CN108683348B - C-MMC static voltage-sharing control method based on energy-taking power control - Google Patents
C-MMC static voltage-sharing control method based on energy-taking power control Download PDFInfo
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- CN108683348B CN108683348B CN201810630710.0A CN201810630710A CN108683348B CN 108683348 B CN108683348 B CN 108683348B CN 201810630710 A CN201810630710 A CN 201810630710A CN 108683348 B CN108683348 B CN 108683348B
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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
- H02M7/483—Converters with outputs that each can have more than two voltages levels
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/36—Means for starting or stopping converters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0067—Converter structures employing plural converter units, other than for parallel operation of the units on a single load
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Inverter Devices (AREA)
Abstract
The invention discloses a C-MMC static voltage-sharing control method based on energy-taking power control. And then, taking the average value of the two capacitor voltages in the sub-module as a target for balancing the two capacitor voltages in the sub-module, and comparing the capacitor voltage value with the target value to provide an energy-taking power supply modulation signal meeting the balance of the two capacitor voltages in the sub-module. And comparing the modulation signal with the triangular carrier to obtain a control signal of a flyback circuit in the energy taking power supply. Depending on the control signal, the input current of the energy-taking power supply will be regulated, and the capacitor voltage of the power module will also be indirectly regulated. The method has the advantages of no need of additional circuits, simple control method and very important significance for reducing the loss of the system and ensuring the normal start of the system.
Description
Technical Field
The invention belongs to static voltage-sharing control, and particularly relates to a C-MMC static voltage-sharing control method based on energy-taking power supply control.
Background
In recent years, a flexible direct-current transmission technology taking a Modular Multilevel Converter (MMC) as a core topology is more and more widely applied to a power grid system in China. The converter power module adopts a fully-controlled power electronic device, and the system adopts a sub-module (SM) cascade form, so that the expansion is easyAnd the system voltage level is improved, and the switching frequency of a switching device is reduced, so that the switching loss is reduced, and the output voltage waveform is closer to a sine wave, thereby reducing the harmonic content. Different from the traditional direct current transmission technology, the flexible direct current transmission technology based on the MMC can supply power to a passive network, can instantly realize active and reactive independent decoupling control, and is easy to realize a multi-terminal system. In addition, the flexible direct current transmission technology can provide active power and reactive power for the system at the same time, has advantages in the aspects of improving the stability and the transmission capacity of the system and the like, and is widely concerned. The MMC system adopts a three-phase bridge structure, but is different from a traditional three-phase bridge, each bridge arm of the MMC is formed by cascading a plurality of sub-modules, and a basic principle structure diagram is shown in fig. 1. At present, the mainstream MMC sub-module topological structures mainly comprise three types: half bridge sub-module (HBSM), full bridge sub-module (FBSM), and clamped dual sub-module (CDSM). The CDSM is a very potential topological structure due to the fact that the CDSM has a direct-current fault automatic isolation function, and the submodules of the CDSM consist of 5 IGBT VTs1-VT5And an anti-parallel diode VD1-VD52 clamping diodes VD6And VD72 capacitors C1、C2And a parallel resistor R1、R2The energy-taking power supply is composed of two flyback circuits with parallel outputs, and the sub-module structure is shown in fig. 2 and fig. 3.
At present, research on the MMC formed by the CDSM mainly focuses on the fault isolation capability of the MMC, and relatively few researches on the voltage balance of the MMC cause great threats to the normal operation of a system due to unbalanced system voltage. Different from half-bridge submodule piece and full-bridge submodule piece, the clamp pair submodule piece contains two electric capacity, not only has the unbalanced voltage problem between the submodule piece, still need consider the voltage balance between the inside two electric capacity of submodule piece, especially at MMC uncontrolled precharge stage, because IGBT all is in blockade state, system capacitor voltage can not reach the balance through control IGBT, capacitor voltage's unbalance is more showing, will seriously influence the normal start-up operation of system.
Disclosure of Invention
The invention aims to overcome the defects and provides a C-MMC static voltage-sharing control method based on energy-taking power supply control.
In order to achieve the above object, the present invention comprises the steps of:
step one, establishing a current relation of C-MMC sub-modules according to KCL;
analyzing factors influencing static voltage balance, and determining that the energy taking power supply is a main factor influencing the voltage balance of the capacitor of the power module, so that the energy taking power supply is controlled by taking the current flowing into the energy taking power supply as a controlled quantity;
step three, in order to ensure the voltage balance among the C-MMC sub-modules, the average value of the voltage of the C-MMC sub-modules is used as a voltage-sharing target of the C-MMC sub-modules, and the voltage-sharing target value is compared with the voltage-sharing target value to obtain an energy-taking power supply modulation signal meeting the voltage balance among the C-MMC sub-modules
Step four, in order to ensure the voltage sharing of the two capacitors in the C-MMC sub-module, the average value of the voltages of the two capacitors in the C-MMC sub-module is used as a voltage-sharing target value, and the voltage of each capacitor is compared with the target value to obtain an energy-taking power supply modulation signal meeting the voltage balance of the capacitors in the C-MMC sub-module
Step five, obtaining a modulation signal of the ith flyback circuit of the jth sub-module energy-taking power supplyIs composed ofAndby superposition of, i.e.
