TWI660553B - Faulty tolerant control method for delta-connected cascaded converters and device thereof - Google Patents
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Abstract
本發明提出一種三角接串接式轉換器之故障容忍控制方法，其包括以下步驟：藉由一群集電壓平衡控制模組，接收一總體平均值、一第一負序電流訊號及一第二負序電流訊號；基於一bc相直流電壓及藉由一比例積分控制器，產生一回授功率，同時計算bc相不平衡功率作為前饋功率，將回授功率及前饋功率相加，以產生一群集功率指令；將群集功率指令除以一功率，以獲得一加權係數；以及將加權係數與第一負序電流訊號相乘，以輸出一第一負序電流指令，並且將加權係數與第二負序電流訊號相乘，以輸出一第二負序電流指令。 The invention provides a fault tolerance control method for a delta-connected converter, which comprises the steps of: receiving an overall average value, a first negative sequence current signal and a second negative by a cluster voltage balance control module. a sequence current signal; based on a bc phase DC voltage and a proportional integral controller, generates a feedback power, and simultaneously calculates a bc phase unbalanced power as a feed forward power, and adds the feedback power and the feed forward power to generate a cluster power command; dividing the cluster power command by a power to obtain a weighting coefficient; and multiplying the weighting coefficient by the first negative sequence current signal to output a first negative sequence current command, and the weighting coefficient The two negative sequence current signals are multiplied to output a second negative sequence current command.
Description
本發明係關於一種三角接串接式轉換器(delta-connected cascaded converter)之故障容忍控制(fault tolerant control)方法及其裝置。 The present invention relates to a fault tolerant control method and apparatus for a delta-connected cascaded converter.
隨著越來越多的工業負載(industrial loads)設置於中壓電網中，安裝靜態補償器(static compensator,STATCOM)來解決功率品質的問題，藉由補償正序及負序電流，靜態補償器保持PCC電壓的平衡及振幅。三角接串接式轉換器(delta-connected cascaded converter)已被證實可用於補償不平衡負載，其中，三角接串接式轉換器亦被稱為模組化多階串接式轉換器-單一三角橋單元(modular multilevel cascaded converter-single delta bridge cells,MMCC-SDBC)。 As more and more industrial loads are placed in the medium-voltage network, a static compensator (STATCOM) is installed to solve the power quality problem, and the static compensation is compensated by compensating the positive sequence and the negative sequence current. The device maintains the balance and amplitude of the PCC voltage. A delta-connected cascaded converter has been proven to compensate for unbalanced loads. The delta-connected series converter is also known as a modular multi-stage serial-to-connect converter - a single triangle. Modular multilevel cascaded converter-single delta bridge cells (MMCC-SDBC).
然而，在電力轉換器控制領域中，傳統的三角接串接式轉換器控制皆由電容電壓平衡控制器以及不平衡負載補償控制器組成，並沒有包含任何有關故障容忍控制技術應用在三角接串接式轉換器中。 However, in the field of power converter control, the traditional delta-connected converter control consists of a capacitor voltage balance controller and an unbalanced load compensation controller, and does not contain any related fault tolerance control technology applied in the triangle. In the converter.
有鑑於上述所衍生的問題，如何使三角接串接式轉換器維持穩定操作而不停機，並可持續地維持基本的不平衡負載補償能力，並且在不需額外加裝硬體設備之下，能達到故障容忍控制(fault tolerant control)效果已成為一個嚴苛的挑戰。 In view of the above-mentioned problems, how to make the delta-connected converter maintain stable operation without downtime, and maintain the basic unbalanced load compensation capability continuously, without any additional hardware equipment, The ability to achieve fault tolerant control has become a serious challenge.
鑒於前述之習知技術的缺點，本發明之主要目的係提供一種三角接串接式轉換器之故障容忍控制方法及其裝置，採用直流電容電壓平衡控制(DC capacitor voltage balancing control)以及負序電流注入(negative sequence current injection)的方式，不需額外加裝硬體設備，即可達到降低不平衡電壓。 In view of the above disadvantages of the prior art, the main object of the present invention is to provide a fault tolerance control method and device for a delta-connected series converter, which adopts DC capacitor voltage balancing control and negative sequence current. The method of negative sequence current injection can reduce the unbalanced voltage without additional hardware equipment.
為達到前述之目的，本發明提出一種三角接串接式轉換器之故障容忍控制方法，其包括以下步驟：藉由一群集電壓平衡控制模組，接收一總體平均值V dc 、一第一負序電流訊號I qL n 及一第二負序電流訊號I dL n ；基於一bc相直流電壓V dcbc 及藉由一比例積分控制器(PI regulator)，產生一回授功率P CbcFB ，同時計算bc相不平衡功率P Cbc p 作為前饋功率P CbcFF ，將該回授功率P CbcFB 及該前饋功率P CbcFF 相加，以產生一群集功率指令P C *；藉由一除法器，將該群集功率指令P C *除以一功率P FTC ，以獲得一加權係數W FTC ；以及藉由一第一乘法器，將該加權係數W FTC 與該第一負序電流訊號I qL n 相乘，以輸出一第一負序電流指令I q n*，以及藉由一第二乘法器，將該加權係數W FTC 與該第二負序電流訊號I dL n 相乘，以輸出一第二負序電流指令I d n*。 To achieve the foregoing objective, the present invention provides a fault tolerance control method for a delta-connected series converter, comprising the steps of: receiving an overall average value V dc and a first negative by a cluster voltage balance control module; The sequence current signal I qL n and a second negative sequence current signal I dL n ; generate a feedback power P CbcFB based on a bc phase DC voltage V dcbc and a proportional integral controller (PI regulator), and calculate bc The phase unbalanced power P Cbc p is used as the feed forward power P CbcFF , and the feedback power P CbcFB and the feed forward power P CbcFF are added to generate a cluster power command P C * ; the cluster is divided by a divider The power command P C * is divided by a power P FTC to obtain a weighting coefficient W FTC ; and the weighting coefficient W FTC is multiplied by the first negative sequence current signal I qL n by a first multiplier to Outputting a first negative sequence current command I q n * and multiplying the weighting coefficient W FTC by the second negative sequence current signal I dL n by a second multiplier to output a second negative sequence current The instruction I d n * .
