Метод управления в системах с периодическими сигналами для подавления высших гармоник в тяговом токе вагонов метро
Ключевые слова:
метод управления в повторяющихся системах, подавление гармоник, тяговый электропривод, DCDC-преобразователь, шестипульсный выпрямитель, система предотвращения столкновений
Аннотация
В Московском метрополитене имеются внутренние системы сигнализации, обеспечивающие безопасность и оптимальную скорость движения поездов. Тяговый электропривод поезда не должен препятствовать работе этих систем во время стоянки или движения. Основными гармониками тягового тока являются частоты 300 Гц и кратные ей, создаваемые выпрямлением трехфазного переменного напряжения промышленной частоты 50 Гц. Кроме того, гармоническому составу тягового тока соответствуют частоты, кратные промышленной частоте 50 Гц: 100, 150, 200 Гц и т. д., обусловленные неисправностями выпрямителя на совмещенной тягово-понизительной подстанции, такими как пропадание напряжения в одной из фаз выпрямленного или несимметрия трехфазного напряжения. Поэтому для снижения влияния гармонического состава тягового электропривода частоты, кодирующие информационные сигналы, выбираются в промежуточных диапазонах. Однако во время движения поезда частота двигателя и, соответственно, токов меняется. При наложении этих частот на основную гармонику 300 Гц возможно возникновение субгармоник с большой амплитудой, создающих помехи в сигналах систем предотвращения столкновений и автоматического регулирования скорости. Поскольку тяговый ток является периодическим сигналом, в настоящей работе предложен алгоритмический способ корректировки гармонического состава тягового тока, основанный на методе управления в повторяющихся системах. С помощью указанного алгоритма модуль конвертера напряжения, входящий в состав электропривода трансмиссии, можно использовать в качестве активного фильтра. Алгоритм протестирован на тяговом электроприводе вагона поезда метрополитена и показал десятикратное снижение амплитуды гармоники 300 Гц.
Литература
1. Yaghoobi A.J., Rathnayake H., Zare F., Sharma R. Dynamic Analysis of a Modular Three-phase Rectifier System with Harmonic Mitigation Function: Addressing IEC 61000-3-12 // Proc. 2019 IEEE Intern. Conf. Industrial Technol. (ICIT). Melbourne, 2019. Pp. 1235—1240.
2. Jiao S., Song W., Feng X. Filter Parameter Optimization Design of Single-phase LCL-type Three-level Rectifier Equipped in Train for High-speed-railway Harmonic Resonance Suppression // Proc. IEEE VIII Intern. Power Electronics and Motion Control Conf. Hefei, 2016. Pp. 2589—2593.
3. Shudarek T., Luu T. Harmonic Filter Topologies for low DC Bus Capacitance of 6-pulse Rectifier Front End Adjustable Speed Drives // Proc. IEEE Appl. Power Electronics Conf. and Exposition. San Antonio, 2018. Pp. 2315—2322.
4. Zare F. A Novel Harmonic Elimination Method for a Three-phase Diode Rectifier with Controlled DC Link Current // Proc. XVI Intern. Power Electronics and Motion Control Conf. and Exposition. Antalya, 2014. Pp. 985—989.
5. Kihwele S. Modelling of Shunt Active Power Filter for Harmonics Case Study of Steel Industry // Proc. Intern. Conf. Electronics, Information and Communication. Auckland, 2019. Pp. 1—2.
6. Seifossadat S.G., Kianinezhad R., Ghasemi A., Monadi M. Quality Improvement of Shunt Active Power Filter, Using Optimized Tuned Harmonic Passive Filters // Proc. Intern. Symposium on Power Electronics, Electrical Drives, Automation and Motion. Ischia, 2008. Pp. 1388—1393.
7. Rajeshwari, Bagwari A. Voltage Harmonic Reduction Using Passive Filter Shunt Passive-active Filters for Non-linear Load // Proc. VII Intern. Conf. Communication Systems and Network Technol. Nagpur, 2017. Pp. 131—136.
8. Fukuda S., Hiei I. Auxiliary Supply Assisted Input Current Harmonic Reduction in 12-Pulse Thyristor Rectifiers // Proc. Intern. Conf. Power Electronics and Drives Systems. Kuala Lumpur, 2005. Pp. 854—859.
