WO2021082477A1 - Method for suppressing low-order current harmonics of four-quadrant converter of electric locomotive - Google Patents

Method for suppressing low-order current harmonics of four-quadrant converter of electric locomotive Download PDF

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WO2021082477A1
WO2021082477A1 PCT/CN2020/097634 CN2020097634W WO2021082477A1 WO 2021082477 A1 WO2021082477 A1 WO 2021082477A1 CN 2020097634 W CN2020097634 W CN 2020097634W WO 2021082477 A1 WO2021082477 A1 WO 2021082477A1
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axis
harmonic
current
quadrant
voltage
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PCT/CN2020/097634
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Chinese (zh)
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张瑞峰
于森林
王力
苏鹏程
詹哲军
梁海刚
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中车永济电机有限公司
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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
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/66—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal
    • H02M7/68—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters
    • H02M7/72—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/79—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/797—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • 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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  • the invention belongs to the field of control, and in particular relates to a control algorithm for current harmonic suppression of a four-quadrant converter, in particular to a low-order harmonic suppression method for electric locomotive four-quadrant converter current.
  • Four-quadrant rectifiers have high power factor and can realize bidirectional flow of energy and are widely used in electric locomotives. Due to the low switching frequency of the four-quadrant rectifier, the AC side current usually has poor harmonic characteristics, which brings harmonic pollution to the power supply network, thereby affecting the power quality of the power supply network and the grid environment when other locomotives are running.
  • four-quadrant converters usually use a variety of methods to reduce the pollution caused by current harmonics.
  • the main circuit topology of the four-quadrant converters of different electric locomotives is different, and different main circuits have different harmonics. Wave suppression method.
  • a software filter can be used to perform multiple filtering methods.
  • the design of the software filter is closely related to the switching frequency, and the four-quadrant converter has a lower switching frequency, which makes the bandwidth of the designed filter narrower.
  • the narrow bandwidth filter will have the risk of divergence, which will cause problems in the control of the entire four-quadrant converter and affect the reliability of locomotive operation.
  • the introduction of the filter will cause the sampled signal to have a certain amplitude attenuation and phase delay, which will reduce the dynamic response performance of the four-quadrant converter.
  • the method of designing hardware filtering can also be used.
  • the hardware filtering is usually designed on the hardware board and has a dedicated hardware circuit design.
  • Hardware filtering has the advantage of corresponding speed, but the device is also susceptible to temperature and humidity, and the hardware design also increases the economic cost.
  • Multiple methods of current paralleling can also be used.
  • the multiplexing of current paralleling is usually double or quadruple, and its multiple harmonic suppression capability is mainly for higher harmonics, and for the 3rd, 5th, etc. Sub-harmonics do not have the ability to suppress harmonics.
  • the present invention provides a harmonic suppression method integrated in the four-quadrant control algorithm, which solves the problems of the influence of the low-order harmonics of the four-quadrant converter current on the control of the converter and the pollution to the power quality of the power grid , And solves the problem of using software filters to filter out the influence of low-order harmonics.
  • This method is mainly to add harmonic extraction and suppression functions to the four-quadrant converter control algorithm, without adding additional hardware control circuits and devices, and has high adaptability and flexibility, and can achieve the purpose of harmonic suppression. , While reducing design costs.
  • the present invention is realized by adopting the following technical scheme: a low-order harmonic suppression method of electric locomotive four-quadrant converter current, including four-quadrant control algorithm, four-quadrant modulation algorithm and harmonic suppression algorithm;
  • the harmonic suppression algorithm includes the following steps:
  • the input current of the four-quadrant converter is converted to the harmonic sub-d-axis current and the harmonic sub-q-axis current in the rotating coordinate system, and after filtering by a low-pass filter, the d-axis DC component and the q-axis DC component of the harmonic current are obtained.
  • the obtained harmonic current d-axis DC component and q-axis DC component are used as feedback values, and the given value form a PI control closed loop.
  • the DC component of the harmonic current is adjusted to zero through the closed loop control method, and the output is under the harmonic rotation coordinate.
  • the four-quadrant control algorithm calculates the command voltage of the harmonic suppression function, and sends the command voltage to the four-quadrant pulse modulation module for four-quadrant modulation algorithm to obtain PWM pulses, and sends the pulses to the IGBT of the four-quadrant converter.
  • this method is a four-quadrant current low-order harmonic suppression method realized by using a control algorithm alone. It adopts a hardware architecture composed of DSP+FPGA.
  • the DSP chip completes the four-quadrant control algorithm, four-quadrant modulation algorithm and harmonic suppression algorithm.
  • FPGA completes the data sampling required for four-quadrant rectification, host computer communication, pulse and dead zone settings.
  • the FPGA is equipped with over-current, over-voltage hardware protection and software protection to form a double protection, which greatly improves the response speed of the protection when a fault occurs And reliability.
  • the harmonic suppression algorithm is to suppress the third and fifth harmonics.
  • the specific calculation process of the d-axis DC component and the q-axis DC component of the third and fifth harmonic currents is as follows:
  • the d-axis and q-axis DC components As the amount of feedback, and the given amount with The PI control closed loop is formed, and the DC component of the third harmonic current is reduced by the closed loop control method. Adjusted to zero, the output is the d-axis and q-axis error voltage components u d3 , u q3 under the 3rd harmonic rotating coordinate;
  • the d-axis and q-axis DC components As the amount of feedback, and the given amount with A PI control closed loop is formed, and the DC component of the 5th harmonic current is reduced by the closed loop control method. Adjusted to zero, the output is the d-axis and q-axis error voltage components u d5 , u q5 under the 5th harmonic rotation coordinate.
  • the specific calculation process of the harmonic d-axis voltage adjustment total and the harmonic q-axis voltage adjustment total is as follows: add u d3-1 and u d5-1 to form the harmonic d-axis voltage in the fundamental rotation coordinate adjusting the total amount of u 'd; u q3-1 with the sum u q5-1 harmonic constituting the q-axis fundamental voltage regulator total rotational coordinate u' q.
  • the angle required for coordinate transformation is calculated using the phase-locked loop algorithm of the SOGI method to calculate the phase ⁇ t of the power grid fundamental wave signal, and construct the 3rd and 5th harmonic signal phases 3 ⁇ t, 5 ⁇ t and the harmonics based on the fundamental wave phase signal of the power grid. 2 ⁇ t and 4 ⁇ t required for the conversion of wave signal and fundamental wave signal.
  • the four-quadrant control algorithm adopts id_iq-based dynamic decoupling control, and adopts a voltage and current double closed-loop control strategy;
  • the voltage loop control object is the bus voltage Udc to ensure that the actual value of the bus voltage is equal to the command value, and the actual voltage sampling value is trapped
  • the filter is filtered and compared with the command value.
