CN105790650A - Five-bridge arm converter-based open winding permanent magnet synchronous motor driving system and method - Google Patents

Abstract

The present invention discloses a five-bridge arm converter-based open winding permanent magnet synchronous motor driving system and method. A five-bridge arm converter comprises a six-switch three-phase converter and a four-switch single-phase converter which are connected in parallel, the output end of the six-switch three-phase converter is connected with the left-end windings A,B and C of an open winding permanent magnet synchronous motor, the output end of the four-switch single-phase converter is connected with the right-end windings A' and C', and a right-end winding B' is connected with a left-end winding A. A current signal acquisition module is used to acquire a current signal of the open winding permanent magnet synchronous motor, a position signal acquisition module is used to acquire a voltage signal of the open winding permanent magnet synchronous motor, and the above current and voltage signals are both sent to a controller, thereby realizing the rotating speed current double closed loop control. A driving module outputs a PWM signal, thereby controlling the five-bridge arm converter. The system is low in cost and good in speed regulation performance. The present invention also discloses a five-bridge arm converter-based open winding permanent magnet synchronous motor driving method.

Description

Winding permanent magnet Synchromous machine drive system and method is opened based on five bridge-arm converter

Technical field

The invention belongs to electric system and control field, particularly to a kind of converter topology structure opening winding permanent magnet Synchromous machine drive system and control method.

Background technology

nullDriving winding construction motor is the neutral point of conventional three-phase alternating current generator opened，Constitute the winding Open architecture with dual-port，The magnetic circuit of motor and structure do not have any change，Drive winding construction motor and do not change the key property of conventional motors，And the restriction relation between traditional each phase motor winding no longer exists after opening due to neutral point，Each phase winding is independent，The reliability of motor body can be improved to a certain extent，And two port can connect changer respectively，Can coordinate to control each changer by the changer of two-port and undertake the power of half，And the changer of two-port is when identical winding current ripple，Reduce its switching frequency，Meet the demand of the changer of heavy-duty motor system well，Therefore the research opening winding construction and control technology thereof becomes the important expansion direction of current alternating current generator research.

Drive winding construction motor and generally form drive system with twin inverter, twin inverter is connected to out two ports of winding electric machine, twin inverter can be respectively adopted respective power supply and power, i.e. dual power supply mode, by arranging the electric pressure of both sides power supply, can conveniently realize three level, the modulation system of four level, effectively suppress the current harmonics of drive motor winding, on this basis, two side inverters are expanded to three level, five level, seven level etc., polytype many level can be derived and open winding electric machine driving, it is greatly enriched out the research contents of winding electric machine.Additionally, for reducing the cost of drive system and reducing the complexity of drive system, can also by the DC side parallel of twin inverter, i.e. power supply power supply mode, this topological structure can also be regarded motor three-phase windings as and connect a set of H bridging parallel operation respectively, every phase winding can independently control, the reliability making drive system is greatly improved, compare single supply power supply mode, the cost of system has had and has significantly reduced, but the connected mode of common DC bus, winding construction motor internal is made out to there is zero sequence path, therefore the suppression of its zero-sequence current and the vector modulation technique etc. of twin inverter become study hotspot.

Visible winding construction of opening makes it have great motility due to the characteristic of its dual-port, is aided with suitable power inverter and can possess excellent driveability.At present, permagnetic synchronous motor is as motor driven systems first-selection high power density, high efficiency, high performance structures type motor, drive winding construction permagnetic synchronous motor and can constitute the drive system possessing good characteristic in conjunction with corresponding power inverter, but, the existing twin inverter being suitable for out winding construction motor and derivative multi-level converter topology structure thereof, although can realizing well driving and controlling function, but it is above the converter topology of 12 switching devices, considerably increase the cost of drive system, and the complexity controlling system is also higher, hence for opening winding permanent magnet Synchromous machine drive system, converter topology structure and the control technology thereof of studying a kind of simplification become the important channel promoting its application.

