Intelligent traction power supply system power regulation method and system

Abstract

This invention discloses a power regulation method and system for an intelligent traction power supply system; including: calculating real-time transfer power, and calculating compensation current in real time by combining power transfer error and negative sequence current; calculating current tracking value based on current inner loop command value and voltage synchronization signal; designing a feedforward-feedback composite controller to calculate feedforward compensation amount and feedback control amount respectively; calculating the total duty cycle of PWM modulation signal based on feedback control amount and feedforward compensation amount, and driving the railway power regulator to output the actual current value; the control method and system provided by this invention have low engineering implementation cost, are suitable for traction substation RPC application scenarios, and are easy to promote.

Description

Technical Field

[0001] This invention belongs to the field of intelligent traction power supply technology, and particularly relates to a power regulation method and system for an intelligent traction power supply system used in railway traction substations. Background Technology

[0002] In intelligent traction power supply systems for railways, traction substations provide traction power to railway locomotives. Due to the randomness and strong fluctuations of locomotive traction loads, it is easy for the two power supply arms to experience load imbalances, which can lead to problems such as negative sequence current and excessive reactive power, affecting the stability and power quality of the traction power supply system.

[0003] Currently, railway power regulators (RPCs) are widely used in traction substations to achieve power transfer and power quality management between two power supply arms. However, existing RPC control methods mostly rely on precise mathematical models of the traction power supply system. Furthermore, existing control methods often use fixed strategies for compensating current components, failing to adapt to real-time optimization based on power transfer errors and negative sequence current changes. This results in low power transfer accuracy, slow dynamic response, and difficulty in adapting to instantaneous fluctuations in locomotive load.

[0004] Furthermore, existing control methods fail to effectively combine the advantages of feedforward compensation and feedback control, leading to lag during current tracking and affecting power regulation and system stability. Therefore, there is an urgent need for a power regulation method that requires no complex modeling, enables adaptive optimization of the compensation current, and achieves precise current tracking, addressing the shortcomings of existing technologies and meeting the engineering application requirements of intelligent traction power supply systems. Summary of the Invention

[0005] To address the problems existing in the background art, the present invention aims to provide a power regulation method for an intelligent traction power supply system. The intelligent traction power supply system includes a traction substation, and a railway power regulator is installed in the traction substation, bridging the traction substation's power supply line. Mutually, Two power supply arms; the adjustment method includes the following steps:

[0006] Step (1): Obtain Sampling time Phase voltage of the phase power supply arm , Phase voltage of the phase power supply arm Railway power regulator output to Current of the phase power supply arm Railway power regulator output to Current of the phase power supply arm ,calculate Real-time transfer power at the sampling time, ;

[0007] Step (2): Combine the power transfer error and negative sequence current to calculate the compensation current in real time, and obtain... Sampling time Phase power supply arm compensation current and Phase power supply arm compensation current ;

[0008] Step (3): Based on the obtained power supply arm compensation current, and combined with the current inner loop command value and voltage synchronization signal, calculate... Sampling time , Current tracking value of phase power supply arm , ;

[0009] Step (4): Design the feedforward-feedback composite controller and calculate the results respectively. Sampling time traction substation Phase power supply arm and Feedforward and feedback compensation amounts for the duty cycle of the pulse width modulation (PWM) signal in the phase power supply arm;

[0010] ;

[0011] ;

[0012] ;

[0013] ;

[0014] in, , They are respectively Sampling time , Feedforward compensation amount for the duty cycle of the pulse width modulation (PWM) signal in the phase power supply arm. For feedforward gain; , They are respectively Sampling time , Feedback compensation amount for the duty cycle of the pulse width modulation (PWM) signal in the phase power supply arm. For feedback gain;

[0015] Step (5): Calculate based on the feedback compensation amount and the feedforward compensation amount. Sampling time Phase power supply arm and The total duty cycle of the pulse width modulation (PWM) signal of the phase power supply arm, based on the total duty cycle of the PWM signal, the railway power regulator outputs to... Current of the phase power supply arm and to The current in the phase power supply arm;

[0016] Repeat steps (1) to (5) above until the control task ends.

