CN113708359A - Bidirectional DCDC converter control method, system and related components - Google Patents
Bidirectional DCDC converter control method, system and related components Download PDFInfo
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- 238000004146 energy storage Methods 0.000 claims abstract description 68
- 230000006855 networking Effects 0.000 claims abstract description 49
- 238000011217 control strategy Methods 0.000 claims abstract description 27
- 238000007599 discharging Methods 0.000 claims abstract description 17
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- 238000007600 charging Methods 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 10
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- 238000010277 constant-current charging Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
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- 238000010281 constant-current constant-voltage charging Methods 0.000 description 1
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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
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
- H02J1/10—Parallel operation of dc sources
- H02J1/102—Parallel operation of dc sources being switching converters
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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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
- H02J7/0014—Circuits for equalisation of charge between batteries
- H02J7/0016—Circuits for equalisation of charge between batteries using shunting, discharge or bypass circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0068—Battery or charger load switching, e.g. concurrent charging and load supply
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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
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
- H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
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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
- H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
- H02J2310/40—The network being an on-board power network, i.e. within a vehicle
- H02J2310/42—The network being an on-board power network, i.e. within a vehicle for ships or vessels
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- Dc-Dc Converters (AREA)
Abstract
The application discloses a control method of a bidirectional DCDC converter, which is applied to a direct-current networking electric propulsion system, and comprises the following steps: when the energy storage battery pack is in a discharging state, acquiring the current operation mode of a target bidirectional DCDC converter; selecting a corresponding control strategy according to the current operation mode to obtain a current reference instruction value of the current control loop; and outputting a switching pulse corresponding to the current reference command value to the target bidirectional DCDC converter so as to adjust the output power of the bidirectional DCDC converter. According to the method and the device, the output power of the target bidirectional DCDC converter can be accurately controlled according to the current operation mode of the target bidirectional DCDC converter, and the operation stability of the direct-current networking electric propulsion system is improved. The application also discloses a bidirectional DCDC converter control system, a bidirectional DCDC converter control device, a computer readable storage medium and a direct current networking electric propulsion system, and the bidirectional DCDC converter control system has the beneficial effects.
Description
Technical Field
The present disclosure relates to the field of dc power grids, and in particular, to a method and a system for controlling a bidirectional DCDC converter, and related components.
Background
With the gradual maturity of electric power devices, new energy power generation and energy storage technologies, technical and economic advantages of a direct current comprehensive power grid system are gradually embodied, and direct current networking of high-speed rails, ships, offshore platforms and the like becomes a hot spot of research in the field of new generation electric propulsion systems. Compared with an alternating-current networking system, the direct-current networking electric propulsion system has the advantages that firstly, common distributed power supplies such as storage battery energy storage, photovoltaic power generation and a diesel generating set are direct current or non-power frequency alternating current, the direct-current networking is adopted, flexible access of various distributed power supplies is facilitated, a distribution board and a part of transformers are omitted, and the volume and the weight of the system are greatly reduced; secondly, an alternating current generator set in the direct current networking electric propulsion system can adjust the rotating speed according to different loads, the system is ensured to work according to an optimal energy consumption curve, and the overall efficiency of the system is improved; thirdly, the direct current network electric propulsion system does not have the frequency stability and the reactive power stability of alternating current network, and the power supply reliability is relatively higher.
In the direct-current networking electric propulsion system, the energy storage bidirectional DCDC converter has the functions of direct-current bus voltage matching, storage battery charge-discharge management, power grid energy regulation and the like, and the control performance of the energy storage bidirectional DCDC converter is directly related to success or failure of multi-type power supply parallel operation optimization control, dynamic energy coordination control and multi-operation mode stable switching in the direct-current networking electric propulsion system. In the practical application of the direct current networking electric propulsion system, the bidirectional DCDC converter can operate under various working conditions, at present, under different working conditions, voltage droop control is adopted for controlling the DCDC, but only voltage droop control is carried out on the bidirectional DCDC converter, so that different requirements of the direct current networking propulsion system on adjusting the output power of the bidirectional DCDC converter under all the working conditions cannot be met, and if the bidirectional DCDC converter and other converters of different types operate in a combined mode with loads or operate independently with loads, the direct current networking propulsion system needs the bidirectional DCDC converter to output different powers, so that the existing single control scheme cannot realize accurate control on the output power of the DCDC converter, and the direct current networking electric propulsion system is unstable in operation.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a control method, a control system, a control device, a computer readable storage medium and a direct current networking electric propulsion system of a bidirectional DCDC converter, which can accurately control the output power of the bidirectional DCDC converter according to the current operation mode of a target bidirectional DCDC converter, and improve the operation stability of the current operation mode of the direct current networking electric propulsion system.
In order to solve the technical problem, the present application provides a bidirectional DCDC converter control method, which is applied to a direct-current networking electric propulsion system, where the direct-current networking electric propulsion system includes an energy storage battery pack, and the bidirectional DCDC converter control method includes:
when the energy storage battery pack is in a discharging state, acquiring the current operation mode of a target bidirectional DCDC converter;
selecting a corresponding control strategy according to the current operation mode to obtain a current reference instruction value of the current control loop;
and outputting a switching pulse corresponding to the current reference command value to the target bidirectional DCDC converter so as to adjust the output power of the bidirectional DCDC converter.
Preferably, the process of acquiring the current operation mode of the target bidirectional DCDC converter specifically includes:
and acquiring the current operation mode of the target bidirectional DCDC converter through the energy management system.
