CN202076951U  Integrated control system of modular multilever converter  Google Patents
Integrated control system of modular multilever converter Download PDFInfo
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 CN202076951U CN202076951U CN2011200535338U CN201120053533U CN202076951U CN 202076951 U CN202076951 U CN 202076951U CN 2011200535338 U CN2011200535338 U CN 2011200535338U CN 201120053533 U CN201120053533 U CN 201120053533U CN 202076951 U CN202076951 U CN 202076951U
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 controller
 brachium pontis
 multiplier
 output
 adder
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CC(=O)NC1=CC=C(O)C=C1 RZVAJINKPMORJFUHFFFAOYSAN 0.000 description 1
 241000894007 species Species 0.000 description 1
Abstract
The utility model relates to an integrated control system of a modular multilever converter, which comprises M phases of modular multilever converters, wherein each phase of modular multilever converter is connected with a respective integrated control device, all the integrated control devices are connected with M phases of pulsewidth modulation (PWM) signal generators, have same structures and respectively comprise an upper bridge arm controller, a master controller and a lower bridge arm controller, an output terminal of each phase of modular multilever converter is respectively connected with input terminals of the upper bridge arm controller, the master controller and the lower bridge arm controller, the output terminal of the master controller respectively outputs PWM common duty ratio dap of an upper bridge arm to the upper bridge arm controller and PWM common duty ratio dan of a lower bridge arm to the lower bridge arm controller, and the output terminals of the upper bridge arm controller and the lower bridge arm controller are connected with the PWM signal generators with corresponding phases. The integrated control system is applicable to various PWM modes, can flexibly control circulation to meet special needs, and is clear and definite in physical significance, and sufficient in theoretical basis.
Description
Technical field
The utility model relates to a kind of complex control system of modular multilevel converter, belongs to the control technology field of multilevel power electronic power converter.
Background technology
The modular multilevel converter topology adopts tandem type, modular, need not the steppedup voltage that the direct series connection of power device just can obtain many level, have lower dU/dt and lower voltage harmonic content, in/have broad application prospects in the highvoltage largecapacity system.This converter topology structure as shown in Figure 1, among the figure, last brachium pontis and following brachium pontis respectively have the individual submodule cascade of N to form, each submodule is a halfbridge structure, the submodule DC side parallel has identical capacitor.Because each submodule dc bus capacitor of modular multilevel converter is in suspended state, difference can appear discharging and recharging in each submodule electric capacity during operation, therefore can cause the imbalance problem of capacitance voltage.The safe operation of the uneven directly threat of capacitance voltage converter, thus this problem can effectively solve be the key of modular multilevel converter safety, reliability service.
" based on the dcvoltage balance control of the 50MVA STATCOM of chain inverter " literary composition (author Liu Wenhua etc.) in the publication of " Proceedings of the CSEE " 2004 the 24th volume the 4th phase 145150 page or leaf is studied the DC side submodule capacitive balance control method of tandem type STATCOM, proposed to adopt to add the special power circuit, realized the capacitance voltage Balance Control by discharging and recharging of control dc bus capacitor device in each submodule DC side.But this method need additionally increase the special power circuit of external complex, cost height, big, the control complexity of volume.
At " novel many level VSC submodule capacitance parameter with all press strategy " literary composition (author's fourth champion etc.) of " Proceedings of the CSEE " 2009 the 29th volume the 30th phase 16 page or leaf publication the method that the capacitance voltage Balance Control is carried out in based on software ordering has been proposed, this method adopts the size to each submodule dc capacitor voltage to compare, sort, according to brachium pontis power (or electric current) direction, determine the switching state of each submodule again.When the brachium pontis absorbed power, drop into the minimum submodule of voltage; Otherwise, when brachium pontis sends power, drop into the highest submodule of voltage.(PulseWidth Modulation, PWM) mode has specific (special) requirements to this method, is not suitable for the phaseshifting carrier wave formula PWM mode that is generally adopted in multilevel converter to pulsewidth modulation.
Publication number is in the Chinese patent of CN1767345A disclosed " a kind of hybrid clamped multilevel inverter top ", a kind of many level topology that realizes clamp by active device and passive device has jointly been proposed, can not need adjunct circuit to realize the midpoint potential balance, solve traditional many level topology and counted the problem that the capacitance voltage balance under the situation is difficult to realize at high level.Belong to many level of clamp type topological structure of the direct cascaded structure of power device but publication number is the Chinese patent of CN1767345A disclosed " a kind of hybrid clamped multilevel inverter top ", do not belong to same type multilevel converter topology with modular multilevel topology shown in Figure 1, there is essential distinction in two kinds of topological structures, therefore, the capacitance voltage balancing technique of this clamping multilevel converter topology is not suitable for modular multilevel topology shown in Figure 1, does not solve the equilibrium problem of each submodule capacitance voltage of modular multilevel converter.
Publication number is in the Chinese patent of CN101546964A disclosed " module combined multilevel converter ", disclose a kind of combined multilevel converter topology, proposed to realize a kind of converter topology that can be used for the mesohigh largepower occasions by the connection in seriesparallel of using power cell.But publication number is the Chinese patent of CN101546964A, and disclosed " module combined multilevel converter " only is to disclose a kind of combined multilevel converter topology, do not solve the equilibrium problem of each submodule capacitance voltage of modular multilevel converter.
The utility model content
The purpose of this utility model proposes a kind of complex control system of modular multilevel converter exactly for addressing the above problem, with the equilibrium problem and the control problem of each submodule capacitance voltage of solving this converter.This method is from the angle of powerbalance, and its basic thought is by regulating total active power of this converter, to realize the Balance Control of the upper and lower brachium pontis total capacitance voltage of this converter; Distribute by the active power of regulating between the upper and lower brachium pontis, realize the capacitance voltage Balance Control between the upper and lower brachium pontis; By finely tuning the distribution of the active power between each submodule on the same brachium pontis, realize the capacitance voltage Balance Control between each submodule on the same brachium pontis.This method has not only realized each submodule capacitance voltage Balance Control, and electric current, the voltage control of converter have been realized, it is a kind of integrated control method of modular multilevel converter, explicit physical meaning, do not need to use the capacitor special use to discharge and recharge power circuit, be applicable to various PWM modes.
