CN105763086B - A kind of Pyatyi submodule capacitor voltage balance control method of modular multi-level converter - Google Patents
A kind of Pyatyi submodule capacitor voltage balance control method of modular multi-level converter Download PDFInfo
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- CN105763086B CN105763086B CN201610213026.3A CN201610213026A CN105763086B CN 105763086 B CN105763086 B CN 105763086B CN 201610213026 A CN201610213026 A CN 201610213026A CN 105763086 B CN105763086 B CN 105763086B
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- feedback control
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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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/5388—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with asymmetrical configuration of switches
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/32—Means for protecting converters other than automatic disconnection
-
- 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
- H02M7/4835—Converters with outputs that each can have more than two voltages levels comprising two or more cells, each including a switchable capacitor, the capacitors having a nominal charge voltage which corresponds to a given fraction of the input voltage, and the capacitors being selectively connected in series to determine the instantaneous output voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/32—Means for protecting converters other than automatic disconnection
- H02M1/325—Means for protecting converters other than automatic disconnection with means for allowing continuous operation despite a fault, i.e. fault tolerant converters
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Inverter Devices (AREA)
- Dc-Dc Converters (AREA)
Abstract
The present invention provides a kind of Pyatyi submodule capacitor voltage balance control methods of modular multi-level converter, energy balance controls component between being superimposed additional bridge arm in existing control method, it is combined with voltage balancing control method in existing bridge arm, is suitable for half-bridge submodule, full-bridge submodule and mixing submodule multi-level circuit.Pyatyi submodule capacitor voltage balance control method respectively includes between the single submodule capacitor voltage closed loop feedback control of the first order, half bridge arm capacitance voltage closed loop feedback control of the second level, third level full-bridge arm capacitance voltage closed loop feedback control, two bridge arm of the fourth stage capacitance voltage closed loop feedback control between three bridge arm of capacitance voltage closed loop feedback control and level V three-phase.The control method of invention helps to improve stability of the system under different loads operating condition, improves the power quality of DC transmission system capacitance voltage, reduces the cost of investment of modular multilevel transmission system, improves the stability and reliability of submodule capacitor voltage.
Description
Technical field
It is flat that the present invention relates to a kind of Pyatyi submodule capacitor voltages of the modular multi-level converter of field of power system
Weigh control method.
Background technique
In recent years, with energy crisis and environmental pollution the problems such as it is increasingly serious, countries in the world just in Devoting Major Efforts To Developing and
Using clean energy resource, however largely expanded in view of population and limited for transmission line of electricity, therefore, there is an urgent need to it is more flexible, economical,
The power transmission mode of environmental protection realizes the electrical energy transportation of more stability and high efficiency.Modular multi-level converter (Module Multilevel
Converter, MMC) technology effectively provides power supply mode and quality, solve the problems, such as the pressure-resistant of switching device.Meanwhile by
The modular construction of height is used in this converter, has very strong scalability, therefore is widely used for implementing flexible straight
Stream transmission of electricity.
But modular multilevel structure needs to carry out capacitance voltage control to submodule, to realize stable friendship-
Directly-hand over voltage transformation.Authorization Notice No. is that the patent of CN103066567B proposes a kind of layer and section formula based on switching number
Capacitive balance control method needs to acquire a large amount of submodule work state information and carries out voltage sequence, and then controls switching
Number of modules, this method expend a large amount of software work amount and additional equipment, increase cost.Authorization Notice No. is
The Chinese patent of CN102130619B proposes a kind of pressure equalizing control method of modular multi-level converter, and specifically detection is in
Voltage value highest or minimum submodule are investment or excision by judgement, realize Pressure and Control, but this method needs to add
Additional judgment mode control device increases system cost, and judgment method only has one kind, when judgement is made a fault or is missed
When poor, whole system paralysis will lead to.Authorization Notice No. is the Chinese patent of CN103095167B by detecting and controlling submodule
Respectively voltage value and bridge arm capacitance voltage average value realize part uniform voltage function to block, but do not consider entire modular multilevel system
Pressure and Control, including between half bridge arm capacitance voltage and bridge arm capacitance voltage etc. control etc. functions, pressure stability it is not high.
