CN103490700B - Space vector pulse width modulation assay device and DC bus-bar voltage optimization method - Google Patents
Space vector pulse width modulation assay device and DC bus-bar voltage optimization method Download PDFInfo
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Abstract
The invention discloses space vector pulse width modulation assay device, DC source enters inversion module by direct current voltage reulation unit, alternating current power supply enters load blocks, the signal output part connection control system module of each detection sub-module, control system module and the control signal of the direct current voltage reulation of generation is exported direct current voltage reulation unit by isolation drive, controlling system module and by isolation drive, the control signal of the inversion module of generation is exported inversion module, the signal output part of inversion module connects permagnetic synchronous motor；Controlling system module and the control signal of the load blocks of generation is exported load blocks, load blocks connects permagnetic synchronous motor.Its median generatrix optimization method is the control wave producing direct current voltage reulation under modulation strategy by controlling system module to optimize at dc bus, control DC bus-bar voltage and be operated in optimum state, it is made to work in the state that harmonic current mean-square value is minimum, reduce harmonic distortion, improve the utilization ratio of electric energy.
Description
Technical field
The present invention relates to space vector pulse width modulation field, particularly relate to a kind of space vector pulse width modulation assay device and DC bus-bar voltage optimization method.
Background technology
DC source can be converted into frequency and the variable alternating current power supply of amplitude by inverter, owing to inverter as shown in Figure 1 has simple in construction, realizes the advantages such as convenient, almost become the standard configuration of two level three-phase inverters, be widely used in the occasion of the industrial and agricultural production speed governing such as electric automobile.The space vector pulse width modulation (spacevectorpulsewidthmodulation, SVPWM) adopted is based on the principle of " volt-second balance ", and the high frequency voltage pulse constantly converted by dutycycle carrys out equivalent command voltage according to time average.
Based on the voltage equivalence on average, SVPWM specify only the time of basic voltage vectors effect, is not prescribed by order and the distribution of its effect, this just appearance for a large amount of modulation strategies provide possibility.And the switching characteristic of power switch pipe and the principle of pulse width modulation (PWM) determine dead band, harmonic wave etc. unavoidably in inverter, dead band and harmonic wave bring the series of problems such as energy loss, torque pulsation, electromagnetic radiation, audible noise.Therefore, occur in that series of optimum technology, except total optimization aim, have again distinctive optimization aim for different application, therefore occur in that substantial amounts of modulation strategy.Two zero vectors can be allocated according to arbitrary proportion action time, it is possible to is divided into multiple time period to act on；Non-zero basic voltage vectors also can be divided into multistage to carry out action time；Order of action can be in any permutation；In " volt-second balance ", switching frequency is free variable, and it can be optimized or randomization.But which kind of strategy all cannot thoroughly deadband eliminating and harmonic wave, its impact can only be reduced.As, discontinuous PWM (DPWM) can reduce switching loss, but is likely to bring harmonic distortion to increase；Random SVPWM can significantly reduce the spectrum peak of cluster harmonic wave, and then improves Electro Magnetic Compatibility, but harmonic wave may be expanded to undesirable frequency range by its spread spectrum characteristic, it is also possible to increases harmonic distortion；Optimize SVPWM and can improve Electro Magnetic Compatibility while obtaining less harmonic distortion, but bring the problems such as controller (such as pi controller, i.e. PI controller) parameter variations, make control complex system.
The normal course of operation of inverter is to make 6 power switch pipe on, off in the time determined regularly, thus generating required voltage pulse.In inverter shown in Fig. 1, often mutually upper and lower two switching tubes become complementation conducting.Different on off states can form 8 basic voltage vectors, including 6 non-zero basic voltage vectors () and 2 Zero voltage vectors (), as shown in Figure 2.In Fig. 2: 1 represents the conducting of upper arm switching tube, 0 represents the conducting of underarm switching tube.6 sectors as shown in Figure 2 can be divided into the regular hexagon that the end points of 6 non-zero basic voltage vectors is summit.Any one is positioned at the voltage vector of the regular hexagon shown in Fig. 2, all can by the two of residing sector borders non-zero basic voltage vectors and Zero voltage vector () be synthetically derived according to time average.In order to reduce on-off times, improve the quality of output voltage, as in sectorMiddle vector sequence of operation is:
WillIt is placed in the two ends of switch periods,It is placed in centre；In some modulation strategies, two zero vectors only select an effect.Discuss at present at most, have been widely used, representative or have in the SVPWM strategy of practical value, can be summarized as follows:
(1) SVPWM: two traditional zero vectorsAction time,Equal, it is equal to the zero vector total contribution time1/2, andIt is uniformly distributed in the cycleTwo ends.The waveform of three-phase upper arm switching tube switching pulse is as indicated with 2.
