CN111049201A - Coordination control method for AC/DC power grid hybrid high-power interface converter - Google Patents

Coordination control method for AC/DC power grid hybrid high-power interface converter Download PDF

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CN111049201A
CN111049201A CN201911157212.XA CN201911157212A CN111049201A CN 111049201 A CN111049201 A CN 111049201A CN 201911157212 A CN201911157212 A CN 201911157212A CN 111049201 A CN111049201 A CN 111049201A
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power
current
ref
voltage
power grid
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CN111049201B (en
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张国澎
陶海军
王静
李斌
荆鹏辉
陈迪蕾
胡治国
郑征
徐冬冬
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Henan University of Technology
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Henan University of Technology
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    • 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
    • H02J5/00—Circuit arrangements for transfer of electric power between ac networks and dc networks
    • 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
    • H02M7/66—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal
    • H02M7/68—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters
    • H02M7/72—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • 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
    • H02M1/007—Plural converter units in cascade

Abstract

The invention discloses a coordination control method of an AC/DC power grid hybrid high-power interface converter, which comprises a power transmission level control method and a power buffer level control method, wherein the power transmission level and the power buffer level in the AC/DC power grid hybrid high-power interface converter are subjected to coordination control by adopting voltage loop and current loop double closed-loop control; the invention has the advantages that in an alternating current-direct current hybrid power grid, the influence of ripples and flicker in a direct current power grid on the alternating current power grid can be reduced, the dynamic performance of the direct current side of the high-power interface converter can be greatly improved on the premise of less increase of the loss of the interface converter, and the grid-connected waveform quality of the alternating current side of the interface converter can be improved.

Description

Coordination control method for AC/DC power grid hybrid high-power interface converter
Technical Field
The invention belongs to the technical field of power electronic control, and particularly relates to a coordination control method for an alternating current-direct current power grid hybrid high-power interface converter.
Background
The high-power AC/DC interface converter is a key device for constructing an AC/DC hybrid distribution network. In order to guarantee the operation efficiency of the interface converter, the switching frequency of the converter is in inverse proportion to the rated power of the converter. With the increase of rated power of the converter, the switching frequency of the traditional three-phase fully-controlled rectifier structure is reduced, so that the dynamic operation performance of the interface converter is deteriorated, the operation requirements of the interface converter of the alternating current and direct current networks cannot be better met, and when flicker or ripple occurs in the direct current network, the traditional interface converter does not have the capacity of buffering the flicker and inhibiting the ripple, and the flicker and the ripple can be transferred to the alternating current network.
The traditional AC/DC interface converter and the control method thereof can cause disturbance coupling of an AC power grid and a DC power grid, a certain amount of DC ripples can appear on the bus voltage of the DC power grid under the action of various loads, and the DC ripples increase along with the reduction of the capacitance capacity of the bus, and higher harmonics can be injected into the AC power grid through the coupling of the interface converter, so that the electric energy quality of the AC power grid is influenced.
Unlike an AC/DC power grid interface converter, a conventional hybrid AC/DC energy storage converter does not need to consider the fast response capability to the DC side because the DC side is connected with a battery. Currently, two schemes are generally adopted to improve the dynamic performance of the traditional interface converter: one scheme is that the switching frequency of the converter is greatly improved, the interface converter can be designed into a current loop and a voltage loop with larger bandwidth due to high switching frequency, the larger bandwidth means better dynamic performance, but the AC/DC power grid interface converter is used as an interface for connecting two power grids, the transmitted power is very high, and the operation loss of the interface converter is inevitably increased due to the improvement of the switching frequency; the other scheme is that a direct current feedforward control method is adopted, direct current or direct current side power of an interface converter is fed forward to a current loop of the interface converter, so that direct current side response speed of the interface converter is improved, unfavorable coupling between an alternating current network and a direct current network is enhanced through feedforward control, and when continuous power disturbance exists in the direct current network, disturbance quantity is fed forward to the current loop through the feedforward control, so that control performance of grid-connected current quality of the alternating current network side of the interface converter is poorer than that of the interface converter without feedforward.
The essence of the two traditional schemes is that the rapid change of the power of the direct current network is transferred to the alternating current network, which has a certain effect on improving the response speed of the direct current side of the converter, but the faster the response speed is, the greater the adverse effect on the power quality of the alternating current network is caused when the direct current network is disturbed and flicked.
Disclosure of Invention
Aiming at the defects, the traditional three-phase fully-controlled rectifier is used as a power transmission stage of the interface converter, and the direct current converter with the super capacitor is used as a power buffer stage and integrated together to form a hybrid high-power interface converter; aiming at the operation characteristics of the high-power interface converter, the coordination control method of the AC-DC power grid hybrid high-power interface converter is provided, and by the method, the influence of ripples and flicker in a DC power grid on the AC power grid can be reduced in the AC-DC hybrid power grid; on the premise of less increase of the loss of the interface converter, the direct-current side dynamic performance of the high-power interface converter is greatly improved, and the grid-connected waveform quality of the alternating-current side of the interface converter is improved.
The purpose of the invention can be realized by the following technical scheme:
a coordination control method for an AC/DC power grid hybrid high-power interface converter comprises a power transmission level control method and a power buffer level control method, wherein a voltage loop and current loop double closed loop control is adopted to coordinate and control a power transmission level and a power buffer level in the AC/DC power grid hybrid high-power interface converter;
the voltage loop of the power transmission stage controls the voltage of a super capacitor SC in the power buffer stage; a current loop of the power transmission stage tracks the change of steady-state power at the side of a direct-current power grid in an alternating-current and direct-current power grid and controls the steady-state power exchange among the alternating-current power grid, the direct-current power grid and a super capacitor SC;
the voltage loop of the power buffer stage controls the bus voltage of the direct current power grid; and the input power of the AC power grid side of the AC/DC power grid hybrid high-power interface converter is differed from the output power of the DC power grid side to obtain a transient power difference, and the transient power difference is converted into a current feedforward instruction and is sent to a current loop of a power buffer stage to carry out current loop feedforward control of the power buffer stage.
