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CN104953686B - Control method for charge-discharge virtual synchronization motor for electromobile energy storage - Google Patents

Control method for charge-discharge virtual synchronization motor for electromobile energy storage Download PDF

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Publication number
CN104953686B
CN104953686B CN201410110951.4A CN201410110951A CN104953686B CN 104953686 B CN104953686 B CN 104953686B CN 201410110951 A CN201410110951 A CN 201410110951A CN 104953686 B CN104953686 B CN 104953686B
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China
Prior art keywords
synchronous motor
virtual synchronous
voltage
virtual
interface
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CN201410110951.4A
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CN104953686A (en
Inventor
吕志鹏
盛万兴
刘海涛
钟庆昌
李蕊
梁惠施
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State Grid Corp of China SGCC
China Electric Power Research Institute Co Ltd CEPRI
State Grid Liaoning Electric Power Co Ltd
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State Grid Corp of China SGCC
China Electric Power Research Institute Co Ltd CEPRI
State Grid Liaoning Electric Power Co Ltd
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Application filed by State Grid Corp of China SGCC, China Electric Power Research Institute Co Ltd CEPRI, State Grid Liaoning Electric Power Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201410110951.4A priority Critical patent/CN104953686B/en
Priority to PCT/CN2014/093002 priority patent/WO2015143891A1/en
Publication of CN104953686A publication Critical patent/CN104953686A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/20—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by converters located in the vehicle
    • B60L53/22—Constructional details or arrangements of charging converters specially adapted for charging electric vehicles
    • 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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/30—AC to DC converters
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M2220/00—Batteries for particular applications
    • H01M2220/20—Batteries in motive systems, e.g. vehicle, ship, plane
    • 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
    • H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J2207/20—Charging or discharging characterised by the power electronics converter
    • 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
    • Y02E60/10—Energy storage using batteries
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention relates to a control method for electromobile energy storage, and specifically relates to a control method for a charge-discharge virtual synchronization motor for electromobile energy storage. A charge circuit used in the method is a high-frequency isolated PWM rectification circuit, the PWM rectification circuit comprises an alternating-current interface and a direct-current interface which are sequentially connected, the alternating-current interface adopts an H-bridge AC/DC rectification circuit and is used for rectifying a power grid voltage to a 600V direct-current voltage; the direct-current interface adopts an isolated DC/DC converter, and is used for converting the 600V direct-current voltage to a 48V direct-current voltage and supplying the 48V direct-current voltage to an electromobile load. The method comprises the following steps: (1) controlling the alternating-current interface by a virtual synchronization motor control policy; (2) carrying out the double-ring control of a voltage outer ring and a current inner ring on the direct-current interface. The control method is capable of reducing the influences of a charge interface and a discharge interface on a power grid, and improving the adaptability of the power grid to large-scale energy storage access; the direct-current interface adopts an isolated DC/DC converter, so that the need of rapid constant-power charge of an energy storage battery can be met.

Description

A kind of electric automobile energy storage discharge and recharge virtual synchronous motor control method
Technical field
The present invention relates to a kind of control method of electric automobile energy storage is and in particular to a kind of electric automobile energy storage discharge and recharge is empty Intend synchronous motor control method.
Background technology
With the continuous consumption of Fossil fuel, the energy crisis in global range and environmental problem are increasingly sharpened.Tradition combustion Oil type automobile, as a big consumer of Fossil fuel, is faced with huge challenge.In recent years, by means of battery, renewable energy The continuous progress of source interconnection technology, the development of electric automobile causes extensive concern.Along with the fast development of electric automobile, Its impact to aspects such as power distribution network increase-volume, planning, construction, the qualities of power supply is also prominent all the more.The charge and discharge electrical interface of electric automobile As the important bridge between electric automobile and electrical network and tie, its circuit and Advanced Control Strategies have important research valency Value.On the one hand, the alternating current-direct current electric energy conversion process of electric vehicle charge interface may bring substantial amounts of harmonic wave dirty to power distribution network Dye.Grid side needs the high-performance that some electrical networks are friendly and electrical network is interactive network interface badly, in the situation ensureing the electrical network quality of power supply Under, make electric automobile load have certain Demand Side Response regulating power, and there is certain inertia and damping, mitigate electronic The impact to electrical network for the car load.On the other hand, in order to adapt to the practical of electric automobile, its charge and discharge electrical interface and its control skill Art also needs further to be studied.
