CN113765345B - Method for suppressing capacitor voltage fluctuation of modularized multi-level converter - Google Patents
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Abstract
The invention relates to a method for suppressing capacitor voltage fluctuation of a modularized multi-level converter, which comprises the following steps: establishing an MMC fluctuation capacitor voltage state equation based on a PCHD model; based on the established MMC fluctuation capacitance voltage state equation, further establishing and obtaining an MMC capacitance voltage fluctuation passive consistency controller based on a PCHD model so as to obtain fluctuation capacitance voltage control quantity; processing the control quantity of the fluctuation capacitor voltage by adopting a pulse modulation method to obtain a corresponding trigger pulse signal; and controlling the switch states of the converters of the bridge arm submodules of each phase of the MMC according to the trigger pulse signals. Compared with the prior art, the passive consistency control method based on the PCHD model is used for suppressing the MMC capacitor voltage fluctuation, has the advantages of simple control law form, small mean deviation and good stability, and can effectively suppress the MMC capacitor voltage fluctuation.
Description
Technical Field
The invention relates to the technical field of control of modularized multi-level converters, in particular to a capacitor voltage fluctuation suppression method of a modularized multi-level converter.
Background
The modular multilevel converter (Modular Multilevel Converter, MMC) is formed by cascading a plurality of Sub-modules (SMs) with the same structure, wherein the structures of the Sub-modules can be divided into three types of half-H-bridge type, full-H-bridge type and doubly-clamped type Sub-modules. MMC has advantages of low harmonic content, low switching loss, strong fault ride-through capability, convenient modularized capacity expansion, industrialized production and the like, and is widely applied to the field of large-scale renewable energy grid connection at present. However, because the large-scale renewable energy source power generation has the characteristics of intermittence and volatility, the energy unbalance among three-phase MMC phases is easy to cause, so that the capacitance voltage unbalance of the submodule is further caused, the capacitance voltage fluctuation of the MMC inevitably increases the loss of the converter, the output voltage of the alternating current side is caused to deviate, and the reliable operation of the system can be influenced when serious.
Therefore, it is necessary to suppress the voltage fluctuation of the MMC capacitor, and the conventional method adopts a vector control method, and the controller is designed aiming at the nonlinear nature of the capacitor voltage fluctuation system of the MMC submodule, so that when an uncertainty disturbance condition exists, the immunity and the robustness of the vector controller face challenges which are difficult to overcome; compared with the traditional vector control method, the nonlinear control method is adopted in the prior art, so that the controller capable of reflecting the nonlinear nature of the MMC submodule capacitor voltage fluctuation system is designed from the energy perspective, the control performance is improved in the aspects of stability and robustness of a closed-loop control system, but the method is complex in calculation, the problem of overlarge internal loss of the system cannot be solved, the energy optimization is insufficient, and the engineering practical problem cannot be solved. Therefore, how to achieve the improvement of dynamic and static response performance on the premise that the design of the controller is as concise as possible, and simultaneously ensure the further improvement of overall progressive stability and robustness of the system, is a key problem that must be solved by the MMC submodule capacitor voltage fluctuation suppression engineering application.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a method for suppressing the capacitance voltage fluctuation of a modularized multi-level converter, and the passive consistency controller is designed to realize a controller with a simple form, so that the capacitance voltage fluctuation of an MMC can be effectively suppressed, and the overall progressive stability and the robustness of a system can be improved.
The aim of the invention can be achieved by the following technical scheme: a method for suppressing capacitor voltage fluctuation of a modularized multi-level converter comprises the following steps:
S1, establishing an MMC fluctuation capacitance voltage state equation based on a PCHD (port-controlled Hamiltonian with dissipation) model with controlled port dissipation Hamiltonian;
S2, based on an MMC fluctuation capacitor voltage state equation established in the step S1, further establishing and obtaining an MMC capacitor voltage fluctuation passive consistency controller based on a PCHD model so as to obtain a fluctuation capacitor voltage control quantity;
s3, processing the fluctuation capacitor voltage control quantity by adopting a pulse modulation method to obtain a corresponding trigger pulse signal;
s4, controlling the switch states of the converters of the bridge arm sub-modules of each phase of the MMC according to the trigger pulse signals.
