CN104953686A - Control method for charge-discharge virtual synchronization motor for electromobile energy storage - Google Patents

Control method for charge-discharge virtual synchronization motor for electromobile energy storage Download PDF

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Publication number
CN104953686A
CN104953686A CN201410110951.4A CN201410110951A CN104953686A CN 104953686 A CN104953686 A CN 104953686A CN 201410110951 A CN201410110951 A CN 201410110951A CN 104953686 A CN104953686 A CN 104953686A
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China
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synchronous motor
virtual synchronous
interface
voltage
virtual
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CN201410110951.4A
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CN104953686B (en
Inventor
吕志鹏
盛万兴
刘海涛
钟庆昌
李蕊
梁惠施
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State Grid Corp of China SGCC
China Electric Power Research Institute Co Ltd CEPRI
State Grid Liaoning Electric Power Co Ltd
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State Grid Corp of China SGCC
China Electric Power Research Institute Co Ltd CEPRI
State Grid Liaoning Electric Power Co Ltd
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Priority to CN201410110951.4A priority Critical patent/CN104953686B/en
Priority to PCT/CN2014/093002 priority patent/WO2015143891A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/20—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by converters located in the vehicle
    • B60L53/22—Constructional details or arrangements of charging converters specially adapted for charging electric vehicles
    • 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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/30—AC to DC converters
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M2220/00—Batteries for particular applications
    • H01M2220/20—Batteries in motive systems, e.g. vehicle, ship, plane
    • 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
    • H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J2207/20—Charging or discharging characterised by the power electronics converter
    • 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
    • Y02E60/10—Energy storage using batteries
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention relates to a control method for electromobile energy storage, and specifically relates to a control method for a charge-discharge virtual synchronization motor for electromobile energy storage. A charge circuit used in the method is a high-frequency isolated PWM rectification circuit, the PWM rectification circuit comprises an alternating-current interface and a direct-current interface which are sequentially connected, the alternating-current interface adopts an H-bridge AC/DC rectification circuit and is used for rectifying a power grid voltage to a 600V direct-current voltage; the direct-current interface adopts an isolated DC/DC converter, and is used for converting the 600V direct-current voltage to a 48V direct-current voltage and supplying the 48V direct-current voltage to an electromobile load. The method comprises the following steps: (1) controlling the alternating-current interface by a virtual synchronization motor control policy; (2) carrying out the double-ring control of a voltage outer ring and a current inner ring on the direct-current interface. The control method is capable of reducing the influences of a charge interface and a discharge interface on a power grid, and improving the adaptability of the power grid to large-scale energy storage access; the direct-current interface adopts an isolated DC/DC converter, so that the need of rapid constant-power charge of an energy storage battery can be met.

Description

A kind of electric automobile energy storage discharge and recharge virtual synchronous motor control method
Technical field
The present invention relates to a kind of control method of electric automobile energy storage, be specifically related to a kind of electric automobile energy storage discharge and recharge virtual synchronous motor control method.
Background technology
Along with the continuous consumption of fossil fuel, the energy crisis in global range and environmental problem are increasingly sharpened.Conventional fuel oil type automobile, as a large consumer of fossil fuel, is faced with huge challenge.In recent years, by means of the continuous progress of battery, regenerative resource interconnection technology, the development of electric automobile causes to be paid close attention to widely.Along with the fast development of electric automobile, it is also outstanding all the more on the impact of the aspects such as power distribution network increase-volume, planning, construction, the quality of power supply.The discharge and recharge interface of electric automobile is as the important bridge between electric automobile and electrical network and tie, and its circuit and Advanced Control Strategies have important researching value.On the one hand, the alternating current-direct current electric energy conversion process of electric vehicle charge interface may bring a large amount of harmonic pollutions to power distribution network.Grid side need badly some electrical networks friendly, with the high-performance of electrical network interaction and network interface, when ensureing the electrical network quality of power supply, make electric automobile load have certain Demand Side Response regulating power, and there is certain inertia and damping, alleviate the impact of electric automobile load on electrical network.On the other hand, in order to adapt to the practical of electric automobile, its discharge and recharge interface and control technology thereof also need further to be studied.
