Similarities between a Modular Multilevel Converter and an … · 2013-09-12 · EMR’13 Lille Sept. 2013 Joint Summer School EMR’13 “Energetic Macroscopic Representation”

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

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

EMR’13

Lille

Sept. 2013


«« CONTEXTCONTEXT»»



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



- 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



MMC SOFRACI system

DC bus

C

iconv

Vdc


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


grid

electrical

machine

s71

s72

iL

ubat

buck/boost

converter

battery

- MMC vs SOFRACI -

EMR’13

Lille

Sept. 2013


«« EXPECTED OUTCOMESEXPECTED OUTCOMES»»



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



DC bus

C

iconv

Vdc


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


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 -

EMR’13

Lille

Sept. 2013


«« MODELLING MODELLING

and and

REPRESENTATION REPRESENTATION »»



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



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 -



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



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 -



- 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



- 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

EMR’13

Lille

Sept. 2013


«« DEDUCED CONTROL DEDUCED CONTROL »»



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 -



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 -



- 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



- 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



- 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 …



- 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



Grid currents

Traction currents

Average switching functions

ia’

ia

i1 ima

- SOFRACI : Simulation results -

EMR’13

Lille

Sept. 2013


««CONCLUSIONCONCLUSION»»



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


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


grid

electrical

machine

s71

s72

iL

ubat

buck/boost

converter

battery

EMR’13

Lille

Sept. 2013


««BBIOGRAPHIESIOGRAPHIES»»



- 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

Documents

Similarities between a Modular Multilevel Converter and an … · 2013-09-12 · EMR’13 Lille Sept. 2013 Joint Summer School EMR’13 “Energetic Macroscopic Representation”