Further, the step S1 specifically includes the following steps:
S11, respectively defining a state variable, an input variable and an output variable under a dq rotating coordinate system, wherein the state variable is specifically a product of a three-phase injection circulation frequency doubling dq axis component and a bridge arm inductance, the input variable is specifically a three-phase fluctuation capacitor voltage dq axis component, and the output variable is specifically a three-phase injection circulation frequency doubling dq axis component;
S12, based on the defined state variables, input variables and output variables, establishing an MMC fluctuation capacitance voltage state equation based on the PCHD model.
Further, the MMC fluctuation capacitor voltage state equation is specifically:
x＝[x1 x2]T＝[Lmicird Lmicirq]T
u＝[u1 u2]T＝[ucird ucirq]T
y＝[y1 y2]T＝[icird icirq]T
Wherein x is a state variable, u is an input variable, y is an output variable, L m is a bridge arm inductance, i cird、icirq is a three-phase injection loop frequency doubling d-axis component and a three-phase injection loop frequency q-axis component, u cird、ucirq is a three-phase fluctuation capacitor voltage d-axis component and a three-phase fluctuation capacitor voltage q-axis component, J (x) is an interconnection matrix, R (x) is a damping matrix, g (x) is a port matrix, H (x) is an energy function, omega 0 is fundamental wave angular frequency, R m is bridge arm resistance, Is a differential operator.
Further, the step S2 specifically includes the following steps:
S21, introducing a consistency control law on the basis of a PCHD model, and setting an expected balance point of the MMC submodule fluctuation capacitor voltage system after injection circulation;
s22, taking the difference between the state variable and the expected balance point and the differential value of the difference as a control target, and combining with an MMC fluctuation capacitance voltage state equation to obtain a passive consistency control law based on a PCHD model, thereby obtaining the fluctuation capacitance voltage control quantity.
Further, the consistency control law introduced in the step S21 is specifically:
α＝1
Wherein x e is the state variable error, x is the set desired balance point, AndThe reference tracks of the d-axis component and the q-axis component of the three-phase injection circulation double frequency are respectively, and alpha is an error coefficient.
Further, the step S22 specifically includes the following steps:
s221, taking the difference between the state variable and the expected balance point and the differential value of the difference between the state variable and the expected balance point as a control target, and designing a corresponding expected energy function;
S222, based on a designed expected energy function, combining an MMC fluctuation capacitor voltage state equation to obtain a state equation of an MMC submodule fluctuation capacitor voltage closed-loop system;
S223, further obtaining a passive consistency control law based on the PCHD model according to a state equation of the MMC submodule fluctuation capacitor voltage closed-loop system.
Further, the control target in step S221 is specifically:
the designed expected energy function is specifically:
Wherein H d (x) is a desired energy function, and D is a bridge arm inductance matrix.
Further, the state equation of the MMC submodule fluctuating capacitor voltage closed-loop system in step S222 is specifically:
Where J d (x) is the interconnection matrix desired by the system and R d (x) is the damping matrix desired by the system.
Further, the interconnection matrix expected by the system is specifically:
Jd(x)＝J(x)+Ja(x)
Ja(x)＝0
Wherein J a (x) is the injected dissipation matrix;
the damping matrix expected by the system is specifically as follows:
Rd(x)＝R(x)+Ra(x)
Where R a (x) is the injected damping matrix and R a1、ra2 is the injected positive damping parameter.
Further, the passive consistency control law based on the PCHD model in the step S223 is specifically:
A1＝8ω0Lm-5(Rm+ra1)
A2＝10ω0Lm+4(Rm+ra2)
B1＝-10ω0Lm+4(Rm+ra1)
B2＝-8ω0Lm-5(Rm+ra2)
C1＝2ω0Lm
C2＝-2ω0Lm
D1＝D2＝Rm
Wherein A 1、B1、C1、D1 is a d-axis control variable, A 2、B2、C2、D2 is a q-axis control variable, and u cird、ucirq is a d-axis component and a q-axis component of the three-phase fluctuation capacitor voltage respectively, namely the fluctuation capacitor voltage control quantity.
