CN114825999A - Loss optimization method for modular multilevel converter based on optimal control - Google Patents
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Abstract
The invention discloses a loss optimization method of a modular multilevel converter based on optimal control, which relates to the technical field of multilevel power electronic converters and is used for monitoring the number of sub-modules to be put into each bridge arm, bridge arm current and sub-module capacitance voltage in the current control period of the modular multilevel converter in real time; establishing a loss optimization objective function and setting constraint conditions; solving the submodule input/cut-off state which can enable the target function to reach the minimum; the method and the device have the advantages that the corresponding sub-modules are put into according to the solution obtained by the solution, and the balance optimization of the capacitance voltage and the loss of each sub-module of the converter is completed.
Description
Technical Field
The invention relates to the technical field of multi-level power electronic converters, in particular to a modular multi-level converter loss optimization method based on optimal control.
Background
In recent years, with the rapid development of power electronic technology, a modular multilevel converter has become the most attractive converter topology in a high-voltage high-power system, and has been widely applied in the fields of flexible direct-current transmission, medium-high voltage motor driving, large-scale new energy grid connection and the like by virtue of the advantages of high modularization degree, use of low-voltage devices, high energy transmission efficiency, low harmonic content of alternating-current side output voltage, realization of redundancy control and the like.
At present, loss optimization of a modular multilevel converter is usually realized by adopting a method of changing a topological structure of a submodule or injecting a circulating current, the problems of increased construction cost, increased device current stress and the like of the modular multilevel converter exist, and the application of the method in practical engineering is limited.
Disclosure of Invention
In order to solve the above mentioned drawbacks in the background art, the present invention provides a loss optimization method for a modular multilevel converter based on optimal control.
The purpose of the invention can be realized by the following technical scheme: a modular multilevel converter loss optimization method based on optimal control comprises the following steps:
the method comprises the following steps: monitoring the number n (k) of simulation sub-modules of each bridge arm and the current i of the bridge arm in the current control period k of the modular multilevel converter in real time arm (k) And sub-module capacitor voltage u c_i (k) Wherein i is 1,2, …, and N is the number of bridge arm submodules;
step two: establishing a loss optimization objective function J according to the existing circuit mathematical model, and setting a constraint condition phi of a sub-module switch function;
step three: solving the switching state capable of minimizing the objective function by the optimal control theory to obtainSwitch state S i (k) Is the solution in the control period;
step four: and inputting the corresponding sub-modules according to the solution, and then completing the balance optimization of the capacitor voltage and the loss of each sub-module of the modular multilevel converter.
Further, the constraint Φ of the objective function J and the sub-module switch function is as follows:
in the formula u c_i (k +1) is the predicted value of the capacitance voltage of the ith submodule at the moment of k +1, u c_ref Is the nominal value of the sub-module capacitor voltage, lambda is the weighting factor, P sm_i (k +1) is the loss prediction value of the ith sub-module from the k time to the k +1 time, P sm_ave (k) Is the loss mean value, S, of each sub-module from time k-1 to time k i (k) The state of each submodule at time k is set.
Further, said si (k) is represented by:
the input state is as follows: first power switch T 1 In the on state, the second power switch T 2 In an off state; the excision state is as follows: first power switch T 1 In the off state, the second power switch T 2 Is in an on state.
Further, the calculation formula of the nominal value of the sub-module capacitor voltage and the predicted value of the capacitor voltage of the ith sub-module at the time k +1 is as follows:
in the formula of U dc For the DC side voltage, T, of the modular multilevel converter s To control the period, C sm Is the sub-module capacitance value.
Further, the calculation formula of the loss mean value of each sub-module from the time k-1 to the time k and the loss prediction value of the ith sub-module from the time k to the time k +1 is as follows:
in the formula, P sm_i_t1 For the ith sub-module a first power switch T 1 Total loss of (P) sm_i_t2 Second power switch T for ith sub-module 2 Total loss of (P) sm_i_d1 For the first diode D in the ith sub-module 1 Total loss of (P) sm_i_d2 For the ith sub-module, a second diode D 2 The total loss of (a).