In order to successfully manage the fast development of electric automobile, make " the model load " more conforming to electrical network demand, Existing part document is studied with regard to this, and these researchs can be divided into two big class by the size of charge power.Firstly, for filling The not high small-power trickle charge occasion of power demand, electric automobile electrical network is interactive（Vehicle to Grid,V2G）, charging circuit Design etc. obtained extensive research.Battery in order to integrate electric automobile provides necessary assistant service for electrical network, needs Third party's dispatching control center in addition to electric automobile, electrical network, increased system cost and the complex nature of the problem.In the big work(of high pressure The centralized quick charge application scenario of rate, is also paid close attention to the problems such as high pressure DC/DC changer, power quality controlling.So And the grid side demand such as the Demand Side Response of existing research little consideration electric automobile, electrical network close friend.In Advanced Control Strategies Under effect, if charge-discharge circuit can be equivalent to the autonomous unit that interacts with electrical network, and meet electrical network close friend, Demand Side Response etc. Premium Features, for accelerating the development of electric automobile and reduce its impact to electrical network and all have and be of great significance.This is not But the adverse effect that electric automobile high permeability is stablized and the quality of power supply is brought can be reduced to power distribution network moreover it is possible to effectively meet user The demand that quick invariable power is charged.Use for reference the synchronous motor technology in traditional electrical network, if can be in virtual motor control strategy Under effect by the charge-discharge circuit interface equivalent control of electric automobile be synchronous motor, you can automatically make it have and between electrical network The Premium Features such as interaction, Demand Side Response.
For the contact potential series of specification charging equipment of electric automobile, AIAE American institute of automobile engineers is proposed SAE J1772 Rechargeable standard, specification instructs design and the manufacture of electrical interface circuits.Charging system is divided into Three Estate by this standard, that is, exchange Grade 1, exchange grade 2 and DC level, to meet the different demands of normal charge and quick charge respectively.Electronic in order to meet The demand of automobile normal charge, the exchange grade 1 in this standard and grade 2 require charger from single phase ac electrical network power taking, And the normal charge ability of 2～8kW is provided for electric automobile.In order to meet the quick charge demand of electric automobile, in direct current etc. The maximum charging ability that 400A, 240kW can be provided is required for electric automobile in level.This standard it further provides that DC level charges simultaneously The minimum inlet highway voltage of equipment is 600V, and the voltage of batteries of electric automobile is all relatively low, generally 36V, 48V, 60V and 72V etc..It can be seen that, in order to meet the voltage matches between dc bus and batteries of electric automobile in charge-discharge circuit, need two High-power, wide output voltage range DC/DC changer is introduced between person.
Existing relatively common electric vehicle charge interface circuit mainly has three class shown in Fig. 1.
1. the uncontrollable rectifier structure with power frequency isolation, such as Fig. 1（a）Shown.The major advantage of such interface circuit is：Dynamically Responding ability is strong, DC side ripple voltage is little etc..However, because the presence of isolating transformer is so that whole system volume is bigger than normal； Additionally, a large amount of harmonic current injection electrical networks, under serious conditions, electric current total harmonic distortion can not be made control rectifier（Total Harmonic Distortion,THD）80% can be can exceed that.
2. the uncontrollable rectifier structure of high-frequency isolation, such as Fig. 1（b）Shown.Due to employing high frequency transformer isolation technology, it is The volume of system substantially reduces compared with power frequency isolation method.However, research shows：The electric current THD of such interface circuit is still up to 30%.
