CN102723877A - Space vector modulation method of four-leg converter based on classification algorithm and apparatus thereof - Google Patents

Space vector modulation method of four-leg converter based on classification algorithm and apparatus thereof Download PDF

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CN102723877A
CN102723877A CN2012100159131A CN201210015913A CN102723877A CN 102723877 A CN102723877 A CN 102723877A CN 2012100159131 A CN2012100159131 A CN 2012100159131A CN 201210015913 A CN201210015913 A CN 201210015913A CN 102723877 A CN102723877 A CN 102723877A
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brachium pontis
reference voltage
apf
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voltage
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周娟
伍小杰
吴璇
戴鹏
于月森
耿乙文
张勇
王子绩
王超
秦静
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China University of Mining and Technology CUMT
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Abstract

A kind of space vector modulating method and device based on sorting algorithm four bridge legs current transformer, belongs to four bridge legs current transformer vector modulation method. One, by three-phase reference voltage
Figure 379382DEST_PATH_IMAGE002
,
Figure 227252DEST_PATH_IMAGE004
,
Figure 277117DEST_PATH_IMAGE006
Calculate six intermediate variables , obtained by comparing network maximum and time big To determine reference voltage space vector
Figure 237486DEST_PATH_IMAGE010
Place triangular prism; Two, Clarke transform is carried out to input signal, by reference voltage vector under α β γ coordinate system
Figure 650012DEST_PATH_IMAGE010
The tetrahedron where it is determined with five flat relations of plane in the triangular prism of place; Three, it defines , by with it is maximum in step 1 and time greatly
Figure 594015DEST_PATH_IMAGE008
Linear combination calculates three adjacent fundamental voltage space vectors
Figure 176830DEST_PATH_IMAGE014
,
Figure 76653DEST_PATH_IMAGE016
,
Figure 767397DEST_PATH_IMAGE018
Action time
Figure 803487DEST_PATH_IMAGE020
,
Figure 429640DEST_PATH_IMAGE022
,
Figure 816759DEST_PATH_IMAGE024
; Four, according to result above, the switching device of current transformer is switched over, keeps four bridge legs current transformer output voltage and reference voltage equivalent. Algorithm realizes that process simplification is calculating intermediate variable, judges intermediate variable maximum value and second largest value, carries out linear combination to intermediate variable, and step is clear, and realization is simple, and the algorithm calculation amount is small, strong real-time.

Description

Space vector modulating method and device based on sorting algorithm four brachium pontis current transformers
Technical field
The present invention relates to a kind of four brachium pontis current transformer vector modulation method and devices, particularly a kind of space vector modulating method and device based on sorting algorithm four brachium pontis current transformers.
Background technology
Four brachium pontis current transformers are controlled current in middle wire, are handled imbalance and linear distortion problem through the 4th brachium pontis.The space vector of voltage modulation is a kind of method that extensively adopts at present, and the english abbreviation of space vector of voltage modulation is SVPWM, from the angle of motor, is conceived to how to make motor to obtain the circular rotating field of constant amplitude, promptly sinusoidal magnetic flux.Because four brachium pontis current transformer SVPWM base vectors are three-dimensional in spatial distribution, be applied to four brachium pontis SVPWM and also be referred to as three-dimensional space vector of voltage modulation, the english abbreviation of three-dimensional space vector of voltage modulation is 3D-SVPWM.
SVPWM has that switching frequency is fixed, direct voltage utilance height and control precision advantages of higher, in current transformer control, is widely used.Four brachium pontis current transformers have and can directly control, use advantage flexible, that dc capacitor voltage control is simple, the electric current fan-out capability is strong to neutral current.At non-line.Obtain using comparatively widely in the harmonic compensation of property and unbalanced load power supply and three-phase four-wire system electric power system.But four brachium pontis converter switches states are many; Tradition 3D-SVPWM method is at first judged the triangular prism at place through the reference voltage vector
Figure 104153DEST_PATH_IMAGE002
and the relation of three straight lines fixing, confirm the tetrahedron at place again according to the amplitude of reference voltage vector
Figure 145927DEST_PATH_IMAGE002
under the abc coordinate system; Form this tetrahedral three base vectors that vector is exactly the synthesized reference voltage vector, its action time according to weber equilibrium principle calculate.Its computational process is quite complicated, and wherein also comprises approximate calculation, and computational efficiency is lower, the real-time of influence control.