Further, said P sm_i_t1 、P sm_i_t2 、，P sm_i_d1 、P sm_i_d2 The calculation formula of (2) is as follows:
in the formula, P sm_i_t1_con (k +1) is a first power switch T of the submodule 1 Conduction loss of P sm_i_t1_on (k +1) is a first power switch T of the submodule 1 Open loss of P sm_i_t1_off (k +1) is a first power switch T of the submodule 1 Turn-off loss of, P sm_i_t2_con (k +1) is a submodule second power switch T 2 Conduction loss of P sm_i_t2_on (k +1) is a submodule second power switch T 2 Open loss of P sm_i_t2_off (k +1) is a submodule second power switch T 2 Turn-off loss of, P sm_i_d1_con (k +1) is the first diode D of the submodule 1 Conduction loss of P sm_i_d1_rec (k +1) is the first diode D of the submodule 1 Reverse recovery ofLoss, P sm_i_d2_con (k +1) is a second diode D of the submodule 2 Conduction loss of P sm_i_d2_rec (k +1) is a second diode D of the submodule 2 Reverse recovery loss of.
Further, the calculation formula of loss of each part of the power device is as follows:
power switch T 1 /T 2 And a diode D 1 /D 2 The conduction loss of (a) is as follows:
in the formula, V T Is zero current on-state voltage drop, R, of the power switch T Is the on-resistance of the power switch, V D Is zero current on-state voltage drop of the diode, R D Is the on-resistance of the diode;
power switch T 1 /T 2 The switching losses are as follows:
in the formula, E on () For switching-on energy function of power switch, E off () As a function of the turn-off energy of the power switch, U ref Is the test voltage in the power switch data table;
the reverse recovery losses of diode D1/D2 are as follows:
in the formula, E rec () As a function of the diode reverse recovery energy.
The invention has the beneficial effects that:
in the using process, the number of the sub-modules, the bridge arm current and the sub-module capacitor voltage of each bridge arm to be input in the current control period of the modular multilevel converter are monitored in real time; establishing a loss optimization objective function and setting constraint conditions; solving the submodule input/cut-off state which can enable the target function to reach the minimum; the method only changes the input/cut-off state of the sub-modules in each control period, compared with the conventional topology improvement method and the circulation injection method, the construction cost of the modular multilevel converter is not required to be increased, extra voltage and current stress cannot be brought to equipment devices, the method is easy to implement in the conventional modular multilevel converter system, and has stronger practicability; the sub-modules are controlled according to the optimal solution obtained in each control period, so that the optimal control effect can be ensured in each control period, and the extremely high control requirement can be met.
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In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without creative efforts;
FIG. 1 is a flow chart of 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.
As shown in fig. 1, a modular multilevel converter loss optimization method based on optimal control includes the following steps:
the method comprises the following steps: monitoring the number n (k) of simulation sub-modules of each bridge arm and the current i of the bridge arm in the current control period k of the modular multilevel converter in real time arm (k) And sub-module capacitor voltage u c_i (k) Wherein i is 1,2, …, and N is the number of bridge arm submodules;
step two: establishing a loss optimization objective function J according to a circuit mathematical model, and setting a constraint condition phi of a submodule switch function;
step three: according to the optimal control theory, solving the switching state which can make the objective function reach the minimum, and obtaining the switching state S i (k) Is the solution in the control period;
step four: and inputting the corresponding sub-modules according to the solution, and then completing the balance optimization of the capacitor voltage and the loss of each sub-module of the modular multilevel converter.
It should be further described that, in the specific implementation process, the modular multilevel converter circuit is composed of six three-phase bridge arms, and each bridge arm is composed of N sub-modules with the same topology and a bridge arm inductor connected in series; the submodule is in a half-bridge structure and consists of two power switches T1 and T2, two anti-parallel diodes D1 and D2 and an energy storage capacitor C.
It should be further noted that, in the implementation process, the constraint conditions Φ of the objective function J and the sub-module switch function are as follows:
in the formula u c_i (k +1) is the predicted value of the capacitance voltage of the ith submodule at the moment of k +1, u c_ref Is the nominal value of the sub-module capacitor voltage, lambda is the weighting factor, P sm_i (k +1) is the loss predicted value of the ith sub-module from the k moment to the k +1 moment，P sm_ave (k) Is the loss mean value, S, of each sub-module from time k-1 to time k i (k) The state of each submodule at time k is set.
In a specific implementation process, the si (k) is represented by:
the input state is as follows: first power switch T 1 In the on state, the second power switch T 2 In an off state; the excision state is as follows: first power switch T 1 In the off state, the second power switch T 2 In the on state.
