CN103248304A - Tri-level inversion indirect vector control system based on simplified SVPWM (space vector pulse width modulation) - Google Patents
Tri-level inversion indirect vector control system based on simplified SVPWM (space vector pulse width modulation) Download PDFInfo
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Abstract
The invention relates to a tri-level inversion indirect vector control system based on simplified SVPWM (space vector pulse width modulation). On bases of the SVPWM simplification algorithm under a 60-degree coordinate system, an asynchronous motor dynamic mathematical model, a vector control fundamental principle and a main circuit in the step A, the tri-level inverter vector control system based on network parameter control (NPC) is established. The method dispenses with judgment that a reference voltage vector is in a large section or a small section, as well as a great deal of trigonometric functional operation, and only requires simple logical judgment, so that nearest three vectors for synthesizing the reference voltage vector can be obtained; and meanwhile, an output switch state equation is introduced in the algorithm, so that midpoint electric potential balance on the direct current side can be effectively controlled, and the method can be easily popularized to inverters with higher level.
Description
Technical field
The invention belongs to high pressure, high power AC frequency control field, relate to a kind of indirect vector control system of diode-clamped (NPC) three-level inverter based on the SVPWM shortcut calculation.
Background technology
Since NPC tri-level topological structures propose, this structure is widely used in fields such as the transmission of mesohigh alternating current machine, electric network reactive compensation and generations of electricity by new energy.Than two level, the characteristics such as the NPC three-level inverter has the more approaching sine wave of output voltage, voltage change ratio is little, equivalent switching frequency is high, harmonic wave is little.But by each phase brachium pontis, can produce certain electric current due to its load current at the DC side mid point, make dividing potential drop capacitance voltage imbalance.The uneven meeting of capacitance voltage increases the harmonic content of output voltage waveforms, can strengthen the voltage stress of switching device simultaneously, even can damage switching device, puncture DC bus capacitor.Therefore, in frequency conversion speed-adjusting system, need to carry out by control algolithm the next balanced capacitance voltage of the degree of freedom of suitable selector switch state equation.
Summary of the invention
The present invention is for solving the problems of the technologies described above, a kind of indirect vector control system of tri-level inversion based on simplifying SVPWM has been proposed, this system has been saved judgement and a large amount of trigonometric function operation of large and small sector, reference voltage vector place, only need to carry out simple logic judgement, can obtain nearest three vectors for the synthesis of reference voltage vector; Simultaneously, introduced the output switch state equation in algorithm, can effectively control DC side midpoint potential balance, the method can be generalized to easily more and go in the high level inverter.
The present invention is that the technical scheme that the deficiency that solves the problems of the technologies described above adopts is: a kind of indirect vector control system of tri-level inversion based on simplifying SVPWM,
Step 2, utilize 60 ° of SVPWM shortcut calculations under coordinate system to make main circuit DC capacitor voltage balance in step 1;
The method of step 3, employing coordinate transform is simplified its Mathematical Modeling: when asynchronous motor is processed, ignore space harmonics, three phase windings are 120 ° of space mutual deviations, and the magnetomotive force produced distributes by sinusoidal rule along air gap periphery; Ignore magnetic circuit saturated, think that the self-induction of each winding and mutual inductance are all constant; Ignore core loss; Do not consider the impact on winding resistance of frequency change and variations in temperature;
Step 4, according to the asynchronous motor dynamic mathematical models in step 3 and the basic principle of vector control, the main circuit of take in step 1 is basis, sets up the indirect vector control system based on the NPC three-level inverter.
Described step 1 is that inverter is every to be comprised of 4 IGBT switching tubes, 4 fly-wheel diodes, 2 clamping diodes; Whole three-phase inverter DC side is together in series and is supported and balanced DC voltage by two capacitor C l, C2, wherein Cl=C2, control by certain switching logic, and AC produces the phase voltage of three kinds of voltages, at the output synthesis sine, the dynamic mathematical models of its main circuit are:
, wherein
,
,
be respectively A, B, C three-phase phase current, R, L are respectively resistance value, the inductance value of AC,
for DC voltage,
,
,
,
for the switch function of inverter A, B, C three-phase,
,
,
be respectively AC A, B, C three-phase voltage source.
