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浙江大学学报(工学版)  2019, Vol. 53 Issue (11): 2238-2247    DOI: 10.3785/j.issn.1008-973X.2019.11.023
电气工程     
基于一致渐近稳定观测器的模块化多电平变流器控制系统设计
夏超英(),吴刚,于佳丽
天津大学 电气自动化与信息工程学院,天津 300072
Design of modular multilevel converter control system based on uniformly asymptotically stable observer
Chao-ying XIA(),Gang WU,Jia-li YU
School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China
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摘要:

为了实现模块化多电平变流器(MMC)各模块之间电容电压均衡,减少电压传感器数量,设计非线性的降维状态观测器,并提出基于该观测器的系统控制方法.依据三相MMC拓扑结构,以三相环流、交流输出电流和所有模块电容电压为状态变量,建立状态空间模型. 结合模型,提出观测器的设计方法,该观测器通过测量MMC电路中6个桥臂电流和6个桥臂投入模块总电压,结合开关信号观测得到各模块电容电压. 利用无源理论和持续充分激励条件,证明在载波移相调制策略和最近电平调制策略下,观测器误差模型是一致渐近稳定的. 以该观测器为基础,设计MMC功率电流双闭环控制器. 通过搭建的仿真模型验证所设计观测器的观测值能够准确跟踪实际值,系统鲁棒性和动态性能较好.

关键词: 模块化多电平换流器降维观测器电压均衡一致渐近稳定性持续充分激励条件    
Abstract:

A non-linear reduced-order state observer was designed and a system control method based on the observer was proposed, in order to achieve capacitive voltage balance among modules of the modular multilevel converter (MMC) and reduce the number of voltage sensors. According to the three-phase MMC topology, a state-space model was established with three-phase circulating current, alternating output currents and capacitive voltages of all modules as state variables. Combining the model, an observer design method was proposed. The observer measured six bridge arm currents and six bridge voltages in the MMC circuit, and combined switching signals to obtain capacitance voltage of each module. Using the passivity theory and the persistently and sufficiently exciting condition, it is proved that the observer error model is uniformly asymptotically stable under the carrier phase shift modulation strategy and the nearest level modulation strategy. A MMC power and current double closed-loop controller was designed based on the observer. Simulations show that the observed values of the designed observer can accurately track the actual values, and the system has good robustness and dynamic performance.

Key words: modular multilevel converter    reduced-order observer    voltage balancing    uniform asymptotic stability    persistently and sufficiently exciting condition
收稿日期: 2018-09-29 出版日期: 2019-11-21
CLC:  TM 46  
作者简介: 夏超英(1958—),男,教授,从事控制理论和电力电子研究. orcid.org/0000-0001-9028-6636. E-mail: xiachaoying@126.com
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引用本文:

夏超英,吴刚,于佳丽. 基于一致渐近稳定观测器的模块化多电平变流器控制系统设计[J]. 浙江大学学报(工学版), 2019, 53(11): 2238-2247.

Chao-ying XIA,Gang WU,Jia-li YU. Design of modular multilevel converter control system based on uniformly asymptotically stable observer. Journal of ZheJiang University (Engineering Science), 2019, 53(11): 2238-2247.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2019.11.023        http://www.zjujournals.com/eng/CN/Y2019/V53/I11/2238

图 1  三相MMC拓扑结构
图 2  MMC单相等效电路
图 3  MMC电容电压观测器结构框图
图 4)  MMC 电容电压观测误差反馈连接图
图 5  MMC控制器结构框图
变量 数值 变量 数值
C/μF 4 000 LL/mH 2.01
L/mH 0.265 4 RL 0.065
R 0.03
表 1  MMC基本参数表
图 6  电容电压初值不同时MMC各变量波形
图 7  电容不同时MMC各变量波形
图 8  电压测量存在误差时MMC各变量波形
图 9  电流测量存在误差时MMC各变量波形
图 10  功率阶跃变化时MMC各变量波形
图 11  直流电压阶跃变化时MMC各变量波形
图 12  电网不平衡时MMC各变量波形
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[1] 周洋, 胡鹏飞, 江道灼, 张科波. 模块化多电平换流器改进最近电平调制策略[J]. 浙江大学学报(工学版), 2015, 49(8): 1522-1528.
[2] 周月宾, 江道灼, 胡鹏飞, 梁一桥, 郭捷, 林志勇. 利用均压策略消除MMC死区影响的方法[J]. 浙江大学学报(工学版), 2014, 48(4): 561-567.