In order to successfully manage the fast development of electric automobile, make it to become " the model load " that more meet electrical network demand, existing part document is studied at this point, and these researchs can be divided into two large classes by the size of charge power.First, for charge power less demanding small-power trickle charge occasion, the design etc. of electric automobile electrical network interaction (Vehicle to Grid, V2G), charging circuit obtains to be studied widely.In order to the battery integrating electric automobile provides necessary assistant service for electrical network, need the third party's dispatching control center except electric automobile, electrical network, add system cost and the complex nature of the problem.In the centralized quick charge application scenario of high-power, the problems such as high pressure DC/DC converter, power quality controlling have also been obtained concern.But the grid side demand such as Demand Side Response, electrical network close friend of electric automobile is seldom considered in existing research.Under the effect of Advanced Control Strategies, if charge-discharge circuit can be equivalent to the autonomous unit mutual with electrical network, and meet the Premium Features such as electrical network close friend, Demand Side Response, for accelerate electric automobile development and reduce its on the impact of electrical network all tool be of great significance.This not only can reduce the adverse effect that electric automobile high permeability is stablized power distribution network and the quality of power supply is brought, and effectively can also meet the demand that user charges to quick invariable power.Use for reference the synchronous machine technology in traditional electrical network, if can be synchronous machine by the charge-discharge circuit interface equivalent control of electric automobile under the effect of virtual motor control strategy, can automatically make it have and the Premium Features such as mutual between electrical network, Demand Side Response.
In order to the contact potential series of specification charging equipment of electric automobile, AIAE American institute of automobile engineers is proposed SAE J1772 rechargeable standard, and specification instructs the Design and manufacture of electrical interface circuits.Charging system is divided into Three Estate by this standard, namely exchanges grade 1, exchanges grade 2 and DC level, to meet the different demands of normal charge and quick charge respectively.In order to meet the demand of electric automobile normal charge, the interchange grade 1 in this standard and grade 2 require that charging device is from the power taking of single phase alternating current (A.C.) electrical network, and provide the normal charge ability of 2 ~ 8kW for electric automobile.In order to meet the quick charge demand of electric automobile, require maximumly to provide the charging ability of 400A, 240kW for electric automobile in DC level.This standard simultaneously also the minimum inlet highway voltage of regulation DC level charging device be 600V, and the voltage of batteries of electric automobile is all lower, is generally 36V, 48V, 60V and 72V etc.Visible, in order to meet the voltage matches in charge-discharge circuit between DC bus and batteries of electric automobile, need to introduce DC/DC converter that is high-power, wide output voltage range between.
Existing more common electric vehicle charge interface circuit mainly contains three classes shown in Fig. 1.
1. be with the uncontrollable rectifier structure of power frequency isolation, as shown in Fig. 1 (a).The major advantage of such interface circuit is: dynamic response capability is strong, DC side ripple voltage is little.But, due to the existence of isolating transformer, make whole system volume bigger than normal; In addition, uncontrollable rectifier makes a large amount of harmonic current injection electrical network, and under serious conditions, electric current resultant distortion rate (Total Harmonic Distortion, THD) may more than 80%.
2. the uncontrollable rectifier structure of high-frequency isolation, as shown in Fig. 1 (b).Owing to have employed high frequency transformer isolation technology, the volume of system comparatively power frequency isolation method obviously reduces.But research shows: the electric current THD of such interface circuit is still up to 30%.
3. the PWM rectifier structure of high-frequency isolation, as shown in Fig. 1 (c).Because rectifier side have employed PWM control mode, power factor can be significantly improved, reduce electric current THD, and volume is little, dynamic response is good.But the charge-discharge circuit of this structure also cannot reach that electrical network is mutual, the object of Demand Side Response.
Summary of the invention
For the deficiencies in the prior art, the object of this invention is to provide a kind of electric automobile energy storage discharge and recharge virtual synchronous motor control method, make electric automobile energy storage respond the change of distribution frequency/voltage by virtual motor technology, possess the ability participating in distribution and regulate.
