CN102769403A - Carrier wave stacked PWM (pulse-width modulation) modulating method based on selective cyclic virtual mapping - Google Patents
Carrier wave stacked PWM (pulse-width modulation) modulating method based on selective cyclic virtual mapping Download PDFInfo
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Abstract
The invention discloses a carrier wave stacked PWM (Pulse-Width Modulation) modulating method based on selective cyclic virtual mapping, and relates to a carrier wave stacked PWM modulating method based on selective cyclic virtual mapping for an MMC (modular multilevel converter). The carrier wave stacked PWM modulating method reaches a purpose of dynamic balance of capacitor voltage of submodules by constructing a virtual submodules and selectively changing circular mapping relation of driving signals of the virtual submodules and the practical submodules according to a bridge arm current direction fed back by a control system and mutual difference of the capacitor voltage of the practical submodules based on the traditional carrier wave stacked cyclic mapping balance control. The carrier wave stacked PWM modulating method provided by the invention can be used for modulating PWM signals of the MMC under middle-high voltage and high power and controlling the dynamic balance of the capacitor voltage.
Description
Technical field
The invention belongs to microelectronics technology, relate to PWM modulation, be used for modulation output and the dynamic equilibrium control of capacitance voltage of the modular multilevel of mesohigh, large-power occasions, be the range upon range of PWM modulator approach of a kind of carrier wave of selectivity circulation virtual map.
Background technology
The modular multilevel converter, as a kind of modular multilevel structure that typically is based upon on the half-bridge submodule basis, brachium pontis in its topology (three-phase or single-phase) mainly is made up of submodule unit (SM:Sub-Module) series connection.Each inside, submodule unit all can comprise at least one electric capacity, is equivalent to 1 independently DC source.Through the opening or turn-off and control the SM output level of switching device in the SM unit, the stack through level with subtract each other the actual output of construction system, reach and modulate the purpose of exporting.
To the modulator approach of this modular multilevel, mainly contain nearest level approximatioss NLM at present, phase-shifting carrier wave method CPSPWM, the range upon range of modulation method PDPWM of carrier wave eliminates specific subharmonic modulation method SHEPWM, space vector of voltage modulation method SVPWM etc.
The level approximatioss is used in the higher occasion of number of modules recently, but it exists the optimization sorting and frequent selection problem of module; The phase-shifting carrier wave modulation method is a kind of ripe relatively modulator approach; In practical study, use more; But phase-shifting carrier wave often need be in modulation signal realizes the dynamic equilibrium of capacitance voltage through the stack balance control signal; So not only bring the distortion of output signal, and the possibility that causes system's unstability is arranged, its design of Controller that adopts usually is by shown in Figure 1; Eliminate specific subharmonic modulation method, in compute switch point, need separate non-linear transcendental equation, calculation of complex is generally accomplished control through the off-line look-up table, and dynamic characteristic is poor; Space vector modulation method, its level number become the cube relation with the space vector of voltage number, along with the increase of level number, the complexity that vector is selected will significantly improve.The present invention is on the basis of the range upon range of PWM modulator approach of carrier wave, through adopting the method for selectivity circulation virtual map, solves the dynamic equalization of the insurmountable capacitance voltage of the range upon range of PWM modulator approach of traditional carrier wave; Control method is simple, can suppress the mutual deviation of submodule capacitance voltage well, and can not have situation out of control.
Summary of the invention
The problem that the present invention will solve is: the dynamic equilibrium that existing modulator approach to the modular multilevel converter can not the better controlled capacitance voltage; Control method is complicated; Need a kind of control method simple, can suppress the modulator approach of the mutual deviation of the capacitance voltage of submodule of converter well.
