CN111181428A - Zero dynamic direct current output voltage control method and system of current source converter - Google Patents

Zero dynamic direct current output voltage control method and system of current source converter Download PDF

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CN111181428A
CN111181428A CN202010040792.0A CN202010040792A CN111181428A CN 111181428 A CN111181428 A CN 111181428A CN 202010040792 A CN202010040792 A CN 202010040792A CN 111181428 A CN111181428 A CN 111181428A
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current
direct current
output voltage
coordinate system
voltage
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CN111181428B (en
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郭小强
杨勇
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Yanshan University
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Yanshan University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/21—Conversion of ac power input into dc 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
    • H02M7/217—Conversion of ac power input into dc 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
    • H02M7/219—Conversion of ac power input into dc 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 in a bridge configuration
    • 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
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network 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
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/21—Conversion of ac power input into dc 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
    • H02M7/217—Conversion of ac power input into dc 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
    • H02M7/2173—Conversion of ac power input into dc 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 in a biphase or polyphase circuit arrangement

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Abstract

The invention discloses a zero dynamic direct current output voltage control method and a zero dynamic direct current output voltage control system of a current source converter. The zero dynamic direct current output voltage control method of the current source converter is provided based on the method, the direct current output voltage and power grid voltage feedforward control technology is adopted, stable direct current output voltage can be realized, and zero dynamic regulation of the output voltage can be realized under the condition of power grid voltage fluctuation; furthermore, no matter under the condition of balanced drop or unbalanced drop of the voltage of the power grid, zero dynamic adjustment of the direct current output voltage can be realized by adopting the method disclosed by the invention, the power supply quality of the current source converter is effectively improved, and the method is simple in realization process and has great practical engineering application value.

Description

Zero dynamic direct current output voltage control method and system of current source converter
Technical Field
The invention relates to the technical field of converters, in particular to a zero dynamic direct current output voltage control method and a zero dynamic direct current output voltage control system of a current source converter.
Background
Due to the non-linear, impulsive, and power imbalance characteristics of various loads in the grid, grid voltage fluctuations, flicker, may result. In addition, lightning stroke and other adverse weather can also cause the occurrence of power grid voltage flicker and fluctuation, thereby seriously affecting the output voltage of the direct current side of the current source converter and the waveform quality of the power grid current, damaging equipment, and increasing the time cost and property loss of equipment maintenance. Therefore, the influence of the power grid voltage disturbance on the converter is eliminated, and the current source converter outputs stable direct-current voltage under the condition of power grid voltage fluctuation, so that the method has important significance.
Zhang et al, in the paper "Simplified model and control strategy of three-phase PWM current sources for DC voltage power supplied applications" published by IEEE Journal of emitting & Selected diodes in Power electronics, proposes a DC voltage control method of three-phase current source converter, firstly establishes a system Simplified model, and on the basis thereof proposes a control method of damping on the outer ring of DC side voltage and the inner ring of AC side current, eliminates the resonance phenomenon caused by an output CL filter, realizes the stable DC voltage output of the system, and has a certain engineering application value. However, this approach ignores the issue of dynamic regulation of the output voltage due to grid voltage fluctuations.
Guo et al propose a control method in an article "Advanced control of grid-connected current source converter under unbalanced grid voltage control" published by IEEE Transactions on Industrial Electronics, which directly controls the voltage and current at the DC side, thereby eliminating the influence of the voltage imbalance of the power grid on the system and realizing the stable DC voltage output by the system. However, the scheme is only suitable for the condition of unbalanced grid voltage, and when the grid voltage drops, the scheme still has the dynamic regulation of the direct current output voltage, which affects the output power supply quality, and causes the shutdown and even damage of the electric equipment. Therefore, it is necessary to develop a zero dynamic dc output voltage control method for a current source converter under the grid voltage fluctuation.
Disclosure of Invention
The invention aims to provide a zero dynamic direct current output voltage control method and a zero dynamic direct current output voltage control system for a current source converter, so that zero dynamic adjustment of direct current output voltage can be realized under the condition of balanced drop or unbalanced drop of power grid voltage, and the power supply quality of the current source converter is improved.
In order to achieve the purpose, the invention provides the following scheme:
a method of zero-dynamic dc output voltage control of a current source converter, the method comprising:
acquiring a direct current side output parameter and a direct current side output current feedforward control item of a direct current side of a current source converter; the direct current side output parameters comprise direct current side output voltage, a direct current side output voltage reference value and a direct current side output current disturbance quantity;
calculating a direct current side output voltage error term according to the direct current side output parameter and the direct current side output current feedforward control term;
the direct current side output voltage error term obtains a current inner ring reference current amplitude value in a double closed loop through a PI regulator;
acquiring three-phase power grid voltage at the alternating current side of the current source converter;
determining a power grid voltage phase angle according to the three-phase power grid voltage;
calculating the reference current of the current inner ring under an alpha beta coordinate system according to the voltage phase angle of the power grid and the reference current amplitude of the current inner ring;
calculating an inner current loop error term under an alpha beta coordinate system according to the inner current loop reference current;
the current inner loop error term is subjected to PR (pulse-width modulation) to obtain a modulation signal under an α β coordinate system;
carrying out space vector modulation on the modulation signal to generate a driving signal;
and driving the IGBT switch tube of the current source converter to work by adopting the driving signal.