(2) discontinuous SVPWM, be called for short the pulse that in DPWM: Fig. 2, in three-phase upper arm switching pulse, high level is the widest is high level within a modulation period always, or the narrowest pulse of high level is low level within a modulation period always, it is ensured that always have a phase switch to be failure to actuate in each moment.Then on-off times is about original 2/3, and therefore switching loss can reduce about 1/3 or reduce more.It is to say, under identical switching loss, switching frequency can bring up to former pact 3/2 times.
DPWMMIN: do not use zero vector, namely,；
DPWMMAX: do not use zero vector, namely,；
DPWM0: in fig. 2, withStart to divide, oftenIt is a district, alternate selection zero vector、.That is, in sectorMiddle use, in sectorMiddle use；
DPWM1: withStart to divide, oftenIt is a district, alternate selection zero vector、；
DPWM2: withStart to divide, oftenIt is a district, alternate selection zero vector、.That is, in sectorMiddle use, in sectorMiddle use；
DPWM3: withStart to divide, oftenIt is a district, alternate selection zero vector、；
Other DPWM: freely set the angle starting to divide.
(3) random SVPWM: switching frequency, pulse location one or several factor such as mode, two zero vector methods of salary distribution action time carry out randomization.Including:
Randomized switching frequency SVPWM: switching frequencyRandomization；
Randomized Pulse Position SVPWM:In sector, the high level of A phase is in whole switch periodsIn can move at random；The high level of B phase can move at random in the scope that A phase high level limits；The high level of C phase can move at random in the scope that B phase high level limits；This three-phase can only select a phase, biphase, three-phase is random.In other sectors similar；
Random zero vector SVPWM: two zero vectors of distributionWithThe action time of randomization in ratio；
Mix random SVPWM: any two or three mixing of three of the above random fashion.
(4) SVPWM is optimized.It is optimized for the SVPWM factor related to, specifically includes that
Zero vector distribution factor optimizes SVPWM: minimum for target with harmonic distortion, rightWithAllocation proportion action time be optimized；
Switch periods/frequency optimization SVPWM: minimum for target with harmonic distortion, is optimized switch period/frequency.
It is constant or detect busbar voltage passively in real time that above-mentioned SVPWM technology is all based on inverter busbar voltage, is calculated, and then produce 6 tunnels and control pulses；It is not intended that command voltage vector in the control of busbar voltageOccurrence.It practice, for identical command voltage vector, under different busbar voltages, the quality of inverter output AC electricity has very big difference.The improvement of this exploitation being new modulation strategy and inverter performance provides wide space.Different modulation strategies carries out Experimental comparison, qualitative, quantitative evaluation is rationally to select modulation strategy and the basis researching and developing new modulation strategy.But, in current all disclosed documents, not seeing can the assay device of integrated a large amount of space vector pulse width modulation strategies.
Summary of the invention
It is an object of the invention to provide a kind of space vector pulse width modulation assay device and DC bus-bar voltage optimization method, assay device can carry out the experiment of a large amount of existing modulation strategy；DC bus-bar voltage optimization method both can guarantee that the fundamental voltage of output, can reduce again the harmonic distortion of output voltage.