In conclusion existing submodule capacitor voltage balance control technology mainly pass through largely program, detect and
Ordering Software control or additional other devices realize auxiliary control, cost and uncertain factor are increased, for reliable
Stable capacitor voltage balance control, these control methods or strategy difficulty in terms of practical application are larger.Therefore, it is necessary to grind
Study carefully a kind of multistage submodule capacitor voltage control method by own system closed-loop control, can not both increase additional hardware
Consumption, and can be realized reliable submodule capacitor voltage stability control, it can be widely applied in DC transmission system.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art proposes a kind of multistage capacitor voltage balance
Control method is suitable for half-bridge (Half Bridge), full-bridge (Full Bridge) and mixing (Mixture Bridge) submodule
Block circuit.The present invention, which only passes through internal system Closed-loop Control Strategy, can be realized Balance route to submodule capacitor voltage, nothing
Additional hardware control is needed, the power quality of DC transmission system capacitance voltage is improved, reduces modular multilevel transmission system
Cost of investment improves the stability and reliability of submodule capacitor voltage.In order to solve the above technical problems, of the present invention
The specific technical proposal is:
A kind of Pyatyi submodule capacitor voltage balance control method of modular multi-level converter, including input dc power
Source, the DC power supply are connected with modular multi-level converter, and output connects load by LCL type filter.Three-phase modular
Multilevel Inverters include the bridge arm that three-phase string has son to touch block, and bridge arm is divided into bridge arm and lower bridge arm, and upper and lower bridge arm can be by half
Bridge, full-bridge and mixing submodule constitute, upper and lower bridge arm symmetrical configuration, centre by respective inductance connection to neutrality output point,
Half bridge arm submodule number is n, and single-phase full bridge arm submodule number is 2n.Wherein each submodule includes two concatenated IGBT
Semiconductor devices contains bypass backward dioded and a capacitor being in parallel with concatenated IGBT.Neutral point is defeated through filter
It is followed by load running out, corresponding IGBT is controlled its switch state by trigger signal.
The modular multi-level converter submodule capacitor voltage balance control of the first order provided by the invention is single son
Module capacitance voltage close loop feedback control, is selected the capacitance voltage of each submodule as control object, is referred to using submodule
Voltage value VrefSubtract the actual capacitance voltage value v of each submodulecij, obtain voltage deviation eij, wherein i=a, b, c, j=1,
2……2n；eijIt is adjusted by PI controller and upper and lower bridge arm current direction selects function signal (ipi, ini) processing after, obtain
One controling parameter of module occurs as PWM for the output valve arrived, completes the single submodule capacitor voltage closed loop feedback of the first order
Control；Wherein, signal (ipi, ini) in p, n respectively represents bridge arm and lower bridge arm, when bridge arm current flows into current transformer,
signal(ipi, ini) value be 1, otherwise be -1.
The modular multi-level converter submodule capacitor voltage balance control of the second level provided by the invention is half bridge arm
Capacitance voltage closed loop feedback control selects bridge arm and the submodule capacitor voltage average value of lower bridge arm as the defeated of feedback control
Enter amount, by each submodule capacitor voltage v of upper bridge armcikWith each submodule capacitor voltage v of lower bridge armcilIt is averaged to obtain respectively
vcipAnd vcin, wherein i=a, b, c, k=1,2 ... n, l=n+1, n+2 ... 2n；Use vcinSubtract vcipObtain voltage deviation
ecipn, ecipnIt is adjusted by PI controller and upper and lower bridge arm current direction selects function signal (ipi, ini) processing after, obtain
Output valve as PWM occur module a controling parameter, complete half bridge arm capacitance voltage closed loop feedback control of the second level.
The modular multi-level converter submodule capacitor voltage balance control of the third level provided by the invention is full-bridge arm
Capacitance voltage closed loop feedback control selects 2n submodule capacitor voltage v of full-bridge armcijAveraged vci, wherein i=a, b,
C, j=1,2 ... 2n, with reference voltage value VrefSubtract vciObtain voltage deviation eci, eciIt is adjusted, is obtained defeated by PI controller
Value i outci, with 1/2 (i of upper and lower bridge arm current averagepi+ini) subtract iciCurrent deviation value is obtained, which is sent into
PI controller is adjusted, and a controling parameter of module occurs as PWM for obtained output valve, completes third level full-bridge arm electricity
Hold voltage close loop feedback control.