The object of the invention is to adopt following technical proposals to realize:
The invention provides a kind of electric automobile energy storage discharge and recharge virtual synchronous motor control method, the charging circuit of described method is the PWM rectification circuit of high-frequency isolation, described PWM rectification circuit comprises the interchange interface and DC interface that connect successively, described interchange interface adopts H bridge AC/DC rectification circuit, for being the direct voltage of 600V by line voltage rectification; Described DC interface adopts isolated form DC/DC converter, for the direct voltage of 600V being converted to the direct voltage of 48V, and supply electric automobile load;
Its improvements are, described method comprises:
1. virtual synchronous motor control strategy is adopted to control to interchange interface;
2. the double-loop control control strategy of outer voltage and current inner loop is adopted to control to DC interface.
Further, the H bridge AC/DC rectification circuit of described interchange interface adopts three-phase six bridge arm structure, and each brachium pontis is made up of IGBT module, and each IGBT module is made up of IGBT device and diode antiparallel with it; Described H bridge AC/DC rectification circuit and capacitor branches C dcin parallel; The three-phase exchanging interface H bridge AC/DC rectification circuit is corresponding to be respectively connected with three of electrical network;
The diode filter circuit that the isolated form DC/DC converter of described DC interface comprises transformer, the two-phase H-bridge circuit be connected with transformer primary side and is connected with transformer secondary; Described two-phase H-bridge circuit comprises four brachium pontis, and each brachium pontis is made up of IGBT module, and each IGBT module is made up of IGBT device and diode antiparallel with it; Described diode filter circuit comprises diode branch in parallel and capacitive branch; Inductance is connected between diode branch and capacitive branch; Described diode branch is made up of the diode of connecting.
Further, described 1. in: by electrical network and the electronic charging pile of the electric automobile of site is equivalent to virtual synchronous motor, the Mathematical Modeling of virtual synchronous Electric Machine Control is as follows:
The torque equation of virtual synchronous motor is expressed as:
dδ dt = ω H dω dt = T e - T m - T d = T e - T m - D ( ω - ω 0 ) - - - ( 1 ) ;
Wherein: δ is the merit angle of virtual synchronous motor, and unit is rad; ω is the angular speed of virtual synchronous motor, ω 0for synchronized angular speed, unit is rad/s; H is the inertia time constant of virtual synchronous motor, and unit is s; T e, T mand T dbe respectively the electromagnetism of virtual synchronous motor, machine torque and damping torque, unit is Nm; D is damping coefficient, and unit is Nms/rad; Wherein, the torque of virtual synchronous motor electromagnetic is by virtual synchronous motor triphasic potential e a, e b, e cand three-phase output current i a, i b, i cobtain, i.e. T e=P e/ ω=(e ai a+ e bi b+ e ci c)/ω;
The electromagnetic equation of virtual synchronous motor is expressed as:
L di abc dt = e abc - u abc - Ri abc - - - ( 2 ) ;
Wherein, L and R is respectively stator inductance and the resistance of virtual synchronous motor, u abcfor the set end voltage of virtual synchronous motor; e abcfor writing a Chinese character in simplified form of virtual synchronous motor triphasic potential; i abcfor three-phase output current i a, i b, i cwrite a Chinese character in simplified form; Stator inductance L is corresponding with the dead resistance of the filter inductance and filter and IGBT device that exchange interface with resistance R.