The power transmission stage comprises a three-phase fully-controlled bridge and a filter inductor L1And a first control system; the first control system comprises a first voltage loop controller Gv1Low pass filter GLFFirst current loop controller Gi11A second current loop controller Gi12And a first PWM generator GPWM-1(ii) a The power buffer stage comprises a bidirectional boost circuit, a super capacitor SC, a filter capacitor C and an inductor L2And a second control system; the second control system comprises a second voltage loop controller Gv2A third current loop controller Gi2And a second PWM generator GPWM-2。
Further, the power transmission stage control method specifically includes the steps of:
the method comprises the following steps: setting a command value V of a supercapacitor voltageSC,refAnd acquiring real-time current and voltage signals of the AC/DC power grid hybrid high-power interface converter, including a real-time sampling value u of the voltage of a bus of the DC power gridDCReal-time sampling value u of super capacitor voltage SCscReal-time sampling value i of current flowing to direct-current power grid by interface converterdcReal-time sampling value u of AC network voltagea、ub、ucAnd AC mains into said AC-DCReal-time sampling value i of current-grid hybrid high-power interface convertera、ib、ic；
Step two: calculating a power instruction P for maintaining the voltage stability of the super capacitor SCref-1Will VSC,refSquare of minus uSCAfter squaring, the voltage is fed to a first voltage loop controller Gv1To obtain Pref-1The first voltage ring controller Gv1A standard PI controller is adopted, and the expression of a controller transfer function is shown as a formula (1);
Figure RE-GDA0002405729680000031
in the formula (1), ksc,vp，ksc,viProportional coefficient and integral coefficient of the first voltage loop controller respectively;
step three: calculating steady-state power P to be transmitted to direct-current power grid by alternating-current power gridref-2Let u stand forDCAnd idcAfter being multiplied, the obtained signal is sent to a low-pass filter GLFTo obtain Pref-2The low-pass filter may be a first-order low-pass filter, and a transfer function expression of the first-order low-pass filter is shown in formula (2):
Figure BDA0002285115040000041
in the formula (2) < omega >1Controls the low-pass filter GLFFilter bandwidth of, set ω1≤31.4rad/s；
Step four: calculating the total power P to be transmitted from the AC power network to the DC power network by the power transmission stageref-tThe calculation formula is shown in formula (3):
Pref-t＝Pref-1+Pref-2(3)
step five: calculating an active component u of the alternating current network side voltage in a dq rotation coordinate systemdAnd a reactive component uqWill ua、ub、ucThrough a first transformation matrix Gabc-dq1The calculation formula is shown as formula (4):
Figure BDA0002285115040000042
in the formula, theta is a real-time angle of an A phase of the voltage of the alternating current network;
step six: calculating the transfer function G from the active power to the active current to be transferred by the power transfer stagef1U calculated in the step fivedInto equation (5):
Figure BDA0002285115040000043
step seven: calculating an active current instruction value i of a current loop of a power transmission stage under a dq rotation coordinate systemref-dAnd a reactive current command value iref-qP calculated in the fourth stepref-tMultiplying by G calculated in step sixf1To obtain iref-dLet iref-q＝0；
Step eight: calculating the active component i of the alternating current side current of the power transmission stage under the dq rotation coordinate systemdAnd a reactive component iqI is toa、ib、icThrough a second transformation matrix Gabc-dq2The calculation formula is shown as formula (6):
Figure BDA0002285115040000051
in the formula (6), theta is the real-time angle of the voltage phase A of the alternating current network;
step nine: filter inductance L on alternating current network side of calculation power transmission stage1Active component u of voltage under dq rotation coordinate systemL-dAnd a reactive component uL-qI obtained in the seventh stepref-dSubtracting i obtained in step eightdThe difference thus obtained is fed to the first current loop controller G of the power transfer stagei11To obtain uL-dI obtained in the seventh stepref-qSubtracting i obtained in step eightqThe difference thus obtained is fed to a second current loop controller G of the power transfer stagei12Then u can be obtainedL-qSaid first current loop controller Gi11And a second current loop controller Gi12All adopt standard PI controllers, the first current loop controller Gi11Transfer function and second current loop controller Gi12Is the same as shown in equation (7):
Figure BDA0002285115040000052
k in formula (7)cp，kciThe proportional coefficient and the integral coefficient of the first current loop controller and the second current loop controller of the power transmission stage respectively;
step ten: calculating active component u of power transmission level alternating current network side modulation wave in dq rotation coordinate systemc-dAnd a reactive component uc-qThe calculation formula is shown in formula (8):
Figure BDA0002285115040000053
step eleven: calculating three-phase modulation wave u of power transmission level alternating current power grid side under abc coordinate systemc-a、 uc-b、uc-cU in step tenc-d、uc-qThrough a third transformation matrix Gdq-abcTo obtain uc-a、uc-b、 uc-cThe calculation formula is shown in formula (9):
Figure BDA0002285115040000054
in the formula (9), theta is the real-time angle of the voltage phase A of the alternating current network;
step twelve: obtaining a power switch action instruction of a power transmission stage, and converting u into uc-a、uc-b、uc-cSent to a first PWM generator GPWM-1Modulating the modulated wave u by SPWMc-a、uc-b、uc-cConverted into action signals of power switching tubes VT1, VT2, VT3, VT4, VT5 and VT6 in a three-phase fully-controlled bridge to control VT1 and VThe operations of T2, VT3, VT4, VT5 and VT6 complete the control of the power transmission level.