The modular multi-level converter submodule capacitor voltage balance control of the fourth stage provided by the invention is two bridge arms
Between capacitance voltage closed loop feedback control, select 4n submodule capacitor voltage v of a phase and two bridge arm of b phaseca1、vca2……vca2nWith
vcb1、vcb2……vcb2nAveraged v respectivelycaAnd vcb, use vcbSubtract vcaObtain voltage deviation ecba；Select b phase and c phase two
4n submodule capacitor voltage v of bridge armcb1、vcb2……vcb2nAnd vcc1、vcc2……vcc2nAveraged v respectivelycbAnd vcc, use
vccSubtract vcbObtain voltage deviation eccb；Select 4n submodule capacitor voltage v of c phase and two bridge arm of a phasecc1、vcc2……vcc2nWith
vca1、vca2……vca2nAveraged v respectivelyccAnd vca, use vcaSubtract vccObtain voltage deviation ecac；ecba、eccbAnd ecacIt is logical
It crosses PI controller to be adjusted, the controling parameter of module occurs as PWM for output valve, completes capacitance voltage between two bridge arm of the fourth stage
Closed loop feedback control.
The modular multi-level converter submodule capacitor voltage balance control of level V provided by the invention is three-phase three
Capacitance voltage closed loop feedback control between bridge arm selects 6n submodule capacitor voltage v of three bridge arm of a, b, c three-phaseca1、vca2……
vca2n, vcb1、vcb2……vcb2nAnd vcc1、vcc2……vcc2nAveraged v respectivelyca、vcb、vcc, and then seek vca、vcbWith
vccAverage value vcabc, use VrefSubtract vcabcObtain voltage deviation ecabc, by ecabcIt is sent into PI controller to be adjusted, obtain
One controling parameter of module occurs as PWM for output valve, completes capacitance voltage closed loop feedback control between three bridge arm of level V three-phase
System.
Compared with prior art, the invention has the benefit that
1, the present invention proposes a kind of submodule Pyatyi capacitor voltage balance control method of modular multi-level converter,
On the basis of traditional submodule capacitor voltage balance control, alternate bridge arm capacitor voltage balance control and full phase bridge arm electricity are proposed
Hold voltage balancing control, realizes more effective reliable capacitor voltage balance control.
2, the present invention is suitable for including half-bridge, full-bridge and mixing submodule bridge arm circuit, it is only necessary to change modulation system, it can
It realizes specific aim control, is conducive to practical engineering application.
3, control method proposed by the present invention can be realized more without being added additional software work and hardware device
Add stable voltage to control, reduce costs, and this method has scalability, can be widely applied.
4, the present invention proposes alternate and full phase bridge arm voltage balance control, and sub-module fault operation may be implemented.Work as module
Change multilevel system submodule number it is enough when, when normal operation, alternate or full phase bridge arm average capacitor voltage difference very little,
Adjustment effect is little, it is assumed that one of them or several sub-module faults, alternate or full phase bridge arm average capacitor voltage difference is sharply
Increase, feed back to PWM modulation signal by closed loop adjusting, system will determine that capacitance voltage is relatively low, thus other by increasing
The capacitance voltage of submodule compensates, and realizes failure operation.
5, the alternate and full phase bridge arm voltage balance control of the present invention, may be implemented the mesh for reducing circulation and out-of-balance current
's.The fourth stage and level V control meeting are so that system capacitive coupling voltage more balance and stability, when capacitor is electric between abc three-phase bridge arm
When pressure difference is not smaller, alternate circulation is also smaller, is likewise supplied with control action for out-of-balance current.Circulation and out-of-balance current drop
Low direct effect is system loss reduction, and then can reduce cost and expand capacity.In addition, the fever of system can be reduced,
Realize the modularized encapsulation of higher degree.
