Professional Documents
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PSCAD/EMTDC
DC/AC PWM
Abstract
In recent years, smart grid construction led the development of high voltage, wind and
other clean energy, energy storage technologies, the main energy storage including methods
such as: batteries, superconducting, the flywheel, super capacitors and hybrid energy
storage system. How to use the proper energy storage device to absorption and utilization of
regenerative braking is a hot topic of energy. Flywheel energy storage system combines
many advantages, developing very rapidly. Therefore, this paper proposed absorption of
regenerative braking energy using flywheel energy storage system to improve the
utilization of regenerative braking energy, and increase the reliability and stability of
traction power supply system.
This paper will establish urban rail transit power supply simulation system to analysis
of regenerative braking energy, and then base on the simulation software-PSCAD/EMTDC,
using Nanjing Metro Line fundamental for the basis simulation data. Quantitative analysis
of the rail transit regenerative braking energy feature, to reveal how the remaining
regenerative braking energy impacting of the urban transit system, and to reveal the operate
characteristics of the braking resistor.
This paper puts forward a method using flywheel energy storage system that is based
on Permanent Magnet Synchronous Generator PMSG to regulate the regenerative
braking energy. It is composed of electric motor and VSC PWM. This paper will research
the principle of the Permanent Magnet Synchronous Generator PMSG, and its modeling,
control and simulation. This paper will use outer voltage loop control and inner current loop
control, and joined traction energy storage logic relationship between train started and
braked. Through the time-domain simulation of the flywheel energy storage in the traction
power supply system to analysis its operation feature. The simulation results verify the
feasibility of the flywheel energy storage system model and the control strategy.
Keywords:
flywheel energy storage, urban rail transit system, traction power supply
system, regenerative braking energy, permanent magnet synchronous
generator, energy storage system.
II
______
1.1
1863
1890
1881
1863-1914 14
20 70 29
1965 1 2
1965 7 1 1969 10 1 23.6km
17 106
80
2009 10 34 1000km
19 70 1800 km
300 1 km
2005-2009
1.2
1-1
110kV
(2) 10kV
1-1
1-2-3-4-
5-6-7-
1500V
1-1
T
1.3
(1)
(2)
(3)
90
(2)
1)
2)
DC/AC
1.4
[3,4]
10%~80% 48%
2.9%
5
[5]
360s/420s 10%[4]
1.5
[6]
1.5.1
UPS
[7~12]
1.5.2
SMES/