Compared with the prior art, the invention is based on PCHD model and passivity and consistency theory, based on the established MMC fluctuation capacitance voltage state equation, and the control target can obtain the minimum value at the expected balance point through energy function shaping, so that the overall gradual stability of the system can be effectively ensured, the accuracy of the calculation of the subsequent fluctuation capacitance voltage control quantity is ensured, and the reliability of MMC capacitance voltage fluctuation suppression is improved;
In addition, the passive consistency controller of MMC capacitor voltage fluctuation based on the PCHD model constructed by the invention can realize the rapid tracking and synchronous tracking of the injection circulation reference track while ensuring the global stability of the system, has simple control law form and has better transient performance and stability performance.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention;
FIG. 2 is a schematic diagram of an application process of an embodiment;
FIG. 3 is a schematic diagram of an MMC three-phase equivalent circuit structure;
fig. 4 is a schematic diagram of capacitor voltage fluctuation of an MMC submodule after the method of the present invention is applied in an embodiment.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples.
Examples
As shown in fig. 1, a modularized multi-level capacitor voltage fluctuation suppression method comprises the following steps:
s1, establishing an MMC fluctuation capacitance voltage state equation based on a PCHD model, and specifically defining a state variable, an input variable and an output variable respectively under a dq rotation coordinate system: the state variable is the product of the three-phase injection circulation frequency doubling dq axis component and the bridge arm inductance, the input variable is the three-phase fluctuation capacitor voltage dq axis component, and the output variable is the three-phase injection circulation frequency doubling dq axis component;
based on defined state variables, input variables and output variables, establishing and obtaining an MMC fluctuation capacitor voltage state equation:
x＝[x1 x2]T＝[Lmicird Lmicirq]T
u＝[u1 u2]T＝[ucird ucirq]T
y＝[y1 y2]T＝[icird icirq]T
Wherein x is a state variable, u is an input variable, y is an output variable, L m is a bridge arm inductance, i cird、icirq is a three-phase injection loop frequency doubling d-axis component and a three-phase injection loop frequency q-axis component, u cird、ucirq is a three-phase fluctuation capacitor voltage d-axis component and a three-phase fluctuation capacitor voltage q-axis component, J (x) is an interconnection matrix, R (x) is a damping matrix, g (x) is a port matrix, H (x) is an energy function, omega 0 is fundamental wave angular frequency, R m is bridge arm resistance, Is a differential operator;
s2, based on an MMC fluctuation capacitor voltage state equation established in the step S1, further establishing and obtaining an MMC capacitor voltage fluctuation passive consistency controller based on a PCHD model so as to obtain a fluctuation capacitor voltage control quantity, and specifically:
Firstly, introducing a consistency control law, and setting an expected balance point of an MMC submodule fluctuation capacitor voltage system after injection circulation:
wherein x * is the desired equilibrium point, AndRespectively three-phase injection circulation frequency doubling d-axis and q-axis component reference tracks;
The consistency control law is:
Where x e is the state variable error, x1＝Lmicird,x2＝Lmicirq,Because the expected track of the MMC three-phase capacitor voltage is consistent, the error coefficient alpha=1 is taken;
Then taking the difference between the state variable and the expected balance point and the differential value as zero as the control target (i.e. x-x * =0 ) Designing a corresponding expected energy function:
Wherein H d (x) is a desired energy function, D is a bridge arm inductance matrix, elements on diagonal lines of the bridge arm inductance matrix are L m, and the rest elements are 0;
and based on the designed expected energy function, combining with an MMC fluctuation capacitance voltage state equation to obtain a state equation of an MMC submodule fluctuation capacitance voltage closed-loop system:
Jd(x)＝J(x)+Ja(x)
Ja(x)＝0
Rd(x)＝R(x)+Ra(x)
wherein J d (x) is an interconnection matrix expected by the system, R d (x) is a damping matrix expected by the system, J a (x) is an injected dissipation matrix, R a (x) is an injected damping matrix, and R a1、ra2 is an injected positive damping parameter;
Finally, according to a state equation of the MMC submodule fluctuation capacitor voltage closed-loop system, a passive consistency control law based on the PCHD model is further obtained:
wherein the method comprises the steps of ,A1＝8ω0Lm-5(Rm+ra1);A2＝10ω0Lm+4(Rm+ra2);
B1＝-10ω0Lm+4(Rm+ra1);B2＝-8ω0Lm-5(Rm+ra2);
C1＝2ω0Lm;C2＝-2ω0Lm；
D1＝D2＝Rm；
A 1、B1、C1、D1 is a d-axis control variable, a 2、B2、C2、D2 is a q-axis control variable, u cird、ucirq is a d-axis component and a q-axis component of the three-phase fluctuation capacitor voltage respectively, and the d-axis component and the q-axis component are fluctuation capacitor voltage control quantities;
s3, processing the fluctuation capacitor voltage control quantity by adopting a pulse modulation method to obtain a corresponding trigger pulse signal;
s4, controlling the switch states of the converters of the bridge arm sub-modules of each phase of the MMC according to the trigger pulse signals.