Preferably, the current operation mode is:
the target bidirectional DCDC converter and the diesel generator converter are operated in parallel to carry out a load working condition;
or the target bidirectional DCDC converter and other bidirectional DCDC converters run in parallel to carry out the working condition with load;
or, the target bidirectional DCDC converter is in an independent load working condition;
or the target bidirectional DCDC converter and the direct-current power grid are in grid-connected operation and have load working conditions.
Preferably, the process of selecting a corresponding control strategy according to the current operation mode to obtain the current reference command value of the current control loop specifically includes:
when the current operation mode is the load-carrying working condition of the parallel operation of the target bidirectional DCDC converter and the diesel generator converter, the current direct-current voltage reference instruction value is obtained through P-V droop control;
obtaining a first auxiliary current value according to the current direct-current voltage reference instruction value;
and acquiring a current feedback current value, and acquiring a current reference instruction value of the current control loop according to the current feedback current value and the first auxiliary current value.
Preferably, the process of selecting a corresponding control strategy according to the current operation mode to obtain the current reference command value of the current control loop specifically includes:
when the current operation mode is that the target bidirectional DCDC converter and other bidirectional DCDC converters are operated in parallel and have a load working condition, a current direct-current voltage reference instruction value is obtained through P-V droop control;
obtaining a first auxiliary current value according to the current direct-current voltage reference instruction value;
obtaining a second auxiliary current value through SOC-I droop control;
and obtaining a current feedback current value, and obtaining a current reference instruction value of the current control loop according to the current feedback current value, the first auxiliary current value and the second auxiliary current value.
Preferably, the process of obtaining the second auxiliary current value through SOC-I droop control specifically includes:
obtaining a second auxiliary current value through a first relational expression which is
Wherein, Delta IiFor the second auxiliary current value, SOCiThe state of charge of the ith energy storage battery pack,
the average value of the charge states of all the energy storage battery packs running online is shown, and n is a proportionality coefficient.
Preferably, the process of selecting a corresponding control strategy according to the current operation mode to obtain the current reference command value of the current control loop specifically includes:
when the current operation mode is the load-carrying working condition of the grid-connected operation of the target bidirectional DCDC converter and the direct-current power grid, acquiring target voltage;
obtaining a current direct-current voltage reference instruction value through presynchronization operation;
obtaining a first auxiliary current value according to the current direct-current voltage reference instruction value;
and acquiring a current feedback current value, and acquiring a current reference instruction value of a current control loop according to the current feedback current value and the first auxiliary current value so as to stabilize the direct-current bus voltage of the target bidirectional DCDC converter at the target voltage.
Preferably, the process of obtaining the current dc voltage reference command value through the presynchronization operation specifically includes:
obtaining the current direct-current voltage reference instruction value through a second relational expression, wherein the second relational expression is
U is the current DC voltage reference command value, U0Is an initial value of DC voltage, Δ UsynIs superposed on U0DC bus voltage synchronizing signal, kdcIs the integral coefficient, U, of the DC bus voltage of the target bidirectional DCDC convertershoreIs the target voltage.
Preferably, the process of obtaining the current dc voltage reference command value through P-V droop control specifically includes:
obtaining a current direct-current voltage reference instruction value through a third relational expression and a fourth relational expression;
wherein the third relation is
The fourth relational expression is P0＝(ia+ib+ic)·ubat；miIs the droop coefficient, V, of the ith converteri *Is the output DC voltage reference value, V, of the ith convertermaxAnd VminMaximum and minimum operating voltages, P, respectively, allowed for the parallel convertersmaxiIs the maximum output power, P, of the ith converteriIs the output power P of the ith converter in steady state operation0Outputting active power for the target bidirectional DCDC converter ia、ib、icIs a three-phase bridge arm current ubatIs the terminal voltage of the energy storage battery pack.
Preferably, the bidirectional DCDC converter control method further includes:
when the energy storage battery pack is in a charging state, acquiring a current reference instruction value;
outputting a switching pulse corresponding to a current reference command value to the target bidirectional DCDC converter so as to charge the energy storage battery pack through a direct current bus;
the process of acquiring the current reference command value specifically includes:
acquiring the terminal voltage of the energy storage battery pack;
when the terminal voltage is smaller than or equal to a preset voltage value, obtaining a current reference instruction value according to a preset current value and a current feedback value;
and when the terminal voltage is larger than the preset voltage value, obtaining a third auxiliary current value according to the terminal voltage and the voltage reference instruction value, and obtaining a current reference instruction value according to the third auxiliary current value and the current feedback value.
Preferably, the process of acquiring the current reference command value further includes:
obtaining a fourth auxiliary current value according to the SOC-I droop control;
correspondingly, the process of obtaining the current reference instruction value according to the preset current value and the current feedback value specifically comprises the following steps:
obtaining a current reference instruction value according to a preset current value, the fourth auxiliary current value and a current feedback value;
correspondingly, the process of obtaining the current reference command value according to the third auxiliary current value and the current feedback value specifically includes:
and obtaining the current reference instruction value according to the fourth auxiliary current value, the third auxiliary current value and the current feedback value.
In order to solve the above technical problem, the present application further provides a bidirectional DCDC converter control system, which is applied to a dc networking electric propulsion system, the dc networking electric propulsion system includes an energy storage battery pack, and the bidirectional DCDC converter control system includes:
the acquisition module is used for acquiring the current operation mode of the target bidirectional DCDC converter when the energy storage battery pack is in a discharging state;
the calculation module is used for selecting a corresponding control strategy according to the current operation mode to obtain a current reference instruction value of the current control loop;
and the driving module is used for outputting a switching pulse corresponding to the current reference instruction value to the target bidirectional DCDC converter so as to adjust the output power of the bidirectional DCDC converter.
