CN111509732A - Multi-level topological reactive power compensation device with fault-tolerant function and compensation method - Google Patents
Multi-level topological reactive power compensation device with fault-tolerant function and compensation method Download PDFInfo
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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
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
- H02J3/1821—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators
- H02J3/1835—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators with stepless control
- H02J3/1842—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators with stepless control wherein at least one reactive element is actively controlled by a bridge converter, e.g. active filters
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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
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/01—Arrangements for reducing harmonics or ripples
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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
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/26—Arrangements for eliminating or reducing asymmetry in polyphase networks
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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
- H02M1/32—Means for protecting converters other than automatic disconnection
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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
- H02M1/32—Means for protecting converters other than automatic disconnection
- H02M1/325—Means for protecting converters other than automatic disconnection with means for allowing continuous operation despite a fault, i.e. fault tolerant converters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/30—Reactive power compensation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/40—Arrangements for reducing harmonics
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/50—Arrangements for eliminating or reducing asymmetry in polyphase networks
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Abstract
The invention discloses a multi-level topological reactive power compensation device with a fault-tolerant function and a compensation method, and belongs to the field of reactive current compensation and harmonic current suppression in power quality control of a power grid. The invention aims at the problem that the existing reactive power compensation device can not realize good fault-tolerant operation and real-time reactive power compensation and harmonic suppression under the condition of switching tube failure. The invention comprises a detection module, a controller and a power converter, wherein the controller comprises an integral voltage-sharing control module, an in-phase voltage-sharing control module, a power grid phase-locked loop module, a reactive harmonic current separation module, a quasi-proportional resonance control module and a carrier laminating module. The invention realizes that the system can safely and reliably run under the condition of normal running when the switch tube has a fault, and compensates reactive power and inhibits harmonic wave in real time.
Description
Technical Field
The invention relates to the field of reactive current compensation and harmonic current suppression in power quality control of a power grid, in particular to an agent compensation method of a multilevel topological reactive power compensation device with a fault-tolerant function.
Background
With the progress of power electronic technology, reactive and harmonic currents generated by power electronic equipment in life and production have more and more impacts on power grids, such as variable frequency air conditioners, washing machines and electric locomotives. When reactive and harmonic currents flow into the grid, distortion of the grid current waveform and reduction of the power factor are caused. When the power grid contains reactive harmonic current, the power grid can have great influence on power electronic equipment. The reactive power and harmonic current of the power grid can also influence the normal work of power electronic equipment, so that the compensation of the reactive power and the harmonic current is an important subject in the field of electric energy quality.
Reactive compensation devices can adequately manage reactive and harmonic currents, but power electronics can fail under adverse conditions. In particular, high frequency devices such as IGBTs and MOSEFETs are prone to open or short circuit faults in high voltage environments. The fault-tolerant control of the reactive power compensation device refers to that when a short-circuit or open-circuit fault occurs to a power electronic device in the reactive power compensation device, a switching strategy is timely detected and changed to remove the fault device, so that the system can safely and reliably operate under the condition of normal operation, and reactive power can be compensated and harmonic waves can be suppressed in real time. At present, a multi-level converter such as a diode clamping type topology, a flying capacitor type topology and a cascade H-bridge type topology cannot realize fault-tolerant operation.
Disclosure of Invention
In order to solve the problems, the invention provides a multi-level topology reactive power compensation device with a fault-tolerant function and a compensation method, so that the device can still normally operate when a switching tube of a converter fails.
The invention provides a multi-level topological reactive power compensation device with a fault-tolerant function, which comprises a detection module, a controller and a power converter, wherein the controller comprises an integral voltage-sharing control module, an in-phase voltage-sharing control module, a power grid phase-locked loop module, a reactive harmonic current separation module, a quasi-proportional resonance control module and a carrier laminating module;
the power converter comprises an A-phase converter, a B-phase converter and a C-phase converter which have the same structure, wherein the A-phase converter comprises a capacitor C1Capacitor C2Switch tube S1Switch tube S2Switch tube S3Switch tube S4Switch tube S5Switch tube S6Switch tube S7Diode D1Diode D2Diode D3Diode D4Diode D5Diode D6Diode D7Diode D8Diode D9Diode D10Diode Da1And a diode Da2Capacitor C1And a capacitor C2Said capacitor C1Capacitor C2Switch tube S3Switch tube S4Switch tube S5And a switching tube S6Are connected in series in sequence, a switching tube S1And a switching tube S2Connected in parallel with the capacitor C after being connected in series1And a capacitor C2Two-terminal, diode D1Diode D2Diode D3Diode D4Diode D5And a diode D6Are respectively connected with a switch tube S1Switch tube S2Switch tube S3Switch tube S4Switch tube S5And a switching tube S6Between the collector and the emitter of, a diode D7Diode D8Diode D9Diode D10Are connected in series in sequence, the diode D7And a diode D9And the connection point of (C)1And a capacitor C2Is connected to the connection point of diode D8And a diode D10Connecting point and switch tube S1And a switching tube S2Is connected to the connection point of the diode Da1And a diode Da2After being connected in series, both ends are respectively connected with the switch tube S3And a switching tube S4And a switching tube S5And a switching tube S6The connection point of (a).