Wherein j is 1,2, …, N, i is 1, 2;
step six, finally comparing the modulation signalsAnd the triangular carrier signal u (t) is used for obtaining a control signal d of each flyback circuit on the energy-taking power supplypjiTherefore, the static balance of the capacitor voltage is achieved by reasonably controlling the energy taking power supply.
In the first step, as the current relationship of each capacitance branch is the same, any capacitance branch in the C-MMC submodule has the following relationship, which can be obtained according to KCL:
ism＝ic+iR+ip
ism＝ibrig
ucand icRespectively capacitor voltage and current, iRCurrent as a voltage-sharing resistor, ipFor the current flowing through the energy-extracting power supply, ismFor sub-module current, ibrigThe current of the bridge arm where the submodule is located.
In the second step, because the aim of static voltage sharing is to keep the capacitor voltage unchanged, the C-MMC sub-modules are connected in series, and the current i of the C-MMC sub-modules issmIs equal to bridge arm current ibrigThus the input current i of each modulesmEqual, from the current relationship, the input current i of the energy-taking power supplypI.e. mainly affecting the voltage balance of the capacitorFactors.
In the third step, the modulated signal of the energy-taking power supply is obtainedThe specific method comprises the following steps:
firstly, calculating a voltage-sharing target value u of a bridge arm submoduleavr，
Secondly, comparing the capacitance voltage of the C-MMC sub-module with the target voltage to determine a modulation signal of the energy-taking power supply at the moment
Wherein, Δ uj＝uj-uavrFor the voltage difference between each capacitor voltage of the C-MMC sub-module and the target value, an
In the fourth step, the modulated signal of the energy-taking power supply is obtainedThe specific method comprises the following steps:
firstly, calculating voltage-sharing target values u of two capacitors in a submodulejavr，
Step two, comparing the voltage u of two capacitors of the C-MMC sub-modulejciWith target u of pressure equalizationjavrTo obtain the energy-taking power supply modulation signal meeting the capacitor voltage balance in the sub-module
Wherein Δ ujci＝ujci-ujavrFor each capacitor voltage of the submodule a voltage difference from a target value, anj＝1,2,…,N；i＝1,2。
Step six, performing Taylor expansion on the triangular carrier signal u (t) according to the amplitude and the frequency of the triangular carrier, and comparing the triangular carrier signal u (t) with the modulation signalFinally obtaining a control signal d of each flyback circuit of the energy-taking power supplypji，
Wherein j is 1,2, …, N; i is 1, 2.
Compared with the prior art, the method comprises the steps of firstly collecting the capacitor voltage of each C-MMC submodule, calculating the average value of the capacitor voltage, using the average value as a target for voltage sharing of each module capacitor, and comparing the voltage of each C-MMC submodule with the target voltage to obtain the modulation signal of the energy-taking power supply at the moment. Different from a half-bridge submodule and a full-bridge submodule, the clamping double-submodule is provided with two capacitors, the balance of two capacitor voltages in the submodule is ensured while the voltage balance between power modules is ensured, the average value of the two capacitor voltages in the C-MMC submodule is used as a voltage-sharing target of the capacitors in the submodule, and the energy-taking power supply modulation signal at the moment is given by comparing the capacitor voltage value with the target value. Therefore, finally, the modulation signal of the energy-taking power supply of the C-MMC sub-module is the superposition of the two modulation signals, and the modulation signal is compared with the triangular carrier to obtain a control signal of a flyback circuit in the energy-taking power supply. Depending on the control signal, the input current of the energy-taking power supply will be regulated, and the capacitor voltage of the power module will also be indirectly regulated. The static voltage-sharing method for the C-MMC provided by the invention does not need an additional circuit, is simple in control method and has very important significance for reducing the loss of a system and ensuring the normal starting of the system.
Drawings
FIG. 1 is a basic schematic diagram of an MMC system;
FIG. 2 is a diagram of a C-MMC sub-module;
FIG. 3 is a schematic view of the power supply and control and drive unit of FIG. 2;
FIG. 4 is an equivalent circuit diagram of the sub-module of the pre-charging stage C-MMC;
FIG. 5 is a simulation waveform of voltage-sharing control in an embodiment;
FIG. 6 is a schematic diagram of a control signal and an output voltage of a first flyback circuit in the first sub-module energy-taking power supply in the embodiment;
Detailed Description
The invention will be further explained with reference to the drawings.