9. Motta L., Faúndes N. Active/passive Harmonic Filters: Applications, Challenges & Trends // Proc. XVII Intern. Conf. Harmonics and Quality of Power. Belo Horizonte, 2016. Pp. 657—662.
10. Leite M. e. a. Thyristor Controlled Rectifiers for Subway Substations // Proc. IEEE XXXVI Power Electronics Specialists Conf. Dresden, 2005. Pp. 2244—2250.
11. Lian Y. e. a. Harmonic Reduction Mechanism at DC Link of Two Different 24-pulse Rectifiers // Proc. IEEE Transportation Electrification Conf. and Expo. Harbin, 2017. Pp. 1—6.
12. Aoyang H. e. a. Research on the Influence of Urban Metro Traction Power Supply System on Power Grid Harmonics // Proc. First Intern. Conf. Electronics Instrumentation & Information Systems. Harbin, 2017. Pp. 1—4.
13. Yakovenko M. e. a. Active Elimination of Supply Current Harmonics in a Subway Motor-Compressor Drive // Proc. IEEE 59th Intern. Sci. Conf. Power and Electrical Engineering of Riga Technical University. Riga, 2018. Pp. 1—4.
14. Navalkar S.T., van Solingen E., van Wingerden J. -W. Wind Tunnel Testing of Subspace Predictive Repetitive Control for Variable Pitch Wind Turbines // IEEE Trans. Control Systems Technol. 2015. V. 23(6). Pp. 2101—2116.
15. Wang Y., Wu M., Zhang M., Chen L., She J. A Repetitive-control Method Based on Sliding-mode Control for Nonlinear Systems with External Disturbances // Proc. 41st Chinese Control Conf. Hefei, 2022. Pp. 761—766.
16. Wu M., Xu B., Cao W., She J. Aperiodic Disturbance Rejection in Repetitive-control Systems // IEEE Trans. Control Systems Technol. 2014. V. 22(3). Pp. 1044—1051.
17. Kulmanov V., Anuchin A., Bychkova E., Prudnikova Y. Simulation of Power Converter with Repetitive Control System for Higher Harmonics Elimination // Proc. IX Intern. Conf. Power Drives Systems. Perm, 2016. Pp. 1—5.
18. Lu H. e. a. Voltage Differential Feedback Control for Three-phase PV Inverter Based on Repetitive Control // Proc. IEEE V Intern. Symp. Power Electronics for Distributed Generation Systems. Galway, 2014. Pp. 1—6.
19. Navalkar S.T., van Solingen E., van Wingerden J. -W. Wind Tunnel Testing of Subspace Predictive Repetitive Control for Variable Pitch Wind Turbines // IEEE Trans. Control Systems Technol. 2015. V. 23(6). Pp. 2101—2116.
20. Eremin E.L., Nikiforova L.V., Shelenok E.A. Combined Repetitive Control System for Manipulator in the Presence of Saturated Inputs // Proc. Intern. Russian Automation Conf. Sochi, 2023. Pp. 499—504.
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Для цитирования: Гуляева М.А., Шпак Д.М., Лашкевич М.М., Алямкин Д.И., Федорова К.Г., Анучин А.С., Остриров В.Н. Метод управления в системах с периодическими сигналами для подавления высших гармоник в тяговом токе вагонов метро // Вестник МЭИ. 2024. № 6. С. 20—29. DOI: 10.24160/1993-6982-2024-6-20-29
---
Работа выполнена при поддержке Министерства науки и высшего образования Российской Федерации в рамках Государственного задания № FSWF-2023-0017 (Соглашение № 075-03-2023-383 от 18 января 2023 г.) в сфере научной деятельности на 2023 — 2025 гг
---
Конфликт интересов: авторы заявляют об отсутствии конфликта интересов
#
1. Yaghoobi A.J., Rathnayake H., Zare F., Sharma R. Dynamic Analysis of a Modular Three-phase Rectifier System with Harmonic Mitigation Function: Addressing IEC 61000-3-12. Proc. 2019 IEEE Intern. Conf. Industrial Technol. (ICIT). Melbourne, 2019:1235—1240.
