-1 layer modulated signal is non-pwm signal, if when bridge arm current direction is the charging of antithetical phrase module capacitance, brachium pontis The polarity of electric current is just；When bridge arm current direction is the electric discharge of submodule electric capacity, the polarity of bridge arm current is negative, is then synchronizing Pulse signal SsynDuring rising edge, the bridge arm current to modular multi-level converter is sampled, and obtains iarm；
5) just it is when the polarity of bridge arm current, and the submodule M that brachium pontis capacitance voltage is minimumMINCorresponding modulated signal During for off state, then exchange the modulated signal of this submodule and present PWM signal institute distribution sub module；Pole when bridge arm current Property be negative, and the submodule M that brachium pontis capacitance voltage is maximumMAXWhen corresponding modulated signal is off state, exchange this submodule Modulated signal with present PWM signal institute distribution sub module；When the polarity of bridge arm current is just, and brachium pontis capacitance voltage maximum Submodule MMAXWhen corresponding modulated signal is opening state, then exchange this submodule and present PWM signal institute distribution sub module Modulated signal；When bridge arm current polarity is negative, and the submodule M that capacitance voltage is minimumMINCorresponding modulated signal is open-minded During state, exchange the modulated signal of this submodule and present PWM signal institute distribution sub module, obtain N number of final modulated signal, then It is N number of by described N number of final modulated signal is distributed to each brachium pontis in three-phase modular multilevel current transformer as switching signal The capacitor voltage balance carrying out modular multi-level converter in the switching device of submodule controls.
Step 1) the middle output voltage u obtaining three-phase modular multilevel current transformer every cross streams sidea、ubAnd uc, wherein, ua=UmSin ω t,UmFor the AC output amplitude of three-phase modular multilevel current transformer, ω is The AC output angle frequency of three-phase modular multilevel current transformer, then cross streams every to three-phase modular multilevel current transformer The output voltage u of sidea、ubAnd ucIt is normalized, obtains returning of three-phase modular multilevel current transformer every cross streams side output voltage One changes resultAndWherein, u a * = 1 2 m sin ωt , u b * = 1 2 m sin ( ωt - 2 3 π ) , u c * = 1 2 m sin ( ωt + 2 3 π ) , UdcFor current transformer DC side busbar voltage, m is modulation ratio, and m = U m 1 2 U dc .
Step 1) according to normalized result determine three-phase modular multilevel current transformer every mutually in upper brachium pontis and Xia Qiao The modulating wave u of armpx *And unx *, wherein,X={a, b, c}.
Step 2) described in the frequency of triangle carrier signal tril be f, amplitude is 0～1/N.
When triangle carrier signal is in crest, synchronization pulse is rising edge, when triangle carrier signal is in trough Time, synchronization pulse is trailing edge.
With reference to Fig. 1, constructing modular Multilevel Inverters.The main circuit structure of modular multi-level converter is by six bridges Respectively with six linked reactor series connection of arm, then constitute double star and connect.Each brachium pontis is made up of 10 sub-block coupled in series, mould Block DC side parallel has electrolysis condenser, and switching device uses the large power all-controlled devices such as IGBT or GTO.
In each brachium pontis, serial module structure number does not has the upper limit, value to be decided by electric power system electric pressure, in order to describe conveniently, The present embodiment is described in detail as a example by 10 block coupled in series.Again because of symmetry and the upper and lower bridge arm of a, b, c three-phase Symmetry, the most only need to analyze the situation of the upper brachium pontis of a phase, reference Fig. 2,3,4,5,6, the present invention includes that raw modulation is believed Number generation and by the capacitor voltage balance control method of certain rule exchange corresponding module modulated signal.
Built capacity in simulation software is 5MVA simultaneously, DC side busbar voltage 20kV, 10 copped wave in each brachium pontis The phantom of block coupled in series, has carried out simulating, verifying to the method in the present invention.It addition, built capacity in the lab it is 2kW, DC side busbar voltage 200V, the single-phase MMC experimental prototype of 4 copped wave block coupled in series in each brachium pontis.Emulation and experiment Result all demonstrates correctness and the reliability of the method, provides good reference value for engineer applied.Fig. 7-Figure 15 gives Emulation and the experimental waveform of control method of the present invention are gone out to use.From emulation and experimental waveform it can be seen that in this control method Under, the steady-state characteristic of modular multi-level converter and dynamic characteristic all have the embodiment of excellence, thus just demonstrate the method Really property and reliability.