Summary of the invention
The objective of the invention is to provide a kind of space vector modulating method based on sorting algorithm four brachium pontis current transformers, solving conventional three-dimensional space vector of voltage modulator approach need be than multioperation, and computational efficiency is lower, the problem of influence control real-time.
The objective of the invention is to realize like this: this method realizes through following technical scheme:
Step 1, calculate six intermediate variables
Figure 957708DEST_PATH_IMAGE010
, draw through comparing cell and maximumly confirm that with time big
Figure 349375DEST_PATH_IMAGE010
reference voltage space vector
Figure 548275DEST_PATH_IMAGE002
belongs to triangular prism by three-phase reference voltage
Figure 925664DEST_PATH_IMAGE004
,
Figure 320873DEST_PATH_IMAGE006
,
Figure 135246DEST_PATH_IMAGE008
;
Step 2, input signal is carried out the clarke conversion, confirm the tetrahedron at its place by the relation on five planes in reference voltage vector
Figure 217154DEST_PATH_IMAGE002
under the α β γ coordinate system and the place triangular prism;
Step 3, definition
Figure 210518DEST_PATH_IMAGE012
; Through with step 1 in maximum and time big
Figure 341678DEST_PATH_IMAGE010
linear combination, calculate action time
Figure 398179DEST_PATH_IMAGE020
,
Figure 673303DEST_PATH_IMAGE022
,
Figure 316774DEST_PATH_IMAGE024
of three adjacent fundamental voltage space vectors
Figure 78690DEST_PATH_IMAGE014
,
Figure 602076DEST_PATH_IMAGE016
,
Figure 156554DEST_PATH_IMAGE018
;
Step 4, according to above result, the switching device of current transformer is switched, make the equivalence of four brachium pontis current transformer output voltages and reference voltage;
In the said step 1, three-phase voltage is carried out linear combination gets intermediate variable, through type:
Figure 776574DEST_PATH_IMAGE026
Obtain six intermediate variables;
In the said step 2, through type:
Figure 505495DEST_PATH_IMAGE028
Carry out the clarke conversion, through type:
Figure 584310DEST_PATH_IMAGE030
Obtain the plane equation of cutting apart triangular prism;
Reference voltage vector is in tetrahedron T1 the time, in the said step 3, and through type:
Obtain tetrahedron T 1The action time of three adjacent fundamental voltage space vectors
Figure 853934DEST_PATH_IMAGE020
,
Figure 932136DEST_PATH_IMAGE022
,
Figure 814641DEST_PATH_IMAGE024
, wherein
Figure 167125DEST_PATH_IMAGE034
,
V gBe dc voltage, T sBe switch periods;
The 3D-SVPWM method is exported the waveform identical with reference voltage in real time; Be applied among the four brachium pontis Active Power Filter-APF APF produce identical with the harmonic current amplitude; Opposite polarity offset current, thus offset the harmonic components in the source current, make the source current waveform for sinusoidal.
Four brachium pontis active power filter devices, this system is made up of harmonic source, four brachium pontis Active Power Filter-APF APF main circuits and three parts of four brachium pontis Active Power Filter-APF APF control system; Described harmonic source is the uncontrollable rectifier bridge of the three-phase of strip resistance load, for the simulation three-phase imbalance, inserts ohmic load mutually at A; Described Active Power Filter-APF APF main circuit adopts four brachium pontis converter structures, and the device for power switching IGBT module of usefulness is formed four brachium pontis, behind four brachium pontis, connects the buffer capacitor circuit, the buffer capacitor circuit be electric capacity two strings two also, and and the United Nations General Assembly's resistance; Described four brachium pontis Active Power Filter-APF APF control system comprise signal acquisition circuit, AD conversion and drive signal buffer circuit; Signal acquisition circuit is connected with the drive signal buffer circuit through the AD conversion, and the drive signal buffer circuit is connected with Active Power Filter-APF APF main circuit.