Detailed description of the invention
Fig. 1 is the transmission of electricity topological structure being made of devices such as modular multi-level converter, power supply, filter and loads；
Fig. 2 is that modular multi-level converter internal structure and submodule constitute structure chart (three-phase bridge arm are respectively by half-bridge
(Half Bridge), full-bridge (Full Bridge) and mixing (Mixture Bridge) submodule are constituted, but are not limited only to this
Kind structure)；
Fig. 3 is modular multi-level converter Pyatyi submodule capacitor voltage balance control structure figure；
Fig. 4 is the modular multi-level converter submodule capacitor voltage balance control structure block diagram of the first order of the invention
(being made of the signal of half-bridge (Half Bridge) submodule, full-bridge submodule and mixing submodule are equally applicable)；
Fig. 5 is the modular multi-level converter submodule capacitor voltage balance control structure block diagram of the second level of the invention
(being made of the signal of full-bridge (Full Bridge) submodule, half-bridge submodule and mixing submodule are equally applicable)；
Fig. 6 is the modular multi-level converter submodule capacitor voltage balance control structure block diagram of the third level of the invention
(being constituted by mixing the signal of (Mixture Bridge) submodule, half-bridge submodule and full-bridge submodule are equally applicable)；
Fig. 7 is the modular multi-level converter submodule capacitor voltage balance control structure block diagram of the fourth stage of the invention
(three-phase bridge arm is respectively by half-bridge (Half Bridge), full-bridge (Full Bridge) and mixing (Mixture Bridge) submodule
Block is constituted, but is not limited only to this structure)；
Fig. 8 is the modular multi-level converter submodule capacitor voltage balance control structure block diagram of level V of the invention
(three-phase bridge arm is respectively by half-bridge (Half Bridge), full-bridge (Full Bridge) and mixing (Mixture Bridge) submodule
Block is constituted, but is not limited only to this structure)；
Fig. 9 is control method wiring Supported Comparison's analysis chart of traditional control method and invention: (a) being Traditional control side
Method module capacitance voltage oscillogram；It (b) is the control method submodule capacitor voltage wave of the invention with same control parameter
Shape figure；(c) the submodule capacitor voltage waveform diagram obtained for traditional control method by PI parameter regulation；
Figure 10 is that the control method of traditional control method and invention connects unbalanced load comparative analysis figure: (a) being tradition control
Method processed connects unbalanced load submodule capacitor voltage waveform diagram；It (b) is the Pyatyi of the present invention control for having identical control parameter
Method connects unbalanced load submodule capacitor voltage waveform diagram；
Figure 11 is that the control method of traditional control method and invention connects three-phase step load comparative analysis figure: (a) being tradition
Control method connects three-phase step load submodule capacitor voltage waveform diagram；It (b) is the Pyatyi of the present invention for having identical control parameter
Control method connects three-phase step load submodule capacitor voltage waveform diagram；
Specific embodiment
Elaborate with reference to the accompanying drawing to implementation method of the invention: present implementation is with technical solution of the present invention
Premised under conditions of implemented, the detailed implementation method and specific operation process are given, but protection model of the invention
It encloses and is not limited to the following embodiments.
It is as shown in Figure 1 modular multi-level converter transformation of electrical energy delivery circuit topological structure.The transmission system is by mould
Block Multilevel Inverters and load be connected on points of common connection PCC by LCL filter, modular multi-level converter by
Three-phase bridge arm is constituted, and each bridge arm string has 2n submodule, and in current transformer voltage and current output position, string has inductor.Submodule
Capacitance voltage is corresponding 6n, has 12n trigger signal to be connected in each submodule corresponding to whole 6n submodules
The gate pole position of concatenated IGBT device, plays the role of open switch.Trigger signal is generated by PWM module, not only acts as modulation
Effect can also play the role of closed loop feedback control, balance submodule capacitor voltage.