Optionally, the calculating a dc side output voltage error term according to the dc side output parameter and the dc side output current feedforward control term specifically includes:
according to the output parameter of the direct current side and the feedforward control term of the output current of the direct current side, a formula is adoptedcalculating the error term Deltau of the output voltage at the DC side0(ii) a Wherein u is0For the output voltage of the DC side, U0For the dc side output voltage reference value,
Figure BDA0002367691300000022
outputting a current disturbance quantity for a direct current side; gifAnd outputting a current feedforward control term for the direct current side.
Optionally, the obtaining, by the PI regulator, a current inner loop reference current amplitude in the double closed loop by the dc side output voltage error term specifically includes:
the error term Deltau of the output voltage at the DC side0Transfer function through PI regulator
Figure BDA0002367691300000031
After calculation, obtaining the reference current amplitude I of the current inner ring in the double closed loopm(ii) a Wherein G isout(s) is the voltage outer loop transfer function of the PI regulator; k is a radical ofupThe proportional link regulator parameters of the PI regulator; k is a radical ofuiThe integral link regulator parameters of the PI regulator; s is the laplace operator.
Optionally, determining a phase angle of the grid voltage according to the three-phase grid voltage specifically includes:
for three-phase network voltage ua,ub,uccarrying out abc/α β coordinate transformation to obtain an alpha component u of the three-phase grid voltage under an α β coordinate systemαand a beta axis component uβ；
for the alpha-axis component u of the three-phase power grid voltage under the α β coordinate systemαand a beta axis component uβα β/dq conversion is carried out to obtain a d-axis component u of the three-phase grid voltage under the dq coordinate systemdAnd q-axis component uq；
According to the d-axis component u of the three-phase power grid voltage under the dq coordinate systemdAnd q-axis component uqAnd obtaining a power grid voltage phase angle theta by utilizing the phase-locked loop.
optionally, the calculating the current inner loop reference current in the α β coordinate system according to the power grid voltage phase angle and the current inner loop reference current amplitude specifically includes:
according to the voltage phase angle theta of the power grid and the reference current amplitude I of the current inner ringmUsing formula I* refα＝ImX sin (theta) and formula I* refβ＝Imcalculating α β reference current I of α β current inner loop under α β alpha beta coordinate system by x cos (theta)* refαAnd I* refβ；I* refαAnd I* refβrespectively, an alpha-axis component and the β -axis component of the current inner loop reference current under an alpha beta coordinate system.
optionally, the calculating an inner-loop current error term in an α β coordinate system according to the inner-loop current reference includes:
according to the current inner loop reference current I* refαAnd I* refβBy the formula
Figure BDA0002367691300000032
And formula
Figure BDA0002367691300000033
respectively calculating the error term delta I of the current inner loop under the alpha beta coordinate systemαand △ Iβwherein, △ Iαand △ Iβrespectively alpha-axis component and beta-axis component of current inner loop error term under α β coordinate system, IαAnd Iβrespectively is an alpha axis component and a beta axis component of the three-phase power grid current under an α β coordinate system;
Figure BDA0002367691300000034
and
Figure BDA0002367691300000035
respectively alpha-axis component and beta-axis component of grid voltage fluctuation under α β coordinate system, GefAnd the control term is a power grid voltage feedforward control term.
optionally, the obtaining, by the PR adjuster, a modulation signal in an α β coordinate system by the current inner loop error term specifically includes:
the current inner ring error term △ I under the α β coordinate systemαand △ IβTransfer function through PR regulator
Figure BDA0002367691300000041
And
Figure BDA0002367691300000042
after calculation, a modulation signal m under α β coordinate system is obtainedαAnd mβ(ii) a Wherein m isαAnd mβalpha-axis component and beta-axis component of the modulation signal in α β coordinate system, respectively, Gin(s) is the current inner loop transfer function of the PR regulator; k is a radical ofipA proportional link regulator parameter for the PR regulator; k is a radical ofirRegulator parameters for a resonant link of a PR regulator; ω is the angular frequency.
A zero-dynamic dc output voltage control system for a current source converter, the system comprising:
the direct current side output parameter acquisition module is used for acquiring direct current side output parameters of the direct current side of the current source converter and a direct current side output current feedforward control item; the direct current side output parameters comprise direct current side output voltage, a direct current side output voltage reference value and a direct current side output current disturbance quantity;
the direct current side output voltage error term calculation module is used for calculating a direct current side output voltage error term according to the direct current side output parameter and the direct current side output current feedforward control term;
the PI regulating module is used for obtaining a current inner ring reference current amplitude value in a double closed loop by the output voltage error term of the direct current side through a PI regulator;
the three-phase power grid voltage acquisition module is used for acquiring the three-phase power grid voltage at the alternating current side of the current source converter;
the power grid voltage phase angle determining module is used for determining a power grid voltage phase angle according to the three-phase power grid voltage;
the α β current inner ring reference α β current calculation module is used for calculating α β current inner ring reference α β current under an alpha beta coordinate system according to the power grid voltage phase angle and the α β current inner ring reference α β current amplitude;
the current inner loop error term calculation module is used for calculating α β current inner loop error term under an alpha beta coordinate system according to the current inner loop reference current;
the PR adjusting module is used for obtaining a modulation signal under an α β coordinate system by the current inner ring error term through a PR adjuster;
the space vector modulation module is used for carrying out space vector modulation on the modulation signal to generate a driving signal;
and the signal driving module is used for driving the IGBT switching tube of the current source converter to work by adopting the driving signal.
