CN115275963A - Load self-adaptive input voltage feedforward method and device based on coordinate transformation - Google Patents
Load self-adaptive input voltage feedforward method and device based on coordinate transformation Download PDFInfo
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- 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
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
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- 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
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
- H02J1/02—Arrangements for reducing harmonics or ripples
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- 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
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
- H02J1/14—Balancing the load in a network
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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
- H02M1/00—Details of apparatus for conversion
- H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
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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
- H02M1/00—Details of apparatus for conversion
- H02M1/42—Circuits or arrangements for compensating for or adjusting power factor in converters or inverters
- H02M1/4208—Arrangements for improving power factor of AC input
- H02M1/4233—Arrangements for improving power factor of AC input using a bridge converter comprising active switches
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
- H02M7/53873—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with digital control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]
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Abstract
The invention discloses a load self-adaptive input voltage feedforward method based on coordinate transformation, wherein a voltage feedforward link is arranged on a q axis of a voltage control loop of a direct current power supply system, and self-adaptive adjustment control is matched with the voltage feedforward link, the voltage feedforward link is used for superposing a voltage feedforward signal on the q axis of the voltage control loop, the self-adaptive adjustment control is based on the change of a q axis current component of current bridge arm output current, the park transformation form of the system control link is adjusted and controlled, the voltage feedforward signal superposed to the q axis is ensured to be combined with the regulated park transformation form to generate an effective three-phase modulation wave, the three-phase modulation wave is utilized to generate a corresponding driving signal by SPWM, and the inverter input impedance of the direct current power supply system is reconstructed. The invention also provides a load self-adaptive input voltage feedforward device. The method provided by the invention can realize the stable operation of the direct current power supply system under various characteristic loads without additionally introducing external equipment.
Description
Technical Field
The invention relates to the technical field of direct current power supply systems, in particular to a load self-adaptive input voltage feedforward method and device based on coordinate transformation.
Background
In recent years, a direct current power supply system is widely applied to the fields of intelligent buildings, ships, power supply centers and the like, and the stability problem of the direct current power supply system is increasingly emphasized along with the continuous improvement of the power level of the direct current power supply system and the continuous diversification of the load form. In the practical application process, because various alternating current loads on the alternating current side of the inverter are continuously increased and the diversity is enhanced, the direct current bus voltage can not be kept stable by the superposition use of the inverter and the direct current converter, even a large-amplitude oscillation phenomenon occurs, and the stability of a direct current power supply system is seriously threatened.
Patent document CN112838601A discloses a phase-locked optimization-based method and system for suppressing high-frequency oscillation of a flexible direct-current power transmission system, in which a composite filtering link including a first-order low-pass filter, a first-order high-pass filter and a gain adjustment coefficient is put into a phase-locked loop proportional branch, and a certain parameter configuration principle is combined to suppress high-frequency oscillation of the flexible direct-current power transmission system. The method does not require increasing the construction cost of the flexible direct current transmission equipment, but does not take into account factors affecting the stability of the transmission system, including the load.
Patent document CN113224775A discloses a medium-high frequency oscillation adaptive suppression method for a flexible direct current transmission system, which includes detecting an oscillation frequency by an oscillation frequency detection device, and then adjusting an additional band filter parameter in a voltage feedforward link of a flexible direct current converter to perform oscillation suppression; the oscillation frequency detection device is used for rapidly detecting the oscillation frequency according to a three-phase voltage measured value at the outlet of the current converter and based on the frequency distribution characteristic formed by the multiple filters; the detection oscillation frequency is given as the center frequency of the band elimination filter, so that the band elimination filter can quickly track the oscillation frequency of the system, and parameters such as the bandwidth and the damping ratio of the band elimination filter are adjusted. The method can realize the self-adaptive adjustment for restraining the medium-high frequency oscillation, but is only suitable for the self-adaptive adjustment of a single characteristic load, and cannot solve the self-adaptive adjustment problem of a high-power supply system under multiple characteristic loads.