Being illustrated in figure 2 modular multi-level converter internal structure and submodule composition figure, (three-phase bridge arm is respectively by half
Bridge (Half Bridge), full-bridge (Full Bridge) and mixing (Mixture Bridge) submodule are constituted, but are not limited only to
This structure).In internal structure chart, it is labelled with the acquisition of the different location of Pyatyi submodule capacitor voltage balance control respectively
Input quantity, the capacitance voltage v including 1, each submoduleci1、vci2……vci2n, 2, half bridge arm capacitance voltage: contain respectively
vci1、vci2……vcinAnd vcin+1、vcin+2……vci2n, 3, full-bridge arm capacitance voltage: contain vci1、vci2……vci2n, 4, Liang Qiao
Capacitance voltage between arm: contain vca1、vca2……vca2n、vcb1、vcb2……vcb2nAnd vcc1、vcc2……vcc2n, 5, three bridge arm of three-phase
Between capacitance voltage: contain vca1、vca2……vca2n、vcb1、vcb2……vcb2nAnd vcc1、vcc2……vcc2n.Wherein, wherein a, b, c
Three-phase bridge arm is represented, 1,2,3,4,5 indicate the first order, the second level ... level V control method.Submodule internal structure includes
Two concatenated IGBT semiconductor devices contain bypass backward dioded and a capacitor being in parallel with concatenated IGBT.
Modular multi-level converter Pyatyi submodule capacitor voltage balance control structure figure as shown in Figure 3.It is corresponding defeated
Enter and export controling parameter, is specifically marked in figure.Pyatyi control needs to carry out dividing for negative-feedback before calculating PWM modulation respectively
Amount, including control at different levels export Si1, Si2, Si3, SBa, cb, ac4, Sabc5, wherein a, b, c represent three-phase bridge arm, ba, cb, and ac is represented
Average submodule capacitor voltage difference between two-phase bridge arm, 1,2,3,4,5 indicate the first order, the second level ... level V controlling party
Method.The adjustment signal u of output valves at different levels and the voltage and current ring control structure of main circuit control dq transformation outputa, ub, ubAdd
Power summation, wherein x value is 1 when the modulation of upper bridge arm, x value is -1 when lower bridge arm is modulated, and specific formula for calculation is
Corresponding three-phase output valve Pa, Pb, PcRespectively by PWM module, 3 groups of 6n PWM modulation signals are generated, to submodule
Turning on and off for block IGBT is controlled, and then realizes the balance control of Pyatyi closed loop submodule capacitor voltage.
It is illustrated in figure 4 the modular multi-level converter submodule capacitor voltage balance control structure block diagram of the first order
(being made of the signal of half-bridge (Half Bridge) submodule, full-bridge submodule and mixing submodule are equally applicable).Utilize reference value
Voltage VrefSubtract actual voltage value vcijObtain voltage deviation eij, wherein i=a, b, c, j=1,2 ... 2n, eijIt is controlled by PI
Device processed is adjusted and upper and lower bridge arm current direction selects function signal (ipi, ini) processing after, adjust output valve Si1As
One controling parameter value of module occurs for PWM, and wherein p, n respectively represent upper and lower bridge arm, when bridge arm current flows into current transformer,
signal(ipi, ini) value is 1, otherwise it is represented for -1,1 and completes the closed-loop control of first order individual capacitor voltages.Specific formula for calculation
For
It is illustrated in figure 5 the modular multi-level converter submodule capacitor voltage balance control structure block diagram of the second level
(being made of the signal of full-bridge (Full Bridge) submodule, half-bridge submodule and mixing submodule are equally applicable).Bridge arm in selection
Input quantity with the capacitance voltage average value of lower bridge arm as feedback control, by upper bridge arm and each submodule capacitor electricity of lower bridge arm
Press vcikAnd vcilIt is averaged to obtain v respectivelycipAnd vcin, wherein i=a, b, c, k=1,2 ... n, l=n+1, n+2 ... 2n,
Use vcinSubtract vcipObtain voltage deviation ecipn, ecipnIt is adjusted by PI controller and upper and lower bridge arm current direction selects function
signal(ipi, ini) processing after, obtained output valve Si2A controling parameter value of module occurs as PWM, 2 have indicated
At half bridge arm capacitance voltage closed loop feedback control of the second level.Specific formula for calculation is