[13~15]
[16~17]
1.5.3
Electric Double Layer
CapacitorEDLCElectrochemical Capacitor
RuO2 [18]
201000
50
[19]
[20]
1.5.4
[21~29]
1970s
[30,31][32~38]
UPS
200~375m/s
500~1000m/s
1-2
1-2-3-4-5-6-7-8-
9-10-11-
1-2
1-2
E/M
30-200
<1
2-5
5-50
P/M
100-700
1000
7000-18000
180-1800
65-75
80-90
95
70-90
0.01
0.001
0.01
0.001
1.6
1-2km
500Wh
40kW
/ 10 -40100 30000 rpm[32]
[33]
SOC
R22
[34]1988
12%UPT
2001 4 20
1000 2001 1MW UPT
10
1MW UPT
1.1MW
45km/h UPT
11% 18%[35]RWE Piller 2000
Power-briage Ustra
[36][37]
15000r/min 470MJ130kWh
2MW
[38]
1.7
11
12
2.1
matlab/simulink
pscad/emtdc
RS [1,2]
[41]
ATC
pscad/emtdc
2.2
2.2.1
(1)
(2)
13
(3)
2-1
M ' M Tc
2-1
M M M ' Tc
nM nM ' ntc M p
nMp nM ' p ntcp
Alstom Metropolis
54 58 6 / m 2 9
/ m 2 AW2
2-1
AW0/t
AW1/t
AW2/t 6 / m 2
AW3/t
9 / m 2
M'
Tc
M'
Tc
0
3.48
18.84
0
3.48
18.84
0
3.24
18.12
38.80
42.28
57.64
38.80
42.28
57.64
34.90
38.14
53.02
225.0
245
336
24.90
24.90
24.00
63.70
63.70
58.90
372.60
AW2 M
M r W = M + M r =359.10 t
2.2.2
14
f = (a + bv + cv 2 ) M g 103 (kN )
2-2
M t v km / h a, b, c
B [42]
2-3
M t v km / h
[43]
2-4
M t v km / h nz N
A 10.2 m 2
[44]
2-5
v km / h
F = ( M a + f ) / nz (kN )
2-6
M t nz
2.2.3
15
[45~50]
,
dq 0
T
2-2 [51]
Rs
Us
X r
X s
Rm
Is
Rr
Es
Er
Xm
Ir
1 s
Rr
s
2-2 T
U s I s U r U r Rs
Rr X s X r
I m Rm X m s Es Er
I m
[50]
Er =
2
k Ns N s1
2
2-7
k Ns N s 1
DC/AC
16
[50]
Tem =
m1 pU s 2 Rr / s
2 f1[( Rs + Rr / s ) 2 + ( X s + X r ) 2 ]
2-8
p
Tem = 3 p (
Us
)2
1 Rr s
[( sR1 + Rr ) + s 2 ( X s + X r ) 2 ]
2
2-9
2-9 dTem / ds = 0
Tmax = 3 p (
Us
max =
)2
1
2( X s + X r )
Rr
( X s + X r )
2-10
2-11
s Tem
Tem = 3 p (
Us
)2
1 s
Rr
2-12
Pem = Tem 1
2-13
Tem =
Pem
Pmec
P
= mec
(1 s )1
2-14
v = 60 2 Rw /(1000 Gr )
2-15
v km / h
r / min Rw m
Gr
Tmec = F 2 Rw /(2 Gr c )
F kN c
17
2-16
2.3
[4445]
t2
t1
t3
P
U
a
t5
t6
t4
P
U
2-3
1
2-3 m
1
t1 Tem = C
2
U s
Tem v = Pmax v
t2 m
18
1
3
max
Tem v 2 = C v
2.12~2.14
n < n1
n1 n < n2
U U
3p
Tem =
sN d max , Pmec = Tem
2
( p ) U dN Rr
n n2
2-17
2.4
2.4.1
80km/h
70km/h
[43]
2.4.2
19
2-4
2-4
2.4.3
Pmec
m U sN
U d V U dN V
Pem =
Pmec
F 2 Rw
(2 Gr c m )
2-18
Pe = nz
Pmec
F 2 Rw
= nz
d m
(2 Gr c m d )
nz
20
2-19
Te =
Ma f '
nz Gr /(mc Rw )
2-20
M t a f '
kN
Pe = nz Pmec (d m )
2-21
2-15 v
2-16
2-17
Tem Pem
m c
2-2
2-2
0.4025
6.9547
0.91
0.97
0.93
max/Rr
150.9
675/1170
336
6.68%
359.1
UsN
2-52-6
21
speed
distance
1500
(m)
60
40
500
20
0
1000
V (km/s)
80
20
40
60
Time(s)
80
100
20
40
Time(s)
60
80
a
2-5
Power
4000
P(kW)
2000
-2000
-4000
-6000
20
40
Time(s)
60
80
2-6
DC/AC
2-7
22
+
itrain
U train
2-7
2.5
80km/h 70km/h
8km/h
8km/h~70km/h
E=
1
1
MV12 MV2 2 = 67.00 MJ
2
2
2-22
4300kW 5600kW