2. Jiao S., Song W., Feng X. Filter Parameter Optimization Design of Single-phase LCL-type Three-level Rectifier Equipped in Train for High-speed-railway Harmonic Resonance Suppression. Proc. IEEE VIII Intern. Power Electronics and Motion Control Conf. Hefei, 2016:2589—2593.
3. Shudarek T., Luu T. Harmonic Filter Topologies for low DC Bus Capacitance of 6-pulse Rectifier Front End Adjustable Speed Drives. Proc. IEEE Appl. Power Electronics Conf. and Exposition. San Antonio, 2018:2315—2322.
4. Zare F. A Novel Harmonic Elimination Method for a Three-phase Diode Rectifier with Controlled DC Link Current. Proc. XVI Intern. Power Electronics and Motion Control Conf. and Exposition. Antalya, 2014:985—989.
5. Kihwele S. Modelling of Shunt Active Power Filter for Harmonics Case Study of Steel Industry. Proc. Intern. Conf. Electronics, Information and Communication. Auckland, 2019:1—2.
6. Seifossadat S.G., Kianinezhad R., Ghasemi A., Monadi M. Quality Improvement of Shunt Active Power Filter, Using Optimized Tuned Harmonic Passive Filters. Proc. Intern. Symposium on Power Electronics, Electrical Drives, Automation and Motion. Ischia, 2008:1388—1393.
7. Rajeshwari, Bagwari A. Voltage Harmonic Reduction Using Passive Filter Shunt Passive-active Filters for Non-linear Load. Proc. VII Intern. Conf. Communication Systems and Network Technol. Nagpur, 2017:131—136.
8. Fukuda S., Hiei I. Auxiliary Supply Assisted Input Current Harmonic Reduction in 12-Pulse Thyristor Rectifiers. Proc. Intern. Conf. Power Electronics and Drives Systems. Kuala Lumpur, 2005:854—859.
9. Motta L., Faúndes N. Active/passive Harmonic Filters: Applications, Challenges & Trends. Proc. XVII Intern. Conf. Harmonics and Quality of Power. Belo Horizonte, 2016:657—662.
10. Leite M. e. a. Thyristor Controlled Rectifiers for Subway Substations. Proc. IEEE XXXVI Power Electronics Specialists Conf. Dresden, 2005:2244—2250.
11. Lian Y. e. a. Harmonic Reduction Mechanism at DC Link of Two Different 24-pulse Rectifiers. Proc. IEEE Transportation Electrification Conf. and Expo. Harbin, 2017:1—6.
12. Aoyang H. e. a. Research on the Influence of Urban Metro Traction Power Supply System on Power Grid Harmonics. Proc. First Intern. Conf. Electronics Instrumentation & Information Systems. Harbin, 2017:1—4.
13. Yakovenko M. e. a. Active Elimination of Supply Current Harmonics in a Subway Motor-Compressor Drive. Proc. IEEE 59th Intern. Sci. Conf. Power and Electrical Engineering of Riga Technical University. Riga, 2018:1—4.
14. Navalkar S.T., van Solingen E., van Wingerden J. -W. Wind Tunnel Testing of Subspace Predictive Repetitive Control for Variable Pitch Wind Turbines. IEEE Trans. Control Systems Technol. 2015;23(6):2101—2116.
15. Wang Y., Wu M., Zhang M., Chen L., She J. A Repetitive-control Method Based on Sliding-mode Control for Nonlinear Systems with External Disturbances. Proc. 41st Chinese Control Conf. Hefei, 2022:761—766.
16. Wu M., Xu B., Cao W., She J. Aperiodic Disturbance Rejection in Repetitive-control Systems. IEEE Trans. Control Systems Technol. 2014;22(3):1044—1051.
17. Kulmanov V., Anuchin A., Bychkova E., Prudnikova Y. Simulation of Power Converter with Repetitive Control System for Higher Harmonics Elimination. Proc. IX Intern. Conf. Power Drives Systems. Perm, 2016:1—5.
18. Lu H. e. a. Voltage Differential Feedback Control for Three-phase PV Inverter Based on Repetitive Control. Proc. IEEE V Intern. Symp. Power Electronics for Distributed Generation Systems. Galway, 2014:1—6.
19. Navalkar S.T., van Solingen E., van Wingerden J. -W. Wind Tunnel Testing of Subspace Predictive Repetitive Control for Variable Pitch Wind Turbines. IEEE Trans. Control Systems Technol. 2015;23(6):2101—2116.