Technical scheme of the present invention is: the range upon range of PWM modulator approach of a kind of carrier wave of selectivity circulation virtual map; Be used for the modular multilevel converter; The brachium pontis of modular multilevel converter constitutes at interior half-bridge or the series connection of full-bridge submodule by comprising switching device and electric capacity; Through software programming modulated process is controlled, may further comprise the steps:
1) sets up the virtual subnet module identical, utilize the range upon range of PWM modulator approach of carrier wave that the virtual subnet module is carried out the PWM modulation, produce the corresponding virtual modulation signal of each virtual subnet module with actual submodule quantity;
2) for the symmetrical converter of system balancing; Adopt indifference circulation mapping to set up the circulation mapping corresponding relation of virtual subnet module and actual submodule; Be mapped between each submodule through circulation and realize that the pwm signal indifference by turns; Realize the capacitance voltage Balance Control of actual submodule under the system balancing symmetric condition, the cycle counter pointer that to utilize a value be 1～N is controlled between virtual subnet module and the actual submodule and is shone upon order, and N is the submodule quantity in the brachium pontis; And virtual modulation signal is transferred to actual submodule according to the mapping order, realize driving output to actual submodule;
3) when changer system disequilibrium symmetry; In step 2) the basis on obtain the capacitance voltage feedback quantity of the actual submodule of converter; Said feedback quantity is sorted, obtain wherein maximum voltage and the corresponding actual submodule numbering of minimum voltage, then according to the brachium pontis sense of current; Carry out selectivity circulation mapping: the 1～N that is numbered that establishes actual submodule; The virtual subnet module is corresponding is numbered 1 '～N ', will number 1 ' and the virtual modulation signal of the virtual subnet module of N ' be mapped to respectively in the corresponding actual submodule of maximum/minimum voltage and go, remove the corresponding actual submodule of capacitance voltage maximum/minimum value; The drive signal of remaining actual submodule still set by step 2) described indifference circulation is shone upon; According to the capacitance voltage dynamic equilibrium of the actual submodule of said selectivity circulation mapping control, virtual modulation signal is transferred to actual submodule according to said selectivity mapping, realizes the driving output to actual submodule;
4) actual submodule is accomplished modulation under the driving of virtual modulation signal, the signal after the output modulation.
Compare with several kinds of existing commonly used modulation algorithms, of the present invention have following characteristics:
1, through between virtual subnet module and actual submodule, setting up the circulation mapping relations; Thereby the system that guaranteed does not change under the prerequisite of modulation signal; Make the modular multilevel converter possess the dynamic electric voltage regulating power; Avoided similar phase-shifting carrier wave modulation through behind stack balance control signal on the reference signal,, thereby had very strong robustness because of parameter is selected the improper stability of a system problem that possibly cause;
2, control method is simple, need will not add independently controller for balanced voltage as phase-shifting carrier wave PSPWM, only needs in original DSP or FPGA, be provided with modulator approach of the present invention and controls and get final product;
3, realize dynamic equilibrium control, the correspondence mappings that only need optionally change between virtual subnet module and the actual submodule concerns, promptly do not have the improper and situation of unstability of system parameter selection, can be not out of control.
Description of drawings
Fig. 1 modular multilevel converter phase-shifting carrier wave modulation balance controlled function block diagram.
Fig. 2 is a modular multilevel converter topology structure.
Fig. 3 is that embodiment of the invention brachium pontis submodule constitutes and numbering, (a) is last brachium pontis, (b) is following brachium pontis.
Fig. 4 is modulation signal of the present invention and the relatively back modulation signal that produces the virtual subnet module of carrier signal; (a) be the modulation signal of last brachium pontis virtual subnet module; (b) for the modulation signal of following brachium pontis virtual subnet module, (c) be corresponding (a) circuit theory diagrams (b).
Fig. 5 is the indifference circulation mapping relations sketch map that the present invention adopted.
Fig. 6 is a selectivity circulation mapping relations sketch map of the present invention, (a) for as i>selectivity mapping relations 0 time are when i < the selectivity mapping relations 0 time (b).
Fig. 7 is minimum and maximum determination methods sketch map for brachium pontis capacitance voltage in the present invention, (a) is the sketch map of capacitance voltage minimum value determination methods, (b) is the sketch map of capacitance voltage maximum determination methods.