Further, the operation mode of the power transmission stage is as follows: in order to guarantee the operating efficiency of the interface converter, the power transmission stage works at a low switching frequency and serves as a main channel for energy exchange between an alternating current power grid and a direct current power grid, the power transmission stage tracks the change of active power of the direct current power grid, the steady-state requirement of the direct current power grid on functional quantity is met, and the operating efficiency of the interface converter is guaranteed. The voltage loop of the power transmission stage controls the voltage of the super capacitor in the power buffer stage, and the super capacitor is a large inertia link and can be regarded as a constant voltage source, so that the power transmission stage with low switching frequency can well realize the voltage control of the super capacitor. The power transmission stage does not control the bus voltage of the direct current network any more, and a current loop of the power transmission stage tracks the change of the steady-state power of the direct current network and controls the steady-state power exchange among the alternating current network, the direct current network and the super capacitor. In order to block the exchange of the transient power by the power transmission stage, the invention firstly carries out low-pass filtering on the collected power of the direct current network, then converts the power into a steady-state current instruction which is required to be provided by the direct current network, and finally sends the steady-state current instruction into a current loop of the power transmission stage to control the power transmission stage to track the steady-state power.
Further, the power buffer stage control method specifically includes the steps of:
the method comprises the following steps: setting a command value V for a DC network bus voltageDC,refAnd obtaining real-time current and voltage signals of the AC/DC power grid hybrid high-power interface converter, including real-time sampling value u of the voltage of the DC power grid busDCReal-time sampling value u of super capacitor voltage SCscReal-time sampling value i of output current of super capacitorscThe real-time sampling value i of the current flowing to the DC power grid by the interface converterdcReal-time sampling value u of AC power grid voltagea、ub、ucAnd a real-time sampling value i of the current flowing into the AC/DC power grid hybrid high-power interface converter from the AC power grida、ib、ic；
Step two: calculating steady stateCurrent instruction i for maintaining DC power grid bus voltageref-1Will VDC,refSquare of (1) minus uDCAfter squaring, enter a second voltage loop controller Gv2To obtain iref-1The second voltage ring controller Gv2A standard PI controller is adopted, and the transfer function expression of the PI controller is shown as a formula (10):
Figure BDA0002285115040000071
in the formula kv,p，kv,iThe proportional coefficient and the integral coefficient of the second voltage loop voltage controller are respectively;
step three: calculating transient power difference P between AC power grid input power and DC power grid output power of AC/DC power grid hybrid high-power interface convertererroThe calculation method is shown in formula (11):
Perro＝UaIa+UbIb+UcIc-uDCidc(11)
in the formula of Ua、Ub、UcRespectively, effective values, I, of the three-phase voltage of the ac network A, B, Ca、Ib、IcThe effective values of three phases of current flowing into the AC/DC power grid hybrid high-power interface converter A, B, C from the AC power grid respectively;
step four: calculating transient power difference P between input power of alternating current power grid and output power of direct current power griderroConversion function G to feed-forward current command of power buffer stagef2The expression is shown as formula (12):
Figure BDA0002285115040000072
step five: calculating a feed-forward current command i of a power buffer stageref-2P obtained in the third steperroG obtained by multiplying by step fourf2To obtain iref-2The calculation formula is shown as formula (13):
iref-2＝Perro·Gf2(13)
step six: calculating a current loop instruction i of a power buffer stageref-scThe calculation method is shown as formula (14):
iref-sc＝iref-1-iref-2(14)
step seven: obtaining a modulated wave signal u of a power buffer stageref-pbLet the current loop command i of the power buffer stageref-scSubtract iscInto a third current loop controller Gi2To obtain uref-pbSaid third current loop controller Gi2A standard PI controller is adopted, and the transfer function expression of the PI controller is shown as the formula (15):
Figure BDA0002285115040000081
in the formula ksc,cp，ksc,ciAre respectively a third current loop controller Gi2The proportionality coefficient and the integral coefficient of (a);
step eight: acquiring a power switch action instruction of a power buffer stage; u. ofref-pbSent to a second PWM generator GPWM-2Modulating the modulated wave u by SPWMref-pbThe signals are converted into action signals of power switching tubes VT7 and VT8 in the bidirectional boost circuit to control the actions of VT7 and VT8, and the control of the power buffer stage is finished.
Further, the operation mode of the power buffer stage is as follows: the power buffer stage operates at a high switching frequency, and when a direct-current power grid voltage ripple or flicker occurs, the power buffer stage exchanges energy with the power grid, and the exchange energy is related to the power causing the direct-current power grid ripple or flicker. The voltage loop of the power buffer level controls the bus voltage of the direct current power grid, and the switching frequency of the power buffer level is high, so that the control bandwidth of the bus voltage of the direct current power grid is obviously increased compared with that of a traditional method, and the dynamic performance of the interface converter for controlling the direct current power grid can be effectively improved. When transient power exchange occurs between the alternating current and direct current power networks through the interface converter, in order to reduce the transient coupling between the alternating current and direct current power networks and improve the response speed of the power buffer stage to transient energy, the invention differentiates the inflow power at the alternating current side of the interface converter and the output power at the direct current side to obtain the transient power difference, and converts the transient power difference into a current feedforward instruction to be sent to a current loop of the power buffer stage.
The invention has the following advantages:
the invention provides a coordination control method for an AC/DC power grid hybrid high-power interface converter, which can be realized by coordinating the two-stage control of the hybrid high-power interface converter:
(1) on the premise of less increase of the loss of the interface converter, the direct-current side dynamic performance of the high-power interface converter is greatly improved;
(2) the coupling influence of flicker and disturbance of the direct current network on the alternating current network is reduced, and simultaneously the grid-connected waveform quality of the alternating current side and the direct current side of the interface converter is improved.