3. the PWM rectifier structure of high-frequency isolation, such as Fig. 1（c）Shown.Because commutator side employs PWM control mode, energy Significantly improve power factor, reduce electric current THD, and small volume, dynamic response are good.However, the charge-discharge circuit of this structure is also no Method reaches electrical network interaction, the purpose of Demand Side Response.
Content of the invention
For the deficiencies in the prior art, it is an object of the invention to provide a kind of electric automobile energy storage discharge and recharge virtual synchronous are electric Machine control method, makes electric automobile energy storage respond the change of distribution frequency/voltage by virtual motor technology, possesses participation distribution The ability adjusting.
The purpose of the present invention is to be realized using following technical proposals：
The present invention provides a kind of electric automobile energy storage discharge and recharge virtual synchronous motor control method, the charging of methods described Circuit is the PWM rectification circuit of high-frequency isolation, and described PWM rectification circuit includes the exchange interface being sequentially connected and DC interface, Described exchange interface adopts H bridge AC/DC rectification circuit, for being the DC voltage of 600V by line voltage rectification；Described direct current Interface adopts isolated form DC/DC changer, for the DC voltage of 600V is converted to the DC voltage of 48V, supplies electronic vapour Car load；
It thes improvement is that, methods described includes：
1. exchange interface is controlled using virtual synchronous motor control strategy；
2. DC interface is controlled using the double -loop control control strategy of outer voltage and current inner loop.
Further, described exchange interface H bridge AC/DC rectification circuit adopt three-phase six bridge arm structure, each brachium pontis by IGBT module forms, and each IGBT module forms by IGBT device and with its antiparallel diode；Described H bridge AC/DC is whole Current circuit and capacitor branches CdcIn parallel；Correspondence is connected the three-phase of exchange interface H bridge AC/DC rectification circuit with the three of electrical network respectively Connect；
The isolated form DC/DC changer of described DC interface includes the biphase H bridge electricity that transformator is connected with transformer primary side Road and the diode filter circuit being connected with transformer secondary；Described biphase H-bridge circuit includes four brachium pontis, each brachium pontis by IGBT module forms, and each IGBT module forms by IGBT device and with its antiparallel diode；Described diode filtering Circuit includes diode branch and the capacitive branch of parallel connection；Inductance connection is between diode branch and capacitive branch；Described two Pole pipe props up the diode composition of route series connection.
Further, described 1. in：Electronic for the electric automobile of electrical network grid entry point charging pile is equivalent to virtual synchronous motor, The mathematical model of virtual synchronous motor control is as follows：
The torque equation of virtual synchronous motor is expressed as：
Wherein：δ is the generator rotor angle of virtual synchronous motor, and unit is rad；ω is the angular velocity of virtual synchronous motor, ω0For electricity Net synchronous angular velocity, unit is rad/s；H is the inertia time constant of virtual synchronous motor, and unit is s；Te、TmAnd TdIt is respectively The electromagnetism of virtual synchronous motor, machine torque and damping torque, unit is N m；D is damped coefficient, and unit is N m s/ rad；Wherein, the torque of virtual synchronous motor electromagnetic is by virtual synchronous motor triphasic potential ea、eb、ecAnd three-phase output current ia、 ib、icObtain, i.e. Te=Pe/ ω=(eaia+ebib+ecic)/ω；
The electromagnetic equation of virtual synchronous motor is expressed as：
Wherein, L and R is respectively stator inductance and the resistance of virtual synchronous motor, uabcGenerator terminal electricity for virtual synchronous motor Pressure；eabcFor writing a Chinese character in simplified form of virtual synchronous motor triphasic potential；iabcFor three-phase output current ia、ib、icWrite a Chinese character in simplified form；Stator inductance L and Resistance R is corresponding with the filter inductance of exchange interface and the dead resistance of wave filter and IGBT device.
