城轨交通车载超级电容储能系统能量管理及容量配置研究
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摘要
城市轨道交通与其它交通方式相比具有运量大、运行能耗低、安全性高等优点。近些年来,随着城轨列车采用再生制动技术的普及,列车再生失效问题频繁发生。如何采用储能技术确保一定的再生负荷来防止再生失效问题的发生,减少列车运行能耗成为世界城市轨道交通中的研究热点。超级电容以其充放电速度快、低污染、高效率、循环使用寿命长等特点在解决城市轨道列车再生失效问题中有着独特的优势和发展前景。基于此背景,本论文围绕车载超级电容储能系统的能量管理控制策略和容量配置问题进行深入研究。
采用频率分析法对城轨列车负荷特性和超级电容频率特性进行研究,讨论了二者的匹配关系。通过仿真和实验对比,验证了一阶RC超级电容器组模型具有足够的精度,可以满足车载超级电容储能控制系统建模和控制参数整定的要求。基于此模型对恒电流、恒功率充放电方式下的充放电效率进行了研究,为储能装置的优化设计提供理论支持。
考虑城轨列车运行特性并兼顾解决直流供电网中的再生失效问题,提出了一种车载超级电容储能系统间接电流控制策略。该控制策略包含四个控制环节：线网电流环、直流网电压环、超级电容电流环和超级电容的SOC(state of charge)环。通过对线网电流环控制可以实现间接控制超级电容电流和保证超级电容充放电工况随列车运行工况自动切换。基于小信号模型法,建立了直流网电压环的小信号数学模型,通过对直流网电压闭环传递函数的分析,指出了要保证直流网压有较好的动态性能,需要在超级电容工作电压最低情况下来设计最佳阻尼比。根据超级电容储能装置对充放电电流的双向流动性要求,建立了超级电容双向电流统一控制模型,给出了统一控制器的设计步骤。通过仿真和实验验证了该控制器可保证超级电容充放电工况切换时的平滑过渡。超级电容SOC(state of charge)与充放电电流的约束关系可以防止超级电容充放电时过充或者过放。
设计了车载超级电容储能系统实验平台,实现了单列车负载特性模拟和多列车运行时直流网压波动情况的动态模拟。采用CAN总线技术实现了此平台的多台装置协调动作和各系统状态变量的观测。基于此平台完成了对所提出控制策略的实验验证。
针对车载超级电容储能系统容量配置问题,本文提出从全局车和网之间能量交换的角度进行研究,建立了车、网、储能装置三者相耦合的城市轨道交通车载超级电容储能系统仿真平台。针对于传统算法在考虑再生制动时求解直流网潮流解析时不收敛问题,本文提出一种新的潮流仿真算法——组件分割等效法。通过与简单数值解法结果对比,验证了算法的准确性,相对误差范围在0.5%以内。
提出了一种考虑超级电容储能系统控制策略同时以吸收剩余再生制动能量为目标的容量配置方法。基于国内某条实际线路参数,对本文提出的容量配置方法进行了实例应用,并对实例中的影响因素进行了研究。着重分析了不同控制参数对超级电容容量的影响度,给出不同控制参数下的系统评价指标。基于多属性决策问题理论,采用简单加权法对配置方案作出评价,得到了在这种控制参数下的最优的容量配置方案。
Compared with other transportation modes, urban rail transit has advantages of large carrying capacity, low energy consumption, high safety. With the popularization of regenerative braking in recent years, the problem of regenerative failure occurs frequently. How to secure a steady regenerative load using energy storage technology to prevent regenerative failure has been hotspot in the research in world's urban rail transit. EDLC with low pollution, high efficiency, and long life cycle has own unique advantage and development prospect in preventing regeneration failure.Based on the background, this dissertation a deep research on control strategy and the capacity configuration of On-board EDLC energy storage system of railway vehicle.