[0017] Furthermore, in step (2), the compensation current is calculated in real time by combining the power transfer error and the negative sequence current to obtain... Sampling time Phase power supply arm compensation current and Phase power supply arm compensation current The method is as follows:

[0018] ;

[0019] ;

[0020] in, for Sampling time Phase power supply arm compensation current, for Sampling time Phase power supply arm compensation current, To optimize step size, The regularization coefficient is . for Sampling time The pseudo-partial derivative of the compensation current of the phase power supply arm, for Sampling time The pseudo-partial derivative of the compensation current of the phase power supply arm, This is the first power quality weighting coefficient. This is the second power quality weighting coefficient. for Sampling time The negative sequence current of the phase power supply arm, for Sampling time The negative sequence current of the phase power supply arm, for The power transfer command value at the sampling time.

[0021] Furthermore, in step (5), the calculation Sampling time Phase power supply arm and The method for determining the total duty cycle of the PWM modulation signal for the phase power supply arm is as follows:

[0022] , ;

[0023] in, , They are respectively Sampling time Phase power supply arm and The total duty cycle of the pulse width modulation (PWM) signal of the phase power supply arm satisfies the constraint. , .

[0024] Furthermore, Power transfer command value at sampling time The calculation method is as follows:

[0025] ;

[0026] in, for The load power of the phase power supply arm, for The load power of the phase power supply arm, is the power transfer coefficient.

[0027] Furthermore, for Sampling time , pseudo-partial derivative of the compensation current of the phase power supply arm , Based on an adaptive identification algorithm, real-time updates are performed.

[0028] ;

[0029] ;

[0030] in, for First-order forward difference of power transfer in real time at sampling time , To identify the step size, These are the weighting coefficients; for -1 sampling time The compensation current increment of the phase power supply arm, , for -1 sampling time The compensation current increment of the phase power supply arm, .

[0031] This invention also provides an intelligent traction power supply system power regulation system for implementing the intelligent traction power supply system power regulation method described above. The intelligent traction power supply system includes a traction substation, and a railway power regulator is installed in the traction substation, bridging the traction substation's power supply. Mutually, Two power supply arms; including:

[0032] The data acquisition module is used to acquire... Sampling time Phase voltage of the phase power supply arm , Phase voltage of the phase power supply arm Railway power regulator output to Current of the phase power supply arm Railway power regulator output to Current of the phase power supply arm ,calculate Real-time transfer power at the sampling time, ;

[0033] The compensation current calculation module is used to calculate the compensation current in real time by combining the power transfer error and the negative sequence current, and obtain the compensation current. Sampling time Phase power supply arm compensation current and Phase power supply arm compensation current ;

[0034] The instruction generation module is used to calculate, based on the acquired power supply arm compensation current and in conjunction with the current inner loop instruction value and voltage synchronization signal, the following parameters: Sampling time , Current tracking value of phase power supply arm , Generate current tracking value command;

[0035] The feedforward-feedback composite controller design module is used to design feedforward-feedback composite controllers and calculate... Sampling time traction substation Phase power supply arm and Feedforward and feedback compensation amounts for the duty cycle of the pulse width modulation (PWM) signal in the phase power supply arm;

[0036] The PWM driver module is used to calculate based on the feedback compensation amount and the feedforward compensation amount. Sampling time Phase power supply arm and The total duty cycle of the pulse width modulation (PWM) signal of the phase power supply arm, based on the total duty cycle of the PWM signal, the railway power regulator outputs to... Current of the phase power supply arm and to The current in the phase power supply arm.

[0037] Furthermore, the present invention adopts the following technical solution:

[0038] A non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the power regulation method for an intelligent traction power supply system as described above.

[0039] Furthermore, the present invention adopts the following technical solution:

[0040] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the power regulation method for an intelligent traction power supply system as described above.