For achieving the above object, the utility model adopts following technical scheme:
A kind of integrated control method of modular multilevel converter, by each submodule capacitance voltage of the upper and lower brachium pontis of detection module multilevel converter, upper and lower brachium pontis electric current, and AC side supply voltage are through obtaining the public duty ratio of upper and lower brachium pontis PWM after the master controller calculation process; The public duty ratio of each submodule capacitance voltage of upper and lower brachium pontis and abovementioned upper and lower brachium pontis PWM obtains the PWM duty ratio of upper and lower each submodule of brachium pontis through upper and lower brachium pontis controller calculation process; The PWM duty ratio process pwm signal generator of each submodule produces the pwm control signal of each submodule, realizes electric current, the voltage control of each submodule capacitance voltage Balance Control and converter.
Its concrete steps are:
(1), obtains brachium pontis N submodule capacitance voltage detecting value u by each N of brachium pontis on the detection module multilevel converter submodule capacitance voltage
_{Ap1}, u
_{Ap2}... and u
_{ApN},, obtain brachium pontis submodule average capacitor voltage by the unit A that averages
By each N of brachium pontis under the detection module multilevel converter submodule capacitance voltage, obtain down brachium pontis N submodule capacitance voltage detecting value u
_{An1}, u
_{An2}... and u
_{AnN},, obtain down brachium pontis submodule average capacitor voltage by the unit B of averaging
With the abovementioned brachium pontis submodule average capacitor voltage of going up
With following brachium pontis submodule average capacitor voltage
Be sent to the unit C that averages, obtain upper and lower brachium pontis overall average capacitance voltage
(2) by detecting AC side supply voltage u
_{Sa}, handle through normalization unit A, obtain corresponding unit amplitude supply voltage u
_{Sau}
(3) with the overall average capacitance voltage
With Voltage Reference u
_{Dc} ^{*}Be sent to the total capacitance voltage controller and handle, obtain total capacitance voltage control current i
_{0} ^{*}
(4) will go up brachium pontis submodule and following brachium pontis submodule average capacitor voltage
With
Be sent to/following bridge arm balance controller handles the output valve I that obtains
_{ACM}With unit amplitude supply voltage u
_{Sau}After multiplying each other, multiplier l obtains/following bridge arm balance adjustment electric current Δ i
_{AC}, i.e. Δ i
_{AC}=I
_{ACM}U
_{Sau}
(5) with AC side power supply reference current i
_{Sa} ^{*}, i
_{0} ^{*}, Δ i
_{AC}Electric current with the generation of circulation unit
Send into arithmetic element A and obtain the brachium pontis reference current
Promptly
${i}_{\mathrm{ap}}^{*}=\frac{1}{2}({{i}_{\mathrm{sa}}}^{*}+\mathrm{\Δ}{i}_{\mathrm{AC}})+{{i}_{0}}^{*}+{i}_{\mathrm{aL}}^{*};$
(6) with AC side power supply reference current i
_{Sa} ^{*}, i
_{0} ^{*}, Δ i
_{AC}Electric current with the generation of circulation unit
Send into arithmetic element B and obtain down the brachium pontis reference current
Promptly
${i}_{\mathrm{an}}^{*}=\frac{1}{2}({{i}_{\mathrm{sa}}}^{*}\mathrm{\Δ}{i}_{\mathrm{AC}}){{i}_{0}}^{*}{i}_{\mathrm{aL}}^{*};$
(7) will go up brachium pontis current detection value i
_{Ap}With reference current
Be sent to current controller AP and handle, obtain the public duty ratio d of brachium pontis PWM
_{Ap}
(8) will descend brachium pontis current detection value i
_{An}With reference current
Be sent to current controller AB and handle, obtain down the public duty ratio d of brachium pontis PWM
_{An}
(9) will go up brachium pontis current detection value i
_{Ap}Send into the normalization unit AP and handle, obtain brachium pontis unit amplitude current i
_{Apu}To descend brachium pontis current detection value i
_{An}Send into normalization unit AN and handle, obtain down brachium pontis unit amplitude current i
_{Anu}
(10) will
With last brachium pontis j submodule capacitance voltage detecting value u
_{Apj}, wherein, j=1,2 ..., N1 is sent to j submodule fine setting of brachium pontis controller APj and handles the output D of fine setting controller APj
_{Mpj}Through corresponding multiplier APj and i
_{Apu}Pass through corresponding adder APj and the public duty ratio d of last brachium pontis PWM after multiplying each other again
_{Ap}Addition obtains j submodule PWM of brachium pontis duty ratio d
_{Apj}
(11) N1 is gone up brachium pontis fine setting controller AP1, fine setting controller AP2 ... and the output D of fine setting controller AP (N1)
_{Mp1}, D
_{Mp2}... and D
_{MpN1}Sue for peace after opposite sign device AP oppositely obtains D through adder AP
_{MpN}, again with i
_{Apu}APN multiplies each other through multiplier, then with the public duty ratio d of last brachium pontis PWM
_{Ap}Addition obtains N submodule PWM of brachium pontis duty ratio d
_{ApN}
(12) will
With following brachium pontis j submodule capacitance voltage detecting value u
_{Anj}, j=1 wherein, 2 ..., N1 is sent to down j submodule fine setting of brachium pontis controller ANj and handles the output D of fine setting controller ANj
_{Mnj}Through corresponding multiplier ANj and i
_{Anu}Pass through corresponding adder ANj and the public duty ratio d of following brachium pontis PWM after multiplying each other again
_{An}Addition obtains down j submodule PWM of brachium pontis duty ratio d
_{Anj}
(13) with N1 down brachium pontis fine setting controller AN1, fine setting controller AN2 ... and the output D of fine setting controller AN (N1)
_{Mn1}, D
_{Mn2}... and D
_{MnN1}Sue for peace after opposite sign device AN oppositely obtains D through adder AN
_{MnN}, again with i
_{Anu}ANN multiplies each other through multiplier, then with the public duty ratio d of following brachium pontis PWM
_{An}Addition obtains down N submodule PWM of brachium pontis duty ratio d
_{AnN}
(14) with each submodule PWM duty ratio d
_{Ap1}, d
_{Ap2}... and d
_{ApN}And d
_{An1}, d
_{An2}... and d
_{AnN}Be sent to the PWM generator unit, produce the pwm control signal of each submodule.