  • the notch frequency of the notch filter is 100Hz, and the design frequency is twice the four-quadrant switching frequency; the current inner loop is mainly to control the current, and the command value id of the current inner loop is the voltage outer loop.
  • the overall control algorithm has the ability to suppress low-order harmonics and does not require additional hardware circuit design
  • Figure 1 shows the topological diagram of the four-quadrant main circuit.
  • Figure 2 is a schematic diagram of the four-quadrant control algorithm and harmonic suppression algorithm modules.
  • Figure 3 is the algorithm diagram of the harmonic current extraction module and the harmonic current module.
  • the switching frequency of the four-quadrant rectifier is usually only a few hundred hertz.
  • the software filter scheme is used for current harmonics, the control performance of the four-quadrant rectifier is easily affected by the filter, so the current harmonic suppression adopts a control closed-loop scheme.
  • the whole scheme is divided into four parts: four-quadrant control algorithm, four-quadrant modulation algorithm, main circuit topology and harmonic suppression algorithm.
  • the four-quadrant control algorithm uses id_iq-based dynamic decoupling control, and the four-quadrant modulation algorithm uses unipolar frequency multiplication modulation, which is flexible and changeable, and can be configured into multiple modes for the elimination of high-order harmonics in the four-quadrant current.
  • Harmonic suppression algorithm adopts PI controller-based closed-loop control of the direct current of the harmonic current, which is mainly composed of a harmonic current extraction module and a harmonic current suppression module.
  • the control hardware adopts an architecture composed of a DSP chip and an FPGA chip.
  • a DSP chip needs to complete two four-quadrant rectification control algorithms, modulation algorithms and harmonic suppression algorithms;
  • FPGA mainly completes the data sampling required for four-quadrant rectification , Host computer communication, pulse and dead zone settings, in which overcurrent, overvoltage and other hardware protection and software protection are set up in FPGA to form a double protection, which greatly improves the response speed and reliability of the protection when a fault occurs.
  • the harmonic current extraction module mainly completes the extraction of the corresponding sub-harmonics in the four-quadrant current.
  • the main purpose is to complete the extraction of the 3rd and 5th harmonic currents to provide data for the harmonic current suppression module.
  • the 3rd harmonic current and the 5th harmonic current are obtained by rotating the four-quadrant input current through a rotating coordinate transformation.
  • the electromagnetic angular velocity 3 ⁇ t and 5 ⁇ t required for the rotating coordinate system transformation can be obtained through the four-quadrant software phase-locked loop (PLL) ,
  • the four-quadrant input current i s can be obtained by sampling in FPGA.
  • step 6 Combine what you got in step 4 As the amount of feedback, and the given amount with The PI control closed loop is formed, and the DC component of the third harmonic current is reduced by the closed loop control method. Adjusted to zero, the output is the d-axis and q-axis error voltage components u d3 , u q3 under the 3rd harmonic rotation coordinate.
  • step 5 As the amount of feedback, and the given amount with A PI control closed loop is formed, and the DC component of the 5th harmonic current is reduced by the closed loop control method. Adjusted to zero, the output is the d-axis and q-axis error voltage components u d5 , u q5 under the 5th harmonic rotating coordinate.
  • u d5-1 in step 8 u d3-1 in step 9 by adding the d-axis voltage harmonics of the fundamental rotational coordinate constituting the total amount was adjusted u 'd; in the step 8 u q3-1 Add to u q5-1 in step 9 to form the harmonic q-axis voltage adjustment total u′ q under the fundamental wave rotation coordinate;
  • the above-mentioned harmonic suppression scheme realizes the method of harmonic suppression in a four-quadrant rectifier.
  • the test results show that the AC side current using this method has better harmonic characteristics and achieves the expected purpose.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Rectifiers (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present invention relates to the field of control, and in particular, to a control algorithm for suppressing the current harmonics of a four-quadrant converter, specifically, a method for suppressing the low-order current harmonics of the four-quadrant converter of an electric locomotive. The method is a harmonic suppression method integrated in a four-quadrant control algorithm, solves the problem of the impact of the low-order current harmonics of a four-quadrant converter on the control of the converter and the pollution of the power quality of a power grid, and solves the problem of the impact of filtration of low-order harmonics by means of software filters. The method is mainly to add harmonic extraction and suppression functions to a four-quadrant converter control algorithm, without using additional hardware control circuit and device, has high adaptability and flexibility, can achieve the purpose of harmonic suppression, and also reduces design costs.

Description

一种电力机车四象限变流器电流低次谐波抑制方法Method for suppressing low-order harmonics of electric locomotive four-quadrant converter current 技术领域Technical field
本发明属于控制领域，尤其涉及一种四象限变流器的电流谐波抑制的控制算法，具体为一种电力机车四象限变流器电流低次谐波抑制方法。The invention belongs to the field of control, and in particular relates to a control algorithm for current harmonic suppression of a four-quadrant converter, in particular to a low-order harmonic suppression method for electric locomotive four-quadrant converter current.
背景技术Background technique
四象限整流器具有高功率因数且能够实现能量的双向流动而在电力机车中广泛使用。因四象限整流器开关频率低，其交流侧电流通常具有较差的谐波特性，给供电网带来了谐波污染，从而影响供电网的电能质量及其他机车运行时的电网环境。Four-quadrant rectifiers have high power factor and can realize bidirectional flow of energy and are widely used in electric locomotives. Due to the low switching frequency of the four-quadrant rectifier, the AC side current usually has poor harmonic characteristics, which brings harmonic pollution to the power supply network, thereby affecting the power quality of the power supply network and the grid environment when other locomotives are running.
在实际应用中四象限变流器通常采用多种方式来降低电流谐波带来的污染，不同电力机车四象限变流器的主电路拓扑结构不同，而针对不同的主电路又有不同的谐波抑制方式。In practical applications, four-quadrant converters usually use a variety of methods to reduce the pollution caused by current harmonics. The main circuit topology of the four-quadrant converters of different electric locomotives is different, and different main circuits have different harmonics. Wave suppression method.
现有技术可采用软件滤波器进行多次滤波的方法，软件滤波器的设计与开关频率密切相关，而四象限变流器开关频率较低，使得设计出的滤波器的带宽较窄，滤波器的设计存在一定的困难，当系统出现冲击时，较窄带宽的滤波器会有发散的风险，导致整个四象限变流器的控制出现问题而影响机车运行的可靠性。控制系统中，滤波器的引入会导致采样信号具有一定的幅值衰减和相位延迟，降低四象限变流器的动态响应性能。In the prior art, a software filter can be used to perform multiple filtering methods. The design of the software filter is closely related to the switching frequency, and the four-quadrant converter has a lower switching frequency, which makes the bandwidth of the designed filter narrower. There are certain difficulties in the design of the system. When the system has an impact, the narrow bandwidth filter will have the risk of divergence, which will cause problems in the control of the entire four-quadrant converter and affect the reliability of locomotive operation. In the control system, the introduction of the filter will cause the sampled signal to have a certain amplitude attenuation and phase delay, which will reduce the dynamic response performance of the four-quadrant converter.