The process of the embodiment applying the method is shown in fig. 2:
Step 1: the three-phase MMC circuit structure and sub-module topology diagram are shown in FIG. 3, and the MMC fluctuation capacitance voltage dynamic equation under dq rotation coordinate system can be obtained from FIG. 3
Wherein omega 0 is fundamental wave angular frequency, L m is bridge arm inductance, R m is bridge arm resistance, i cird and i cirq are d-axis and q-axis components of three-phase injection circulation frequency doubling, u cird and u cirq are d-axis and q-axis components of three-phase fluctuation capacitor voltage,Is a differential operator, and t is time.
The state variable x, the input variable u and the output variable y are selected as follows:
Wherein: [. Cndot. ] T is the transpose of the matrix.
The positive definite quadratic energy function H (x) is designed as follows:
equivalent transformation is carried out on the MMC fluctuation capacitance voltage dynamic equation (1) to obtain an MMC submodule capacitance voltage fluctuation PCHD model:
Wherein,
Interconnection matrix
Damping matrix
Port matrix
In the method, in the process of the invention,Is a differential operator.
The dissipation inequality can be obtained from equation (3) and equation (4):
the left side of the formula (5) is the increment of the whole MMC fluctuation capacitor voltage system, the right side is externally supplied energy, and the theory of passivity can be known: the mapping u-x is that the output is strictly passive, and the MMC fluctuation capacitance-voltage system has passive characteristics.
Step 2: according to the system control performance target, setting the expected balance point of the MMC submodule capacitor voltage fluctuation system after injection circulation as
In the method, in the process of the invention,AndAnd d-axis and q-axis component reference tracks are doubled for three-phase injection circulation.
According to the control target x-x * =0Designing expected energy function of MMC submodule capacitor voltage fluctuation suppression control system
From the formulas (4) and (7), the state equation of the MMC submodule fluctuation capacitor voltage closed-loop system can be obtained as follows
Wherein J d(x)＝J(x)+Ja (x) is the interconnection matrix expected by the system, R d(x)＝R(x)+Ra (x) is the damping matrix expected by the system, J a (x) =0,Respectively an injected dissipation matrix and a damping matrix, and r a1、ra2 is an injected positive damping parameter.
The passive consistency control law based on the PCHD model can be obtained by the formula (8) as
The formula (9) can ensure that the closed-loop control system can effectively inhibit the capacitance voltage fluctuation of the MMC submodule on the premise of global gradual stability.
In this embodiment, a simulation model of an MMC capacitor voltage fluctuation control system is built in MATLAB/Simulink to verify the effectiveness of the present invention, and simulation parameters of this embodiment are shown in table 1.
TABLE 1
And under the steady-state operation of the MMC system, performing simulation test by adopting an MMC capacitor voltage fluctuation suppression method based on a PCHD model. The method for suppressing the capacitor voltage fluctuation of the start submodule at t=0.3 s is shown in fig. 4. As shown by analysis of fig. 4, when the suppression of the capacitance voltage fluctuation of the submodule is not adopted before t=0.3 s, the capacitance voltage fluctuation of the submodule of the MMC is larger, and after the passive consistency control method based on the PCHD model is implemented for t=0.3 s, the transient transition time period is short, the dynamic response is quick, the effective suppression of the capacitance voltage fluctuation of the submodule of the MMC is realized, the mean value deviation of the three-phase capacitance voltage after the stabilization is small, and the stability of the system is improved.