In the described step (2), by detecting AC side supply voltage u
_{Sa}, adopt known Phase Lock Technique, obtain and u
_{Sa}With the unit amplitude SIN function of frequency homophase, replace unit amplitude supply voltage u
_{Sau}
In the described step (9), use the brachium pontis reference current
Brachium pontis current detection value i in the replacement
_{Ap}, use brachium pontis reference current down
Replace brachium pontis current detection value i down
_{An}That is, will go up the brachium pontis reference current
Send into the normalization unit AP and handle, obtain brachium pontis unit amplitude current i
_{Apu}To descend the brachium pontis reference current
Send into normalization unit AN and handle, obtain down brachium pontis unit amplitude current i
_{Anu}
In described step (5) and (6), the electric current that the circulation unit produces
Satisfy
With
Wherein, T represents the AC side supply voltage cycle,
Amplitude by AC side power supply reference current i
_{Sa} ^{*}The size decision.
In described step (5) and (6), when modular multilevel converter dc bus external load rather than DC power supply, need to increase the DC busbar voltage closed loop controller, the output control AC side power supply reference current i of this controller
_{Sa} ^{*}The real component amplitude, the input of this controller is from DC busbar voltage detected value and DC busbar voltage reference value.
A kind of complex control system of modular multilevel converter, it comprises M phase module multilevel converter, each phase module multilevel converter is connected with separately composite control apparatus, each composite control apparatus then with M mutually the pwm signal generator connect; Wherein, described each composite control apparatus structure is identical, comprises brachium pontis controller, master controller and following brachium pontis controller; The modular multilevel converter output terminal of each phase is connected with last brachium pontis controller, master controller and following brachium pontis controller input respectively; The output of master controller is exported the public duty ratio d of brachium pontis PWM respectively
_{Ap}To last brachium pontis controller, output is the public duty ratio d of brachium pontis PWM down
_{An}Arrive brachium pontis controller down; Last brachium pontis controller is connected with corresponding pwm signal generator mutually with following brachium pontis controller output end.
Described master controller comprises the unit A that averages, the unit B of averaging, their input is connected with the modular multilevel converter output terminal, output then is connected with last/following bridge arm balance controller with the unit C that averages respectively, the output of unit C of averaging is connected with the total capacitance voltage controller, on/following bridge arm balance controller output end is connected with multiplier I, and multiplier I also is connected with normalization unit AN; The total capacitance voltage controller is connected with arithmetic element A, arithmetic element B respectively with multiplier I, and the circulation unit also is connected with arithmetic element A, arithmetic element B simultaneously; Arithmetic element A, arithmetic element B connect with corresponding current controller AN, current controller AP respectively; Submodule dc bus capacitor reference voltage is sent into total capacitance voltage controller input; The phase supply voltage of modular multilevel converter is sent into normalization unit AN; Following brachium pontis phase current is sent into current controller AN.
It is described that upward the brachium pontis controller is identical with following brachium pontis controller architecture, wherein:
The described brachium pontis controller of going up comprises with each and goes up the individual submodule capacitance voltage detecting value u of brachium pontis N
_{Ap1}, u
_{Apj}... and u
_{ApN}Corresponding fine setting controller AP1, fine setting controller APj ... fine setting controller AP (N1); Each finely tune controller AP output respectively with corresponding multiplier AP1, multiplier APj ... multiplier AP (N1) connects; Simultaneously respectively finely tuning controller AP output also is connected with adder AP, adder AP is connected with opposite sign device AP, multiplier APN successively, the output of each multiplier AP and corresponding adder AP1 ... adder APj ... adder AP (N1) ... adder APN connects; Last brachium pontis current detection value i
_{Ap}Send into the normalization unit AP, normalization unit AP and each multiplier AP1 ... multiplier APN connects;
Described brachium pontis controller down comprises and each time brachium pontis N submodule capacitance voltage detecting value u
_{An1}, u
_{Anj}... and u
_{AnN}Corresponding fine setting controller AN1, fine setting controller ANj ... fine setting controller AN (N1); Each finely tune controller AN output respectively with corresponding multiplier AN1, multiplier ANj ... multiplier AN (N1) connects; Simultaneously respectively finely tuning controller AN output also is connected with adder AN, adder AN is connected with opposite sign device AN, multiplier ANN successively, the output of each multiplier AN and corresponding adder AN1 ... adder ANj ... adder AN (N1) ... adder ANN connects; Following brachium pontis current detection value i
_{An}Send into normalization unit AN, normalization unit AN and each multiplier AN1 ... multiplier ANN connects.
Theoretical foundation of the present utility model is:
By uniphase mode blocking multilevel converter shown in Figure 2 as can be known, establishing the AC side supply voltage is u
_{Sa}, the AC side source current is i
_{Sa}, each submodule output total voltage switch periods mean value of upper and lower brachium pontis is respectively u
_{Ap}, u
_{An}, the electric current of upper and lower brachium pontis is respectively i
_{Ap}, i
_{An}, AC side power supply power absorbed is P
_{AC}, the active power that dc bus sends is P
_{DC}, total active power that each submodule of upper and lower brachium pontis absorbs is respectively P
_{Ap}, P
_{An}, establishing the AC side power cycle is T.
During stable state, if ignore the influence of supposing inductance L, then voltage relationship is:
Current relationship is:
i
_{sa}＝i
_{ap}+i
_{an} (2)
With current i
_{Ap}And i
_{An}Do following decomposition
Wherein, i
_{ApAC}, i
_{AnAC}And i
_{0}Satisfy following formula,
Concern by the law of conservation of energy available power:
P
_{DC}＝P
_{AC}+P
_{ap}+P
_{an} (5)
Wherein
By formula (6) as can be seen, by adjusting current i
_{0}In flipflop, can adjust the active power P that dc bus sends
_{DC}, and then regulate the active power summation (P that upper and lower brachium pontis submodule absorbs
_{Ap}+ P
_{An}), thereby adjust fullbridge each submodule total capacitance voltage of arm or mean value size.
By formula (7) as can be seen, by adjusting current i
_{ApAC}Or i
_{AnAC}In the active current composition (promptly with supply voltage u
_{Sa}With frequently, homophase or with the electric current composition of shape), i.e. the active power P that absorbs of the upper and lower brachium pontis submodule of scalable
_{Ap}And P
_{An}Between distribution, thereby adjust the equilibrium of each the submodule total capacitance voltage between the upper and lower brachium pontis.Can get P by formula (7)
_{Ap}And P
_{An}Difference be
Δ i in the formula
_{AC}For with supply voltage u
_{Sa}With frequently, homophase or with the electric current composition of shape, have
Δi
_{AC}＝i
_{apAC}i
_{anAC} (9)
Convolution (2) and (3) can be arrived
Owing to can have each species diversity between each submodule in the reality, the capacitance voltage equilibrium problem between each submodule on the same brachium pontis also can appear, and can adopt the method for each submodule active power of fine setting to realize its capacitance voltage Balance Control for this reason.