Beneficial effect; Owing to adopted such scheme; The intermediate variable that utilizes sorting algorithm to obtain is judged reference vector
Figure 109674DEST_PATH_IMAGE002
place triangular prism; Judge the tetrahedron at its place again through the relation on component and the plane that triangular prism encloses of reference vector
Figure 672242DEST_PATH_IMAGE002
on α β γ coordinate system, directly utilize intermediate variable to carry out linear combination and ask for base vector action time.All pilot process is reduced to: calculate intermediate variable, judge its maximum and second largest value, middle linear variable displacement is made up; Step is clear, realizes that simply, computational efficiency is high; It is little that this algorithm and traditional algorithm are compared amount of calculation; Real-time, can reserve and be used for control algolithm more computing time or improve switching frequency, have bigger theory innovation and using value.Having solved traditional 3D-SVPWM method need be than multioperation, and computational efficiency is lower, and the problem of influence control real-time has reached the object of the invention.
Advantage:
1, can judge reference voltage vector place triangular prism and tetrahedron fast;
2, the intermediate variable linear combination that utilizes sorting algorithm to obtain can obtain adjacent fundamental voltage space vector action time fast, more accurately; Reduced amount of calculation widely; Computational efficiency is high, and is real-time, can reserve to be used for control algolithm more computing time or to improve switching frequency.
Description of drawings
Fig. 1 is four brachium pontis current transformer Active Power Filter-APF main circuit topology figure.
Fig. 2 is the space vector of voltage distribution map.
Fig. 3 is four tetrahedrons and five flat distribution maps in prismatic 1.
Fig. 4 is a sorting algorithm comparing cell structure chart.
Fig. 5 is that reference voltage vector is at tetrahedron T 1The time PWM switching mode sketch map.
Fig. 6 is the three-phase voltage waveform of current transformer output when input voltage is three phase sine.
Fig. 7 is the three-phase voltage waveform of current transformer output when a adds triple-frequency harmonics in mutually.
Fig. 8 is an a phase output current wave when experimental facilities provides three phase sine voltage.
Fig. 9 is an a phase output current spectrogram.
Embodiment
Embodiment 1: this method realizes through following technical scheme:
Step 1, calculate six intermediate variables
Figure 604109DEST_PATH_IMAGE010
, draw through comparing cell and maximumly confirm that with time big
Figure 953051DEST_PATH_IMAGE010
reference voltage space vector
Figure 14548DEST_PATH_IMAGE002
belongs to triangular prism by three-phase reference voltage ,
Figure 565429DEST_PATH_IMAGE006
,
Figure 678878DEST_PATH_IMAGE008
;
Step 2, input signal is carried out the clarke conversion; Confirm the tetrahedron at its place by the reference voltage vector
Figure 298898DEST_PATH_IMAGE002
under the α β γ coordinate system and the relation on interior five planes of triangular prism, place; Described clarke conversion, english abbreviation are the CLARK conversion;
Step 3, definition
Figure 711425DEST_PATH_IMAGE012
; Through with step 1 in maximum and time big
Figure 739424DEST_PATH_IMAGE010
linear combination, calculate action time ,
Figure 130479DEST_PATH_IMAGE022
,
Figure 491053DEST_PATH_IMAGE024
of three adjacent fundamental voltage space vectors
Figure 45640DEST_PATH_IMAGE014
,
Figure 235313DEST_PATH_IMAGE016
,
Figure 135136DEST_PATH_IMAGE018
;
Step 4, according to above result, the switching device of current transformer is switched, make the equivalence of four brachium pontis current transformer output voltages and reference voltage;
In the said step 1, three-phase voltage is carried out linear combination gets intermediate variable, through type:
Figure 878172DEST_PATH_IMAGE026
Obtain six intermediate variables;
In the said step 2, through type:
Figure 247973DEST_PATH_IMAGE028
Carry out the clarke conversion, through type:
Figure 138569DEST_PATH_IMAGE030
Obtain the plane equation of cutting apart triangular prism;
Reference voltage vector is in tetrahedron T1 the time, in the said step 3, and through type:
Figure 60257DEST_PATH_IMAGE032
Obtain tetrahedron T 1The action time of three adjacent fundamental voltage space vectors ,
Figure 842586DEST_PATH_IMAGE022
,
Figure 853267DEST_PATH_IMAGE024
, wherein ,
V gBe dc voltage, T sBe switch periods;
The 3D-SVPWM method is exported the waveform identical with reference voltage in real time; Be applied among the four brachium pontis Active Power Filter-APF APF produce identical with the harmonic current amplitude; Opposite polarity offset current, thus offset the harmonic components in the source current, make the source current waveform for sinusoidal.