Further, when the switch tube S is opened or closed1And a switching tube S2In case of failure, the power converter passes through the switch S7And a switching tube S3、S4、S5、S6And a diode Da1、Da2Forming a three-level topology, and outputting three-level phase voltages; when switching tube S3And a switching tube S6In case of failure, the power converter passes through the switch S7And a switching tube S1、S2、S4、S5And a diode Da1、Da2And forming a three-level topology and outputting three-level phase voltages.
Further, the multi-level topology reactive power compensation device with the fault tolerance function comprises an L C L filter.
Further, the detection module comprises a power converter output current detection module, a load current detection module and a grid voltage detection module.
Further, the reactive harmonic current separation module includes:
the three-phase load current coordinate transformation module generates a load current active current fundamental wave, a reactive current component and a harmonic current component;
the sliding mean filtering module is used for filtering out reactive current components and harmonic current components to obtain load current active fundamental waves;
the direct current side voltage PI control module generates a system active component through bus voltage;
and the three-phase current coordinate inverse transformation module obtains the given compensation current.
The invention provides a multilevel topology reactive power compensation method with a fault-tolerant function, which is realized by the multilevel topology reactive power compensation device with the fault-tolerant function, and specifically comprises the following steps:
s1, detecting the load current, the power grid voltage and the output current of the power converter by a detection module;
s2, the controller obtains modulation wave data through the load current data, the power grid voltage data and the output current data of the power converter detected by the detection module;
s3, judging whether the power converter is in a normal state at the moment, if so, performing a step S4, and if not, performing a step S5;
s4, step S2, the modulated wave data adopts normal state carrier wave laminated modulation to generate modulated waves;
s5, judging whether the switch tube S is a switch tube1-S2If the fault-tolerant working condition is met, performing step S6, otherwise, performing step S7;
s6, step S2 said modulation wave data using switch tube S1-S2Generating a PWM signal by a fault state carrier lamination modulation method;
s7, step S2 said modulation wave data using switch tube S3-S6The fault state carrier stack modulation method generates a PWM signal.
Further, step S2 includes:
s21, carrying out bias filtering processing on the sampled power grid voltage signal, the sampled load current signal and the current signal output by the power converter;
s22, locking the phase angle of the phase voltage of the power grid voltage signal through a phase-locked loop;
s23, performing three-phase load current coordinate transformation by combining the phase angle to obtain an active fundamental wave, a reactive current component and a harmonic current component of the load current;
s24, filtering the reactive current component and the harmonic current component to obtain an active fundamental wave of the load current;
s25, generating an active component of the system by the bus voltage through PI closed-loop control;
s26, performing three-phase current coordinate inverse transformation to obtain given compensation current;
and S27, generating modulation wave data through quasi-proportional resonance control by taking the difference between the given compensation current and the actual compensation current.
Further, in step S3, the method for determining whether the power converter is in the normal state at this time includes: detection switch tube S1Switch tube S2Switch tube S3Switch tube S6Judging whether the switch tube is open circuit by voltage drop when conducting, and when the switch tube S is open circuit1And openerClosing pipe S2Switch tube S3And a switching tube S6Is in normal state when neither is open circuit.
Further, the switch tube S1-S2The method for fault tolerance working conditions comprises the following steps: detection switch tube S1And a switching tube S2The voltage drop during conduction judges whether the switch tube is open-circuit, and when the switch tube S is open-circuit1Or S2Open circuit is a switching tube S1-S2And (5) fault working conditions.
Further, the switch tube S3-S6The method for fault tolerance working conditions comprises the following steps: detection switch tube S3And a switching tube S6The voltage drop during conduction judges whether the switch tube is open-circuit, and when the switch tube S is open-circuit3Or S6Open circuit is a switching tube S3-S6And (5) fault working conditions.
As described above, the multi-level topology reactive power compensation device and compensation method with fault-tolerant function provided by the invention have the following effects:
1. the multilevel topological reactive power compensation device with the fault-tolerant function provided by the invention enables the power converter to still normally operate when a switch tube of the power converter fails, and an L C L filter is adopted at an alternating current side, so that the content of higher harmonics in current can be reduced, and the dynamic response of a system is improved;
2. the reactive harmonic current separation module in the controller is combined with the quasi-proportional resonance control module to quickly and accurately realize current tracking, the all-pass filter phase-locked loop can realize quick phase locking, and the FPGA sampling and system control speed is higher and more efficient.
3. The power converter is a multi-level converter, can output better voltage waveform, has less harmonic content, has a fault-tolerant function, and can still operate under the fault condition;
4. the reactive compensation device and the compensation method are also suitable for compensation under the condition that the power grid is unbalanced and the power grid contains harmonic waves, and when the power grid is unbalanced, the voltage of a three-phase power grid is unbalanced and contains harmonic waves, so that the traditional phase-locked loop based on a synchronous coordinate system is not suitable for the unbalanced power grid, the traditional delay method and the differential method are not suitable for the condition that the power grid contains harmonic waves, and the reactive compensation and the harmonic suppression under the condition that the power grid is unbalanced and the power grid contains harmonic waves can be effectively solved by using the all-.