20. Eremin E.L., Nikiforova L.V., Shelenok E.A. Combined Repetitive Control System for Manipulator in the Presence of Saturated Inputs. Proc. Intern. Russian Automation Conf. Sochi, 2023:499—504
---
For citation: Gulyaeva M.A., Shpak D.M., Lashkevich M.M., Alyamkin D.I., Fedorova K.G., Anuchin A.S., Ostrirov V.N. A Control Method in Systems with Periodic Signals for Suppressing Higher Harmonic Components in the Subway Car Traction Current. Bulletin of MPEI. 2024;6:20—29. (in Russian). DOI: 10.24160/1993-6982-2024-6-20-29
---
The work is executed with the Support of the Ministry of Science and Higher Education of the Russian Federation within the Framework of State Assignment No. FSWF-2023-0017 (Agreement No. 075-03-2023-383, January 18, 2023) in the Field of Scientific Activity for 2023 — 2025
---
Conflict of interests: the authors declare no conflict of interest
2. Jiao S., Song W., Feng X. Filter Parameter Optimization Design of Single-phase LCL-type Three-level Rectifier Equipped in Train for High-speed-railway Harmonic Resonance Suppression // Proc. IEEE VIII Intern. Power Electronics and Motion Control Conf. Hefei, 2016. Pp. 2589—2593.
3. Shudarek T., Luu T. Harmonic Filter Topologies for low DC Bus Capacitance of 6-pulse Rectifier Front End Adjustable Speed Drives // Proc. IEEE Appl. Power Electronics Conf. and Exposition. San Antonio, 2018. Pp. 2315—2322.
4. Zare F. A Novel Harmonic Elimination Method for a Three-phase Diode Rectifier with Controlled DC Link Current // Proc. XVI Intern. Power Electronics and Motion Control Conf. and Exposition. Antalya, 2014. Pp. 985—989.
5. Kihwele S. Modelling of Shunt Active Power Filter for Harmonics Case Study of Steel Industry // Proc. Intern. Conf. Electronics, Information and Communication. Auckland, 2019. Pp. 1—2.
6. Seifossadat S.G., Kianinezhad R., Ghasemi A., Monadi M. Quality Improvement of Shunt Active Power Filter, Using Optimized Tuned Harmonic Passive Filters // Proc. Intern. Symposium on Power Electronics, Electrical Drives, Automation and Motion. Ischia, 2008. Pp. 1388—1393.
7. Rajeshwari, Bagwari A. Voltage Harmonic Reduction Using Passive Filter Shunt Passive-active Filters for Non-linear Load // Proc. VII Intern. Conf. Communication Systems and Network Technol. Nagpur, 2017. Pp. 131—136.
8. Fukuda S., Hiei I. Auxiliary Supply Assisted Input Current Harmonic Reduction in 12-Pulse Thyristor Rectifiers // Proc. Intern. Conf. Power Electronics and Drives Systems. Kuala Lumpur, 2005. Pp. 854—859.
9. Motta L., Faúndes N. Active/passive Harmonic Filters: Applications, Challenges & Trends // Proc. XVII Intern. Conf. Harmonics and Quality of Power. Belo Horizonte, 2016. Pp. 657—662.
10. Leite M. e. a. Thyristor Controlled Rectifiers for Subway Substations // Proc. IEEE XXXVI Power Electronics Specialists Conf. Dresden, 2005. Pp. 2244—2250.
11. Lian Y. e. a. Harmonic Reduction Mechanism at DC Link of Two Different 24-pulse Rectifiers // Proc. IEEE Transportation Electrification Conf. and Expo. Harbin, 2017. Pp. 1—6.
12. Aoyang H. e. a. Research on the Influence of Urban Metro Traction Power Supply System on Power Grid Harmonics // Proc. First Intern. Conf. Electronics Instrumentation & Information Systems. Harbin, 2017. Pp. 1—4.
13. Yakovenko M. e. a. Active Elimination of Supply Current Harmonics in a Subway Motor-Compressor Drive // Proc. IEEE 59th Intern. Sci. Conf. Power and Electrical Engineering of Riga Technical University. Riga, 2018. Pp. 1—4.