Further, exchanging interface regulates it to take the meritorious of electrical network and reactive power according to the frequency and voltage of electrical network;
A, meritorious adjustment:
By to virtual synchronous electromechanics torque T madjustment namely realize exchanging the adjustment of meritorious instruction in interface; T mby nominal torque instruction T 0with frequency departure feedback command Δ T two parts composition, wherein T 0be expressed as:
T 0＝P ref/ω （3）；
Wherein, P reffor the meritorious instruction of combining inverter, in charge-discharge circuit, P refthe control being DC bus-bar voltage pi regulator exports; The adjustment of frequency response is realized by virtual frequency modulation unit, and virtual frequency modulation unit is taken as proportional component, and namely machine torque deviation instruction Δ T is expressed as:
ΔT＝k f(f-f 0) （4）；
Wherein, f is the frequency of virtual synchronous motor set end voltage, f 0for electrical network rated frequency, k ffor frequency response coefficient, it is constant negative;
B, Reactive-power control:
By regulating the virtual potential E of virtual synchronous motor model pregulate its set end voltage and idle;
The virtual potential instruction E of virtual synchronous motor pcomprise: the no-load emf E of motor 0, reaction reactive power regulates electromotive force Δ E qelectromotive force Δ E is regulated with reaction set end voltage u;
The part electromotive force Δ E that reaction reactive power regulates qbe expressed as:
ΔE Q＝k q(Q ref-Q) （5）；
Wherein, k qfor Reactive-power control coefficient, Δ E qfor exchanging the idle instruction of interface, Q is the instantaneous reactive power exchanging the output of interface message processor (IMP) end, and Q is expressed as:
Q = [ ( u a - u b ) i c + ( u b - u c ) i a + ( u c - u a ) i b ] / 3 - - - ( 6 ) ;
Wherein: u a, u band u cbe respectively the three-phase set end voltage of virtual synchronous electrode;
Reaction set end voltage regulates electromotive force Δ E u, Δ E ube equivalent to the automatic excitation regulator of virtual synchronous motor, automatic excitation regulator is reduced to proportional component, then Δ E ube expressed as:
ΔE U＝k v(U ref-U) （7）；
Wherein, U refcommand value and the actual value of combining inverter machine end line voltage effective value is respectively, k with U vfor voltage regulation coefficient;
Virtual synchronous motor electromotive force is:
E p＝E 0+ΔE Q+ΔE U（8）；
Virtual synchronous motor potential voltage vector is:
E = E p sin ( δ ) E p sin ( δ - 2 π / 3 ) E p sin ( δ + 2 π / 3 ) - - - ( 9 ) .
Further, described 1. in virtual synchronous motor control strategy be: obtain virtual synchronous motor transient potential E at meritorious adjustment, Reactive-power control and mechanical equation and electromagnetic equation pafter the merit angle δ of virtual synchronous motor, obtain potential voltage e in formula (9) abcbasis on, obtained the command value of electrical network three-phase output current by formula (2), under the effect of ratio resonance control strategy, then ensure actual grid-connected three-phase output current i abcto its command value i refabctracking.
Compared with the prior art, the beneficial effect that the present invention reaches is:
1, the invention provides the electric automobile energy storage charge/discharge control method of a kind of electrical network close friend.The rectification circuit of the method is by exchanging interface and DC interface two parts form, line voltage rectification is 600V direct voltage by the three-phase H bridge rectification circuit wherein exchanging interface, the direct voltage of 48V is converted to again, supply electric automobile load through the high power D C/DC current transformer of DC interface.
2, exchange interface and adopt virtual synchronous Motor Control strategy, can adjust by responsive electricity grid voltage/frequency, for electrical network provides meritorious and reactive power support, change the drawback that traditional charger power one-way flow can not participate in distribution adjustment, coordinate energy storage device can significantly improve inertia and the damping of discharge and recharge interface.Exchange interface adopt virtual synchronous Motor Control strategy to make the current distortion of also site little and necessary voltage and frequency can be provided to support for electrical network, improve the stability of a system.
3, this control method can reduce energy storage discharge and recharge interface to the impact of electrical network, promotes the adaptability that electrical network accesses extensive energy storage.DC interface adopts isolated form DC/DC converter, effectively can realize the electrical isolation between electrical network, improves system reliability, and can meet the demand of the quick invariable power charging of energy-storage battery.