In order to solve the above technical problem, the present application further provides a bidirectional DCDC converter control device, including:
a memory for storing a computer program;
a processor for implementing the steps of the bidirectional DCDC converter control method as claimed in any one of the above when executing said computer program.
To solve the above technical problem, the present application further provides a computer readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the bidirectional DCDC converter control method according to any one of the above.
In order to solve the above technical problem, the present application further provides a dc networking electric propulsion system, including the bidirectional DCDC converter control device as described above.
The application provides a control method of a bidirectional DCDC converter, which comprises the steps of firstly obtaining the current operation mode of a target bidirectional DCDC converter in the discharge state of an energy storage battery pack, for example, the target bidirectional DCDC converter and other converters of different types are jointly operated to carry out load carrying or the target bidirectional DCDC converter is independently operated to carry out load carrying, selecting a corresponding control strategy according to the current operation mode to obtain a current reference instruction value of the current control loop so as to generate a corresponding switching pulse, the method and the device control the switch device in the target bidirectional DCDC converter so as to adjust the output power of the bidirectional DCDC converter, the output power of the target bidirectional DCDC converter is accurately controlled according to the current operation mode of the target bidirectional DCDC converter, the output power requirement of the direct-current networking electric propulsion system on the bidirectional DCDC converter in the current operation mode is met, and the operation stability of the direct-current networking electric propulsion system is improved. The application also provides a control system and device of the bidirectional DCDC converter, a computer readable storage medium and a direct current networking electric propulsion system, and the control system has the same beneficial effects as the control method of the bidirectional DCDC converter.
Drawings
In order to more clearly illustrate the embodiments of the present application, the drawings needed for the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a schematic structural diagram of a ship dc networking system provided in the present application;
fig. 2 is a main circuit topology structure diagram of a bidirectional DCDC converter provided in the present application;
fig. 3 is a flowchart illustrating steps of a bidirectional DCDC converter control method according to the present application;
fig. 4 is a schematic diagram of a multi-operation mode discharge control of a bidirectional DCDC converter provided in the present application;
FIG. 5 is a schematic view of a P-V droop curve configuration provided herein;
fig. 6 is a flowchart illustrating steps of a bidirectional DCDC converter control method for a charging state of an energy storage battery pack according to the present disclosure;
fig. 7 is a schematic diagram illustrating a charging control of a bidirectional DCDC converter according to the present application;
fig. 8 is a schematic structural diagram of a bidirectional DCDC converter control system provided in the present application.
Detailed Description
The core of the application is to provide a control method, a control system, a control device, a computer readable storage medium and a direct current networking electric propulsion system for a bidirectional DCDC converter, which can accurately control the output power of the target bidirectional DCDC converter according to the current operation mode of the target bidirectional DCDC converter, and improve the operation stability of the direct current networking electric propulsion system. Current mode of operation
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to facilitate understanding of the control method of the bidirectional DCDC converter provided in the present application, a dc networking propulsion system and a bidirectional DCDC converter applied in the present application are introduced below, and a dc networking ship of a certain type shown in fig. 1 is taken as an example for description, where the dc networking system of the ship is divided into 2 subsystems, i.e., a port dc networking system and a starboard dc networking system. Each direct current networking subsystem comprises 5 converters, namely a generator rectifier, an energy storage bidirectional DCDC converter, a daily load power supply converter, a main propulsion motor inverter, a side propulsion motor inverter and the like. Direct current buses (a port and a starboard direct current buses are respectively recorded as DC _ Bus1 and DC _ Bus2) are used as public connection points on direct current sides of the 5 converters, and the port and starboard direct current buses can be separated and combined through a direct current breaker, so that networking operation or independent operation is realized. The domestic load three-phase power supply converter converts direct-current bus voltage into alternating-current voltage with controllable amplitude and frequency, the three-phase 380V power frequency alternating-current bus is connected through a transformer to supply power to the marine domestic load, and the left and right board alternating-current buses (respectively marked as an alternating-current bus1 and an alternating-current bus2) are separated and combined through an alternating-current circuit breaker, so that networking operation or independent operation can be realized. In addition, the ship direct-current networking system can realize uninterrupted power supply during the ship landing period through the starboard direct-current bus and direct-current shore power grid connection or the alternating-current bus and alternating-current shore power grid connection.
Referring to fig. 2, fig. 2 is a main circuit topology diagram of a bidirectional DCDC converter according to an embodiment of the present disclosure, in order to achieve bidirectional energy flow and reasonable charging/discharging of an energy storage unit, an energy storage battery pack is connected to a dc bus through the bidirectional DCDC converter. U in the figurebatAnd UdcThe voltage of the low voltage side and the voltage of the high voltage side of the bidirectional DCDC converter respectively correspond to the terminal voltage and the direct current bus voltage of the energy storage battery pack respectively, L is filter inductance, and T is1～T6Being switching devices, D1～D6Is an anti-parallel freewheeling diode; i.e. ia、ib、icRespectively, three-phase bridge arm current toThe outflow direction of the energy storage battery pack is the positive current direction. Of course, in addition to the structure shown in fig. 2, the bidirectional DCDC converter may also be changed from two levels to three or more levels, and the number of parallel arms of the bidirectional DCDC converter is not limited herein.