In the practical application process, there are some methods to ensure stability by sacrificing dynamic performance, such as modifying controller parameters and the like, and there are methods to achieve stability by introducing external devices, but the power density and efficiency of the power supply system are reduced; in addition, a feedback link is directly constructed by using a filter to adjust the system, but a single feedback link only aims at a load with one characteristic, if the load with other characteristics is replaced or increased, the current feedback link fails, and meanwhile, the contradiction between the stability of a direct current side and the quality of output electric energy also exists, and the problem of poor effect in a high-power occasion is solved.
Disclosure of Invention
In order to solve the problems, the invention provides a load self-adaptive input voltage feedforward method based on coordinate transformation, which can realize the stable operation of a direct current power supply system under various characteristic loads without additionally introducing external equipment.
A load self-adaptive input voltage feedforward method based on coordinate transformation is suitable for a direct current power supply system, a voltage feedforward link is arranged on a q axis of a voltage control loop of the direct current power supply system, and self-adaptive adjustment control is used in a matched mode, the self-adaptive adjustment control is based on the change of a q axis current component of current bridge arm output current, the park transformation form of the system control link is adjusted and controlled, it is guaranteed that voltage feedforward signals superposed to the q axis are combined with the adjusted park transformation form to generate effective three-phase modulation waves, corresponding driving signals are generated by the three-phase modulation waves through SPWM, and inverter input impedance of the direct current power supply system is rebuilt.
According to the invention, by introducing a voltage feedforward link into the q axis of the voltage control loop and adaptive adjustment and control matched with the voltage feedforward link, the park conversion form of the system control link is adjusted and controlled according to the q axis current component change of the current bridge arm output current, the voltage feedforward link does not need to be replaced, and the voltage feedforward signal under any characteristic load can be combined with the adjusted park conversion form to generate an effective three-phase modulation wave, so that the stable operation of a direct current power supply system under various characteristic loads is realized.
Specifically, the system control loop comprises voltage loop single-loop control and voltage and current double-loop control.
Preferably, the voltage feedforward link includes a high-pass filter capable of adjusting the center frequency and a dynamic gain coefficient, the voltage feedforward link uses oscillation of the bridge arm input voltage as an introduction signal, obtains a disturbance component in the bridge arm input voltage through the high-pass filter, performs scaling processing on the disturbance component by using the dynamic gain coefficient to obtain a corresponding voltage feedforward signal, and superimposes the voltage feedforward signal on the q axis.
Preferably, the high-pass filter is a second-order filter, and the expression thereof is as follows:
in the formula, Gf(s) high pass filter expression, ωnRepresenting the center frequency of the high pass filter, ξ the damping coefficient and s the complex frequency.
Specifically, the central frequency of the high-pass filter ranges from 1/10 to 1/5 of the oscillation frequency.
Preferably, the scaling adjustment of the dynamic gain factor is determined by the input voltage level, the converter power level and the output side power quality, and since the increase of the dynamic gain factor is beneficial to improving the stability of the dc power supply system, but will deteriorate the output power quality, the scaling adjustment needs to be constrained by considering the above conditions at the same time, so as to realize the stable operation of the dc power supply system without affecting the output power quality.
Specifically, the scaling adjustment magnitude of the dynamic gain coefficient is provided with an upper limit value, and the upper limit value is the dynamic gain coefficient with the maximum value of less than 5% of the output current THD value after the scaling adjustment is selected.
Preferably, the adaptive adjustment control uses a q-axis current component of the current bridge arm output current as a positive control signal, and switches the sign of a matrix coefficient corresponding to the q-axis component in the park transformation form, so as to ensure that the output q-axis current component is always negative:
when the q-axis current is a negative value, the current park conversion form is kept;
and when the q-axis current is a positive value, switching the matrix coefficient sign corresponding to the q-axis component in the park conversion form.