Accompanying drawing explanation
Fig. 1 is electric vehicle charge interface circuit topology figure in prior art, and wherein (a) is the uncontrollable rectifier topology diagram of band power frequency isolation; B uncontrollable rectifier topology diagram that () is high-frequency isolation; C PWM rectification topology figure that () is high-frequency isolation;
Fig. 2 is interchange Interface Controller policy construction figure provided by the invention;
Fig. 3 is DC interface control strategy structure chart provided by the invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
The present invention is directed to traditional charger energy one-way flow, the problem of distribution adjustment can not be participated in, provide a kind of operational mode according to synchronous machine load to carry out the electric automobile energy storage charge/discharge control method controlled.Make electric automobile energy storage respond the change of distribution frequency/voltage by virtual motor technology, possess the ability participating in distribution and regulate.
The hardware topology that the present invention relies on is as shown in Fig. 1 (C); The charging circuit of the inventive method is the PWM rectification circuit of high-frequency isolation, described PWM rectification circuit comprises the interchange interface and DC interface that connect successively, described interchange interface adopts H bridge AC/DC rectification circuit, for being the direct voltage of 600V by line voltage rectification; Described DC interface adopts isolated form DC/DC converter, for the direct voltage of 600V being converted to the direct voltage of 48V, and supply electric automobile load; The H bridge AC/DC rectification circuit exchanging interface adopts three-phase six bridge arm structure, and each brachium pontis is made up of IGBT module, and each IGBT module is made up of IGBT device and diode antiparallel with it; Described H bridge AC/DC rectification circuit and capacitor branches C dcin parallel; The three-phase exchanging interface H bridge AC/DC rectification circuit is corresponding to be respectively connected with three of electrical network;
The diode filter circuit that the isolated form DC/DC converter of DC interface comprises transformer, the two-phase H-bridge circuit be connected with transformer primary side and is connected with transformer secondary; Described two-phase H-bridge circuit comprises four brachium pontis, and each brachium pontis is made up of IGBT module, and each IGBT module is made up of IGBT device and diode antiparallel with it; Described diode filter circuit comprises diode branch in parallel and capacitive branch; Inductance is connected between diode branch and capacitive branch; Described diode branch is made up of the diode of connecting.
Electric automobile energy storage discharge and recharge virtual synchronous motor control method provided by the invention comprises:
1. virtual synchronous motor control strategy is adopted to control to interchange interface;
Exchange in interface at grid side AC/DC, adopt virtual synchronous motor control strategy.From and enter viewed from site, whole electric automobile charging pile can be equivalent to a synchronous machine load, adaptively the voltage/frequency disturbance of responsive electricity grid, and provides necessary inertia and damping for electrical network.The Mathematical Modeling that the virtual motor providing AC AC/DC interface in discharge and recharge scheme below controls.
The torque equation of virtual synchronous motor is expressed as:
dδ dt = ω H dω dt = T e - T m - T d = T e - T m - D ( ω - ω 0 ) - - - ( 1 ) ;
Wherein: δ is the merit angle of virtual synchronous motor, and unit is rad; ω is the angular speed of virtual synchronous motor, ω 0for synchronized angular speed, unit is rad/s; H is the inertia time constant of virtual synchronous motor, and unit is s; T e, T mand T dbe respectively the electromagnetism of virtual synchronous motor, machine torque and damping torque, unit is Nm; D is damping coefficient, and unit is Nms/rad; Wherein, the torque of virtual synchronous motor electromagnetic is by virtual synchronous motor triphasic potential e a, e b, e cand three-phase output current i a, i b, i cobtain, i.e. T e=P e/ ω=(e ai a+ e bi b+ e ci c)/ω; Due to the existence of constant H and D, make charger in line voltage/frequency disturbance, load switching process, show the ability of machinery inertial and power oscillation damping.
The electromagnetic equation of virtual synchronous motor is expressed as:
L di abc dt = e abc - u abc - Ri abc - - - ( 2 ) ;
Wherein, L and R is respectively stator inductance and the resistance of virtual synchronous motor, u abcfor the set end voltage of virtual synchronous motor; e abcfor writing a Chinese character in simplified form of virtual synchronous motor triphasic potential; i abcfor three-phase output current i a, i b, i cwrite a Chinese character in simplified form; Stator inductance L is corresponding with the dead resistance of the filter inductance and filter and IGBT device that exchange interface with resistance R.