The bidirectional DCDC converter controls energy to flow in different directions according to the requirements of a direct-current networking electric propulsion system on charging and discharging of an energy storage battery pack and through two working conditions of Boost (discharging) and Buck (charging). When the bidirectional DCDC converter is in Boost working condition, T2、T4、T6As master switches, T1、T3、T5Keeping the turn-off state, wherein energy flows from the energy storage battery pack to the direct current bus, and the energy storage battery pack is in a discharging state; when the bidirectional DCDC converter is in a Buck working condition, T1、T3、T5As master switches, T2、T4、T6Keeping the off state, enabling energy to flow to the energy storage battery pack from the direct current bus, and enabling the energy storage battery pack to be in a charging state.
The following is a detailed description of the bidirectional DCDC converter control method provided in the present application.
Referring to fig. 3, fig. 3 is a flowchart illustrating steps of a bidirectional DCDC converter control method according to the present application, where the bidirectional DCDC converter control method includes:
s101: when the energy storage battery pack is in a discharging state, acquiring the current operation mode of the target bidirectional DCDC converter;
specifically, when the energy storage battery pack is monitored to be in a discharging state, the target bidirectional DC-DC converter and other distributed power supplies coordinate to control power output so as to stabilize the voltage of the direct-current bus and ensure the stability of the direct-current networking propulsion system. The target bidirectional DC-DC converter comprises the following four operation modes according to different combination modes of the distributed power supply, whether the target bidirectional DC-DC converter is connected with a direct-current power grid or not and the like, but not limited to the following four operation modes: the current operation mode is any one of the working conditions that the target bidirectional DCDC converter and the diesel generator converter are operated in parallel and have load, the target bidirectional DCDC converter and other bidirectional DCDC converters are operated in parallel and have load, the target bidirectional DCDC converter is independently loaded, or the target bidirectional DCDC converter and the direct current power grid are connected in parallel and have load. The direct current networking electric propulsion system can comprise a plurality of bidirectional DCDC converters, and the target bidirectional DCDC converter is any one bidirectional DCDC converter which needs to be controlled currently.
In this embodiment, the current operation mode of the target bidirectional DCDC converter may be obtained according to a preset obtaining period, or the current operation mode of the target bidirectional DCDC converter may be obtained after receiving the obtaining instruction.
S102: selecting a corresponding control strategy according to the current operation mode to obtain a current reference instruction value of the current control loop;
s103: and outputting a switching pulse corresponding to the current reference command value to the target bidirectional DCDC converter so as to adjust the output power of the bidirectional DCDC converter.
It can be understood that under different operating conditions, different control strategies need to be adopted to meet the currently required output power, where the control strategy may specifically refer to setting a voltage control loop and setting a current control loop, and the output power of the target bidirectional DCDC converter is adjusted by the voltage control loop and the current control loop according to the obtained current direct-current voltage reference instruction value, the current reference instruction value, the feedback voltage value and the feedback current value, so as to achieve the target output power corresponding to the current operating mode. Specifically, referring to fig. 4, the current controller obtains a corresponding control signal according to the current reference command value and sends the control signal to the PWM generator, so that the PWM generator outputs a corresponding switching pulse to control on/off of a switching device in the target bidirectional DCDC converter, thereby adjusting the output power of the target bidirectional DCDC converter.
Specifically, the control strategy of the target bidirectional DC-DC converter in different modes under the discharging working condition (the energy storage battery is in the discharging process) is shown in fig. 4, fig. 4 takes a direct current networking type ship as an example, when the target bidirectional DC-DC converter and the diesel generator converter run in parallel with a load, P-V droop control can be adopted to realize that the DC-DC converter and the diesel generator converter distribute power output according to the capacity proportion; when the target bidirectional DCDC converter and other bidirectional DCDC converters run in parallel to carry a load, SOC-I droop control can be adopted to realize that the left and right side DC-DC converters distribute power output according to the SOC capacity proportion of the energy storage battery pack; when the target bidirectional DCDC converter is independently loaded, a constant output voltage control strategy can be adopted under the condition that the DC-DC power is allowed, and the stability of a direct current bus is kept; when the target bidirectional DCDC converter and a direct-current power grid are connected in a grid mode and operate with a load, the direct-current bus voltage and the shore power voltage can be adjusted to be the same before the grid connection, and therefore smooth grid connection with the shore power can be achieved. The following describes in detail the control strategy adopted in each operation mode:
as a preferred embodiment, the process of selecting a corresponding control strategy according to the current operation mode to obtain the current reference command value of the current control loop specifically includes:
when the current operation mode is the working condition that the target bidirectional DCDC converter and the diesel generator converter are operated in parallel and carry out load, obtaining a current direct-current voltage reference instruction value through P-V droop control;
obtaining a first auxiliary current value according to the current direct-current voltage reference instruction value;
and obtaining a current feedback current value, and obtaining a current reference instruction value of the current control loop according to the current feedback current value and the first auxiliary current value.
Specifically, when the DC-DC converter and the diesel generator converter run in parallel to carry a load, the P-V droop control is adopted to realize the power output distribution of the two converters according to the proportion of respective capacities. The droop curves are shown in fig. 5, wherein G1 and G2 respectively represent two parallel converters, and the droop control curve equation of each converter, i.e. the third relation formula is
Wherein m isiIs the droop coefficient, V, of the ith converteri *Is the output DC voltage reference value, V, of the ith convertermaxAnd VminMaximum and minimum operating voltages, P, respectively, allowed for the parallel convertersmaxiIs the maximum output power, P, of the ith converteriThe output active power P of the target bidirectional DCDC converter is the output power of the ith converter in steady-state operation0Is the fourth relational expression P0＝(ia+ib+ic)·ubatA 1 is to P0And substituting the numerical value P subjected to low-pass filtering into a third relation to calculate and output the current direct-current voltage reference instruction value. And the current controller generates a corresponding control signal according to the current reference instruction value to the PWM generator so that the PWM generator outputs a corresponding switching pulse to control a switching device of the target bidirectional DCDC converter.