Frequency analysis method is used to study frequency characteristics of railway vehicle load and EDLC. In addition, this paper discusses the matching relationship. Through simulation and experiment, the first order model is sufficiently accurate for On-board EDLC energy storage system of railway vehicle controller'analysis and synthesis. To provide theoretical support for optimal design of energy storage device, the charging and discharging efficiency are studies in constant current and constant power mode.
Considering the operating characteristics of railway vehicle and solving regenerative failure in DC traction power supply system, an indirect current control strategy is proposed. The control strategy contains line current loop, the DC line voltage loop, the EDLC current loop and the EDLC SOC (state of charge) loop. Not only realize the indirect control of the EDLC current but also make sure EDLC work in several operation depending on the operating condition of railway vehicle. Based on small-signal model of DC line voltage, the transfer function is obtained. To ensure good dynamic performance, the controllers of optimal damped ratio have to be designed for the minimum EDLC voltage. Based on small-signal model of EDLC current, the transfer function is obtained. To ensure the EDLC current smooth transition, a new approach for design the controller is proposed.The effectiveness of unified controller is verified through simulation and experiment.The constraint relationship between charge and discharge current of EDLC and SOC makes sure prevent EDLC overcharge or overdischarge.
The experimental platform of EDLC energy storage system is developed. The dynamic simulation methods of single railway vehicle load and DC traction power supply system voltage fluctuation when multtiple railway vehicles running are realised. Adopting CAN bus, multiple devices can be simulataneously working and state variables can be observed. Based on experimental platform, verification of control strategy proposed is finished.
In this paper, the research method of the capacity configuration from the global energy exchange between the railway vehicles and DC traction power supply system is proposed. The simulation platform for EDLC energy storage system is developed. To effectively solve the problem which the DC traction power flow calculation iteration did not converge under regenerative braking condition, the new DC traction power flow simulation algorithm-Equivalent method for component segmentation is proposed. The accuracy of method is verified by comparison of numerical calculation results and simulation results.Its relative errors are within0.5%.
The capacity configuration method which aims to absorb surplus regenerative braking energy and considers the control strategy is proposed. Based on actual subway line parameters, an application example of the method in capacity configuration is discussed. The influence factors of capacity configuration are studied, particularly different control parameters. Based on multiple attribute decision making theory, optimal capacity configuration under the control parameters is obtained.
采用频率分析法对城轨列车负荷特性和超级电容频率特性进行研究,讨论了二者的匹配关系。通过仿真和实验对比,验证了一阶RC超级电容器组模型具有足够的精度,可以满足车载超级电容储能控制系统建模和控制参数整定的要求。基于此模型对恒电流、恒功率充放电方式下的充放电效率进行了研究,为储能装置的优化设计提供理论支持。
考虑城轨列车运行特性并兼顾解决直流供电网中的再生失效问题,提出了一种车载超级电容储能系统间接电流控制策略。该控制策略包含四个控制环节：线网电流环、直流网电压环、超级电容电流环和超级电容的SOC(state of charge)环。通过对线网电流环控制可以实现间接控制超级电容电流和保证超级电容充放电工况随列车运行工况自动切换。基于小信号模型法,建立了直流网电压环的小信号数学模型,通过对直流网电压闭环传递函数的分析,指出了要保证直流网压有较好的动态性能,需要在超级电容工作电压最低情况下来设计最佳阻尼比。根据超级电容储能装置对充放电电流的双向流动性要求,建立了超级电容双向电流统一控制模型,给出了统一控制器的设计步骤。通过仿真和实验验证了该控制器可保证超级电容充放电工况切换时的平滑过渡。超级电容SOC(state of charge)与充放电电流的约束关系可以防止超级电容充放电时过充或者过放。
设计了车载超级电容储能系统实验平台,实现了单列车负载特性模拟和多列车运行时直流网压波动情况的动态模拟。采用CAN总线技术实现了此平台的多台装置协调动作和各系统状态变量的观测。基于此平台完成了对所提出控制策略的实验验证。
针对车载超级电容储能系统容量配置问题,本文提出从全局车和网之间能量交换的角度进行研究,建立了车、网、储能装置三者相耦合的城市轨道交通车载超级电容储能系统仿真平台。针对于传统算法在考虑再生制动时求解直流网潮流解析时不收敛问题,本文提出一种新的潮流仿真算法——组件分割等效法。通过与简单数值解法结果对比,验证了算法的准确性,相对误差范围在0.5%以内。
