CN110417329B - Traction system - Google Patents

Traction system Download PDF

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Publication number
CN110417329B
CN110417329B CN201810400811.9A CN201810400811A CN110417329B CN 110417329 B CN110417329 B CN 110417329B CN 201810400811 A CN201810400811 A CN 201810400811A CN 110417329 B CN110417329 B CN 110417329B
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current
inner loop
switching tube
energy storage
voltage
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CN110417329A (en
Inventor
邱欣
刘辉荣
何亚屏
蓝德劭
刘猛
梁金成
张文进
廖津余
何林桂
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Zhuzhou CRRC Times Electric Co Ltd
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Zhuzhou CRRC Times Electric Co Ltd
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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
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
    • 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
    • H02M7/66—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal
    • H02M7/68—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters
    • H02M7/72—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/79—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with 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
    • H02M7/797—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Dc-Dc Converters (AREA)

Abstract

A traction system, comprising: an energy storage module for providing direct current; the DC-DC conversion circuit is connected between the energy storage module and the rectification inverter circuit and is used for converting direct current provided by the energy storage module or converting direct current transmitted by the rectification inverter circuit. The traction system does not need to be provided with a diesel engine, a generator or a brake resistor. Meanwhile, according to actual needs, the traction system can flexibly adjust the number of the parallel rectification inverter circuits.

Description

Traction system
Technical Field
The invention relates to the technical field of traction motors, in particular to a traction system, and particularly relates to a traction system suitable for a pure electric drive mine car.
Background
The off-highway mining dump truck is used for completing the tasks of rock earthwork stripping and ore transportation on special lanes of surface mines or large civil engineering construction sites and the like, is a special load-carrying vehicle for short-distance transportation, and has the characteristics of severe application environment, large load capacity and the like. At present, the electric transmission of a large electric wheel dumper mainly adopts an alternating current-direct current-alternating current transmission system, and the control of an electric transmission part generally comprises two parts: one part is the control of the excitation of the main generator and the other part is the control of the speed regulation of the traction motor.
Disclosure of Invention
To solve the above problems, the present invention provides a traction system including:
an energy storage module for providing direct current;
the DC-DC conversion circuit is connected between the energy storage module and the rectification inverter circuit and is used for converting direct current provided by the energy storage module or converting direct current transmitted by the rectification inverter circuit.
According to one embodiment of the invention, the traction system comprises a plurality of rectifying and inverting circuits which are connected with the DC-DC conversion circuit.
According to one embodiment of the present invention, the DC-DC conversion circuit includes a boost chopper circuit.
According to an embodiment of the present invention, the DC-DC conversion circuit includes:
the first end of the energy storage inductor is connected with the anode of the energy storage system;
and a first port of the first controllable switch is connected with a second end of the energy storage inductor, and a second port of the first controllable switch is connected with a negative electrode of the energy storage system.
According to an embodiment of the present invention, the DC-DC conversion circuit further includes:
and a first port of the second controllable switch is connected with the rectification inverter circuit, and a second port of the second controllable switch is connected with a first port of the first controllable switch.
According to an embodiment of the invention, the first controllable switch and/or the second controllable switch is an IGBT.
According to one embodiment of the invention, the traction system further comprises:
and the control circuit is connected with the DC-DC conversion circuit and is used for controlling the operation state of the DC-DC conversion circuit.
According to an embodiment of the invention, the control circuit is configured to control the operation state of the DC-DC conversion circuit by using a double closed loop control strategy of outer loop voltage control and inner loop current control.
According to one embodiment of the invention, the control circuit comprises:
the voltage outer ring controller is used for generating a corresponding inner ring current reference value according to the direct-current voltage reference value and the direct-current voltage actual value;
and the current inner-loop controller is connected with the voltage outer-loop controller and used for generating corresponding switch tube control signals according to the inner-loop current reference value and the inner-loop current predicted value and sending the switch tube control signals to the DC-DC conversion circuit connected with the switch tube control signals.
According to one embodiment of the present invention, the voltage outer loop controller includes:
the first differentiator is used for generating a voltage deviation value according to the direct-current voltage reference value and the direct-current voltage actual value;
a proportional controller and a repetitive controller in parallel with each other, the proportional controller and the repetitive controller configured to cooperatively generate the inner loop current reference value according to the voltage deviation value.