Four brachium pontis active power filter devices, this system is made up of harmonic source 1, four brachium pontis Active Power Filter-APF APF main circuits 2 and 3 three parts of four brachium pontis Active Power Filter-APF APF control system; Described harmonic source is the uncontrollable rectifier bridge of the three-phase of strip resistance load, for the simulation three-phase imbalance, inserts ohmic load mutually at A; Described Active Power Filter-APF APF main circuit adopts four brachium pontis converter structures; Capacity 10kVA; Rated current 15A, the device for power switching of selecting for use are that BSM50GB120DLC (1200V/50A) the type IGBT module of EUPEC is formed four brachium pontis, behind four brachium pontis, connect the buffer capacitor circuit; The buffer capacitor circuit be electric capacity two string two also, and and the United Nations General Assembly's resistance; Select single capacitor C buffer circuit for use, dc bus capacitor is selected 4 withstand voltage 400V of being, capacity electric capacity two string two and the modes for for use; Described four brachium pontis Active Power Filter-APF APF control system are important component parts of four brachium pontis APF systems; Undertaking the control and the protection of whole system, the hardware system core is the TMS320F2812 chip of TI company, is aided with signal acquisition circuit, AD conversion and drive signal buffer circuit; Accomplish collection, the conversion of voltage and current signal; The generation of PWM ripple, and the functions such as output of switching device drive signal, wherein the AD chip adopts AD7656.
Realize concrete steps of the present invention:
Step 1, according to reference voltage signal
Figure 753593DEST_PATH_IMAGE004
,
Figure 870978DEST_PATH_IMAGE006
,
Figure 9835DEST_PATH_IMAGE038
; Calculate intermediate variable
Figure 593263DEST_PATH_IMAGE010
; And relatively obtain maximum and inferior big
Figure 842979DEST_PATH_IMAGE010
, thereby judge reference voltage vector place triangular prism.Concrete grammar is:
Step a, detecting unit adopt the LV25-NP current sensor of LEM company; After the AD conversion, give DSP control system, thereby obtain reference voltage
Figure 828252DEST_PATH_IMAGE004
,
Figure 262645DEST_PATH_IMAGE006
,
Figure 333369DEST_PATH_IMAGE038
;
Step b, through calculating intermediate variable
Figure 386776DEST_PATH_IMAGE010
; And, judge reference voltage vector place triangular prism through relatively obtaining maximum and inferior big
Figure 226556DEST_PATH_IMAGE010
;
Behind step 2, the judgement reference voltage vector place triangular prism,, judge reference voltage vector place tetrahedron according to its relation with five planes of enclose.
Step 3, according to reference voltage vector place tetrahedron, provide the action time of three adjacent base vectors, through the output of the task manager in DSP control system PWM drive signal.
Step 4, PWM drive signal process drive plate act on the switching device of four bridge arm voltage source type inverters, make the equivalence of output voltage and reference voltage.
Specify implementation procedure of the present invention according to accompanying drawing below.
Step 1, calculate six intermediate variables by three-phase reference voltage
Figure 831849DEST_PATH_IMAGE004
,
Figure 124291DEST_PATH_IMAGE006
, ; In Fig. 4; Obtain maximum and inferior big
Figure 327236DEST_PATH_IMAGE010
through comparing cell; Thereby can obtain reference voltage vector place triangular prism; Through relatively
Figure 497186DEST_PATH_IMAGE040
,
Figure 892395DEST_PATH_IMAGE042
are respectively maximum and time big, can judge that then reference voltage vector is positioned at prismatic P1.The present invention is with the tetrahedron T in the prism 1 1Be example, see table 1.