Drawings
Fig. 1 is a block diagram of an overall system of a multi-level topology reactive power compensation device with fault tolerance according to an embodiment of the present invention;
FIG. 2 is a circuit schematic of a power converter according to an embodiment of the present invention;
FIG. 3 shows the A-phase output V of the multi-level topology reactive power compensation device with fault tolerance function in normal operationSA time current loop;
FIG. 4 shows the A-phase output V of the multi-level topology reactive power compensation device with fault tolerance function in normal operationSA/2-time current loop;
fig. 5 is a current loop when the multi-level topology reactive power compensation device with fault-tolerant function normally operates with a phase a outputting 0;
FIG. 6 is a current loop of the multi-level topology reactive power compensation device with fault-tolerant function when the A-phase output-VS/2 is operated normally;
fig. 7 is a current loop when the multi-level topology reactive power compensation device with fault-tolerant function normally operates a-phase output-VS;
FIG. 8 is S of a multi-level topology reactive power compensation device with fault tolerance1Or S2A current loop when the A phase outputs VS/2 when the switch is in fault;
FIG. 9 is S of a multi-level topology reactive power compensation device with fault tolerance1Or S2A current loop when the A phase outputs 0 level when the switch is in fault;
FIG. 10 shows the S of the multi-level topology reactive power compensation device with fault tolerance function1Or S2A current loop when the A phase outputs-VS/2 when the switch is in fault;
FIG. 11 is a diagram showing S of a multi-level topology reactive power compensation device with fault tolerance3Or S6A current loop when the A phase outputs VS/2 when the switch is in fault;
FIG. 12 is a diagram showing S of a multi-level topology reactive power compensation device with fault tolerance3Or S6A current loop when the A phase outputs 0 level when the switch is in fault;
FIG. 13 is a diagram showing S of a multi-level topology reactive power compensation device with fault tolerance3Or S6A current loop when the A phase outputs-VS/2 level when the switch is in fault;
FIG. 14 is a schematic block diagram of an all-pass filter method phase-locked loop of the present invention;
fig. 15 is a carrier stacking schematic;
FIG. 16 is a waveform of the output phase voltage at the AC side of the power converter according to an embodiment of the present invention;
FIG. 17 is a graph of a midpoint voltage waveform for a power converter in accordance with an embodiment of the present invention;
FIG. 18 is a graph of grid voltage and current waveforms before phase A compensation under resistive-inductive loading in accordance with an embodiment of the present invention;
FIG. 19 is a graph of the grid voltage and current waveforms after A-phase compensation under resistive-inductive loading in accordance with an embodiment of the present invention;
FIG. 20 is a graph of the grid current waveform before A-phase compensation under nonlinear loading in accordance with an embodiment of the present invention;
FIG. 21 is a graph of the grid current waveform after A-phase compensation under nonlinear loading in accordance with an embodiment of the present invention;
FIG. 22 is a diagram of the grid-side current waveforms before and after fault tolerance when the switches S1 and S2 according to the present invention fail;
FIG. 23 is a diagram of the grid-side current waveforms before and after fault tolerance when the switches S3 and S6 are failed according to the present invention;
FIG. 24 is a circuit for sampling the voltage of the DC bus capacitor according to an embodiment of the present invention;
FIG. 25 is an AC voltage sampling circuit according to an embodiment of the present invention;
FIG. 26 is an AC current sampling circuit according to an embodiment of the present invention;
FIG. 27 shows a driving signal isolation circuit according to an embodiment of the present invention;
FIG. 28 is a fiber optic communications interface circuit according to an embodiment of the present invention;
FIG. 29 is a flowchart of a main process in accordance with an embodiment of the present invention;
FIG. 30 is a flowchart of an A/D interrupt routine in accordance with one embodiment of the present invention;
FIG. 31 is a flowchart of a status determination procedure according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
As shown in fig. 1, in one aspect, the present invention of this embodiment provides a multi-level topology reactive power compensation apparatus with fault tolerance function, including a detection module, a controller, a power converter, and an L C L filter, where the controller includes an overall voltage-sharing control module, an intra-phase voltage-sharing control module, a grid phase-locked loop module, a reactive harmonic current splitting module, a quasi-proportional resonance control module, and a carrier stacking module;
the reactive harmonic current separation module includes:
the three-phase load current coordinate transformation module generates a load current active current fundamental wave, a reactive current component and a harmonic current component;
the sliding mean filtering module is used for filtering out reactive current components and harmonic current components to obtain load current active fundamental waves;
the direct current side voltage PI control module generates a system active component through bus voltage;
and the three-phase current coordinate inverse transformation module obtains the given compensation current.
The input quantity of the quasi-proportional resonance control module is the difference between the given compensation current and the actual compensation current, and a modulation wave signal is output through a transfer function to carry out closed-loop control on an input alternating current signal, so that the actual compensation current can track the given compensation current.
