WO2013105382A1 - Pwm電力変換器の並列運転装置 - Google Patents
Pwm電力変換器の並列運転装置 Download PDFInfo
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- WO2013105382A1 WO2013105382A1 PCT/JP2012/082055 JP2012082055W WO2013105382A1 WO 2013105382 A1 WO2013105382 A1 WO 2013105382A1 JP 2012082055 W JP2012082055 W JP 2012082055W WO 2013105382 A1 WO2013105382 A1 WO 2013105382A1
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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
- H02M7/493—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 the static converters being arranged for operation in parallel
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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- the present invention relates to an operation method of a power converter using PWM control, and more particularly to an operation at the time of voltage saturation when the power converters are connected in parallel.
- FIG. 5 is a block diagram showing an example of a general PWM power converter parallel operation apparatus.
- FIG. 5 if there are three diagonal lines in the signal line, it means that the signal is a three-phase signal.
- the inverters INV1 and INV2 are connected in parallel, and are connected to the electric motor M via the interphase reactor L_mut. At this time, current control is roughly divided into output current control and cross current control.
- the output current control units 5a and 5b take deviations between the current command values Id_cmd and Iq_cmd and the current detection values Id_det and Iq_det, perform PI control, and perform dq reverse conversion by the dq inverse converter 2. .
- the cross current compensation command value Vccc_cmp calculated by the cross current compensation unit BalanceACR is superimposed on the voltage command V_cmd which is the output of the dq inverse converter 2, and the inverters INV1, 3b are applied by the voltage command limiting units 3a and 3b.
- the voltage command limit is applied at the output limit value of INV2.
- the voltage commands after the voltage command restriction are V1_cmd and V2_cmd, and the switching commands G1_H, G1_L, G2_H and G2_L are output to the inverters INV1 and INV2 by the PWM generators PWM1 and PWM2 based on the voltage commands V1_cmd and V2_cmd after the voltage command restriction. Then, the inverters INV1 and INV2 are driven, and the electric motor M is operated.
- the inverter output currents I1 and I2 are detected and added to measure the output current I_det of the entire system. Since the output current I_det is a three-phase current, dq conversion is performed by the dq converter 4 to control the output current, and current detection values Id_det and Iq_det are output. For this dq conversion, phase Theta_det detected by an encoder or the like is used.
- the voltage command V_cmd ⁇ Vccc_cmd, V_cmd + Vccc_cmd of each PWM power converter becomes a large value that is applied to the voltage limit value of the voltage command limiter 3a, 3b. In this case, the linearity of the output voltage cannot be maintained. In addition, if the voltage is forcibly output, the time required for the voltage limit value increases, so that the current also loses linearity and does not operate stably.
- the output current control includes an integral operation. That is, when the integral amount of the deviation (deviation between the current command value and the current detection value) increases, the manipulated variable also increases in proportion thereto. However, when the output voltage is limited, the deviation is not reduced and the voltage command Vd_cmd. , Vq_cmd is over-integrated to try to amplify. As a result, current linearity is lost. This phenomenon is called windup.
- ⁇ Torque also vibrates when current is oscillating in both inductor and synchronous machine.
- the inverter is often connected with an inductive load such as a synchronous machine, but this synchronous machine is not used alone, and in many cases, another mechanical system is connected to the output of the electric motor. Since this mechanical system may have a mechanical resonance frequency, there is an unintended torque vibration, and if this vibration matches the mechanical resonance frequency of the mechanical system, the torque at this frequency is amplified and the mechanical system is damaged there is a possibility. Therefore, a parallel operation device for PWM power converters needs a control configuration that prevents unintended current vibrations and torque vibrations from occurring even when voltage saturation continues to occur.
- FIG. 7 shows the anti-windup processing method that does not consider cross current compensation.
- FIG. 7 is obtained by changing the output current control units 5a and 5b of the PWM power converter parallel operation device shown in FIG. 5 to automatic matching type output current control units 6a and 6b. Other mechanisms are the same as in FIG.
- the output current control units 6a and 6b feed back the difference between the d-axis and q-axis voltage commands before the voltage command limiting units 7a and 7b and the d-axis and q-axis voltage commands Vd_cmd and Vq_cmd after the limitation.