The present invention adopts following technical proposals: a kind of space vector pulse width modulation Down Highway voltage optimization method, controlling system module output signal by isolation drive unit to direct current voltage reulation unit, the out-put supply of DC source is delivered to inverter by direct current voltage reulation unit；
Under the load taken as the leading factor with perception, the expression formula unification of the mean-square value of the three phase harmonic electric current of inverter output is
(1)
In formula,For DC bus-bar voltage；For modulation ratio；For switch periods；For controlling the different modulation strategy in system module, coefficient、、、For the value determined；
Wherein modulate ratioIt is defined as
(2)
In formula,For controlling the command voltage vector that system module exports to direct current voltage reulation unitAmplitude；
Convolution (2), then can obtain
(3)
Formula (3) is optimized, can obtain, whenTime, three phase harmonic electric current mean-square value obtains minima, and copper olse is minimum；Control system module and optimize the control wave producing direct current voltage reulation under modulation strategy at dc bus, control DC bus-bar voltageIt is operated in optimum state；Wherein for different modulation strategies, coefficientDirectly calculate and obtain.
nullThe invention also discloses a kind of space vector pulse width modulation assay device，Including controlling system module、Detection module、Inversion module、Load blocks and permagnetic synchronous motor，DC source enters inversion module by direct current voltage reulation unit，Alternating current power supply enters load blocks，Wherein said detection module includes the busbar voltage measuring DC power output end、Current measurement submodule、The temperature of inversion module and fault detect submodule、The current measurement submodule of permagnetic synchronous motor、Rotor position measurement submodule and torque measurement submodule，The signal output part connection control system module of each detection sub-module described，Control system module and the control signal of the direct current voltage reulation of generation is exported direct current voltage reulation unit by isolation drive，Control system module and the control signal of the inversion module of generation is exported inversion module by isolation drive，The signal output part of inversion module connects permagnetic synchronous motor；Controlling system module and the control signal of the load blocks of generation is exported load blocks, load blocks connects permagnetic synchronous motor.
Described control system module includes computer, CAN card, controller and electrically-erasable memorizer, and described computer is connected with controller by CAN card, and controller is connected to electrically-erasable memorizer.
Described controller is prefabricated with modulation strategy, and described modulation strategy includes: (1), traditional SVPWM, and namely two zero vectors are divided equally action time；(2)、DPWM0；(3)、DPWM1；(4)、DPWM2；(5)、DPWM3；(6)、DPWMMAX；(7)、DPWMIN；(8), other DPWM；(9), randomized switching frequency SVPWM；(10), random zero vector distribution SVPWM；(11), Randomized Pulse Position SVPWM；(12), random SVPWM is mixed；(13) zero vector distribution factor optimizes SVPWM；These 13 kinds of strategies all have DC bus-bar voltage optimization and do not optimize two kinds of selections；Except (9), (12) both modulation strategies, other 11 kinds of modulation strategies all have switch periods optimization and do not optimize two kinds of selections.
Being customized modulation strategy on computers, it is necessary to the modulation strategy of customization is fabricated to the data form that text or EXCEL file are fixing on computers, is sent in controller by CAN card, controller is by the storage of these data and electrically-erasable memorizer.
Described detection module also includes the noise measurement submodule of permasyn morot, and the signal output part of noise measurement submodule connects computer, and computer carries out acoustic analysis.
Described load blocks includes frequency control submodule, load motor and shaft coupling, the signal of described frequency control submodule controls end and connects controller, the signal output part of frequency control submodule connects load motor, the output shaft of load motor connects the output shaft of permasyn morot by shaft coupling, and described torque measurement submodule is arranged on the output shaft of permasyn morot.
Described rotor position measurement submodule adopts encoder, and encoder is arranged on the rotor of permasyn morot.
DC bus-bar voltage optimization method provided by the invention dynamically adjusts the size of busbar voltage according to command voltage vector, it is made to work in the state that harmonic current mean-square value is minimum, reduce harmonic distortion, improve the utilization ratio of electric energy, there is the unrivaled advantage of other modulation strategies.This optimization method combines with SVPWM and creates modulation strategy new in a large number, and these modulation strategy performance differences are very big, has each best application scenario, it is necessary to by the test method research carrying out qualitative, quantitative to these modulation strategies.