Fig. 8 is in the embodiment of the invention of the present invention, to the Y array pointer content after capacitance voltage minimum and the maximum judgement.
Fig. 9 is the virtual circulation map unit of a selectivity of the present invention sketch map.
Figure 10 is an embodiment of the invention upper and lower bridge arm capacitance voltage simulation waveform.
Figure 11 is an embodiment of the invention dynamic equilibrium performance test experiments waveform.
Embodiment
The present invention proposes a kind of range upon range of modulator approach of carrier wave based on selectivity circulation virtual map; Under the condition that does not change hardware; Set up the virtual subnet module identical, utilize the range upon range of PWM modulator approach of carrier wave that the virtual subnet module is carried out the PWM modulation, produce the corresponding virtual modulation signal of each virtual subnet module with actual submodule quantity; Signal map relation through virtual subnet module in the selectively changing converter brachium pontis (three-phase or single-phase) and actual submodule; Drive actual submodule by virtual modulation signal and modulate, can carry out Balance Control to capacitance voltage in the submodule well, and can not have situation out of control.
Fig. 2 has showed the circuit topological structure of MMC converter; Every by a series of submodules (submodule, SM) series connection obtains, last brachium pontis and following brachium pontis respectively have the N sub-module; The structure of each submodule is identical; The middle point voltage of upper and lower bridge arm is as output voltage, and upper and lower bridge arm all has an inductance in the exit, can limit the effect of alternate circulation.It is parallelly connected with electric capacity that each SM is the single armed half-bridge circuit, is equivalent to 1 independently DC source.Open or turn-off through SM unit switch device and control the SM output level, there are 2 kinds of level output states in SM during steady operation: when the IGBT1 of each SM unit conducting, SM is output as UC, representes its place in circuit, is access state; When the IGBT2 conducting, SM is output as 0, is short-circuit condition.Therefore, each SM can export UC and 0 these 2 kinds of level.Therefore,, can change the level of output voltage, realize many level modulation outputs through the access number and the mode of adjustment upper and lower bridge arm submodule.
Convenient for setting forth principle, establish brachium pontis and form by four modules respectively, as shown in Figure 3; Last brachium pontis numbering is respectively #1 ~ #4, and the numbering of virtual subnet module is respectively 1 ' ~ 4 ', and following brachium pontis numbering is respectively #5 ~ #8; The numbering of virtual subnet module is respectively 5 ' ~ 8 '; The relatively back generation of the reference signal of upper and lower bridge arm and carrier signal will drive the pwm signal of virtual subnet module, and sketch map such as Fig. 4 can produce the truth table like table 1 thus.
Table 1 virtual subnet module modulation signal truth table
" zone " described in the table is expression normalized reference voltage Umu and Umd corresponding voltage range in the zone time, need not carry out the subregion processing here, as Fig. 4 (a) (b) shown in, by reference voltage and triangular carrier relatively completion automatically.
The modulator approach of rotating through carrier wave in conjunction with the range upon range of PWM of traditional carrier wave; The virtual subnet module is carried out the PWM modulation; Produce the corresponding virtual modulation signal of each virtual subnet module; And set up mapping relations between virtual subnet module and the actual submodule, be mapped in through circulation and realize the pwm signal indifference between each submodule by turns, thereby realize the capacitance voltage Balance Control under the system balancing condition.