另外，本發明亦提出一種三角接串接式轉換器之故障容忍控制裝置，其包括：一群集電壓平衡控制模組，接收一總體平均值V dc 、一第一負序電流訊號I qL n 及一第二負序電流訊號I dL n ，其中，基於一bc相直流電壓V dcbc 及藉由一比例積分控制器，產生一回授功率P CbcFB ，同時計算bc相不平衡功率P Cbc p 作為前饋功率P CbcFF ，將該回授功率P CbcFB 及該前饋功率P CbcFF 相加，以產生一群集功率指令P C *，其中，藉由一除法器，將該群集功率指令P C *除以一功率P FTC ，以獲得一加權係數W FTC ，藉由一第一乘法器，將該加權係數W FTC 與該第一負序電流訊 號I qL n 相乘，以輸出一第一負序電流指令I q n*，以及藉由一第二乘法器，將該加權係數W FTC 與該第二負序電流訊號I dL n 相乘，以輸出一第二負序電流指令I d n*。 In addition, the present invention also provides a fault tolerance control device for a delta-connected series converter, comprising: a cluster voltage balance control module, receiving an overall average value V dc , a first negative sequence current signal I qL n and a second negative sequence current signal I dL n , wherein a feedback power P CbcFB is generated based on a bc phase DC voltage V dcbc and by a proportional integral controller, and the bc phase unbalanced power P Cbc p is calculated as a front The feed power P CbcFF sums the feedback power P CbcFB and the feed forward power P CbcFF to generate a cluster power command P C * , wherein the cluster power command P C * is divided by a divider a power P FTC is obtained to obtain a weighting coefficient W FTC , and the weighting coefficient W FTC is multiplied by the first negative sequence current signal I qL n by a first multiplier to output a first negative sequence current command I q n * , and multiplying the weighting coefficient W FTC by the second negative sequence current signal I dL n by a second multiplier to output a second negative sequence current command I d n * .
11‧‧‧三角接串接式轉換器 11‧‧‧Digital series connected converter
12‧‧‧不平衡負載 12‧‧‧Unbalanced load
21‧‧‧直流電容電壓平衡控制模組 21‧‧‧DC Capacitor Voltage Balance Control Module
22‧‧‧不平衡負載補償模組 22‧‧‧Unbalanced load compensation module
23‧‧‧故障容忍控制模組 23‧‧‧Fault Tolerance Control Module
24‧‧‧回授直流電壓平均運算模組 24‧‧‧Return DC voltage average calculation module
25‧‧‧正及負序分量提取模組 25‧‧‧ positive and negative sequence component extraction module
26‧‧‧穩流器 26‧‧‧Constant current regulator
27‧‧‧調變器 27‧‧‧Transformer
31‧‧‧靜態補償器 31‧‧‧Static compensator
32‧‧‧不平衡負載 32‧‧‧Unbalanced load
33‧‧‧不平衡負載補償 33‧‧‧Unbalanced load compensation
34‧‧‧正及負序分量提取模組 34‧‧‧ positive and negative sequence component extraction module
7‧‧‧故障容忍控制裝置 7‧‧‧Fault tolerance control device
71‧‧‧群集電壓平衡控制模組 71‧‧‧Clock voltage balance control module
711‧‧‧比例積分控制器 711‧‧‧Proportional Integral Controller
712‧‧‧除法器 712‧‧‧ divider
713‧‧‧第一乘法器 713‧‧‧First multiplier
714‧‧‧第二乘法器 714‧‧‧Second multiplier
72‧‧‧電壓控制模組 72‧‧‧Voltage Control Module
721‧‧‧比例積分控制器 721‧‧‧Proportional Integral Controller
73‧‧‧單獨平衡控制模組 73‧‧‧Individual balance control module
74‧‧‧電流控制模組 74‧‧‧ Current Control Module
S81~S89‧‧‧步驟 S81~S89‧‧‧Steps
圖1顯示三角接串接式轉換器及不平衡負載之系統配置圖；圖2顯示三角接串接式轉換器之整體控制方塊圖；圖3顯示不平衡負載補償及不平衡負載補償之控制方塊圖；圖4(a)顯示三角接串接式轉換器在正常操作模式下之示意圖；圖4(b)顯示三角接串接式轉換器在H橋單元ab1至aby被旁路(bypassed)下之示意圖；圖4(c)顯示三角接串接式轉換器處於開放式三角操作(open-delta operation)模式下之示意圖；圖5顯示三角接串接式轉換器在開放式三角操作模式下之電路圖；圖6顯示三角接串接式轉換器在開放式三角操作模式下之等效電路圖；圖7顯示三角接串接式轉換器在開放式三角操作模式下的直流電壓平衡控制之方塊圖；圖8顯示本發明的故障容忍控制方法之步驟流程圖；圖9(a),(b)分別顯示當I qL n*=I dL n*=-4A時，本發明之故障容忍控制裝置的直流匯流排電壓及相群集電流之波形圖；圖10(a)顯示當I qL n*=I dL n*=-4A時，本發明之故障容忍控制裝置在不平衡負載補償及開放式三角模式期間的PCC電流之波形圖；圖10(b)顯示當I qL n*=I dL n*=4A時，本發明之故障容忍控制裝置在不平衡負載補償及開放式三角模式期間的PCC電流之波形圖； 圖11(a)顯示當I qL n*=I dL n*=-4A時，本發明之故障容忍控制裝置在無補償情形下的PCC電壓之波形圖；以及圖11(b)顯示當I qL n*=I dL n*=-4A時，本發明之故障容忍控制裝置在補償及開放式三角模式期間的PCC電壓之波形圖。 Figure 1 shows the system configuration diagram of the delta-connected converter and the unbalanced load; Figure 2 shows the overall control block diagram of the delta-connected converter; Figure 3 shows the control block of the unbalanced load compensation and unbalanced load compensation. ; Figure 4 (a) shows a schematic diagram in the normal operating mode of the converter in series delta connection; FIG. 4 (b) show delta connection in series converter ab 1 H bridge unit to be bypassed ab y (bypassed Figure 4(c) shows a schematic diagram of the delta-connected converter in open-delta operation mode; Figure 5 shows the delta-connected converter in open-triangle mode The circuit diagram below; Figure 6 shows the equivalent circuit diagram of the delta-connected converter in the open triangle operation mode; Figure 7 shows the DC voltage balance control block of the delta-connected converter in the open triangle operation mode. Figure 8 is a flow chart showing the steps of the fault tolerance control method of the present invention; Figure 9 (a), (b) shows the fault tolerance control device of the present invention when I qL n * = I dL n * = -4A, respectively DC bus voltage and phase cluster current Waveform diagram; FIG. 10 (a) show when I qL n * = I dL n * = -4A, a current waveform diagram of the PCC fault tolerance control apparatus of the present invention during unbalanced load compensation and the open triangles mode; FIG. 10(b) shows a waveform diagram of the PCC current during the unbalanced load compensation and open triangle mode when I qL n * = I dL n * = 4A; FIG. 11(a) shows A waveform diagram of the PCC voltage of the fault tolerant control device of the present invention in the case of no compensation when I qL n * = I dL n * = -4A; and FIG. 11(b) shows when I qL n * = I dL n * = -4A, the waveform of the PCC voltage during the compensation and open delta mode of the fault tolerant control device of the present invention.