Present invention also offers a kind of space vector pulse width modulation strategy assay device, preset more than 40 can be carried out and plant the experimentation of modulation strategy, and multiple strategy can be combined, it is achieved that the system integration, the Experimental comparison facilitating motor control algorithms and modulation strategy studies.The customization of strategy can also be modulated, particularly convenient.Its middle controller have employed fpga chip, takes full advantage of circuit customization and the executed in parallel characteristic of FPGA, improves the speed that control software design performs, decrease the number of hardware system chip simultaneously, improve reliability and the motility of system, facilitate system update.
Owing to the inversion system based on space vector pulse width modulation produces very strong electromagnetic interference, the process controlling parameter detecting needs to transmit substantial amounts of information, the present invention adopts CAN to be that computer communicates with controller, has very strong anti-interference and big data throughput capabilities.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of two level three-phase inverters；
Fig. 2 is basic voltage vectors and synthetic method schematic diagram；
Fig. 3 is assembly of the invention structure chart.
Detailed description of the invention
nullAs shown in Figure 3，The invention discloses a kind of space vector pulse width modulation assay device，Including controlling system module 1、Detection module 2、Inversion module 3、Load blocks 4 and permagnetic synchronous motor 5，DC source enters inverter 33 by direct current voltage reulation unit 32，Alternating current power supply enters load blocks 4，Wherein said detection module 2 includes busbar voltage、Current measurement submodule 21、The temperature of inversion module and fault detect submodule 22、The current measurement submodule 23 of permagnetic synchronous motor、Rotor position measurement submodule 24 and torque measurement submodule 25、The noise measurement submodule 26 of permasyn morot，The signal output part connection control system module 1 of each detection sub-module described，Control system module 1 and the control signal of the direct current voltage reulation of generation is exported direct current voltage reulation unit 32 by isolation drive 31，Control system module 1 and the control signal of the inversion module of generation is exported inverter 33 by isolation drive 34，Control inverter 33 and produce three-phase alternating voltage pulse，Inverter 33 drives permasyn morot 5；Controlling system module 1 and the control signal of the load blocks of generation is exported load blocks 4, load blocks 4 connects permagnetic synchronous motor 5.
Wherein said control system module 1 includes computer 11, CAN card 12, controller 13 and electrically-erasable memorizer 14, and described computer 1 is connected with controller 13 by CAN card 12, and controller 13 is connected to electrically-erasable memorizer 14.
Described load blocks 4 includes frequency control submodule 41, load motor 42 and shaft coupling 43, the signal of described frequency control submodule 41 controls end and connects controller 13, the signal output part of frequency control submodule 41 connects load motor 42, and the output shaft of load motor 42 connects the output shaft of permasyn morot 5 by shaft coupling 43.Permasyn morot 5 is the control object controlling system module, and load blocks 4 accepts to carry out the control signals such as the speed of robot control system(RCS) molding block, moment of torsion, produces the rotating speed of correspondence, moment of torsion output, serves as the load of permasyn morot 5.Described torque measurement submodule 25 is arranged on the output shaft of permasyn morot 5.Described rotor position measurement submodule 24 adopts on the rotor that encoder, encoder are arranged on permasyn morot 5.