还可采用设计硬件滤波的方法，硬件滤波通常设计在硬件板卡上，且有专门的硬件电路设计。硬件滤波具有相应速度快的优点，但器件 也容易受到温度、湿度的影响，同时硬件设计也增加了经济成本。还可采用电流并联的多重化方法，电流并联的多重化通常是两重化或者四重化，其多重化的谐波抑制能力主要是针对高次谐波，而对3次、5次等低次谐波不具备谐波抑制能力。The method of designing hardware filtering can also be used. The hardware filtering is usually designed on the hardware board and has a dedicated hardware circuit design. Hardware filtering has the advantage of corresponding speed, but the device is also susceptible to temperature and humidity, and the hardware design also increases the economic cost. Multiple methods of current paralleling can also be used. The multiplexing of current paralleling is usually double or quadruple, and its multiple harmonic suppression capability is mainly for higher harmonics, and for the 3rd, 5th, etc. Sub-harmonics do not have the ability to suppress harmonics.
发明内容Summary of the invention
本发明提供了一种融合于四象限控制算法中的谐波抑制方法，解决了四象限变流器电流低次谐波对变流器的控制带来的影响和对电网电能质量的污染的问题，且解决了采用软件滤波器的方法滤除低次谐波带来的影响的问题。该方法主要是对四象限变流器控制算法中增加谐波提取和抑制功能，不添加额外的硬件控制电路和器件，具有较高的适应性和灵活性，既能起到谐波抑制的目的，同时降低了设计成本。The present invention provides a harmonic suppression method integrated in the four-quadrant control algorithm, which solves the problems of the influence of the low-order harmonics of the four-quadrant converter current on the control of the converter and the pollution to the power quality of the power grid , And solves the problem of using software filters to filter out the influence of low-order harmonics. This method is mainly to add harmonic extraction and suppression functions to the four-quadrant converter control algorithm, without adding additional hardware control circuits and devices, and has high adaptability and flexibility, and can achieve the purpose of harmonic suppression. , While reducing design costs.
本发明是采用如下的技术方案实现的:一种电力机车四象限变流器电流低次谐波抑制方法，包括四象限控制算法、四象限调制算法和谐波抑制算法；The present invention is realized by adopting the following technical scheme: a low-order harmonic suppression method of electric locomotive four-quadrant converter current, including four-quadrant control algorithm, four-quadrant modulation algorithm and harmonic suppression algorithm;
其中谐波抑制算法包括以下步骤：The harmonic suppression algorithm includes the following steps:
将四象限变流器输入电流转换到旋转坐标系下的谐波次d轴电流和谐波次q轴电流，经过低通滤波器滤波后，得到谐波电流的d轴直流分量和q轴直流分量；The input current of the four-quadrant converter is converted to the harmonic sub-d-axis current and the harmonic sub-q-axis current in the rotating coordinate system, and after filtering by a low-pass filter, the d-axis DC component and the q-axis DC component of the harmonic current are obtained. Weight
将得到的谐波电流d轴直流分量和q轴直流分量作为反馈量，与给定量构成PI控制闭环，通过闭环控制方式将谐波电流的直流分量调节为零，输出量为谐波旋转坐标下的d轴和q轴误差电压分量；The obtained harmonic current d-axis DC component and q-axis DC component are used as feedback values, and the given value form a PI control closed loop. The DC component of the harmonic current is adjusted to zero through the closed loop control method, and the output is under the harmonic rotation coordinate. D-axis and q-axis error voltage components;
将谐波旋转坐标下的d轴和q轴误差电压分量转换到基波旋转坐标下的d轴和q轴电压谐波分量；Convert the d-axis and q-axis error voltage components under the harmonic rotating coordinate to the d-axis and q-axis voltage harmonic components under the fundamental wave rotating coordinate;
将基波旋转坐标下的d轴电压谐波分量相加构成基波旋转坐标下的谐波d轴电压调节总量；将基波旋转坐标下的q轴电压谐波分量相加构成基波旋转坐标下的谐波q轴电压调节总量；谐波d轴电压调节总量作为前馈项送入到四象限控制算法中的基波d轴PI控制器输出项参与运算；谐波q轴电压调节总量作为前馈项送入到四象限控制算法中的基波q轴PI控制器输出项参与运算；Add the harmonic components of the d-axis voltage under the fundamental rotation coordinate to form the total harmonic d-axis voltage adjustment under the fundamental rotation coordinate; add the harmonic components of the q-axis voltage under the fundamental rotation coordinate to form the fundamental rotation The harmonic q-axis voltage adjustment total under the coordinate; the harmonic d-axis voltage adjustment total is fed into the four-quadrant control algorithm as the feedforward term. The fundamental wave d-axis PI controller output item participates in the calculation; the harmonic q-axis voltage The adjusted total amount is fed into the fundamental q-axis PI controller output item in the four-quadrant control algorithm as a feedforward item to participate in the calculation;
四象限控制算法运算出谐波抑制功能的指令电压，将指令电压送入四象限脉冲调制模块进行四象限调制算法得到PWM脉冲，将脉冲送入四象限变流器的IGBT中。The four-quadrant control algorithm calculates the command voltage of the harmonic suppression function, and sends the command voltage to the four-quadrant pulse modulation module for four-quadrant modulation algorithm to obtain PWM pulses, and sends the pulses to the IGBT of the four-quadrant converter.
进一步的，该方法为单独使用控制算法实现的四象限电流低次谐波抑制方法，采用DSP+FPGA组成的硬件构架，其中DSP芯片完成四象限控制算法、四象限调制算法和谐波抑制算法，FPGA完成四象限整流所需的数据采样，上位机通讯，脉冲及死区设置，其中FPGA中设置了过流、过压硬件保护与软件保护构成双重保护，大大提高了故障发生时保护的响应速度和可靠性。Furthermore, this method is a four-quadrant current low-order harmonic suppression method realized by using a control algorithm alone. It adopts a hardware architecture composed of DSP+FPGA. The DSP chip completes the four-quadrant control algorithm, four-quadrant modulation algorithm and harmonic suppression algorithm. FPGA completes the data sampling required for four-quadrant rectification, host computer communication, pulse and dead zone settings. The FPGA is equipped with over-current, over-voltage hardware protection and software protection to form a double protection, which greatly improves the response speed of the protection when a fault occurs And reliability.