It is illustrated in figure 6 the modular multi-level converter submodule capacitor voltage balance control structure block diagram of the third level
(being constituted by mixing the signal of (Mixture Bridge) submodule, half-bridge submodule and full-bridge submodule are equally applicable).Selection is complete
2n submodule capacitor voltage v of bridge armcijAveraged vci, wherein i=a, b, c, j=1,2 ... 2n, use reference voltage value
VrefSubtract vciObtain voltage deviation eci, eciIt is adjusted by PI controller, obtains output valve ici, with upper and lower bridge arm current average
1/2(ipi+ini) subtract iciCurrent deviation value is obtained, current deviation value feeding PI controller is adjusted, output valve is obtained
Si3A controling parameter of module occurs as PWM, 3 indicate to complete third level full-bridge arm capacitance voltage closed loop feedback control.Tool
Body calculation formula is
It is illustrated in figure 7 the modular multi-level converter submodule capacitor voltage balance control structure of the fourth stage of invention
(three-phase bridge arm is respectively by half-bridge (Half Bridge), full-bridge (Full Bridge) and mixing (Mixture Bridge) for block diagram
Submodule is constituted, but is not limited only to this structure).Selection selection 4n submodule capacitor voltage v of a phase and two bridge arm of b phaseca1、
vca2……vca2nAnd vcb1、vcb2……vcb2nAveraged v respectivelycaAnd vcb, use vcbSubtract vcaObtain voltage deviation ecba,
Select 4n submodule capacitor voltage v of b phase and two bridge arm of c phasecb1、vcb2……vcb2nAnd vcc1、vcc2……vcc2nIt seeks putting down respectively
Mean value vcbAnd vcc, use vccSubtract vcbObtain voltage deviation eccb, select c phase and a phase 4n submodule capacitor voltage of two bridge arms
vcc1、vcc2……vcc2nAnd vca1、vca2……vca2nAveraged v respectivelyccAnd vca, use vcaSubtract vccObtain voltage deviation
ecac, ecba、eccbAnd ecacIt is adjusted by PI controller, output valve Sba4、Scb4And Sac4The control of module occurs as PWM
Parameter, 4 indicate capacitance voltage closed loop feedback control between completion two bridge arm of the fourth stage.Specific formula for calculation is
It is illustrated in figure 8 the modular multi-level converter submodule capacitor voltage balance control structure of the level V of invention
(three-phase bridge arm is respectively by half-bridge (Half Bridge), full-bridge (Full Bridge) and mixing (Mixture Bridge) for block diagram
Submodule is constituted, but is not limited only to this structure).Select 6n submodule capacitor voltage v of three bridge arm of abc phaseca1、vca2……
vca2n、vcb1、vcb2……vcb2nAnd vcc1、vcc2……vcc2nAveraged v respectivelyca、vcb、vcc, and then seek vca、vcbWith
vccAverage value vcabc, use VrefSubtract vcabcObtain voltage deviation ecabc, by ecabcIt is sent into PI controller to be adjusted, output valve
Sabc5A controling parameter value of module occurs as PWM, 5 have indicated capacitance voltage closed loop between completion three bridge arm of level V three-phase
Feedback control.Specific formula for calculation is
It is illustrated in figure 9 control method wiring Supported Comparison's analysis chart of traditional control method and invention, wherein Fig. 9
It (a) is traditional control method submodule capacitor voltage waveform diagram, Fig. 9 (b) is the control method submodule capacitor voltage wave of invention
Shape figure.The two has the identical control parameter of the control structures such as voltage and current ring, and Fig. 9 (b) is to be added to for submodule capacitor
The Pyatyi control method of voltage, from comparison diagram as can be seen that traditional four submodule capacitor voltage v of control method a phaseca1,
vca2, vca3, vca4Not only convergence rate is slow, but also the submodule capacitor voltage v of last same phaseca1, vca3Or vca2, vca4
Coincidence degree it is poor, illustrate that different submodule capacitor voltage stability are poor.Pyatyi submodule capacitor voltage of the invention is flat
Weighing apparatus control method may be implemented to reach receipts within t=0.5s since each closed-loop control all has the deviation reparation of Pyatyi
Effect is held back, and keeps stable operation, last voltage-controlling effect is stablized, and registration is high, fluctuates model around given 400V voltage value
It encloses and is no more than 4V, same phase voltage difference is no more than 0.1V, shows that proposition method of the present invention has good submodule capacitor
Voltage balancing control ability.
