CN104617799B - A kind of general direct multi-electrical level inverter three-dimensional space vector modulation algorithm - Google Patents

A kind of general direct multi-electrical level inverter three-dimensional space vector modulation algorithm Download PDF

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CN104617799B
CN104617799B CN201510038058.XA CN201510038058A CN104617799B CN 104617799 B CN104617799 B CN 104617799B CN 201510038058 A CN201510038058 A CN 201510038058A CN 104617799 B CN104617799 B CN 104617799B
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vector
basic
level inverter
electrical level
square
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CN104617799A (en
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王翠
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Nanchang Institute of Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/483—Converters with outputs that each can have more than two voltages levels

Abstract

The invention discloses a kind of general direct multi-electrical level inverter three-dimensional space vector modulation algorithm.The algorithm obtains reference voltage geometric locus during three-dimensional cartesian coordinate system is mapped to after directly three-phase reference voltage is normalized, and switch state vector is mapped in three-dimensional cartesian coordinate system, switch state vector is exactly the basic vector in three-dimensional cartesian coordinate system, and all basic vectors are located at the summit of unit cube.Reference voltage geometric locus is sampled to obtain reference vector, determine reference vector unit one belongs to square, and four basic vectors are found on the unit cube, using four basic vector synthesized reference vectors of gained, switched between this four basic vectors along the side of unit cube.The algorithm avoids one basic vector of traditional multi-level inverter and there are multiple Redundanter schalter state vectors, it is not necessary to complicated coordinate transform and trigonometric function operation, simplifies reference vector positioning, realizes simple, it is adaptable to any multi-electrical level inverter.