Specifically, the park transformation form of the system control link includes the following specific expressions:
wherein, Tabc/dqIt represents a form of park transform,
representing the inverse park transform form, the coefficient with sign in the expression is the matrix coefficient corresponding to the q-axis component.
Specifically, the specific process of the load adaptive input voltage feedforward method is as follows:
step 1, collecting bridge arm input voltage, and analyzing the input voltage through an FFT (fast Fourier transform) method:
if the input voltage has oscillation, extracting oscillation components in the input voltage;
if the input voltage does not oscillate, the adjustment of the subsequent steps is not executed;
step 2, according to the oscillation component extracted in the step 1, separating the input voltage with oscillation through a high-pass filter to obtain a corresponding disturbance component;
step 4, collecting bridge arm output current, judging the positive and negative of current q-axis current, and regulating and controlling matrix coefficients corresponding to q-axis components in a park transformation form of a system control link;
step 5, superposing the voltage feedforward signal obtained in the step 4 on a q axis, and generating an effective three-phase modulation wave by combining a regulated park conversion form;
and 6, generating a corresponding driving signal by adopting SPWM according to the three-phase modulation wave obtained in the step 5, and reshaping the input impedance of the inverter.
The present invention also provides a load adaptive type input voltage feedforward apparatus including a computer memory, a computer processor and a computer program stored in and executable on the computer memory, the computer memory executing the above-described coordinate transformation based load adaptive type input voltage feedforward method; the computer processor, when executing the computer program, performs the steps of: the current bridge arm output current and the current bridge arm input voltage are collected, analysis and calculation are carried out according to a load self-adaptive input voltage feedforward method, and a driving signal generated through SPWM based on a three-phase modulation wave is obtained.
Compared with the prior art, the invention has the beneficial effects that:
(1) And a voltage feedforward link is adopted, so that the power density and efficiency of a power supply system are prevented from being reduced due to the addition of external equipment.
(2) Through the mode of combining the voltage feedforward link with the self-adaptive adjustment control, the matrix coefficient corresponding to the q-axis component in the park conversion form of the system control loop is adjusted and controlled, and the voltage feedforward is guaranteed to be effective all the time, so that the self-adaptive dynamic stability of the direct current power supply system to different loads is realized.
Drawings
Fig. 1 is a schematic diagram of a dc power supply system provided in this embodiment;
FIG. 2 is a schematic flow chart of a load adaptive input voltage feedforward method based on coordinate transformation according to the present invention;
fig. 3 is a schematic diagram of voltage feedforward introduction of the load adaptive input voltage feedforward apparatus according to this embodiment.
Detailed Description
As shown in fig. 1, a schematic diagram of a dc power supply system provided in this embodiment is shown. The system comprises a direct current bus for providing power supply voltage, wherein a plurality of inverters and converters with EMI filters are respectively connected in parallel to two sides of the bus, and a direct current load with replaceable terminals is arranged on the two sides of the bus, a voltage feedforward link and a self-adaptive adjustment control matched with the voltage feedforward link are arranged on a q axis of a voltage control loop of the system, the voltage feedforward link is used for superposing a voltage feedforward signal on the q axis of the voltage control loop, the self-adaptive adjustment control is used for adjusting and controlling a park conversion form of the system control link according to the change of a q axis current component of current bridge arm output current, the effective three-phase modulation wave is generated by combining the voltage feedforward signal superposed to the q axis with the regulated park conversion form, and the corresponding driving signal is generated by utilizing SPWM through the three-phase modulation wave to reshape the input impedance of the inverter of the direct current power supply system.