以下係藉由特定的具體實施例說明本發明之實施方式，熟悉此技術之人士可由本說明書所揭示之內容輕易地瞭解本發明之其他優點及功效。本發明亦可藉由其他不同的具體實例加以施行或應用，本發明說明書中的各項細節亦可基於不同觀點與應用在不悖離本發明之精神下進行各種修飾與變更。 The embodiments of the present invention are described below by way of specific examples, and those skilled in the art can readily appreciate the other advantages and functions of the present invention. The invention may be embodied or applied in various other specific embodiments, and various modifications and changes may be made without departing from the spirit and scope of the invention.
須知，本說明書所附圖式繪示之結構、比例、大小等，均僅用以配合說明書所揭示之內容，以供熟悉此技術之人士瞭解與閱讀，並非用以限定本發明可實施之限定條件，故不具技術上之實質意義，任何結構之修飾、比例關係之改變或大小之調整，在不影響本發明所能產生之功效及所能達成之目的下，均應落在本發明所揭示之技術內容得能涵蓋之範圍內。 It is to be understood that the structure, the proportions, the size and the like of the present invention are only used in conjunction with the disclosure of the specification, and are intended to be understood and read by those skilled in the art, and are not intended to limit the implementation of the invention. The conditions are not technically meaningful, and any modification of the structure, change of the proportional relationship or adjustment of the size should be disclosed in the present invention without affecting the effects and achievable effects of the present invention. The technical content can be covered.
以下依據本發明之實施例，描述一種三角接串接式轉換器(delta-connected cascaded converter)之故障容忍控制(fault tolerant control)方法及其裝置，在發生模組故障時，三角接串接式轉換器仍能維持及穩住市電電壓的大小，並且降低不平衡電壓。 Hereinafter, a fault tolerant control method and a device thereof for a delta-connected cascaded converter are described according to an embodiment of the present invention, and a delta connection is used when a module failure occurs. The converter still maintains and stabilizes the mains voltage and reduces the unbalanced voltage.
圖1顯示三角接串接式轉換器11及不平衡負載12之系統配置圖，其中，N個H橋模組(H-bridge modules)以串接方式在一相群集(phase cluster)中連接，電網電壓(grid voltages)及輸出線電流(output line currents)分別以正序( , , , )及負序( , , , )表示，如公式(1)所示：
此外，相電壓及電流(phase voltages and currents)可分別表示如下：
其中，i z 表示零序電流(zero sequence current)，並被定義為I o cos(ωt+γ)，由於直流電壓相當於電網頻率漣波(grid frequency ripple)的兩倍，所以使用移動平均濾波器(moving-average filter)來獲得平均直流電壓值(average dc voltage value)。 Where i z represents the zero sequence current and is defined as I o cos( ωt + γ ). Since the DC voltage is equivalent to twice the grid frequency ripple, moving average filtering is used. Moving-average filter to obtain the average dc voltage value.
圖2顯示三角接串接式轉換器之整體控制方塊圖，整體的控制包含一直流電容電壓平衡控制模組(dc capacitor voltages balancing control module)21、一不平衡負載補償模組(unbalanced load compensation module)22以及一故障容忍控制模組(fault tolerant control module)23，其中，H橋單元之直流電容電壓平衡控制係取決於該整體系統的平均實功率(active power)，如圖2所示，整體電壓控制用於調節在直流匯流排指令(dc bus command)下所有模組之直流匯流排電壓(V dc )，相群集電壓控制用於調節在直流匯流排電壓(V dc )下每一群集之平均直流匯流排電壓(V dcm ,m=ab,bc,ca)，單獨電壓控制(individual balancing control)用於在平均直流匯流排電壓(V dcm )維持每一橋式電池的直流匯流排電壓。另外，如圖2所示，三角接串接式轉換器主要復可包括一回授直流電壓平均運算模組(feedback dc voltage average calculation module)24、一正及負序分量提取模組(positive and negative sequence component extraction module)25及一穩流器 (current regulator)26。此外，三角接串接式轉換器之輸出連接至一調變器(modulator)27。 Figure 2 shows the overall control block diagram of the delta-connected series converter. The overall control includes a dc capacitor voltages balancing control module (21) and an unbalanced load compensation module (unbalanced load compensation module). 22) and a fault tolerant control module 23, wherein the DC capacitor voltage balance control of the H-bridge unit is dependent on the average active power of the overall system, as shown in FIG. Voltage control is used to regulate the DC bus voltage ( V dc ) of all modules under the DC bus command, which is used to regulate each cluster at the DC bus voltage ( V dc ) The average DC bus voltage ( V dcm , m = ab, bc, ca ), individual balancing control is used to maintain the DC bus voltage of each bridge cell at an average DC bus voltage ( V dcm ). In addition, as shown in FIG. 2, the triangular serial-connected converter mainly includes a feedback dc voltage average calculation module 24, a positive and negative sequence component extraction module (positive and Negative sequence component extraction module) 25 and a current regulator 26. In addition, the output of the delta-connected converter is coupled to a modulator 27.