Described detection module is used for the feedback signal detecting status signal and motor closed loop control needs, wherein busbar voltage, current measurement submodule 21 detect DC bus current and voltage, when being sent to control system module 1 for SVPWM optimized algorithm and spectrum analysis；The temperature of inversion module and fault detect submodule 22 are for detecting the information such as the temperature of power switch pipe, fault, with protection test device；The current measurement submodule 23 of permagnetic synchronous motor, rotor position measurement submodule 24 and torque measurement submodule 25, respectively the detection three-phase current of permasyn morot 5, rotor-position, output moment of torsion, use when being sent to control system module 1 power supply machine control algolithm and spectrum analysis.Due under different modulation strategies, the property differences such as the dutycycle of the three-phase high frequency voltage pulse signal of inverter output are very big, this results in permasyn morot 5 and exports the greatest differences of electromagnetic torque, audible noise etc., therefore the noise signal of measurement is transmitted directly to computer 11 by noise measurement submodule 26 provided by the invention, computer 11 recording noise signal, carry out acoustic analysis, and show in real time over the display, also hard disk can be stored in, to carry out comparative study between different modulating strategy, use when qualitative, quantitative is evaluated.The measurement of detection module is divided into measuring at a high speed measures with low speed, respectively samples once within a modulation period and many times.The low speed that is fed back to that running closed loop control algorithm in the controller needs measures signal: the three-phase current in the modulation period, rotor-position, DC bus-bar voltage, motor output torque, these signals have only to sample once within a modulation period, and this part measurement data is directly sent in controller 13；And computer 11 compares and needs measure signal at a high speed during spectrum analysis carrying out different modulating strategy microcosmic, it is once far from being enough that three-phase current, DC bus-bar voltage and electric current are only sampled within a modulation period, need sampling many times, in order to reduce the load of CAN communication, this part detection data are directly sent in computer 11.
Controller 13 receives the parameter from computer 11 and the information such as arranges, and part is needed the information preserved, such as proportional integral (PI) controller parameter, the parameter of permasyn morot 5, customization modulation strategy etc., it is stored in electrically-erasable memorizer 14, the process that to be controlled and modulation algorithm runs reads these information from electrically-erasable memorizer 14；4 kinds of control algolithms that controller 13 sets according to computer 11: direct torque, speed controlling, position control, d, q shaft current control, and automatically select and run corresponding closed loop control algorithm；The information of the random number that needs in the PI controller that needs in control algolithm, permasyn morot 5, switch periods optimization table, random SVPWM, busbar voltage parameters optimization etc. is directly set by computer 11, or directly reads from electrically-erasable memorizer 14；Closed-loop control system needs the information of Real-time Feedback, directly obtains from voltage and current measurement submodule 21, current measurement submodule 23, rotor position measurement submodule 24, torque measurement submodule 25；Controller 13 in each switch periods (modulation period) by CAN card 12, with CAN by Real-time Collection to the three-phase current of permagnetic synchronous motor 5, rotor-position, output torque, d axle send computer 11 to q axle actual current, inverter temperature and the information such as fault, DC bus-bar voltage；The closed loop control algorithm of controller 13 will generate target voltage vector, the modulation strategy set according to computer 11 and corresponding parameter and produce 6 way switch pulse control signals required for isolation drive submodule 34 and the switching pulse control signal required for isolation drive 31；Controller 13 obtains inverter submodule 33 temperature and the fault message of temperature and fault detect submodule 22 output in real time, if inverter occurs abnormal, then and stopping alarm, and show on the display of computer 11.
Space vector pulse width modulation assay device provided by the invention, all of control operation all carries out on computer 11, easy to operate, and the control information that display is real-time can be visualized, and can carry out substantial amounts of modulation strategy experimentation on a table apparatus, and this device has very strong anti-interference and extendibility.The control software design of computer 11 is write by visualizing high-level programming language, is realize by calling the function of dynamic link library (DLL) the communication of CAN card 12.Control software design by computer 11, the selection of modulation strategy, control method etc. and the setting of relevant parameter can be completed, and show the three-phase electricity flow valuve of permasyn morot 5, output torque, bus voltage value and electric current, noise etc. and same amount of spectrum information in real time, and can be undertaken these results printing, preserving, and play back when needs.
Wherein said modulation strategy includes: (1), traditional SVPWM, and namely two zero vectors are divided equally action time；(2)、DPWM0；(3)、DPWM1；(4)、DPWM2；(5)、DPWM3；(6)、DPWMMAX；(7)、DPWMIN；(8), other DPWM；(9), randomized switching frequency SVPWM；(10), random zero vector distribution SVPWM；(11), Randomized Pulse Position SVPWM；(12), random SVPWM is mixed；(13) zero vector distribution factor optimizes SVPWM；These 13 kinds of strategies all have DC bus-bar voltage optimization and do not optimize two kinds of selections；Except (9), (12) both, other 11 kinds of strategies all have switch periods optimization and do not optimize two kinds of selections.This assay device additionally provides the customization function of modulation strategy, its method is: by the model of action of vector, cycle parameter, optimization method, stochastic variable the data such as distribution form on computer 11, it is made as the data form that text or Excel file are fixing, it is sent in controller 13 by CAN card 12, under the control of controller 13, these parameters is stored in electrically-erasable memorizer 14.