Description

A kind of general direct multi-electrical level inverter three-dimensional space vector modulation algorithm
Technical field
The present invention relates to multi-electrical level inverter space vector modulation technique field, a kind of general direct electricity more is refered in particular to Flat inverter three-dimensional space vector modulation algorithm.
Background technology
Space vector modulation algorithm has that DC voltage utilization rate is high, and percent harmonic distortion is small, it is easy to which Digital Realization etc. is excellent Point, is widely used in the modulation of multi-electrical level inverter.However as the increase of multi-electrical level inverter output level number, space arrow Occur in that basic vector quantity and the quantity of switch state vector are all greatly increased in amount modulation algorithm implementation process, and occur There is multiple switch state vector (i.e. Redundanter schalter state vector) in one basic vector, cause the basic arrow of equivalent reference vector Amount location difficulty, the selection difficulty of the corresponding switch state vector of suitable basic vector is bigger, finally constrains space vector Application of the modulation algorithm on multi-electrical level inverter of the level number more than seven.
The content of the invention
The purpose of the present invention is directed to the above mentioned problem that current multi-electrical level inverter space vector modulation algorithm is present, and proposes A kind of general direct multi-electrical level inverter three-dimensional space vector modulation algorithm, this algorithm directly maps three-phase reference voltage Studied in three-dimensional cartesian coordinate system, directly the reference voltage in three-dimensional cartesian coordinate system is sampled, and electricity more The switch state vector of flat inverter is mapped in three-dimensional cartesian coordinate system, and switch state vector is basic vector (in the absence of biography There are the different switching vector selectors of multiple in system one basic vector of multi-electrical level inverter), with approaching reference voltage vector Four basic vector synthesized reference vectors, within a sampling period, on four small tetrahedrons of basic vector composition, four tops Switched between point, realize space vector modulation algorithm.
To reach above-mentioned purpose, the technical scheme is that：
A kind of general direct multi-electrical level inverter three-dimensional space vector modulation algorithm, comprises the following steps：
The first step, defines three dimensions rectangular coordinate system, and three-phase reference voltage is normalized, and is mapped to three-dimensional right angle seat In mark system, the three dimensions reference voltage vector geometric locus of three-phase voltage is obtained.
Second step, switch state vector is mapped in three-dimensional system of coordinate, and switch state vector is distributed in the origin of coordinates Centered on, the rounded coordinate point in the cube of rib a length of (n-1) (n represents the overall level number of multi-electrical level inverter), that is, formed Basic vector in three-dimensional cartesian coordinate system, all basic vectors are respectively positioned on the summit of unit cube.
3rd step, samples to three dimensions reference voltage geometric locus, obtains reference vector Vr(ar, br, cr), VrRepresent ginseng Vector is examined, (ar, br, cr) represent VrCorresponding phasor coordinate (the V for occurring belowi(*, *, *) represents identical concept).
4th step, to reference vector Vr(ar, br, cr) each coordinate components orientation under it is whole：
Floor (*) represents downward bracket function in formula (1), and space coordinates point (a, b, c) and (a+1, b+1, c+1) determines One unit cube.
5th step, respectively with tri- bundle of planes of a+0.5, b+0.5, c+0.5 gained unit cubes be divided into 8 eight/ One square.
6th step, judges which 1/8th square institute's sample reference vector is located in, 1/8th square One that summit vector overlapped with original unit square is first equivalent basic vector V1。
7th step, calculates reference vector VrRelative to basic vector V1The size of the corresponding increment of each component, judges along which The direction change amount of individual reference axis is maximum, minimum along which reference axis variable quantity, you can to determine the equivalent basic arrow of the other three Amount V2、V3、V4。
8th step, using voltage-second balance principle, calculates basic vector V1、V2、V3、V4Action time
In formula (2), time t1、t2、t3、t4Basic vector V is corresponded to respectively1、V2、V3、V4Action time, TSRepresent sampling Cycle.
9th step, 4 basic vector V1、V2、V3、V4Small tetrahedron is constituted, in V1、V2、V3、V4Between switch over, switch Path is V1→V2→V3→V4→V3→V3→V1, i.e., along V1、V2、V3、V4The side of place square switches over, and realizes seven sections Modulation algorithm.
Tenth step, the sampling of track reference vector, repeat the 3rd step~the 9th step, and realize different small tetrahedrons it Between switch over.