Under the effect of carried virtual motor control strategy, it is mutual and meet the control strategy that demanding side of the electrical power net responds with electrical network that charge-discharge circuit shown in Fig. 1 (c) exchanges interface, regulates it to take gaining merit and reactive power of electrical network on one's own initiative according to the frequency and voltage of electrical network.
A, meritorious adjustment:
Under the constant power load model condition that power is P, the machine torque instruction T that synchronous machine is specified 0be inversely proportional to mains frequency ω, i.e. T 0ω=P; In addition, synchronous machine is after mains frequency disturbance, and its machine torque is also subject to the damping action of physics and changes: the mechanical damping torques such as mains frequency is higher, and motor speed is faster, windage are also larger.This can regard as its response changed mains frequency.The present invention passes through virtual synchronous electromechanics torque T madjustment can realize exchanging the adjustment of meritorious instruction in interface.T mby nominal torque instruction T 0with frequency departure feedback command Δ T two parts composition, wherein T 0can be expressed as:
T 0＝P ref/ω （3）；
Wherein, P reffor the meritorious instruction of combining inverter, in charge-discharge circuit, P refthe control being DC bus-bar voltage pi regulator exports; The adjustment of frequency response is realized by virtual frequency modulation unit, and virtual frequency modulation unit is taken as proportional component, and namely machine torque deviation instruction Δ T is expressed as:
ΔT＝k f(f-f 0) （4）；
Wherein, f is the frequency of virtual synchronous motor set end voltage, f 0for electrical network rated frequency, k ffor frequency response coefficient, it is constant negative.
B, Reactive-power control:
Synchronous machine regulates its idle output and set end voltage by excitation controller.Similarly, can by regulating the virtual potential E of virtual synchronous motor model pregulate its set end voltage and idle.
The virtual potential instruction E of virtual synchronous motor pbe made up of three parts.One is the no-load emf E of motor 0.Its two, be reaction reactive power regulate part Δ E q, can be expressed as:
ΔE Q＝k q(Q ref-Q) （5）；
Wherein, k qfor Reactive-power control coefficient, Δ E qfor exchanging the idle instruction of interface, Q is the instantaneous reactive power exchanging the output of interface message processor (IMP) end, and Q is expressed as:
Q = [ ( u a - u b ) i c + ( u b - u c ) i a + ( u c - u a ) i b ] / 3 - - - ( 6 ) ;
Wherein: u a, u band u cbe respectively the three-phase set end voltage of virtual synchronous electrode;
Virtual potential instruction E ppart III regulate electromotive force Δ E for reaction set end voltage u, Δ E ube equivalent to the automatic excitation regulator (Autonomous voltage regulator, AVR) of virtual synchronous motor, automatic excitation regulator is reduced to proportional component, then Δ E ube expressed as:
ΔE U＝k v(U ref-U) （7）；
Wherein, U refcommand value and the actual value of combining inverter machine end line voltage effective value is respectively, k with U vfor voltage regulation coefficient;
Virtual synchronous motor electromotive force is:
E p＝E 0+ΔE Q+ΔE U（8）；
Virtual synchronous motor potential voltage vector is:
E = E p sin ( δ ) E p sin ( δ - 2 π / 3 ) E p sin ( δ + 2 π / 3 ) - - - ( 9 ) .
Based on above analysis, the interchange Interface Controller strategy based on virtual synchronous electric machine strategy can be obtained, as shown in Figure 2.Virtual motor transient potential E is obtained at meritorious, Reactive-power control module and machinery, electromagnetic equation pafter the δ of merit angle, in order to ensure to exchange the alternating current i between interface and electrical network abcthere is lower total harmonic distortion factor, to meet the function of electrical network close friend, obtain potential voltage e in formula (9) abcbasis on, obtained the command value of electrical network alternating current by formula (2), then under the effect of ratio resonance control strategy, ensure actual grid-connected current i abcto its command value i refabcaccurate tracking.Accordingly, can ensure that the low total harmonic distortion THD of electrical network alternating current, High Power Factor run.