进一步的，谐波抑制算法是对三次谐波和五次谐波进行抑制，三次和五次谐波电流的d轴直流分量和q轴直流分量的具体运算过程如下：Further, the harmonic suppression algorithm is to suppress the third and fifth harmonics. The specific calculation process of the d-axis DC component and the q-axis DC component of the third and fifth harmonic currents is as follows:
将四象限输入电流i s与C abc-dq3相乘即可得到在旋转坐标系下的 3次d轴电流i d3和3次q轴电流i q3，即
Figure PCTCN2020097634-appb-000001
Figure PCTCN2020097634-appb-000002
经过低通滤波器滤波后，得到3次谐波电流的d轴直流分量
Figure PCTCN2020097634-appb-000003
和q轴直流分量
Figure PCTCN2020097634-appb-000004
Multiply the four-quadrant input current i s and C abc-dq3 to obtain the 3rd d-axis current i d3 and the 3rd q-axis current i q3 in the rotating coordinate system, namely
Figure PCTCN2020097634-appb-000001
Figure PCTCN2020097634-appb-000002
After filtering by a low-pass filter, the d-axis DC component of the 3rd harmonic current is obtained
Figure PCTCN2020097634-appb-000003
And q-axis DC component
Figure PCTCN2020097634-appb-000004
将四象限输入电流i s与C abc-dq5相乘即可得到在旋转坐标系下的5次d轴电流i d5和5次q轴电流i q5，
Figure PCTCN2020097634-appb-000005
Figure PCTCN2020097634-appb-000006
经过低通滤波器滤波后，得到5次谐波电流的d轴直流量分量
Figure PCTCN2020097634-appb-000007
和q轴直流分量
Figure PCTCN2020097634-appb-000008
Multiply the four-quadrant input current i s and C abc-dq5 to get the 5th d-axis current i d5 and the 5th q-axis current i q5 in the rotating coordinate system,
Figure PCTCN2020097634-appb-000005
Figure PCTCN2020097634-appb-000006
After filtering by a low-pass filter, the d-axis DC component of the 5th harmonic current is obtained
Figure PCTCN2020097634-appb-000007
And q-axis DC component
Figure PCTCN2020097634-appb-000008
进一步的，谐波旋转坐标下的d轴和q轴误差电压分量的具体运算过程如下：Further, the specific calculation process of the d-axis and q-axis error voltage components under the harmonic rotation coordinate is as follows:
将d轴、q轴直流分量
Figure PCTCN2020097634-appb-000009
作为反馈量，与给定量
Figure PCTCN2020097634-appb-000010
和
Figure PCTCN2020097634-appb-000011
构成PI控制闭环，通过闭环控制方式将3次谐波电流的直流分量
Figure PCTCN2020097634-appb-000012
Figure PCTCN2020097634-appb-000013
调节为零，输出量为3次谐波旋转坐标下的d轴和q轴误差电压分量u d3、u q3； The d-axis and q-axis DC components
Figure PCTCN2020097634-appb-000009
As the amount of feedback, and the given amount
Figure PCTCN2020097634-appb-000010
with
Figure PCTCN2020097634-appb-000011
The PI control closed loop is formed, and the DC component of the third harmonic current is reduced by the closed loop control method.
Figure PCTCN2020097634-appb-000012
Figure PCTCN2020097634-appb-000013
Adjusted to zero, the output is the d-axis and q-axis error voltage components u d3 , u q3 under the 3rd harmonic rotating coordinate;
将d轴、q轴直流分量
Figure PCTCN2020097634-appb-000014
作为反馈量，与给定量
Figure PCTCN2020097634-appb-000015
和
Figure PCTCN2020097634-appb-000016
构成PI控制闭环，通过闭环控制方式将5次谐波电流的直流分量
Figure PCTCN2020097634-appb-000017
Figure PCTCN2020097634-appb-000018
调节为零，输出量为5次谐波旋转坐标下的d轴和q轴误差电压分量u d5、u q5。 The d-axis and q-axis DC components
Figure PCTCN2020097634-appb-000014
As the amount of feedback, and the given amount
Figure PCTCN2020097634-appb-000015
with
Figure PCTCN2020097634-appb-000016
A PI control closed loop is formed, and the DC component of the 5th harmonic current is reduced by the closed loop control method.
Figure PCTCN2020097634-appb-000017
Figure PCTCN2020097634-appb-000018
Adjusted to zero, the output is the d-axis and q-axis error voltage components u d5 , u q5 under the 5th harmonic rotation coordinate.
进一步的，基波旋转坐标下的d轴和q轴电压谐波分量具体运算过程如下：Further, the specific calculation process of the d-axis and q-axis voltage harmonic components under the fundamental rotation coordinate is as follows:
将3次谐波旋转坐标下的误差电压分量u d3、u q3转换到基波旋转坐标下的电压谐波分量u d3-1、u q3-1，
Figure PCTCN2020097634-appb-000019
Figure PCTCN2020097634-appb-000020
Convert the error voltage components u d3 and u q3 under the 3rd harmonic rotating coordinate to the voltage harmonic components u d3-1, u q3-1 under the fundamental wave rotating coordinate,
Figure PCTCN2020097634-appb-000019
Figure PCTCN2020097634-appb-000020
将5次谐波旋转坐标下的误差电压分量u d5、u q5转换到基波旋转坐标下的电压谐波分量u d5-1、u q5-1，
Figure PCTCN2020097634-appb-000021
Figure PCTCN2020097634-appb-000022
Convert the error voltage components u d5 and u q5 under the 5th harmonic rotating coordinate to the voltage harmonic components u d5-1 and u q5-1 under the fundamental wave rotating coordinate,
Figure PCTCN2020097634-appb-000021
Figure PCTCN2020097634-appb-000022
进一步的，谐波d轴电压调节总量和谐波q轴电压调节总量的具体运算过程如下：将u d3-1与u d5-1相加构成基波旋转坐标下的谐波d轴电压调节总量u' d；将u q3-1与u q5-1相加构成基波旋转坐标下的谐波q轴电压调节总量u′ q。 Further, the specific calculation process of the harmonic d-axis voltage adjustment total and the harmonic q-axis voltage adjustment total is as follows: add u d3-1 and u d5-1 to form the harmonic d-axis voltage in the fundamental rotation coordinate adjusting the total amount of u 'd; u q3-1 with the sum u q5-1 harmonic constituting the q-axis fundamental voltage regulator total rotational coordinate u' q.
进一步的，坐标变换所需角度采用SOGI方式的锁相环算法对电网基波信号相位ωt进行计算，依据电网基波相位信号构建3次谐波、 5次谐波信号相位3ωt、5ωt以及在谐波信号与基波信号转换时所需的2ωt、4ωt。Further, the angle required for coordinate transformation is calculated using the phase-locked loop algorithm of the SOGI method to calculate the phase ωt of the power grid fundamental wave signal, and construct the 3rd and 5th harmonic signal phases 3ωt, 5ωt and the harmonics based on the fundamental wave phase signal of the power grid. 2ωt and 4ωt required for the conversion of wave signal and fundamental wave signal.