The power converter comprises an A-phase converter, a B-phase converter and a C-phase converter which have the same structure, and as shown in figure 2, A isThe phase converter comprises a capacitor C1Capacitor C2Switch tube S1Switch tube S2Switch tube S3Switch tube S4Switch tube S5Switch tube S6Switch tube S7Diode D1Diode D2Diode D3Diode D4Diode D5Diode D6Diode D7Diode D8Diode D9Diode D10Diode Da1And a diode Da2Capacitor C1And a capacitor C2Said capacitor C1Capacitor C2Switch tube S3Switch tube S4Switch tube S5And a switching tube S6Are connected in series in sequence, a switching tube S1And a switching tube S2Connected in parallel with the capacitor C after being connected in series1And a capacitor C2Two-terminal, diode D1Diode D2Diode D3Diode D4Diode D5And a diode D6Are respectively connected with a switch tube S1Switch tube S2Switch tube S3Switch tube S4Switch tube S5And a switching tube S6Between the collector and the emitter of, a diode D7Diode D8Diode D9Diode D10Are connected in series in sequence, the diode D7And a diode D9And the connection point of (C)1And a capacitor C2Is connected to the connection point of diode D8And a diode D10Connecting point and switch tube S1And a switching tube S2Is connected to the connection point of the diode Da1And a diode Da2After being connected in series, both ends are respectively connected with the switch tube S3And a switching tube S4And a switching tube S5And a switching tube S6The connection point of (a).
When switching tube S1And a switching tube S2In case of failure, the power converter passes through the switch S7And a switching tube S3、S4、S5、S6And a diode Da1、Da2Form three batteriesA flat topology outputting three-level phase voltages; when switching tube S3And a switching tube S6In case of failure, the power converter passes through the switch S7And a switching tube S1、S2、S4、S5And a diode Da1、Da2And forming a three-level topology and outputting three-level phase voltages.
The controller in the embodiment comprises an FPGA chip 10M16SCE144C8G, a communication circuit and a driving circuit, wherein the FPGA main control circuit is responsible for algorithm processing and relay control, the algorithm processing comprises reactive harmonic current detection, two-stage voltage-sharing control, quasi-proportional resonant current tracking control, carrier stacking modulation and PWM signal output; the sampling circuit is responsible for detecting capacitor voltage, three-phase power grid voltage, load current and device compensation current; the communication circuit is responsible for the communication between the FPGA and the upper computer and the data transmission; the drive circuit drives the power switch tube by isolating and amplifying the PWM signal output by the FPGA.
The integral capacitance voltage is controlled to be the active component provided by the power grid to the device by comparing the sum of each phase of capacitance voltage with a reference voltage through PI; and in-phase capacitor voltage sharing, the modulation wave is finely adjusted according to the current direction, and then the modulation wave and the carrier are laminated and compared to obtain a PWM signal of the power switch tube, and the switch tube is driven to charge and discharge the capacitor voltage to control the capacitor voltage.
The detection module comprises a power converter output current detection module, a load current detection module, a direct current bus capacitor voltage sampling module and a power grid voltage detection module, the power grid voltage sampling module is shown in figure 24, a star-grid transformer SPT204A is used for voltage sampling, the power grid voltage is added at two ends of a resistor to generate current, an external sampling resistor generates voltage, and the voltage is transmitted to an FPGA sampling port through second-order filtering, biasing and clamping.
The voltage sampling of the direct current bus capacitor is shown in fig. 25, the voltage sampling of the direct current bus capacitor uses a voltage hall HVS-AS3.3, a built-in sampling resistor converts the current amount into a voltage amount, and the voltage amount is filtered by an RC filter and a voltage follower to filter high-frequency interference and reduce output impedance and finally sent to an a/D sampling chip.
The current sampling circuit of the three-way load current and the compensation current signal output by the three-way compensation device is shown in fig. 26, the adopted current sensor is a star point transformer SCT254AK, the maximum input current is 5A, the current transformation ratio is 5A:2.5mA, and when a sampling resistor of 680 ohms is externally connected, the ratio of the current to the sampling voltage is 100: 34. The detection signal is raised by the detection and bias circuit, and the sampling signal is sent to the A/D sampling port to be converted and then operated. The a/D conversion of this embodiment adopts AD7606, which is a 16-bit successive approximation ADC integrating a clamp tracking and holding amplifier and an internal voltage reference. The sampling rate is 200ksps, and high-speed serial or parallel output can be selected to support oversampling and a digital filter.
The driving signal isolation circuit is shown in figure 27, in order to realize the isolation of the control circuit and the main circuit, the optical coupler is selected for isolation and drives the IGBT in the module, the working frequency is 10kHz, when the main circuit switch device is switched on and switched off, electromagnetic interference pulses are transmitted along the circuit, and the normal work of the FPGA control chip is influenced under the serious condition, in order to improve the safety performance and the anti-interference capability of the system, the HCP L4504 high-speed optical coupler is adopted for electrically isolating the main circuit and the control circuit, and the sampling phase inverter is adopted for improving the gate signal driving capability.
As shown in fig. 28, the optical fiber communication interface circuit adopts a 1 × 9 optical fiber module for optical fiber communication, the model is GT-S1132-S3, the maximum supported rate of the optical fiber is 155Mbps, TD + and TD-are optical fiber signal input interfaces, RD +, RD-are optical fiber signal output interfaces, and the standard of the input and output levels of the 1 × 9 optical fiber circuit is × 0VPEC L VPEC L physical interface, which uses 2V bias voltage as a reference (common mode dc voltage) to provide about 700mV swing (differential mode voltage), but the differential signal output by the FPGA is L VDS level, and the L VDS physical interface uses 1.2V bias voltage as a reference (common mode dc voltage) to provide about 350mV swing (differential mode voltage), so that L VPEC L and L VDS can be level-matched through ac coupling and dc bias resistance networks.