2. the double-loop control control strategy of outer voltage and current inner loop is adopted to control to DC interface:
Based on the charge-discharge circuit interface of Fig. 1 (c), the VD exchanging interface is U dc=600V, can not directly receive on batteries of electric automobile, therefore needs to adopt the DC interface of high-power, the wide output voltage range shown in Fig. 1 (c) as the bridge and the tie that connect high voltage dc bus and electric automobile.The control strategy of DC interface adopts the double-loop control of outer voltage PI v and current inner loop PI i to realize, by the output voltage U of DC interface obe stabilized to its rated value U oref=48V, as shown in Figure 3, wherein D is the duty ratio driving Fig. 1 (c) DC/DC converter IGBT, I dfor the charging current of electric automobile.
In control method provided by the invention, exchange interface and adopt virtual synchronous motor technology, while ensureing the low harmonic distortion of grid-connected current, all right responsive electricity grid voltage/frequency anomalous event, for electrical network provides necessary meritorious and reactive power support, and improve inertia and the damping of discharge and recharge interface.This control method can reduce energy storage discharge and recharge interface to the impact of electrical network, promotes the adaptability that electrical network accesses extensive energy storage.DC interface adopts isolated form DC/DC converter, can meet the demand of the quick invariable power charging of energy-storage battery.
Finally should be noted that: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit, although with reference to above-described embodiment to invention has been detailed description, those of ordinary skill in the field are to be understood that: still can modify to the specific embodiment of the present invention or equivalent replacement, and not departing from any amendment of spirit and scope of the invention or equivalent replacement, it all should be encompassed in the middle of right of the present invention.

Claims (5)

1. an electric automobile energy storage discharge and recharge virtual synchronous motor control method, the charging circuit of described method is the PWM rectification circuit of high-frequency isolation, described PWM rectification circuit comprises the interchange interface and DC interface that connect successively, described interchange interface adopts H bridge AC/DC rectification circuit, for being the direct voltage of 600V by line voltage rectification; Described DC interface adopts isolated form DC/DC converter, for the direct voltage of 600V being converted to the direct voltage of 48V, and supply electric automobile load;
It is characterized in that, described method comprises:
1. virtual synchronous motor control strategy is adopted to control to interchange interface;
2. the Double-loop Control Strategy of outer voltage and current inner loop is adopted to control to DC interface.
2. control method as claimed in claim 1, it is characterized in that, the H bridge AC/DC rectification circuit of described interchange interface adopts three-phase six bridge arm structure, and each brachium pontis is made up of IGBT module, and each IGBT module is made up of IGBT device and diode antiparallel with it; Described H bridge AC/DC rectification circuit and capacitor branches C dcin parallel; The three-phase exchanging interface H bridge AC/DC rectification circuit is corresponding to be respectively connected with three of electrical network;
The diode filter circuit that the isolated form DC/DC converter of described DC interface comprises transformer, the two-phase H-bridge circuit be connected with transformer primary side and is connected with transformer secondary; Described two-phase H-bridge circuit comprises four brachium pontis, and each brachium pontis is made up of IGBT module, and each IGBT module is made up of IGBT device and diode antiparallel with it; Described diode filter circuit comprises diode branch in parallel and capacitive branch; Inductance is connected between diode branch and capacitive branch; Described diode branch is made up of the diode of connecting.