Claims (5)

1. a modular multi-level converter control method based on carrier wave stacking modulation, it is characterised in that include following step Rapid:
1) the output voltage u of three-phase modular multilevel current transformer every cross streams side is obtaineda、ubAnd uc, how electric to three-phase modular The output voltage u of flat current transformer every cross streams sidea、ubAnd ucIt is normalized, and determines according to the result of normalized Three-phase modular multilevel current transformer every mutually in upper brachium pontis and the modulating wave of lower brachium pontis, wherein, three-phase modular multilevel unsteady flow The each brachium pontis of device includes N number of submodule；
2) recording controller produces triangle carrier signal tri1, obtains N shell carrier signal, and wherein, i-th layer of carrier signal passes through triangle Carrier signal tril and direct current biasingAddition obtains, then according to step 1) the three-phase modular multilevel current transformer that obtains In mutually, upper brachium pontis and the modulating wave of lower brachium pontis and each layer carrier signal obtain N shell raw modulation by carrier wave stacking modulation strategy Signal；
3) synchronization pulse S is introducedsyn, then at this synchronization pulse SsynRising edge time gather three-phase modular how electric Each submodule capacitor voltage in flat current transformer, obtains each brachium pontis capacitance voltage maximum and submodule M corresponding to minimamaxAnd son Module Mmin；
4) in a switch periods, when carrier signal exists opening state and off state, carrier signal is pwm signal, Otherwise, carrier signal is non-pwm signal, and this layer of modulated signal that the most current modulating wave intersects with carrier signal is PWM letter Number, remaining N-1 layer modulated signal is non-pwm signal, if when bridge arm current direction is the charging of antithetical phrase module capacitance, and brachium pontis electricity The polarity of stream is just；When bridge arm current direction is the electric discharge of submodule electric capacity, the polarity of bridge arm current is negative, is then synchronizing arteries and veins Rush signal SsynDuring rising edge, the bridge arm current to modular multi-level converter is sampled, and obtains iarm；
5) just it is when the polarity of bridge arm current, and the submodule M that brachium pontis capacitance voltage is minimumMINCorresponding modulated signal is for closing During disconnected state, then exchange the modulated signal of this submodule and present PWM signal institute distribution sub module；When the polarity of bridge arm current is Negative, and the submodule M that brachium pontis capacitance voltage is maximumMAXWhen corresponding modulated signal is off state, exchanges this submodule and work as The modulated signal of front pwm signal institute distribution sub module；When the polarity of bridge arm current is just, and the submodule that brachium pontis capacitance voltage is maximum Block MMAXWhen corresponding modulated signal is opening state, then exchange the tune of this submodule and present PWM signal institute distribution sub module Signal processed；When bridge arm current polarity is negative, and the submodule M that capacitance voltage is minimumMINCorresponding modulated signal is opening state Time, exchange the modulated signal of this submodule and present PWM signal institute distribution sub module, obtain N number of final modulated signal, then pass through Described N number of final modulated signal is distributed to N number of son in each brachium pontis of three-phase modular multilevel current transformer as switching signal The capacitor voltage balance carrying out modular multi-level converter in the switching device of module controls.
Modular multi-level converter control method based on carrier wave stacking modulation the most according to claim 1, it is characterised in that Step 1) the middle output voltage u obtaining three-phase modular multilevel current transformer every cross streams sidea、ubAnd uc, wherein, ua=UmSin ω t, UmFor the AC output amplitude of three-phase modular multilevel current transformer, ω is the AC output angle frequency of three-phase modular multilevel current transformer, then often intersects three-phase modular multilevel current transformer The output voltage u of stream sidea、ubAnd ucIt is normalized, obtains returning of three-phase modular multilevel current transformer every cross streams side output voltage One changes resultAndWherein, UdcFor current transformer DC side busbar voltage, m is modulation ratio, and
Modular multi-level converter control method based on carrier wave stacking modulation the most according to claim 2, its feature Be, step 1) according to normalized result determine three-phase modular multilevel current transformer every mutually in upper brachium pontis and lower brachium pontis Modulating wave upx *And unx *, wherein,X={a, b, c}.
Modular multi-level converter control method based on carrier wave stacking modulation the most according to claim 1, its feature Be, step 2) described in the frequency of triangle carrier signal tril be f, amplitude is 0～1/N.
Modular multi-level converter control method based on carrier wave stacking modulation the most according to claim 1, its feature Being, when triangle carrier signal is in crest, synchronization pulse is rising edge, when triangle carrier signal is in trough, Synchronization pulse is trailing edge.
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