Summary of the invention

The purpose of the present invention, opening on the basic functional principle basis of drive system of the twin inverter topology formation that winding permanent magnet synchronous motor is powered with single supply, thering is provided a kind of and open winding permanent magnet Synchromous machine drive system and method based on five bridge-arm converter, its cost is low, good speed adjustment features.

In order to reach above-mentioned purpose, the solution of the present invention is:

A kind of open winding permanent magnet Synchromous machine drive system based on five bridge-arm converter, including driving winding permanent magnet synchronous motor, five bridge-arm converter, control module and DC source, wherein, five bridge-arm converter comprises 6 Switch Three-Phase changers parallel with one another and 4 switch single changers, the DC side of 6 Switch Three-Phase changers and 4 switch single changers is all connected in parallel DC source, the outfan of 6 Switch Three-Phase changers is connected with the left end winding ABC driving winding permanent magnet synchronous motor, the right-hand member winding A ' B ' C ' driving winding permanent magnet synchronous motor has following 6 kinds of connected modes: the outfan of the right-hand member winding A ' C ' and 4 switch single changers that 1. drive winding permanent magnet synchronous motor is connected, right-hand member winding B ' is connected with left end winding A；The outfan of the right-hand member winding A ' B ' and 4 switch single changers that 2. drive winding permanent magnet synchronous motor is connected, and right-hand member winding B ' is connected with left end winding B；The outfan of the right-hand member winding B ' C ' and 4 switch single changers that 3. drive winding permanent magnet synchronous motor is connected, and right-hand member winding A ' is connected with left end winding C；The outfan of the right-hand member winding A ' C ' and 4 switch single changers that 4. drive winding permanent magnet synchronous motor is connected, and right-hand member winding B ' is connected with left end winding C；The outfan of the right-hand member winding B ' C ' and 4 switch single changers that 5. drive winding permanent magnet synchronous motor is connected, and right-hand member winding A ' connects left end winding B；The outfan of the right-hand member winding A ' B ' and 4 switch single changers that 6. drive winding permanent magnet synchronous motor is connected, and right-hand member winding C ' connects left end winding A；Control module include controller and the current signal collection module being attached thereto respectively, position signal acquisition module and drive module, current signal collection module is for gathering out the current signal of winding permanent magnet synchronous motor, position signal acquisition module is for gathering out the voltage signal of winding permanent magnet synchronous motor, and aforementioned currents, voltage signal all send into controller, realize speed and current double closed loop control, by driving module output pwm signal, it is achieved the control to five bridge-arm converter.

Above-mentioned 6 Switch Three-Phase changers comprise parallel with one another first to the 3rd brachium pontis, 4 switch single changers comprise the 4th and the 5th brachium pontis parallel with one another, each brachium pontis all comprises the upper brachium pontis being serially connected and lower brachium pontis, the midpoint that junction point is this brachium pontis of brachium pontis and lower brachium pontis in definition, the DC side of the first to the 5th brachium pontis is all connected in parallel DC source, the left end winding ABC driving winding permanent magnet synchronous motor connects the midpoint of the first to the 3rd brachium pontis respectively, the right-hand member winding A ' B ' C ' driving winding permanent magnet synchronous motor has following 6 kinds of connected modes: the right-hand member winding A ' C ' 1. driving winding permanent magnet synchronous motor connects the 5th respectively, the midpoint of four bridge legs, and right-hand member winding B ' connects left end winding A；2. open the right-hand member winding A ' B ' of winding permanent magnet synchronous motor connect the 5th respectively, the midpoint of four bridge legs, and right-hand member winding C ' connects left end winding B；3. the right-hand member winding B ' C ' driving winding permanent magnet synchronous motor connects the midpoint of the four, the 5th brachium pontis respectively, and right-hand member winding A ' connects left end winding C；4. open the right-hand member winding A ' C ' of winding permanent magnet synchronous motor connect the 5th respectively, the midpoint of four bridge legs, and right-hand member winding B ' connects left end winding C；5. the right-hand member winding B ' C ' driving winding permanent magnet synchronous motor connects the midpoint of the four, the 5th brachium pontis respectively, and right-hand member winding A ' connects left end winding B；6. open the right-hand member winding A ' B ' of winding permanent magnet synchronous motor connect the 5th respectively, the midpoint of four bridge legs, and right-hand member winding C ' connects left end winding A.