Drawings
FIG. 1 is a topological structure diagram of a hybrid high-power interface converter;
FIG. 2 is a schematic diagram of the coordination control of the power transmission stage and the power buffer stage;
in fig. 1: 1: power transmission stage, 2: power buffer stage
In fig. 2:
3：VSC,refthe command value is the voltage of the super capacitor SC;
4：uscthe real-time sampling value of the super capacitor voltage is obtained;
5：Gsqu1a first squarer for squaring the input signal;
6：Gsqu2a second squarer for squaring the input signal;
7：Gv1a first voltage loop controller;
8：uDCthe real-time sampling value of the bus voltage of the direct current network is obtained;
9：idcthe current real-time sampling value of the interface converter flowing to the direct current power grid is shown in the direction of figure 1;
10：GLFa low-pass filter:
11：Gf1a transfer function from active power to active current to be transferred for the power transfer stage 1;
12：ia、ib、icis a real-time sampling value of the current flowing into the interface converter of the alternating current network, the direction of which is shown in figure 1;
13：ua、ub、ucis a real-time sampling value of the AC grid voltage;
14：Gabc-dq1a first transformation matrix from a three-phase stationary coordinate system to a two-phase rotating coordinate system;
15：Gabc-dq2a second transformation matrix from the three-phase stationary coordinate system to the two-phase rotating coordinate system;
16：Gi11a first current loop controller being a power transfer stage;
17：Gi12a second current loop controller being a power transfer stage;
18：Gdq-abca third transformation matrix from the two-phase rotating coordinate system to the three-phase stationary coordinate system;
19：GPWM-1a first PWM generator that is a power transfer stage;
20：VDC,refthe command value is the bus voltage of the direct current network;
21：Perrothe transient power difference between the input power of the AC power grid and the output power of the DC power grid of the interface converter is obtained;
22：Gf2the conversion function from the transient power difference between the input power of the alternating current power grid and the output power of the direct current power grid to a feed-forward current instruction of a power buffer level is obtained;
23：Gsqu3a third squarer for squaring the input signal;
24：Gsqu4a fourth squarer for squaring the input signal;
25：Gv2a second voltage loop controller;
26：iscoutputting a real-time sampling value of the current for the super capacitor SC, wherein the current direction is shown in figure 1;
27：Gi2a third current loop controller being a power buffer stage;
28：GPWM-2a second PWM generator that is a power buffer stage;
29：Pref-1the power instruction for maintaining the voltage stability of the super capacitor is a part of a power transmission stage current loop instruction signal;
30：Pref-tthe total power to be transmitted from the ac power supply system to the dc power supply system is required for the power transmission stage;
31：iref-dan active current instruction value of a current loop of the power transmission stage under a dq rotation coordinate system;
32：iref-qa reactive current instruction value of a current loop of the power transmission stage under a dq rotation coordinate system;
33：idthe active component of the alternating current side current of the power transmission stage under the dq rotation coordinate system is adopted;
34：iqthe reactive component of the alternating current side current of the power transmission stage under the dq rotation coordinate system is adopted;
35：uL-dthe active component of the alternating current side inductor voltage of the power transmission stage under a dq rotation coordinate system;
36：uL-qthe reactive component of the alternating current side inductance voltage of the power transmission stage under a dq rotation coordinate system;
37：udthe active component of the alternating current network voltage under the dq rotation coordinate system is shown;
38：uqthe reactive component of the voltage of the alternating current power grid under the dq rotation coordinate system is obtained;
39：uc-dactive components of the modulation waves on the alternating current side of the power transmission stage under a dq rotation coordinate system;
40：uc-qreactive components of the modulation waves on the alternating current side of the power transmission stage under a dq rotation coordinate system;
41：Pref-2the steady-state power which needs to be transmitted to the direct-current power grid for the alternating-current power grid is the other part of the power transmission level current loop instruction signal;
42：iref-1the current command for maintaining the voltage of the DC network bus in a steady state is workA portion of a rate buffer stage current loop command signal;
43：iref-2the feed-forward current instruction of the power buffer stage is another part of a current loop instruction signal of the power buffer stage;
44：uref-pba modulated wave that is a power buffer stage;
45：uc-a、uc-b、uc-cis a modulated wave of a power transfer stage.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived from the embodiments of the present invention by a person skilled in the art without any creative effort, should be included in the protection scope of the present invention.
The invention relates to a coordination control method of an AC/DC power grid hybrid high-power interface converter, which comprises a power transmission level control method and a power buffer level control method as shown in figure 1, wherein a voltage loop and current loop double closed loop control is adopted to coordinate and control a power transmission level 1 and a power buffer level 2 in the AC/DC power grid hybrid high-power interface converter;
the voltage loop of the power transmission stage 1 controls the voltage of a super capacitor SC in the power buffer stage, and the current loop of the power transmission stage 1 tracks the change of the steady-state power of the direct current network side in the alternating current-direct current power grid and controls the steady-state power exchange among the alternating current power grid, the direct current power grid and the super capacitor SC;
the voltage loop of the power buffer stage 2 controls the bus voltage of a direct current power grid, the input power of the alternating current-direct current power grid hybrid high-power interface converter on the alternating current power grid side and the output power of the direct current power grid side are differentiated to obtain a transient power difference, and the transient power difference is converted into a current feedforward instruction to be sent to the current loop of the power buffer stage for current loop feedforward control of the power buffer stage.