32.53 kWh 17.25
kWh 62.10MJ
8km/h~70km/h
1.58MJ
2min [52]
7:00-23:00 16
23
2-3
AW1
AW2
AW3
/t
245.00
336.60
372.60
/t
261.40
359.10
397.50
/MJ
48.77
67.00
74.16
/kWh
13.55
18.61
20.60
175200
175200
175200
/kWh
2373960
3260472
3609100
/0.6/
142.43
195.63
216.54
2-4
2-4
AW1
AW2
AW3
/t
245.00
336.60
372.60
/t
261.40
359.10
397.50
/MJ
45.20
62.10
68.74
/kWh
12.56
17.25
19.09
175200
175200
175200
/kWh
2200512
3022200
3344568
/0.6/
132.03
181.33
200.67
2.6
61.73%
24
2 40%
40%
2-5
2-5
kWh
AW1
880200
52.81
AW2
1208880
72.53
AW3
1337800
80.27
40% 40%
80% 2-6
2-6
AW1
AW2
AW3
kWh
704160
967104
1070240
10 J
2.54
3.48
3.85
42.25
58.03
64.21
40%/t
216.72
296.93
328.50
CO2 /t
794.65
1088.80
1204.50
12
2.7
[2]
25
2.7.1
2-8
2-9 U S
U dN I d Req
2-9
2-8
2.7.2
Rt
Rs
0.025 / km
[53]
0.02 / km [2]
26
2.7.3
R31 (t ) 2 R32 (t )
R1 (t )
Req1
R2 (t )
R41 (t )
3
Req 2
R5 (t )
R42 (t )
R6 (t )
2-10
2-10 2 3
3km 1.5km
1 2
2.8
1
2
3
4
2.8.1
27
2-11
3
2-11
2.8.2
44.55 kW
2.8.3
1 1800V [54]
28
2
3 [54]
[55]
2.8.4
[56,57]
1 U=1800V
2 Pmax
3 Rb = U 2 / Pmax
4 Pav
5 DC = t1 /(t1 + t2 )
6 PC = Pav * DC
t1 t2
2.8.5
[57]
29
11
22
4
5
2.9
2.9.1
2-12
R1 (t )
R3 (t )
U1 (t )
U 2 (t )
R5 (t )
Req 2
Req1
R2 (t )
U 4 (t )
R4 (t )
U 3 (t )
R6 (t )
2-12
30
2.9.2
10s~33s33s~70s70s~73s
73s~95s95s~110s110s
Locomotive 1
80
V (km/s)
60
40
20
20
40
60
Time(s)
80
100
120
2-13 1
20s~5s5s~8s8s~30s
30s~45s45s~78s78s~115s
115s~120s
Locomotive 2
80
V (km/s)
60
40
20
0
20
40
60
80
100
120
Time(s)
2-14 2
0s~50s2-15
21
31
speed
80
v1
v2
V (km/s)
60
40
20
10
20
30
40
50
Time(s)
2-15 12
2
2
2PSCAD2-16
2 1 A
B1800V
2-16 PSCAD
2-17
32
current(kA)
0.04
0.02
0
current(kA)
0.06
0.04
0.02
0
1
current(kA)
0.5
10
15
20
25
Time(s)
30
35
40
45
2-18
25s80km/h~70km/h
70km/h2-1515s1
2
5s~15s
2-17
33
Voltage(kV)
1.8
stationA Voltage
1.7
1.6
1.5
Voltage(kV)
1.8
stationB Voltage
1.7
1.6
1.5
Current(kA)
stationB Current
0.5
0
0
10
15
20
25
Time(s)
30
35
40
45
2-19
2-192-20
1800VB2
B02
34
stationB Voltage
1.805
Voltage(kV)
1.8
1.795
7.5
8.5
9.5
10
10.5
11
11.5
12
Time(s)
2-20 B
2-212-22
1790V21800V
1.8
Voltage(kV)
locomotive1 Voltage
1.7
1.6
1.5
Voltage(kV)
1.8
locomotive2 Voltage
1.7
1.6
1.5
0
10
15
20
25
Time(s)
30
35
2-21
35
40
45
locomotive2 Voltage
1.8
1.799
1.798
Voltage(kV)
1.797
1.796
1.795
1.794
1.793
1.792
1.791
1.79
7.5
8.5
9.5
10
10.5
11
11.5
12
Time(s)
2-22 2 7~12s
[58]
1800V
130[59]
2.10
36
3.1
3.2
/
[60]
dq0
37
150kW
2.5m1.6mAGV
Automotrice grande vitesse120kWh720kW
20072AGV
574.8km/h
E954
3.3
+
iL
`
U dc
uA
uB
uC
iA
iB
iC
RS
LS
N
c
3-1
120
1203-2[63~65]
3-3
38
a
b
3-2
3-3a
3-3d
3-3b
3-3c
[68]
5
1
2
1
39
4
5
4
5
4
3
a.