[0041] Compared with the prior art, the present invention has the following beneficial technical effects:

[0042] (1) There is no need to establish an accurate mathematical model of the traction power supply system. The compensation current can be adaptively adjusted based on real-time voltage and current data, which reduces the difficulty of engineering implementation, can quickly adapt to locomotive load fluctuations, and improve the system control robustness.

[0043] (2) Combine power transfer error and negative sequence current to calculate compensation current in real time, and dynamically generate power transfer command based on the load difference between the two power supply arms, which greatly improves the power transfer accuracy between power supply arms, effectively suppresses the problem of excessive negative sequence current and reactive power, and improves the power quality of traction power supply system;

[0044] (3) It integrates feedforward-feedback composite control, reduces current tracking lag, has clear control logic, does not require large-scale modification of existing equipment, has low engineering implementation cost, is suitable for traction substation RPC application scenarios, and is easy to promote. Attached Figure Description

[0045] Figure 1 A schematic diagram of an intelligent traction power supply system for a traction substation provided in an embodiment of the present invention;

[0046] Figure 2 A schematic diagram of the power adjustment method for an intelligent traction power supply system provided in an embodiment of the present invention. Detailed Implementation

[0047] This invention discloses a power regulation method and system for an intelligent traction power supply system. The method includes: calculating real-time transfer power, and calculating compensation current in real-time by combining power transfer error and negative sequence current; calculating current tracking value based on current inner loop command value and voltage synchronization signal; designing a feedforward-feedback composite controller to calculate feedforward compensation and feedback compensation respectively; and calculating the total duty cycle of pulse width modulation (PWM) signal based on feedback compensation and feedforward compensation to drive the railway power regulator to output the actual current value. The control method and system provided by this invention have low engineering implementation cost, are suitable for traction substation RPC application scenarios, and are easy to promote.

[0048] The power regulation method and system of the intelligent traction power supply system provided by the present invention will be further described clearly and completely below with reference to the accompanying drawings:

[0049] Example 1

[0050] Figure 1 A schematic diagram of an intelligent traction power supply system for a traction substation provided in this embodiment is given, as follows: Figure 1 As shown, the traction substation is connected to... Mutually, It has two power supply arms, and the traction substation is equipped with a railway power regulator;

[0051] Figure 2 A schematic flowchart of the power regulation method for the intelligent traction power supply system provided in this embodiment is given, as follows: Figure 2 As shown, the present invention provides a power regulation method for an intelligent traction power supply system, comprising the following steps:

[0052] Step (1): In Sampling time, collection Phase voltage of the phase power supply arm , Phase voltage of the phase power supply arm Railway power regulator output to Current of the phase power supply arm Railway power regulator output to Current of the phase power supply arm ,calculate Real-time transfer power at the sampling time, ;

[0053] Step (2): Calculation Sampling time Phase power supply arm compensation current and Phase power supply arm compensation current :

[0054] ;

[0055] ;

[0056] in, for Sampling time Phase power supply arm compensation current, for Sampling time Phase power supply arm compensation current, To optimize step size, The regularization coefficient is . for Sampling time The pseudo-partial derivative of the compensation current of the phase power supply arm, for Sampling time The pseudo-partial derivative of the compensation current of the phase power supply arm, This is the first power quality weighting coefficient. This is the second power quality weighting coefficient. for Sampling time The negative sequence current of the phase power supply arm, for Sampling time The negative sequence current of the phase power supply arm, for The power transfer command value at the sampling time;

[0057] It should be noted that, , It was obtained through the symmetric component method. During the calculation, data was collected. Mutually, Grid-side current of phase power supply arm , The negative sequence component of the current in each power supply arm is separated by the symmetrical component method commonly used in power systems. This calculation method belongs to the existing technology.