The SVPWM shortcut calculation based under 60 ° of coordinate systems of described step 2 is,
Determining of step 2, basic vector: after normalized, by the coordinate figure normalizing of all space vectors, it is integer, the method that adopts the space vector of voltage coordinate figure to round up and down, and nearest three vector principles are determined the fundamental space vector of synthesized reference space vector
,
,
;
The calculating of step 3, vector action time: for a given reference voltage space vector
, by the weber equilibrium principle
,
for PWM interrupt cycle, calculate the action time of each basic vector of being determined by step 3
,
,
;
Determining of step 4, output switch state: getting nearest three vectors is:
, the on off state that this basic vector is corresponding is:
, switching vector selector can be designated as:
, according to the impact of large vector, middle vector, positive small vector, negative small vector alignment voltage, select different
, just can select different redundancy vectors, obtain three nearest basic vectors
corresponding whole on off state, obtain different on off sequence pulses, by the conducting to the three-level inverter switching tube and shutoff, controlled, and controls neutral point voltage balance.
Described step 4 is, according to the fundamental equation of vector control, sets up based on the slip frequency Vector Speed-Control System, and the system main circuit has adopted SVPWM voltage-type three-level inverter, and rotating speed is taked slip frequency controlled, i.e. the asynchronous motor stator angular frequency
by the rotor angle frequency
and slip angular frequency
form (
); Its vector control equation is as follows:
,
,
, in formula
for electromagnetic torque,
for the magnetic pole logarithm of asynchronous machine,
for the rotor mutual inductance,
for rotor winding self-induction,
,
be respectively excitation component and the torque component of stator current,
for rotor flux,
for rotor time constant,
for differential operator, native system adopts the constant control of magnetic flux,
; Obtained excitation component and the torque component of stator current by the vector control equation, system is converted to voltage control by Current Control accordingly, and its transformation relation is:
, in formula
,
for excitation component and the torque component of stator voltage,
for magnetic leakage factor (
),
,
through the conversion of two-phase rotating coordinate system/three phase static coordinate system, obtain the voltage control signal of SVPWM inverter, and the output voltage of control inverter, thereby make asynchronous motor drag load running.
The invention beneficial effect is: in traditional SVPWM algorithm, the judgement of reference voltage space vector sector and calculating basic vector aspect action time, relate to more trigonometric function operation and table lookup, for utilizing embedded system to realize these operations, can take a plurality of cpu clock cycles, be not easy to the real-time control to load.The existing algorithm that improves has: three level SVPWMs are decomposed into to two level SVPWMs; Orthogonal coordinate system is converted under KL coordinate system and 60 ° of coordinate systems.Although algorithm has been simplified in above improvement, do not consider the fluctuation of electric capacity mid-point voltage.Adopt this method, characteristics according to polar plot, adopt nonopiate 60 ° of coordinate systems to replace traditional orthogonal coordinate system, by coordinate transform, make phasor coordinate be normalized to integer, the reference vector coordinate is made progress respectively, rounds downwards and determine basic vector, and utilize the weber equilibrium principle to calculate its action time; The insertion switch state equation, choose appropriate freedom according to the impact of different vector alignment voltages
, realize the control of alignment voltage.This method, without reference vector is carried out to the sector judgement, is avoided complicated triangulo operation, than traditional algorithm, has saved amount of calculation, has realized the real-time control to three-level inverter, and reduces the rotation pulsation of motor.
The accompanying drawing explanation
The topological structure that accompanying drawing 1 is Diode-clamped Three-level Inverter.
Accompanying drawing 2 is indirect vector control system schematic diagram.
The simplified model that accompanying drawing 3 is three-level inverter.
The polar plot of the NPC three-level inverter that accompanying drawing 4 is the SVPWM algorithm based on 60 ° of coordinate systems.
The drift condition that accompanying drawing 6 is mid-point voltage while adopting traditional algorithm.
The drift condition of mid-point voltage when accompanying drawing 7 is the SVPWM algorithm adopted based on 60 ° of coordinate systems.