Example (b):
the direct-current side voltage of the C-MMC flexible direct-current transmission system is 8.8kV, each bridge arm is provided with 2 modules, the rated voltage of each power module is 4.4kV, 3.3kV and 1kA IGBT are adopted, and the topological structure of the modules is of a clamping dual-sub structure. The embodiment will be described by taking the a-phase upper arm as an example.
The invention discloses a C-MMC static voltage-sharing control method based on energy-taking power control, which comprises the following steps:
step 1: and establishing a relation between input and output currents of the C-MMC sub-modules according to the KCL.
Before the MMC is started, the capacitor of the C-MMC sub-module is not electrified, so that the energy-taking power supply does not have enough triggering energy to drive the IGBT to normally work, the IGBT switching device of the system is in a blocking state in a pre-charging stage, the system can only charge the capacitor of the power module through the anti-parallel diode, and if the direct-current side is adopted for pre-charging, the C-MMC sub-module can be equivalent to an equivalent circuit shown in fig. 4.
Wherein C is1＝C2＝C，R1＝R2Since each capacitor has the same current relationship, here, taking any one of the capacitors of the C-MMC submodules as an example, the capacitor is available from KCL
ism＝ic+iR+ip
ism＝ibriga
uc，icFor capacitor voltage and current, iRCurrent as a voltage-sharing resistor, ipFor the current flowing through the energy-extracting power supply, ismFor the C-MMC sub-module current, ibrigaIs the a-phase upper bridge arm current.
Step 2: and (4) analyzing main factors influencing the capacitor voltage balance of the power module according to the current relation established in the step (1).
Because the aim of static voltage sharing is to keep the capacitor voltage unchanged, the C-MMC sub-modules are connected in series, and the current i of the C-MMC sub-modules issmIs equal to bridge arm current ibrigaThus the input current i of each modulesmEqual, from the current relationship, the input current i of the energy-taking power supplypI.e. the main factor influencing the voltage balance of the capacitor, therefore, the invention inputs the current i to the energy-taking power supplypThe adjustment of (2) can effectively change the change of the capacitor voltage, and finally realize the balance of the capacitor voltage.
And step 3: energy-taking power supply modulation signal for ensuring voltage sharing between C-MMC sub-modules
Calculating the average voltage u of N sub-modules of the upper bridge arm of the phase aavrAnd as the target value of voltage balance of the C-MMC sub-modules, the voltage of each sub-module is uj(j ═ 1,2, …, N), by comparing the sub-module capacitance voltage to the target value, a C-MMC meeting is obtainedEnergy-taking power supply modulation signal with voltage balance among submodules
(1) Firstly, calculating a voltage-sharing target value u of a bridge arm submoduleavr
(2) The modulation signal of the energy-taking power supply at the moment is determined by comparing the capacitance voltage of the C-MMC sub-module with the target voltage
Wherein, Δ uj＝uj-uavrFor the voltage difference between each capacitor voltage of the C-MMC sub-module and the target value, an
And 4, step 4: obtaining energy-obtaining power supply modulation signal for ensuring voltage-sharing in C-MMC sub-module
Firstly, calculating the voltage-sharing target value u of two capacitors in the C-MMC sub-modulejavr
By comparing two capacitor voltages u of C-MMC sub-modulejci(j is 1,2, …, N, i is 1,2) and voltage-sharing target ujavrObtaining the energy-obtaining power supply modulation signal meeting the capacitor voltage balance in the C-MMC sub-module
Wherein, Δ ujci＝ujci-ujavrFor the voltage difference between each capacitor voltage of the C-MMC sub-module and the target value, an
And 5: final modulation signal of each flyback circuit of energy-taking power supplyIs composed ofAndby superposition of, i.e.