As shown in fig. 2, a load adaptive type input voltage feedforward method based on coordinate transformation includes:
step 1, collecting bridge arm input voltage, and analyzing the input voltage by an FFT method:
if the input voltage has oscillation, extracting oscillation components in the input voltage;
if the input voltage does not oscillate, the adjustment of the subsequent steps is not executed;
step 2, according to the oscillation component extracted in the step 1, separating the input voltage with oscillation through a high-pass filter to obtain a corresponding disturbance component, wherein the expression of the high-pass filter is as follows:
in the formula, Gf(s)Denotes the high pass filter expression, ωnDenotes the center frequency of the high pass filter, ξ denotes the damping coefficient, s denotes the complex frequency, in this example ωnThe value range is 1/10 to 1/5 of the oscillation frequency, and the xi value is 0.707;
the scaling adjustment of the dynamic gain coefficient is determined by the input voltage level, the converter power level and the output side power quality, the increase of the dynamic gain coefficient is beneficial to improving the stability of the direct current side, but the output power quality is deteriorated, so when the amplification factor is adjusted, the parameter adjustment is carried out under the condition of ensuring the output power quality according to the principle from small to large, specifically, the output current THD value can be obtained by adopting an output current signal, the maximum current THD value meeting the THD value less than 5% is selected as the upper limit constraint, and therefore, whether the amplification factor selection is reasonable at the moment is judged as the constraint, wherein the initial value of the amplification factor is generally selected to be 1.
If the quality of the output electric energy does not reach the standard, the amplification factor is over large at the moment, the amplification factor is reduced by the step length of 0.5, if the bus voltage oscillation is not changed, the amplification factor is increased by the step length of 3, and if the bus voltage has a convergence trend and the quality of the output electric energy reaches the standard, the amplification factor is kept unchanged;
and if the final bus voltage tends to be stable and the voltage ripple is within plus or minus 0.5V, determining that the group of parameters is effective and quitting the adjustment.
Step 4, collecting bridge arm output current, and judging whether the q-axis current component of the current bridge arm output current is positive or negative:
when the q-axis current is a negative value, keeping the current park conversion form;
when the q-axis current is a positive value, switching the matrix coefficient sign corresponding to the q-axis component in the park conversion form to ensure that the output q-axis current component is always negative;
the specific expression of the park conversion form of the system control loop is as follows:
wherein, Tabc/dqIt represents a form of park transform,
representing the inverse park transform form, the coefficients with signs in the expression are matrix coefficients corresponding to q-axis components.
Step 5, superposing the voltage feedforward signal obtained in the step 4 on a q axis, and generating an effective three-phase modulation wave by combining a regulated park conversion form;
and 6, generating a corresponding driving signal by adopting SPWM according to the three-phase modulation wave obtained in the step 5, and reshaping the input impedance of the inverter.
The present embodiment also provides a load adaptive input voltage feedforward apparatus, including a computer memory, a computer processor, and a computer program stored in and executable on the computer memory, in which the load adaptive input voltage feedforward method based on coordinate transformation described above is executed.
The computer process when executing the computer program implements the steps of:
collecting bridge arm input voltage udcThen through the dynamic gain coefficient K in the voltage feedforward linkqAnd a high-pass filter GqGenerating corresponding voltage feedforward signals, simultaneously judging positive and negative of q-axis current of current bridge arm output current, performing positive and negative switching on matrix coefficients corresponding to q-axis components in a park conversion form of a system control link to ensure that the output q-axis current components are always negative, superposing the generated voltage feedforward signals to the q-axis, generating effective three-phase modulation waves by combining the regulated park conversion form, generating corresponding driving signals by using SPWM (sinusoidal pulse width modulation), and remolding inverter input impedance, thereby realizing the purpose of remolding inverter input impedanceThe stable operation of the direct current power supply system under various characteristic loads is realized.
Claims (9)
1. A load self-adaptive input voltage feedforward method based on coordinate transformation is suitable for a direct current power supply system and is characterized in that a voltage feedforward link and a matched self-adaptive adjustment control are arranged on a q axis of a voltage control loop of the direct current power supply system, the voltage feedforward link is used for superposing a voltage feedforward signal on the q axis of the voltage control loop, the self-adaptive adjustment control is based on q axis current component change of current bridge arm output current and adjusts and controls a park transformation form of the system control link, the voltage feedforward signal superposed on the q axis is ensured to be combined with the regulated park transformation form to generate an effective three-phase modulation wave, the three-phase modulation wave is used for generating a corresponding driving signal by SPWM, and inverter input impedance of the direct current power supply system is reshaped.