Embodiment
A kind of indirect vector control system of tri-level inversion based on simplifying SVPWM comprises following step:
The first step, set up the main circuit of NPC three-level inverter, and each needs 4 IGBT switching tubes, 4 fly-wheel diodes, 2 clamping diodes mutually inverter; Whole three-phase inverter DC side is together in series and is supported and balanced DC voltage by two capacitor C l, C2, Cl=C2.By certain switching logic, control, AC produces the phase voltage of three kinds of voltages, at the output synthesis sine.The Mathematical Modeling of three-level inverter is to make
,
,
switch function for inverter A, B, C three-phase, have,
, inverter output phase voltage is expressed as with switch function
, whole three-level inverter three-phase has 3 * 3 * 3=27 group output state, by three-level inverter main circuit simplified model as shown in Figure 3, can obtain the differential equation of three-phase circuit:
, arrangement can obtain the Mathematical Modeling of three-level inverter main circuit:
, wherein
,
,
be respectively A, B, C three-phase phase current, R, L are respectively resistance value, the inductance value of AC,
for DC voltage,
,
,
,
for the switch function of inverter A, B, C three-phase,
,
,
be respectively AC A, B, C three-phase voltage source.
Second step, for solving main circuit DC capacitor voltage imbalance problem, propose a kind of SVPWM shortcut calculation based under 60 ° of coordinate systems, and embodiment is as follows:
A) consider that NPC three-level inverter fundamental space polar plot is regular hexagon, adopt non-orthogonal 60
.coordinate system (
coordinate system) replace traditional orthogonal coordinate system, establish reference voltage vector and be
?
coordinate in coordinate system be (
,
),
coordinate under coordinate system be (
,
),
coordinate in coordinate system is
, by Clark, converted
, and by the length of small vector be
regulation, by after the normalization of fundamental space polar plot, the basic vector of three-level inverter is transformed to
coordinate system, the three dimensional vector diagram that transforms to three-level inverter under 60 ° of coordinate systems obtained, as shown in Figure 4.
Therefore b) after normalized, under 60 ° of coordinates, the coordinate figure of all space basic vectors is integer, for georeferencing voltage vector arbitrarily
, choosing of basic vector can adopt the method rounded up and down by its coordinate, and according to nearest three vector principles, just can determine basic vector to be
,
,
.
C) after obtaining nearest three vectors according to said method, for a given reference space voltage vector
, by the weber equilibrium principle,
, can be under 60 ° of coordinate systems action time of each basic vector
,
,
.Without carrying out complicated trigonometric function operation, only contain simple arithmetical operation based on 60 ° of coordinate systems, can simplify a large amount of computings, for NPC three-level inverter SVPWM is provided by a kind of highly effective method that provides in real time.
D) in order further to determine the output switch state of inverter three-phase brachium pontis, to establish nearest three vectors, be:
, wherein
,
; If the on off state that this basic vector is corresponding is:
, wherein
, switching vector selector can be designated as:
, wherein
, in the situation that meet above-mentioned condition, different by selecting
just can obtain three nearest basic vectors
corresponding whole on off state.
For example, hypothetical reference voltage vector
, known this reference vector is positioned at the A3 community of the large sector of A, and as shown in Figure 5, its nearest three space vectors in 60 ° of coordinate systems are respectively
,
,
, can obtain its on off state according to the switching vector selector equation in step d) and be respectively 100 or 0-1-1,10-1,110 or 00-1, according to weber equilibrium principle be respectively action time that can obtain each vector
,
,
.Just decided the action time of the assembled state of the switching tube of each vector representative (IGBT), according to these, just can produce a series of pwm pulse sequences conducting and the shutoff of three-level inverter switching tube are controlled.
According to the on off state equation, select different
, just can select different redundancy vectors, obtain different on off sequence pulses.As above in example
, when
the time obtain negative small vector 0-1-1(onn), when
the time obtain positive small vector 100(poo), yet the effect of positive and negative small vector alignment current potential is just the opposite, therefore, as long as suitably select the degree of freedom according to the non-equilibrium state of DC side midpoint potential
, just can obtain the effective control to Diode-clamped Three-level Inverter midpoint potential balance.