In order to reach the poor of total active power that the upper and lower brachium pontis submodule of abovementioned adjusting absorbs, active power that upper and lower brachium pontis submodule absorbs, and the purpose of the active power of each submodule, the utility model adopts many closedloop controls of difference FEEDBACK CONTROL and each submodule capacitance voltage FEEDBACK CONTROL of the direct FEEDBACK CONTROL of upper and lower brachium pontis electric current, total capacitance average voltage FEEDBACK CONTROL, upper and lower brachium pontis total capacitance mean value.Concrete scheme is:
1) the direct FEEDBACK CONTROL of upper and lower brachium pontis electric current realizes the quick control of upper and lower brachium pontis electric current by current controller, and the output of its controller produces the public duty ratio d of upper and lower brachium pontis PWM respectively
_{Ap}And d
_{An}, it is input as by arithmetic element and calculates the upper and lower brachium pontis reference current i that produces
_{Ap} ^{*}And i
_{An} ^{*}, and detect current i
_{Ap}And i
_{An}
2) total capacitance average voltage FEEDBACK CONTROL realizes the closedloop control of each submodule total capacitance average voltage by the total capacitance voltage controller, and its controller is output as current i
_{0}In the direct current composition
Have
In the formula
Represent nondirect current and satisfy the electric current (can be 0) of formula (4), be called circulation here, promptly
Satisfy following relationship.
3) the difference FEEDBACK CONTROL of upper and lower brachium pontis total capacitance mean value realizes equilibrium control between the upper and lower brachium pontis total capacitance average voltage by last/following bridge arm balance controller, and its controller is output as electric current Δ i
_{AC}Amplitude I
_{ACM}, have
Δi
_{AC}＝I
_{ACM}·u
_{sau} (13)
In the formula, u
_{Sau}The supply voltage u of representation unit amplitude
_{Sa}, can be by u
_{Sa}Obtain through normalization, also can be and u
_{Sa}Unit amplitude SIN function with the frequency homophase.
4) establish i
_{Sa} ^{*}Be current i
_{Sa}Reference signal, can get the reference current i of upper and lower brachium pontis current controller in sum
_{Ap} ^{*}And i
_{An} ^{*}For
5) each submodule capacitance voltage FEEDBACK CONTROL can realize capacitance voltage Balance Control between each submodule of same brachium pontis by submodule capacitance voltage fine setting controller, and j fine setting controller is output as submodule PWM duty ratio amount trimmed Δ d
_{Apj}(or Δ d
_{Anj}) amplitude D
_{Mpj}(or D
_{Mnj}), the i of unit amplitude
_{Ap}(or i
_{Ap} ^{*}) and i
_{An}(or i
_{An} ^{*}) use i respectively
_{Apu}And i
_{Anu}Expression, the two is through i
_{Ap}(or i
_{Ap} ^{*}) and i
_{An}(or i
_{An} ^{*}) normalization obtain j submodule PWM duty ratio amount trimmed Δ d then
_{Apj}(or Δ d
_{Anj}) be
Amount trimmed Δ d
_{Apj}With Δ d
_{Anj}Respectively with the public duty ratio d of upper and lower brachium pontis PWM
_{Ap}And d
_{An}After the stack, can obtain the public duty ratio d of PWM of j submodule
_{Apj}And d
_{Anj}, promptly
Produce pwm control signal through the pwm signal generator again.
Capacitance voltage between each submodule of same brachium pontis fine setting control its objective is the power division between each submodule of fine setting, and this just requires the brachium pontis current amplitude can not be too small.Suitable adding circulation
The too small problem of brachium pontis current amplitude in the time of can solving converter and be in zero load or underloading.Can be according to i
_{Sa} ^{*}Size decide adding circulation
Size.
6) when modular multilevel converter dc bus external load rather than DC power supply, need to increase the DC busbar voltage closed loop controller, the output control AC side power supply reference current i of this controller
_{Sa} ^{*}The amplitude of real component.
The integrated control method of abovementioned a kind of modular multilevel converter of the present utility model not only can be realized the Balance Control of each submodule capacitance voltage, and can realize electric current, the voltage control of converter.
The beneficial effects of the utility model are:
1) do not need extra capacitor charging/discharging special circuit;
2) be applicable to various PWM modes;
3) when realizing each the module capacitance balance of voltage control of modular multilevel converter, also realized electric current, the voltage control of converter, be a kind of integrated control method of modular multilevel converter;
4) can control circulation flexibly, satisfy special requirement;
5) explicit physical meaning, theoretical foundation is abundant.
Description of drawings
Fig. 1 is typical modular multilevel converter threephase topological structure schematic diagram.
Fig. 1 a is submodule among Fig. 1.
Fig. 1 b is the concrete structure figure of Fig. 1 a.
Fig. 2 is singlephase topological structure of modular multilevel converter and master control schematic diagram of the present utility model.
Fig. 3 is the control principle figure of master controller among the control principle figure of the present utility model.
Fig. 4 is the control principle figure that goes up the brachium pontis controller among the control principle figure of the present utility model.
Fig. 5 is the control principle figure of following brachium pontis controller among the control principle figure of the present utility model.
Fig. 6 is the control system schematic diagram that the utility model is applied to heterogeneous modular multilevel converter.
