2011-05-31

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

0.56km 0.79km 1.66km

5~10

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 220kV [1]

[2]
(1) 35kV 35kV

110kV

(2) 10kV

1-1
1-2-3-4-
5-6-7-

(1) 750V 500~900V

(2) 1500V 1000~1800V

1500V

1-1
T

1.3

(1)

(2)

(3)

90

(1) VVVFVariable Voltage

and Variable Frequency

(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

2010 Beacon Power 4300

20 MW

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

= M nM + M ' nM ' + Tc ntc + M p (nM nMp + nM ' p nM ' + ntcp ntc )

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]

f = (2.4 + 0.014v + 0.001293v 2 ) M g 103 (kN )

2-3

M t v km / h
[43]

f = 6.4 M + 130nz + 0.14 M v + [0.046 + 0.0065( N 1)] A v 2 (kN )

2-4

M t v km / h nz N
A 10.2 m 2
[44]

f = 5.28 + 0.047 v + 0.0008 v 2 (kN )

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

Tem = Tmax , Pmec = Tmec

n < n1

Tem = Pmec / , Pmec = m Pmax

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

480 365 175200

AW1AW2AW3 2-3

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] U dN = 1500V U S = 1550V

Re q = 0.054

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

locomotive1 Resistance Current

0.02

0
current(kA)

0.06

locomotive2 Resistance Current

0.04

0.02
0
1

current(kA)

Braking Resistance Current

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)

stationB Voltage 7s-12s

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

locomotive2 Voltage 7s-12s

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

Ps + jQs = 3 / 2(uds + juqs ) ( ids jiqs )

Ps = 3 / 2(uds ids + uqs iqs )

Qs = 3 / 2 ( uqs ids uds iqs )

41

3-6


ds = Lds ids + 0

qs = Lqs iqs

3-7

0
Lds = Lqs = Ls
3-73-5

u ds = Rs ids + p ( Ls ids + 0 ) 1 ( Ls iqs )

u qs = Rs iqs + p ( Ls iqs ) + 1 ( Ls ids + 0 )

3-8

Rs
p 0
1

pids = L uds L ids + 1iqs L

s
s
s

pi = 1 u Rs i i 1 0
1 ds
qs Ls qs Ls qs
Ls

3-9

Te = 1.5np [( Lds Lqs )ids iqs + iqs 0 ]

Te = 1.5np iqs0

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)

traction substationA Voltage

1.55

1.5

1.45

traction substationB Voltage

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].
.2009.06.

[2]

. [M].2010.01.

[3]

. .

[J].20042.
[4]

. . [J].

2004,4:84-86.
[5]

. . [J].20074.

[6]

. .

[J].2009.02.
[7]

. [J]. . 2005.
4.

[8]

. [J]. . 2007.
8.

[9]

. [J]. . 2005. 3.

[10]

. [J]. .

2006. 13.
[11]

. /[J]. .2005.3.

[12]

. [J]. . 2005. 3.

[13]

.
[J]. . 2000.

[14]

[J]. . 2000.
[15]

. [J]. . 2004. 2.

[16]

. 35kJ SMES[J].
55


. 2006. 1.

[17]

.
[J]. . 2004. 4.

[18]

. [J]. .

2001. 25. 5.
[19]

. [J]. . Feb 2005. 25.

1.

[20]

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