When adopting the SVPWM algorithm based under 60 ° of coordinate systems of the present invention and adopting traditional algorithm, accompanying drawing 6 and accompanying drawing 7 are shown in the deviation ratio of mid-point voltage.
The 3rd step, the Mathematical Modeling of simplification asynchronous motor.Take and produce same rotating mmf as criterion, three-phase alternating current winding, two cross streams windings and integrally rotated direct current winding be equivalence each other.In other words, under three phase coordinate systems
with
with the direct current under rotation two phase coordinate systems
with
be equivalent, they can produce identical rotating mmf.Just
,
two windings, look when the observer stands in ground, and they are the rotation direct current windings with the equivalence of three-phase alternating current winding; If jump on the iron core rotated, see, their DC motor models really just.Like this, by the conversion of coordinate system, can find the DC motor model with the equivalence of AC three-phase winding.
Three-phase closes to the current transformation between the two-phase rest frame:
, in formula,
for the current transformation battle array of three-phase coordinate system transformation to two phase coordinate systems, produce identical magnetomotive principle and the constant principle of conversion front and back power according to them, can obtain:
, the transformation matrix that the two-phase static coordinate is tied to the two-phase rotating coordinate system is
, simplify the Mathematical Modeling of asynchronous motor by coordinate transform.
The 4th step, the present invention's Vector Speed-Control System used mainly is comprised of main circuit and control circuit two parts.Main circuit has adopted the SVPWM voltage source inverter.Rotating speed adopts slip frequency controlled, i.e. asynchronous motor stator angular frequency
by the rotor angle frequency
and slip angular frequency
form (
).Like this, in the rotation speed change process, the stator current frequency of motor can synchronously change with the actual speed of rotor all the time, makes the adjusting of rotating speed more level and smooth.
The fundamental equation of vector control system is
,
,
, in formula
for electromagnetic torque,
for the magnetic pole logarithm of asynchronous machine,
for the rotor mutual inductance,
for rotor winding self-induction,
,
be respectively excitation component and the torque component of stator current,
for rotor flux,
for rotor time constant,
for differential operator.
The basic exercise equation that all will obey in electric drive control system is:
, the dynamic property of governing system is provided, be mainly to rely on the rate of change improved rotating speed
control.Obviously, by controlling
just can reach control
purpose.Slip frequency vector control is exactly by controlling slip angular frequency
control
thereby, indirectly control rotating speed.
Keeping under the control that rotor flux is constant, motor torque directly is subject to the torque component of stator current
control, and slip angular frequency
can be by the torque component of stator current
calculate rotor flux
also can calculate by the excitation component of stator current.In system, rotating speed is regulated by speed regulator PI, the torque component of output stator electric current
, then calculate torque
.Because the present invention adopts the control that magnetic flux is constant,
.
What obtain due to the vector control equation is excitation component and the torque component of stator current, and the present invention has adopted voltage source inverter, needs accordingly Current Control is converted to voltage control, and its transformation relation is:
, in formula
,
for excitation component and the torque component of stator voltage,
for magnetic leakage factor (
).
,
through the conversion of two-phase rotating coordinate system/three phase static coordinate system, obtain the voltage control signal of SVPWM inverter, and the output voltage of control inverter, thereby make asynchronous motor drag load running.
Claims (4)
1. the indirect vector control system of tri-level inversion based on simplifying SVPWM is characterized in that:
Step 1, foundation, based on NPC three-level inverter main circuit, are comprised of three-phase tri-level diode clamp formula inversion unit, rectification unit, filter unit, and each is comprised of inverter 4 IGBT switching tubes, 4 fly-wheel diodes, 2 clamping diodes; Whole three-phase inverter DC side is together in series and is supported and balanced DC voltage, wherein Cl=C2 by two capacitor C l, C2;
Step 2, utilize 60 ° of SVPWM shortcut calculations under coordinate system to make main circuit DC capacitor voltage balance in step 1;
The method of step 3, employing coordinate transform is simplified its Mathematical Modeling: when asynchronous motor is processed, ignore space harmonics, three phase windings are 120 ° of space mutual deviations, and the magnetomotive force produced distributes by sinusoidal rule along air gap periphery; Ignore magnetic circuit saturated, think that the self-induction of each winding and mutual inductance are all constant; Ignore core loss; Do not consider the impact on winding resistance of frequency change and variations in temperature;
Step 4, according to the asynchronous motor dynamic mathematical models in step 3 and the basic principle of vector control, the main circuit of take in step 1 is basis, sets up the indirect vector control system based on the NPC three-level inverter.
