Similarities between a Modular Multilevel Converter and an … · 2013-09-12 · EMR’13 Lille...
Transcript of Similarities between a Modular Multilevel Converter and an … · 2013-09-12 · EMR’13 Lille...
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EMR’13
Lille
Sept. 2013
Joint Summer School EMR’13“Energetic Macroscopic Representation”
Similarities between Similarities between aa Modular Modular
Multilevel Converter and Multilevel Converter and an an
innovative combined innovative combined
traction/charging system for EVstraction/charging system for EVs
Dr. X.Kestelyn, Dr. W. Lhomme, Dr. P. Delarue
L2EP, ENSAM-Université Lille1, France
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EMR’13, Lille, Sept. 20132
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
- Outline -
1. Context
2. Expected Outcomes
3. Modelling and Representation
4. Deduced Control
5. Conclusion
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EMR’13
Lille
Sept. 2013
Joint Summer School EMR’13“Energetic Macroscopic Representation”
«« CONTEXTCONTEXT»»
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EMR’13, Lille, Sept. 20134
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
arm
E
DC side
AC side
- Context MMC (Modular Multilevel Converter) -
leg
module
France-Spain HVDC link
high power 2* 1 GWhigh voltage 400kVAC, 640kVDC
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EMR’13, Lille, Sept. 20135
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
- Context SOFRACI -
High-power on-board charging system for electrical vehicles• SOFRACI project from VALEO (several patents)• Only one structure for traction and charge (one- or three- phase)
• During charging operation : No torque production without the use of contactors
DC bus
C
iconv
Vdc
6-leg converter (3 H-bridge)
O
1
vaO va’O
s11
s12
ia a
s21
s22
ia’ a’
vbO vb’O
s31
s32
ib b
s41
s42
ib’ b’
vc’O vcO
s61
s62
ic’ c
s51
s52
ic c’
v1N v2N v3N N
2
3
u12 u32
i1 i3
i2
connection / EMI filter / protection
grid
electrical
machine
s71
s72
iL
ubat
buck/boost
converter
battery
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EMR’13, Lille, Sept. 20136
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
MMC SOFRACI system
DC bus
C
iconv
Vdc
6-leg converter (3 H-bridge)
O
1
vaO va’O
s11
s12
ia a
s21
s22
ia’ a’
vbO vb’O
s31
s32
ib b
s41
s42
ib’ b’
vc’O vcO
s61
s62
ic’ c
s51
s52
ic c’
v1N v2N v3N N
2
3
u12 u32
i1 i3
i2
connection / EMI filter / protection
grid
electrical
machine
s71
s72
iL
ubat
buck/boost
converter
battery
- MMC vs SOFRACI -
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EMR’13
Lille
Sept. 2013
Joint Summer School EMR’13“Energetic Macroscopic Representation”
«« EXPECTED OUTCOMESEXPECTED OUTCOMES»»
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EMR’13, Lille, Sept. 20138
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
Independent state variables: 11 (5 currents + 6 voltages)
Independent tuning variables: 6
Objectives et constraints :
- P and Q control with PFC
- control of the voltages uc
- MMC : Equivalent topology / control objectives -
ie
C/N
C/N
C/N
C/N
C/N
C/N
P, Q
E v
i
uc1
uc2
uc3
ucNC
C
C
C
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EMR’13, Lille, Sept. 20139
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
DC bus
C
iconv
Vdc
6-leg converter (3 H-bridge)
O
1
vaO va’O
s11
s12
ia a
s21
s22
ia’ a’
vbO vb’O
s31
s32
ib b
s41
s42
ib’ b’
vc’O vcO
s61
s62
ic’ c
s51
s52
ic c’
v1N v2N v3N N
2
3
u12 u32
i1 i3
i2
connection / EMI filter / protection
grid
electrical
machine
s71
s72
iL
ubat
buck/boost
converter
battery
For the SOFRACI System the objectives and constraints are :
• during traction mode : to control the torque and the flux of the machine
• during charging mode : to control power grid with PFC and to don’t
produce torque
- SOFRACI : control objectives -
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EMR’13
Lille
Sept. 2013
Joint Summer School EMR’13“Energetic Macroscopic Representation”
«« MODELLING MODELLING
and and
REPRESENTATION REPRESENTATION »»
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EMR’13, Lille, Sept. 201311
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
Equations (with eventual change of variables) must lead to a decoupled state
representation.