Fig. 9 (c) is the submodule capacitor voltage waveform diagram that traditional control method is obtained by PI parameter regulation.As a result,
In order to compare with the Pyatyi control method of invention, the results showed that only by adusting PI parameter, in the case where equiconvergent, most
Traditional control method capacitance voltage v afterwardsca1, vca2, vca3, vca4It will appear diverging, cannot achieve stable energy transmission.Further
Verify the validity and feasibility of control method of the present invention.
Figure 10 connects unbalanced load comparative analysis figure for traditional control method and the control method of invention, wherein Figure 10 (a)
Unbalanced load submodule capacitor voltage waveform diagram is connect for traditional control method, Figure 10 (b) is the identical control with contrast effect
The Pyatyi control method of parameter processed connects the submodule capacitor voltage waveform diagram of unbalanced load.It can be seen from the figure that tradition control
Method processed can not the stable operation under unbalanced load operating condition, last voltage waveform vca1, vca2, vca3, vca4It is either steady
Qualitative or coincidence degree, effect are all poor.On the contrary, Pyatyi control method still is able under the operating condition of unbalanced load
Realize balance, the capacitance voltage stablized, be overlapped control.
Figure 11 connects three-phase step load comparative analysis figure for traditional control method and the control method of invention, wherein Figure 11
(a) three-phase step load submodule capacitor voltage waveform diagram is connect for traditional control method, comparison diagram 11 (b) is to have identical control
The Pyatyi control method of parameter connects three-phase step load submodule capacitor voltage waveform diagram.Equally it may be concluded that Pyatyi control
Method processed in the rapidity of submodule capacitor voltage control, stability, balanced degree and is overlapped journey relative to traditional control method
Degree etc. all has apparent effect of optimization, further demonstrates effectiveness of the invention and feasibility.
Finally it should be noted that: the foregoing is merely a specific embodiment of the invention rather than its limitations, although ginseng
According to examples detailed above, invention is explained in detail, and those skilled in the art is it is understood that reading the application explanation
Technical staff still can modify to a specific embodiment of the invention, replaces and change after book, but these modifications or change
More all without departing from the pending claims of the present patent application within.
Claims (3)
1. a kind of Pyatyi submodule capacitor voltage balance control method of modular multi-level converter, which is characterized in that described
Method the following steps are included:
(1) the single submodule capacitor voltage closed loop feedback control of the first order: select the capacitance voltage of each submodule as control
Object utilizes submodule reference voltage value VrefSubtract the actual capacitance voltage value v of each submodulecij, obtain voltage deviation eij,
Wherein i=a, b, c, j=1,2 ... 2n；eijIt is adjusted by PI controller and upper and lower bridge arm current direction selects function signal
(ipi, ini) processing after, a controling parameter of module occurs as PWM for obtained output valve, completes the single submodule of the first order
Block capacitance voltage closed loop feedback control；Wherein, signal (ipi, ini) in p, n respectively represents bridge arm and lower bridge arm, works as bridge
When arm electric current flows into current transformer, signal (ipi, ini) value be 1, otherwise be -1；
(2) half bridge arm capacitance voltage closed loop feedback control of the second level: the submodule capacitor voltage of bridge arm and lower bridge arm is flat in selection
Input quantity of the mean value as feedback control, by each submodule capacitor voltage v of upper bridge armcikWith each submodule capacitor voltage of lower bridge arm
vcilIt is averaged to obtain v respectivelycipAnd vcin, wherein i=a, b, c, k=1,2 ... n, l=n+1, n+2 ... 2n；Use vcinSubtract
Remove vcipObtain voltage deviation ecipn, ecipnIt is adjusted by PI controller and upper and lower bridge arm current direction selects function signal
