CN100433536C - Voltage space vector-based modulation method - Google Patents
Voltage space vector-based modulation method Download PDFInfo
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Abstract
A modulating method which is based on voltage space vector belongs to the vector modulating scheme of the fields of AC variable-frequency. The method uses two phase 120degree coordinate system, based on the corresponding relation between three phase brachium pontis voltage and reference voltage vector, the action time of the three phase brachium pontis voltage can be directly resolved, and the control signal of every switch can be obtained. The method is simple, and the SVPWM whose versatility and real-time are traditional is shifted, it possesses real value for AC variable-frequency system.
Description
One, technical field
The present invention relates to the vector modulation method in AC frequency conversion field
Two, background technology
Space vector of voltage pulse-width modulation (SVPWM) and sinusoidal pulse width modulation (SPWM) are two kinds of modulation systems the most commonly used in the three-phase inverting circuit.In the frequency control field, SVPWM looks inverter and motor as a whole, makes the rotating magnetic field that produces constant amplitude in the motor.This modulation system synthesizes space vector of voltage with the output voltage of three-phase inverter on complex plane, and removes to approach the command voltage space vector by different switch vectorial combinations.Compare with SPWM, the switch number of times of its switching device can reduce 1/3, and the utilance of direct voltage can improve 15%, can obtain harmonic suppression effect preferably, has response fast, and harmonic content is less, characteristics such as direct voltage utilance height.
Yet traditional SVPWM implementation complexity must adopt high speed processor to be realized.Chinese scholars has proposed the method for a lot of simplification at the Digital Implementation of this modulator approach, mainly contains to simplify the sector and judge rule, adopts plus and minus calculation to substitute a part of multiplying etc.But the essence of these methods all is to utilize the vector of each sector to synthesize again in the sector by judging earlier.Though certain simplification is arranged, the total structure of program still is made up of a large amount of branched programs, and the modulation algorithm of each sector does not have unified rule to follow.
How simplifying the method for its Digital Implementation when adopting SVPWM, is a focus of studying at present.Effectively solution is less both at home and abroad, and implementation is still comparatively loaded down with trivial details, and the versatility and the real-time of program are relatively poor.
Three, summary of the invention
Purpose of the present invention is intended to propose a kind of novel SVPWM implementation, and fundamentally simplify its way of realization, replace the notion of sector among traditional SVPWM with unified expression formula, this scheme has greatly reduced the operand of program, and is convenient to very much Digital Implementation.This implementation is characterised in that:
1, a kind of modulator approach based on space vector of voltage is characterized in that:
1. utilize the direct synthesized reference voltage vector of combination of three-phase bridge arm voltage, its compositive relation should satisfy:
T
PWMU
ref＝T
aU
a+T
bU
b+T
cU
c (1)
T in the formula
PWMBe carrier cycle, U
RefBe reference voltage vector; U
a, U
b, U
cBe respectively three-phase phase voltage; T
a, T
b, T
cBe respectively U
a, U
b, U
cAction time, promptly directly utilize the above-mentioned compositive relation formula (1) of three-phase bridge arm voltage to reference voltage vector, directly find the solution action time of three-phase bridge arm voltage by algorithm, obtain the control signal of each switching tube;
The formation of 120 ° of coordinate systems of 2. novel two-phase:
In conventional three phase coordinate systems, differ 120 ° between each axis, select the dead in line of any two phase axis and 120 ° of coordinate systems of novel two-phase in conventional three phase coordinate systems, the third phase axis in conventional three phase coordinate systems then projects on the reference axis of 120 ° of coordinate systems of novel two-phase according to geometrical relationship.The axis of 120 ° of coordinate systems of novel two-phase is represented with axle m, n, the axis m, the n that choose 120 ° of coordinate systems of axis A, B and novel two-phase of conventional three phase coordinate systems overlap, make the decomposition of reference voltage vector under the reference axis of 120 ° of coordinate systems of novel two-phase have certainty, the compositive relation under 120 ° of coordinate systems of then novel two-phase is:
T
PWMU
ref＝T
mU
m+T
nU
n (2)
Can get the projection formula of reference voltage vector in 120 ° of coordinate systems of novel two-phase according to sine is:
The transformation relation that is converted into 120 ° of coordinate systems of novel two-phase by conventional three phase coordinate systems is:
In the above-mentioned formula, U
a, U
b, U
cBe three-phase phase voltage; T
a, T
b, T
cThe corresponding U of difference
a, U
b, U
cAction time; U
m, U
nBe the projection of three-phase phase voltage under 120 ° of coordinate systems of novel two-phase, T
m, T
nThe corresponding U of difference
m, U
nAction time; θ is U
RefWith the angle of m axle, other symbol: T
PWM, U
RefIdentical with the definition in the above-mentioned formula (1), thus,,, find the solution three-phase voltage T action time that obtains by finding the solution of above-mentioned formula (1) being converted into to the finding the solution of above-mentioned formula (3) and formula (4) by above-mentioned conversion
a, T
b, T
cJust distinguish the switching time of corresponding three-phase brachium pontis;
3. the setting of additional conditions
For above-mentioned formula (4) is not only separated, and it separate the requirement that must satisfy Project Realization, so the implicit additional conditions of this formula (4) are:
Because T
a, T
b, T
cAll, therefore additional conditions can be set more than or equal to zero:
Min(T
a，T
b，T
c)＝0 (6)
With the above-mentioned formula of these additional conditions (6) substitution (4), get solution formula to the end:
Four, description of drawings
The synthesis mode of conventional three phase coordinate systems of Fig. 1.