[0058] for Sampling time , pseudo-partial derivative of the compensation current of the phase power supply arm , It is based on an adaptive recognition algorithm and is updated in real time;

[0059] ;

[0060] ;

[0061] in, for First-order forward difference of power transfer in real time at sampling time , To identify the step size, These are the weighting coefficients; for -1 sampling time The compensation current increment of the phase power supply arm, , for -1 sampling time The compensation current increment of the phase power supply arm, ;

[0062] Step (3): Calculation Sampling time Current tracking value of phase power supply arm , ,calculate Sampling time Current tracking value of phase power supply arm , ;

[0063] in, for The current inner loop command value at the sampling time, combined with Mutually, The real-time load power of the phase power supply arm is calculated and output by the main control unit according to the power balance principle, and is used to set the basic control benchmark of the current inner loop;

[0064] Step (4): Calculation Sampling time Feedforward compensation amount of the duty cycle of the PWM (Pulse-width modulation) modulation signal in the phase power supply arm , ;calculate Sampling time Feedforward compensation amount of the duty cycle of the PWM modulation signal of the phase power supply arm , ;in, For feedforward gain;

[0065] calculate Sampling time Feedback compensation amount of the duty cycle of the PWM modulation signal of the phase power supply arm , ;calculate Sampling time Feedback compensation amount of the duty cycle of the PWM modulation signal of the phase power supply arm , ;in, For feedback gain; it should be noted that when calculating the feedback compensation amount, the difference between the actual output current value of the converter and the current tracking value command is calculated, and the deviation signal is used as the input of the feedback compensation amount. The larger the deviation, the stronger the adjustment effect of the feedback compensation amount. By continuously correcting the PWM duty cycle, the actual current is forced to converge to the command value, so as to achieve zero steady-state error current tracking.

[0066] Both the feedforward gain and the feedback gain were determined using engineering empirical tuning methods; among them, the feedforward gain... The initial value is taken from engineering experience, ranging from 0.1 to 0.3, and fine-tuned according to the dynamic error of current tracking. Its core function is to offset the lag caused by sudden changes in commands. The value range has been verified in engineering and is adapted to the load fluctuation characteristics of traction substations; feedback gain. The initial value is set according to the rated current of the converter and the voltage level of the power supply arm (value range 10). -3 ~10 -1 During operation, minor corrections are made based on the error in current tracking to ensure the stability and speed of feedback control.

[0067] Step (5): Calculate based on the feedback compensation amount and the feedforward compensation amount. Sampling time Phase power supply arm and The total duty cycle of the PWM modulation signal of the phase power supply arm, based on the total duty cycle of the PWM modulation signal, the railway power regulator outputs to... Current of the phase power supply arm and to The current in the phase power supply arm;

[0068] Specifically, the railway power regulator is based on Mutually, The total duty cycle of the PWM modulation signal of the phase power supply arm controls the power supply arm's signal. Phase changer The switching action of the phase converter, composed of power electronic switching devices, is determined by the total duty cycle, which sets the on and off times of the power switching devices within a PWM cycle. This, in turn, regulates the converter's output. Current and output to the phase power supply arm The current in the phase power supply arm.

[0069] Repeat steps (1) to (5) above until the control task ends.

[0070] According to the intelligent traction power supply system power regulation method provided by the present invention, in step (2) Power transfer command value at sampling time The calculation method is as follows:

[0071] ;

[0072] in, for The load power of the phase power supply arm, for The load power of the phase power supply arm, is the power transfer coefficient.

[0073] According to the intelligent traction power supply system power regulation method provided by the present invention, step (5) calculates... Sampling time Phase power supply arm and The method for determining the total duty cycle of the PWM modulation signal for the phase power supply arm is as follows:

[0074] , ;

[0075] And the total duty cycle satisfies the constraints. , .