It should be further explained that, in a specific implementation process, a calculation formula of the nominal value of the sub-module capacitor voltage and the predicted value of the capacitor voltage of the ith sub-module at the time k +1 is as follows:
in the formula of U dc For the DC side voltage, T, of the modular multilevel converter s To control the period, C sm Is the sub-module capacitance value.
It should be further noted that, in a specific implementation process, a calculation formula of the loss mean value of each sub-module from the time k-1 to the time k and the loss predicted value of the ith sub-module from the time k to the time k +1 is:
in the formula, P sm_i_t1 For the ith sub-module a first power switch T 1 Total loss of (P) sm_i_t2 Second power switch T for ith sub-module 2 Total loss of (P) sm_i_d1 For the first diode D in the ith sub-module 1 Total loss of (P) sm_i_d2 For the ith sub-module, a second diode D 2 The total loss of (a).
It is further noted that, in the practice, P is sm_i_t1 、P sm_i_t2 、，P sm_i_d1 、P sm_i_d2 The calculation formula of (2) is as follows:
in the formula, P sm_i_t1_con (k +1) is a first power switch T of the submodule 1 Conduction loss of P sm_i_t1_on (k +1) is a first power switch T of the submodule 1 Open loss of P sm_i_t1_off (k +1) is a first power switch T of the submodule 1 Turn-off loss of P sm_i_t2_con (k +1) is a submodule second power switch T 2 Conduction loss of P sm_i_t2_on (k +1) is a submodule second power switch T 2 Open loss of P sm_i_t2_off (k +1) is a submodule second power switch T 2 Turn-off loss of, P sm_i_d1_con (k +1) is the first diode D of the submodule 1 Conduction loss of P sm_i_d1_rec (k +1) is the first diode D of the submodule 1 Reverse recovery loss of P sm_i_d2_con (k +1) is a second diode D of the submodule 2 Conduction loss of P sm_i_d2_rec (k +1) is a second diode D of the submodule 2 Reverse recovery loss of.
It should be further noted that, in the specific implementation process, the calculation formula of loss of each part of the power device is as follows:
power switch T 1 /T 2 And a diode D 1 /D 2 The conduction loss of (a) is as follows:
in the formula, V T Is zero current on-state voltage drop, R, of the power switch T Is the on-resistance of the power switch, V D Is zero of a diodeCurrent on-state voltage drop, R D Is the on-resistance of the diode;
power switch T 1 /T 2 The switching losses are as follows:
in the formula, E on () For switching-on energy function of power switch, E off () As a function of the turn-off energy of the power switch, U ref Is the test voltage in the power switch data table;
the reverse recovery losses of diode D1/D2 are as follows:
in the formula, E rec () As a function of the diode reverse recovery energy.
The foregoing shows and describes the general principles, principal features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
Claims (7)
1. A modular multilevel converter loss optimization method based on optimal control is characterized by comprising the following steps:
the method comprises the following steps: monitoring the number n (k) of simulation sub-modules of each bridge arm and the current i of the bridge arm in the current control period k of the modular multilevel converter in real time arm (k) And sub-module capacitor voltage u c_i (k) Wherein i is 1,2, …, and N is the number of bridge arm submodules;
step two: establishing a loss optimization objective function J according to the existing circuit mathematical model, and setting a constraint condition phi of a sub-module switch function;
step three: solving a switching state capable of minimizing the objective function by adopting an optimal control theory to obtain a switching state S i (k) Is a solution within the control period k;
step four: and inputting the corresponding sub-modules according to the solution, and then completing the balance optimization of the capacitor voltage and the loss of each sub-module of the modular multilevel converter.
2. The modular multilevel converter loss optimization method based on the optimal control according to claim 1, wherein the constraint conditions Φ of the objective function J and the sub-module switching function are as follows:
in the formula u c_i (k +1) is the predicted value of the capacitance voltage of the ith submodule at the moment of k +1, u c_ref Is the nominal value of the sub-module capacitor voltage, lambda is the weighting factor, P sm_i (k +1) is the loss prediction value of the ith sub-module from the k time to the k +1 time, P sm_ave (k) Is the loss mean value, S, of each sub-module from time k-1 to time k i (k) The state of each submodule at time k is set.