As a preferred embodiment, the process of selecting a corresponding control strategy according to the current operation mode of the current operation mode to obtain the current reference command value of the current control loop specifically includes:
when the current operation mode of the current operation mode is the working condition that the target bidirectional DCDC converter and other bidirectional DCDC converters are operated in parallel and have loads, the current direct-current voltage reference instruction value is obtained through P-V droop control;
obtaining a first auxiliary current value according to the current direct-current voltage reference instruction value;
obtaining a second auxiliary current value through SOC-I droop control;
and obtaining a current feedback current value, and obtaining a current reference instruction value of the current control loop according to the current feedback current value, the first auxiliary current value and the second auxiliary current value.
Specifically, when the left and right board DCDC converters are operated in parallel with loads, the voltage control loops of the two DCDC converters are kept to adopt P-V droop control, and the electricity is usedAnd SOC-I droop control is introduced into the flow control ring so as to ensure the balance of the SOC state of the energy storage battery pack corresponding to the DCDC converter which runs on line in the discharging process. The basic principle of the SOC-I droop control is to control the SOC of each energy storage battery packiAverage value of energy storage battery pack running on line
The difference value is superposed into the current reference current instruction after a proportion link (the proportion coefficient is n), so that the charging and discharging current of the energy storage battery pack is changed, and the balance control of the SOC state is realized. From a first relation of
It can be known that when the SOC states of the two energy storage battery packs are unbalanced, the delta IiIf the SOC imbalance is not zero, the difference of the charging and discharging power of the energy storage battery packs corresponding to the two DCDC converters is caused, so that the SOC imbalance of the two energy storage battery packs is gradually reduced until the SOC imbalance is balanced.
As a preferred embodiment, the process of selecting a corresponding control strategy according to the current operation mode of the current operation mode to obtain the current reference command value of the current control loop specifically includes:
when the current operation mode is a target bidirectional DCDC converter and a direct current power grid are connected to operate under a loaded working condition in the current operation mode, acquiring a target voltage;
obtaining a current direct-current voltage reference instruction value through presynchronization operation;
obtaining a first auxiliary current value according to the current direct-current voltage reference instruction value;
and acquiring a current feedback current value, and acquiring a current reference instruction value of the current control loop according to the current feedback current value and the first auxiliary current value so as to stabilize the direct-current bus voltage of the target bidirectional DCDC converter at a target voltage. Specifically, when the target bidirectional DCDC converter receives a command for connecting to the dc shore power grid, a certain deviation may exist between the dc bus voltage value and the dc shore power voltage. If the voltage of the direct current bus is not controlled, the DC-DC energy storage converter can generate larger current rush after being merged into direct current shore powerAnd failure of grid-connected switching even can be caused. In the embodiment, a presynchronization link is added in a voltage control loop to enable the direct-current bus voltage of the target bidirectional DCDC converter to track the direct-current shore power voltage so as to reduce the impact current in the grid-connected switching process and realize seamless switching. The presynchronization control principle of the DC bus voltage is shown by referring to a second relational expression
Wherein U is the current DC voltage reference instruction value, U0Is an initial value of DC voltage, Δ UsynIs superposed on U0DC bus voltage synchronizing signal, kdcIntegral coefficient of direct current bus voltage, U, for a target bidirectional DCDC convertershoreIs the target voltage.
Referring to fig. 4, a switch S may be set to switch the operation mode, when the switch S is switched to 4, a presynchronization operation is added to the voltage control loop, and an output U of the presynchronization operation is a current dc voltage reference command value UdcWherein, U0When the switch S is switched to the contact 1, namely the presynchronization operation is exited, the DC bus synchronous integral controller is reset, the P-V droop control is added into the voltage control loop, and the output V of the P-V droop controli *I.e. u in fig. 4dcrefFor the current DC voltage reference command value udc*。
Further, when the target bidirectional DCDC converter is independently loaded, the control frame with the load working condition in parallel connection can be multiplexed, and the droop coefficient is set to be 0.
It can be seen that, in this embodiment, a current operation mode of a target bidirectional DCDC converter in a discharge state of an energy storage battery pack is first obtained, for example, the target bidirectional DCDC converter and other converters of different types operate jointly with a load or the target bidirectional DCDC converter operates independently with a load, and a corresponding control strategy is selected according to the current operation mode to obtain a current reference instruction value of a current control loop, so as to generate a corresponding switching pulse, and control a switching device in the target bidirectional DCDC converter, thereby adjusting output power of the bidirectional DCDC converter.
Referring to fig. 6, fig. 6 is a flowchart illustrating steps of a bidirectional DCDC converter control method for an energy storage battery pack in a charging state according to the present application, where the bidirectional DCDC converter control method further includes, on the basis of the foregoing embodiment:
s201: when the energy storage battery pack is in a charging state, acquiring the terminal voltage of the energy storage battery pack;
s202: obtaining a fourth auxiliary current value according to the SOC-I droop control;
s203: judging whether the terminal voltage is larger than a preset voltage value, if so, executing S204, and if not, executing S205;
s204: and obtaining a third auxiliary current value according to the terminal voltage and the voltage reference instruction value, and obtaining a current reference instruction value according to the fourth auxiliary current value, the third auxiliary current value and the current feedback value.