提出了一种考虑超级电容储能系统控制策略同时以吸收剩余再生制动能量为目标的容量配置方法。基于国内某条实际线路参数,对本文提出的容量配置方法进行了实例应用,并对实例中的影响因素进行了研究。着重分析了不同控制参数对超级电容容量的影响度,给出不同控制参数下的系统评价指标。基于多属性决策问题理论,采用简单加权法对配置方案作出评价,得到了在这种控制参数下的最优的容量配置方案。
Compared with other transportation modes, urban rail transit has advantages of large carrying capacity, low energy consumption, high safety. With the popularization of regenerative braking in recent years, the problem of regenerative failure occurs frequently. How to secure a steady regenerative load using energy storage technology to prevent regenerative failure has been hotspot in the research in world's urban rail transit. EDLC with low pollution, high efficiency, and long life cycle has own unique advantage and development prospect in preventing regeneration failure.Based on the background, this dissertation a deep research on control strategy and the capacity configuration of On-board EDLC energy storage system of railway vehicle.
Frequency analysis method is used to study frequency characteristics of railway vehicle load and EDLC. In addition, this paper discusses the matching relationship. Through simulation and experiment, the first order model is sufficiently accurate for On-board EDLC energy storage system of railway vehicle controller'analysis and synthesis. To provide theoretical support for optimal design of energy storage device, the charging and discharging efficiency are studies in constant current and constant power mode.
Considering the operating characteristics of railway vehicle and solving regenerative failure in DC traction power supply system, an indirect current control strategy is proposed. The control strategy contains line current loop, the DC line voltage loop, the EDLC current loop and the EDLC SOC (state of charge) loop. Not only realize the indirect control of the EDLC current but also make sure EDLC work in several operation depending on the operating condition of railway vehicle. Based on small-signal model of DC line voltage, the transfer function is obtained. To ensure good dynamic performance, the controllers of optimal damped ratio have to be designed for the minimum EDLC voltage. Based on small-signal model of EDLC current, the transfer function is obtained. To ensure the EDLC current smooth transition, a new approach for design the controller is proposed.The effectiveness of unified controller is verified through simulation and experiment.The constraint relationship between charge and discharge current of EDLC and SOC makes sure prevent EDLC overcharge or overdischarge.
The experimental platform of EDLC energy storage system is developed. The dynamic simulation methods of single railway vehicle load and DC traction power supply system voltage fluctuation when multtiple railway vehicles running are realised. Adopting CAN bus, multiple devices can be simulataneously working and state variables can be observed. Based on experimental platform, verification of control strategy proposed is finished.
In this paper, the research method of the capacity configuration from the global energy exchange between the railway vehicles and DC traction power supply system is proposed. The simulation platform for EDLC energy storage system is developed. To effectively solve the problem which the DC traction power flow calculation iteration did not converge under regenerative braking condition, the new DC traction power flow simulation algorithm-Equivalent method for component segmentation is proposed. The accuracy of method is verified by comparison of numerical calculation results and simulation results.Its relative errors are within0.5%.
The capacity configuration method which aims to absorb surplus regenerative braking energy and considers the control strategy is proposed. Based on actual subway line parameters, an application example of the method in capacity configuration is discussed. The influence factors of capacity configuration are studied, particularly different control parameters. Based on multiple attribute decision making theory, optimal capacity configuration under the control parameters is obtained.
引文
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