The power transmission stage 1 comprises a three-phase fully-controlled bridge, a filter inductor L1 and a first control system comprising a first voltage loop controller Gv17. Low pass filter G LF10. First current loop controller G i1116. Second current loop controller G i1217 and a first PWM generator G PWM-119；
The power buffer stage 2 comprises a bidirectional boost circuit, a super capacitor SC, a filter capacitor C, an inductor L2 and a second control system, wherein the second control system comprises a second voltage loop controller G v225. Third current loop controller Gi227 and a second PWM generator G PWM-228；
As shown in fig. 2, the method for controlling the power transmission stage 1 specifically includes the following steps:
step two: calculating a power instruction P for maintaining the voltage stability of the super capacitor SCref-1Will VSC,refSquare of minus uSCAfter squaring, the voltage is fed to a first voltage loop controller Gv1To obtain Pref-1The first voltage ring controller Gv1A standard PI controller is adopted, and the expression of a controller transfer function is shown as a formula (1);
Figure RE-GDA0002405729680000131
in the formula (1), ksc,vp，ksc,viProportional coefficient and integral coefficient of the first voltage loop controller respectively;
the method comprises the following steps: setting a command value V of a supercapacitor voltage SC,ref3, obtaining real-time current and voltage signals of the AC/DC power grid hybrid high-power interface converter, including real-time sampling value u of the voltage of the DC power grid busDC8. Real-time sampling value u of super capacitor voltage SCsc4. Current real-time sampling value i of interface converter flowing to direct current power griddc9. Real-time sampling value u of AC network voltagea、ub、u c13 and real-time sampling value of current flowing into the AC/DC power grid hybrid high-power interface converter from the AC power gridia、ib、ic12；
Step two: calculating a power instruction P for maintaining the voltage stability of the super capacitor SC ref-129, mixing VSC,refSquare of 3 minus usc4, and then the square of the voltage is sent to a first voltage loop controller Gv17, obtaining P ref-129, the first voltage loop controller Gv17, adopting a standard PI controller, wherein the expression of a controller transfer function is shown as a formula (1);
Figure BDA0002285115040000131
in the formula (1), ksc,vp，ksc,viProportional coefficient and integral coefficient of the first voltage loop controller respectively;
step three: calculating steady-state power P to be transmitted to direct-current power grid by alternating-current power grid ref-241, order uDC8 and idcAfter 9 times, the signal is sent to a low-pass filter G LF10, obtaining P ref-241, the low-pass filter may be a first-order low-pass filter, and its transfer function expression is shown in formula (2):
Figure BDA0002285115040000132
in the formula (2) < omega >1Controls the low-pass filter GLFFilter bandwidth of 10, set ω1≤31.4rad/s；
Step four: calculating the total power P to be transmitted from the AC power network to the DC power network by the power transmission stage ref-t30, the calculation formula is shown in formula (3):
Pref-t＝Pref-1+Pref-2(3)
step five: calculating an active component u of the alternating current network side voltage in a dq rotation coordinate system d37 with reactive component u q38, mixing u witha、ub、ucThrough a first transformation matrix G abc-dq114, the calculation formula is shown as formula (4):
Figure BDA0002285115040000133
in the formula, theta is a real-time angle of an A phase of the voltage of the alternating current network;
step six: calculating the transfer function G from the active power to the active current to be transferred by the power transfer stage f111, converting u calculated in the step fived37 is substituted into equation (5):
Figure BDA0002285115040000134
step seven: calculating an active current instruction value i of a current loop of a power transmission stage under a dq rotation coordinate systemref-d31 and a reactive current command value iref-q32, calculating P in the fourth stepref-tMultiplying by 30 by G calculated in step sixf1To obtain iref-dLet iref-q＝0；
Step eight: calculating the active component i of the alternating current side current of the power transmission stage under the dq rotation coordinate system d33 and reactive component iq34, mixing i witha、ib、ic12 through a second transformation matrix G abc-dq215, and the calculation formula is shown as the formula (6):
Figure BDA0002285115040000141
in the formula (6), theta is the real-time angle of the voltage phase A of the alternating current network;
step nine: filter inductance L on alternating current network side of calculation power transmission stage1Active component u of voltage under dq rotation coordinate system L-d35 with reactive component u L-q36, mixing the i obtained in the step sevenref-d31 corresponding to subtracting i obtained in the step eightd33, the difference is fed to the first current loop controller G of the power transfer stage i1116 yield u L-d35, mixing the i obtained in the seventh stepref-qSubtracting i obtained in the step eight correspondingly by 32q34, the obtained difference is sent to a power transmission stage second current loop controller G i1217 then u can be obtainedL-q36, the first current loop controller G i1116 and a second current loop controller G i1217 adopts a standard PI controller, and the first current loop controller G i1116 transfer function and second current loop controller Gi12The expression of 17 is the same as shown in equation (7):
Figure BDA0002285115040000142
k in formula (7)cp，kciThe proportional coefficient and the integral coefficient of the first current loop controller and the second current loop controller of the power transmission stage respectively;
step ten: calculating active component u of power transmission level alternating current network side modulation wave in dq rotation coordinate system c-d39 and the reactive component u c-q40, the calculation formula is shown in formula (8):
Figure BDA0002285115040000143
step eleven: calculating three-phase modulation wave u of power transmission level alternating current power grid side under abc coordinate systemc-a、 uc-b、u c-c45, mixing u in the step tenc-d、uc-qThrough a third transformation matrix G dq-abc18, i.e. u is obtainedc-a、 uc-b、u c-c45, the calculation formula is shown in formula (9):
Figure BDA0002285115040000151
in the formula (9), theta is the real-time angle of the voltage phase A of the alternating current network;
step twelve: obtaining a power switch action instruction of a power transmission stage, and converting u into uc-a、uc-b、u c-c45 is sent to a first PWM generator G PWM-119, modulating the modulated wave u by SPWMc-a、uc-b、uc-c45 into power switching tubes VT1, VT2, VT3, VT4, VT5 and VT6 in three-phase fully-controlled bridgeThe action signal controls the actions of VT1, VT2, VT3, VT4, VT5 and VT6, and finishes the control of the power transmission stage.
The operating modes of the power transfer stage are: in order to guarantee the operating efficiency of the interface converter, the power transmission stage works at a low switching frequency and serves as a main channel for energy exchange between an alternating current power grid and a direct current power grid, the power transmission stage tracks the change of active power of the direct current power grid, the steady-state requirement of the active power of the direct current power grid is met, and the operating efficiency of the interface converter is guaranteed. The voltage loop of the power transmission stage controls the voltage of the super capacitor in the power buffer stage, and the super capacitor is a large inertia link and can be regarded as a constant voltage source, so that the power transmission stage with low switching frequency can well realize the voltage control of the super capacitor. The power transmission stage does not control the bus voltage of the direct current network any more, and a current loop of the power transmission stage tracks the change of the steady-state power of the direct current network and controls the steady-state power exchange among the alternating current network, the direct current network and the super capacitor. In order to block the exchange of the transient power by the power transmission stage, the invention firstly carries out low-pass filtering on the collected power of the direct current network, then converts the power into a steady-state current instruction required to be provided by the direct current network, and finally sends the steady-state current instruction into a current loop of the power transmission stage to control the power transmission stage to track the steady-state power.