Claims (4)
1. The method for suppressing the capacitor voltage fluctuation of the modularized multi-level converter is characterized by comprising the following steps of:
s1, establishing an MMC fluctuation capacitance voltage state equation based on a PCHD model;
S2, based on an MMC fluctuation capacitor voltage state equation established in the step S1, further establishing and obtaining an MMC capacitor voltage fluctuation passive consistency controller based on a PCHD model so as to obtain a fluctuation capacitor voltage control quantity;
s3, processing the fluctuation capacitor voltage control quantity by adopting a pulse modulation method to obtain a corresponding trigger pulse signal;
S4, controlling the switch states of the converters of the bridge arm sub-modules of each phase of the MMC according to the trigger pulse signals;
the step S1 specifically comprises the following steps:
S11, respectively defining a state variable, an input variable and an output variable under a dq rotating coordinate system, wherein the state variable is specifically a product of a three-phase injection circulation frequency doubling dq axis component and a bridge arm inductance, the input variable is specifically a three-phase fluctuation capacitor voltage dq axis component, and the output variable is specifically a three-phase injection circulation frequency doubling dq axis component;
S12, based on defined state variables, input variables and output variables, establishing an MMC fluctuation capacitance voltage state equation based on a PCHD model:
x＝[x1 x2]T＝[Lmicird Lmicirq]T
u＝[u1 u2]T＝[ucird ucirq]T
y＝[y1 y2]T＝[icird icirq]T
Wherein x is a state variable, u is an input variable, y is an output variable, L m is a bridge arm inductance, i cird、icirq is a three-phase injection loop frequency doubling d-axis component and a three-phase injection loop frequency q-axis component, u cird、ucirq is a three-phase fluctuation capacitor voltage d-axis component and a three-phase fluctuation capacitor voltage q-axis component, J (x) is an interconnection matrix, R (x) is a damping matrix, g (x) is a port matrix, H (x) is an energy function, omega 0 is fundamental wave angular frequency, R m is bridge arm resistance, Is a differential operator;
the step S2 specifically includes the following steps:
S21, introducing a consistency control law on the basis of a PCHD model, and setting an expected balance point of the MMC submodule fluctuation capacitor voltage system after injection circulation;
S22, taking the difference between the state variable and the expected balance point and the differential value of the difference as zero as a control target, and combining with an MMC fluctuation capacitance voltage state equation to obtain a passive consistency control law based on a PCHD model, so as to obtain the fluctuation capacitance voltage control quantity;
the consistency control law introduced in the step S21 is specifically as follows:
α＝1
Wherein x e is the state variable error, x is the set desired balance point, AndRespectively three-phase injection circulation frequency doubling d-axis and q-axis component reference tracks, wherein alpha is an error coefficient;
The step S22 specifically includes the following steps:
s221, taking the difference between the state variable and the expected balance point and the differential value of the difference between the state variable and the expected balance point as a control target, and designing a corresponding expected energy function;
S222, based on a designed expected energy function, combining an MMC fluctuation capacitor voltage state equation to obtain a state equation of an MMC submodule fluctuation capacitor voltage closed-loop system;
S223, further obtaining a passive consistency control law based on the PCHD model according to a state equation of the MMC submodule fluctuation capacitor voltage closed-loop system;
The control target in step S221 specifically includes:
the designed expected energy function is specifically:
Wherein H d (x) is a desired energy function, and D is a bridge arm inductance matrix.
2. The method for suppressing capacitor voltage fluctuation of a modular multilevel converter according to claim 1, wherein the state equation of the MMC submodule capacitor voltage closed-loop system in step S222 is specifically:
Where J d (x) is the interconnection matrix desired by the system and R d (x) is the damping matrix desired by the system.
3. The method for suppressing capacitor voltage fluctuation of a modular multilevel converter according to claim 2, wherein the interconnection matrix expected by the system is specifically:
Jd(x)＝J(x)+Ja(x)
Ja(x)＝0
Wherein J a (x) is the injected dissipation matrix;
the damping matrix expected by the system is specifically as follows:
Rd(x)＝R(x)+Ra(x)
Where R a (x) is the injected damping matrix and R a1、ra2 is the injected positive damping parameter.
4. The method for suppressing capacitor voltage fluctuation of a modular multilevel converter according to claim 3, wherein the passive consistency control law based on the PCHD model in step S223 is specifically:
A1＝8ω0Lm-5(Rm+ra1)
A2＝10ω0Lm+4(Rm+ra2)
B1＝-10ω0Lm+4(Rm+ra1)
B2＝-8ω0Lm-5(Rm+ra2)
C1＝2ω0Lm
C2＝-2ω0Lm
D1＝D2＝Rm
Wherein A 1、B1、C1、D1 is a d-axis control variable, A 2、B2、C2、D2 is a q-axis control variable, and u cird、ucirq is a d-axis component and a q-axis component of the three-phase fluctuation capacitor voltage respectively, namely the fluctuation capacitor voltage control quantity.
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