Further, according to the frequency of electrical network and voltage-regulation, it takes the active of electrical network and reactive power to exchange interface；
A, active regulation：
By to virtual synchronous electromechanics torque TmRegulation i.e. realize exchange interface in active instruction regulation；TmBy Nominal torque instructs T0With frequency departure feedback command Δ T two parts composition, wherein T0It is expressed as：
T0=Pref/ω （3）；
Wherein, PrefFor the active instruction of combining inverter, in charge-discharge circuit, PrefIt is DC bus-bar voltage PI to adjust The control output of section device；The regulation of frequency response is realized by virtual frequency modulation unit, and virtual frequency modulation unit is taken as ratio Link, that is, machine torque deviation instruction Δ T be expressed as：
Δ T=kf(f-f0) （4）；
Wherein, f is the frequency of virtual synchronous motor set end voltage, f0For electrical network rated frequency, kfFor frequency response coefficient, For constant negative；
B, Reactive-power control：
By adjusting virtual potential E of virtual synchronous motor modelpTo adjust its set end voltage and idle；
The virtual potential instruction E of virtual synchronous motorpIncluding：The no-load emf E of motor0, reaction reactive power adjust potential ΔEQAdjust potential Δ E with reaction set end voltageU；
The part potential Δ E that reaction reactive power is adjustedQIt is expressed as：
ΔEQ=kq(Qref-Q) （5）；
Wherein, kqFor Reactive-power control coefficient, Δ EQFor exchanging the idle instruction of interface, Q is the wink of exchange interface generator terminal output When reactive power, Q is expressed as：
Wherein：ua、ubAnd ucIt is respectively the three-phase set end voltage of virtual synchronous electrode；
Reaction set end voltage adjusts potential Δ EU, Δ EUIt is equivalent to the automatic exciting regulator of virtual synchronous motor, automatically encourage Magnestat is reduced to proportional component, then Δ EUIt is expressed as：
ΔEU=kv(Uref-U) （7）；
Wherein, UrefIt is respectively command value and the actual value of combining inverter generator terminal line voltage virtual value, k with UvFor voltage Adjustment factor；
Virtual synchronous motor potential is：
Ep=E0+ΔEQ+ΔEU（8）；
Virtual synchronous motor potential voltage vector is：
Further, described 1. in virtual synchronous motor control strategy be：In active regulation, Reactive-power control and machinery Equation and electromagnetic equation obtain virtual synchronous motor transient potential EpAfter generator rotor angle δ of virtual synchronous motor, in formula（9）Obtain electricity Gesture voltage eabcOn the basis of, by formula（2）Obtain the command value of electrical network three-phase output current, then in ratio resonance control strategy In the presence of ensure actual grid-connected three-phase output current iabcTo its command value irefabcTracking.
Compared with the prior art, the beneficial effect that the present invention reaches is：
1st, the present invention provides a kind of electrical network friendly electric automobile energy storage charge/discharge control method.The rectified current of the method Route exchange interface and DC interface two parts composition, wherein the three-phase H bridge rectification circuit of exchange interface is by line voltage rectification For 600V DC voltage, then be converted to the DC voltage of 48V through the high power D C/DC current transformer of DC interface, supply is electronic Car load.
2nd, exchange interface adopts virtual synchronous Motor Control strategy, can be adjusted with responsive electricity grid voltage/frequency, be electrical network Active and reactive power support is provided, the drawbacks of changing traditional charging acc power one-way flow and can not participate in distribution and adjust, cooperation storage Energy device is remarkably improved inertia and the damping of charge and discharge electrical interface.Exchange interface is made using virtual synchronous Motor Control strategy The current distortion of grid entry point is little and necessary voltage and frequency can be provided to support for electrical network, improves system stability.
3rd, this control method can reduce the impact to electrical network for the energy storage charge and discharge electrical interface, and lifting electrical network accesses to extensive energy storage Adaptability.DC interface adopts isolated form DC/DC changer, can effectively realize the electrical isolation and electrical network between, improves System reliability, and the demand of energy-storage battery quick invariable power charging can be met.