As shown in fig. 2, the power buffer stage control method specifically includes the following steps:
the method comprises the following steps: setting a command value V for a DC network bus voltage DC,ref20, acquiring real-time current and voltage signals of the AC/DC power grid hybrid high-power interface converter, including a real-time sampling value u of the voltage of a bus of the DC power gridDC8. Real-time sampling value u of super capacitor voltage SCsc4. Real-time sampling value i of output current of super capacitor sc26. Real-time sampling value i of current flowing to direct-current power grid by interface converterdc9. Real-time sampling value u of AC network voltagea、ub、u c13 and real-time sampling value i of current flowing into the AC/DC power grid hybrid high-power interface converter from the AC power grida、ib、ic12；
Step two: calculating a current instruction i for maintaining the voltage of a direct-current power grid bus in a steady state ref-142, mixing VDC,refSquare of 20 minus uDCAfter 8 squares, enter a second voltage loop controller G v225 to yield iref-142, the second voltage loop controller G v225, a standard PI controller is adopted, and the transfer function expression of the PI controller is shown as a formula (10):
Figure BDA0002285115040000161
in the formula kv,p，kv,iThe proportional coefficient and the integral coefficient of the second voltage loop voltage controller are respectively;
step three: calculating transient power difference P between AC power grid input power and DC power grid output power of AC/DC power grid hybrid high-power interface convertererro21, the calculation method is shown as formula (11):
Perro＝UaIa+UbIb+UcIc-uDCidc(11)
in the formula of Ua、Ub、UcEffective values, I, of the three phases of the ac mains voltage A, B, C, respectivelya、Ib、IcThe effective values of three phases of the alternating current power grid flowing into the alternating current-direct current power grid hybrid high-power interface converter A, B, C are respectively;
step four: calculating transient power difference P between input power of alternating current power grid and output power of direct current power griderroConversion function G of 21 to power buffer stage feed forward current command f222, the expression is shown in formula (12):
Figure BDA0002285115040000162
step five: calculating a feed-forward current command i of a power buffer stage ref-243, treating the P obtained in the third steperroMultiplying by G in step four to obtain G f222, yield iref-2The calculation formula is shown as formula (13):
iref-2＝Perro·Gf2(13)
step six: calculating a current loop instruction i of a power buffer stageref-scThe calculation method is shown as formula (14):
iref-sc＝iref-1-iref-2(14)
step seven: obtaining a modulated wave signal u of a power buffer stage ref-pb44, making the current loop instruction i of the power buffer stageref-scSubtract isc26 into a third current loop controller Gi227, yield u ref-pb44, the third current loop controller Gi2A standard PI controller is used as 27, and the transfer function expression is shown in equation (15):
Figure BDA0002285115040000171
in the formula ksc,cp，ksc,ciAre respectively a third current loop controller Gi2The proportionality coefficient and the integral coefficient of (a);
step eight: and acquiring a power switch action command of the power buffer stage. Will uref-pb44 to a second PWM generator GPWM-2And 28, converting the SPWM modulation wave into action signals of power switching tubes VT7 and VT8 in the bidirectional boost circuit through SPWM modulation, controlling the actions of VT7 and VT8, and finishing the control of the power buffer stage.
The operation mode of the power buffer stage is as follows: the power buffer stage operates at a high switching frequency, and when a direct-current grid voltage ripple or flicker occurs, the power buffer stage exchanges energy with the grid, and the size of the exchanged energy is related to the power causing the direct-current grid ripple or flicker. The voltage loop of the power buffer stage controls the bus voltage of the direct current power grid, and the switching frequency of the power buffer stage is high, so that the control bandwidth of the bus voltage of the direct current power grid is obviously increased compared with that of a traditional method, and the dynamic performance of the interface converter for controlling the direct current power grid can be effectively improved. When transient power exchange occurs between the alternating current and direct current power networks through the interface converter, in order to reduce the transient coupling between the alternating current and direct current power networks and improve the response speed of the power buffer stage to transient energy, the invention differentiates the inflow power at the alternating current side of the interface converter and the output power at the direct current side to obtain a transient power difference, and converts the transient power difference into a current feedforward instruction to be sent to a current loop of the power buffer stage.
Through the above coordination control:
and in a steady state, the bus voltage of the direct current network is stable. Because the main energy exchange between the AC and DC networks is completed by the power transmission stage, the power input by the AC network of the interface converter is equal to the power output by the DC network, and the transient power difference is zero, the current loop instruction current of the power buffer stage is small, although the frequency of the power buffer stage is high and has certain system loss, the energy exchange between the power buffer stage and the power network is small; when ripple occurs to the bus voltage of the direct current network, the power buffer stage controls the bus voltage of the direct current network, and the high bandwidth of the voltage loop of the power buffer stage has a better suppression effect on the ripple of the bus voltage of the direct current network compared with the control of the bus voltage of the direct current network by the power transmission stage with low switching frequency. In this case, power exchange takes place between the power buffer stage and the dc power grid, the magnitude of which is related to the dc ripple power causing the dc power grid bus voltage ripple, but generally the power causing the dc power grid voltage ripple is not too large.
Therefore, in a steady state, the coordinated control method provided by the invention can ensure the steady-state performance of the interface converter, and meanwhile, compared with the traditional high-power rectifier with low switching frequency, the loss of the coordinated control method provided by the invention cannot be greatly increased, and compared with the traditional high-power rectifier with high switching frequency, the loss of the coordinated control method provided by the invention is smaller.