在圖2所示之整體控制方塊圖下，本發明著重在三角接串接式轉換器之故障容忍控制；也就是說，當檢測到模組故障時，故障容忍訊號(fault tolerant signal,FTC)會被觸發。如圖2所示，在正常模式操作(FTC=0)下，開關SW1會導通(closed)而開關SW2會開路(open)；但是，若發生模組故障(FTC=1)時，開關SW1會開路而開關SW2會導通，則會進入本發明之故障容忍控制方法，亦即處於開放式三角操作(open-delta operation)模式。 In the overall control block diagram shown in FIG. 2, the present invention focuses on fault tolerance control of a delta-connected series converter; that is, a fault tolerant signal (FTC) when a module failure is detected. Will be triggered. As shown in Figure 2, in normal mode operation (FTC = 0), switch SW1 will be closed (closed) and switch SW2 will be open (open); however, if a module failure (FTC = 1) occurs, switch SW1 will When the switch is open and the switch SW2 is turned on, the fault tolerance control method of the present invention is entered, that is, in an open-delta operation mode.
再者，圖3顯示不平衡負載補償32及不平衡負載補償33之控制方塊圖，藉由正及負序分量提取模組34，補償策略(compensation strategy)分別著重在無功電流補償(reactive current compensation)，以及負序電流補償(negative sequence current compensation)，其中，藉由無功電流補償可獲得無功電流指令(reactive current command,)，並且，藉由負序電流補償可獲得負序電流指令(negative sequence current commands, , )，其中，靜態補償器31保持PCC電壓的平衡及振幅。 Furthermore, FIG. 3 shows a control block diagram of the unbalanced load compensation 32 and the unbalanced load compensation 33. With the positive and negative sequence component extraction module 34, the compensation strategy focuses on reactive current compensation (reactive current). Compensation), and negative sequence current compensation, wherein a reactive current command is obtained by reactive current compensation (reactive current command, ), and negative sequence current commands can be obtained by negative sequence current compensation (negative sequence current commands , , ), wherein the static compensator 31 maintains the balance and amplitude of the PCC voltage.
換言之，不平衡負載的三相電流被讀取並提取至控制器中的正序電流訊號()及負序電流訊號( , )，負序電流訊號( , )被用來補償負序電流指令( , )，其中，閉迴路控制(closed loop control)用於調節精確的PCC電壓振幅()，其輸出結合正序電流訊號()可獲得無功電流指令()。 In other words, the three-phase current of the unbalanced load is read and extracted to the positive sequence current signal in the controller ( And negative sequence current signals ( , ), negative sequence current signal ( , ) is used to compensate for the negative sequence current command ( , ), where closed loop control is used to adjust the exact PCC voltage amplitude ( ), whose output is combined with a positive sequence current signal ( ) can obtain reactive current command ( ).
假設一無任何損失的系統並且忽略濾波器電感的影響，串接的H橋模組之輸出電壓可以表示如下：υ mn =V mn cos(ωt+θ m )=M mn V dc cos(ωt+θ m ) (3) Suppose without any loss of a system and to ignore the influence of the filter inductor is connected in series to the output voltage of the H-bridge module may be represented as follows: υ mn = V mn cos ( ωt + θ m) = M mn V dc cos (ωt + θ m ) (3)
其中，m=ab,bc,ca，n=1,2,...,N，M mn 表示每一模組之調變指數(modulation index)，V dc 為直流匯流排電壓(dc bus voltage)，亦稱為總體平均值，值得注意的是，V m1=V m2=…=V mN，M m1=M m2=…=M mN。 Where m = ab,bc,ca , n =1,2,..., N , M mn represents the modulation index of each module, and V dc is the dc bus voltage Also known as the population mean, it is worth noting that V m 1 = V m 2 =...= V m N , M m 1 = M m 2 =...= M m N .
如圖4(a)所示，在正常操作模式下，相電壓(phase voltage,V m )為相群集之輸出電壓的總合，可表示為：
值得一提的是，M mn 一般被設計在0至1範圍內，用於在線性區工作。 It is worth mentioning that M mn is generally designed to be in the range of 0 to 1 for working in the linear region.
如圖4(b)所示，當發生模組故障時，H橋單元ab1至aby被旁路(bypassed)，所產生的輸出電壓為：V m =(N-y)．M mn V dc ，其中，n=(y+1)~N (5) As shown in Figure 4(b), when a module failure occurs, the H-bridge units ab 1 to ab y are bypassed, and the resulting output voltage is: V m = ( N - y ). M mn V dc , where n =( y +1)~ N (5)
由於H橋單元ab1至aby被旁路，所以必須增加剩餘的H橋單元之調變，以提供所需的電壓。在發生模組故障後，若M mn 仍在1的範圍內，則轉換器可以維持在正常模式操作下。然而，若發生模組故障足以使M mn 超過1，則系統處於過調變(over-modulation)，本發明之故障容忍控制方法及其裝置可有效地解決上述所發生的問題。 Since the H-bridge units ab 1 to aw y are bypassed, the modulation of the remaining H-bridge units must be increased to provide the required voltage. After a module failure, if M mn is still within the range of 1, the converter can remain in normal mode operation. However, if a module failure occurs to make M mn exceed 1, the system is over-modulated, and the fault tolerance control method and apparatus of the present invention can effectively solve the above-mentioned problems.