- the spot has a special feature. When the d-axis and q-axis voltage commands before and after the voltage command restriction coincide with each other, this feedback is cut off, so that it operates as a normal PI control.
- ⁇ Reset windup occurs when the integral action becomes too large, so automatic alignment PI control is performed to suppress the integral action, and the manipulated variable is reduced according to the manipulated variable cut by saturation. As a result, the operation amount and response are improved, and the settling time is also improved.
- the output current control is performed on the dq axis, it does not operate normally even if the anti-windup process of the output current control is performed as it is. This is because the voltage command is limited by superimposing the cross-current compensation command value Vccc_cmp on the voltage command V_cmd after being converted into the three-phase voltage, so that voltage saturation may eventually occur, and the anti-windup process is correctly performed. Didn't work.
- One aspect of the present invention is a PWM power converter in which outputs of a plurality of PWM power converters are connected in parallel and each PWM power converter is operated synchronously.
- a parallel control device for calculating the deviation between the current command value and the detected current value and outputting a voltage command, and the voltage command based on the deviation of the output current of each PWM power converter.
- a cross current compensation unit that performs cross current compensation and outputs a voltage command of each PWM power converter, a voltage command limit unit that applies output limitation to the voltage command of each PWM power converter, and after output limitation
- a feedback value calculation unit that calculates an average value in the voltage command as a feedback value, and the deviation used for the integral calculation in the current control unit is the difference between the current command value and the detected current value.
- the value obtained by multiplying the feedback gain with respect to the saturated amount of restricted operation amount by the voltage command limiting section is a deviation between the readback value and the voltage command, which comprises using the added value.
- the zero-phase voltage may be subtracted from the voltage command, or a dead time compensation value may be added.
- the anti-windup process can be normally performed without interfering with the cross current compensation function.
- FIG. 1 is a configuration diagram illustrating a parallel operation apparatus for PWM power converters according to the first embodiment.
- the difference between the d-axis current command value Id_cmd and the detected d-axis current value Id_det is obtained by the subtraction unit 1a, and PI control is performed by the output current control unit 6a.
- the subtraction unit 1b takes the deviation between the q-axis current command value Iq_cmd and the q-axis current detection value Iq_det, and the output current control unit 6b performs PI control.
- the dq inverse converter 2 performs dq inverse conversion of the voltage commands Vd_cmd and Vq_cmd, which are outputs of the output current control units 6a and 6b, to obtain a voltage command V_cmd.
- Dq conversion and dq reverse conversion are expressed by the following equation (1).
- ⁇ represents a phase.
- Cross current control is performed as follows.
- the cross current may be detected by taking a deviation between the inverter currents I1 and I2. Let the detected cross current be Ic.
- the cross current Ic is converted into a cross current compensation command value Vccc_cmp using a cross current compensation unit BalanceACR (Automatic Current Regulator), and this cross current compensation command value Vccc_cmp is superimposed on the voltage command V_cmd.
- Vccc_cmp Automatic Current Regulator
- the cross current compensation unit BalanceACR performs a proportional integral (PI) operation on the deviation (cross current Ic) of the output currents I1 and I2 of the inverters INV1 and INV2, and the cross current compensation command in the same unit as the voltage command value V_cmd common to the inverters INV1 and INV2. Obtained as the value Vccc_cmp.
- the cross current compensation command value Vccc_cmp is added to or subtracted from the voltage command V_cmd after dq reverse conversion so that the cross current Ic becomes zero.
- the cross current compensation command value Vccc_cmp is subtracted from the voltage command V_cmd after the dq conversion to obtain the voltage command V_cmd ⁇ Vccc_cmp of the inverter INV1, and the cross current compensation command value Vccc_cmp is added to the voltage command V_cmd after the dq conversion to obtain the voltage of the inverter INV2.
- the command is V_cmd + Vccc_cmp.
- the voltage command limiting units 3a and 3b apply the voltage command limitation to the voltage command V_cmd ⁇ Vccc_cmp and V_cmd + Vccc_cmp of each inverter by the output limit values of the inverters INV1 and INV2.