The invention provides a multilevel topology reactive power compensation method with a fault-tolerant function, which is realized by the multilevel topology reactive power compensation device with the fault-tolerant function, and specifically comprises the following steps:
s1, detecting the load current, the power grid voltage and the output current of the power converter by a detection module;
s2, the controller obtains a modulation wave signal through the load current data, the power grid voltage data and the output current data of the power converter detected by the detection module;
s21, carrying out bias filtering processing on the sampled power grid voltage signal, the sampled load current signal and the current signal output by the power converter;
s22, locking the phase angle theta of the phase voltage of the power grid voltage signal through a phase-locked loop;
in the embodiment, an all-pass filter method phase-locked loop (APF-P LL) is adopted to carry out phase locking on the power grid, and the power grid angle is obtained by extracting the positive-sequence fundamental component of the power grid to carry out phase locking on the power grid.
The transfer function of the APF is:
G(s)＝(ωn-s)/(ωn+s) (1)
in the formula: omeganIs the fundamental angular frequency.
According to the transfer function frequency and phase frequency characteristic curve, the APF can be used for an input frequency of omeganThe fundamental wave signal of (2) realizes the functions of 0dB gain and 90 degrees phase shift.
For the three-phase three-wire system unbalanced grid voltage, because no zero sequence component exists, a grid three-phase voltage vector formula is as follows:
carrying out synchronous rotation transformation on the three-phase power grid voltage to obtain d-axis voltage and q-axis voltage under a dq coordinate system:
will ud、uqUsing an all-pass filter (fundamental frequency of 2 omega)n) Delay 90 °, obtain:
the positive sequence component under the dq axis is obtained by conversion according to the above formula, i.e. phase sequence separation:
in the formula (I), the compound is shown in the specification,
positive and negative sequence components under the dq axis.
According to the formula, the APF-P LL is shown in the schematic block diagram in FIG. 14, and after the q-axis negative sequence component is finally obtained, PI closed-loop control is performed and the power grid rated frequency omega is subjected toffTo obtain omeganAnd outputting the phase-locked angle theta to complete the control of the whole unbalanced power grid phase-locked loop.
S23, performing three-phase load current coordinate transformation by combining the phase angle to obtain an active fundamental wave, a reactive current component and a harmonic current component of the load current;
s24, filtering the reactive current component and the harmonic current component to obtain an active fundamental wave of the load current;
s25, generating an active component of the system by the bus voltage through PI closed-loop control;
s26, performing three-phase current coordinate inverse transformation to obtain given compensation current;
steps S23-S26 may be implemented by methods in the prior art, and are not described in detail in this embodiment.
And S27, generating modulation wave data through quasi-proportional resonance control by taking the difference between the given compensation current and the actual compensation current.
The transfer function of the existing PR controller is:
in the formula, ωnIs the resonant frequency, k, of the PR controllerinIs at resonanceAnd (4) the coefficient.
From the formula, at a resonance frequency ωnAnd compared with a PI (proportional-integral) controller, because the PR (proportional-integral) controller has two poles on an imaginary axis, an input signal resonates at the frequencies of the two poles, the amplitude gain of the resonance is very large, and the gain is rapidly attenuated at the frequencies outside the poles, so that the input signal has good regulation characteristic at the resonance.
Although the resonant controller is theoretically correct, because the bandwidth is extremely narrow and the gain is too high near the resonant frequency, when the parameters of the load and the power grid fluctuate, the gain of the PR controller is unstable, and the PR controller is not suitable for practical application. Therefore, the quasi-resonant controller of the embodiment adopts the first-order low-pass filter to replace the integrator in the complex frequency domain, so as to increase the bandwidth at the resonant frequency and reduce the gain, thereby increasing the stability of the system.
The expression of the quasi-PR controller becomes equation (7):
in the formula of omegacIs the cut-off frequency.
S3, judging whether the power converter is in normal state at the moment, and detecting the switch tube S1Switch tube S2Switch tube S3Switch tube S6Judging whether the switch tube is open circuit by voltage drop when conducting, and when the switch tube S is open circuit1Switch tube S2Switch tube S3And a switching tube S6Is in a normal state when not in an open circuit; if the power converter is in a normal state, performing step S4, otherwise, performing step S5;
the working principle of the power converter in this embodiment is as follows:
table 1 is a switch state table under normal operating conditions of the improved fault-tolerant topology level.
TABLE 1 level switch state table
The working state of the multilevel fault-tolerant topology is as follows:
(1) for voltage (V)S): FIGS. 3a and b show the output level VSThe direction and path of the current are set as the positive direction of the current from a to b. At this time switch S1、S5、S6The remaining switches are in the on state and the off state.
(2) For voltage (V)S/2): FIGS. 4a and b show the output level VSCurrent direction and path at time 2, switch S at time5、S6、S7And conducting and closing the other switches. At this level, the current has two cases, where "iL>0 "and" iL<0 "represents the capacitance C respectively2Discharging and charging.