According to an embodiment of the present invention, the current inner loop controller includes:
the predicted current generation module is used for generating the predicted value of the inner loop current according to the output voltage and the output current of the energy storage module and the terminal voltage of the energy storage inductor at the current moment;
the switching tube state signal generating module is connected with the predicted current generating module and the voltage outer ring controller and used for generating a switching tube state signal according to the predicted value of the inner ring current and the reference value of the inner ring current;
and the switching tube control signal generation module is connected with the switching tube state signal generation module and used for generating the switching tube control signal according to the switching tube state signal.
According to an embodiment of the invention, the predicted current generation module is configured to generate a first inner loop current predicted value corresponding to the first controllable switch being in an on state and a second inner loop current predicted value corresponding to the first controllable switch being in an off state;
the switching tube state signal generating module is configured to generate the switching tube state signal according to the first inner loop current predicted value, the second inner loop current predicted value and the inner loop current reference value.
According to an embodiment of the invention, the predicted current generation module is configured to generate the first and second inner loop current predicted values according to the following expression:
Figure BDA0001645674410000031
Figure BDA0001645674410000032
wherein iL1(k +1) represents a first inner loop current prediction value i at the time of k +1L2(k +1) represents a second inner loop current prediction value at the time of k +1, TsRepresents the system sampling time, L represents the inductance value, Udc1(k) Representing the output voltage of the energy storage module at time k, Udc2(k) Representing the terminal voltage of the capacitor at time k, iL(k) Representing the output current of the energy storage module at time k.
According to an embodiment of the present invention, the switching tube state signal generating module is configured to calculate absolute values of differences between the inner loop current reference value and the first inner loop current predicted value and the second inner loop circuit predicted value, and compare the two absolute values, wherein the switching tube state signal corresponding to the first controllable switch is determined according to the inner loop current predicted value with the smaller absolute value.
According to an embodiment of the present invention, the operation modes of the switching tube control signal generation module include a normal mode and an emergency locking mode, wherein,
when the switching tube control signal generation module is in a normal mode, the switching tube control signal generation module is configured to generate the switching tube control signal according to the switching tube state signal;
when the switching tube control signal generation module is in an emergency locking mode, the switching tube control signal generation module is configured to close the trigger pulse, so that the DC-DC conversion circuit is in a non-working state.
The traction system provided by the invention does not need to be provided with a diesel engine, a generator or a brake resistor. Meanwhile, according to actual needs, the traction system can flexibly adjust the number of the parallel rectification inverter circuits.
Meanwhile, the traction system provided by the invention can eliminate the periodic error existing in the stable closed loop through the repetitive controller, and the improved control strategy outer loop is formed by a proportional controller and the repetitive controller to generate an inner loop inductance current reference value. The traction system can enable the DC-DC conversion circuit to have rapid dynamic response, and further enables the obtained output voltage to be more stable.
In addition, the inner loop prediction current control strategy adopted by the control circuit in the traction system provided by the invention compares the actual current sampled at this time with the predicted current at the next sampling time to determine the optimal control switch tube state, so that the current error is minimum, and the actual current at the next sampling time can be forced to track the reference current at this time with the optimal characteristic. The current inner loop control of the control circuit provided by the invention does not need a PI controller, greatly simplifies a mathematical model, ensures that the control structure is simple and easy, and simplifies the design of a converter station level control system.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required in the description of the embodiments or the prior art:
FIG. 1 is a schematic diagram of a traction system according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a specific circuit configuration of a traction system according to an embodiment of the present invention;
FIG. 3 is a block diagram of a dual closed-loop control strategy employed by the control circuit according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of a preferred configuration of a control circuit according to one embodiment of the present invention;
fig. 5 is an equivalent circuit diagram of a DC-DC converter circuit in a first state according to an embodiment of the present invention;
fig. 6 is an equivalent circuit diagram of the DC-DC converter circuit in the second state according to one embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details or with other methods described herein.
Additionally, the steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions and, although a logical order is illustrated in the flow charts, in some cases, the steps illustrated or described may be performed in an order different than here.
The invention provides a novel traction system, which is particularly suitable for a pure electric drive mine car, and the traction system does not need a diesel engine or a synchronous engine, but realizes the traction and braking energy recovery of equipment such as the mine car and the like by an energy storage module.
Fig. 1 shows a schematic structural diagram of a traction system provided in the present embodiment.
As shown in fig. 1, the traction system provided in the present embodiment includes: the energy storage module 101, the DC-DC conversion circuit 102 and the rectification inverter circuit 103. The energy storage module 101 can be used to provide direct current, among other things. The DC-DC conversion circuit 102 is connected between the energy storage module 101 and the rectification inverter circuit 103, and is capable of converting the DC power provided by the energy storage module 101 or converting the DC power transmitted by the rectification inverter circuit 103.