进一步的，四象限控制算法采用基于id_iq的动态解耦控制，采用电压、电流双闭环控制策略；电压环控制对象为母线电压Udc，保证母线电压实际值等于指令值，实际电压采样值经过陷波器滤波后与指令值进行比较计算，陷波器的陷波频率为100Hz，设计频率为四象限开关频率2倍；电流内环主要是对电流的控制，电流内环指令值id为电压外环输出量；四象限运行时，设置iq指令值为零，四象限调制算法采用单极性倍频调制，其构成灵活多变，可配置成多重化方式，用于四象限电流中高次谐波的消除。Further, the four-quadrant control algorithm adopts id_iq-based dynamic decoupling control, and adopts a voltage and current double closed-loop control strategy; the voltage loop control object is the bus voltage Udc to ensure that the actual value of the bus voltage is equal to the command value, and the actual voltage sampling value is trapped The filter is filtered and compared with the command value. The notch frequency of the notch filter is 100Hz, and the design frequency is twice the four-quadrant switching frequency; the current inner loop is mainly to control the current, and the command value id of the current inner loop is the voltage outer loop. Output; when the four-quadrant is running, set the iq command value to zero, and the four-quadrant modulation algorithm adopts unipolar frequency multiplication modulation, which is flexible and changeable, and can be configured into multiple modes for the high-order harmonics of the four-quadrant current eliminate.
本发明技术方案带来的有益效果：The beneficial effects brought by the technical solution of the present invention:
1)整体控制算法具备低次谐波抑制能力，不需要额外的硬件电路设计；1) The overall control algorithm has the ability to suppress low-order harmonics and does not require additional hardware circuit design;
2)提高了变压器原边电流的谐波特性，减少了对电网的污染和干扰。2) Improve the harmonic characteristics of the transformer primary current and reduce the pollution and interference to the power grid.
3)通过控制软件实现的低次谐波抑制，避免了电磁干扰的影响。3) The low-order harmonic suppression realized by the control software avoids the influence of electromagnetic interference.
附图说明Description of the drawings
图1为四象限主电路拓扑图。Figure 1 shows the topological diagram of the four-quadrant main circuit.
图2为四象限控制算法与谐波抑制算法模块示意图。Figure 2 is a schematic diagram of the four-quadrant control algorithm and harmonic suppression algorithm modules.
图3为谐波电流提取模块和谐波电流一直模块算法图。Figure 3 is the algorithm diagram of the harmonic current extraction module and the harmonic current module.
具体实施方式Detailed ways
1.四象限整流器开关频率通常只有几百赫兹，电流谐波采用软 件滤波器方案时，四象限整流器的控制性能容易受滤波器影响，故而电流谐波抑制采用控制闭环方案。整个方案分四象限控制算法、四象限调制算法、主电路拓扑和谐波抑制算法四部分。其中四象限控制算法采用基于id_iq的动态解耦控制，四象限调制算法采用单极性倍频调制，其构成灵活多变，可配置成多重化方式，用于四象限电流中高次谐波的消除；谐波抑制算法采用基于PI控制器的谐波电流直流量闭环控制方式，主要由谐波电流提取模块和谐波电流抑制模块构成。1. The switching frequency of the four-quadrant rectifier is usually only a few hundred hertz. When the software filter scheme is used for current harmonics, the control performance of the four-quadrant rectifier is easily affected by the filter, so the current harmonic suppression adopts a control closed-loop scheme. The whole scheme is divided into four parts: four-quadrant control algorithm, four-quadrant modulation algorithm, main circuit topology and harmonic suppression algorithm. The four-quadrant control algorithm uses id_iq-based dynamic decoupling control, and the four-quadrant modulation algorithm uses unipolar frequency multiplication modulation, which is flexible and changeable, and can be configured into multiple modes for the elimination of high-order harmonics in the four-quadrant current. ; Harmonic suppression algorithm adopts PI controller-based closed-loop control of the direct current of the harmonic current, which is mainly composed of a harmonic current extraction module and a harmonic current suppression module.
2.控制硬件采用1片DSP芯片和一片FPGA芯片组成的架构，一个DSP芯片需要完成两个四象限整流的控制算法、调制算法和谐波抑制算法；FPGA主要完成四象限整流所需的数据采样，上位机通讯，脉冲及死区设置，其中FPGA中设置了过流、过压等硬件保护与软件保护构成双重保护，大大提高了故障发生时保护的响应速度和可靠性。2. The control hardware adopts an architecture composed of a DSP chip and an FPGA chip. A DSP chip needs to complete two four-quadrant rectification control algorithms, modulation algorithms and harmonic suppression algorithms; FPGA mainly completes the data sampling required for four-quadrant rectification , Host computer communication, pulse and dead zone settings, in which overcurrent, overvoltage and other hardware protection and software protection are set up in FPGA to form a double protection, which greatly improves the response speed and reliability of the protection when a fault occurs.
3.谐波电流提取模块主要是完成对四象限电流中对应次谐波的提取，本方案中主要是完成对3次和5次谐波电流的提取，为谐波电流抑制模块提供数据。3次谐波电流和5次谐波电流的获取是对四象限输入电流经过旋转坐标变换得到，旋转坐标系变换所需要的电磁角速度3ωt和5ωt可以通过四象限的软件锁相环(PLL)获得，四象限输入电流i s可以通过FPGA中采样获得。 3. The harmonic current extraction module mainly completes the extraction of the corresponding sub-harmonics in the four-quadrant current. In this solution, the main purpose is to complete the extraction of the 3rd and 5th harmonic currents to provide data for the harmonic current suppression module. The 3rd harmonic current and the 5th harmonic current are obtained by rotating the four-quadrant input current through a rotating coordinate transformation. The electromagnetic angular velocity 3ωt and 5ωt required for the rotating coordinate system transformation can be obtained through the four-quadrant software phase-locked loop (PLL) , The four-quadrant input current i s can be obtained by sampling in FPGA.