Brief description
Fig. 1 is electric vehicle charge interface circuit topology figure in prior art, wherein（a）Whole for not controlling of isolating with power frequency Stream topology diagram；（b）Uncontrollable rectifier topology diagram for high-frequency isolation；（c）PWM rectification topology for high-frequency isolation Figure；
Fig. 2 is the exchange Interface Controller policy construction figure that the present invention provides；
Fig. 3 is the DC interface control strategy structure chart that the present invention provides.
Specific embodiment
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is described in further detail.
The present invention is directed to traditional charger energy one-way flow, can not participate in the problem of distribution regulation, provide a kind of according to The electric automobile energy storage charge/discharge control method that the method for operation of synchronous motor load is controlled.Made by virtual motor technology Obtain electric automobile energy storage response distribution frequency/voltage change, possess the ability participating in that distribution is adjusted.
Hardware topology such as Fig. 1 that the present invention relies on（C）Shown；The charging circuit of the inventive method is high-frequency isolation PWM rectification circuit, described PWM rectification circuit includes the exchange interface being sequentially connected and DC interface, and described exchange interface is adopted With H bridge AC/DC rectification circuit, for line voltage rectification is the DC voltage of 600V；Described DC interface adopts isolated form DC/DC changer, for the DC voltage of 600V is converted to the DC voltage of 48V, supplies electric automobile load；Exchange interface H bridge AC/DC rectification circuit adopt three-phase six bridge arm structure, each brachium pontis is made up of IGBT module, each IGBT module by IGBT device and with its antiparallel diode composition；Described H bridge AC/DC rectification circuit and capacitor branches CdcIn parallel；Hand over Correspondence is connected the three-phase of stream interface H bridge AC/DC rectification circuit with the three of electrical network respectively；
The isolated form DC/DC changer of DC interface include biphase H-bridge circuit that transformator is connected with transformer primary side and The diode filter circuit being connected with transformer secondary；Described biphase H-bridge circuit includes four brachium pontis, and each brachium pontis is by IGBT mould Block forms, and each IGBT module forms by IGBT device and with its antiparallel diode；Described diode filter circuit bag Include diode branch and the capacitive branch of parallel connection；Inductance connection is between diode branch and capacitive branch；Described diode props up The diode composition of route series connection.
The electric automobile energy storage discharge and recharge virtual synchronous motor control method that the present invention provides includes：
1. exchange interface is controlled using virtual synchronous motor control strategy；
In grid side AC/DC exchange interface, using virtual synchronous motor control strategy.Enter from the point of view of grid-connected, entirely Electric automobile charging pile can be equivalent to a synchronous motor load, adaptively the voltage/frequency disturbance of responsive electricity grid, and is Electrical network provides necessary inertia and damping.The virtual motor control of in discharge and recharge scheme AC AC/DC interface is given below Mathematical model.
The torque equation of virtual synchronous motor is expressed as：
Wherein：δ is the generator rotor angle of virtual synchronous motor, and unit is rad；ω is the angular velocity of virtual synchronous motor, ω0For electricity Net synchronous angular velocity, unit is rad/s；H is the inertia time constant of virtual synchronous motor, and unit is s；Te、TmAnd TdIt is respectively The electromagnetism of virtual synchronous motor, machine torque and damping torque, unit is N m；D is damped coefficient, and unit is N m s/ rad；Wherein, the torque of virtual synchronous motor electromagnetic is by virtual synchronous motor triphasic potential ea、eb、ecAnd three-phase output current ia、 ib、icObtain, i.e. Te=Pe/ ω=(eaia+ebib+ecic)/ω；Because the presence of constant H and D is so that charger is in electrical network electricity The ability of machinery inertial and power oscillation damping is shown during pressure/frequency disturbance, load switching.
The electromagnetic equation of virtual synchronous motor is expressed as：
Wherein, L and R is respectively stator inductance and the resistance of virtual synchronous motor, uabcGenerator terminal electricity for virtual synchronous motor Pressure；eabcFor writing a Chinese character in simplified form of virtual synchronous motor triphasic potential；iabcFor three-phase output current ia、ib、icWrite a Chinese character in simplified form；Stator inductance L and Resistance R is corresponding with the filter inductance of exchange interface and the dead resistance of wave filter and IGBT device.