In this embodiment, the energy storage module 101 is a low voltage side, and the load side is a high voltage side, so that the DC-DC conversion circuit 102 converts the DC power provided by the energy storage module 101 into a boost conversion, and converts the DC power transmitted by the rectifying inverter circuit 103 into a buck conversion.
The DC-DC conversion circuit 102 is preferably a bidirectional conversion circuit. When the motor 104 is in a traction state, the DC-DC conversion circuit 102 performs boost conversion on the direct current provided by the energy storage circuit 101, and transmits the direct current to the rectification inverter circuit 103 connected thereto, so that the rectification inverter circuit 103 inverts the direct current into corresponding alternating current, thereby determining the operation of the motor 104.
When the motor 104 is in a braking state, the motor 104 generates a corresponding alternating current, and the rectification inverter circuit 103 rectifies and converts the alternating current transmitted by the motor 104 into a corresponding direct current, and transmits the direct current to the DC-DC conversion circuit 102 connected thereto. The DC-DC conversion circuit 102 performs voltage reduction conversion on the DC power transmitted from the rectifying inverter circuit 103, and transmits the DC power obtained by voltage reduction to the energy storage module 101 connected thereto, so that the energy storage module 101 stores the electric energy.
From the above description, it can be seen that, compared with the conventional ac-DC-ac transmission, the traction system provided by the present embodiment is a DC-ac transmission system, and the energy storage module replaces the conventional diesel engine and synchronous generator, so that a diode rectifier bridge is not needed, and a DC-DC conversion circuit controls the current direction to realize charging and discharging of the system.
It should be noted that, in different embodiments of the present invention, the energy storage module 101 may also be a hybrid complementary system with a grid overhead line or a distributed photovoltaic power generation system, as long as an external dc power source capable of providing dc power is within the protection scope of the energy storage module 101 defined in the present invention.
Fig. 2 shows a specific circuit structure schematic diagram of the traction system in the embodiment.
As shown in fig. 2, the traction system provided by the present embodiment preferably includes two rectification inverter circuits (i.e., a first rectification inverter circuit 103a and a second rectification inverter circuit 103b), wherein both of the two rectification inverter circuits are connected to the DC-DC conversion circuit 102. In this embodiment, the first rectifying and inverting circuit 103a and the second rectifying and inverting circuit 103b are both implemented by a three-phase bridge full-control rectifying and inverting circuit. Of course, in other embodiments of the present invention, the number of the rectifying and inverting circuits included in the traction system may also be other reasonable numbers (for example, one or more than three, etc.), and meanwhile, each rectifying and inverting circuit may also be implemented by other reasonable circuit structures, and the present invention is not limited thereto.
In the present embodiment, the DC-DC conversion circuit 102 is preferably implemented by a boost chopper circuit. Specifically, as shown in fig. 2, the DC-DC converter circuit 102 preferably includes an energy storage inductor L, a first controllable switch V1, and a second controllable switch V2. Wherein the first controllable switch V1 and the second controllable switch V2 are both implemented using IGBTs, which are each provided with diodes connected in anti-phase (i.e. the first diode VD1 within the first controllable switch V1 and the second diode VD2 of the second controllable switch V2).
In this embodiment, a first end of the energy storage inductor L is connected to the positive electrode of the energy storage system 101, a second end of the energy storage inductor L is connected to a first port (i.e., a collector of the first IGBT) of the first controllable switch V1, and a second port (i.e., an emitter of the first IGBT) of the first controllable switch V1 is connected to the negative electrode of the energy storage system 101. A first port (i.e., a collector of the second IGBT) of the second controllable switch V2 forms an output positive electrode of the DC-DC converter circuit 102, and is connected to the rectifying inverter circuit 103, and a second port (i.e., an emitter of the second IGBT) thereof is connected to a second end of the energy storage inductor L.
Of course, in other embodiments of the present invention, the DC-DC conversion circuit may be implemented by using other reasonable circuits according to actual needs, and the present invention is not limited thereto. For example, in an embodiment of the present invention, the DC-DC conversion circuit shown in fig. 2 may further include only the first controllable switch, or the second controllable switch may also be implemented by directly using a diode (where an anode of the diode is connected to the energy storage inductor and a cathode of the diode forms an anode of the DC-DC conversion circuit and is connected to the rectification inverter circuit).