In a transient state, the direct current load jumps, and the power transmission stage only controls the transmission of steady-state power, so that the power change caused by the load jump cannot be responded immediately, and the energy transfer between the alternating current power grid and the direct current power grid cannot jump, thereby reducing the coupling influence of the flickering of the direct current power grid on the alternating current power grid. At the moment, the transient power difference between the input power of the interface converter AC power grid and the output power of the DC power grid is not zero, and the transient power difference controls the feedforward of a current loop of the power buffer stage, so that the jump power of the DC power grid is mostly provided by the power buffer stage. Due to the high switching frequency of the power buffer stage, the response speed to the transient power is faster. At this time, power exchange occurs between the power buffer stage and the direct current power grid, and the size of the power exchange is related to the transient power difference. Due to the fact that the transient power difference lasts for a short time, the control of the power buffer stage still cannot lead to great improvement of loss of the interface converter.
Therefore, compared with the traditional high-power rectifier control, the coordination control method provided by the invention reduces the coupling influence of the flicker of the direct-current power grid on the alternating-current power grid in a transient state, and meanwhile, the system loss of the interface converter cannot be greatly improved.

Claims (6)

1. A coordination control method for an AC/DC power grid hybrid high-power interface converter is characterized by comprising a power transmission level control method and a power buffer level control method, wherein the power transmission level and the power buffer level in the AC/DC power grid hybrid high-power interface converter are subjected to coordination control by adopting voltage loop and current loop double closed-loop control;
the voltage loop of the power transmission stage controls the voltage of a super capacitor SC in the power buffer stage; a current loop of the power transmission stage tracks the change of steady-state power at the side of a direct-current power grid in an alternating-current and direct-current power grid and controls the steady-state power exchange among the alternating-current power grid, the direct-current power grid and a super capacitor SC;
the voltage loop of the power buffer stage controls the bus voltage of the direct current power grid; and the input power of the AC power grid side of the AC/DC power grid hybrid high-power interface converter is differenced with the output power of the DC power grid side to obtain a transient power difference, and the transient power difference is converted into a current feedforward instruction and is sent to a current loop of a power buffer stage to carry out current loop feedforward control of the power buffer stage.
2. The AC-DC-grid hybrid high-power interface converter coordination control method according to claim 1, wherein the power transmission stage comprises a three-phase full-power interface converterBridge control and filter inductor L1And a first control system; the first control system comprises a first voltage loop controller Gv1Low pass filter GLFFirst current loop controller Gi11A second current loop controller Gi12And a first PWM generator GPWM-1(ii) a The power buffer stage comprises a bidirectional boost circuit, a super capacitor SC, a filter capacitor C and an inductor L2And a second control system; the second control system comprises a second voltage loop controller Gv2A third current loop controller Gi2And a second PWM generator GPWM-2。
3. The AC/DC/power grid hybrid high-power interface converter coordination control method according to claim 2, wherein the power transmission stage control method specifically comprises the following steps:
the method comprises the following steps: setting a command value V of a supercapacitor voltageSC,refAnd acquiring real-time current and voltage signals of the AC/DC power grid hybrid high-power interface converter, including a real-time sampling value u of the voltage of a bus of the DC power gridDCReal-time sampling value u of super capacitor voltage SCscThe real-time sampling value i of the current flowing to the DC power grid by the interface converterdcReal-time sampling value u of AC network voltagea、ub、ucAnd a real-time sampling value i of the current flowing into the AC/DC power grid hybrid high-power interface converter from the AC power grida、ib、ic；
Step two: calculating a power instruction P for maintaining the voltage stability of the super capacitor SCref-1Will VSC,refSquare of minus uSCAfter squaring, the voltage is fed to a first voltage loop controller Gv1To obtain Pref-1Said first voltage loop controller Gv1A standard PI controller is adopted, and the expression of a controller transfer function is shown as a formula (1);
Figure RE-FDA0002405729670000021
in the formula (1), ksc,vp，ksc,viProportional coefficient and integral coefficient of the first voltage loop controller respectively;
step three: calculating steady-state power P to be transmitted to direct-current power grid by alternating-current power gridref-2Let u stand forDCAnd idcAfter multiplication, the signal is sent to a low-pass filter GLFTo obtain Pref-2The low-pass filter may be a first-order low-pass filter, and a transfer function expression of the first-order low-pass filter is shown in formula (2):
Figure RE-FDA0002405729670000022
in the formula (2) < omega >1Controls the low-pass filter GLFFilter bandwidth of, set ω1≤31.4rad/s；
Step four: calculating the total power P to be transmitted from the AC power network to the DC power network by the power transmission stageref-tThe calculation formula is shown in formula (3):
Pref-t＝Pref-1+Pref-2(3)
step five: calculating an active component u of the alternating current network side voltage in a dq rotation coordinate systemdAnd a reactive component uqWill ua、ub、ucThrough a first transformation matrix Gabc-dq1The calculation formula is shown as formula (4):
Figure RE-FDA0002405729670000031
in the formula, theta is a real-time angle of an A phase of the voltage of the alternating current network;
step six: calculating the transfer function G from the active power to the active current to be transferred by the power transfer stagef1U calculated in the step fivedInto equation (5):
Figure RE-FDA0002405729670000032
step seven: rotation of the current loop of the computational power transfer stage at dqActive current instruction value i under coordinate systemref-dAnd a reactive current command value iref-qP calculated in the fourth stepref-tMultiplying by G calculated in step sixf1To obtain iref-dLet iref-q＝0；
Step eight: calculating the active component i of the alternating current side current of the power transmission stage under the dq rotation coordinate systemdAnd a reactive component iqI is toa、ib、icThrough a second transformation matrix Gabc-dq2The calculation formula is shown as formula (6):