Optionally, the dc side output voltage error term calculating module specifically includes:
a DC side output voltage error term calculation unit for adopting a formula according to the DC side output parameters and the DC side output current feedforward control term
Figure BDA0002367691300000043
calculating the error term Deltau of the output voltage at the DC side0(ii) a Wherein u is0For the output voltage of the DC side, U0For the dc side output voltage reference value,
Figure BDA0002367691300000051
outputting a current disturbance quantity for a direct current side; gifAnd outputting a current feedforward control term for the direct current side.
Optionally, the PI regulation module specifically includes:
a PI regulation unit for the DC-side output voltage error term Deltau0Transfer function through PI regulator
Figure BDA0002367691300000052
After calculation, obtaining the reference current amplitude I of the current inner ring in the double closed loopm(ii) a Wherein G isout(s) is the voltage outer loop transfer function of the PI regulator; k is a radical ofupThe proportional link regulator parameters of the PI regulator; k is a radical ofuiThe integral link regulator parameters of the PI regulator; s is the laplace operator.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a zero dynamic direct current output voltage control method and a system of a current source converter, which effectively calculate a power grid voltage feedforward control item and a direct current side output current feedforward control item through methods such as an instantaneous power theory, small signal model analysis, a superposition theorem and the like, and based on the zero dynamic direct current output voltage control method of the current source converter, the method adopts a direct current output voltage and power grid voltage feedforward control technology, so that not only can stable direct current output voltage be realized, but also zero dynamic regulation of the output voltage can be realized under the condition of power grid voltage fluctuation; furthermore, no matter under the condition of balanced drop or unbalanced drop of the voltage of the power grid, zero dynamic adjustment of the direct current output voltage can be realized by adopting the method disclosed by the invention, the power supply quality of the current source converter is effectively improved, and the method is simple in realization process and has practical engineering application value.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic circuit diagram of a current source converter according to the present invention;
FIG. 2 is a control schematic diagram of a feed-forward control scheme for a current source converter according to the present invention;
FIG. 3 is a control schematic diagram of a zero dynamic DC output voltage control method of a current source converter according to the present invention;
fig. 4 is a flowchart of a zero dynamic dc output voltage control method of a current source converter according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a zero dynamic direct current output voltage control method and a zero dynamic direct current output voltage control system for a current source converter, so that zero dynamic adjustment of direct current output voltage can be realized under the condition of balanced drop or unbalanced drop of power grid voltage, and the power supply quality of the current source converter is improved.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic circuit diagram of a current source converter according to the present invention. L in FIG. 1f、CfAn inductor and a capacitor on the alternating current side of the current source converter form an alternating current side filter; l isdc、CdcThe inductor and the capacitor are arranged on the direct current side. S1～S6Is an IGBT switching tube, DFR is a load resistor, which is a freewheeling diode. n' is the neutral point of the three-phase network voltage, ua,ub,ucFor three-phase mains voltage, ia,ib,icIs a three-phase grid current. N is a filter capacitor C at the AC sidefA common point. And p and n are respectively an upper bridge arm coupling point and a lower bridge arm coupling point of the current source converter. A. B, C are IGBT switch tubes S1～S6Three access points of the bridge arm structure. u. ofdcAnd outputting voltage for a bridge arm of the current source converter. i.e. iLIs a direct side inductor current i0For the output of current u on the DC side0The output voltage is the DC side output voltage.
Fig. 2 is a control schematic diagram of a feed-forward control scheme of a current source converter provided by the invention, and fig. 3 is a control schematic diagram of a zero dynamic dc output voltage control method of a current source converter provided by the invention. Referring to fig. 2 and 3, for a current source converter, the invention first applies to the three-phase grid voltage ua,ub,ucperforming abc/α β coordinate transformationobtaining the power grid voltage u under the α β coordinate systemαAnd uβthen, the grid voltage u under the dq coordinate system is obtained according to α β/dq conversiondAnd uq(ii) a And then, obtaining the Phase angle theta of the power grid voltage by using a Phase Locked Loop (PLL). Then combining theta to three-phase grid voltage ua、ub、ucAnd three-phase network current ia、ib、icCoordinate transformation is carried out to obtain ed、eqAnd id、iqThe concrete formula is as follows:
Figure BDA0002367691300000061
Figure BDA0002367691300000071
wherein edIs the d-axis component, e, of the three-phase network voltage in the dq coordinate systemqIs the q-axis component of the three-phase power grid voltage under the dq coordinate system; i.e. idIs d-axis component, i, of three-phase grid current in dq coordinate systemqIs the q-axis component of the three-phase grid current in the dq coordinate system. And theta is a grid voltage phase angle. u. ofa、ub、ucA, B, C three-phase mains voltage ia、ib、icA, B, C, respectively, are three-phase grid currents.
By combining with the instantaneous power theory, mathematical modeling analysis is performed on the three-phase current source converter shown in fig. 1, and an instantaneous power mathematical model of the current source converter is obtained as shown in formula (3):
Figure BDA0002367691300000072
wherein i0For the output of current u on the DC side0For the output voltage of the DC side, CdcIs a DC side capacitance value, LdcIs the dc side inductance value.