14. Navalkar S.T., van Solingen E., van Wingerden J. -W. Wind Tunnel Testing of Subspace Predictive Repetitive Control for Variable Pitch Wind Turbines // IEEE Trans. Control Systems Technol. 2015. V. 23(6). Pp. 2101—2116.
15. Wang Y., Wu M., Zhang M., Chen L., She J. A Repetitive-control Method Based on Sliding-mode Control for Nonlinear Systems with External Disturbances // Proc. 41st Chinese Control Conf. Hefei, 2022. Pp. 761—766.
16. Wu M., Xu B., Cao W., She J. Aperiodic Disturbance Rejection in Repetitive-control Systems // IEEE Trans. Control Systems Technol. 2014. V. 22(3). Pp. 1044—1051.
17. Kulmanov V., Anuchin A., Bychkova E., Prudnikova Y. Simulation of Power Converter with Repetitive Control System for Higher Harmonics Elimination // Proc. IX Intern. Conf. Power Drives Systems. Perm, 2016. Pp. 1—5.
18. Lu H. e. a. Voltage Differential Feedback Control for Three-phase PV Inverter Based on Repetitive Control // Proc. IEEE V Intern. Symp. Power Electronics for Distributed Generation Systems. Galway, 2014. Pp. 1—6.
19. Navalkar S.T., van Solingen E., van Wingerden J. -W. Wind Tunnel Testing of Subspace Predictive Repetitive Control for Variable Pitch Wind Turbines // IEEE Trans. Control Systems Technol. 2015. V. 23(6). Pp. 2101—2116.
20. Eremin E.L., Nikiforova L.V., Shelenok E.A. Combined Repetitive Control System for Manipulator in the Presence of Saturated Inputs // Proc. Intern. Russian Automation Conf. Sochi, 2023. Pp. 499—504.
---
Для цитирования: Гуляева М.А., Шпак Д.М., Лашкевич М.М., Алямкин Д.И., Федорова К.Г., Анучин А.С., Остриров В.Н. Метод управления в системах с периодическими сигналами для подавления высших гармоник в тяговом токе вагонов метро // Вестник МЭИ. 2024. № 6. С. 20—29. DOI: 10.24160/1993-6982-2024-6-20-29
---
Работа выполнена при поддержке Министерства науки и высшего образования Российской Федерации в рамках Государственного задания № FSWF-2023-0017 (Соглашение № 075-03-2023-383 от 18 января 2023 г.) в сфере научной деятельности на 2023 — 2025 гг
---
Конфликт интересов: авторы заявляют об отсутствии конфликта интересов
#
1. Yaghoobi A.J., Rathnayake H., Zare F., Sharma R. Dynamic Analysis of a Modular Three-phase Rectifier System with Harmonic Mitigation Function: Addressing IEC 61000-3-12. Proc. 2019 IEEE Intern. Conf. Industrial Technol. (ICIT). Melbourne, 2019:1235—1240.
2. Jiao S., Song W., Feng X. Filter Parameter Optimization Design of Single-phase LCL-type Three-level Rectifier Equipped in Train for High-speed-railway Harmonic Resonance Suppression. Proc. IEEE VIII Intern. Power Electronics and Motion Control Conf. Hefei, 2016:2589—2593.
3. Shudarek T., Luu T. Harmonic Filter Topologies for low DC Bus Capacitance of 6-pulse Rectifier Front End Adjustable Speed Drives. Proc. IEEE Appl. Power Electronics Conf. and Exposition. San Antonio, 2018:2315—2322.
4. Zare F. A Novel Harmonic Elimination Method for a Three-phase Diode Rectifier with Controlled DC Link Current. Proc. XVI Intern. Power Electronics and Motion Control Conf. and Exposition. Antalya, 2014:985—989.
5. Kihwele S. Modelling of Shunt Active Power Filter for Harmonics Case Study of Steel Industry. Proc. Intern. Conf. Electronics, Information and Communication. Auckland, 2019:1—2.
6. Seifossadat S.G., Kianinezhad R., Ghasemi A., Monadi M. Quality Improvement of Shunt Active Power Filter, Using Optimized Tuned Harmonic Passive Filters. Proc. Intern. Symposium on Power Electronics, Electrical Drives, Automation and Motion. Ischia, 2008:1388—1393.