S205: obtaining a current reference instruction value according to the preset current value, the fourth auxiliary current value and the current feedback value;
s206: and outputting a switching pulse corresponding to the current reference command value to the target bidirectional DCDC converter so as to charge the energy storage battery pack through the direct current bus.
Further, when the target bidirectional DCDC converter is in a charging condition (i.e. the energy storage battery pack is in a charging process), a voltage outer ring-current inner ring dual-ring control strategy as shown in fig. 7 is adopted, in order to avoid overcharge or overcurrent of the energy storage battery pack, a segmented charging mode is adopted in this embodiment, i.e. constant current charging is adopted in an early stage of charging, and a current reference instruction value is set to be a constant value iLVoltage control loop is not working; when the terminal voltage of the energy storage battery pack rises to reach a preset voltage value, constant voltage charging is adopted, a voltage control loop is put into operation, and a voltage reference instruction value is set to be a constant value ubatStore obtained from feedbackPerforming closed-loop control on the terminal voltage of the energy battery pack, switching the current reference instruction value from a constant value to the output of a voltage control loop, wherein the initial value of the output of the voltage control loop is iLTo ensure smooth switching between constant current charging and constant voltage charging. The three-phase DCDC module adopts phase-shift PWM to reduce output ripples. And adding SOC-I droop in the current control loop to ensure the balance of the SOC state of the energy storage battery pack corresponding to each online running DCDC converter in the charging state.
In summary, the present application provides a dual droop control strategy based on voltage loop P-V droop and current loop SOC-I droop for an energy storage bidirectional DCDC converter in a DC networking electric propulsion system, which can implement a power distribution/transfer precise control strategy between DCDC converter modules and between generator converters, and implement smooth grid-on/off control of the DC-DC converter and a land DC supply network by using a pre-synchronization link.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a bidirectional DCDC converter control system applied to a dc networking electric propulsion system, where the dc networking electric propulsion system includes an energy storage battery pack, and the bidirectional DCDC converter control system includes:
the acquisition module 1 is used for acquiring the current operation mode of the target bidirectional DCDC converter when the energy storage battery pack is in a discharging state;
the calculation module 2 is used for selecting a corresponding control strategy according to the current operation mode of the current operation mode to obtain a current reference instruction value of the current control loop;
and the driving module 3 is used for outputting a switching pulse corresponding to the current reference instruction value to the target bidirectional DCDC converter so as to adjust the output power of the bidirectional DCDC converter.
It can be seen that, in this embodiment, a current operation mode of a target bidirectional DCDC converter in a discharge state of an energy storage battery pack is first obtained, for example, the target bidirectional DCDC converter and other converters of different types operate jointly with a load or the target bidirectional DCDC converter operates independently with a load, and a corresponding control strategy is selected according to the current operation mode to obtain a current reference instruction value of a current control loop, so as to generate a corresponding switching pulse, and control a switching device in the target bidirectional DCDC converter, thereby adjusting output power of the bidirectional DCDC converter.
As a preferred embodiment, the obtaining module 1 is specifically configured to:
and acquiring the current operation mode of the target bidirectional DCDC converter through the energy management system.
As a preferred embodiment, the current operation mode is:
the target bidirectional DCDC converter and the diesel generator converter run in parallel to carry out a load working condition;
or the target bidirectional DCDC converter and other bidirectional DCDC converters run in parallel to carry out load working condition;
or, the target bidirectional DCDC converter is in an independent load working condition;
or the target bidirectional DCDC converter and the direct-current power grid are connected in parallel and operate under the working condition with load.
As a preferred embodiment, the calculation module 2 includes:
the first calculation unit is used for obtaining a current direct-current voltage reference instruction value through P-V droop control when the current operation mode of the current operation mode is a load working condition of parallel operation of the target bidirectional DCDC converter and the diesel generator converter;
the second calculation unit is used for obtaining a first auxiliary current value according to the current direct-current voltage reference instruction value;
and the first obtaining unit is used for obtaining the current feedback current value and obtaining the current reference instruction value of the current control loop according to the current feedback current value and the first auxiliary current value.
As a preferred embodiment, the calculation module 2 includes:
the fourth calculation unit is used for obtaining a current direct-current voltage reference instruction value through P-V droop control when the current operation mode of the current operation mode is that the target bidirectional DCDC converter and other bidirectional DCDC converters are operated in parallel to carry out a load working condition;
the fifth calculating unit is used for obtaining a first auxiliary current value according to the current direct-current voltage reference instruction value;
a sixth calculating unit, configured to obtain a second auxiliary current value through SOC-I droop control;
and the second obtaining unit is used for obtaining the current feedback current value and obtaining the current reference instruction value of the current control loop according to the current feedback current value, the first auxiliary current value and the second auxiliary current value.
As a preferred embodiment, the sixth calculating unit is specifically configured to:
obtaining a second auxiliary current value through a first relational expression
Wherein, Delta IiAt a second auxiliary current value, SOCiThe state of charge of the ith energy storage battery pack,
the average value of the charge states of all the energy storage battery packs running online is shown, and n is a proportionality coefficient.
As a preferred embodiment, the calculation module 2 includes:
the seventh calculating unit is used for acquiring a target voltage when the current operation mode is a load working condition of grid-connected operation of the target bidirectional DCDC converter and the direct-current power grid in the current operation mode;
the eighth calculating unit is used for obtaining a current direct-current voltage reference instruction value through presynchronization operation and obtaining a first auxiliary current value according to the current direct-current voltage reference instruction value;
and the third obtaining unit is used for obtaining the current feedback current value and obtaining the current reference instruction value of the current control loop according to the current feedback current value and the first auxiliary current value so as to stabilize the direct-current bus voltage of the target bidirectional DCDC converter at the target voltage.