As shown again in fig. 1, in this embodiment, the traction system further includes a control circuit 105. The control circuit 105 is connected to the DC-DC converter circuit 103, and is configured to control an operation state of the DC-DC converter circuit 103.
Specifically, in the present embodiment, the control circuit 105 preferably adopts a double closed-loop control strategy of outer-loop voltage control and inner-loop current control to control the operation state of the DC-DC conversion circuit 103.
Fig. 3 shows a block diagram of a dual closed-loop control strategy employed by the control circuit 105 according to an embodiment of the present invention. As shown in fig. 3, the double closed-loop control strategy adopted by the control circuit 105 is composed of outer loop voltage control and inner loop current control, wherein the inner loop current is divided into two working modes according to the current direction, and the control signal of the corresponding switching tube is generated through PWM modulation according to the corresponding working modes.
Fig. 4 shows a schematic diagram of a preferred structure of the control circuit 105 provided in this embodiment.
As shown in fig. 4, in the present embodiment, the control circuit 105 preferably includes a voltage outer loop controller 401 and a current inner loop controller 402. The voltage outer-loop controller 401 is configured to generate an inner-loop current reference value for the absorption supply according to the dc voltage reference value and the dc voltage actual value. The current inner-loop controller 402 is connected to the voltage outer-loop controller 401, and is capable of generating a corresponding switching tube control signal according to the inner-loop current reference value and the inner-loop current predicted value transmitted by the voltage outer-loop controller 401, and transmitting the switching tube control signal to the DC-DC conversion circuit connected thereto, thereby controlling the operating state of the DC-DC conversion circuit.
Specifically, the voltage outer loop controller 401 preferably includes: a first differentiator 401a, a proportional controller 401b, and a repetitive controller 401 c. Wherein, the first differentiator 401a is used for calculating the reference value U according to the DC voltagedcrefAnd the actual value U of the DC voltagedcGenerating a voltage deviation value (i.e., U)dcref-Udc). The proportional controller 401b and the repetitive controller 401c are connected in parallel, both of which are connected to the first differentiator 401a, and the periphery of the repetitive controller 401c is a pure integration segment with step length, so that the proportional controller 401b and the repetitive controller 401c can cooperatively act as a PI controller.
In this embodiment, the current inner loop controller 402 preferably includes: a predicted current generation module 402a, a switch tube state signal generation module 402b, and a switch tube control signal generation module 402 c. The predicted current generation module 402a is configured to generate the output voltage U of the energy storage module 101 according to the current time (i.e., the time k)dc1(k) And an output current iL(k) And terminal voltage U of energy storage inductorL(k) Generating an inner loop current prediction value i at the next time (i.e., at time k +1)L(k+1)。
The switch tube state signal generation module 402b is connected to the predicted current generation module 402a, and can generate the predicted value i of the inner loop current from the predicted current generation module 402aL(k +1) and the inner loop current reference value i transmitted from the voltage outer loop controller 401LrefGenerating a switching tube state signal.
The switching tube control signal generating module 402c is connected to the switching tube state signal generating module 402b, and is capable of generating a corresponding switching tube control signal according to the switching tube state signal generated by the switching tube state signal generating module 402b, and transmitting the switching tube control signal to the DC-DC conversion circuit 102, so as to control the operating state of the DC-DC conversion circuit 102.
Specifically, when the electric machine 104 is in a traction condition, the DC-DC converter circuit 102 will be in a boost chopper state, the electric machine 104 operates as a motor, and the DC-DC converter circuit 102 will have two switching states when operating in a boost mode. The first state is: the first IGBT V1 is controlled to be turned on and the second IGBT V2 is turned off, but the diode in the second IGBT V2 is turned on in the forward direction (i.e., V1 is 1 and V2 is 0), and the equivalent circuit is as shown in fig. 5; the second state is: the first IGBT V1 is controlled to be turned off and the second IGBT V2 is turned off but the diode in the second IGBT V2 is turned on in the forward direction (i.e., V1 is 0 and V2 is 0), and the equivalent circuit is as shown in fig. 6.
In this embodiment, the predicted current generation module 402a is preferably capable of generating a first inner loop current predicted value corresponding to the first controllable switch (i.e., the first IGBT V1) being in an on state and a second inner loop current predicted value corresponding to the first controllable switch (i.e., the first IGBT V1) being in an off state.