3. control method as claimed in claim 1, is characterized in that, described 1. in: by electrical network and the electronic charging pile of the electric automobile of site is equivalent to virtual synchronous motor, the Mathematical Modeling of virtual synchronous Electric Machine Control is as follows:
The torque equation of virtual synchronous motor is expressed as:
dδ dt = ω H dω dt = T e - T m - T d = T e - T m - D ( ω - ω 0 ) - - - ( 1 ) ;
Wherein: δ is the merit angle of virtual synchronous motor, and unit is rad; ω is the angular speed of virtual synchronous motor, ω 0for synchronized angular speed, unit is rad/s; H is the inertia time constant of virtual synchronous motor, and unit is s; T e, T mand T dbe respectively the electromagnetism of virtual synchronous motor, machine torque and damping torque, unit is Nm; D is damping coefficient, and unit is Nms/rad; Wherein, the torque of virtual synchronous motor electromagnetic is by virtual synchronous motor triphasic potential e a, e b, e cand three-phase output current i a, i b, i cobtain, i.e. T e=P e/ ω=(e ai a+ e bi b+ e ci c)/ω;
The electromagnetic equation of virtual synchronous motor is expressed as:
L di abc dt = e abc - u abc - Ri abc - - - ( 2 ) ;
Wherein, L and R is respectively stator inductance and the resistance of virtual synchronous motor, u abcfor the set end voltage of virtual synchronous motor; e abcfor writing a Chinese character in simplified form of virtual synchronous motor triphasic potential; i abcfor three-phase output current i a, i b, i cwrite a Chinese character in simplified form; Stator inductance L is corresponding with the dead resistance of the filter inductance and filter and IGBT device that exchange interface with resistance R.
4. control method as claimed in claim 3, is characterized in that, exchanges interface and regulates it to take the meritorious of electrical network and reactive power according to the frequency and voltage of electrical network;
A, meritorious adjustment:
By to virtual synchronous electromechanics torque T madjustment namely realize exchanging the adjustment of meritorious instruction in interface; T mby nominal torque instruction T 0with frequency departure feedback command Δ T two parts composition, wherein T 0be expressed as:
T 0＝P ref/ω （3）；
Wherein, P reffor the meritorious instruction of combining inverter, in charge-discharge circuit, P refthe control being DC bus-bar voltage pi regulator exports; The adjustment of frequency response is realized by virtual frequency modulation unit, and virtual frequency modulation unit is taken as proportional component, and namely machine torque deviation instruction Δ T is expressed as:
ΔT＝k f(f-f 0) （4）；
Wherein, f is the frequency of virtual synchronous motor set end voltage, f 0for electrical network rated frequency, k ffor frequency response coefficient, it is constant negative;
B, Reactive-power control:
By regulating the virtual potential E of virtual synchronous motor model pregulate its set end voltage and idle;
The virtual potential instruction E of virtual synchronous motor pcomprise: the no-load emf E of motor 0, reaction reactive power regulates electromotive force Δ E qelectromotive force Δ E is regulated with reaction set end voltage u;
The part electromotive force Δ E that reaction reactive power regulates qbe expressed as:
ΔE Q＝k q(Q ref-Q) （5）；
Wherein, k qfor Reactive-power control coefficient, Δ E qfor exchanging the idle instruction of interface, Q is the instantaneous reactive power exchanging the output of interface message processor (IMP) end, and Q is expressed as:
Q = [ ( u a - u b ) i c + ( u b - u c ) i a + ( u c - u a ) i b ] / 3 - - - ( 6 ) ;
Wherein: u a, u band u cbe respectively the three-phase set end voltage of virtual synchronous electrode;
Reaction set end voltage regulates electromotive force Δ E u, Δ E ube equivalent to the automatic excitation regulator of virtual synchronous motor, automatic excitation regulator is reduced to proportional component, then Δ E ube expressed as:
ΔE U＝k v(U ref-U) （7）；
Wherein, U refcommand value and the actual value of combining inverter machine end line voltage effective value is respectively, k with U vfor voltage regulation coefficient;
Virtual synchronous motor electromotive force is:
E p＝E 0+ΔE Q+ΔE U（8）；
Virtual synchronous motor potential voltage vector is:
E = E p sin ( δ ) E p sin ( δ - 2 π / 3 ) E p sin ( δ + 2 π / 3 ) - - - ( 9 ) .
5. control method as claimed in claim 1, is characterized in that, described 1. in virtual synchronous motor control strategy be: obtain virtual synchronous motor transient potential E in meritorious adjustment, Reactive-power control and mechanical equation and electromagnetic equation pafter the merit angle δ of virtual synchronous motor, obtain potential voltage e in formula (9) abcbasis on, obtained the command value of electrical network three-phase output current by formula (2), under the effect of ratio resonance control strategy, then ensure actual grid-connected three-phase output current i abcto its command value i refabctracking.
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