- the voltage commands after the voltage command restriction are V1_cmd and V2_cmd.
- PWM Pulse Width Modulation
- the output current control units 6a and 6b are proportional calculation units 10a and 10b, integration calculation units 11a and 11b, buffers 16a and 16b that output the outputs of the integration calculation units 11a and 11b with a delay of one sample period, and an integration calculation unit.
- Adders 17a and 17b that add the outputs of 11a and 11b and the outputs of buffers 16a and 16b; adders 12a and 12b that add the outputs of proportional operation units 10a and 10b and the outputs of adders 17a and 17b; Subtracting units 13a and 13b for calculating the saturation amount of the operation amount restricted by the voltage command restriction units 3a and 3b by subtracting the output of the voltage command restriction units 3a and 3b from the outputs of 12a and 12b, and the saturation amount of the operation amount Are multiplied by a feedback gain Kfb, and outputs of the multipliers 14a and 14b are expressed as current command values Id_cmd and Iq_cmd.
- Flow detection value Id_det it comprises adding section 15a for adding the deviation between Iq_det, and 15b, a.
- Kp of the output current control units 6a and 6b is a proportional gain
- Ki is an integral gain
- Kfb is a feedback gain.
- the difference between the outputs of the adders 12a and 12b and the outputs of the voltage command limiting units 3a and 3b, that is, the operation amount limited by the voltage command limiting units 3a and 3b. Is fed back to the input side of the output current limiting units 6a and 6b.
- Voltage commands V1_cmd and V2_cmd can be expressed by the following equation (2).
- the buffers 18a and 18b of the feedback value calculation unit 23 output the voltage commands V1_cmd and V2_cmd with a delay of one sample period, and the outputs of the buffers 18a and 18b are output by the adder 19. Addition and division by 2 by the divider 20, and an average value in the voltage command after the output restriction is calculated as a feedback value V_fb.
- Dq conversion unit 21 performs dq conversion on feedback value V_fb to obtain d-axis feedback value Vd_fb and q-axis feedback value Vq_fb.
- a value obtained by multiplying the deviation between the d-axis voltage command Vd_cmd and the d-axis feedback value Vd_fd by the feedback gain Kfb is superimposed on the deviation between the d-axis current command Id_cmd and the detected d-axis current value Id_det, and is added to the d-axis integral calculator 11a. input.
- phase Theta_det of the motor M output from the buffer 22 is also output to the dq conversion unit 21 with a delay of one sample period. Further, the voltage command limiting units 7a and 7b shown in FIG. 7 are omitted. Further, similarly to FIG. 5, the inverter output currents I1 and I2 are detected and added to be measured as the output current I_det of the entire system. Since the output current I_det is a three-phase current, dq conversion is performed by the dq converter 4 to control the output current, and current detection values Id_det and Iq_det are output. For this dq conversion, phase Theta_det detected by an encoder or the like is used.
- the parallel operation device of the PWM power converter in the first embodiment it is possible to perform the cross current compensation and appropriately perform the antiwindup process even when the voltage saturation occurs. That is, even if the cross current compensation command value Vccc_cmd is superimposed on the voltage command V_cmd after being converted into the three-phase voltage, voltage saturation does not occur, and thus it is possible to perform the antiwindup control normally.
- the parallel operation device of the PWM power converter in the second embodiment is obtained by performing zero-phase modulation to increase the voltage output range with respect to the parallel operation device of the PWM power converter in the first embodiment.
- FIG. 2 is a block diagram showing a parallel operation device for PWM power converters according to the second embodiment.
- Various methods have been proposed for the zero-phase modulation.
- the method of Patent Document 2 will be described as an example.
- a zero-phase voltage command V0_cmd which is a sine wave having a frequency three times the fundamental wave is subtracted from the voltage command V_cmd of each phase.
- the cross current compensation is performed after the zero-phase voltage command V0_cmd is subtracted from the voltage command V_cmd.
- the d-axis and q-axis feedback values Vd_fb and Vq_fb may be calculated in the same manner as in the first embodiment. Since the d-axis and q-axis feedback values Vd_fb and Vd_fb after the dq conversion calculation are values mathematically independent of the zero-phase voltage, they can be used without any problem.