4.将四象限输入电流i s与C abc-dq3相乘即可得到在旋转坐标系下的3次d轴电流i d3和3次q轴电流i q3，经过低通滤波器(LPF)滤波后，得到3次谐波电流的d轴直流分量
Figure PCTCN2020097634-appb-000023
和q轴直流分量
Figure PCTCN2020097634-appb-000024
4. Multiply the four-quadrant input current i s and C abc-dq3 to get the 3rd d-axis current i d3 and the 3rd q-axis current i q3 in the rotating coordinate system, which are filtered by a low-pass filter (LPF) Then, the d-axis DC component of the 3rd harmonic current is obtained
Figure PCTCN2020097634-appb-000023
And q-axis DC component
Figure PCTCN2020097634-appb-000024
Figure PCTCN2020097634-appb-000025
Figure PCTCN2020097634-appb-000025
Figure PCTCN2020097634-appb-000026
Figure PCTCN2020097634-appb-000026
5.将四象限输入电流i s与C abc-dq5相乘即可得到在旋转坐标系下的5次d轴电流i d5和5次q轴电流i q5，经过低通滤波器(LPF)滤波后，得到5次谐波电流的d轴直流量分量
Figure PCTCN2020097634-appb-000027
和q轴直流分量
Figure PCTCN2020097634-appb-000028
5. Multiply the four-quadrant input current i s and C abc-dq5 to get the 5th d-axis current i d5 and the 5th q-axis current i q5 in the rotating coordinate system, which are filtered by a low-pass filter (LPF) Then, the d-axis DC component of the 5th harmonic current
Figure PCTCN2020097634-appb-000027
And q-axis DC component
Figure PCTCN2020097634-appb-000028
Figure PCTCN2020097634-appb-000029
Figure PCTCN2020097634-appb-000029
Figure PCTCN2020097634-appb-000030
Figure PCTCN2020097634-appb-000030
6.将步骤4中得到的
Figure PCTCN2020097634-appb-000031
作为反馈量，与给定量
Figure PCTCN2020097634-appb-000032
和
Figure PCTCN2020097634-appb-000033
构成PI控制闭环，通过闭环控制方式将3次谐波电流的直流分量
Figure PCTCN2020097634-appb-000034
调节为零，输出量为3次谐波旋转坐标下的d轴和q轴误差电压分量u d3、u q3。 6. Combine what you got in step 4
Figure PCTCN2020097634-appb-000031
As the amount of feedback, and the given amount
Figure PCTCN2020097634-appb-000032
with
Figure PCTCN2020097634-appb-000033
The PI control closed loop is formed, and the DC component of the third harmonic current is reduced by the closed loop control method.
Figure PCTCN2020097634-appb-000034
Adjusted to zero, the output is the d-axis and q-axis error voltage components u d3 , u q3 under the 3rd harmonic rotation coordinate.
7.将步骤5中得到的
Figure PCTCN2020097634-appb-000035
作为反馈量，与给定量
Figure PCTCN2020097634-appb-000036
和
Figure PCTCN2020097634-appb-000037
构成PI控制闭环，通过闭环控制方式将5次谐波电流的直流分量
Figure PCTCN2020097634-appb-000038
调节为零，输出量为5次谐波旋转坐标下的d轴和q 轴误差电压分量u d5、u q5。 7. Put what you got in step 5
Figure PCTCN2020097634-appb-000035
As the amount of feedback, and the given amount
Figure PCTCN2020097634-appb-000036
with
Figure PCTCN2020097634-appb-000037
A PI control closed loop is formed, and the DC component of the 5th harmonic current is reduced by the closed loop control method.
Figure PCTCN2020097634-appb-000038
Adjusted to zero, the output is the d-axis and q-axis error voltage components u d5 , u q5 under the 5th harmonic rotating coordinate.
8.将步骤6中得到的3次谐波旋转坐标下的谐波误差电压u d3、u q3，通过公式转换到基波旋转坐标下的电压谐波分量u d3-1、u q3-1。 8. Convert the harmonic error voltages u d3 and u q3 under the third harmonic rotating coordinate obtained in step 6 to the voltage harmonic components u d3-1 and u q3-1 under the fundamental rotating coordinate through the formula.
Figure PCTCN2020097634-appb-000039
Figure PCTCN2020097634-appb-000039
Figure PCTCN2020097634-appb-000040
Figure PCTCN2020097634-appb-000040
9.将步骤7中得到的5次谐波旋转坐标下的谐波误差电压u d5、u q5，通过公式转换到基波旋转坐标下的电压谐波分量u d5-1、u q5-1。 9. Convert the harmonic error voltages u d5 and u q5 under the fifth harmonic rotating coordinate obtained in step 7 to the voltage harmonic components u d5-1 and u q5-1 under the fundamental rotating coordinate through the formula.
Figure PCTCN2020097634-appb-000041
Figure PCTCN2020097634-appb-000041
Figure PCTCN2020097634-appb-000042
Figure PCTCN2020097634-appb-000042
10.将步骤8中的u d3-1与步骤9中的u d5-1相加构成基波旋转坐标下的谐波d轴电压调节总量u' d；将步骤8中的u q3-1与步骤9中的u q5-1相加构成基波旋转坐标下的谐波q轴电压调节总量u′ q； 10. u d5-1 in step 8 u d3-1 in step 9 by adding the d-axis voltage harmonics of the fundamental rotational coordinate constituting the total amount was adjusted u 'd; in the step 8 u q3-1 Add to u q5-1 in step 9 to form the harmonic q-axis voltage adjustment total u′ q under the fundamental wave rotation coordinate;
11.将u′ d作为前馈项送入四象限控制算法中的基波d轴调节量，与网压U s、电压外环调节器输出量、电流解耦项进行运算后作为基波d轴总调节量；将u′ q作为前馈项送入四象限控制算法中的基波q轴调节量，与q轴基波电流调节器输出量、电流解耦项进行运算后作为基波q轴总调节量； 11. Send u′ d as the feedforward term into the fundamental wave d-axis adjustment in the four-quadrant control algorithm, and calculate it with the grid voltage U s , the output of the voltage outer loop regulator, and the current decoupling term as the fundamental d the total amount of the adjustment shaft; after u 'q as a feed-forward term into the four-quadrant regulator controls the q-axis fundamental wave algorithm, calculates the q-axis fundamental current regulator output, the fundamental wave current item as a decoupling q Total adjustment of shaft;
12.将步骤11中的d、q轴总调节量(直流量)转换到直角坐标系下的交流量，即为所需具有3次和5次谐波抑制功能的指令电压
Figure PCTCN2020097634-appb-000043
将其送入脉冲调制模块进行脉冲调制得到PWM脉冲，送入四象限变流器中的IGBT。 12. Convert the total adjustment value (DC value) of the d and q axis in step 11 to the AC value in the Cartesian coordinate system, which is the command voltage required to have the 3rd and 5th harmonic suppression function
Figure PCTCN2020097634-appb-000043
Send it to the pulse modulation module for pulse modulation to obtain the PWM pulse, which is sent to the IGBT in the four-quadrant converter.
上述谐波抑制方案实现谐波抑制的方法，在四象限整流器上得到实现，试验结果表明，使用该方法交流侧电流具有较好的谐波特性，达到预期目的。The above-mentioned harmonic suppression scheme realizes the method of harmonic suppression in a four-quadrant rectifier. The test results show that the AC side current using this method has better harmonic characteristics and achieves the expected purpose.