Under the effect of carried virtual motor control strategy, Fig. 1（c）Shown charge-discharge circuit exchange interface interact with electrical network and Meet the control strategy of demanding side of the electrical power net response, on one's own initiative the frequency according to electrical network and voltage-regulation its take the active of electrical network and Reactive power.
A, active regulation：
Under the conditions of power is for the constant power load model of P, the specified machine torque instruction T of synchronous motor0With mains frequency ω It is inversely proportional to, i.e. T0ω=P；Additionally, synchronous motor is after mains frequency disturbance, its machine torque is also subject to the damping action of physics And change：Mains frequency is higher, and motor speed is faster, and the mechanical damping torque such as windage is also bigger.This can be regarded as Its response to mains frequency change.The present invention is by virtual synchronous electromechanics torque TmRegulation i.e. can achieve exchange connect The regulation of active instruction in mouthful.TmT is instructed by nominal torque0With frequency departure feedback command Δ T two parts composition, wherein T0Can To be expressed as：
T0=Pref/ω （3）；
Wherein, PrefFor the active instruction of combining inverter, in charge-discharge circuit, PrefIt is DC bus-bar voltage PI to adjust The control output of section device；The regulation of frequency response is realized by virtual frequency modulation unit, and virtual frequency modulation unit is taken as ratio Link, that is, machine torque deviation instruction Δ T be expressed as：
Δ T=kf(f-f0) （4）；
Wherein, f is the frequency of virtual synchronous motor set end voltage, f0For electrical network rated frequency, kfFor frequency response coefficient, For constant negative.
B, Reactive-power control：
Synchronous motor adjusts its idle output and set end voltage by excitation controller.It is likewise possible to by adjusting Virtual potential E of virtual synchronous motor modelpTo adjust its set end voltage and idle.
The virtual potential instruction E of virtual synchronous motorpIt is made up of three parts.First, being the no-load emf E of motor0.Second, It is the part Δ E that reaction reactive power is adjustedQ, can be expressed as：
ΔEQ=kq(Qref-Q) （5）；
Wherein, kqFor Reactive-power control coefficient, Δ EQFor exchanging the idle instruction of interface, Q is the wink of exchange interface generator terminal output When reactive power, Q is expressed as：
Wherein：ua、ubAnd ucIt is respectively the three-phase set end voltage of virtual synchronous electrode；
Virtual potential instructs EpPart III be reaction set end voltage adjust potential Δ EU, Δ EUIt is equivalent to virtual synchronous The automatic exciting regulator of motor（Autonomous voltage regulator,AVR）, automatic exciting regulator be reduced to compare Example link, then Δ EUIt is expressed as：
ΔEU=kv(Uref-U) （7）；
Wherein, UrefIt is respectively command value and the actual value of combining inverter generator terminal line voltage virtual value, k with UvFor voltage Adjustment factor；
Virtual synchronous motor potential is：
Ep=E0+ΔEQ+ΔEU（8）；
Virtual synchronous motor potential voltage vector is：
Analyzed based on above, the exchange Interface Controller strategy based on virtual synchronous electric machine strategy can be obtained, as Fig. 2 institute Show.Obtain virtual motor transient potential E in active, Reactive-power control module and machinery, electromagnetic equationpAfter generator rotor angle δ, in order to Ensure the alternating current i between exchange interface and electrical networkabcThere is relatively low total harmonic distortion factor, to meet the work(of electrical network close friend Can, obtain potential voltage e in formula (9)abcOn the basis of, obtained the command value of electrical network alternating current by formula (2), then in ratio Ensure actual grid-connected current i in the presence of resonance control strategyabcTo its command value irefabcAccurate tracking.Accordingly, Ke Yibao Low total harmonic distortion THD of card electrical network alternating current, High Power Factor run.