As a preferred embodiment, the process of obtaining the current dc voltage reference command value through the pre-synchronization operation specifically includes:
obtaining the current DC voltage reference instruction value through a second relational expression which is
U is the current DC voltage reference command value, U0Is an initial value of DC voltage, Δ UsynIs superposed on U0DC bus voltage synchronizing signal, kdcIntegral coefficient of direct current bus voltage, U, for a target bidirectional DCDC convertershoreIs the target voltage.
As a preferred embodiment, the process of obtaining the current dc voltage reference command value through P-V droop control specifically includes:
obtaining a current direct-current voltage reference instruction value through a third relational expression and a fourth relational expression;
wherein the third relational expression is
The fourth relation is P0＝(ia+ib+ic)·ubat；miIs the droop coefficient, V, of the ith converteri *Is the output DC voltage reference value, V, of the ith convertermaxAnd VminMaximum and minimum operating voltages, P, respectively, allowed for the parallel convertersmaxiIs the maximum output power, P, of the ith converteriIs the output power P of the ith converter in steady state operation0Output active power, i, for a target bidirectional DCDC convertera、ib、icIs a three-phase bridge arm current ubatIs the terminal voltage of the energy storage battery.
As a preferred embodiment, the bidirectional DCDC converter control system further includes:
the charging control module is used for acquiring a current reference instruction value when the energy storage battery pack is in a charging state; outputting a switching pulse corresponding to the current reference instruction value to a target bidirectional DCDC converter so as to charge the energy storage battery pack through a direct current bus;
the process of acquiring the current reference command value specifically includes:
acquiring the terminal voltage of an energy storage battery pack;
when the terminal voltage is smaller than or equal to a preset voltage value, obtaining a current reference instruction value according to a preset current value and a current feedback value;
and when the terminal voltage is larger than the preset voltage value, obtaining a third auxiliary current value according to the terminal voltage and the voltage reference instruction value, and obtaining a current reference instruction value according to the third auxiliary current value and the current feedback value.
As a preferred embodiment, the process of obtaining the present current reference command value further includes:
obtaining a fourth auxiliary current value according to the SOC-I droop control;
correspondingly, the process of obtaining the current reference instruction value according to the preset current value and the current feedback value specifically comprises the following steps:
obtaining a current reference instruction value according to the preset current value, the fourth auxiliary current value and the current feedback value;
correspondingly, the process of obtaining the current reference command value according to the third auxiliary current value and the current feedback value specifically includes:
and obtaining the current reference instruction value according to the fourth auxiliary current value, the third auxiliary current value and the current feedback value.
In another aspect, the present application provides a bidirectional DCDC converter control apparatus, including:
a memory for storing a computer program;
a processor for implementing the steps of the bidirectional DCDC converter control method as claimed in any one of the above when executing said computer program.
For the introduction of the bidirectional DCDC converter control device provided in the present application, please refer to the above embodiments, which are not described herein again.
The bidirectional DCDC converter control device has the same beneficial effects as the bidirectional DCDC converter control method.
In another aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when being executed by a processor, implements the steps of the bidirectional DCDC converter control method according to any one of the above.
For the introduction of a computer-readable storage medium provided in the present application, please refer to the above embodiments, which are not described herein again.
The computer-readable storage medium provided by the present application has the same advantageous effects as the above-mentioned bidirectional DCDC converter control method.
In another aspect, the present application provides a direct current networking electric propulsion system comprising a bidirectional DCDC converter control arrangement as described above.
For an introduction of the dc networking electric propulsion system provided in the present application, please refer to the above embodiments, which are not described herein again.
The direct-current networking electric propulsion system has the same beneficial effects as the control method of the bidirectional DCDC converter.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (15)
1. A bidirectional DCDC converter control method is applied to a direct current networking electric propulsion system, wherein the direct current networking electric propulsion system comprises an energy storage battery pack, and the bidirectional DCDC converter control method comprises the following steps:
when the energy storage battery pack is in a discharging state, acquiring the current operation mode of a target bidirectional DCDC converter;
selecting a corresponding control strategy according to the current operation mode to obtain a current reference instruction value of the current control loop;
and outputting a switching pulse corresponding to the current reference command value to the target bidirectional DCDC converter so as to adjust the output power of the bidirectional DCDC converter.
2. The method according to claim 1, wherein the step of obtaining the current operation mode of the target bidirectional DCDC converter specifically comprises:
and acquiring the current operation mode of the target bidirectional DCDC converter through the energy management system.
3. The bi-directional DCDC converter control method of claim 1, wherein the current operation mode is:
the target bidirectional DCDC converter and the diesel generator converter are operated in parallel to carry out a load working condition;
or the target bidirectional DCDC converter and other bidirectional DCDC converters run in parallel to carry out the working condition with load;
or, the target bidirectional DCDC converter is in an independent load working condition;
or the target bidirectional DCDC converter and the direct-current power grid are in grid-connected operation and have load working conditions.
4. The method according to claim 3, wherein the step of selecting the corresponding control strategy according to the current operation mode to obtain the current reference command value of the current control loop specifically comprises:
when the current operation mode is the load-carrying working condition of the parallel operation of the target bidirectional DCDC converter and the diesel generator converter, the current direct-current voltage reference instruction value is obtained through P-V droop control;
obtaining a first auxiliary current value according to the current direct-current voltage reference instruction value;
and acquiring a current feedback current value, and acquiring a current reference instruction value of the current control loop according to the current feedback current value and the first auxiliary current value.