(3) For voltage (0): FIGS. 5a and b show the current direction and path at output level 0, when switch S is present4、S5、S7And conducting and closing the other switches.
(4) For voltage (-V)S/2): FIGS. 6a and b show the output level-VSCurrent direction and path at time 2, switch S at time3、S4、S7And conducting and closing the other switches. At this level, the current has two cases, where "iL>0 "and" iL<0 "represents the capacitance C respectively1Discharging and charging.
(5) For voltage (-V)S): FIGS. 7a and b show the output level VSThe direction and path of the current are set as the positive direction of the current from a to b. At this time switch S2、S3、S4The remaining switches are in the on state and the off state.
When the multi-level fault-tolerant topology fails, the IGBT switching tube S1Or S2、S3、S6And a fast fuse is added, and when the IGBT switch tube has a short-circuit fault, the fuse is fast fused to cut off the fault switch tube. Therefore, the IGBT switch tube is in an open state finally regardless of the open circuit or short circuit fault. The fault-tolerant strategy of the embodiment is divided into two parts, namely a switch tube S1And S2The control strategies of the fault and the fault of the switching tube are different, the switching states of the switching tube are different, but the five-level output structure is changed into the three-level output topology structure, the phase voltage of the converter is changed into half of the original topology, and therefore the compensation capacity of the reactive power compensation device is also half of the original topology.
Therefore based on the specific switch states, which are summarized in table 2, the branch-connected fast fuses of the faulty switch are isolated by modifying the modulation index to half, and the strategy is switched according to the level state table.
When a fault occurs in the switch tube S1、S2When the bridge arm belongs to, the switch tube S is shown in Table 21Or S2Open circuit, short circuit level open circuit state table.
TABLE 2 switching tube S1Or S2Open-circuit and short-circuit level switch state meter
S1Or S2 switch failure, as shown in FIGS. 8-10, at switch tube S1Or a switching tube S2The failure of the switch outputs various states of the level. Wherein iL>At 0, 8a, 9a, 10a show the current paths for voltages VS/2, 0 and-Vs/2, for iL<At 0, the paths currently at voltages Vs/2, 0 and-Vs/2 are shown for 8b, 9b, 10b, respectively.
When a fault occurs in the switch tube S3、S6When the bridge arm belongs to, the switch tube S is shown in Table 33Or S6Open circuit, short circuit level open circuit state table.
TABLE 3 switching tube S3Or S6Open-circuit and short-circuit level switch state meter
Switch tube S3Or S6In case of switch failure, as shown in FIGS. 11-13, in the switch tube S3Or a switching tube S6Failure of the switchVarious states of the lower output level. For iL>At 0, 11a, 12a, 13a represent the current paths for voltages Vs/2, 0 and-Vs/2, for iL<At 0, paths for currents at voltages Vs/2, 0 and-Vs/2 are shown for 11b, 12b, 13b, respectively.
S4, generating a modulation wave by adopting normal state carrier wave laminated modulation;
the invention adopts carrier wave laminated modulation, which compares one modulation signal wave with a plurality of carrier signals. For the five-level converter, 4 triangular carriers with the same amplitude and the same frequency are stacked together and compared with a modulation wave signal, and the output level corresponds to the switching state of a power tube.
Because the multi-level fault-tolerant topology switch state is divided into normal and fault-tolerant conditions, five levels are output by the topology under the normal condition, three levels are output by the topology under the fault-tolerant condition, and a modulation signal cannot be correctly obtained by using a general carrier modulation method, the normal and fault-tolerant conditions can be compatible by using a carrier laminated modulation mode.
Normal carrier stack modulation: as shown in fig. 15, under normal conditions, 4 triangular waves with the same frequency amplitude initial phase angle are superposed together, the modulated wave is compared with the laminated carrier waves, the modulated wave is compared with all the carrier waves on the reference axis, when the modulated wave is greater than one carrier wave, 1 level is output, otherwise, 0 level is output, the 4 levels obtained after the comparison with the carrier waves are added, so that the level number corresponding to the modulated wave at each moment is obtained, the level number is used to correspond to the switching state of the topology, and the switching-on and the switching-off of the converter switching tube are controlled.
S5, judging whether the switch tube S is a switch tube1-S2If the fault-tolerant working condition is met, performing step S6, otherwise, performing step S7;
s6, step S2 said modulation wave data using switch tube S1-S2Generating a PWM signal by a fault state carrier lamination modulation method;
s7, step S2 said modulation wave data using switch tube S3-S6The fault state carrier stack modulation method generates a PWM signal.
Normally, the switching state of outputting five levels is stacked by using four triangular carriers, and the carrier stack modulation method in the case of the fault state in step S6 and step S7 is: the topology outputs three levels under the fault-tolerant condition, because the topology outputs three levels, two triangular carriers are used in a carrier stacking mode under the fault-tolerant condition, in order to prevent overmodulation, a modulation wave is halved and then compared with all carriers on a reference axis, when the modulation wave is greater than one carrier, 1 level is output, otherwise, 0 level is output, 2 levels obtained after comparison with the carriers are added, then the level number corresponding to the modulation wave at each moment is obtained, and the level number is used for corresponding the switching state of the topology.