Table 1 space vector of voltage triangular prism is judged tabulation
Prismatic Select Prismatic Select
Figure 529230DEST_PATH_IMAGE010
P1
Figure 796263DEST_PATH_IMAGE044
 P4
Figure 122727DEST_PATH_IMAGE046
P2 P5
Figure 784969DEST_PATH_IMAGE050
P3
Figure 539299DEST_PATH_IMAGE052
 P6
Figure 400944DEST_PATH_IMAGE054
Six base vectors and two zero vectors are divided into four tetrahedrons with this space in step 2, each triangular prism, and reference vector is in prismatic P1 the time, in Fig. 3; Prismatic P1 is by A, B, C; D; Five planes of E are divided into four tetrahedrons with it, and each tetrahedron is formed the basic ideas of non-linear sorting algorithm by three planes wherein: the relation according to reference voltage vector and these three planes is judged its adjacent base vector.
According to the coordinate of each base vector in α β γ coordinate system, write out A respectively, B, C, D, the equation on five planes of E is:
Figure 924330DEST_PATH_IMAGE056
(1)
Tetrahedron T then 1By A, B, C forms; T 2By C, D, E forms; T 13By A, B, E forms; T 14By A, D, E forms.
If
Figure 354174DEST_PATH_IMAGE030
(2)
Then each prismatic five interior plane is as shown in table 2.
Each prismatic plane equation of table 2
Prismatic A B C D E
P1 x=0 y=0 z=0 s=0 q=0
P2 q=0 z=0 y=0 s=0 w=0
P3 w=0 z=0 s=0 y=0 x=0
P4 x=0 s=0 z=0 y=0 q=0
P5 q=0 s=0 y=0 z=0 w=0
P6 w=0 y=0 s=0 z=0 x=0
If reference vector is in prismatic P1; According to the coordinate
Figure 454854DEST_PATH_IMAGE058
of reference vector in α β γ coordinate system, substitution formula (2) can be judged:
(a) when
Figure 995557DEST_PATH_IMAGE060
, reference vector is at T 1In;
(b) when
Figure 639028DEST_PATH_IMAGE062
, reference vector is at T 2In;
(c) when , reference vector is at T 13In;
(d) when
Figure 703116DEST_PATH_IMAGE066
, reference vector is at T 14In.
Concrete Rule of judgment is as shown in table 3.
Tetrahedral judgement among the prismatic P1 of table 3
Figure DEST_PATH_IMAGE068A
The calculating of step 3, adjacent voltage vector action time
Definition
Figure 119333DEST_PATH_IMAGE070
, comparing cell is selected , calculate T 1In action time of three adjacent fundamental voltage space vectors do
Figure 123378DEST_PATH_IMAGE072
(3)
In like manner can get the action time of adjacent fundamental voltage space vector in interior other tetrahedrons of prismatic P1, as shown in table 4.
The action time of 4 adjacent fundamental voltage space vectors of tetrahedron in the prismatic P1 of table 4
Figure DEST_PATH_IMAGE074A
The calculating of action time greatly reduces amount of calculation in the table 4, also is one of innovative point of the present invention.
Step 4, adopt symmetrical modulation method, can draw the switching time of power device, Fig. 5 is that reference voltage vector is at tetrahedron T 1The time PWM switch motion constantly, Fig. 6, Fig. 7 make four brachium pontis current transformer output voltages and reference voltage equivalence through switch combination.Fig. 8 is that a phase output current wave is sine, and Fig. 9 is that a phase output current branch aberration rate is 2.5%, National standard, thus verified correctness of the present invention, practicality.