b. c. d
12345
3-3
abc Clark
Park dq
3.4
abc Clark
C3 s / C2 s C2 s / C3 s dq
Park C2 s / C2 r C2 r / C2 s
dq [61,62]
abc 0
C3 s / 2 s
2
cos 0 cos
3
2
2
sin 0 sin
=
3
3
1
1
2
2
4
1
3
4
2
0
=
sin
3
3
1
1
2
cos
40
1
2
3
2
1
2
1
2
3
2
1
2
3-1
0 dq 0
C2 s / 2 r
cos x
= sin x
0
sin x
cos x
0
0
0
1
3-2
x dq 0
3-13-2 abc dq 0
C3 s / 2 r = C3 s / 2 s C2 s / 2 r =
cos x
2
sin x
3
1
2
2
) cos( x +
)
3
3
2
2
) sin( x +
)
sin( x
3
3
1
1
2
2
cos( x
3-3
3-3 abc
3.5
u A
d A Rs 0 0 iA
d
uB = B 0 Rs 0 iB u ABC = ABC Rs iABC
dt C 0 0 R iC
dt
uC
s
3-4
0 dq 0
u d s = R s i d s + p
u q s = R s i q s + p
ds
qs
qs
+ 1
ds
3-5
41
3-6
ds = Lds ids + 0
qs = Lqs iqs
3-7
0
Lds = Lqs = Ls
3-73-5
3-8
Rs
p 0
1
s
s
s
pi = 1 u Rs i i 1 0
1 ds
qs Ls qs Ls qs
Ls
3-9
3-10
iqs ids 0
3.6
3.6.1 DC/AC
3-1
42
isq
isq
K
K pi + li
s
U dc
*
sq
dc
3-4
K
K pi + li
s
Ps*
3-5
3.6.2 SVPWM
PWM
SVPWM
[66,67]SVPWM
3-6
Udc
Ps
isq
PI
PI
Ps
Udc
isq
usa
usq
usq
PI
dq
isd = 0
PI
usd
usd
abc
usb
usc
isd
Qs
dq
Ps
abc
PQ
isabc usabc
us
Sa
PMSG
Sb
Sc
SVPW
M
us
3-6
abc
PMSG
3.7
43
44
4.1
4.2
4.2.1
R1 (t )
R3 (t )
U1 (t )
R5 (t )
U 2 (t )
Req 2
Req1
R2 (t )
U 4 (t )
R4 (t )
U 3 (t )
R6 (t )
4-1
2
2
PMSG
45
4-2 PSCAD
4-1
4-1
4MW
0.017pu
1.2732Wb
400V
0.614pu
Tj
1.0
4.2.2
46
U<U1
U>U2
U1UU2
SVPWM
SVPWM
4-3
4-4
100V1
A1B
2
B
1.6kV4-5
4-6
1.6
Voltage(kV)
locomotive1 Voltage
1.55
1.5
1.45
1.6
Voltage(kV)
locomotive2 Voltage
1.55
1.5
1.45
10
15
20
25
Time(s)
30
4-4
47
35
40
45
1.6
Voltage(kV)
1.5
1.45
Voltage(kV)
1.7
1.65
1.6
1.55
1.5
1.45
10
15
20
25
30
35
40
45
Time(s)
4-5
Voltage(kV)
1.8
stationA Voltage
1.7
1.6
1.5
Voltage(kV)
1.8
stationB Voltage
1.7
1.6
1.5
0
10
15
20
25
Time(s)
30
35
40
45
4-6
4-728s~30s1
15s4-84-92
1
25s21
4-100s~5s
1245s
48
speed
80
v1
v2
V (km/s)
60
40
20
10
20
30
40
50
Time(s)
4-7 12
Flywheel Pout
0.5
Pout
0
)
W
M
(
r
e
w
o
P
e
vi
t
c
A
-0.5
-1
-1.5
10
15
20
25
Time(s)
30
35
40
45
4-8
Flywheel Qout
1
Qout
0
)
W
M
(
r
e
w
o
P
e
vi
t
c
a
e
R
-1
-2
-3
-4
-5
10
15
20
25
Time(s)
30
4-9
49
35
40
45
Flywheel W
W
0.6
)
s/
d
a(r
d
e
e
p
S
0.5
0.4
0.3
0.2
0.1
0
10
15
20
25
Time(s)
30
35
40
45
4-10
PMSG : Graphs
Us
0.30
0.20
kV
0.10
0.00
-0.10
-0.20
-0.30
-0.40
0
10
20
30
40
4-11
DC filter capacitor voltage
2.5
)
V
k(
e
g
at
l
o
V
1.5
0.5
10
15
20
25
30
35
Time(s)
4-12
50
40
45
4.3
51
(1)
(2)
(3)
(4)
PSCAD/EMTDC
(5)
52
(1)
(2)
(3)
(4)
(5)
53
SGO
54
[1]
. [M].
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[2]
. [M].2010.01.
[3]
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[J].20042.
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[45]
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[46]
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[52]
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[55]
,. [J].
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