Claims (8)

  1. 一种电力机车四象限变流器电流低次谐波抑制方法，其特征在于包括四象限控制算法、四象限调制算法和谐波抑制算法；An electric locomotive four-quadrant converter current low-order harmonic suppression method, which is characterized by including a four-quadrant control algorithm, a four-quadrant modulation algorithm and a harmonic suppression algorithm;
    其中谐波抑制算法包括以下步骤：The harmonic suppression algorithm includes the following steps:
    将四象限变流器输入电流转换到旋转坐标系下的谐波次d轴电流和谐波次q轴电流，经过低通滤波器滤波后，得到谐波电流的d轴直流分量和q轴直流分量；The input current of the four-quadrant converter is converted to the harmonic sub-d-axis current and the harmonic sub-q-axis current in the rotating coordinate system, and after filtering by a low-pass filter, the d-axis DC component and the q-axis DC component of the harmonic current are obtained. Weight
    将得到的各次谐波电流d轴直流分量和q轴直流分量作为反馈量，与给定量构成PI控制闭环，通过闭环控制方式将各次谐波电流的直流分量调节为零，输出量为各次谐波旋转坐标下的d轴和q轴误差电压分量；The d-axis DC component and q-axis DC component of each harmonic current obtained are used as the feedback value, and the given value constitutes a PI control closed loop. The DC component of each harmonic current is adjusted to zero through the closed-loop control method, and the output is each The d-axis and q-axis error voltage components under sub-harmonic rotating coordinates;
    将各次谐波旋转坐标下的d轴和q轴误差电压分量转换到基波旋转坐标下的d轴和q轴电压谐波分量；Convert the d-axis and q-axis error voltage components of each harmonic rotation coordinate to the d-axis and q-axis voltage harmonic components of the fundamental wave rotation coordinate;
    将基波旋转坐标下的d轴电压谐波分量相加构成基波旋转坐标下的谐波d轴电压调节总量；将基波旋转坐标下的q轴电压谐波分量相加构成基波旋转坐标下的谐波q轴电压调节总量；谐波d轴电压调节总量作为前馈项送入到四象限控制算法中的基波d轴PI控制器输出项参与运算；谐波q轴电压调节总量作为前馈项送入到四象限控制算法中的基波q轴PI控制器输出项参与运算；Add the harmonic components of the d-axis voltage under the fundamental rotation coordinate to form the total harmonic d-axis voltage adjustment under the fundamental rotation coordinate; add the harmonic components of the q-axis voltage under the fundamental rotation coordinate to form the fundamental rotation The harmonic q-axis voltage adjustment total under the coordinate; the harmonic d-axis voltage adjustment total is fed into the four-quadrant control algorithm as the feedforward term. The fundamental wave d-axis PI controller output item participates in the calculation; the harmonic q-axis voltage The adjusted total amount is fed into the fundamental q-axis PI controller output item in the four-quadrant control algorithm as a feedforward item to participate in the calculation;
    四象限控制算法运算出谐波抑制功能的指令电压，将指令电压送入脉冲调制模块进行四象限调制算法得到PWM脉冲，脉冲送入四象限变流器的IGBT中。The four-quadrant control algorithm calculates the command voltage of the harmonic suppression function, and sends the command voltage to the pulse modulation module to perform the four-quadrant modulation algorithm to obtain the PWM pulse, and the pulse is sent to the IGBT of the four-quadrant converter.
  2. 根据权利要求1所述的一种电力机车四象限变流器电流低次谐波抑制方法，其特征在于该方法为单独使用控制算法实现的四象限电流低次谐波抑制方法，采用DSP+FPGA组成的硬件构架，其中DSP芯片完成四象限控制算法、四象限调制算法和谐波抑制算法，FPGA完成四象限整流所需的数据采样，上位机通讯，脉冲及死区设置，其中FPGA中设置了过流、过压硬件保护与软件保护构成双重保护。The method for suppressing low-order harmonics of electric locomotive four-quadrant converter current according to claim 1, characterized in that the method is a four-quadrant current low-order harmonic suppression method realized by using a control algorithm alone, using DSP+FPGA The DSP chip completes the four-quadrant control algorithm, the four-quadrant modulation algorithm and the harmonic suppression algorithm, and the FPGA completes the data sampling required for the four-quadrant rectification, host computer communication, pulse and dead zone settings, and the FPGA Over-current, over-voltage hardware protection and software protection form a double protection.
  3. 根据权利要求1所述的一种电力机车四象限变流器电流低次谐波抑制方法，其特征在于谐波抑制算法是对三次谐波和五次谐波进行抑制，三次和五次谐波电流的d轴直流分量和q轴直流分量的具体运算过程如下：The method for suppressing low-order harmonics of electric locomotive four-quadrant converter current according to claim 1, wherein the harmonic suppression algorithm is to suppress the third and fifth harmonics, and the third and fifth harmonics The specific calculation process of the d-axis DC component and the q-axis DC component of the current is as follows:
    将四象限输入电流i s与C abc-dq3相乘即可得到在旋转坐标系下的3次d轴电流i d3和3次q轴电流i q3，即
    Figure PCTCN2020097634-appb-100001
    Figure PCTCN2020097634-appb-100002
    经过低通滤波器滤波后，得到3次谐波电流的d轴直流分量
    Figure PCTCN2020097634-appb-100003
    和q轴直流分量
    Figure PCTCN2020097634-appb-100004
    Multiply the four-quadrant input current i s and C abc-dq3 to obtain the 3rd d-axis current i d3 and the 3rd q-axis current i q3 in the rotating coordinate system, namely
    Figure PCTCN2020097634-appb-100001
    Figure PCTCN2020097634-appb-100002
    After filtering by a low-pass filter, the d-axis DC component of the 3rd harmonic current is obtained
    Figure PCTCN2020097634-appb-100003
    And q-axis DC component
    Figure PCTCN2020097634-appb-100004
    将四象限输入电流i s与C abc-dq5相乘即可得到在旋转坐标系下的5次d轴电流i d5和5次q轴电流i q5，
    Figure PCTCN2020097634-appb-100005
    Figure PCTCN2020097634-appb-100006
    经过低通滤波器滤波后，得到5次谐波电流的d轴直流量分量
    Figure PCTCN2020097634-appb-100007
    和q轴直流分量
    Figure PCTCN2020097634-appb-100008
    Multiply the four-quadrant input current i s and C abc-dq5 to get the 5th d-axis current i d5 and the 5th q-axis current i q5 in the rotating coordinate system,
    Figure PCTCN2020097634-appb-100005
    Figure PCTCN2020097634-appb-100006
    After filtering by a low-pass filter, the d-axis DC component of the 5th harmonic current is obtained
    Figure PCTCN2020097634-appb-100007
    And q-axis DC component
    Figure PCTCN2020097634-appb-100008
  4. 根据权利要求3所述的一种电力机车四象限变流器电流低次谐波抑制方法，其特征在于谐波旋转坐标下的d轴和q轴误差电压分量的具体运算过程如下：The method for suppressing low-order harmonics of electric locomotive four-quadrant converter current according to claim 3, characterized in that the specific calculation process of the d-axis and q-axis error voltage components under the harmonic rotation coordinate is as follows:
    将d轴、q轴直流分量
    Figure PCTCN2020097634-appb-100009
    作为反馈量，与给定量
    Figure PCTCN2020097634-appb-100010
    和
    Figure PCTCN2020097634-appb-100011
    构成PI控制闭环，通过闭环控制方式将3次谐波电流的直流分量
    Figure PCTCN2020097634-appb-100012
    Figure PCTCN2020097634-appb-100013
    调节为零，输出量为3次谐波旋转坐标下的d轴和q轴误差电压分量u d3、u q3；     The d-axis and q-axis DC components
    Figure PCTCN2020097634-appb-100009
    As the amount of feedback, and the given amount
    Figure PCTCN2020097634-appb-100010
    with
    Figure PCTCN2020097634-appb-100011
    The PI control closed loop is formed, and the DC component of the third harmonic current is reduced by the closed loop control method.