如圖4(b)所示，當一群集(cluster)中的故障H橋單元足以使系統處於過調變狀態時，本發明之故障容忍控制裝置將會開始進行運作。本發明所提之故障容忍控制方法主要是對故障的相群集(phase cluster)進行開路(open)，以這種模式運作，系統可以有效地解決過調變所造成的問題。如圖4(c)所示，H橋單元在ab相處於開路狀態，也就是說，本發明之三角接串接式轉換器處於開放式三角操作(open-delta operation)模式。 As shown in Figure 4(b), the fault tolerance control device of the present invention will begin to operate when a faulty H-bridge unit in a cluster is sufficient to place the system in an over-adjusted state. The fault tolerance control method proposed by the present invention mainly opens an open phase cluster of faults, and operates in this mode, and the system can effectively solve the problem caused by overmodulation. As shown in FIG. 4(c), the H-bridge unit is in an open state in the ab phase, that is, the delta-connected converter of the present invention is in an open-delta operation mode.
值得注意的是，如果故障的H橋單元處於不同的相群集中，則本發明之故障容忍控制方法及其裝置僅針對處於過調變狀態的相群集進行運作，例如，在最壞的情形下，當二或三個相群集處於過調變狀態時，由於沒有其他的控制自由度能處理此種情形，所以三角接串接式轉換器不得不停止運作。 It is worth noting that if the faulty H-bridge unit is in a different phase cluster, the fault tolerance control method of the present invention and its apparatus operate only for the phase cluster in the over-modulated state, for example, in the worst case When the two or three phase clusters are in the over-modulated state, since there is no other control freedom to handle this situation, the delta-connected converter has to stop operating.
圖5顯示本發明之三角接串接式轉換器在開放式三角操作模式下之電路圖，當發生模組故障時，H橋單元ab1至aby被旁路，為了確保剩餘的相群集轉換器能穩定地運行，其直流電壓平衡控制及不平衡負載將於以下詳細說明。 Figure 5 is a circuit diagram of the delta-connected converter of the present invention in an open delta mode of operation. When a module failure occurs, the H-bridge units ab 1 to ab y are bypassed to ensure the remaining phase-cluster converters. It can operate stably, and its DC voltage balance control and unbalanced load will be described in detail below.
圖6顯示三角接串接式轉換器在開放式三角操作模式下之等效電路圖，其中，相群集電流(i bc ,i ca )可分別表示如下：i bc =i b ；i ca =i c +i bc (6) Figure 6 shows an equivalent circuit diagram of the delta-connected converter in the open triangulation mode, where the phase cluster currents ( i bc , i ca ) can be expressed as follows: i bc = i b ; i ca = i c + i bc (6)
值得注意的是，在開放式三角操作模式期間，在系統中僅存在bc相及ca相，因此，其相平均功率(phase average power)可表示如下：
因此，P bc 及P ca 的總合可獲得總功率P T ，並且可表示如下：
由於相群集間的功率分配不平衡導致直流電容電壓不平衡，所以必須對每一相群集進行功率平衡，相群集功率(P Cbc 、P Cca )可定義如下：
其中，及表示由電壓及正序電流(、)獲得的群集功率，並且及表示由電壓及負序電流(、)獲得的群集功率。值得注意的是，群集功率(P Cbc 、P Cca )彼此具有相關性，其相互關係可表示如下：P Cbc =-P Cca (10) among them, and Expressed by voltage and positive sequence current ( , ) obtained cluster power, and and Expressed by voltage and negative sequence current ( , ) The cluster power obtained. It is worth noting that the cluster powers ( P Cbc , P Cca ) are related to each other, and their correlation can be expressed as follows: P Cbc =- P Cca (10)
在公式(10)中，該相關性隱含著相群集功率在系統中並未貢獻任何總功率(P Cbc +P Cca =0)，因此，平衡控制只需要集中在一相群集上。 In equation (10), this correlation implies that the phase cluster power does not contribute any total power in the system ( P Cbc + P Cca =0), so the balance control only needs to be concentrated on one phase of the cluster.
在不平衡負載補償期間，相群集功率(P Cbc 、P Cca )由於補償電流(、、)的注入而造成不平衡，因此，每一相直流匯流排電壓的平衡會受這些不平衡相群集功率的影響。 During unbalanced load compensation, the phase cluster power ( P Cbc , P Cca ) is due to the compensation current ( , , The injection causes an imbalance, so the balance of the DC bus voltage of each phase is affected by the power of these unbalanced phase clusters.
圖7顯示本發明之三角接串接式轉換器在開放式三角操作下的直流電壓平衡控制之方塊圖，本發明所提出的故障容忍控制裝置，如圖7所示，主要包括兩大模組：一群集電壓平衡控制模組71以及一電壓控制模組72。總體電壓控制是藉由一比例積分控制器(PI regulator)721來管理一總體平均值(V dc )，因此，比例積分控制器72的輸出可作為一第一正序電流指令(I q p*)。 7 is a block diagram showing DC voltage balance control of the delta-connected converter of the present invention in an open delta operation. The fault tolerance control device proposed by the present invention, as shown in FIG. 7, mainly includes two modules. A cluster voltage balance control module 71 and a voltage control module 72. The overall voltage control is managed by a proportional integral controller (PI regulator) 721 to manage an overall average ( V dc ). Therefore, the output of the proportional integral controller 72 can be used as a first positive sequence current command ( I q p * ).