The ambiguity that conventional three phase coordinate systems of Fig. 2 decompose, wherein Fig. 2 (a) is reference voltage vector U
RefAt axle U
a, U
b, U
cOn projection, Fig. 2 (b) is reference voltage vector U
RefAt axle U
a, U
bOn projection.
The conventional three-phase coordinate system transformation of Fig. 3 is to the schematic diagram of 120 ° of coordinate systems of novel two-phase.
Fig. 4 software realization flow figure.
Fig. 5 equation group (7) is found the solution flow chart.
The modulation waveform of two kinds of algorithms of Fig. 6.
The time of implementation of two kinds of algorithms of Fig. 7.
Five, embodiment
5.1 the synthesis mode of new spatial Vector Modulation
In three-phase full-bridge inverter, what spatial vector pulse width modulation algorithm need be found the solution is the switching signal of three brachium pontis.Eight basic voltage vectors of conventional modulated algorithm are actually the intermediate quantity that computing is for convenience introduced.The new spatial Vector Modulation algorithm that this paper proposed need not be found the solution the action time as eight basic voltage vectors of intermediate quantity, directly utilizes the on off state of three-phase brachium pontis correspondence to come the synthesized reference voltage vector, has greatly simplified the Vector Modulation algorithm.
In the voltage vector space, the three-phase brachium pontis voltage U of inverter
a, U
b, U
cJust be separated by 120 ° in space, as shown in Figure 1.Can utilize the direct synthesized reference voltage vector of combination of three-phase bridge arm voltage, compositive relation satisfies:
T
PWMU
ref＝T
aU
a+T
bU
b+T
cU
c (1)
U in the formula
RefBe reference voltage vector; T
a, T
b, T
cBe respectively U
a, U
b, U
cAction time; T
PWMBe carrier cycle.
Essence of the present invention is exactly directly to utilize the compositive relation formula (1) of three-phase bridge arm voltage to reference voltage vector, directly finds the solution action time of three-phase bridge arm voltage by certain algorithm, obtains the control signal of each switching tube.The key that this method realizes has been to adopt this paper to define 120 ° of coordinate systems of a kind of special novel two-phase, and carries out vector calculus therein, thereby has simplified the solution procedure of modulation algorithm.
5.2 the structure of 120 ° of coordinate systems of novel two-phase
According to the linear equation theory of solving, the number of equation is less than the number (Ta, Tb and Tc) of unknown number in the formula (1), and linear equation does not have unique solution.And the not uniqueness of separating to be reflected on the vectogram be exactly reference voltage vector U
RefProjection pattern to three reference axis is not unique, as shown in Figure 2.
For obtaining U
RefTo three projection patterns that reference axis is unique, this paper has defined 120 ° of coordinate systems of a kind of special two-phase.As shown in Figure 3.In conventional three phase coordinate systems, differ 120 ° between each axis, select the dead in line of any two phase axis and 120 ° of coordinate systems of novel two-phase in conventional three phase coordinate systems, the third phase axis in conventional three phase coordinate systems then projects on the reference axis of 120 ° of coordinate systems of novel two-phase according to geometrical relationship.The axis of 120 ° of coordinate systems of novel two-phase represents that with axle m, n the axis m, the n that choose 120 ° of coordinate systems of axis A, B and novel two-phase of conventional three phase coordinate systems overlap, as shown in Figure 3.
Because coordinate system becomes two-phase from three-phase, thereby makes the decomposition of reference voltage vector under 120 ° of coordinate systems of novel two-phase have certainty, the compositive relation under 120 ° of coordinate systems of then novel two-phase is:
T
pwmU
ref＝T
mU
m+T
nU
n (2)
Can get the projection formula of reference voltage vector in 120 ° of coordinate systems of novel two-phase according to sine is:
T in the formula
m, T
nThe corresponding U of difference
m, U
nAction time; U
m, U
nBe the projection of three-phase phase voltage under 120 ° of coordinates of novel two-phase; θ is U
RefAngle with the m axle.