Wherein, 1, master controller, 2, last brachium pontis controller, 3, following brachium pontis controller, 4, the modular multilevel converter, 5, the pwm signal generator, 6, the complex control system unit, 7, M phase pwm signal generator, 8, M phase module multilevel converter, 9, complex control system unit 1,10, complex control system unit k, 11, complex control system unit M, 11, the unit A that averages, 12, the unit B of averaging, 13, unit C averages, 14, on/following bridge arm balance controller, 15, normalization unit AN, 16, the total capacitance voltage controller, 17, multiplier I, 18, arithmetic element A, 19, arithmetic element B, 110, current controller AN, 111, current controller AP, 112, the circulation unit, 21, fine setting controller AP1,22, fine setting controller APj, 23, fine setting controller AP (N1), 24, the normalization unit AP, 25, multiplier AP1,26, multiplier APj, 27, multiplier AP (N1), 28, adder AP1,29, adder APj, 210, adder AP (N1), 211, adder AP, 212, opposite sign device AP, 213, multiplier APN, 214, adder APN, 31, fine setting controller AN1,32, fine setting controller ANj, 33, fine setting controller AN (N1), 34, normalization unit AN, 35, multiplier AN1,36, multiplier ANj, 37, multiplier AN (N1), 38, adder AN1,39, adder ANj, 310, adder AN (N1), 311, adder AN, 312, opposite sign device AN, 313, multiplier ANN, 314, adder ANN, 41, the positive directcurrent bus, 42, negative dc bus.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is described further.
Fig. 1 has provided typical modular multilevel converter threephase topological structure schematic diagram.Whenever go up mutually/following brachium pontis has N submodule to constitute, and the structure of each submodule is shown in Fig. 1 a, Fig. 1 b.
Among Fig. 26, a kind of complex control system of modular multilevel converter, it comprises M phase module multilevel converter 8, and each phase module multilevel converter 4 is connected with separately composite control apparatus, each composite control apparatus then with M mutually pwm signal generator 7 connect; Wherein, described each composite control apparatus structure is identical, comprises brachium pontis controller 2, master controller 1 and following brachium pontis controller 3; Modular multilevel converter 4 outputs of each phase are connected with last brachium pontis controller 2, master controller 1 and following brachium pontis controller 3 inputs respectively; The output of master controller 1 is exported the public duty ratio d of brachium pontis PWM respectively
_{Ap}To last brachium pontis controller 2, output is the public duty ratio d of brachium pontis PWM down
_{An}Arrive brachium pontis controller 3 down; Last brachium pontis controller 2 is connected with corresponding pwm signal generator 5 mutually with following brachium pontis controller 3 outputs.The last brachium pontis of modular multilevel converter 4 is connected with negative dc bus 42 with positive directcurrent bus 41 respectively with following brachium pontis.
Described master controller 1 comprises the unit A 11 that averages, the unit B of averaging 12, their input is connected with modular multilevel converter 4 outputs, output then is connected with last/following bridge arm balance controller 14 with the unit C 13 that averages respectively, the output of unit C 13 of averaging is connected with total capacitance voltage controller 16, on/following bridge arm balance controller 14 output is connected with multiplier I17, and multiplier I17 also is connected with normalization unit AN15; Total capacitance voltage controller 16 is connected with arithmetic element A18, arithmetic element B19 respectively with multiplier I17, and circulation unit 112 also is connected with arithmetic element A18, arithmetic element B19 simultaneously; The output of arithmetic element A18, arithmetic element B19 connects with corresponding current controller AN110, current controller AP111 respectively; Submodule dc bus capacitor reference voltage is sent into total capacitance voltage controller 16 input; The phase supply voltage of modular multilevel converter 4 is sent into normalization unit AN15; Last brachium pontis electric current is sent into current controller AP111, and following brachium pontis electric current is sent into current controller AN110.
It is described that upward brachium pontis controller 2 is identical with following brachium pontis controller 3 structures, wherein:
The described brachium pontis controller 2 of going up comprises with each and goes up the individual submodule capacitance voltage detecting value u of brachium pontis N
_{Ap1}, u
_{Apj}... and u
_{ApN}Corresponding fine setting controller AP1 21, fine setting controller APj22 ... fine setting controller AP (N1) 23; Each finely tune controller AP output respectively with corresponding multiplier AP1 25, multiplier APj26 ... multiplier AP (N1) 27 connects; Simultaneously respectively finely tuning controller AP output also is connected with adder AP211, adder AP211 is connected with opposite sign device AP212, multiplier APN213 successively, the output of each multiplier AP and corresponding adder AP1 28 ... adder APj29 ... adder AP (N1) 210 ... adder APN214 connects; Last brachium pontis current detection value i
_{Ap}Send into normalization unit AP 24, normalization unit AP 24 and each multiplier AP125 ... multiplier APN213 connects;
Described brachium pontis controller 3 down comprises and each time brachium pontis N submodule capacitance voltage detecting value u
_{An1}, u
_{Anj}... and u
_{AnN}Corresponding fine setting controller AN131, fine setting controller ANj32 ... fine setting controller AN (N1) 33; Each finely tune controller AN output respectively with corresponding multiplier AN135, multiplier ANj36 ... multiplier AN (N1) 37 connects; Simultaneously respectively finely tuning controller AN output also is connected with adder AN311, adder AN311 is connected with opposite sign device AN312, multiplier ANN313 successively, the output of each multiplier AN and corresponding adder AN138 ... adder ANj39 ... adder AN (N1) 310 ... adder ANN314 connects; Following brachium pontis current detection value i
_{An}Send into normalization unit AN34, normalization unit AN34 and each multiplier AN135 ... multiplier ANN313 connects.