Definition of
Figure BDA0002367691300000073
For the voltage disturbance of the grid voltage in the dq axis,
Figure BDA0002367691300000074
for the current disturbance of the grid current in the dq axis,
Figure BDA0002367691300000075
the amount of disturbance of the output voltage on the dc side,
Figure BDA0002367691300000076
the current disturbance amount is output to the DC side.
Due to the operation of the system at unity power factor, the reactive component and its small signal eq、iq、
Figure BDA0002367691300000077
Usually 0, and then performing small signal disturbance on the instantaneous power mathematical model shown in formula (3) to obtain:
Figure BDA0002367691300000078
wherein the content of the first and second substances,
Figure BDA0002367691300000079
specifically, a d-axis component and a q-axis component of a three-phase power grid voltage disturbance quantity under a dq axis;
Figure BDA00023676913000000710
specifically, the d-axis component and the q-axis component of the disturbance quantity of the three-phase grid current under the dq axis are obtained.
Simplifying the formula (4), performing Laplace transform, and combining the superposition theorem to respectively obtain the voltage disturbance quantity of the power grid
Figure BDA0002367691300000081
Influence on output voltage transfer function GedAmount of disturbance of grid current
Figure BDA0002367691300000082
Influence on output voltage transfer function GidAnd output current disturbance amount
Figure BDA0002367691300000083
Influence on output voltage transfer function Gi0Respectively as follows:
Figure BDA0002367691300000084
Figure BDA0002367691300000085
Figure BDA0002367691300000086
where m is the modulation, R is the load resistance value, and s is the laplace operator.
Based on the above analysis, the feed-forward control scheme of the current source converter according to the present invention is proposed, and the control schematic diagram is shown in fig. 2, G in fig. 2in(s) is the current inner loop transfer function, Gout(s) is the voltage outer loop transfer function,
Figure BDA0002367691300000087
disturbance variable, G, for a reference value of the DC output voltageefFor grid voltage feedforward control terms, GifAnd outputting a current feedforward control term for the direct current side. In general, Gout(s) is a PI regulator, and Gin(s) is a PR regulator. From fig. 2, it can be derived that the transfer function of the feed-forward control of the current source converter is shown in equation (8):
Figure BDA0002367691300000088
from equation (8), three main factors affecting the dc output voltage can be derived: one is disturbance of DC output voltage reference value
Figure BDA0002367691300000089
The second is electricityNetwork voltage disturbance
Figure BDA00023676913000000810
Thirdly, output current disturbance
Figure BDA00023676913000000811
Since the DC output voltage reference is usually kept constant, its disturbance amount
Figure BDA00023676913000000812
Is 0, so that the feedforward control term G is addedefAnd GifBy adjusting the transfer function GefAnd GifSo that in the formula (8)
Figure BDA00023676913000000813
And
Figure BDA00023676913000000814
two terms are 0, i.e. can eliminate
Figure BDA00023676913000000815
And
Figure BDA00023676913000000816
the influence on the output voltage at the direct current side is realized, so that zero dynamic regulation of the direct current output voltage is effectively realized, and good sinusoidal power grid current is ensured. Thereby obtaining a feedforward control term GefAnd GifThe expression of (a) is as follows:
Figure BDA0002367691300000091
Figure BDA0002367691300000092
based on the control principle of the feedforward control scheme of the current source converter, the invention provides a zero dynamic direct current output voltage control method of the current source converter, and the control principle of the zero dynamic direct current output voltage control method of the current source converter is shown in fig. 3. See in detailShown in 3, a feedforward control term GefAnd GifThe input quantities are respectively the disturbance quantities of the network voltage
Figure BDA0002367691300000093
And output current disturbance amount
Figure BDA0002367691300000094
Gefoutput of △ Iαand △ Iβ，Gifoutput of Δ u0. For the application position, GefFront, G, current inner loop PR regulator for current source double closed loopifThe method is applied to the front of a voltage outer loop PI regulator of a current source double closed loop.
Fig. 4 is a flowchart of a zero dynamic dc output voltage control method of a current source converter according to the present invention. Referring to fig. 3 and 4, the method for controlling the zero dynamic dc output voltage of the current source converter provided by the present invention specifically includes:
step 401: and acquiring a direct current side output parameter and a direct current side output current feedforward control term of the direct current side of the current source converter.
As shown in FIG. 3, the DC-side output parameter includes a DC-side output voltage u0A reference value U of the output voltage at the DC side0And the output current disturbance amount on the DC side
Figure BDA0002367691300000095
From the derivation of equation (10), the DC side output current feedforward control term Gif＝m。
Step 402: and calculating an error term of the output voltage of the direct current side according to the output parameter of the direct current side and the feedforward control term of the output current of the direct current side.
Definition of
Figure BDA0002367691300000096
The current source converter outputs the voltage fluctuation amount at the DC side when the grid voltage fluctuates, and the value is
Figure BDA0002367691300000097
Wherein u is0For the output voltage of the DC side, U0calculating the error term Deltau of the output voltage at the DC side for the reference value of the output voltage at the DC side of the current source converter0The specific formula of (A) is as follows:
Figure BDA0002367691300000098
wherein G isifThe expression of the feedforward control term of the output current is the modulation degree m of the current source converter.
Figure BDA0002367691300000101
The current disturbance amount is output to the DC side.