5. The method according to claim 3, wherein the step of selecting the corresponding control strategy according to the current operation mode to obtain the current reference command value of the current control loop specifically comprises:
when the current operation mode is that the target bidirectional DCDC converter and other bidirectional DCDC converters are operated in parallel and have a load working condition, a current direct-current voltage reference instruction value is obtained through P-V droop control;
obtaining a first auxiliary current value according to the current direct-current voltage reference instruction value;
obtaining a second auxiliary current value through SOC-I droop control;
and obtaining a current feedback current value, and obtaining a current reference instruction value of the current control loop according to the current feedback current value, the first auxiliary current value and the second auxiliary current value.
6. The method according to claim 5, wherein the step of obtaining the second auxiliary current value through the SOC-I droop control comprises:
obtaining a second auxiliary current value through a first relational expression which is
Wherein, Delta IiFor the second auxiliary current value, SOCiThe state of charge of the ith energy storage battery pack,
the average value of the charge states of all the energy storage battery packs running online is shown, and n is a proportionality coefficient.
7. The method according to claim 3, wherein the step of selecting the corresponding control strategy according to the current operation mode to obtain the current reference command value of the current control loop specifically comprises:
when the current operation mode is the load-carrying working condition of the grid-connected operation of the target bidirectional DCDC converter and the direct-current power grid, acquiring target voltage;
obtaining a current direct-current voltage reference instruction value through presynchronization operation;
obtaining a first auxiliary current value according to the current direct-current voltage reference instruction value;
and acquiring a current feedback current value, and acquiring a current reference instruction value of a current control loop according to the current feedback current value and the first auxiliary current value so as to stabilize the direct-current bus voltage of the target bidirectional DCDC converter at the target voltage.
8. The method according to claim 7, wherein the step of obtaining the current dc voltage reference command value through the pre-synchronization operation is specifically:
obtaining the current direct-current voltage reference instruction value through a second relational expression, wherein the second relational expression is
U is the current DC voltage reference command value, U0Is an initial value of DC voltage, Δ UsynIs superposed on U0DC bus voltage synchronizing signal, kdcIs the integral coefficient, U, of the DC bus voltage of the target bidirectional DCDC convertershoreIs the target voltage.
9. The method according to any one of claims 4 to 6, wherein the step of obtaining the current DC voltage reference command value through P-V droop control specifically comprises:
obtaining a current direct-current voltage reference instruction value through a third relational expression and a fourth relational expression;
wherein the third relation is
The fourth relational expression is P0＝(ia+ib+ic)·ubat；miIs the droop coefficient, V, of the ith converteri *Is the output DC voltage reference value, V, of the ith convertermaxAnd VminMaximum and minimum operating voltages, P, respectively, allowed for the parallel convertersmaxiIs the maximum output power, P, of the ith converteriIs the output power P of the ith converter in steady state operation0Outputting active power for the target bidirectional DCDC converter ia、ib、icIs a three-phase bridge arm current ubatIs the terminal voltage of the energy storage battery pack.
10. The bidirectional DCDC converter control method according to any one of claims 1 to 8, further comprising:
when the energy storage battery pack is in a charging state, acquiring a current reference instruction value;
outputting a switching pulse corresponding to a current reference command value to the target bidirectional DCDC converter so as to charge the energy storage battery pack through a direct current bus;
the process of acquiring the current reference command value specifically includes:
acquiring the terminal voltage of the energy storage battery pack;
when the terminal voltage is smaller than or equal to a preset voltage value, obtaining a current reference instruction value according to a preset current value and a current feedback value;
and when the terminal voltage is larger than the preset voltage value, obtaining a third auxiliary current value according to the terminal voltage and the voltage reference instruction value, and obtaining a current reference instruction value according to the third auxiliary current value and the current feedback value.
11. The bi-directional DCDC converter control method according to claim 9, wherein the process of obtaining the present current reference command value further comprises:
obtaining a fourth auxiliary current value according to the SOC-I droop control;
correspondingly, the process of obtaining the current reference instruction value according to the preset current value and the current feedback value specifically comprises the following steps:
obtaining a current reference instruction value according to a preset current value, the fourth auxiliary current value and a current feedback value;
correspondingly, the process of obtaining the current reference command value according to the third auxiliary current value and the current feedback value specifically includes:
and obtaining the current reference instruction value according to the fourth auxiliary current value, the third auxiliary current value and the current feedback value.
12. A bi-directional DCDC converter control system for use in a dc-networked electric propulsion system including an energy storage battery, the bi-directional DCDC converter control system comprising:
the acquisition module is used for acquiring the current operation mode of the target bidirectional DCDC converter when the energy storage battery pack is in a discharging state;
the calculation module is used for selecting a corresponding control strategy according to the current operation mode to obtain a current reference instruction value of the current control loop;
and the driving module is used for outputting a switching pulse corresponding to the current reference instruction value to the target bidirectional DCDC converter and adjusting to adjust the output power of the bidirectional DCDC converter.
13. A bidirectional DCDC converter control apparatus, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the bidirectional DCDC converter control method according to any of claims 1 to 11 when executing said computer program.
14. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the bidirectional DCDC converter control method according to any one of claims 1 to 11.
15. A direct current networking electric propulsion system comprising the bidirectional DCDC converter control apparatus of claim 13.
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