In a first state, according to circuit principles, one can obtain:
Figure BDA0001645674410000081
wherein L represents an inductance value, iLIndicating the output current of the energy storage module, Udc1Representing the output voltage of the energy storage module.
Thus, the predicted current generation module 402a may determine the first inner loop current predicted value according to the following expression:
Figure BDA0001645674410000082
wherein iL1(k +1) represents the time at k +1An inner loop current prediction value, TsRepresents the system sampling time, L represents the inductance value, Udc1(k) Representing the output voltage of the energy storage module at time k, iL(k) Representing the output current of the energy storage module at time k.
In a second state, according to circuit principles, it is possible to obtain:
Figure BDA0001645674410000083
wherein, Udc2Representing the terminal voltage of the capacitor.
Thus, the predicted current generation module 402a may determine the second inner loop current predicted value according to the following expression:
Figure BDA0001645674410000084
wherein iL2(k +1) represents the second inner loop current prediction value at the time k + 1.
In this embodiment, the switch tube state signal generating module 402b can respectively calculate the inner loop current reference value iLrefAnd the first inner loop current predicted value iL1(k +1) and a second inner loop circuit prediction value iL2The absolute value of the difference (i.e. | i) of (k +1)L1(k+1)-iLrefI and IL2(k+1)-iLref|) and compares the magnitude of the two absolute values. In this embodiment, the switching tube state signal generating module 402b preferably determines the switching tube state signal corresponding to the first controllable switch according to the predicted value of the inner loop current with a smaller absolute value.
I.e., if iL1(k+1)-iLrefIf the value of | is smaller, the state of the first controllable switch at the next time is controlled to be conducted, and therefore the switching tube state signal generating module 402b generates a switching tube state signal representing the controlled conduction of the first controllable switch; and if iL2(k+1)-iLrefIf the value of | is smaller, the state of the first controllable switch at the next time is controlled to be turned off, and therefore the switching tube state signal generating module 402b will generate the switching tube state signalA switch tube state signal is generated that is characteristic of a controlled opening of the first controllable switch.
In this embodiment, the operation modes of the switch tube control signal generating module 402c preferably include a normal mode and an emergency locking mode. Specifically, when the switching tube control signal generating module 402c is in the normal mode, the switching tube control signal generating module 402c generates a switching tube control signal according to the switching tube state signal, so as to normally control the corresponding switching tube; when the switching tube control signal generating module 402c is in the emergency locking mode, the switching tube control signal generating module 402c will close the trigger pulse, so that the DC-DC converting circuit 102 is in the non-operating state.
Specifically, in this embodiment, the switching tube control signal generating module 402c may rapidly lock the converter to block the trigger pulse when detecting that the dc side voltage exceeds the preset maximum voltage threshold, the dc side fault or the emergency braking condition, so as to enable the traction motor to issue the torque of 0, thereby improving the safety and stability of the vehicle
Of course, in other embodiments of the present invention, the switching tube control signal generating module 402c may also generate the switching tube control signal in other reasonable manners, which is not limited to the present invention.
As can be seen from the above description, the traction system provided by the present invention does not require the configuration of a diesel engine, a generator or a brake resistor. Meanwhile, according to actual needs, the traction system can flexibly adjust the number of the parallel rectification inverter circuits.
Meanwhile, the traction system provided by the invention can eliminate the periodic error existing in the stable closed loop through the repetitive controller, and the improved control strategy outer loop is formed by a proportional controller and the repetitive controller to generate an inner loop inductance current reference value. The traction system can enable the DC-DC conversion circuit to have rapid dynamic response, and further enables the obtained output voltage to be more stable.
In addition, the inner loop prediction current control strategy adopted by the control circuit in the traction system provided by the invention compares the actual current sampled at this time with the predicted current at the next sampling time to determine the optimal control switch tube state, so that the current error is minimum, and the actual current at the next sampling time can be forced to track the reference current at this time with the optimal characteristic. The current inner loop control of the control circuit provided by the invention does not need a PI controller, greatly simplifies a mathematical model, ensures that the control structure is simple and easy, and simplifies the design of a converter station level control system.
It is to be understood that the disclosed embodiments of the invention are not limited to the particular structures or process steps disclosed herein, but extend to equivalents thereof as would be understood by those skilled in the relevant art. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.
Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, the appearances of the phrase "one embodiment" or "an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.
While the above examples are illustrative of the principles of the present invention in one or more applications, it will be apparent to those of ordinary skill in the art that various changes in form, usage and details of implementation can be made without departing from the principles and concepts of the invention. Accordingly, the invention is defined by the appended claims.