Step 403: and the direct current side output voltage error term is used for obtaining the current inner ring reference current amplitude in the double closed loop through the PI regulator.
the obtained error term △ u of the output voltage at the DC side0The reference current amplitude I of the current inner loop in the double closed loop can be obtained by a PI regulatormThe concrete formula is as follows:
Figure BDA0002367691300000102
wherein G isout(s) is the voltage outer loop transfer function of the PI regulator; k is a radical ofupThe proportional link regulator parameters of the PI regulator; k is a radical ofuiThe integral link regulator parameters of the PI regulator; s is the laplace operator.
Step 404: and acquiring the three-phase power grid voltage at the alternating current side of the current source converter.
Obtaining three-phase network voltage u of current source converter AC side A, B, Ca,ub,ucAnd define
Figure BDA0002367691300000103
And
Figure BDA0002367691300000104
respectively, the grid voltage u under the α β coordinate systemαAnd uβThe amount of fluctuation of (a).
Step 405: and determining a power grid voltage phase angle according to the three-phase power grid voltage.
For three-phase network voltage ua,ub,uccarrying out abc/α β coordinate transformation to obtain the grid voltage u under an α β coordinate systemαAnd uβthen, the grid voltage u under the dq coordinate system is obtained according to α β/dq conversiondAnd uq(ii) a And then obtaining the grid voltage phase angle theta by using a phase-locked Loop (PLL).
That is, the step 404 determines the grid voltage phase angle according to the three-phase grid voltage, and specifically includes:
for three-phase network voltage ua,ub,uccarrying out abc/α β coordinate transformation to obtain an alpha component u of the three-phase grid voltage under an α β coordinate systemαand a beta axis component uβ；
for the alpha-axis component u of the three-phase power grid voltage under the α β coordinate systemαand a beta axis component uβα β/dq conversion is carried out to obtain a d-axis component u of the three-phase grid voltage under the dq coordinate systemdAnd q-axis component uq；
According to the d-axis component u of the three-phase power grid voltage under the dq coordinate systemdAnd q-axis component uqAnd obtaining a power grid voltage phase angle theta by utilizing the phase-locked loop.
and 406, calculating the reference current of the current inner loop under the alpha beta coordinate system according to the voltage phase angle of the power grid and the reference current amplitude of the current inner loop.
Combining the grid voltage phase angle theta and the current inner loop reference current amplitude Imcalculating to obtain the current inner ring reference current I under the α β coordinate system* refαAnd I* refβThe concrete formula is as follows:
I* refα＝Im×sin(θ) (13)
I* refβ＝Im×cos(θ) (14)
wherein I* refαAnd I* refβrespectively, an alpha-axis component and the β -axis component of the current inner loop reference current under an alpha beta coordinate system.
and 407, calculating an inner current loop error term in the alpha beta coordinate system according to the inner current loop reference current.
calculating the error term Delta I of the current inner loop under an alpha beta coordinate systemαand △ IβThe concrete formula is as follows:
Figure BDA0002367691300000111
Figure BDA0002367691300000112
wherein, IαAnd Iβrespectively are the power grid current under an alpha beta coordinate system,
Figure BDA0002367691300000113
and
Figure BDA0002367691300000114
g is the fluctuation quantity of the grid voltage under the α β coordinate systemefIs a grid voltage feedforward control term with the expression of
Figure BDA0002367691300000115
Wherein L isdcis the DC side inductor, m is the modulation degree of the current source converterαand △ Iβrespectively alpha-axis component and beta-axis component of current inner loop error term under α β coordinate system, IαAnd Iβrespectively is an alpha axis component and a beta axis component of the three-phase power grid current under an α β coordinate system;
Figure BDA0002367691300000116
and
Figure BDA0002367691300000117
the alpha axis component and the beta axis component of the grid voltage fluctuation under the α β coordinate system are respectively.
and 408, obtaining a modulation signal under an α β coordinate system by the current inner loop error term through a PR regulator.
Subjecting the obtained product tocurrent inner loop error term △ I under α β coordinate systemαand △ Iβthe modulation signal m under an alpha-beta coordinate system can be obtained through a PR regulatorαAnd mβThe concrete formula is as follows:
Figure BDA0002367691300000118
Figure BDA0002367691300000119
wherein G isin(s) is the PR regulator transfer function, ω is the angular frequency, kipFor PR regulator proportional segment regulator parameters, kirAnd adjusting parameters of a resonance link of the PR adjuster. In particular, mαAnd mβalpha-axis component and beta-axis component of the modulation signal in α β coordinate system, respectively, Gin(s) is the PR regulator current inner loop transfer function; k is a radical ofipA proportional link regulator parameter for the PR regulator; k is a radical ofirRegulator parameters for a resonant link of a PR regulator; ω is the angular frequency.
Step 409: and carrying out space vector modulation on the modulation signal to generate a driving signal.
Will modulate signal mαAnd mβPerforming space vector modulation to generate a drive signal S1～S6And driving the current source converter to work.
Step 410: and driving the IGBT switch tube of the current source converter to work by adopting the driving signal.
Will modulate signal mαAnd mβPerforming space vector modulation to generate a drive signal S1～S6IGBT switch tube S of driving current source converter1～S6The direct current output voltage zero dynamic regulation device can effectively eliminate the influence of the voltage fluctuation of the power grid on the direct current side output voltage and realize the zero dynamic regulation of the direct current output voltage.