第二正序電流指令(I d p*，亦稱為無功電流指令)、第一負序電流指令(I q n*)及第二負序電流指令(I d n*)的調整可消除不平衡的群集功率，值得一提的是，第二正序電流指令(I q p*)是藉由總體電壓控制產生的，也就是說，本發明之故障容忍控制方法及其裝置在故障容忍運行期間可完全地保留第二正序電流指令(I q p*)，因此，第一負序電流訊號(I qL n )及第二負序電流訊號(I qL n )用於平衡群集功率。 Adjustment of the second positive sequence current command ( I d p * , also known as reactive current command), the first negative sequence current command ( I q n * ), and the second negative sequence current command ( I d n * ) can be eliminated Unbalanced cluster power, it is worth mentioning that the second positive sequence current command ( I q p * ) is generated by the overall voltage control, that is, the fault tolerance control method of the present invention and its device are fault tolerant The second positive sequence current command ( I q p * ) can be completely retained during operation, so the first negative sequence current signal ( I qL n ) and the second negative sequence current signal ( I qL n ) are used to balance the cluster power.
當補償第二正序電流()時，可同時獲得不平衡功率(P Cbc p 、P Cca p )，本發明所提出的故障容忍方法使用第一負序電流(I q n )、第二負序電流(I d n )及所獲得的功率(P Cbc n )來抵消不平衡功率(P Cbc p )，如圖7所示，依據本發明之實施例，群集電壓平衡控制模組是基於bc相電壓(V dcbc )，並藉由比例積分控制器711產生一回授功率(P CbcFB )，同時計算bc相不平衡功率(P Cbc p )作為前饋功率(P CbcFF )(其中，)，接著，將回授功率(P CbcFB )及前饋功率(P CbcFF )相加，以產生一群集功率指令(P C *)，群集功率指令(P C *)可表示如下：
根據所獲得的功率(P Cbc n )，並藉由注入負序電流來產生群集功率指令(P C *)，值得注意的是，由於負序電流之振幅及相位角可為任意值，所以第一負序電流指令(I q n*)及第二負序電流指令(I d n*)可為任意值。在本發明之實施例中，相位角被設計為與補償的負序電流相同，使得三角接串接式轉換器仍具有減少PCC不平衡的能力，換言之，可藉由第一負序電流訊號(I qL n )及第二負序電流訊號(I qL n )來獲得第一負序電流指令(I q n*)及第二負序電流指令(I d n*)，第一負序電流指令(I q n*)及第二負序電流指令(I d n*)分別可表示如下：I q n*=W FTC ．I qL n ；I d n*=W FTC ．I dL n (12) According to the obtained power ( P Cbc n ) , and by injecting a negative sequence current to generate a cluster power command ( P C * ), it is worth noting that since the amplitude and phase angle of the negative sequence current can be any value, A negative sequence current command (I q n * ) and a second negative sequence current command ( I d n * ) can be any value. In an embodiment of the invention, the phase angle is designed to be the same as the compensated negative sequence current, such that the delta-connected converter still has the ability to reduce PCC imbalance, in other words, by the first negative sequence current signal ( I qL n ) and a second negative sequence current signal ( I qL n ) to obtain a first negative sequence current command ( I q n * ) and a second negative sequence current command ( I d n * ), the first negative sequence current command ( I q n * ) and the second negative sequence current command ( I d n * ) can be expressed as follows: I q n * = W FTC . I qL n ; I d n * = W FTC . I dL n (12)
其中，W FTC 為加權係數。在本發明之實施例中，補償的負序電流之相位角將不受影響，僅其振幅受到調整，因此，負序電流的注入能抑制不平衡相群集功率，並且還具有不平衡補償的功能。由公式(10)~(12)可知，加權係數W FTC 可藉由群集功率指令(P C *)除以功率P FTC 獲得，加權係數W FTC 可表示如下所示：
因此，依據本發明之實施例，本發明之三角接串接式轉換器之故障容忍控制方法及其裝置可將一第二正序電流訊號(I dL p )作為一第二正序電流指令(I d p*)，亦即I d p*=I qL p 。此外，藉由負序電流的注入，本發明之三角接串接式轉換器能獲得相群集電壓平衡控制，並且使得三角接串接式轉換器具有減少PCC不平衡的能力。 Thus, according to embodiments of the present invention, the present invention triangle fault series connection of converter control method and apparatus tolerate a second positive sequence current signal (I dL p) can be used as a second positive sequence current command ( I d p * ), that is, I d p * = I qL p . In addition, by the injection of the negative sequence current, the delta-connected converter of the present invention can obtain the phase cluster voltage balance control, and the delta-connected converter has the ability to reduce the PCC imbalance.
具體而言，依據本發明之實施例，本發明所提出的故障容忍控制裝置7，其主要硬體架構區塊如圖7所示，主要包括兩大模組：一群集電壓平衡控制模組71以及一電壓控制模組72。群集電壓平衡控制模組71接收一總體平均值(V dc )、一第一負序電流訊號(I qL n )及一第二負序電流訊號(I dL n )，其中，基於一bc相直流電壓(V dcbc )及藉由一比例積分控制器，產生一回授功率(P CbcFB )，同時計算 bc相不平衡功率(P Cbc p )作為前饋功率(P CbcFF )，將該回授功率(P CbcFB )及該前饋功率(P CbcFF )相加，以產生一群集功率指令(P C *)。 Specifically, in accordance with an embodiment of the present invention, the fault tolerance control apparatus 7 of the present invention has a main hardware architecture block as shown in FIG. 7, and mainly includes two modules: a cluster voltage balance control module 71. And a voltage control module 72. The cluster voltage balance control module 71 receives an overall average value ( V dc ), a first negative sequence current signal ( I qL n ), and a second negative sequence current signal ( I dL n ), wherein the current is based on a bc phase The voltage ( V dcbc ) and a proportional integral controller generate a feedback power ( P CbcFB ) and calculate the bc phase unbalanced power ( P Cbc p ) as the feed forward power ( P CbcFF ), the feedback power ( P CbcFB ) and the feedforward power ( P CbcFF ) are added to generate a cluster power command ( P C * ).