Compared with prior art, such scheme of the invention, simplifies SVPWM algorithms, it is not necessary to carry out coordinate transform and Trigonometric function operation, more in the absence of the select permeability of Redundanter schalter state vector, improves the response speed of inverter.
Brief description of the drawings
Fig. 1 is implementation steps flow chart of the invention
Reference vector track and basic vector distribution map under the electrical level inverter three dimensional space coordinates of Fig. 2 seven
Fig. 3 unit cubes resolve into 8 layout drawings of 1/8th squares
Fig. 4 is with VrPositioned at 1/8th square G1The finding method figure of equivalent basic vector is illustrated as a example by interior
The square G of Fig. 5 1/8th1Internal reference vector is a with the relation of basic vector respective componentsr-a≥br-b≥cr- C is 4 equivalent basic vector V of gained1、V2、V3And V4The small tetrahedron figure of composition
Basic vector V in Fig. 6 Fig. 51、V2、V3、V4Switching sequence figure
Specific embodiment
By taking seven electrical level inverters as an example, normalized reference voltage is mapped to reference vector track is obtained on ABC coordinate systems. Similarly, switch state vector a phases, b phases, c phases are respectively mapped on ABC coordinates, obtain the on off state of seven electrical level inverters Vector is distributed on the rounded coordinate point in the square of the rib a length of 6 centered on the origin of coordinates (i.e. on unit cube Summit), these switch state vectors i.e. basic vector, as shown in Figure 2.
The reference vector V that samples to obtain is carried out to reference voltage trackr(ar, br, cr), to VrEach phase component round to obtain base downwards The coordinate of this vector is (a, b, c), and basic vector (a, b, c) and (a+1, b+1, c+1) determine a unit cube, is referred to Vector is comprised in the unit cube.The positive split of unit is divided into 8 1/8th squares, as shown in Figure 3.
Judge which 1/8th square reference vector is located in, the square body weight of 1/8th square and original unit The summit vector of conjunction is first equivalent basic vector V1：As 0≤(ar-a)≤0.5、0≤(br-b)≤0.5、0≤(cr- C)≤0.5, VrPositioned at 1/8th square G1It is interior, basic vector V1Coordinate be (a, b, c), i.e. V1(a, b, c)；When 0≤ (ar-a)≤0.5、0≤(br- b)≤0.5,0.5 ＜ (cr- c) ＜ 1, VrPositioned at 1/8th square G5It is interior, basic vector V1's Coordinate is (a, b, c+1), i.e. V1(a, b, c+1)；As 0≤(ar- a)≤0.5,0.5 ＜ (br- b) 1,0≤(c of ＜r- c)≤0.5, Vr Positioned at 1/8th square G4It is interior, basic vector V1Coordinate for (a, b+1, c), i.e. V1(a, b+1, c)；As 0≤(ar-a)≤ 0.5th, 0.5 ＜ (br- b) ＜ 1,0.5 ＜ (cr- c) ＜ 1, VrPositioned at 1/8th square G8It is interior, basic vector V1Coordinate be (a, b+1, c+1), i.e. V1(a, b+1, c+1)；As 0.5 ＜ (ar- a) 1,0≤(b of ＜r-b)≤0.5、0≤(cr- c)≤0.5, VrPosition In 1/8th square G2It is interior, basic vector V1Coordinate be (a+1, b, c), i.e. V1(a+1, b, c)；As 0.5 ＜ (ar-a) 1,0≤(b of ＜r- b)≤0.5,0.5 ＜ (cr- c) ＜ 1, VrPositioned at 1/8th square G6It is interior, basic arrow weight V1Coordinate be (a + 1, b, c+1), i.e. V1(a+1, b, c+1)；As 0.5 ＜ (ar- a) ＜ 1,0.5 ＜ (br- b) 1,0≤(c of ＜r- c)≤0.5, VrIt is located at / 8th square G3It is interior, basic vector V1Coordinate for (a+1, b+1, c), i.e. V1(a+1, b+1, c)；As 0.5 ＜ (ar-a) ＜ 1,0.5 ＜ (br- b) ＜ 1,0.5 ＜ (cr- c) ＜ 1, VrPositioned at 1/8th square G7It is interior, basic vector V1Coordinate be (a + 1, b+1, c+1), i.e. V1(a+1, b+1, c+1).
According to reference vector VrWith basic vector V1The difference of each component determines other three equivalent basic vector V2、 V3、V4.Such as 0≤(ar-a)≤0.5、0≤(br-b)≤0.5、0≤(cr- c)≤0.5, VrPositioned at 1/8th square G1 It is interior, basic vector V1(a, b, c), judges ar-a、br- b and crSize between-c, if | ar-a|≥|br-b|≥|cr- c |, Then change a, the worth V of b, c component successively2(a+1, b, c), V3(a+1, b+1, c), V4(a+1, b+1, c+1), specifically judged Journey is as shown in figure 4, the small tetrahedron of four basic vector compositions of gained is as shown in Figure 5.
Such as 0.5 ＜ (ar- a) ＜ 1,0.5 ＜ (br- b) ＜ 1,0.5 ＜ (cr- c) ＜ 1, VrPositioned at 1/8th square G7 It is interior, basic vector V1' (a+1, b+1, c+1), judges ar-(a+1)、br- (b+1) and crSize between-(c+1), if | ar- (a+1)|≥|br-(b+1)|≥|cr- (c+1) |, then change the worth V of three-phase component successively2' (a, b+1, c+1), V3(a, b, c +1)、V4' (a, b, c).
Such as 0.5 ＜ (ar- a) 1,0≤(b of ＜r- b)≤0.5,0.5 ＜ (cr- c) ＜ 1, VrPositioned at 1/8th square G6 It is interior, basic vector V1" (a+1, b, c+1), judges ar-(a+1)、br- b and crSize between-(c+1), if | ar-(a+1)| ≥|cr-(c+1)|≥|br- b |, then change the worth V of three-phase component successively2" (a, b, c+1), V3" (a, b, c), V4" (a, b+1, c)。
Work as VrWhen in other 1/8th squares, similarly, as judge reference vector with obtained by first it is basic Size between vector each component, changes three-phase component successively, obtains the equivalent basic vector of the other three.
Obtain 4 equivalent basic vector V1、V2、V3、V4One small tetrahedron of composition, V is calculated according to formula (2)1、V2、V3、 V4Action time t1、t2、t3、t4, switched over along the side of unit cube between small tetrahedral each summit, switch Path is V1→V2→V3→V4→V3→V2→V1, the sequential of switching is as shown in Figure 6.