    Figure PCTCN2020097634-appb-100012
    Figure PCTCN2020097634-appb-100013
    Adjusted to zero, the output is the d-axis and q-axis error voltage components u d3 , u q3 under the 3rd harmonic rotating coordinate;
    将d轴、q轴直流分量
    Figure PCTCN2020097634-appb-100014
    作为反馈量，与给定量
    Figure PCTCN2020097634-appb-100015
    和
    Figure PCTCN2020097634-appb-100016
    构成PI控制闭环，通过闭环控制方式将5次谐波电流的直流分量
    Figure PCTCN2020097634-appb-100017
    Figure PCTCN2020097634-appb-100018
    调节为零，输出量为5次谐波旋转坐标下的d轴和q轴误差电压分量u d5、u q5。     The d-axis and q-axis DC components
    Figure PCTCN2020097634-appb-100014
    As the amount of feedback, and the given amount
    Figure PCTCN2020097634-appb-100015
    with
    Figure PCTCN2020097634-appb-100016
    A PI control closed loop is formed, and the DC component of the 5th harmonic current is reduced by the closed loop control method.
    Figure PCTCN2020097634-appb-100017
    Figure PCTCN2020097634-appb-100018
    Adjusted to zero, the output is the d-axis and q-axis error voltage components u d5 , u q5 under the 5th harmonic rotation coordinate.
  5. 根据权利要求4所述的一种电力机车四象限变流器电流低次谐波抑制方法，其特征在于基波旋转坐标下的d轴和q轴电压谐波分量具体运算过程如下：The method for suppressing low-order harmonics of electric locomotive four-quadrant converter current according to claim 4, characterized in that the specific calculation process of the d-axis and q-axis voltage harmonic components under the fundamental rotation coordinate is as follows:
    将3次谐波旋转坐标下的误差电压分量u d3、u q3转换到基波旋转 坐标下的电压谐波分量u d3-1、u q3-1，
    Figure PCTCN2020097634-appb-100019
    Figure PCTCN2020097634-appb-100020
    Convert the error voltage components u d3 and u q3 under the 3rd harmonic rotating coordinate to the voltage harmonic components u d3-1, u q3-1 under the fundamental wave rotating coordinate,
    Figure PCTCN2020097634-appb-100019
    Figure PCTCN2020097634-appb-100020
    将5次谐波旋转坐标下的误差电压分量u d5、u q5转换到基波旋转坐标下的电压谐波分量u d5-1、u q5-1，
    Figure PCTCN2020097634-appb-100021
    Figure PCTCN2020097634-appb-100022
    Convert the error voltage components u d5 and u q5 under the 5th harmonic rotating coordinate to the voltage harmonic components u d5-1 and u q5-1 under the fundamental wave rotating coordinate,
    Figure PCTCN2020097634-appb-100021
    Figure PCTCN2020097634-appb-100022
  6. 根据权利要求5所述的一种电力机车四象限变流器电流低次谐波抑制方法，其特征在于谐波d轴电压调节总量和谐波q轴电压调节总量的具体运算过程如下：将u d3-1与u d5-1相加构成基波旋转坐标下的谐波d轴电压调节总量u' d；将u q3-1与u q5-1相加构成基波旋转坐标下的谐波q轴电压调节总量u′ q。 The method for suppressing the current low-order harmonics of the four-quadrant converter of electric locomotives according to claim 5, characterized in that the specific calculation process of the total harmonic d-axis voltage adjustment and the total harmonic q-axis voltage adjustment is as follows: the u d3-1 with u d5-1 adding the d-axis voltage harmonic constituting the fundamental rotating coordinate adjustment amount u 'd; with the sum u q5-1 fundamental configuration in a rotating coordinate u q3-1 The total amount of harmonic q-axis voltage regulation u′ q .
  7. 根据权利要求3或5所述的一种电力机车四象限变流器电流低次谐波抑制方法，其特征在于坐标变换所需角度采用SOGI方式的锁相环算法对电网基波信号相位ωt进行计算，依据电网基波相位信号构建3次谐波、5次谐波信号相位3ωt、5ωt以及在谐波信号与基波信号转换时所需的2ωt、4ωt。An electric locomotive four-quadrant converter current low-order harmonic suppression method according to claim 3 or 5, characterized in that the angle required for coordinate transformation adopts the phase-locked loop algorithm of the SOGI mode to perform the phase ωt of the fundamental wave signal of the power grid. Calculate, construct the 3rd harmonic, 5th harmonic signal phase 3ωt, 5ωt and 2ωt, 4ωt needed when the harmonic signal is converted to the fundamental wave signal according to the power grid fundamental wave phase signal.
  8. 根据权利要求1所述的一种电力机车四象限变流器电流低次谐波抑制方法，其特征在于四象限控制算法采用基于id_iq的动态解耦控制，采用电压、电流双闭环控制策略；电压环控制对象为母线电压Udc，保证母线电压实际值等于指令值，实际电压采样值经过陷波器 滤波后与指令值进行比较计算；电流内环是对电流的控制，电流内环指令值id为电压外环输出量；四象限运行时，设置iq指令值为零；四象限调制算法采用单极性倍频调制，其构成灵活多变，可配置成多重化方式，用于四象限电流中高次谐波的消除。The method for suppressing low-order harmonics of electric locomotive four-quadrant converter current according to claim 1, characterized in that the four-quadrant control algorithm adopts id_iq-based dynamic decoupling control, and adopts voltage and current double closed-loop control strategies; The control object of the loop is the bus voltage Udc to ensure that the actual value of the bus voltage is equal to the command value. The actual voltage sampling value is filtered by the notch filter and compared with the command value; the current inner loop is the control of the current, and the current inner loop command value id is Voltage outer loop output; when four-quadrant operation, set the iq command value to zero; four-quadrant modulation algorithm adopts unipolar frequency multiplication modulation, its structure is flexible and changeable, and can be configured into multiple modes for high-order four-quadrant current Elimination of harmonics.
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