2. DC interface is controlled using the double -loop control control strategy of outer voltage and current inner loop：
Based on Fig. 1（c）Charge-discharge circuit interface, exchange interface VD be Udc=600V is it is impossible to directly connect To on batteries of electric automobile it is therefore desirable to adopt Fig. 1（c）Shown high-power, wide output voltage range DC interface conduct The bridge of connection high voltage dc bus and electric automobile and tie.The control strategy of DC interface adopts outer voltage PI v and electricity The double -loop control of stream internal ring PI i realizing, by the output voltage U of DC interfaceoIt is stabilized to its rated value Uoref=48V, such as Fig. 3 Shown, wherein D is the dutycycle driving Fig. 1 (c) DC/DC changer IGBT, IdCharging current for electric automobile.
In the control method that the present invention provides, exchange interface adopts virtual synchronous motor technology it is ensured that grid-connected current While low harmonic distortion, necessary active and idle can be provided with responsive electricity grid voltage/frequency anomalous event for electrical network Support, and improve inertia and the damping of charge and discharge electrical interface.This control method can reduce the impact to electrical network for the energy storage charge and discharge electrical interface, carries Rise the adaptability that electrical network accesses to extensive energy storage.DC interface adopts isolated form DC/DC changer, can meet energy-storage battery The demand that quick invariable power charges.
Finally it should be noted that：Above example is only not intended to limit in order to technical scheme to be described, to the greatest extent Pipe has been described in detail to the present invention with reference to above-described embodiment, and those of ordinary skill in the art should be understood：Still The specific embodiment of the present invention can be modified or equivalent, and any without departing from spirit and scope of the invention Modification or equivalent, it all should be covered in the middle of scope of the presently claimed invention.

Claims (1)

1. a kind of electric automobile energy storage discharge and recharge virtual synchronous motor control method, the charging circuit of methods described be high frequency every From PWM rectification circuit, described PWM rectification circuit includes the exchange interface being sequentially connected and DC interface, described exchange interface Using H bridge AC/DC rectification circuit, for line voltage rectification is the DC voltage of 600V；Described DC interface is using isolation Type DC/DC changer, for the DC voltage of 600V is converted to the DC voltage of 48V, supplies electric automobile load；
It is characterized in that, methods described includes：
1. exchange interface is controlled using virtual synchronous motor control strategy；
2. DC interface is controlled using the Double-loop Control Strategy of outer voltage and current inner loop；
The H bridge AC/DC rectification circuit of described exchange interface adopts three-phase six bridge arm structure, and each brachium pontis is made up of IGBT module, Each IGBT module forms by IGBT device and with its antiparallel diode；Described H bridge AC/DC rectification circuit and capacitor Branch road CdcIn parallel；Correspondence is connected the three-phase of exchange interface H bridge AC/DC rectification circuit with the three of electrical network respectively；
The isolated form DC/DC changer of described DC interface include biphase H-bridge circuit that transformator is connected with transformer primary side and The diode filter circuit being connected with transformer secondary；Described biphase H-bridge circuit includes four brachium pontis, and each brachium pontis is by IGBT mould Block forms, and each IGBT module forms by IGBT device and with its antiparallel diode；Described diode filter circuit bag Include diode branch and the capacitive branch of parallel connection；Inductance connection is between diode branch and capacitive branch；Described diode props up The diode composition of route series connection；
Described 1. in：Electronic for the electric automobile of electrical network grid entry point charging pile is equivalent to virtual synchronous motor, virtual synchronous motor The mathematical model controlling is as follows：
The torque equation of virtual synchronous motor is expressed as：
d δ d t = ω H d ω d t = T e - T m - T d = T e - T m - D ( ω - ω 0 ) - - - ( 1 ) ;