2. The load adaptive type input voltage feedforward method based on coordinate transformation according to claim 1, wherein the voltage feedforward link includes a high-pass filter capable of adjusting center frequency and a dynamic gain coefficient, the voltage feedforward link uses oscillation of bridge arm input voltage as an introduction signal, a disturbance component in the bridge arm input voltage is obtained through the high-pass filter, the disturbance component is scaled by the dynamic gain coefficient to obtain a corresponding voltage feedforward signal, and the voltage feedforward signal is superimposed on a q axis.
3. The coordinate transformation based load adaptive type input voltage feedforward method according to claim 2, wherein the high-pass filter is a second-order filter expressed as follows:
in the formula, Gf(s) high pass filter expression，ωnRepresenting the center frequency of the high pass filter, ξ the damping coefficient and s the complex frequency.
4. The load adaptive type input voltage feedforward method based on coordinate transformation as claimed in claim 2, wherein the center frequency of the high-pass filter ranges from 1/10 to 1/5 of the oscillation frequency.
5. The method as claimed in claim 2, wherein the scaling adjustment of the dynamic gain factor is determined by the input voltage level, the converter power level and the output power quality.
6. The load adaptive type input voltage feedforward method based on coordinate transformation as claimed in claim 5, wherein the scaling adjustment of the dynamic gain factor has an upper limit value, and the upper limit value is selected to satisfy the maximum dynamic gain factor of less than 5% of the scaled output current THD.
7. The load adaptive type input voltage feedforward method based on coordinate transformation according to claim 1, wherein the adaptive adjustment control uses a q-axis current component of a current bridge arm output current as a positive control signal, and switches the sign of a matrix coefficient corresponding to the q-axis component in a park transformation form to ensure that the output q-axis current component is always negative.
8. The load adaptive type input voltage feedforward method based on coordinate transformation according to claim 1, wherein the specific expression of the park transformation form of the system control element is as follows:
wherein, Tabc/dqRepresenting the form of the park transform,
representing the inverse park transform form, the coefficients with signs in the expression are matrix coefficients corresponding to q-axis components.
9. A load adaptive type input voltage feedforward apparatus comprising a computer memory, a computer processor and a computer program stored in the computer memory and executable on the computer processor, wherein the load adaptive type input voltage feedforward method based on coordinate transformation as claimed in any one of claims 1 to 8 is performed in the computer memory; the computer processor when executing the computer program implements the steps of: the current bridge arm output current and the current bridge arm input voltage are collected, analysis and calculation are carried out according to a load self-adaptive input voltage feedforward method, and a driving signal generated through SPWM based on a three-phase modulation wave is obtained.
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| CN113629763A (en) * | 2021-08-11 | 2021-11-09 | 南瑞集团有限公司 | Current control method and system for medium-voltage direct-hanging energy storage converter under non-ideal power grid |
| CN114421512A (en) * | 2022-01-18 | 2022-04-29 | 天津大学 | MMC-HVDC system high-frequency oscillation suppression method based on H-infinity robust control |
| CN114421494A (en) * | 2022-01-11 | 2022-04-29 | 上海交通大学 | High-frequency oscillation suppression method and system for enhanced flexible direct current transmission system |
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| CN113629763A (en) * | 2021-08-11 | 2021-11-09 | 南瑞集团有限公司 | Current control method and system for medium-voltage direct-hanging energy storage converter under non-ideal power grid |
| CN114421494A (en) * | 2022-01-11 | 2022-04-29 | 上海交通大学 | High-frequency oscillation suppression method and system for enhanced flexible direct current transmission system |
| CN114421512A (en) * | 2022-01-18 | 2022-04-29 | 天津大学 | MMC-HVDC system high-frequency oscillation suppression method based on H-infinity robust control |
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