- the PWM power converter parallel operation apparatus can perform the antiwindup control normally because the antiwindup process does not interfere with the cross current compensation or the zero phase compensation.
- current vibration and torque vibration do not occur, and even if the mechanical system has a resonance frequency, it can be used without destroying the mechanical system.
- the peak value of the voltage command can be reduced and the fundamental wave component of the output voltage can be increased.
- the parallel operation device of the PWM power converter according to the third embodiment is obtained by adding dead time compensation to the parallel operation device of the PWM power converter according to the second embodiment.
- FIG. 4 shows a time chart for dead time compensation. However, FIG. 4 shows only the time chart of one inverter INV1.
- an error time measurement value Vce_DLY1 between the on time and the off time of the gate command Gate1 and the inverter phase voltage detection value Vce1 is measured. Since the dead time compensation unit 9 uses the error time measurement value Vce_DLY1 for dead time compensation, the error time measurement value Vce_DLY1 is used as the voltage command value V_cmd [p. u. ] Dead time compensation voltage Vdtc_cmp1 [p. u. ] Is obtained.
- This dead time compensation voltage Vdtc_cmp1 is obtained by setting a single amplitude of a carrier signal generated by a carrier generation unit (not shown) of PWM control to 1 [p. u. ],
- the carrier frequency Fc [Hz] is obtained by the calculation of the following equation (4).
- the dead time compensation unit 9 measures the gate command Gate2 of the other inverter INV2 and the error time measurement value Vce_DLY2 of the on-time and off-time of the inverter phase voltage detection value Vce2 to obtain the dead time compensation voltage Vdtc_cmp2. Furthermore, since Vce_DLY for two inverters exists, the dead time compensation unit 9 takes the average of the respective dead time compensation voltages Vdtc_cmp1 and Vdtc_cmp2 and outputs it as the dead time compensation voltage Vdtc_cmp.
- the dead time compensation voltage Vdtc_cmp from the dead time compensation unit 9 is the value after the dq conversion so that the gate command Gate1 before the dead time compensation calculated in the PWM generation unit PWM1 matches the inverter phase voltage detection value Vce1 after the compensation. It is superimposed on the voltage command V_cmd. This superposition is performed by adding or subtracting to the common voltage command value (V_cmd) of each PWM generator PWM1, PWM2 according to the polarity of the next PWM control on / off. The time dead time compensation voltage Vdtc_cmp is added, and the off time dead time compensation voltage Vdtc_cmp is subtracted while the PWM carrier is rising.
- the dead time compensation can be performed in which the gate command Gate1 before the dead time compensation and the compensated inverter phase voltage detection value Vce1 coincide with each other and the error is substantially zero.
- the PWM generators PWM1 and PWM2 Based on the gate commands Gate1 and Gate2, the PWM generators PWM1 and PWM2 output switching commands G1_H, G1_L, G2_H, and G2_L having dead time times.
- the PWM power converter parallel operation apparatus does not interfere with the cross current compensation function, the zero phase modulation, and the dead time compensation even when voltage saturation occurs. Therefore, even when there is a resonance frequency in the mechanical system, the mechanical system can be used without being destroyed.
- the dead time compensation can make the error between the gate command Gate1 before the dead time compensation and the inverter phase voltage detection value Vce after the dead time compensation substantially zero, thereby eliminating the delay time DTC_DLY after the dead time compensation. it can. Accordingly, the limit on the minimum on-pulse time can be reduced, and a narrower PWM pulse can be output. If a narrower PWM pulse can be output, the maximum output voltage of a power converter such as an inverter can be increased. Moreover, the dead time of a PWM inverter becomes small, and the response of current control and frequency control improves. Further, since the dead time compensation value is superimposed on the voltage command, no missing pulse occurs when the dead time is generated.
- the dead time compensation can reduce the 6f component of the output current.
- the dead time compensation according to the third embodiment can reduce current distortion.