2. a kind of indirect vector control system of tri-level inversion based on simplifying SVPWM as claimed in claim 1, it is characterized in that: described step 1 is that inverter is every to be comprised of 4 IGBT switching tubes, 4 fly-wheel diodes, 2 clamping diodes; Whole three-phase inverter DC side is together in series and is supported and balanced DC voltage by two capacitor C l, C2, wherein Cl=C2, control by certain switching logic, and AC produces the phase voltage of three kinds of voltages, at the output synthesis sine, the dynamic mathematical models of its main circuit are:
, wherein
,
,
be respectively A, B, C three-phase phase current, R, L are respectively resistance value, the inductance value of AC,
for DC voltage,
,
,
,
for the switch function of inverter A, B, C three-phase,
,
,
be respectively AC A, B, C three-phase voltage source.
3. as one kind of the claim 1 indirect vector control system of tri-level inversion based on simplifying SVPWM, it is characterized in that: the SVPWM shortcut calculation based under 60 ° of coordinate systems of described step 2 is,
Step 1, coordinate transform: NPC three-level inverter fundamental space regular hexagon polar plot is adopted to non-orthogonal 60 ° of coordinate systems,
coordinate system replaces traditional orthogonal coordinate system, by the Clark conversion, and by the length of small vector is
regulation, by the normalization of fundamental space polar plot;
Determining of step 2, basic vector: after normalized, by the coordinate figure normalizing of all space vectors, it is integer, the method that adopts the space vector of voltage coordinate figure to round up and down, and nearest three vector principles are determined the fundamental space vector of synthesized reference space vector
,
,
;
The calculating of step 3, vector action time: for a given reference voltage space vector
, by the weber equilibrium principle
,
for PWM interrupt cycle, calculate the action time of each basic vector of being determined by step 3
,
,
;
Determining of step 4, output switch state: getting nearest three vectors is:
, the on off state that this basic vector is corresponding is:
, switching vector selector can be designated as:
, according to the impact of large vector, middle vector, positive small vector, negative small vector alignment voltage, select different
, just can select different redundancy vectors, obtain three nearest basic vectors
corresponding whole on off state, obtain different on off sequence pulses, by the conducting to the three-level inverter switching tube and shutoff, controlled, and controls neutral point voltage balance.
4. as claim 1 indirect vector control system of tri-level inversion based on simplifying SVPWM, it is characterized in that: described step 4 is, fundamental equation according to vector control, foundation is based on the slip frequency Vector Speed-Control System, the system main circuit has adopted SVPWM voltage-type three-level inverter, rotating speed is taked slip frequency controlled, i.e. the asynchronous motor stator angular frequency
by the rotor angle frequency
and slip angular frequency
form (
); Its vector control equation is as follows:
,
,
, in formula
for electromagnetic torque,
for the magnetic pole logarithm of asynchronous machine,
for the rotor mutual inductance,
for rotor winding self-induction,
,
be respectively excitation component and the torque component of stator current,
for rotor flux,
for rotor time constant,
for differential operator, native system adopts the constant control of magnetic flux,
; Obtained excitation component and the torque component of stator current by the vector control equation, system is converted to voltage control by Current Control accordingly, and its transformation relation is:
, in formula
,
for excitation component and the torque component of stator voltage,
for magnetic leakage factor (
),
,
through the conversion of two-phase rotating coordinate system/three phase static coordinate system, obtain the voltage control signal of SVPWM inverter, and the output voltage of control inverter, thereby make asynchronous motor drag load running.
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