其中，藉由一除法器712，將該群集功率指令(P C *)除以一功率(P FTC )，以獲得一加權係數(W FTC )，藉由一第一乘法器713，將該加權係數WFTC與該第一負序電流訊號(I qL n )相乘，以輸出一第一負序電流指令(I q n*)，以及藉由一第二乘法器714，將該加權係數(W FTC )與該第二負序電流訊號(I qL n )相乘，以輸出一第二負序電流指令(I d n*)。 The split power command ( P C * ) is divided by a power ( P FTC ) by a divider 712 to obtain a weighting coefficient ( W FTC ), which is weighted by a first multiplier 713. The coefficient W FTC is multiplied by the first negative sequence current signal ( I qL n ) to output a first negative sequence current command ( I q n * ), and the weight coefficient is obtained by a second multiplier 714 ( W FTC ) is multiplied by the second negative sequence current signal ( I qL n ) to output a second negative sequence current command ( I d n * ).
此外，本發明之故障容忍控制裝置復包括一電壓控制模組72，電壓控制模組72接收一總體平均值指令(V dc *)，並輸出一第一正序電流指令(I q p*)。另外，將一第二正序電流訊號(I dL p )作為一第二正序電流指令(I d p*)。 In addition, the fault tolerance control device of the present invention further includes a voltage control module 72. The voltage control module 72 receives an overall average command ( V dc * ) and outputs a first positive sequence current command ( I q p * ). . In addition, a second positive sequence current signal ( I dL p ) is used as a second positive sequence current command ( I d p * ).
本發明之故障容忍控制裝置復可包括：一單獨平衡控制模組73以及一電流控制模組74，電流控制模組74可接收第一負序電流指令(I q n*)、第二負序電流指令(I d n*)、第一正序電流指令(I d p*)及第二正序電流指令(I d p*)，以產生一第一電壓指令(v bc *)及一第二電壓指令(v ca *)；單獨平衡控制模組73可產生一第一電壓(v Ibc )及一第二電壓(v Ica )，其中，藉由一第一加法器75，將該第一電壓指令(v bc *)與該第一電壓(v Ibc )相加，以輸出一第一調變電壓指令(v bcnf *)，並且藉由一第二加法器76，將該第二電壓指令(v ca *)與該第二電壓(v Ica )相加，以輸出一第二調變電壓指令(vcanf *)。 The fault tolerance control device of the present invention includes: a single balance control module 73 and a current control module 74, and the current control module 74 can receive the first negative sequence current command ( I q n * ) and the second negative sequence a current command ( I d n * ), a first positive sequence current command ( I d p * ), and a second positive sequence current command ( I d p * ) to generate a first voltage command ( v bc * ) and a first two voltage command (v ca *); individual balance control module 73 may generate a first voltage (v Ibc) and a second voltage (v Ica), wherein, by a first adder 75, the first The voltage command ( v bc * ) is added to the first voltage ( v Ibc ) to output a first modulation voltage command ( v bcnf * ), and the second voltage command is used by a second adder 76 (v ca *) added to the second voltage (v Ica), to output a second modulated voltage command (v canf *).
再者，具體而言，如圖8所示，本發明所提出之故障容忍控制方法可包括以下步驟S81~S87：步驟S81：藉由一群集電壓平衡控制模組，接收一總體平均值V dc 、一第一負序電流訊號I qL n 及一第二負序電流訊號I dL n ； 步驟S83：基於一bc相直流電壓V dcbc 及藉由一比例積分控制器，產生一回授功率P CbcFB ，同時計算bc相不平衡功率P Cbc p 作為前饋功率PCbcFF，將該回授功率P CbcFB 及該前饋功率P CbcFF 相加，以產生一群集功率指令P C *；步驟S85：藉由一除法器，將該群集功率指令P C *除以一功率P FTC ，以獲得一加權係數W FTC ；以及步驟S87：藉由一第一乘法器，將該加權係數W FTC 與該第一負序電流訊號I qL n 相乘，以輸出一第一負序電流指令I q n*，以及藉由一第二乘法器，將該加權係數W FTC 與該第二負序電流訊號I dL n 相乘，以輸出一第二負序電流指令I d n*。 Furthermore, as shown in FIG. 8, the fault tolerance control method proposed by the present invention may include the following steps S81 to S87: Step S81: receiving an overall average value V dc by a cluster voltage balance control module. a first negative sequence current signal I qL n and a second negative sequence current signal I dL n ; Step S83: generating a feedback power P CbcFB based on a bc phase DC voltage V dcbc and by a proportional integral controller Simultaneously calculating the bc phase unbalanced power P Cbc p as the feed forward power P CbcFF , adding the feedback power P CbcFB and the feed forward power P CbcFF to generate a cluster power command P C * ; step S85: a divider, dividing the cluster power command P C * by a power P FTC to obtain a weighting factor W FTC ; and step S87 : the weighting coefficient W FTC and the first negative by a first multiplier The sequence current signal I qL n is multiplied to output a first negative sequence current command I q n * , and the weighting coefficient W FTC is coupled to the second negative sequence current signal I dL n by a second multiplier Multiply to output a second negative sequence current command I d n * .