Wherein：δ is the generator rotor angle of virtual synchronous motor, and unit is rad；ω is the angular velocity of virtual synchronous motor, ω0Same for electrical network Step angular velocity, unit is rad/s；H is the inertia time constant of virtual synchronous motor, and unit is s；Te、TmAnd TdRespectively virtual The electromagnetism of synchronous motor, machine torque and damping torque, unit is N m；D is damped coefficient, and unit is N m s/rad；Its In, virtual synchronous motor electromagnetic torque is by virtual synchronous motor triphasic potential ea、eb、ecAnd three-phase output current ia、ib、ic? Arrive, i.e. Te=Pe/ ω=(eaia+ebib+ecic)/ω；
The electromagnetic equation of virtual synchronous motor is expressed as：
L di a b c d t = e a b c - u a b c - Ri a b c - - - ( 2 ) ;
Wherein, L and R is respectively stator inductance and the resistance of virtual synchronous motor, uabcSet end voltage for virtual synchronous motor； eabcFor writing a Chinese character in simplified form of virtual synchronous motor triphasic potential；iabcFor three-phase output current ia、ib、icWrite a Chinese character in simplified form；Stator inductance L and electricity Resistance R is corresponding with the filter inductance of exchange interface and the dead resistance of wave filter and IGBT device；
According to the frequency of electrical network and voltage-regulation, it takes the active of electrical network and reactive power to exchange interface；
A, active regulation：
By to virtual synchronous electromechanics torque TmRegulation i.e. realize exchange interface in active instruction regulation；TmBy specified Torque instruction T0With frequency departure feedback command Δ T two parts composition, wherein T0It is expressed as：
T0=Pref/ω (3)；
Wherein, PrefFor the active instruction of combining inverter, in charge-discharge circuit, PrefIt is DC bus-bar voltage pi regulator Control output；The regulation of frequency response is realized by virtual frequency modulation unit, and virtual frequency modulation unit is taken as proportional component, I.e. machine torque deviation instruction Δ T is expressed as：
Δ T=kf(f-f0) (4)；
Wherein, f is the frequency of virtual synchronous motor set end voltage, f0For electrical network rated frequency, kfFor frequency response coefficient, for perseverance Fixed negative；
B, Reactive-power control：
By adjusting virtual potential E of virtual synchronous motor modelpTo adjust its set end voltage and idle；
The virtual potential instruction E of virtual synchronous motorpIncluding：The no-load emf E0 of motor, reaction reactive power adjust potential Δ EQ Adjust potential Δ E with reaction set end voltageU；
The part potential Δ E that reaction reactive power is adjustedQIt is expressed as：
ΔEQ=kq(Qref-Q) (5)；
Wherein, kqFor Reactive-power control coefficient, Δ EQFor exchanging the idle instruction of interface, Q is the instantaneous nothing of exchange interface generator terminal output Work(power, QrefFor the idle instruction of combining inverter, Q is expressed as：
Q = [ ( u a - u b ) i c + ( u b - u c ) i a + ( u c - u a ) i b ] / 3 - - - ( 6 ) ;
Wherein：ua、ubAnd ucIt is respectively the three-phase set end voltage of virtual synchronous electrode；
Reaction set end voltage adjusts potential Δ EU, Δ EUIt is equivalent to the output of the automatic exciting regulator of virtual synchronous motor, automatically Field regulator is reduced to proportional component, then Δ EUIt is expressed as：
ΔEU=kv(Uref-U) (7)；
Wherein, UrefIt is respectively command value and the actual value of combining inverter generator terminal line voltage virtual value, k with UvFor voltage-regulation system Number；
Virtual synchronous motor potential is：
Ep=E0+ΔEQ+ΔEU(8)；
Virtual synchronous motor potential voltage vector is：
E = E p s i n ( δ ) E p s i n ( δ - 2 π / 3 ) E p s i n ( δ + 2 π / 3 ) - - - ( 9 ) ;
Described 1. in virtual synchronous motor control strategy be：In active regulation, Reactive-power control and mechanical equation and electromagnetism side Journey obtains virtual synchronous motor transient potential EpAfter generator rotor angle δ of virtual synchronous motor, obtain potential voltage e in formula (9)abc's On the basis of, obtained the command value of electrical network three-phase output current by formula (2), then ensure in the presence of ratio resonance control strategy Actual grid-connected three-phase output current iabcTo its command value irefabcTracking.
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