According to the modulation strategy setup parameter on computer 11 selected, different modulating strategy needs the parameter set as follows:
A. traditional SVPWM, DPWM0, DPWM1, DPWM2, DPWM3, DPWMMAX, DPWMIN: switch periods (modulation period)；
B. other DPWM: switch periods, angle；
C. randomized switching frequency SVPWM: the scope of switch periods/frequency, probability distribution rule；
D. random zero vector distribution SVPWM: switch periods, 1 random parameter probability distribution rule；
E. Randomized Pulse Position SVPWM: switch periods, the probability distribution rule of 1,2 or 3 random parameters；
F. mixed pulses SVPWM: the selection of hybrid mode, parameter corresponding to different hybrid modes；
G. zero vector distribution factor optimizes SVPWM: switch periods.
Except setting the parameter of modulation strategy, in addition it is also necessary to set PI controller parameter, permasyn morot 5 parameter on computer 11；
Set motor control mode and command object value: assay device can realize 4 kinds of controls: direct torque, speed controlling, position control, d, q shaft current controls, it is necessary to the command parameter of setting is respectively as follows: command torque, command speed, command position, d, q axle command current；
Select control mode under vector controlled: assay device can realize 2 kinds of modes: torque capacity mode, d shaft current perseverance are 0 mode；
The transmission of setup parameter and detection parameter: by CAN card 12, sends controller 13 to by CAN by the parameter of setting, controller 13 within each modulation period by detecting the electric current that obtains, rotating speed, the information such as torque send computer 11 to；Computer 11 can realize actual speed, electric current, voltage, torque, the real-time display/spectrum analysis of noise and qualitative, quantitative assessment.
Run the control of control algolithm and various detection sequential etc. based on the controller 13 of FPGA, the function of its realization as described below:
(1) the closed-loop vector control algolithm of permasyn morot 5 is run；Direct torque, speed controlling, position control, d, q shaft current control, and to the selection of control mode under vector controlled, are prefixed 2 kinds of modes: torque capacity mode and d shaft current perseverance are 0 mode；
(2) parameter according to the modulation strategy selected by computer 11 and setting, produces the 6 road control waves that under SVPWM, inverter needs；
(3) under dc bus optimisation strategy, produce the control wave of direct current voltage reulation, control DC bus-bar voltage and be operated in optimum state；
(4) sequencing contro of the testing circuit such as inverter 33 temperature and fault, electric current, voltage, moment of torsion, rotating speed；
(5) PI controller setup parameter, customization modulation strategy parameter preservation in electricity erasable memorizer 14 and amendment；
(6) control of load permasyn morot 5.
The invention also discloses a kind of space vector pulse width modulation Down Highway voltage optimization method, include control system module, isolation drive unit and direct current voltage reulation unit, described control system module output signal is by isolation drive unit to direct current voltage reulation unit, and the out-put supply of DC source is delivered to inverter by direct current voltage reulation unit；
With under the load that perception is taken as the leading factor, the expression formula unification of the mean-square value of the three phase harmonic electric current of inverter output is
(1)
In formula,For DC bus-bar voltage；For modulation ratio；For switch periods；For controlling the different modulation strategy in system module, coefficient、、、For the value determined, for known general knowledge, such as can consult relevant document to obtain, such as D.GrahameGolmes (Australia), ThomasA.Lipo (U.S.) work, Zhou Keliang translates., " the converters PWM know-why with put into practice " that in February, 2010 publishes etc. finds coefficient、、、Value；
Wherein modulate ratioIt is defined as
(2)
In formula,For controlling the command voltage vector that system module exports to direct current voltage reulation unitAmplitude；
Convolution (2), then can obtain
(3)
Formula (3) is optimized, can obtain, whenTime, three phase harmonic electric current mean-square value obtains minima, and copper olse is minimum；Control system module and optimize the control wave producing direct current voltage reulation under modulation strategy at dc bus, control DC bus-bar voltageIt is operated in optimum state；Wherein for different modulation strategies, coefficientDirectly calculate and obtain.