依據本發明之實施例，本發明之故障容忍控制方法復可包括以下步驟S88~S89：步驟S88：將一第二正序電流訊號I dL p 作為一第二正序電流指令I d p*；以及步驟S89：藉由一電流控制模組，接收該第一負序電流指令I q n*、該第二負序電流指令I d n*、該第一正序電流指令I q p*及該第二正序電流指令I d p*，以產生一第一電壓指令v bc *及一第二電壓指令v ca *；藉由一單獨平衡控制，產生一第一電壓v Ibc 及一第二電壓v Ica ；以及藉由一第一加法器，將該第一電壓指令v bc *與該第一電壓v Ibc 相加，以輸出一第一調變電壓指令v bcnf *，並且藉由一第二加法器，將該第二電壓指令v ca *與該第二電壓v Ica 相加，以輸出一第二調變電壓指令v canf *。 According to an embodiment of the present invention, the fault tolerance control method of the present invention may include the following steps S88 to S89: Step S88: using a second positive sequence current signal I dL p as a second positive sequence current command I d p * ; And step S89: receiving, by a current control module, the first negative sequence current command I q n * , the second negative sequence current command I d n * , the first positive sequence current command I q p * and the a second positive sequence current command I d p * to generate a first voltage command v bc * and a second voltage command v ca * ; generating a first voltage v Ibc and a second voltage by a separate balancing control v Ica ; and adding a first voltage command v bc * to the first voltage v Ibc by a first adder to output a first modulation voltage command v bcnf * and by a second adder, the second voltage command v ca * is added to the second voltage v Ica, to output a second modulated voltage command v canf *.
圖9(a),(b)分別顯示當I qL n*=I dL n*=-4A時，本發明之故障容忍控制裝置的直流匯流排電壓及相群集電流之波形圖。在圖9(a)中，由於H橋單元ab1被旁路，所以本發明之故障容忍控制裝置在開放式三角模式下操作。在開放式三角模式操作期間，本發明之故障容忍控制裝置能有效地管理系統在每一相的不平衡功率，因此，即使H橋單元ab1被旁路，剩餘的直流電壓仍然能保持平衡。圖9(b)分別顯示本發明之故障容忍控制裝置的相群集電流之波形圖。 9(a) and 9(b) are waveform diagrams showing the DC bus voltage and the phase cluster current of the fault tolerance control device of the present invention, respectively, when I qL n * = I dL n * = -4A. In Fig. 9(a), since the H-bridge unit ab 1 is bypassed, the fault tolerance control device of the present invention operates in the open triangle mode. During open delta mode operation, the fault tolerance control device of the present invention can effectively manage the unbalanced power of the system at each phase, so that even if the H-bridge unit ab 1 is bypassed, the remaining DC voltage can remain balanced. Fig. 9(b) is a waveform diagram showing the phase cluster current of the fault tolerance control device of the present invention, respectively.
圖10(a)顯示當I qL n*=I dL n*=-4A時，本發明之故障容忍控制裝置在不平衡負載補償及開放式三角模式期間的PCC電流之波形圖；以及圖10(b)顯示當I qL n*=I dL n*=4A時，本發明之故障容忍控制裝置在不平衡負載補償及開放式三角模式期間的PCC電流之波形圖。 Figure 10 (a) shows a waveform diagram of the PCC current during the unbalanced load compensation and open delta mode of the fault tolerant control device of the present invention when I qL n * = I dL n * = -4A; and Figure 10 ( b) A waveform diagram showing the PCC current during the unbalanced load compensation and open delta mode of the fault tolerant control device of the present invention when I qL n * = I dL n * = 4A.
圖11(a)顯示當I qL n* =I dL n*=-4A時，本發明之故障容忍控制裝置在無補償情形下的PCC電壓之波形圖；以及圖11(b)顯示當I qL n*=I dL n*=-4A時，本發明之故障容忍控制裝置在補償及開放式三角模式期間的PCC電壓之波形圖。 Figure 11 (a) shows a waveform diagram of the PCC voltage of the fault tolerant control device of the present invention in the case of no compensation when I qL n* = I dL n * = -4A; and Figure 11(b) shows when I qL When n * = I dL n * = -4A, the waveform of the PCC voltage during the compensation and open triangle mode of the fault tolerant control device of the present invention.
綜上所述，本發明採用開放式三角模式的作法，除了能有效地使三角接串接式轉換器維持穩定操作不停機，並可持續對不平衡負載進行補償，並且在不需額外加裝硬體設備情況下，即可達到故障容忍之效果。再者，在實驗平台上，將其中一模組旁路後進行電路模組故障發生情形，電容電壓依舊能維持平衡，也能夠穩定的輸出電流，並且，在實驗平台上，由圖9至圖12可以觀察到，在發生模組故障後，本發明之三角接串接式轉換器之故障容忍控制裝置依舊能維穩住市電電壓的大小，以及降低不平衡電壓。 In summary, the present invention adopts the open triangle mode method, in addition to effectively maintaining the stable operation of the delta-connected series converter without stopping the operation, and continuously compensating for the unbalanced load, and without additional installation In the case of hardware devices, the effect of fault tolerance can be achieved. Furthermore, on the experimental platform, after one of the modules is bypassed, the circuit module failure occurs, the capacitor voltage can still maintain balance, and the output current can be stabilized, and, on the experimental platform, from Fig. 9 to 12 It can be observed that after the module failure occurs, the fault tolerance control device of the delta-connected converter of the present invention can still maintain the magnitude of the mains voltage and reduce the unbalanced voltage.
儘管已參考本申請的許多說明性實施例描述了實施方式，但應瞭解的是，本領域技術人員能夠想到多種其他改變及實施例，這些改變及實施例將落入本公開原理的精神與範圍內。尤其是，在本公開、圖式以及所附申請專利的範圍之內，對主題結合設置的組成部分及/或設置可作出各種變化與修飾。除對組成部分及/或設置做出的變化與修飾之外，可替代的用途對本領域技術人員而言將是顯而易見的。 Although the embodiments have been described with reference to the embodiments of the present invention, it will be understood that Inside. In particular, various changes and modifications can be made in the components and/or arrangements of the subject combination. Alternative uses will be apparent to those skilled in the art, in addition to variations and modifications in the component parts and/or arrangements.
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