Change of variables:222
uldiff
ulv
ludiff
uuu
uue
iii
+=
−=
+=
iu
C/N
C/N
iliv
uu
ul
ucu_tot
ur
ucl_tot
E/2
E/2
vno
L’,R’
L,R
αu
αl
luv iii −=Kirchhoff’s current law:
C/N
C/N
uu
ul
ucu_tot
ucl_tot
E/2
E/2 L’,R’
αu
αl
ur
vno
L,R
L’,R’
L’,R’
ev
- MMC : Equations and change of variables -
½ iv
½ iv
idiff
idiff
iv
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EMR’13, Lille, Sept. 201312
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
diff
diff
diff
vv
norv
iRdt
diLu
E
iR
Rdt
diLLvee
+=−
+++=−−
2
)2
'()2
'(Equations :
dt
du
N
Ciiuu
dt
du
N
Ciiuu
totcucuuutotcuuu
totclcllltotclll
−
−
−
−
===
===
αα
αα
C/N
C/N
idiff
uu
ul
ucu_tot
ucl_tot
E/2
E/2 L’,R’
αu
αl
ivur
vno
L,R
L’,R’
L’,R’
ev
d, qx2
x3
x6
- MMC : Equations and change of variables -
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EMR’13, Lille, Sept. 201313
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
23Inverse dq
transformation
13 // coupling
- MMC : EMR -
32dq transformation
[6x6]
icul
ucul
Equivalent capacitors
dt
du
N
Ci
dt
du
N
Ci
totcucu
totclcl
−
−
=
=
6
x6
Equivalent converters
iul
uul6
cuuutotcuuu
cllltotclll
iiuu
iiuu
==
==
−
−
αα
αα
m
6iv
ev
2
2
2
uldiff
ulv
ludiff
uuu
uue
iii
+=
−=
+=
23Change of variables
3
idiff
E idiff
u’diff
2L’
diff
diff
diff iRdt
diLu
E+=−
2
[3x3]
33BUS
E
idc
DC side
1
L+L’/2
vr-dq
iv-dq edq
iv-dq
vv
norv iR
Rdt
diLLvee )
2'()
2'( +++=−−
[2x2] (with dq transformation)
22
AC side
NET
vr
iv
3
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EMR’13, Lille, Sept. 201314
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
The initial system is modelled by a 6x6 strongly coupled inductance matrix :
+ − − −+ − − −+ − − −+ − − −
− + − −− + − −− + − −− + − − − + − −− + − −− + − −− + − −
==== − − + −− − + −− − + −− − + −
− − + −− − + −− − + −− − + −
− − − +− − − +− − − +− − − +
l
l
l
s
l
l
l
L l L M M M M
L L l M M M M
M M L l L M ML
M M L L l M M
M M M M L l L
M M M M L L l
A change of variable is used in order to simplify the representation of the model of the system
−−−−====
a a
ma
i ' ii
2
= −= −= −= −ma a' O aOv v v
DC bus
C
iconv
vaO
va’O
ia’
ia
i1 ima
Vdc
s11
s21
s12
s22
H-bridge windings grid
v1N v2N v3N
O N
a
a’ 1 vma
- Sofraci : Equations and change of variables -
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EMR’13, Lille, Sept. 201315
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
- SOFRACI : Equations -
− = +− = +− = +− = + s _ gridgrid l grid grid
du u L i R i
dt
====
l
s _ grid
2 1lL
1 22
====
s
s _ grid
2 1RR
1 22
− = +− = +− = +− = + s _ tract s _ tractm m m m
dv e L i R i
dt
++++
= += += += + ++++
l
s _ tract l
l
L l / 2 M M
L 4 M L l / 2 M
M M L l / 2
====
s
s _ tract s
s
R 0 0
R 2 0 R 0
0 0 R
Motor side:
Grid side:
Identical to classicalthree-phase machines
Linked only to theleakage inductance
This change of variable leads to two simpler sub-systems
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EMR’13, Lille, Sept. 201316
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
- SOFRACI : EMR -
+
+
+
=
2
2
2
4
l
l
l
s
lLMM
Ml
LM
MMl
L
L
gridu
gridi
s
busV
busi
Ω me
emT mi
mu
recv
gridi
chu
reci
mi
=
21
12
2
lch
lL
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EMR’13
Lille
Sept. 2013
Joint Summer School EMR’13“Energetic Macroscopic Representation”
«« DEDUCED CONTROL DEDUCED CONTROL »»
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EMR’13, Lille, Sept. 201318
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
idiff
BUS
E
idc
E
iv
NET
vr-dq
ev
idiff
u’diff
vr
iv-dq
iul icul
uul ucul6
edq
iv-dq
iv
ucul
P_ref
idiff-ref
Q_ref
66
3
32
31
21
2
36
Uc_ref
- MMC : Inversion Based Control -
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EMR’13, Lille, Sept. 201319
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
idiff
BUS
E
idc
E
iv
NET
vr-dq
ev
idiff
u’diff
vr
iv-dq
iul icul
uul ucul6
edq
iv-dq
iv
ucul
P_ref
idiff-ref
P_ref evE
X
3
Q_ref
Uc_ref
66
3
32
31
21
2
33
3
- MMC : Inversion Based Control -
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EMR’13, Lille, Sept. 201320
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
- MMC : Matlab/simulink implementation -
vr_
iv_
ur_
iv_.
va,vb,vc --> uac,uab
? ? ?
teta
SE
source DC
E
u'dif f_
idif f_
idif f_.
self l
ur_
eu_
iv_
iv_.