Claims (5)

1. a kind of general direct multi-electrical level inverter three-dimensional space vector modulation method, it is characterised in that：Three-phase voltage Reference voltage geometric locus is mapped directly in three-dimensional cartesian coordinate system to obtain after normalization, and switch state vector is mapped to three Dimension rectangular coordinate system, gained switch state vector is exactly corresponding basic vector, and all basic vectors are respectively positioned on unit cube Summit, it is determined that the unit cube comprising reference vector, four suitable basic vectors conjunctions are found on the unit cube Into reference vector, switched between four basic vectors of synthesized reference voltage vector along the side of unit cube；
Three dimensions reference voltage geometric locus is sampled, reference vector V is obtainedr(ar, br, cr)；
To reference vector Vr(ar, br, cr) each coordinate components round downwards：
a = f l o o r ( a r ) b = f l o o r ( b r ) c = f l o o r ( c r ) - - - ( 1 )
Floor (*) represents downward bracket function in formula (1), and space coordinates point (a, b, c) and (a+1, b+1, c+1) determines one Individual unit cube；
Respectively 8 1/8th squares are divided into tri- bundle of planes gained unit cubes of a+0.5, b+0.5, c+0.5；
Judge institute sample reference vector Vr(ar, br, cr) be located in which 1/8th square, the one of 1/8th square Individual that summit vector overlapped with original unit square is first equivalent basic vector V1。
2. a kind of general direct multi-electrical level inverter three-dimensional space vector modulation method as claimed in claim 1, it is special It is that three-phase reference voltage is normalized to levy, and is mapped in three-dimensional cartesian coordinate system, obtains the three dimensions ginseng of three-phase voltage Examine vector locus curve.
3. a kind of general direct multi-electrical level inverter three-dimensional space vector modulation method as claimed in claim 1, it is special It is that switch state vector is mapped in three-dimensional system of coordinate to levy, and switch state vector is distributed in centered on the origin of coordinates, rib Rounded coordinate point in the cube of a length of (n-1), that is, form the basic vector in three-dimensional cartesian coordinate system, the equal position of basic vector In the summit of unit cube, n represents the overall level number of multi-electrical level inverter.
4. a kind of general direct multi-electrical level inverter three-dimensional space vector modulation method as claimed in claim 1, it is special Levy is to calculate reference vector VrRelative to basic vector V1Which reference axis is the size of the corresponding increment of each component, judge along Direction change amount it is maximum, it is minimum along which reference axis variable quantity, you can to determine the equivalent basic vector V of the other three2、V3、 V4。
5. a kind of general direct multi-electrical level inverter three-dimensional space vector modulation method as claimed in claim 1, it is special It is 4 basic vector V to levy1、V2、V3、V4Small tetrahedron is constituted, in V1、V2、V3、V4Between switch over, toggle path is V1 →V2→V3→V4→V3→V2→V1, i.e., along V1、V2、V3、V4The side of place square switches over, and realizes seven sections of modulation methods Method.
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Publication number Priority date Publication date Assignee Title
CN101090241A (en) * 2007-04-29 2007-12-19 澳门大学 Pulsewidth modulation control method and controller multi-level three-phase four-line dc-to-ac converter
CN103401464A (en) * 2013-08-09 2013-11-20 江西清华泰豪三波电机有限公司 Three-phase four-wire three-dimensional space vector control method

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