Wherein,
Representation module multilevel converter positive directcurrent busbar voltage,
The negative DC busbar voltage of expression, Mpj, Mnj represent respectively j submodule of upper and lower brachium pontis (j=1,2 ..., N), u
_{Sa}Representation module multilevel converter AC side a phase supply voltage, u
_{Sau}Expression and u
_{Sa}The amplitude of frequency homophase is 1 AC signal together, i
_{Sa}, i
_{Ap}And i
_{An}Representation module multilevel converter AC side a phase current and a go up brachium pontis electric current, a mutually and descend brachium pontis electric current, i mutually respectively
_{Sa} ^{*}, i
_{Ap} ^{*}And i
_{An} ^{*}Representation module multilevel converter AC side a phase reference current and a go up brachium pontis reference current, a mutually and descend brachium pontis reference current, i mutually respectively
_{0} ^{*}The voltagecontrolled output of expression total capacitance, i
_{Apu}Expression and current i
_{Ap}With the unit amplitude electric current of frequency homophase, i
_{Anu}Expression and current i
_{An}With the unit amplitude electric current of frequency homophase, Δ i
_{AC}For last/following bridge arm balance is adjusted electric current, I
_{ACM}In the expression/and the output of following bridge arm balance controller, u
_{Dc} ^{*}Be submodule dc bus capacitor reference voltage, u
_{Apj}The individual submodule capacitance voltage of brachium pontis j in the expression (j=1,2 ..., N detected value, u
_{Anj}The individual submodule capacitance voltage of brachium pontis j under the expression (j=1,2 ..., N) detected value,
Each submodule overall average capacitance voltage of expression upper and lower bridge arm,
Brachium pontis submodule average capacitor voltage in the expression,
Expression is brachium pontis submodule average capacitor voltage down, d
_{Ap}The public duty ratio of brachium pontis PWM in the expression, d
_{An}Expression is the public duty ratio of brachium pontis PWM down, d
_{Apj}J submodule PWM of brachium pontis duty ratio in the expression (j=1,2 ..., N), d
_{Anj}J submodule PWM of brachium pontis duty ratio under the expression (j=1,2 ..., N), Δ d
_{Apj}J submodule fine setting of brachium pontis duty ratio in the expression (j=1,2 ..., N), Δ d
_{Anj}J submodule fine setting of brachium pontis duty ratio under the expression (j=1,2 ..., N), D
_{Mpj}For the output valve of j fine setting controller of last brachium pontis (j=1,2 ..., N), D
_{Mnj}For the following output valve of j fine setting controller of brachium pontis (j=1,2 ..., N), u
_{Ap}Go up each submodule of brachium pontis for a mutually and export total voltage switch periods mean value, u
_{An}Export total voltage switch periods mean value for a descends each submodule of brachium pontis mutually, L represents inductance, and C represents electric capacity.
Among Fig. 3, each submodule capacitance voltage detected value of unit A 11 input and last brachium pontis u averages
_{Ap1}, u
_{Ap2}..., u
_{ApN}Link to each other, output not only links to each other with the input of the unit C 13 that averages, and also an input with last/following bridge arm balance controller 14 links to each other.The unit B of averaging 12 input and each submodule capacitance voltage detected value of following brachium pontis u
_{An1}, u
_{An2}..., u
_{AnN}Link to each other, output not only links to each other with another input of the unit C 13 that averages, and also another input with last/following bridge arm balance controller 14 links to each other.Two inputs of total capacitance voltage controller 16 respectively with output and the electric capacity reference voltage u of the unit C 13 that averages
_{Dc} ^{*}Link to each other, the input of output and arithmetic element A 18 and the input of arithmetic element B 19 link to each other.Normalization unit AN 15 input and AC side supply voltage u
_{Sa}Link to each other, output links to each other with the input of multiplier l 17.Another input of multiplier l 17 links to each other with the output of last/following bridge arm balance controller 14, and the input of output and arithmetic element A 18 and the input of arithmetic element B 19 link to each other.The output of circulation unit 112 links to each other with another input of arithmetic element A 18 and another input of arithmetic element B 19.The remaining input of arithmetic element A 18 with after the remaining input of arithmetic element B 19 links to each other also with AC side reference current i
_{Sa} ^{*}Link to each other.The input of the output of arithmetic element A 18 and current controller AP 111 links to each other, and the input of the output of arithmetic element B 19 and current controller AN 110 links to each other.Another input of current controller AP 111 and last brachium pontis current feedback input variable i
_{Ap}Link to each other output d
_{Ap}Link to each other with last brachium pontis controller 2 (referring to Fig. 2).Another input of current controller AN110 and following brachium pontis current feedback input variable i
_{An}Link to each other output d
_{An}Link to each other with following brachium pontis controller 3 (referring to Fig. 2).
Among Fig. 4 fine setting controller AP1 21, fine setting controller APj 22, fine setting controller AP (N1) 23 have identical structure and all have an input with
Link to each other, another input is respectively and each submodule capacitance voltage detected value of last brachium pontis u
_{Ap1}, u
_{Apj}, u
_{ApN1}Link to each other.The output of fine setting controller AP1 21, fine setting controller APj 22, fine setting controller AP (N1) 23 links to each other with the input of multiplier AP1 25, multiplier APj 26, multiplier AP (N1) 27 respectively, links to each other with the input of adder AP 211 simultaneously.The input of normalization unit AP 24 and last brachium pontis current i
_{Ap}Link to each other, output links to each other with another input of multiplier AP1 25, multiplier APj 26, multiplier AP (N1) 23, links to each other with the input of multiplier APN213 simultaneously.The output of adder AP 211 links to each other with the input of opposite sign device AP 212.The output of opposite sign device AP 212 links to each other with another input of multiplier APN 213.The output of multiplier AP1 25, multiplier APj 26, multiplier AP (N1) 27, multiplier APN 213 links to each other with the input of adder AP1 28, adder APj 29, adder AP (N1) 210, adder APN 214 respectively.Another input of adder AP1 28, adder APj 29, adder AP (N1) 210, adder APN 214 and the public duty ratio d of last brachium pontis PWM
_{Ap}Link to each other, output respectively with last brachium pontis PWM duty ratio d
_{Ap1}, d
_{Apj}, d
_{ApN1}, d
_{ApN}Link to each other.
Among Fig. 5, fine setting controller AN1 31, fine setting controller ANj 32, fine setting controller AN (N1) 33 have identical structure and all have an input with
Link to each other, another input is respectively and each submodule capacitance voltage detected value of following brachium pontis u
_{An1}, u
_{Anj}, u
_{AnN}Link to each other.The output of fine setting controller AN1 31, fine setting controller ANj 32, fine setting controller AN (N1) 33 links to each other with the input of multiplier AN1 35, multiplier ANj 36, multiplier AN (N1) 37 respectively, links to each other with the input of adder AN 311 simultaneously.The input of normalization unit AN 34 and following brachium pontis current i
_{An}Link to each other, output links to each other with another input of multiplier AN1 35, multiplier ANj 36, multiplier AN (N1) 37, links to each other with the input of multiplier ANN 313 simultaneously.The output of adder AN 311 links to each other with the input of opposite sign device AN 312.The output of opposite sign device AN 312 links to each other with another input of multiplier ANN 313.The output of multiplier AN1 35, multiplier ANj36, multiplier AN (N1) 37, multiplier ANN 313 links to each other with the input of adder AN1 38, adder ANj 39, adder AN (N1) 310, adder ANN 314 respectively.Another input of adder AN1 38, adder ANj 39, adder AN (N1) 310, adder ANN 314 and the public duty ratio d of following brachium pontis PWM
_{An}Link to each other, output respectively with following brachium pontis PWM duty ratio d
_{An1}, d
_{Anj}, d
_{AnN1}, d
_{AnN}Link to each other.