7. Rajeshwari, Bagwari A. Voltage Harmonic Reduction Using Passive Filter Shunt Passive-active Filters for Non-linear Load. Proc. VII Intern. Conf. Communication Systems and Network Technol. Nagpur, 2017:131—136.
8. Fukuda S., Hiei I. Auxiliary Supply Assisted Input Current Harmonic Reduction in 12-Pulse Thyristor Rectifiers. Proc. Intern. Conf. Power Electronics and Drives Systems. Kuala Lumpur, 2005:854—859.
9. Motta L., Faúndes N. Active/passive Harmonic Filters: Applications, Challenges & Trends. Proc. XVII Intern. Conf. Harmonics and Quality of Power. Belo Horizonte, 2016:657—662.
10. Leite M. e. a. Thyristor Controlled Rectifiers for Subway Substations. Proc. IEEE XXXVI Power Electronics Specialists Conf. Dresden, 2005:2244—2250.
11. Lian Y. e. a. Harmonic Reduction Mechanism at DC Link of Two Different 24-pulse Rectifiers. Proc. IEEE Transportation Electrification Conf. and Expo. Harbin, 2017:1—6.
12. Aoyang H. e. a. Research on the Influence of Urban Metro Traction Power Supply System on Power Grid Harmonics. Proc. First Intern. Conf. Electronics Instrumentation & Information Systems. Harbin, 2017:1—4.
13. Yakovenko M. e. a. Active Elimination of Supply Current Harmonics in a Subway Motor-Compressor Drive. Proc. IEEE 59th Intern. Sci. Conf. Power and Electrical Engineering of Riga Technical University. Riga, 2018:1—4.
14. Navalkar S.T., van Solingen E., van Wingerden J. -W. Wind Tunnel Testing of Subspace Predictive Repetitive Control for Variable Pitch Wind Turbines. IEEE Trans. Control Systems Technol. 2015;23(6):2101—2116.
15. Wang Y., Wu M., Zhang M., Chen L., She J. A Repetitive-control Method Based on Sliding-mode Control for Nonlinear Systems with External Disturbances. Proc. 41st Chinese Control Conf. Hefei, 2022:761—766.
16. Wu M., Xu B., Cao W., She J. Aperiodic Disturbance Rejection in Repetitive-control Systems. IEEE Trans. Control Systems Technol. 2014;22(3):1044—1051.
17. Kulmanov V., Anuchin A., Bychkova E., Prudnikova Y. Simulation of Power Converter with Repetitive Control System for Higher Harmonics Elimination. Proc. IX Intern. Conf. Power Drives Systems. Perm, 2016:1—5.
18. Lu H. e. a. Voltage Differential Feedback Control for Three-phase PV Inverter Based on Repetitive Control. Proc. IEEE V Intern. Symp. Power Electronics for Distributed Generation Systems. Galway, 2014:1—6.
19. Navalkar S.T., van Solingen E., van Wingerden J. -W. Wind Tunnel Testing of Subspace Predictive Repetitive Control for Variable Pitch Wind Turbines. IEEE Trans. Control Systems Technol. 2015;23(6):2101—2116.
20. Eremin E.L., Nikiforova L.V., Shelenok E.A. Combined Repetitive Control System for Manipulator in the Presence of Saturated Inputs. Proc. Intern. Russian Automation Conf. Sochi, 2023:499—504
---
For citation: Gulyaeva M.A., Shpak D.M., Lashkevich M.M., Alyamkin D.I., Fedorova K.G., Anuchin A.S., Ostrirov V.N. A Control Method in Systems with Periodic Signals for Suppressing Higher Harmonic Components in the Subway Car Traction Current. Bulletin of MPEI. 2024;6:20—29. (in Russian). DOI: 10.24160/1993-6982-2024-6-20-29
---
The work is executed with the Support of the Ministry of Science and Higher Education of the Russian Federation within the Framework of State Assignment No. FSWF-2023-0017 (Agreement No. 075-03-2023-383, January 18, 2023) in the Field of Scientific Activity for 2023 — 2025
---
Conflict of interests: the authors declare no conflict of interest
Опубликован
2024-09-04
Выпуск
Раздел
Электротехнические комплексы и системы (технические науки) (2.4.2)