The present invention utilizes selectivity circulation mapping at 2 on preceding basis, solve converter and lose under the symmetrical situation dynamic equilibrium problem of capacitance voltage.Through observing; In table 1, it is special that the corresponding modulation signal of two virtual subnet modules is arranged, promptly 1 ' and 4 '; 1 ' drive signal I time output PWM only wherein in the signal area; The drive signal in other three territories is 1, and 4 ' drive signal is PWM when area I V only, and other three regional drive signals are 0.Like this, only need detect capacitance voltage maximum and the pairing numbering of minimum value of actual submodule # 1 ~ #4, then in Fig. 6; Current i>0 o'clock; Be electric current when electric capacity is in charged state, the drive signal of virtual subnet module 1 ' optionally is mapped to the corresponding actual submodule of minimum value numbering, realize many chargings; And the drive signal selectivity of virtual subnet module 4 ' is mapped to the corresponding actual submodule of maximum numbering, realize few charging.Current i < 0 o'clock; Corresponding mapping relations change; The drive signal selectivity of virtual subnet module 1 ' is mapped to the corresponding actual submodule of maximum numbering; Realize many discharges, and the drive signal of virtual subnet module 4 ' optionally is mapped to the corresponding actual submodule of minimum value numbering, realize few discharge.Still shine upon for the submodule that removes maximum/minimum voltage value by the indifference circulation.Through above selectivity circulation mapping, can guarantee the dynamic equilibrium of submodule capacitance voltage.
Below through specifying the modulator approach of embodiment.
Specific embodiment respectively is that four modules are example with brachium pontis up and down, and numbering is respectively #1 ~ #8 from top to bottom, like Fig. 3.The virtual numbering that goes up the brachium pontis submodule is respectively 1 ' ~ 4 '; The virtual numbering of brachium pontis submodule down is respectively 5 ' ~ 8 '; The relatively back generation of reference voltage signal and carrier signal will drive the modulation signal of virtual subnet module, and sketch map 4 is visible, produces the truth table like table 1 thus.Umu and Umd are respectively the reference voltage signal of upper and lower bridge arm, U among Fig. 4
1~ U
8Be respectively the carrier signal of virtual subnet module separately.
Through the range upon range of PWM modulator approach of traditional carrier wave; The virtual subnet module is carried out the PWM modulation; Produce the corresponding virtual modulation signal of each virtual subnet module; And set up mapping relations between virtual subnet module and the actual submodule, be mapped in through circulation and realize the pwm signal indifference between each submodule by turns, thereby realize the capacitance voltage Balance Control under the system balancing condition.As shown in Figure 5, the practical implementation method is through setting up a cycle count pointer C
M, at different C
MThe time, be mapped to corresponding actual submodule to the output of virtual subnet module, present embodiment upper and lower bridge arm each four modules, then cycle count pointer C
MCount value be 4, Fig. 5 (a)～(d) shown C respectively
M=1～4 mapping situation.
Utilize selectivity circulation mapping on the aforementioned basis of the present invention, solve converter and lose under the symmetrical situation dynamic equilibrium problem of capacitance voltage.Concrete manifestation is seen shown in Figure 6, and only above brachium pontis is an example, supposes submodule 1 capacitance voltage maximum this moment, and submodule 2 capacitance voltages are minimum.Wherein capacitance voltage minimum value and maximum determination methods are as shown in Figure 7; Udc1 ~ Udc8 is actual submodule capacitance voltage value; The result who judges is delivered to an array pointer Y; Wherein deposit the corresponding actual submodule numbering of capacitance voltage minimum value among the Y (1); Deposit the corresponding actual submodule numbering of capacitance voltage maximum among the Y (2), minimum and maximum value is judged the numbering of the actual submodule that the back is remaining directly is delivered to the Y array pointer in order, the array pointer that obtains thus is visible shown in Figure 8.