3. The modular multilevel converter loss optimization method based on optimal control according to claim 2, wherein the Si (k) is expressed as:
the input state is as follows: first power switch T 1 In the on state, the second power switch T 2 In an off state; the excision state is as follows: first power switch T 1 In the off state, the second power switch T 2 Is in an on state.
4. The loss optimization method for the modular multilevel converter based on the optimal control as claimed in claim 2, wherein the calculation formula of the nominal value of the sub-module capacitor voltage and the predicted value of the capacitor voltage of the ith sub-module at the time k +1 is as follows:
in the formula of U dc For the DC side voltage, T, of the modular multilevel converter s To control the period, C sm Is the sub-module capacitance value.
5. The loss optimization method for the modular multilevel converter based on the optimal control as claimed in claim 2, wherein the calculation formula of the loss mean value of each sub-module from the time k-1 to the time k and the loss prediction value of the ith sub-module from the time k to the time k +1 is as follows:
in the formula, P sm_i_t1 For the ith sub-module a first power switch T 1 Total loss of (P) sm_i_t2 Second power switch T for ith sub-module 2 Total loss of (P) sm_i_d1 For the first diode D in the ith sub-module 1 Total loss of (P) sm_i_d2 For the ith sub-module, a second diode D 2 The total loss of (a).
6. The method for optimizing loss of a modular multilevel converter based on optimal control as claimed in claim 5, wherein P is P sm_i_t1 、P sm_i_t2 、，P sm_i_d1 、P sm_i_d2 The calculation formula of (2) is as follows:
in the formula, P sm_i_t1_con (k +1) is a first power switch T of the submodule 1 Conduction loss of P sm_i_t1_on (k +1) is a first power switch T of the submodule 1 Open loss of P sm_i_t1_off (k +1) is a first power switch T of the submodule 1 Turn-off loss of P sm_i_t2_con (k +1) is a submodule second power switch T 2 Conduction loss of P sm_i_t2_on (k +1) is a submodule second power switch T 2 Open loss of P sm_i_t2_off (k +1) is a submodule second power switch T 2 Turn-off loss of, P sm_i_d1_con (k +1) is the first diode D of the submodule 1 Conduction loss of P sm_i_d1_rec (k +1) is the first diode D of the submodule 1 Reverse recovery loss of P sm_i_d2_con (k +1) is a second diode D of the submodule 2 Conduction loss of P sm_i_d2_rec (k +1) is a second diode D of the submodule 2 Reverse recovery loss of.
7. The loss optimization method of the modular multilevel converter based on the optimal control as claimed in claim 6, wherein the calculation formula of the loss of each part of the power device is as follows:
power switch T 1 /T 2 And a diode D 1 /D 2 The conduction loss of (a) is as follows:
in the formula, V T Is zero current on-state voltage drop, R, of the power switch T Is the on-resistance of the power switch, V D Is zero current on-state voltage drop of the diode, R D Is the on-resistance of the diode;
power switch T 1 /T 2 The switching losses are as follows:
in the formula, E on () For switching-on energy function of power switch, E off () As a function of the turn-off energy of the power switch, U ref Is the test voltage in the power switch data table;
the reverse recovery losses of diode D1/D2 are as follows:
in the formula, E rec () As a function of the diode reverse recovery energy.
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| CN113078836A (en) * | 2021-05-20 | 2021-07-06 | 东南大学 | Modular multilevel converter loss optimization control method based on circulation injection |
| CN113285626A (en) * | 2021-06-07 | 2021-08-20 | 东南大学 | Modularized multi-level converter loss optimization control method under fault-tolerant control |
| CN113395006A (en) * | 2021-06-04 | 2021-09-14 | 东南大学 | Modular multilevel converter loss optimization control method under voltage unbalance |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110365234A (en) * | 2019-06-20 | 2019-10-22 | 中电普瑞电力工程有限公司 | A kind of modular multilevel converter valve submodule operation/cutting method and device |
| CN113078836A (en) * | 2021-05-20 | 2021-07-06 | 东南大学 | Modular multilevel converter loss optimization control method based on circulation injection |
| CN113395006A (en) * | 2021-06-04 | 2021-09-14 | 东南大学 | Modular multilevel converter loss optimization control method under voltage unbalance |
| CN113285626A (en) * | 2021-06-07 | 2021-08-20 | 东南大学 | Modularized multi-level converter loss optimization control method under fault-tolerant control |
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