Such as conventional SVPWM (two zero vector mean allocation action time),
NamelyTime, conventional SVPWM harmonic current mean-square value reaches minimum, and namely copper olse is minimum.
Modulation strategy, coefficient is planted to preset more than 40Directly calculate preset enter in electrically-erasable memorizer 14；Modulation strategy to customization, sets this coefficient on computer 11, sends controller 13 to by CAN card 12, and be stored in electrically-erasable memorizer 14.The SVPWM strategy that controller 13 sets according to computer 11 reads corresponding coefficient value, according to passing through dynamically to change the dutycycle of direct current voltage reulation unit 32 control wave, makes the busbar voltage moment of inverter submodule 33 work in optimum state.
It should be noted that above-mentioned specific embodiment is merely exemplary, under the above-mentioned instruction of the present invention, those skilled in the art can carry out various improvement and deformation (such as by electrically-erasable memorizer E on the basis of above-described embodiment2PROM becomes flash storage; direct current voltage reulation unit 32 is become controlled rectification submodule; or permasyn morot 5 is become other kinds of motor; or load blocks 4 is become magnetic powders brake module; computer 11 is become embedded control system etc.), and these improve or deformation all falls within protection scope of the present invention.It will be understood by those skilled in the art that specific descriptions above are intended merely to the explanation purpose of the present invention, be not intended to limit the present invention.Protection scope of the present invention is limited by claim and equivalent thereof.
Claims (7)
1. DC bus-bar voltage optimization method under a space vector pulse width modulation, it is characterised in that: controlling system module output signal by isolation drive unit to direct current voltage reulation unit, the out-put supply of DC source is delivered to inverter by direct current voltage reulation unit；
Under the load taken as the leading factor with perception, the expression formula unification of the mean-square value of the three phase harmonic electric current of inverter output is
In formula, UDCFor DC bus-bar voltage；M is modulation ratio；TsFor switch periods；For controlling the different modulation strategy in system module, COEFFICIENT K1, a, b, c be the value determined；
Wherein modulate and be defined as than M
In formula, UmAmplitude for command voltage vector；
Convolution (2), then can obtain
Formula (3) is optimized, can obtain, whenTime, three phase harmonic electric current mean-square value obtains minima, and copper olse is minimum；Control system module and optimize the control wave producing direct current voltage reulation under modulation strategy at dc bus, control DC bus-bar voltage UDCIt is operated in optimum state；Wherein for different modulation strategies, coefficient-4c/b directly calculates and obtains；
Wherein, control system module and belong to space vector pulse width modulation assay device, space vector pulse width modulation assay device also includes detection module, inverter, load blocks and permagnetic synchronous motor, DC source enters inverter by direct current voltage reulation unit, alternating current power supply enters load blocks, wherein said detection module includes the busbar voltage measuring DC power output end, current detecting submodule, the temperature of inverter and fault detect submodule, the current detecting submodule of permagnetic synchronous motor, rotor-position detection sub-module and moment of torsion detection sub-module, the signal output part connection control system module of each detection sub-module described, the signal output part of inverter connects permagnetic synchronous motor；Controlling system module and the control signal of the load blocks of generation is exported load blocks, load blocks connects permagnetic synchronous motor；Described control system module includes computer, CAN card, controller and electrically-erasable memorizer, and controller adopts fpga chip；Described computer is connected with controller by CAN card, and controller is connected to electrically-erasable memorizer；
The measurement of detection module is divided into measuring at a high speed measures with low speed, respectively sample once within a modulation period and sample repeatedly, the low speed that is fed back to that running closed loop control algorithm in the controller needs measures signal, the respectively three-phase current in the modulation period, rotor-position, DC bus-bar voltage and motor output torque, above-mentioned low speed is measured signal demand and is sampled once within a modulation period, and directly send in controller；And computer compares and needs measure signal at a high speed during spectrum analysis, respectively three-phase current, DC bus-bar voltage and electric current carrying out different modulating strategy microcosmic, above-mentioned high speed is measured signal and is sampled repeatedly within a modulation period, and directly send in computer.