[0076] Example 2

[0077] This invention also provides a power regulation system for an intelligent traction power supply system, comprising:

[0078] The intelligent traction power supply system power regulation system is used to implement the method described in Embodiment 1. The intelligent traction power supply system includes a traction substation, and a railway power regulator is installed in the traction substation, bridging the traction substation's power supply. Mutually, Two power supply arms; including:

[0079] The data acquisition module is used to acquire... Sampling time Phase voltage of the phase power supply arm , Phase voltage of the phase power supply arm Railway power regulator output to Current of the phase power supply arm Railway power regulator output to Current of the phase power supply arm ,calculate Real-time transfer power at the sampling time, ;

[0080] The compensation current calculation module is used to calculate the compensation current in real time by combining the power transfer error and the negative sequence current, and obtain the compensation current. Sampling time Phase power supply arm compensation current and Phase power supply arm compensation current ;

[0081] The instruction generation module is used to calculate, based on the acquired power supply arm compensation current and in conjunction with the current inner loop instruction value and voltage synchronization signal, the following parameters: Sampling time , Current tracking value of phase power supply arm , Generate current tracking value command;

[0082] The feedforward-feedback composite controller design module is used to design feedforward-feedback composite controllers and calculate... Sampling time traction substation Phase power supply arm and Feedforward and feedback compensation amounts for the duty cycle of the pulse width modulation (PWM) signal in the phase power supply arm;

[0083] The PWM driver module is used to calculate based on the feedback compensation amount and the feedforward compensation amount. Sampling time Phase power supply arm and The total duty cycle of the PWM modulation signal of the phase power supply arm, based on the total duty cycle of the PWM modulation signal, the railway power regulator outputs to... Current of the phase power supply arm and to The current in the phase power supply arm.

[0084] Furthermore, the present invention adopts the following technical solution:

[0085] A non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the power regulation method for an intelligent traction power supply system as described above.

[0086] Furthermore, the present invention adopts the following technical solution:

[0087] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the power regulation method for an intelligent traction power supply system as described above.

[0088] From the above description of the embodiments, those skilled in the art will clearly understand that the facilities of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Embodiments of the present invention can be implemented using existing processors, or by dedicated processors used for this or other purposes for suitable systems, or by hardwired systems. Embodiments of the present invention also include non-transitory computer-readable storage media, comprising machine-readable media for carrying or having machine-executable instructions or data structures stored thereon; such machine-readable media can be any available medium accessible by a general-purpose or special-purpose computer or other machine with a processor. For example, such machine-readable media can include RAM, ROM, EPROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store the required program code in the form of machine-executable instructions or data structures and is accessible by a general-purpose or special-purpose computer or other machine with a processor. When information is transmitted or provided to a machine via a network or other communication connection (hardwired, wireless, or a combination of hardwired and wireless), that connection is also considered a machine-readable medium.

[0089] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A power regulation method for an intelligent traction power supply system, wherein the intelligent traction power supply system includes a traction substation, and a railway power regulator is installed in the traction substation, bridging the traction substation's power supply line. Mutually, Two power supply arms; characterized in that, The adjustment method includes the following steps: Step (1): Obtain Sampling time Phase voltage of the phase power supply arm , Phase voltage of the phase power supply arm Railway power regulator output to Current of the phase power supply arm Railway power regulator output to Current of the phase power supply arm ,calculate Real-time transfer power at sampling time ; ; Step (2): Combine the power transfer error and negative sequence current to calculate the compensation current in real time, and obtain... Sampling time Phase power supply arm compensation current and Phase power supply arm compensation current ; Step (3): Based on the obtained power supply arm compensation current, and combined with the current inner loop command value and voltage synchronization signal, calculate... Sampling time , Current tracking value of phase power supply arm , ; Step (4): Design the feedforward-feedback composite controller and calculate the results respectively. Sampling time traction substation Phase power supply arm and Feedforward and feedback compensation amounts for the duty cycle of the pulse width modulation (PWM) signal in the phase power supply arm; ； ； ； ； in, , They are respectively Sampling time , Feedforward compensation amount for the duty cycle of the pulse width modulation (PWM) signal in the phase power supply arm. For feedforward gain; , They are respectively Sampling time , Feedback compensation amount for the duty cycle of the pulse width modulation (PWM) signal in the phase power supply arm. For feedback gain; Step (5): Calculate based on the feedback compensation amount and the feedforward compensation amount. Sampling time Phase power supply arm and The total duty cycle of the pulse width modulation (PWM) signal of the phase power supply arm is used to determine the output of the railway power regulator. Current of the phase power supply arm and to The current in the phase power supply arm; Repeat steps (1) to (5) above until the control task ends; In step (2), the compensation current is calculated in real time by combining the power transfer error and the negative sequence current to obtain... Sampling time Phase power supply arm compensation current and Phase power supply arm compensation current The method is as follows: ； ； in, for Sampling time Phase power supply arm compensation current, for Sampling time Phase power supply arm compensation current, To optimize step size, The regularization coefficient is . for Sampling time The pseudo-partial derivative of the compensation current of the phase power supply arm, for Sampling time The pseudo-partial derivative of the compensation current of the phase power supply arm, This is the first power quality weighting coefficient. This is the second power quality weighting coefficient. for Sampling time The negative sequence current of the phase power supply arm, for Sampling time The negative sequence current of the phase power supply arm, for The power transfer command value at the sampling time; for Sampling time , pseudo-partial derivative of the compensation current of the phase power supply arm , Based on an adaptive recognition algorithm, real-time updates are performed. ； ； in, for The first-order forward difference of the power transfer in real time at the sampling time. , To identify the step size, These are the weighting coefficients; for -1 sampling time The compensation current increment of the phase power supply arm, , for -1 sampling time The compensation current increment of the phase power supply arm, .