Claims (2)

1. space vector modulating method and device based on sorting algorithm four brachium pontis current transformers, it is characterized in that: this method realizes through following technical scheme:
Step 1, calculate six intermediate variables
Figure DEST_PATH_IMAGE008
, draw maximum and time big
Figure 532711DEST_PATH_IMAGE008
through comparing cell and confirm that reference voltage space vector
Figure DEST_PATH_IMAGE010
Suo Zais triangular prism by three-phase reference voltage ,
Figure 2012100159131100001DEST_PATH_IMAGE004
,
Figure 2012100159131100001DEST_PATH_IMAGE006
;
Step 2, input signal is carried out the clarke conversion, confirm the tetrahedron at its place by the relation on five planes in reference voltage vector
Figure 539850DEST_PATH_IMAGE010
under the α β γ coordinate system and the place triangular prism;
Step 3, definition ; Through with step 1 in maximum and time big linear combination, calculate action time
Figure DEST_PATH_IMAGE020
, , of three adjacent fundamental voltage space vectors ,
Figure DEST_PATH_IMAGE016
,
Figure DEST_PATH_IMAGE018
;
Step 4, according to above result, the switching device of current transformer is switched, make the equivalence of four brachium pontis current transformer output voltages and reference voltage;
In the said step 1, three-phase voltage is carried out linear combination gets intermediate variable, through type:
Figure DEST_PATH_IMAGE026
Obtain six intermediate variables;
In the said step 2, through type:
Figure DEST_PATH_IMAGE028
Carry out the clarke conversion, through type:
Figure DEST_PATH_IMAGE030
Obtain the plane equation of cutting apart triangular prism;
Reference voltage vector is in tetrahedron T1 the time, in the said step 3, and through type:
Figure DEST_PATH_IMAGE032
Obtain tetrahedron T 1The action time of three adjacent fundamental voltage space vectors
Figure 211713DEST_PATH_IMAGE020
,
Figure 649648DEST_PATH_IMAGE022
,
Figure 70265DEST_PATH_IMAGE024
, wherein
Figure DEST_PATH_IMAGE034
,
V gBe dc voltage, T sBe switch periods;
The 3D-SVPWM method is exported the waveform identical with reference voltage in real time; It is identical with the harmonic current amplitude to be applied to the middle generation of four brachium pontis Active Power Filter-APFs (APF); Opposite polarity offset current, thus offset the harmonic components in the source current, make the source current waveform for sinusoidal.
2. space vector of voltage modulating device based on sorting algorithm four brachium pontis current transformers; It is characterized in that: four brachium pontis active power filter devices, this system is made up of harmonic source, four brachium pontis Active Power Filter-APF APF main circuits, three parts of four brachium pontis Active Power Filter-APF APF control system; Described harmonic source is the uncontrollable rectifier bridge of the three-phase of strip resistance load, for the simulation three-phase imbalance, inserts ohmic load mutually at A; Described Active Power Filter-APF APF main circuit adopts four brachium pontis converter structures, and the device for power switching IGBT module of usefulness is formed four brachium pontis, behind four brachium pontis, connects the buffer capacitor circuit, the buffer capacitor circuit be electric capacity two strings two also, and and the United Nations General Assembly's resistance; Described four brachium pontis Active Power Filter-APF APF control system comprise signal acquisition circuit, AD conversion and drive signal buffer circuit; Signal acquisition circuit is connected with the drive signal buffer circuit through the AD conversion, and the drive signal buffer circuit is connected with Active Power Filter-APF APF main circuit.
CN2012100159131A 2012-01-19 2012-01-19 Space vector modulation method of four-leg converter based on classification algorithm and apparatus thereof Pending CN102723877A (en)

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103346567A (en) * 2013-07-30 2013-10-09 扬州华电电气有限公司 Shunt active power filter
CN103346567B (en) * 2013-07-30 2015-11-25 扬州华电电气有限公司 A kind of parallel connection type active electric filter
CN103532415A (en) * 2013-10-24 2014-01-22 中国矿业大学 Space vector modulation scheme of four-bridge-arm converter based on gh gamma coordinate system
CN103532415B (en) * 2013-10-24 2016-03-30 中国矿业大学 Based on the four bridge legs current transformer space vector modulating method of gh γ coordinate system
CN104467496A (en) * 2014-06-23 2015-03-25 南昌工程学院 Three-dimensional space vector modulation algorithm of multi-level inverter
CN104467496B (en) * 2014-06-23 2017-02-15 南昌工程学院 Three-dimensional space vector modulation algorithm of multi-level inverter
CN105811814A (en) * 2016-03-29 2016-07-27 中车永济电机有限公司 Main circuit of traction converter for high-speed motor train unit
CN105811814B (en) * 2016-03-29 2018-11-23 中车永济电机有限公司 A kind of high-speed motor train unit traction converter main circuit
CN109768552A (en) * 2018-12-26 2019-05-17 安徽一天电能质量技术有限公司 A kind of three-phase four-arm Active Power Filter-APF target current generation modulator approach
CN111049411A (en) * 2019-11-20 2020-04-21 天津大学 Modulation method of three-phase four-leg current source type converter
CN113708652A (en) * 2020-05-21 2021-11-26 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） Harmonic generation converter and vehicle-mounted power supply system
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