Fig. 16 is a waveform of an output phase voltage of the converter, the reactive power compensation device outputs a five-level phase voltage under normal operation, the output phase voltage changes to a three-level when a fault-tolerant state occurs, the converter starts a fault-tolerant switching state at 0.2S, and the output phase voltage of the converter changes from the five-level to the three-level, which indicates that the converter can normally operate.
FIG. 17 is a waveform of DC bus voltage of the converter, which is the capacitor C from top to bottom1And C2It can be seen from the figure that the capacitor voltage fluctuates slightly around 500V, which can meet the requirement of the converter voltage output.
The system load is a resistance-inductance load, the inductance value is 10mH, the resistance is 40 omega, and the three-phase star connection is realized. Fig. 18 is a waveform diagram after the a-phase grid side compensation under resistive load, and it can be seen from fig. 18 that the a-phase grid lumens lag behind the voltage waveform before compensation. Fig. 19 is a waveform diagram of a phase a grid side compensation under a resistive load, the phases of the current and the voltage are basically consistent after compensation, and the power factor is close to 1, which shows that the device has good reactive compensation capability.
The system load is a three-phase uncontrollable rectifier bridge, and a 50 omega resistor is connected behind the rectifier bridge. Fig. 20 is a waveform diagram before a-phase network side compensation under a nonlinear load, and a three-phase network current before compensation is seriously distorted and contains a large amount of harmonics. Fig. 21 is a waveform diagram after a-phase network side compensation under a nonlinear load, and a network current after device compensation is close to a sine wave, which shows that the device has good harmonic suppression capability.
To verify the fault tolerance of the converter, under three-phase uncontrollable rectifier bridge load, fig. 22 shows a switching tube S1、S2Fault-tolerant front and back network side current oscillograms when a switch is in fault, and a switching tube S when the system simulation time reaches 0.08S1、S2When the switch is switched off, the current waveform on the network side is distorted, the simulation time is switched to a fault-tolerant control state when reaching 0.1s, and the waveform on the network side is restored again, so that the current compensation waveform before and after fault tolerance is basically consistent. FIG. 23 shows a switching tube S3、S6Fault-tolerant front and back network side current oscillograms when a switch is in fault, and S is obtained when the system simulation time reaches 0.08S3、S6And when the switch is switched off, the current waveform of the network side becomes poor, the simulation time is switched to a fault-tolerant control state when reaching 0.1s, and the waveform of the network side is restored again, so that the current compensation waveform before and after fault tolerance is basically consistent. The device has good fault-tolerant dynamic compensation capability.
FIG. 29 is a flow chart of a main program of a system, which is controlled by an FPGA chip MAX10 of INTE L, wherein each module is initialized during power-on, including system initialization, IO initialization, interrupt initialization, A/D initialization, and communication module initialization, and after initialization is completed, the system starts to wait for interrupt generation.
Fig. 31 is a flow chart of state determination, which determines the state of the converter when the modulated wave signal is received. When the switching is switched to a normal state, a PWM signal is generated through normal carrier laminating state modulation and drives a switching tube through isolation amplification; when switching to S1、S2Or S3、S6In fault-tolerant state, switchAnd (5) switching to a corresponding fault-tolerant state, carrying out carrier stacking modulation, generating a PWM signal, and driving a switching tube through isolation amplification.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. The multi-level topology reactive power compensation device with the fault-tolerant function is characterized by comprising a detection module, a controller and a power converter, wherein the controller comprises an integral voltage-sharing control module, an in-phase voltage-sharing control module, a power grid phase-locked loop module, a reactive harmonic current separation module, a quasi-proportional resonance control module and a carrier laminating module;
the power converter comprises an A-phase converter, a B-phase converter and a C-phase converter which have the same structure, wherein the A-phase converter comprises a capacitor C1Capacitor C2Switch tube S1Switch tube S2Switch tube S3Switch tube S4Switch tube S5Switch tube S6Switch tube S7Diode D1Diode D2Diode D3Diode D4Diode D5Diode D6Diode D7Diode D8Diode D9Diode D10Diode Da1And a diode Da2Capacitor C1And a capacitor C2Said capacitor C1Capacitor C2Switch tube S3Switch tube S4Switch tube S5And a switching tube S6Are connected in series in sequence, a switching tube S1And a switching tube S2Connected in parallel with the capacitor C after being connected in series1And a capacitor C2Two-terminal, diode D1Diode D2Diode D3Diode D4Diode, and method for manufacturing the sameD5And a diode D6Are respectively connected with a switch tube S1Switch tube S2Switch tube S3Switch tube S4Switch tube S5And a switching tube S6Between the collector and the emitter of, a diode D7Diode D8Diode D9Diode D10Are connected in series in sequence, the diode D7And a diode D9And the connection point of (C)1And a capacitor C2Is connected to the connection point of diode D8And a diode D10Connecting point and switch tube S1And a switching tube S2Is connected to the connection point of the diode Da1And a diode Da2After being connected in series, both ends are respectively connected with the switch tube S3And a switching tube S4And a switching tube S5And a switching tube S6The connection point of (a).
