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Capacitor Voltage Imbalance Mechanism and balancing control of MMC When Riding Through PTG Fault

CSEE Journal of Power and Energy Systems 2024年第2期10卷 778-785页

作者： Zhen He Maozeng Lu Lijun Hang Pingliang Zeng Yanhua Liu Hangzhou Dianzi University Hangzhou 310018China Shandong University of Technology Zibo 255000China State Grid Hangzhou Power Supply Company State GridHangzhou 310000China

Modular multilevel converter (MMC) based fault ride through (FRT) control is a promising solution to deal with the pole-to-ground (PTG) fault in high voltage direct current (HVDC) system. However, when MMC switches to the FRT control, capacitor voltage imbalance between upper and lower arms will occur, resulting in the deterioration of FRT performance. This letter provides a comprehensive analysis for the imbalance issue from the perspective of fundamental frequency circulating current (FFCC). It is found the imbalance during FRT stage will not expand continuously, but converge to a certain value gradually. The specific imbalance degree is closely associated with the amplitude of FFCC. In order to solve the imbalance issue, an open-loop balancing control is proposed. By introducing a fundamental frequency feedforward item to the inherent circulating current control, the proposed method can not only balance the capacitor voltages, but also minimize the amplitude of FFCC, and consequently the power loss of MMC during FRT process can be reduced. Finally, simulation results of PSCAD/ EMTDC verify the validity of theoretical analysis.

关键词： balancing control capacitor voltage imbalance FFCC FRT control HVDC system PTG fault

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balancing control of unicycle robot by using sliding control

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Journal of Measurement Science and Instrumentation 2012年第4期3卷 383-388页

作者： Inwoo Han Jaewon An Hyunwoo Kim Jangmyung Lee Dept.of Electrical Engineering Pusan National University

This paper discusses about balancing control of unicycle *** robot consists of pitch which acts like inverted pendulum and roll which acts like reaction wheel *** robot which does not have actuator located in yaw axis is made to derive the simple *** equation is applied to deriving dynamic *** dynamic equations are used to design the sliding mode *** variables of the designed control are pitch angle and roll *** mode control has chattering problem,which is eliminated by using the sigmoid function as switching *** the control performance and eliminated chattering problem is verified by simulation.

关键词： balancing control sliding control dynamic equation lagrange unicycle robot

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balancing control of a Unicycle Riding

Balancing Control of a Unicycle Riding

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第二十九届中国控制会议

作者： SHAO Zhiyu 1,LIU Daliang 2,3 1.State Key Laboratory of Explosion Science and Technology,Beijing Institute of Technology,Beijing 100081,P.R.China2.The College of Electric Engineering and Automation,Harbin Institute of Technology,Harbin 150001,P.R.China 3.Time Group Inc.Sub-station,Post-doctoral Workstation of Zhongguancun Haidian Science Park,Beijing,100085,P.R.China

Using gyroscopes to power human forwards and backwards only a single wheel is needed to make a ridable vehicle which will be much smaller and *** order to retain dynamic and static stabilities of the vehicle,a self-balancing stabilized unicycle robot is proposed for human *** actuation and balancing mechanism consists of two separate actuators:the drive motor causes forward and backward acceleration,by driving the wheel directly *** spin motor spins a suspended flywheel at a high rate,imparting dynamic stability to the robot in the lateral plane（only leaning to the left or right,no leaning to the front or back）.In this paper,the unicycle robot system is simplified to the inverted pendulum subsystem and the inertial-wheel pendulum *** on the modeling method of the under-actuated mechanical system,the dynamics in the longitudinal plane and the lateral plane are developed *** a LQG structure to balance the unicycle robot at the vertical position is designed by linearizing the dynamic ***,the feasibility of the models and the controllers are verified by using the simulation results.

关键词： balancing control Under-actuated Mechanical System Dynamic Stability

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