Step 6: by comparing modulated signalsAnd the triangular carrier signal u (t) is used for obtaining a control signal d of each flyback circuit of the energy-taking power supplypji。
The amplitude of the triangular carrier wave is 1, the frequency is 120Hz, and Taylor expansion is carried out on the triangular carrier wave to obtain the triangular carrier wave
By comparing the triangular carrier signal u (t) with the modulated signalFinally obtaining a control signal d of each flyback circuit of the energy-taking power supplypji。
According to the steps, the C-MMC static voltage-sharing control based on the energy-taking power control can be realized, the simulation waveform of the system static voltage-sharing control is shown in fig. 5, the energy-taking power control is added in 1s, and as can be seen from the simulation waveform, the method provided by the invention can obtain a good voltage-sharing effect, fig. 6 shows the control signal and the output voltage waveform of the first flyback circuit in the first module energy-taking power, and as can be seen, the control signal is intermittently changed in height, the control effect of the energy-taking power is reflected, and the control signal and the output voltage waveform of other capacitors corresponding to the energy-taking power can be obtained in the same way. According to the static voltage-sharing method of the C-MMC flexible direct-current power transmission system based on the energy-taking power supply control, the static voltage-sharing of the system can be realized by adopting a simple algorithm on the premise of not increasing the system cost, so that the safe and reliable starting of the system is ensured, and the first step of the normal operation of the system is established.
Claims (6)
1. The C-MMC static voltage-sharing control method based on energy-taking power control is characterized by comprising the following steps of:
step one, establishing a current relation of C-MMC sub-modules according to KCL;
step two, controlling the energy taking power supply by taking the current flowing into the energy taking power supply as a controlled quantity;
step three, taking the average value of the voltage of the C-MMC sub-modules as a voltage-sharing target of the C-MMC sub-modules, and comparing the voltage of the C-MMC sub-modules with the voltage-sharing target value to obtain an energy-taking power supply modulation signal meeting the voltage balance between the C-MMC sub-modules
Step four, taking the average value of the voltage of the two capacitors in the C-MMC sub-module as a voltage-sharing target value, and comparing the voltage of each capacitor with the target value to obtain an energy-taking power supply modulation signal meeting the capacitor voltage balance in the C-MMC sub-module
Step five, obtaining a modulation signal of the ith flyback circuit of the jth sub-module energy-taking power supplyIs composed ofAndby superposition of, i.e.
Wherein j is 1,2, …, N, i is 1, 2;
step six, finally comparing the modulation signalsAnd the triangular carrier signal u (t) is used for obtaining a control signal d of each flyback circuit on the energy-taking power supplypjiTherefore, the static balance of the capacitor voltage is achieved by reasonably controlling the energy taking power supply.
2. The method for controlling static voltage sharing of C-MMC based on energy-taking power supply control according to claim 1, wherein in the step one, since the current relationship of each capacitor branch is the same, any one capacitor branch in the C-MMC sub-module has the following relationship, which can be obtained according to KCL:
ism＝ic+iR+ip
ism＝ibrig
ucand icRespectively capacitor voltage and current, iRCurrent as a voltage-sharing resistor, ipFor the current flowing through the energy-extracting power supply, ismFor sub-module current, ibrigThe current of the bridge arm where the C-MMC sub-module is located.
3. The method for controlling the static voltage sharing of the C-MMC based on the control of the energy-taking power supply according to claim 1, wherein in the second step, the capacitor voltage is kept constant due to the aim of the static voltage sharing, the C-MMC sub-modules are connected in series, and the current i of the C-MMC sub-modules is constantsmIs equal to bridge arm current ibrigThus the input current i of each modulesmEqual, from the current relationship, the input current i of the energy-taking power supplypWhich is the main factor affecting the voltage balance of the capacitor.
4. The C-MMC static voltage-sharing control method based on energy-taking power control as claimed in claim 1, wherein in step three, an energy-taking power modulation signal is obtainedThe specific method comprises the following steps:
firstly, calculating a voltage-sharing target value u of a bridge arm submoduleavr，
Secondly, comparing the capacitance voltage of the C-MMC sub-module with the target voltage to determine a modulation signal of the energy-taking power supply at the moment
Wherein, Δ uj＝uj-uavrFor the voltage difference between each capacitor voltage of the C-MMC sub-module and the target value, an
5. The C-MMC static voltage-sharing control method based on energy-taking power control as claimed in claim 1, wherein in step four, an energy-taking power modulation signal is obtainedThe specific method comprises the following steps:
firstly, calculating voltage-sharing target values u of two capacitors in a submodulejavr，
Step two, comparing the voltage u of two capacitors in the C-MMC sub-modulejciWith target u of pressure equalizationjavrTo obtain the energy-taking power supply modulation signal meeting the capacitor voltage balance in the sub-module
Wherein Δ ujci＝ujci-ujavrFor each capacitor voltage in the submodule, andj＝1,2,…,N；i＝1,2。
6. the energy-harvesting power control-based C of claim 1-MMC static voltage-sharing control method, characterized in that in step six, the triangular carrier signal u (t) is Taylor expanded according to the amplitude and frequency of the triangular carrier signal, by comparing the triangular carrier signal u (t) with the modulation signalFinally obtaining a control signal d of each flyback circuit of the energy-taking power supplypji，
Wherein j is 1,2, …, N; i is 1, 2.
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