Set up the virtual circulation map unit of selectivity, like Fig. 9, like this, when the electric current I of last brachium pontis>0 the time, virtual subnet module 1 ' is mapped to the actual submodule that Y (1) points to, and virtual subnet module 4 ' is mapped to the actual submodule that Y (2) points to, specific as follows:
N[Y(1)]=N[3]=1
N[Y(2)]=N[2]=4
When last brachium pontis I 0 the time, virtual subnet module 1 ' is mapped to the actual submodule that Y (2) points to, and virtual subnet module 4 ' is mapped to the actual submodule that Y (1) points to:
N[Y(1)]=N[3]=4
N[Y(2)]=N[2]=1
Remaining submodule is still by the by turns method of the circulation mapping that circulates of indifference, like C
M=1 o'clock,
N[Y(3)]=N[1]=2
N[Y(4)]=N[4]=3
Work as C
M=2 o'clock
N[Y(3)]=N[1]=3
N[Y(4)]=N[4]=2
The voltage dynamic equilibrium of emulation control effect such as Figure 10, wherein (a) (b) respectively expression the waveform of the upper and lower bridge arm capacitance voltage when uneven, the upper and lower bridge arm capacitance voltage waveform after (c) (d) expression selectivity circulation virtual map function drops into take place.Voltage dynamic equilibrium control effect such as Figure 11 of experiment, the waveform before and after relatively selectivity circulation virtual map function drops into can find out that the voltage current waveform after the input is greatly improved.
Claims (1)
1. the range upon range of PWM modulator approach of the carrier wave of a selectivity circulation virtual map; Be used for the modular multilevel converter; The brachium pontis of modular multilevel converter and Cascade H bridge multi-level converter constitutes in interior half-bridge series connection by comprising switching device and electric capacity; It is characterized in that modulated process being controlled, may further comprise the steps through software programming:
1) sets up the virtual subnet module identical, utilize the range upon range of PWM modulator approach of carrier wave that the virtual subnet module is carried out the PWM modulation, produce the corresponding virtual modulation signal of each virtual subnet module with actual submodule quantity;
2) for the symmetrical converter of system balancing; Adopt indifference circulation mapping to set up the circulation mapping corresponding relation of virtual subnet module and actual submodule; Be mapped between each submodule through circulation and realize that the pwm signal indifference by turns; Realize the capacitance voltage Balance Control of actual submodule under the system balancing symmetric condition, the cycle counter pointer that to utilize a value be 1～N is controlled between virtual subnet module and the actual submodule and is shone upon order, and N is the submodule quantity in the brachium pontis; And virtual modulation signal is transferred to actual submodule according to the mapping order, realize driving output to actual submodule;
3) when changer system disequilibrium symmetry; In step 2) the basis on obtain the capacitance voltage feedback quantity of the actual submodule of converter; Said feedback quantity is sorted, obtain wherein maximum voltage and the corresponding actual submodule numbering of minimum voltage, then according to the brachium pontis sense of current; Carry out selectivity circulation mapping: the 1～N that is numbered that establishes actual submodule; The virtual subnet module is corresponding is numbered 1 '～N ', will number 1 ' and the virtual modulation signal of the virtual subnet module of N ' be mapped to respectively in the corresponding actual submodule of maximum/minimum voltage and go, remove the corresponding actual submodule of capacitance voltage maximum/minimum value; The drive signal of remaining actual submodule still set by step 2) described indifference circulation is shone upon; According to the capacitance voltage dynamic equilibrium of the actual submodule of said selectivity circulation mapping control, virtual modulation signal is transferred to actual submodule according to said selectivity mapping, realizes the driving output to actual submodule;
4) actual submodule is accomplished modulation under the driving of virtual modulation signal, the signal after the output modulation.
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| CN104967347A (en) * | 2015-07-07 | 2015-10-07 | 湖南大学 | Full-bridge MMC high-voltage three-single phase direct converter and control method thereof |
| CN106130380A (en) * | 2016-07-18 | 2016-11-16 | 国家电网公司 | A kind of mixing one circle control method improved in modular multilevel commutator |
| CN104393779B (en) * | 2014-11-13 | 2016-12-07 | 西安交通大学 | A kind of modular multi-level converter control method based on carrier wave stacking modulation |
| CN109861569A (en) * | 2019-03-12 | 2019-06-07 | 东南大学 | A kind of novel modularized multilevel converter and its control method inhibiting voltage fluctuation of capacitor |
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| CN109861569A (en) * | 2019-03-12 | 2019-06-07 | 东南大学 | A kind of novel modularized multilevel converter and its control method inhibiting voltage fluctuation of capacitor |
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