Among Fig. 6, be example mutually with M.Complex control system unit l 9, complex control system unit k 10, complex control system unit M 11 have identical structure and its input links to each other with the 1st phase, k phase, the M of M phase module multilevel converter 8 respectively, and its output all links to each other with M phase pwm signal generator 7.Complex control system unit k 10 has identical structure with complex control system unit 6, and M phase module multilevel converter 8 is made of M modular multilevel converter 4, and positive directcurrent bus 41, negative dc bus 42 link to each other respectively.
The integrated control method of a kind of modular multilevel converter of the present utility model, by each submodule capacitance voltage of the upper and lower brachium pontis of detection module multilevel converter, upper and lower brachium pontis electric current, and the AC side supply voltage, through obtaining the public duty ratio of upper and lower brachium pontis PWM after the master controller calculation process; Go up each submodule capacitance voltage of (descending) brachium pontis and the public duty ratio of abovementioned (descending) the brachium pontis PWM of going up through last (descending) brachium pontis controller calculation process, obtain the PWM duty ratio of (descending) each submodule of brachium pontis; The PWM duty ratio process pwm signal generator of each submodule produces the pwm control signal of each submodule, realizes electric current, the voltage control of each submodule capacitance voltage Balance Control and converter.
Its concrete steps are:
(1), obtains brachium pontis N submodule capacitance voltage detecting value u by each N of brachium pontis on the detection module multilevel converter submodule capacitance voltage
_{Ap1}, u
_{Ap2}... and u
_{ApN},, obtain brachium pontis submodule average capacitor voltage by the unit A that averages
By each N of brachium pontis under the detection module multilevel converter submodule capacitance voltage, obtain down brachium pontis N submodule capacitance voltage detecting value u
_{An1}, u
_{An2}... and u
_{AnN},, obtain down brachium pontis submodule average capacitor voltage by the unit B of averaging
With the abovementioned brachium pontis submodule average capacitor voltage of going up
With following brachium pontis submodule average capacitor voltage
Be sent to the unit C that averages, obtain upper and lower brachium pontis overall average capacitance voltage
(2) by detecting AC side supply voltage u
_{Sa}, handle through normalization unit A, obtain corresponding unit amplitude supply voltage u
_{Sau}
(3) with the overall average capacitance voltage
With Voltage Reference u
_{Dc} ^{*}Be sent to the total capacitance voltage controller and handle, obtain total capacitance voltage control current i
_{0} ^{*}
(4) will go up brachium pontis submodule and following brachium pontis submodule average capacitor voltage
With
Be sent to/following bridge arm balance controller handles the output valve I that obtains
_{ACM}With unit amplitude supply voltage u
_{Sau}After multiplying each other, multiplier l obtains/following bridge arm balance adjustment electric current Δ i
_{AC}, i.e. Δ i
_{AC}=I
_{ACM}U
_{Sau}
(5) with AC side power supply reference current i
_{Sa} ^{*}, i
_{0} ^{*}, Δ i
_{AC}Electric current with the generation of circulation unit
Send into arithmetic element A and obtain the brachium pontis reference current
Promptly
${i}_{\mathrm{ap}}^{*}=\frac{1}{2}({{i}_{\mathrm{sa}}}^{*}+\mathrm{\Δ}{i}_{\mathrm{AC}})+{{i}_{0}}^{*}+{i}_{\mathrm{aL}}^{*};$
(6) with AC side power supply reference current i
_{Sa} ^{*}, i
_{0} ^{*}, Δ i
_{AC}Electric current with the generation of circulation unit
Send into arithmetic element B and obtain down the brachium pontis reference current
Promptly
${i}_{\mathrm{an}}^{*}=\frac{1}{2}({{i}_{\mathrm{sa}}}^{*}\mathrm{\Δ}{i}_{\mathrm{AC}}){{i}_{0}}^{*}{i}_{\mathrm{aL}}^{*};$
(7) will go up brachium pontis current detection value i
_{Ap}With reference current
Be sent to current controller AP and handle, obtain the public duty ratio d of brachium pontis PWM
_{Ap}
(8) will descend brachium pontis current detection value i
_{An}With reference current
Be sent to current controller AB and handle, obtain down the public duty ratio d of brachium pontis PWM
_{An}
(9) will go up brachium pontis current detection value i
_{Ap}Send into the normalization unit AP and handle, obtain brachium pontis unit amplitude current i
_{Apu}To descend brachium pontis current detection value i
_{An}Send into normalization unit AN and handle, obtain down brachium pontis unit amplitude current i
_{Anu}
(10) will
With last brachium pontis j submodule capacitance voltage detecting value u
_{Apj}, wherein, j=1,2 ..., N1 is sent to j submodule fine setting of brachium pontis controller APj and handles the output D of fine setting controller APj
_{Mpj}Through corresponding multiplier APj and i
_{Apu}Pass through corresponding adder APj and the public duty ratio d of last brachium pontis PWM after multiplying each other again
_{Ap}Addition obtains j submodule PWM of brachium pontis duty ratio d
_{Apj}
(11) N1 is gone up brachium pontis fine setting controller AP1, fine setting controller AP2 ... and the output D of fine setting controller AP (N1)
_{Mp1}, D
_{Mp2}... and D
_{MpN1}Sue for peace after opposite sign device AP oppositely obtains D through adder AP
_{MpN}, again with i
_{Apu}APN multiplies each other through multiplier, then with the public duty ratio d of last brachium pontis PWM
_{Ap}Addition obtains N submodule PWM of brachium pontis duty ratio d
_{ApN}
(12) will
With following brachium pontis j submodule capacitance voltage detecting value u
_{Anj}, j=1 wherein, 2 ..., N1 is sent to down j submodule fine setting of brachium pontis controller ANj and handles the output D of fine setting controller ANj
_{Mnj}Through corresponding multiplier ANj and i
_{Anu}Pass through corresponding adder ANj and the public duty ratio d of following brachium pontis PWM after multiplying each other again
_{An}Addition obtains down j submodule PWM of brachium pontis duty ratio d
_{Anj}
(13) with N1 down brachium pontis fine setting controller AN1, fine setting controller AN2 ... and the output D of fine setting controller AN (N1)
_{Mn1}, D
_{Mn2}... and D
_{MnN1}Sue for peace after opposite sign device AN oppositely obtains D through adder AN
_{MnN}, again with i
_{Anu}ANN multiplies each other through multiplier, then with the public duty ratio d of following brachium pontis PWM
_{An}Addition obtains down N submodule PWM of brachium pontis duty ratio d
_{AnN}
(14) with each submodule PWM duty ratio d
_{Ap1}, d
_{Ap2}... and d
_{ApN}And d
_{An1}, d
_{An2}... and d
_{AnN}Be sent to the PWM generator unit, produce the pwm control signal of each submodule.