(ipi, ini) processing after, a controling parameter of module occurs as PWM for obtained output valve, completes half bridge arm of second level electricity
Hold voltage close loop feedback control；
(3) third level full-bridge arm capacitance voltage closed loop feedback control: selection 2n submodule capacitor voltage v of full-bridge armcijIt seeks putting down
Mean value vci, wherein i=a, b, c, j=1,2 ... 2n, with reference voltage value VrefSubtract vciObtain voltage deviation eci, eciPass through
PI controller is adjusted, and obtains output valve ici, with 1/2 (i of upper and lower bridge arm current averagepi+ini) subtract iciObtain current deviation
Current deviation value feeding PI controller is adjusted value, and the control ginseng of module occurs as PWM for obtained output valve
Amount completes third level full-bridge arm capacitance voltage closed loop feedback control；
(4) capacitance voltage closed loop feedback control between two bridge arm of the fourth stage: selection a phase and the sub- module capacitance electricity of two bridge arm of b phase 4n
Press vca1、vca2……vca2nAnd vcb1、vcb2……vcb2nAveraged v respectivelycaAnd vcb, use vcbSubtract vcaIt is inclined to obtain voltage
Poor ecba；Select 4n submodule capacitor voltage v of b phase and two bridge arm of c phasecb1、vcb2……vcb2nAnd vcc1、vcc2……vcc2nRespectively
Averaged vcbAnd vcc, use vccSubtract vcbObtain voltage deviation eccb；Select c phase and a phase 4n sub- module capacitances of two bridge arms
Voltage vcc1、vcc2……vcc2nAnd vca1、vca2……vca2nAveraged v respectivelyccAnd vca, use vcaSubtract vccObtain voltage
Deviation ecac；ecba、eccbAnd ecacIt is adjusted by PI controller, the controling parameter of module occurs as PWM for output valve, completes
Capacitance voltage closed loop feedback control between two bridge arm of the fourth stage；
(5) capacitance voltage closed loop feedback control between three bridge arm of level V three-phase: 6n submodule electricity of selection three bridge arm of a, b, c three-phase
Hold voltage vca1、vca2……vca2n, vcb1、vcb2……vcb2nAnd vcc1、vcc2……vcc2nAveraged v respectivelyca、vcb、vcc,
And then seek vca、vcbAnd vccAverage value vcabc, use VrefSubtract vcabcObtain voltage deviation ecabc, by ecabcIt is sent into PI control
Device is adjusted, and a controling parameter of module occurs as PWM for obtained output valve, completes electricity between three bridge arm of level V three-phase
Hold voltage close loop feedback control.
2. the Pyatyi submodule capacitor voltage balance control method of modular multi-level converter according to claim 1,
It is characterized in that every grade of control is all made of capacitance voltage closed loop feedback control, control used in capacitance voltage closed loop feedback control
Device is PI controller.
3. the Pyatyi submodule capacitor voltage balance control method of modular multi-level converter according to claim 1 is suitable
For the modular multi-level converter using half-bridge, full-bridge and half-bridge and full-bridge mixed topology.
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| CN107681886B (en) * | 2017-10-12 | 2020-08-04 | 上海交通大学 | Self-balancing non-isolated modular multi-level DC-DC converter |
| CN108387768B (en) * | 2018-02-08 | 2020-05-29 | 东南大学 | Hybrid MMC module capacitance and voltage measuring method based on master-slave structure |
| CN109787497B (en) * | 2019-03-11 | 2020-10-09 | 中国矿业大学 | Over-modulation voltage-sharing method for mixed MMC |
| CN113452273B (en) * | 2021-06-18 | 2023-01-17 | 郑州大学 | MMC four-layer structure submodule capacitor voltage balance control method |
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| CN102931863A (en) * | 2012-11-12 | 2013-02-13 | 华北电力大学 | Method for setting up modularized multi-level converter composite structure model |
| CN103683995A (en) * | 2013-09-25 | 2014-03-26 | 浙江大学 | A balanced control method for full bridge MMC capacitor voltages |
| CN103956925A (en) * | 2014-04-28 | 2014-07-30 | 浙江大学 | Hybrid MMC capacitor voltage balance control method |
| CN104320011A (en) * | 2014-10-20 | 2015-01-28 | 西安许继电力电子技术有限公司 | Hybrid sub-module MMC converter with direct-current fault ride-through capability |
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| CN102931863A (en) * | 2012-11-12 | 2013-02-13 | 华北电力大学 | Method for setting up modularized multi-level converter composite structure model |
| CN103683995A (en) * | 2013-09-25 | 2014-03-26 | 浙江大学 | A balanced control method for full bridge MMC capacitor voltages |
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