The invention discloses a zero dynamic direct current output voltage control method of a current source converter under the voltage fluctuation of a power grid, which firstly passes through the instantaneous power theoryAnd analyzing the small signal model, finding out the influence factors influencing the DC output voltage as the power grid voltage and the output current, and solving the power grid voltage feedforward term transfer function GefAnd output current feedforward term transfer function Gifthen, the voltage error Deltau of the outer loop is calculated0Is composed of
Figure BDA0002367691300000121
error of voltage Deltau u0Power grid current inner ring reference current amplitude I obtained through PI regulatormCombining the grid voltage phase angle theta and the current inner loop reference current amplitude Imcalculating to obtain the current inner ring reference current I under the α β coordinate system* refαAnd I* refβthen calculating the current inner loop error signal DeltaIαand △ IβWhich are respectively
Figure BDA0002367691300000122
And
Figure BDA0002367691300000123
the current inner loop error term △ I under the α β coordinate systemαand △ Iβthe modulation signal m under an alpha-beta coordinate system can be obtained through a PR regulatorαAnd mβ(ii) a Will modulate signal mαAnd mβPerforming space vector modulation to generate a drive signal S1～S6Thereby driving the current source converter. The control method provided by the invention realizes the zero dynamic direct current output voltage control of the current source converter under the voltage fluctuation of the power grid, and simultaneously ensures that the current sine degree of the power grid of the system is good. By adopting the zero dynamic direct current output voltage control method provided by the invention, the influence of the power grid voltage fluctuation on the direct current side output voltage can be effectively eliminated through feedforward control, and zero dynamic regulation of the direct current output voltage is realized. In addition, the control method provided by the invention has the advantages of simple circuit structure, easiness in realization and great practical application value.
Based on the method for controlling the zero dynamic direct current output voltage of the current source converter provided by the invention, the invention also provides a system for controlling the zero dynamic direct current output voltage of the current source converter, and the system comprises:
the direct current side output parameter acquisition module is used for acquiring direct current side output parameters of the direct current side of the current source converter and a direct current side output current feedforward control item; the direct current side output parameters comprise direct current side output voltage, a direct current side output voltage reference value and a direct current side output current disturbance quantity;
the direct current side output voltage error term calculation module is used for calculating a direct current side output voltage error term according to the direct current side output parameter and the direct current side output current feedforward control term;
the PI regulating module is used for obtaining a current inner ring reference current amplitude value in a double closed loop by the output voltage error term of the direct current side through a PI regulator;
the three-phase power grid voltage acquisition module is used for acquiring the three-phase power grid voltage at the alternating current side of the current source converter;
the power grid voltage phase angle determining module is used for determining a power grid voltage phase angle according to the three-phase power grid voltage;
the α β current inner ring reference α β current calculation module is used for calculating α β current inner ring reference α β current under an alpha beta coordinate system according to the power grid voltage phase angle and the α β current inner ring reference α β current amplitude;
the current inner loop error term calculation module is used for calculating α β current inner loop error term under an alpha beta coordinate system according to the current inner loop reference current;
the PR adjusting module is used for obtaining a modulation signal under an α β coordinate system by the current inner ring error term through a PR adjuster;
the space vector modulation module is used for carrying out space vector modulation on the modulation signal to generate a driving signal;
and the signal driving module is used for driving the IGBT switching tube of the current source converter to work by adopting the driving signal.
The direct current side output voltage error term calculation module specifically comprises:
a DC side output voltage error term calculation unit for calculating the DC side output voltage error term according to the DC side output parameters and the DC side outputCurrent feed-forward control term using formula
Figure BDA0002367691300000131
calculating the error term Deltau of the output voltage at the DC side0(ii) a Wherein u is0For the output voltage of the DC side, U0For the dc side output voltage reference value,
Figure BDA0002367691300000132
outputting a current disturbance quantity for a direct current side; gifAnd outputting a current feedforward control term for the direct current side.
The PI regulation module specifically comprises:
a PI regulation unit for the DC-side output voltage error term Deltau0Transfer function through PI regulator
Figure BDA0002367691300000133
After calculation, obtaining the reference current amplitude I of the current inner ring in the double closed loopm(ii) a Wherein G isout(s) is the PI regulator voltage outer loop transfer function; k is a radical ofupThe proportional link regulator parameters of the PI regulator; k is a radical ofuiThe integral link regulator parameters of the PI regulator; s is the laplace operator.
The grid voltage phase angle determination module specifically includes:
an abc/α β coordinate transformation unit for three-phase grid voltage ua,ub,uccarrying out abc/α β coordinate transformation to obtain an alpha component u of the three-phase grid voltage under an α β coordinate systemαand a beta axis component uβ；
an alpha beta/dq conversion unit for converting alpha component u of three-phase grid voltage under the α β coordinate systemαand a beta axis component uβα β/dq conversion is carried out to obtain a d-axis component u of the three-phase grid voltage under the dq coordinate systemdAnd q-axis component uq；
A grid voltage phase angle determining unit for determining the d-axis component u of the three-phase grid voltage according to the dq coordinate systemdAnd q-axis component uqAnd obtaining a power grid voltage phase angle theta by utilizing the phase-locked loop.