Claims (3)
1. the complex control system of a modular multilevel converter, it is characterized in that, it comprises M phase module multilevel converter, and each phase module multilevel converter is connected with separately composite control apparatus, each composite control apparatus then with M mutually the pwm signal generator connect; Wherein, described each composite control apparatus structure is identical, comprises brachium pontis controller, master controller and following brachium pontis controller; The modular multilevel converter output terminal of each phase is connected with last brachium pontis controller, master controller and following brachium pontis controller input respectively; The output of master controller is exported the public duty ratio d of brachium pontis PWM respectively
_{Ap}To last brachium pontis controller, output is the public duty ratio d of brachium pontis PWM down
_{An}Arrive brachium pontis controller down; Last brachium pontis controller is connected with corresponding pwm signal generator mutually with following brachium pontis controller output end.
2. the complex control system of modular multilevel converter as claimed in claim 1, it is characterized in that, described master controller comprises the unit A that averages, the unit B of averaging, their input is connected with the modular multilevel converter output terminal, output then is connected with last/following bridge arm balance controller with the unit C that averages respectively, the output of unit C of averaging is connected with the total capacitance voltage controller, on/following bridge arm balance controller output end is connected with multiplier I, and multiplier I also is connected with normalization unit AN; The total capacitance voltage controller is connected with arithmetic element A, arithmetic element B respectively with multiplier I, and the circulation unit also is connected with arithmetic element A, arithmetic element B simultaneously; Arithmetic element A, arithmetic element B connect with corresponding current controller AN, current controller AP respectively; Submodule dc bus capacitor reference voltage is sent into total capacitance voltage controller input; The phase supply voltage of modular multilevel converter is sent into normalization unit AN; Following brachium pontis phase current is sent into current controller AN.
3. the complex control system of modular multilevel converter as claimed in claim 1 is characterized in that, described upward the brachium pontis controller is identical with following brachium pontis controller architecture, wherein:
The described brachium pontis controller of going up comprises with each and goes up the individual submodule capacitance voltage detecting value u of brachium pontis N
_{Ap1}, u
_{Apj}... and u
_{ApN}Corresponding fine setting controller AP1, fine setting controller APj ... fine setting controller AP (N1); Each finely tune controller AP output respectively with corresponding multiplier AP1, multiplier APj ... multiplier AP (N1) connects; Simultaneously respectively finely tuning controller AP output also is connected with adder AP, adder AP is connected with opposite sign device AP, multiplier APN successively, the output of each multiplier AP and corresponding adder AP1 ... adder APj ... adder AP (N1) ... adder APN connects; Last brachium pontis current detection value i
_{Ap}Send into the normalization unit AP, normalization unit AP and each multiplier AP1 ... multiplier APN connects;
Described brachium pontis controller down comprises and each time brachium pontis N submodule capacitance voltage detecting value u
_{An1}, u
_{Anj}... and u
_{AnN}Corresponding fine setting controller AN1, fine setting controller ANj ... fine setting controller AN (N1); Each finely tune controller AN output respectively with corresponding multiplier AN1, multiplier ANj ... multiplier AN (N1) connects; Simultaneously respectively finely tuning controller AN output also is connected with adder AN, adder AN is connected with opposite sign device AN, multiplier ANN successively, the output of each multiplier AN and corresponding adder AN1 ... adder ANj ... adder AN (N1) ... adder ANN connects; Following brachium pontis current detection value i
_{An}Send into normalization unit AN, normalization unit AN and each multiplier AN1 ... multiplier ANN connects.
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Cited By (6)
Publication number  Priority date  Publication date  Assignee  Title 

CN102158112A (en) *  20110303  20110817  山东大学  Complex control system and method of modular multilevel converter 
CN103269172A (en) *  20130506  20130828  浙江大学  Modular multilevel inverter bridge arm asymmetric control method 
CN103762863A (en) *  20140128  20140430  华南理工大学  N input threephase 3N+3 switching group MMC rectifier and control method thereof 
CN103973121A (en) *  20140404  20140806  广西电网公司电力科学研究院  Singlephase power electronic transformer 
CN104218819A (en) *  20140327  20141217  华南理工大学  3N+3 switch set MMC ACAC converter and control method thereof 
CN105393423A (en) *  20130607  20160309  Abb技术有限公司  A converter arrangement for power compensation and a method for controlling a power converter 

2011
 20110303 CN CN2011200535338U patent/CN202076951U/en not_active Expired  Lifetime
Cited By (11)
Publication number  Priority date  Publication date  Assignee  Title 

CN102158112A (en) *  20110303  20110817  山东大学  Complex control system and method of modular multilevel converter 
CN102158112B (en) *  20110303  20130102  山东大学  Complex control system and method of modular multilevel converter 
CN103269172A (en) *  20130506  20130828  浙江大学  Modular multilevel inverter bridge arm asymmetric control method 
CN105393423B (en) *  20130607  20180504  Abb技术有限公司  Method for the convertor device of power backoff and for controlling power inverter 
CN105393423A (en) *  20130607  20160309  Abb技术有限公司  A converter arrangement for power compensation and a method for controlling a power converter 
CN103762863B (en) *  20140128  20160413  华南理工大学  N inputs threephase 3N+3 switches set MMC rectifier and control method thereof 
CN103762863A (en) *  20140128  20140430  华南理工大学  N input threephase 3N+3 switching group MMC rectifier and control method thereof 
CN104218819B (en) *  20140327  20180914  华南理工大学  3N+3 switching groups MMC ACAC converters and its control method 
CN104218819A (en) *  20140327  20141217  华南理工大学  3N+3 switch set MMC ACAC converter and control method thereof 
CN103973121B (en) *  20140404  20170412  广西电网公司电力科学研究院  singlephase power electronic transformer 
CN103973121A (en) *  20140404  20140806  广西电网公司电力科学研究院  Singlephase power electronic transformer 
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