2. The multi-level topology reactive power compensation device with fault tolerance of claim 1, wherein when the switch tube S is on1And a switching tube S2In case of failure, the power converter passes through the switch S7And a switching tube S3、S4、S5、S6And a diode Da1、Da2Forming a three-level topology, and outputting three-level phase voltages; when switching tube S3And a switching tube S6In case of failure, the power converter passes through the switch S7And a switching tube S1、S2、S4、S5And a diode Da1、Da2And forming a three-level topology and outputting three-level phase voltages.
3. The multi-level topology reactive power compensation device with fault tolerance function according to claim 1, wherein the multi-level topology reactive power compensation device with fault tolerance function comprises L C L filter.
4. The multi-level topology reactive power compensation device with fault tolerance of claim 1, wherein the detection module comprises a power converter output current detection module, a load current detection module and a grid voltage detection module.
5. The multi-level topology reactive power compensation device with fault tolerance of claim 1, wherein the reactive harmonic current separation module comprises:
the three-phase load current coordinate transformation module generates a load current active current fundamental wave, a reactive current component and a harmonic current component;
the sliding mean filtering module is used for filtering reactive current components and harmonic current components to obtain load current active fundamental waves;
the direct current side voltage PI control module generates a system active component through bus voltage;
and the three-phase current coordinate inverse transformation module obtains the given compensation current.
6. The method for multi-level topological reactive power compensation with fault tolerance function is realized by the multi-level topological reactive power compensation device with fault tolerance function of any one of claims 1 to 5, and specifically comprises the following steps:
s1, detecting the load current, the power grid voltage and the output current of the power converter by a detection module;
s2, the controller obtains modulation wave data through the load current data, the power grid voltage data and the output current data of the power converter detected by the detection module;
s3, judging whether the power converter is in a normal state at the moment, if so, performing a step S4, and if not, performing a step S5;
s4, step S2, the modulated wave data adopts normal state carrier wave laminated modulation to generate modulated waves;
s5, judging whether the switch tube S is a switch tube1-S2If the fault-tolerant working condition is met, performing step S6, otherwise, performing step S7;
s6, step S2 said modulation wave data using switch tube S1-S2Generating a PWM signal by a fault state carrier lamination modulation method;
s7, step S2The modulated wave data adopts a switch tube S3-S6The fault state carrier stack modulation method generates a PWM signal.
7. The method for multi-level topology reactive compensation with fault tolerance of claim 6, wherein step S2 comprises:
s21, carrying out bias filtering processing on the sampled power grid voltage signal, the sampled load current signal and the current signal output by the power converter;
s22, locking the phase angle of the phase voltage of the power grid voltage signal through a phase-locked loop;
s23, performing three-phase load current coordinate transformation by combining the phase angle to obtain an active fundamental wave, a reactive current component and a harmonic current component of the load current;
s24, filtering the reactive current component and the harmonic current component to obtain an active fundamental wave of the load current;
s25, generating an active component of the system by the bus voltage through PI closed-loop control;
s26, performing three-phase current coordinate inverse transformation to obtain given compensation current;
and S27, generating modulation wave data through quasi-proportional resonance control by taking the difference between the given compensation current and the actual compensation current.
8. The method for multi-level topology reactive power compensation with fault-tolerant function according to claim 6, wherein the step S3 is to determine whether the power converter is in a normal state at this time by: detection switch tube S1Switch tube S2Switch tube S3Switch tube S6Judging whether the switch tube is open circuit by voltage drop when conducting, and when the switch tube S is open circuit1Switch tube S2Switch tube S3And a switching tube S6Is in normal state when neither is open circuit.
9. The multi-level topology reactive power compensation method with fault tolerance function according to claim 6, wherein the switch tube S1-S2The method for fault tolerance working conditions comprises the following steps: detection ofSwitch tube S1And a switching tube S2The voltage drop during conduction judges whether the switch tube is open-circuit, and when the switch tube S is open-circuit1Or S2Open circuit is a switching tube S1-S2And (5) fault working conditions.
10. The multi-level topology reactive power compensation method with fault tolerance function according to claim 6, wherein the switch tube S3-S6The method for fault tolerance working conditions comprises the following steps: detection switch tube S3And a switching tube S6The voltage drop during conduction judges whether the switch tube is open-circuit, and when the switch tube S is open-circuit3Or S6Open circuit is a switching tube S3-S6And (5) fault working conditions.
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| CN113098309A (en) * | 2021-03-11 | 2021-07-09 | 中国长江三峡集团有限公司 | Digital delay compensation method for multi-bridge arm three-level topology direct-current side neutral point potential balance control |
| CN114069631A (en) * | 2022-01-11 | 2022-02-18 | 四川大学 | Low-voltage distribution network harmonic suppression circuit |
| CN117595686A (en) * | 2024-01-18 | 2024-02-23 | 西南交通大学 | Single-phase PET modulation method suitable for load open circuit in module |
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| CN104934989A (en) * | 2015-07-09 | 2015-09-23 | 哈尔滨理工大学 | Reactive power compensation device based on novel modular multilevel topology and control method thereof |
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| CN113098309A (en) * | 2021-03-11 | 2021-07-09 | 中国长江三峡集团有限公司 | Digital delay compensation method for multi-bridge arm three-level topology direct-current side neutral point potential balance control |
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