Figure RE-FDA0002405729670000033
in the formula (6), theta is the real-time angle of the voltage phase A of the alternating current network;
step nine: filter inductance L on alternating current network side of calculation power transmission stage1Active component u of voltage under dq rotation coordinate systemL-dAnd a reactive component uL-qI obtained in the seventh stepref-dSubtracting i obtained in step eightdThe difference thus obtained is fed to a first current loop controller G of the power transfer stagei11To obtain uL-dI obtained in the seventh stepref-qSubtracting i obtained in step eightqThe difference thus obtained is fed to a second current loop controller G of the power transfer stagei12Then u can be obtainedL-qSaid first current loop controller Gi11And a second current loop controller Gi12All adopt standard PI controllers, the first current loop controller Gi11Transfer function and second current loop controller Gi12Is the same as shown in equation (7):
Figure RE-FDA0002405729670000041
k in formula (7)cp，kciThe proportional coefficient and the integral coefficient of the first current loop controller and the second current loop controller of the power transmission stage respectively;
step ten: calculating active component u of power transmission level alternating current network side modulation wave in dq rotation coordinate systemc-dAnd a reactive component uc-qThe calculation formula is shown in formula (8):
Figure RE-FDA0002405729670000042
step eleven: calculating three-phase modulation wave u of power transmission level alternating current power grid side under abc coordinate systemc-a、uc-b、uc-cU in step tenc-d、uc-qThrough a third transformation matrix Gdq-abcTo obtain uc-a、uc-b、uc-cThe calculation formula is shown in formula (9):
Figure RE-FDA0002405729670000043
in the formula (9), theta is the real-time angle of the voltage phase A of the alternating current network;
step twelve: obtaining a power switch action instruction of a power transmission stage, and converting u into uc-a、uc-b、uc-cSent to a first PWM generator GPWM-1Modulating the modulated wave u by SPWMc-a、uc-b、uc-cThe three-phase fully-controlled bridge power switching tube is converted into action signals of power switching tubes VT1, VT2, VT3, VT4, VT5 and VT6, and controls actions of VT1, VT2, VT3, VT4, VT5 and VT6, so that the control of a power transmission stage is finished.
4. The AC/DC/power grid hybrid high-power interface converter coordination control method according to claim 3, wherein the operation modes of the power transmission stage are as follows: in order to guarantee the operating efficiency of the interface converter, the power transmission stage works at a low switching frequency and is used as a main channel for energy exchange of an alternating current power grid and a direct current power grid; the power transmission stage tracks the change of the active power of the direct-current power grid and meets the steady-state requirement of the active energy of the direct-current power grid.
5. The AC/DC/power grid hybrid high-power interface converter coordination control method according to claim 2, wherein the power buffer stage control method specifically comprises the following steps:
the method comprises the following steps: setting a command value V for a DC network bus voltageDC,refAnd acquiring real-time current and voltage signals of the AC/DC power grid hybrid high-power interface converter, including a real-time sampling value u of the voltage of a bus of the DC power gridDCReal-time sampling value u of super capacitor voltage SCscReal-time sampling value i of output current of super capacitorscThe real-time sampling value i of the current flowing to the DC power grid by the interface converterdcReal-time sampling value u of AC network voltagea、ub、ucAnd a real-time sampling value i of the current flowing into the AC/DC power grid hybrid high-power interface converter from the AC power grida、ib、ic；
Step two: calculating a current instruction i for maintaining the voltage of a direct-current power grid bus in a steady stateref-1Will VDC,refSquare of minus uDCAfter squaring, enter a second voltage loop controller Gv2To obtain iref-1Said second voltage loop controller Gv2A standard PI controller is adopted, and the transfer function expression of the PI controller is shown as a formula (10):
Figure FDA0002285115030000051
in the formula kv,p，kv,iThe proportional coefficient and the integral coefficient of the second voltage loop voltage controller are respectively;
step three: calculating transient power difference P between AC power grid input power and DC power grid output power of AC/DC power grid hybrid high-power interface convertererroThe calculation method is shown in formula (11):
Perro＝UaIa+UbIb+UcIc-uDCidc(11)
in the formula of Ua、Ub、UcAre respectively an AC power grid A, B, C IIIEffective value of phase voltage, Ia、Ib、IcThe effective values of three phases of current flowing into the AC/DC power grid hybrid high-power interface converter A, B, C from the AC power grid respectively;
step four: calculating transient power difference P between input power of alternating current power grid and output power of direct current power griderroConversion function G to feed-forward current command of power buffer stagef2The expression is shown as formula (12):
Figure FDA0002285115030000052
step five: calculating a feed-forward current command i of a power buffer stageref-2P obtained in the third steperroG obtained by multiplying by step fourf2To obtain iref-2The calculation formula is shown as formula (13):
iref-2＝Perro·Gf2(13)
step six: calculating a current loop instruction i of a power buffer stageref-scThe calculation method is shown as formula (14):
iref-sc＝iref-1-iref-2(14)
step seven: obtaining a modulated wave signal u of a power buffer stageref-pbLet the current loop command i of the power buffer stageref-scSubtract iscInto a third current loop controller Gi2To obtain uref-pbSaid third current loop controller Gi2A standard PI controller is adopted, and the transfer function expression of the PI controller is shown as the formula (15):
Figure FDA0002285115030000061
in the formula ksc,cp，ksc,ciAre respectively a third current loop controller Gi2The proportionality coefficient and the integral coefficient of (a);
step eight: acquiring a power switch action instruction of a power buffer stage; u. ofref-pbSent to a second PWM generator GPWM-2Through SPWM modulation of a modulated wave uref-pbThe signals are converted into action signals of power switching tubes VT7 and VT8 in the bidirectional boost circuit to control the actions of VT7 and VT8, and the control of the power buffer stage is finished.
6. The AC/DC/power grid hybrid high-power interface converter coordination control method according to claim 5, wherein the operation mode of the power buffer stage is as follows: the power buffer stage operates at a high switching frequency, and exchanges energy with the power grid when a direct-current grid voltage ripple or flicker occurs, wherein the exchange energy is related to the power causing the direct-current grid ripple or flicker.
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