Claims (7)

1. A traction system, characterized in that it comprises:
an energy storage module for providing direct current;
the DC-DC conversion circuit is connected between the energy storage module and the rectification inverter circuit and is used for converting direct current provided by the energy storage module or converting direct current transmitted by the rectification inverter circuit, the DC-DC conversion circuit comprises a boost chopper circuit, and the DC-DC conversion circuit comprises: the first end of the energy storage inductor is connected with the anode of the energy storage system; a first port of the first controllable switch is connected with a second end of the energy storage inductor, and a second port of the first controllable switch is connected with a negative electrode of the energy storage system;
the traction system further comprises: the control circuit is connected with the DC-DC conversion circuit and is used for controlling the operation state of the DC-DC conversion circuit, and the control circuit is configured to control the operation state of the DC-DC conversion circuit by adopting a double closed-loop control strategy of outer loop voltage control and inner loop current control;
the control circuit includes: the voltage outer ring controller is used for generating a corresponding inner ring current reference value according to the direct-current voltage reference value and the direct-current voltage actual value; the current inner loop controller is connected with the voltage outer loop controller and used for generating corresponding switch tube control signals according to the inner loop current reference value and the inner loop current predicted value and sending the switch tube control signals to the DC-DC conversion circuit connected with the switch tube control signals;
the current inner loop controller includes:
the predicted current generation module is used for generating the predicted value of the inner loop current according to the output voltage and the output current of the energy storage module and the terminal voltage of the energy storage inductor at the current moment, and the predicted current generation module is configured to generate a first predicted value of the inner loop current corresponding to the first controllable switch in the conducting state and a second predicted value of the inner loop current corresponding to the first controllable switch in the disconnecting state;
a switching tube state signal generating module, connected to the predicted current generating module and the voltage outer loop controller, for generating a switching tube state signal according to the predicted value of the inner loop current and the reference value of the inner loop current, where the switching tube state signal generating module is configured to generate the switching tube state signal according to the predicted value of the first inner loop current, the predicted value of the second inner loop current and the reference value of the inner loop current, and the switching tube state signal generating module is configured to calculate absolute values of differences between the reference value of the inner loop current and the predicted values of the first inner loop current and the second inner loop current, respectively, and compare the two absolute values, where the switching tube state signal corresponding to the first controllable switch is determined according to the predicted value of the inner loop current with a smaller absolute value;
and the switching tube control signal generation module is connected with the switching tube state signal generation module and used for generating the switching tube control signal according to the switching tube state signal.
2. A traction system as claimed in claim 1, wherein the traction system includes a plurality of rectifying and inverting circuits each connected to the DC-DC conversion circuit.
3. The traction system of claim 1, wherein the DC-DC conversion circuit further comprises:
and a first port of the second controllable switch is connected with the rectification inverter circuit, and a second port of the second controllable switch is connected with a first port of the first controllable switch.
4. A traction system according to claim 3, wherein the first controllable switch and/or the second controllable switch is an IGBT.
5. The traction system of claim 1, wherein the voltage outer loop controller comprises:
the first differentiator is used for generating a voltage deviation value according to the direct-current voltage reference value and the direct-current voltage actual value;
a proportional controller and a repetitive controller in parallel with each other, the proportional controller and the repetitive controller configured to cooperatively generate the inner loop current reference value according to the voltage deviation value.
6. The traction system of claim 1, wherein the predicted current generation module is configured to generate the first and second inner loop current predictors according to the following expressions:
Figure FDA0002921615530000021
Figure FDA0002921615530000022
wherein iL1(k +1) represents a first inner loop current prediction value i at the time of k +1L2(k +1) represents a second inner loop current prediction value at the time of k +1, TsRepresents the system sampling time, L represents the inductance value, Udc1(k) Representing the output voltage of the energy storage module at time k, Udc2(k) Representing the terminal voltage of the capacitor at time k, iL(k) Representing the output current of the energy storage module at time k.
7. A traction system according to claim 1 or 6, wherein the operating modes of the switching tube control signal generating module include a normal mode and an emergency lockout mode, wherein,
when the switching tube control signal generation module is in a normal mode, the switching tube control signal generation module is configured to generate the switching tube control signal according to the switching tube state signal;
when the switching tube control signal generation module is in an emergency locking mode, the switching tube control signal generation module is configured to close the trigger pulse, so that the DC-DC conversion circuit is in a non-working state.
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