The current inner loop reference current calculation module specifically comprises:
a current inner ring reference current calculation unit for calculating the reference current amplitude I of the current inner ring according to the grid voltage phase angle thetamUsing formula I* refα＝ImX sin (theta) and formula I* refβ＝Imcalculating α β reference current I of α β current inner loop under α β alpha beta coordinate system by x cos (theta)* refαAnd I* refβ；I* refαAnd I* refβrespectively, an alpha-axis component and the β -axis component of the current inner loop reference current under an alpha beta coordinate system.
The current inner loop error term calculation module specifically comprises:
a current inner ring error term calculation unit for calculating a current inner ring reference current I according to the current inner ring* refαAnd I* refβBy the formula
Figure BDA0002367691300000141
And formula
Figure BDA0002367691300000142
respectively calculating the error term delta I of the current inner loop under the alpha beta coordinate systemαand △ Iβwherein, △ Iαand △ Iβrespectively alpha-axis component and beta-axis component of current inner loop error term under α β coordinate system, IαAnd Iβrespectively is an alpha axis component and a beta axis component of the three-phase power grid current under an α β coordinate system;
Figure BDA0002367691300000143
and
Figure BDA0002367691300000144
respectively alpha-axis component and beta-axis component of grid voltage fluctuation under α β coordinate system, GefAnd the control term is a power grid voltage feedforward control term.
The PR adjusting module specifically comprises:
a PR adjusting unit for current inner loop error term in α β coordinate system△Iαand △ IβTransfer function through PR regulator
Figure BDA0002367691300000145
And
Figure BDA0002367691300000146
after calculation, a modulation signal m under α β coordinate system is obtainedαAnd mβ(ii) a Wherein m isαAnd mβalpha-axis component and beta-axis component of the modulation signal in α β coordinate system, respectively, Gin(s) is the current inner loop transfer function of the PR regulator; k is a radical ofipA proportional link regulator parameter for the PR regulator; k is a radical ofirRegulator parameters for a resonant link of a PR regulator; ω is the angular frequency.
The zero dynamic direct current output voltage control method and the system utilize the instantaneous power theory and the small signal model to analyze and solve the influence factors influencing the direct current output voltage into the power grid voltage and the output current, and respectively provide two feedforward control items G aiming at the two influence factorsefAnd GifThe transfer functions thereof are respectively
Figure BDA0002367691300000151
And m, wherein LdcThe method is characterized in that a current source converter direct current side inductor, R is an output load, m is a system modulation degree, a feedforward control item is utilized to eliminate the influence of power grid voltage fluctuation on direct current output voltage, the control target of zero dynamic direct current output voltage is realized, the problem of output voltage fluctuation of the current source converter under the condition that the power grid voltage generates flicker or fluctuation is solved, zero dynamic regulation of the direct current side output voltage is realized, and meanwhile, good power grid current waveform quality is ensured. In addition, the control scheme provided by the invention has the advantages of simple circuit structure, easiness in realization and certain engineering application value.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (10)

1. A method for zero-dynamic dc output voltage control of a current source converter, the method comprising:
acquiring a direct current side output parameter and a direct current side output current feedforward control item of a direct current side of a current source converter; the direct current side output parameters comprise direct current side output voltage, a direct current side output voltage reference value and a direct current side output current disturbance quantity;
calculating a direct current side output voltage error term according to the direct current side output parameter and the direct current side output current feedforward control term;
the direct current side output voltage error term obtains a current inner ring reference current amplitude value in a double closed loop through a PI regulator;
acquiring three-phase power grid voltage at the alternating current side of the current source converter;
determining a power grid voltage phase angle according to the three-phase power grid voltage;
calculating the reference current of the current inner ring under an alpha beta coordinate system according to the voltage phase angle of the power grid and the reference current amplitude of the current inner ring;
calculating an inner current loop error term under an alpha beta coordinate system according to the inner current loop reference current;
the current inner loop error term is subjected to PR (pulse-width modulation) to obtain a modulation signal under an α β coordinate system;
carrying out space vector modulation on the modulation signal to generate a driving signal;
and driving the IGBT switch tube of the current source converter to work by adopting the driving signal.
2. The method according to claim 1, wherein the calculating a dc-side output voltage error term according to the dc-side output parameter and the dc-side output current feedforward control term comprises:
according to the output parameter of the direct current side and the feedforward control term of the output current of the direct current side, a formula is adopted
Figure FDA0002367691290000011
calculating the error term Deltau of the output voltage at the DC side0(ii) a Wherein u is0For the output voltage of the DC side, U0For the dc side output voltage reference value,
Figure FDA0002367691290000012
outputting a current disturbance quantity for a direct current side; gifAnd outputting a current feedforward control term for the direct current side.
3. The method according to claim 2, wherein the step of obtaining the reference current amplitude of the current inner loop in the double closed loop by the PI regulator in the output voltage error term at the dc side comprises:
the error term Deltau of the output voltage at the DC side0Transfer function through PI regulator
Figure FDA0002367691290000021
After calculation, obtaining the reference current amplitude I of the current inner ring in the double closed loopm(ii) a Wherein G isout(s) is the voltage outer loop transfer function of the PI regulator; k is a radical ofupThe proportional link regulator parameters of the PI regulator; k is a radical ofuiThe integral link regulator parameters of the PI regulator; s is the laplace operator.