2. The power regulation method for an intelligent traction power supply system according to claim 1, characterized in that, Calculation in step (5) Sampling time Phase power supply arm and The method for determining the total duty cycle of the pulse width modulation (PWM) signal for the phase power supply arm is as follows: ， ； in, , They are respectively Sampling time Phase power supply arm and The total duty cycle of the pulse width modulation (PWM) signal of the phase power supply arm satisfies the constraint. , .

3. The power regulation method for an intelligent traction power supply system according to claim 1, characterized in that, Power transfer command value at sampling time The calculation method is as follows: ； in, for The load power of the phase power supply arm, for The load power of the phase power supply arm, is the power transfer coefficient.

4. The power regulation method for an intelligent traction power supply system according to claim 1, characterized in that, Calculation in step (1) Real-time transfer power at sampling time The method is as follows: 。 5. A power regulation system for an intelligent traction power supply system, used to implement the method described in any one of claims 1-4, wherein the intelligent traction power supply system includes a traction substation, and a railway power regulator is installed in the traction substation and connected across the traction substation. Mutually, Two power supply arms; characterized in that, include: The data acquisition module is used to acquire... Sampling time Phase voltage of the phase power supply arm , Phase voltage of the phase power supply arm Railway power regulator output to Current of the phase power supply arm Railway power regulator output to Current of the phase power supply arm ,calculate Real-time transfer power at the sampling time; The compensation current calculation module is used to calculate the compensation current in real time by combining the power transfer error and the negative sequence current, and obtain the compensation current. Sampling time Phase power supply arm compensation current and Phase power supply arm compensation current ; The instruction generation module is used to calculate, based on the acquired power supply arm compensation current and in conjunction with the current inner loop instruction value and voltage synchronization signal, the following parameters: Sampling time , Current tracking value of phase power supply arm , Generate current tracking value command; The feedforward-feedback composite controller design module is used to design feedforward-feedback composite controllers and calculate... Sampling time traction substation Phase power supply arm and Feedforward and feedback compensation amounts for the duty cycle of the pulse width modulation (PWM) signal in the phase power supply arm; The PWM driver module is used to calculate based on the feedback compensation amount and the feedforward compensation amount. Sampling time Phase power supply arm and The total duty cycle of the pulse width modulation (PWM) signal of the phase power supply arm is used to determine the output of the railway power regulator. Current of the phase power supply arm and to The current in the phase power supply arm.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the power regulation method for an intelligent traction power supply system as described in any one of claims 1 to 4.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the power regulation method of the intelligent traction power supply system as described in any one of claims 1 to 4.

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