self eq ll+l/2
SE
reseau tri1
sample based
uc_tot
m_
i_ul
uc_ul
ic_
les 6 hacheurs eq.
ic_ uc_tot
les 6 condos
iv_
ev_
iv_.
eu_
euac,eubc-->eva,evb,evc
i_ul_refidif f _ref
u'dif f _ref
ev _ref
uc_ul_ref
In1
Out2
Out3
Subsystem
ev_dq
teta
ev_
Park2iv_
teta
iv_dq
Park1
vr_
teta
vr_dq
Park
i_ul
m_
vr_
idc_
idiff_
iv_
E
idif f_
E_
idc
E --> E, E, E
idif f_
uc_ul
iv_
u'dif f_
i_ul
ev_
Couplage
électrique2
uc_tot
uc_ul_ref
m_ref
uc_tot
ev _
idc_sur_3
iv _
iuv _ref
idif f _ref
idif f _
E_
u'dif f _
v r_dq
iv _dq
iv _dq_ref
ev _dq
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EMR’13, Lille, Sept. 201321
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
- MMC : Simulation results -
C/N
C/N
iu
il
ucu
ucl
L’,R’
αu
αl
iv
iul
ucul
P, Pref
iv
iu
il
2 kA
1 kA
500 kV
1 GW
0
0
0
0
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EMR’13, Lille, Sept. 201322
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
- SOFRACI : Inversion Based Control -
gridu
gridi
reci
chu
s
busV
busi
gridi
Ω me
emT
traci
mu
recv
mi*
mi
recv*
gridi*
gridi
gridu
chu*
me
mu*
mi
1k
2kemT
*
Objectives :
P,Q
Objectives :
Tem, losses, FW
Objectives :
DC bus or losses or EMC, or …
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EMR’13, Lille, Sept. 201323
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
- SOFRACI : Matlab/simulink implementation -
windings _traction
e_m
u_m
i_m
i_m
windings _charge
u_grid
u_ch
i_grid
i_grid
s_ref
i_traction control
i_m
i_grid control
i_grid
Rectifier control
Motor Strategy
Mechanical load
Tem omegaSE
Grid Strategy
Grid
i_grid u_gridSE
i_grid
u_grid
Electromechanical
conversion
omega
i_m
e_m
T _em
EM
Inversion
DC bus
i_bus V_busSE
Couplings
i_grid
i_m
v_rec
i_rec
u_ch
u_m
Coupling inversion
Converter Strategy
6-leg converter
i_rec
s
V_bus
i_bus
v_rect
2
6
6
6
2
2
2
2
2
2
2
3
33
3
3
3
3
3
6
6
2
6
2
2
2
2
3
3
2
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EMR’13, Lille, Sept. 201324
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
Grid currents
Traction currents
Average switching functions
ia’
ia
i1 ima
- SOFRACI : Simulation results -
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EMR’13
Lille
Sept. 2013
Joint Summer School EMR’13“Energetic Macroscopic Representation”
««CONCLUSIONCONCLUSION»»
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EMR’13, Lille, Sept. 201326
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
ie
P, Q
Control AC power AND capacitor voltage
by controlling 5 currents
Control AC power OR torque of the electrical
machine by controlling 5 currents
iliv
½ iv
½ iv
iu
idiffi’
igrid
½ igrid
½ igrid
i
im
Same type of
change of variables
- Conclusion-
Thinking “Systemic” leads to global solutions often better thanthose obtained by “Reductionist” approaches.
DC bus
C
iconv
Vdc
6-leg converter (3 H-bridge)
O
1
vaO va’O
s11
s12
ia a
s21
s22
ia’ a’
vbO vb’O
s31
s32
ib b
s41
s42
ib’ b’
vc’O vcO
s61
s62
ic’ c
s51
s52
ic c’
v1N v2N v3N N
2
3
u12 u32
i1 i3
i2
connection / EMI filter / protection
grid
electrical
machine
s71
s72
iL
ubat
buck/boost
converter
battery
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EMR’13
Lille
Sept. 2013
Joint Summer School EMR’13“Energetic Macroscopic Representation”
««BBIOGRAPHIESIOGRAPHIES»»
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EMR’13, Lille, Sept. 201328
«« Similarities between MMC and Sofraci systemSimilarities between MMC and Sofraci system»»
- Authors -
Dr. Xavier KESTELYN
Arts et Métiers ParisTech, L2EP, France
Associate Professor since 2004PhD in Electrical Engineering at University of Lille (2003)
Research topics: EMR, Vectorial Formalism, multi-input coupled systems
Dr. Philippe DELARUE
Université Lille 1, L2EP, France
Associate Professor since 1991
PhD in Electrical Engineering at Université de Lille (1989) Research topics: Power Electronics
Dr. Walter LHOMME
Université Lille 1, L2EP, FranceAssociate Professor since 2008
PhD in Electrical Engineering at University of Lille (2007)
Research topics: EMR, Electric and Hybrid Vehicles, Energy Storage Subsystem