The transformation relation that is converted into 120 ° of coordinate systems of novel two-phase by conventional three phase coordinate systems is:
T wherein
a, T
b, T
cThe corresponding U of difference
a, U
b, U
cAction time; U
a, U
b, U
cBe three-phase phase voltage.
Through with up conversion, just can be converted into finding the solution to (3), (4) two formulas to finding the solution of formula (1).Elder generation's through type (3) is found the solution the reference axis component under 120 ° of coordinate systems of novel two-phase, and substitution equation group is then found the solution in (4).Three-phase voltage T action time that try to achieve this moment
a, T
b, T
cJust distinguish the switching time of corresponding three-phase brachium pontis.
5.3 the setting of additional conditions
According to existing known conditions, equation group (4) not only will be separated, and it separate the requirement that also must satisfy Project Realization, so the additional conditions that can obtain implying:
But when wanting the separating of solving equation group (4), also need further restriction of formula (5).Because it all is rational that equation group (4) satisfies implicit separating of additional conditions (5).And according to the form of equation group (4) as can be known, if wherein one be 0, it is found the solution will be the simplest.Because T
a, T
b, T
cAll, therefore additional conditions can be set more than or equal to 0:
Min(T
a，T
b，T
c)＝0 (6)
And in finding the solution formula T
a, T
b, T
cValue the time only need judge T
m, T
nSymbol get final product.With additional conditions substitution equation group (4), obtain solution formula at last:
As can be seen from the above equation, compare with traditional SVPWM, equation group (7) has been replaced the notion of sector.In whole coordinate space, find the solution the rule unanimity, and expression formula is very simple, is easy to Digital Implementation.Its main software flow pattern is shown in Fig. 4,5.
5.4 experimental verification
Experiment adopts the 2407A DSP of TI company to verify, the scheme of the present invention's proposition and traditional SVPWM in interrupting, are realized by same timer, modulating wave is exported by the mode of D/A, as shown in Figure 6, wherein CH1 is the voltage modulated waveform under traditional SVPWM, and CH2 is the voltage modulated waveform under the novel algorithm.
Novel algorithm is compared not only software and is realized more simply with traditional algorithm, its real-time also increases.Fig. 7 compared the time of implementation of two kinds of algorithms, the time of implementation that two different I/O% mouths calculate two kinds of algorithms is set respectively, during beginning execution algorithm program the I/O level is dragged down, when finishing executive program the I/O level is drawn high, detect two kinds of algorithm times of implementation separately with this.CH1 is the time of implementation of traditional algorithm, is about 20.2us, and CH1 is about 17.8us for being novel algorithm execution time.Both compare, and reduced 11.9% the operation time of novel algorithm.
Claims (1)
1, a kind of modulator approach based on space vector of voltage is characterized in that:
1. utilize the direct synthesized reference voltage vector of combination of three-phase bridge arm voltage, its compositive relation should satisfy:
T
PWMU
ref＝T
aU
a+T
bU
b+T
cU
c (1)
T in the formula
PWMBe carrier cycle, U
RefBe reference voltage vector; U
a, U
b, U
cBe respectively three-phase phase voltage; T
a, T
b, T
cBe respectively U
a, U
b, U
cAction time, promptly directly utilize the above-mentioned compositive relation formula (1) of three-phase bridge arm voltage to reference voltage vector, directly find the solution action time of three-phase bridge arm voltage by algorithm, obtain the control signal of each switching tube;
The formation of 120 ° of coordinate systems of 2. novel two-phase:
In conventional three phase coordinate systems, differ 120 ° between each axis, select the dead in line of any two phase axis and 120 ° of coordinate systems of novel two-phase in conventional three phase coordinate systems, third phase axis in conventional three phase coordinate systems then projects on the reference axis of 120 ° of coordinate systems of novel two-phase according to geometrical relationship, the axis of 120 ° of coordinate systems of novel two-phase is with axle m, n represents, choose the axis A of conventional three phase coordinate systems, the axis m of B and 120 ° of coordinate systems of novel two-phase, n overlaps, make the decomposition of reference voltage vector under the reference axis of 120 ° of coordinate systems of novel two-phase have certainty, the compositive relation under 120 ° of coordinate systems of then novel two-phase is:
T
PWMU
ref＝T
mU
m+T
nU
n (2)
Can get the projection formula of reference voltage vector in 120 ° of coordinate systems of novel two-phase according to sine is:
The transformation relation that is converted into 120 ° of coordinate systems of novel two-phase by conventional three phase coordinate systems is:
In the above-mentioned formula, U
a, U
b, U
cBe three-phase phase voltage; T
a, T
b, T
cThe corresponding U of difference
a, U
b, U
cAction time; U
m, U
nBe the projection of three-phase phase voltage under 120 ° of coordinate systems of novel two-phase, T
m, T
nThe corresponding U of difference
m, U
nAction time; θ is U
RefWith the angle of m axle, other symbol: T
PWM, U
RefIdentical with the definition in the above-mentioned formula (1), thus,,, find the solution three-phase voltage T action time that obtains by finding the solution of above-mentioned formula (1) being converted into to the finding the solution of above-mentioned formula (3) and formula (4) by above-mentioned conversion
a, T
b, T
cJust distinguish the switching time of corresponding three-phase brachium pontis;
3. the setting of additional conditions
For above-mentioned formula (4) is not only separated, and it separate the requirement that must satisfy Project Realization, so the implicit additional conditions of this formula (4) are:
Because T
a, T
b, T
cAll, therefore additional conditions can be set more than or equal to zero:
Min(T
a，T
b，T
c)＝0 (6)
With the above-mentioned formula of these additional conditions (6) substitution (4), get solution formula to the end:
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Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101272104B (en) * | 2008-05-07 | 2011-11-16 | 中国科学院电工研究所 | Space vector modulation method |
| CN100557943C (en) * | 2008-06-13 | 2009-11-04 | 株洲南车时代电气股份有限公司 | A kind of synchronous modulation method based on space vector |
| DE102008040144A1 (en) * | 2008-07-03 | 2010-01-07 | Robert Bosch Gmbh | Method and device for optimizing a space vector pulse width modulation |
| CN102223138B (en) * | 2011-06-27 | 2013-04-03 | 株洲南车时代电气股份有限公司 | Motor synchronous modulation method and control system thereof |
| CN102255597B (en) * | 2011-07-29 | 2013-06-12 | 株洲南车时代电气股份有限公司 | Motor synchronous control method, apparatus thereof and system thereof |
| CN102361407B (en) * | 2011-10-20 | 2013-01-02 | 四川科陆新能电气有限公司 | Voltage space vector pulse width modulation method |
| WO2013076937A1 (en) * | 2011-11-22 | 2013-05-30 | パナソニック株式会社 | Ac conversion circuit |
| CN102969709B (en) * | 2012-10-30 | 2015-07-22 | 李军 | Method for judging three phase voltage vector space locations |
| CN103427699B (en) * | 2013-08-13 | 2016-01-20 | 华南理工大学 | Based on the three-phase converter method of three Mode-switchs |
| CN104617804A (en) * | 2015-01-19 | 2015-05-13 | 云南电网有限责任公司电力科学研究院 | Space vector pulse width modulation method |
| US10374503B2 (en) * | 2015-02-16 | 2019-08-06 | Mitsubishi Electric Corporation | Power conversion device |
| EP3261246B1 (en) * | 2015-02-16 | 2020-07-08 | Mitsubishi Electric Corporation | Power conversion device |
| CN104660135B (en) * | 2015-03-16 | 2017-03-01 | 河北工业大学 | SVPWM method based on 120 ° of AB coordinate systems |
| CN108092592B (en) * | 2017-12-29 | 2019-12-13 | 杭州先途电子有限公司 | SVPWM-based control method and device and server |
| CN109039189B (en) * | 2018-07-17 | 2021-11-26 | 东南大学 | Permanent magnet synchronous motor two-vector prediction control method based on geometric method |
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|---|---|---|---|---|
| US5552977A (en) * | 1995-06-20 | 1996-09-03 | Ford Motor Company | Three phase inverter circuit with improved transition from SVPWM to six step operation |
| US20040130918A1 (en) * | 2002-10-15 | 2004-07-08 | International Rectifier Corporation | Space vector PWM modulator for permanent magnet motor drive |
| CN1829061A (en) * | 2005-03-01 | 2006-09-06 | 广东明阳龙源电力电子有限公司 | Three level inverter control system and method |
| CN1879283A (en) * | 2002-10-15 | 2006-12-13 | 国际整流器公司 | Space vector PWM modulator for permanent magnet motor drive |
-
2007
- 2007-01-15 CN CNB2007100193199A patent/CN100433536C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5552977A (en) * | 1995-06-20 | 1996-09-03 | Ford Motor Company | Three phase inverter circuit with improved transition from SVPWM to six step operation |
| US20040130918A1 (en) * | 2002-10-15 | 2004-07-08 | International Rectifier Corporation | Space vector PWM modulator for permanent magnet motor drive |
| CN1879283A (en) * | 2002-10-15 | 2006-12-13 | 国际整流器公司 | Space vector PWM modulator for permanent magnet motor drive |
| CN1829061A (en) * | 2005-03-01 | 2006-09-06 | 广东明阳龙源电力电子有限公司 | Three level inverter control system and method |
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