4. The method according to claim 3, wherein the determining a grid voltage phase angle from the three-phase grid voltage comprises:
for three-phase network voltage ua,ub,uccarrying out abc/α β coordinate transformation to obtain an alpha component u of the three-phase grid voltage under an α β coordinate systemαand a beta axis component uβ；
for the alpha-axis component u of the three-phase power grid voltage under the α β coordinate systemαand a beta axis component uβα β/dq conversion is carried out to obtain a d-axis component u of the three-phase grid voltage under the dq coordinate systemdAnd q-axis component uq；
According to the d-axis component u of the three-phase power grid voltage under the dq coordinate systemdAnd q-axis component uqAnd obtaining a power grid voltage phase angle theta by utilizing the phase-locked loop.
5. the method according to claim 4, wherein the calculating an intra-current reference current in an α β coordinate system according to the grid voltage phase angle and the intra-current reference current amplitude comprises:
according to the voltage phase angle theta of the power grid and the reference current amplitude I of the current inner ringmUsing formula I* refα＝ImX sin (theta) and formula I* refβ＝Imcalculating α β reference current I of α β current inner loop under α β alpha beta coordinate system by x cos (theta)* refαAnd I* refβ；I* refαAnd I* refβrespectively, an alpha-axis component and the β -axis component of the current inner loop reference current under an alpha beta coordinate system.
6. the system of claim 5, wherein the calculating an inner-loop error term in α β coordinate system according to the inner-loop reference current comprises:
according to the current inner loop reference current I* refαAnd I* refβAdopt a maleFormula (II)
Figure FDA0002367691290000022
And formula
Figure FDA0002367691290000023
respectively calculating the error term delta I of the current inner loop under the alpha beta coordinate systemαand △ Iβwherein, △ Iαand △ Iβrespectively alpha-axis component and beta-axis component of current inner loop error term under α β coordinate system, IαAnd Iβrespectively is an alpha axis component and a beta axis component of the three-phase power grid current under an α β coordinate system;
Figure FDA0002367691290000024
and
Figure FDA0002367691290000025
respectively alpha-axis component and beta-axis component of grid voltage fluctuation under α β coordinate system, GefAnd the control term is a power grid voltage feedforward control term.
7. the system of claim 6, wherein the current inner loop error term is processed by the PR adjuster to obtain a modulation signal in an α β coordinate system, and the system comprises:
the current inner ring error term △ I under the α β coordinate systemαand △ IβTransfer function through PR regulator
Figure FDA0002367691290000031
And
Figure FDA0002367691290000032
after calculation, a modulation signal m under α β coordinate system is obtainedαAnd mβ(ii) a Wherein m isαAnd mβalpha-axis component and beta-axis component of the modulation signal in α β coordinate system, respectively, Gin(s) is the current inner loop transfer function of the PR regulator; k is a radical ofipBeing PR regulatorsProportional link regulator parameters; k is a radical ofirRegulator parameters for a resonant link of a PR regulator; ω is the angular frequency.
8. A zero-dynamic dc output voltage control system for a current source converter, the system comprising:
the direct current side output parameter acquisition module is used for acquiring direct current side output parameters of the direct current side of the current source converter and a direct current side output current feedforward control item; the direct current side output parameters comprise direct current side output voltage, a direct current side output voltage reference value and a direct current side output current disturbance quantity;
the direct current side output voltage error term calculation module is used for calculating a direct current side output voltage error term according to the direct current side output parameter and the direct current side output current feedforward control term;
the PI regulating module is used for obtaining a current inner ring reference current amplitude value in a double closed loop by the output voltage error term of the direct current side through a PI regulator;
the three-phase power grid voltage acquisition module is used for acquiring the three-phase power grid voltage at the alternating current side of the current source converter;
the power grid voltage phase angle determining module is used for determining a power grid voltage phase angle according to the three-phase power grid voltage;
the α β current inner ring reference α β current calculation module is used for calculating α β current inner ring reference α β current under an alpha beta coordinate system according to the power grid voltage phase angle and the α β current inner ring reference α β current amplitude;
the current inner loop error term calculation module is used for calculating α β current inner loop error term under an alpha beta coordinate system according to the current inner loop reference current;
the PR adjusting module is used for obtaining a modulation signal under an α β coordinate system by the current inner ring error term through a PR adjuster;
the space vector modulation module is used for carrying out space vector modulation on the modulation signal to generate a driving signal;
and the signal driving module is used for driving the IGBT switching tube of the current source converter to work by adopting the driving signal.
9. The system of claim 8, wherein the dc-side output voltage error term calculation module specifically comprises:
a DC side output voltage error term calculation unit for adopting a formula according to the DC side output parameters and the DC side output current feedforward control term
Figure FDA0002367691290000041
calculating the error term Deltau of the output voltage at the DC side0(ii) a Wherein u is0For the output voltage of the DC side, U0For the dc side output voltage reference value,
Figure FDA0002367691290000042
outputting a current disturbance quantity for a direct current side; gifAnd outputting a current feedforward control term for the direct current side.
10. The system of claim 9, wherein the PI regulation module specifically comprises:
a PI regulation unit for the DC-side output voltage error term Deltau0Transfer function through PI regulator
Figure FDA0002367691290000043
After calculation, obtaining the reference current amplitude I of the current inner ring in the double closed loopm(ii) a Wherein G isout(s) is the voltage outer loop transfer function of the PI regulator; k is a radical ofupThe proportional link regulator parameters of the PI regulator; k is a radical ofuiThe integral link regulator parameters of the PI regulator; s is the laplace operator.
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