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Abstract
Description
ワインドアップ発生時の電流を周波数軸で観察した場合、数Hzから数百Hzの広い帯域幅のオフセットが乗る。すなわち、意図しない多くの振動を持った電流になる。
図1は、本実施形態1におけるPWM電力変換器の並列運転装置を示す構成図である。
本実施形態2におけるPWM電力変換器の並列運転装置は、実施形態1におけるPWM電力変換器の並列運転装置に対して、電圧出力範囲を増大させるために零相変調を行ったものである。
本実施形態3におけるPWM電力変換器の並列運転装置は、実施形態2のPWM電力変換器の並列運転装置に対してデッドタイム補償を追加したものである。
Claims (3)
- 複数台のPWM電力変換器の出力を並列接続し、各PWM電力変換器を同期運転するPWM電力変換器の並列運転装置であって、
電流指令値と電流検出値との偏差の積分演算を行い、電圧指令を出力する電流制御部と、
各PWM電力変換器の出力電流の偏差に基づき、前記電圧指令に対して横流補償を行い、各PWM電力変換器の電圧指令を出力する横流補償部と、
前記各PWM電力変換器の電圧指令に対して、出力制限を掛ける電圧指令制限部と、
出力制限後の電圧指令における平均値をフィードバック値として算出するフィードバック値算出部と、を備え、
前記電流制御部における積分演算に用いる偏差には、
前記電流指令値と電流検出値との偏差に対して、前記フィードバック値と電圧指令との偏差である電圧指令制限部で制限された操作量の飽和量に対してフィードバックゲインを乗算した値を、加算した値を用いることを特徴とするPWM電力変換器の並列運転装置。 - 前記電圧指令から零相電圧を減算することを特徴とする請求項1記載のPWM電力変換器の並列運転装置。
- 前記電圧指令に、デッドタイム補償値を加算することを特徴とする請求項1または2記載のPWM電力変換器の並列運転装置。
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US14/371,657 US9257934B2 (en) | 2012-01-12 | 2012-12-11 | Apparatus for parallel operation of pulse-width modulation power converters |
CN201280066770.5A CN104040867B (zh) | 2012-01-12 | 2012-12-11 | Pwm电力变换器的并联运转装置 |
KR1020147015682A KR101560669B1 (ko) | 2012-01-12 | 2012-12-11 | 펄스폭변조 전력변환기의 병렬운전 장치 |
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WO2014123199A1 (ja) * | 2013-02-06 | 2014-08-14 | 株式会社明電舎 | 電力変換回路の横流電流抑制制御装置 |
JP5979253B2 (ja) * | 2013-02-06 | 2016-08-24 | 株式会社明電舎 | 電力変換回路の横流電流抑制制御装置 |
CN105099325A (zh) * | 2014-05-08 | 2015-11-25 | 发那科株式会社 | 电动机控制装置 |
EP3208931A4 (en) * | 2014-10-20 | 2018-05-23 | Meidensha Corporation | Three-phase neutral-point-clamped power conversion device |
US10574163B2 (en) | 2014-10-20 | 2020-02-25 | Meidensha Corporation | Three-phase neutral-point-clamped power conversion device |
WO2018051433A1 (ja) * | 2016-09-14 | 2018-03-22 | 国立大学法人横浜国立大学 | 電力供給システム |
CN111092587A (zh) * | 2019-12-27 | 2020-05-01 | 北京合康新能科技股份有限公司 | 一种变频调速控制方法 |
CN111142492A (zh) * | 2019-12-31 | 2020-05-12 | 润电能源科学技术有限公司 | 控制器振荡发散控制方法、控制器及存储介质 |
CN111142492B (zh) * | 2019-12-31 | 2021-05-07 | 润电能源科学技术有限公司 | 控制器振荡发散控制方法、控制器及存储介质 |
Also Published As
Publication number | Publication date |
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CN104040867A (zh) | 2014-09-10 |
US20140334204A1 (en) | 2014-11-13 |
JP5803681B2 (ja) | 2015-11-04 |
US9257934B2 (en) | 2016-02-09 |
KR20140089600A (ko) | 2014-07-15 |
JP2013143880A (ja) | 2013-07-22 |
KR101560669B1 (ko) | 2015-10-15 |
CN104040867B (zh) | 2016-10-26 |
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