null2. a space vector pulse width modulation assay device，It is characterized in that: include controlling system module、Detection module、Inversion module、Load blocks and permagnetic synchronous motor，DC source enters inversion module by direct current voltage reulation unit，Alternating current power supply enters load blocks，Wherein said detection module includes the busbar voltage measuring DC power output end、Current detecting submodule、The temperature of inversion module and fault detect submodule、The current detecting submodule of permagnetic synchronous motor、Rotor-position detection sub-module and moment of torsion detection sub-module，The signal output part connection control system module of each detection sub-module described，Control system module and the control signal of the direct current voltage reulation of generation is exported direct current voltage reulation unit by isolation drive，Control system module and the control signal of the inversion module of generation is exported inversion module by isolation drive，The signal output part of inversion module connects permagnetic synchronous motor；Controlling system module and the control signal of the load blocks of generation is exported load blocks, load blocks connects permagnetic synchronous motor；Described control system module includes computer, CAN card, controller and electrically-erasable memorizer, and controller adopts fpga chip；Described computer is connected with controller by CAN card, and controller is connected to electrically-erasable memorizer；The measurement of detection module is divided into measuring at a high speed measures with low speed, respectively sample once within a modulation period and sample repeatedly, the low speed that is fed back to that running closed loop control algorithm in the controller needs measures signal, the respectively three-phase current in the modulation period, rotor-position, DC bus-bar voltage and motor output torque, above-mentioned low speed is measured signal demand and is sampled once within a modulation period, and directly send in controller；And computer compares and needs measure signal at a high speed during spectrum analysis, respectively three-phase current, DC bus-bar voltage and electric current carrying out different modulating strategy microcosmic, above-mentioned high speed is measured signal and is sampled repeatedly within a modulation period, and directly send in computer.
3. space vector pulse width modulation assay device according to claim 2, it is characterized in that: described controller is prefabricated with modulation strategy, described modulation strategy includes: (1), traditional SVPWM, and namely two zero vectors are divided equally action time；(2)、DPWM0；(3)、DPWM1；(4)、DPWM2；(5)、DPWM3；(6)、DPWMMAX；(7)、DPWMIN；(8), namely other DPWM freely set the DPWM of the angle starting division；(9), randomized switching frequency SVPWM；(10), random zero vector distribution SVPWM；(11), Randomized Pulse Position SVPWM；(12), random SVPWM is mixed；(13) zero vector distribution factor optimizes SVPWM；These 13 kinds of strategies all have DC bus-bar voltage optimization and do not optimize two kinds of selections；Except (9), (12) both modulation strategies, other 11 kinds of modulation strategies all have switch periods optimization and do not optimize two kinds of selections.
4. space vector pulse width modulation assay device according to claim 3, it is characterized in that: be customized modulation strategy on computers, the modulation strategy needing customization is fabricated to the data form that text or EXCEL file are fixing on computers, being sent in controller by CAN card, controller is by the storage of these data and electrically-erasable memorizer.
5. the space vector pulse width modulation assay device according to Claims 2 or 3 or 4, it is characterized in that: described detection module also includes the noise measuring submodule of permasyn morot, the signal output part of noise measuring submodule connects computer, and computer carries out acoustic analysis.
6. space vector pulse width modulation assay device according to claim 5, it is characterized in that: described load blocks includes frequency control submodule, load motor and shaft coupling, the signal of described frequency control submodule controls end and connects controller, the signal output part of frequency control submodule connects load motor, the output shaft of load motor connects the output shaft of permasyn morot by shaft coupling, and described moment of torsion detection sub-module is arranged on the output shaft of permasyn morot.
7. space vector pulse width modulation assay device according to claim 6, it is characterised in that: described rotor-position detection sub-module adopts encoder, and encoder is arranged on the rotor of permasyn morot.
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