Above-mentioned upper brachium pontis and lower brachium pontis all adopt the IGBT of anti-paralleled diode to switch.

A kind of open winding permanent magnet synchronous machine drives method based on five bridge-arm converter, including following content: gather the rotor position information driving winding permanent magnet synchronous motor, obtain rotor speed feedback value, given rotating speed is made after the recovery with feedback rotating speed after pi regulator, obtains motor q shaft current set-point；Gather the three-phase windings electric current driving winding permanent magnet synchronous motor, after ABC-dq coordinate transform, d, q axle feedback current is obtained in conjunction with rotor position information, electric current loop gives and value of feedback is made after the recovery and exported d, q shaft voltage value through pi regulator, α, β shaft voltage value is obtained by dq-α β conversion, synthesis rotational voltage vector, producing ten road pwm signals after SVPWM modulates, in control five bridge-arm converter, 6 Switch Three-Phase changers and the driving of 4 switch single changers are driven winding permanent magnet synchronous motor and are realized rotating speed, current double closed-loop control.

In above-mentioned five bridge-arm converter, the driving signal of each brachium pontis has following restriction:

(1) there is strict restriction relation in the signal that drives of the upper and lower brachium pontis in each brachium pontis, and upper and lower brachium pontis can not be simultaneously open-minded；

(2) each brachium pontis drives signal to there is strict restriction relation, according to the connected mode opening winding permanent magnet synchronous motor right-hand member winding, there are following 6 kinds of situations: 1. the first brachium pontis drives signal independent, second brachium pontis drives signal and four bridge legs to drive signal identical, and the 3rd brachium pontis drives signal and the 5th brachium pontis to drive signal identical；2. the second brachium pontis drives signal independent, and the first brachium pontis drives signal and four bridge legs to drive signal identical, and the 3rd brachium pontis drives signal and the 5th brachium pontis to drive signal identical；3. the 3rd brachium pontis drives signal independent, and the first brachium pontis drives signal and four bridge legs to drive signal identical, and the second brachium pontis drives signal and the 5th brachium pontis to drive signal identical；4. the 3rd brachium pontis drives signal independent, and the first brachium pontis drives signal and four bridge legs to drive signal identical, and the second brachium pontis drives signal and the 5th brachium pontis to drive signal identical；5. the second brachium pontis drives signal independent, and the 3rd brachium pontis drives signal and four bridge legs to drive signal identical, and the first brachium pontis drives signal and the 5th brachium pontis to drive signal identical；6. the first brachium pontis drives signal independent, and the 3rd brachium pontis drives signal and four bridge legs to drive signal identical, and the second brachium pontis drives signal and the 5th brachium pontis to drive signal identical.

1. planting connected mode for open winding permanent magnet synchronous motor right-hand member winding the, the detailed process of above-mentioned SVPWM modulation is:

(1) on off state of each brachium pontis is defined: upper brachium pontis is opened, lower brachium pontis closes is 1 state, and upper brachium pontis closes, lower brachium pontis is opened is 0 state；

null(2) by 2 kinds of on off states of each brachium pontis，Define 8 kinds of switch combinations of 6 Switch Three-Phase changers: the first brachium pontis 0 state、Second brachium pontis 0 state、3rd brachium pontis 0 state is V10，First brachium pontis 0 state、Second brachium pontis 0 state、3rd brachium pontis 1 state is V11，First brachium pontis 0 state、Second brachium pontis 1 state、3rd brachium pontis 0 state is V12，First brachium pontis 0 state、Second brachium pontis 1 state、3rd brachium pontis 1 state is V13，First brachium pontis 1 state、Second brachium pontis 0 state、3rd brachium pontis 0 state is V14，First brachium pontis 1 state、Second brachium pontis 0 state、3rd brachium pontis 1 state is V15，First brachium pontis 1 state、Second brachium pontis 1 state、3rd brachium pontis 0 state is V16，First brachium pontis 1 state、Second brachium pontis 1 state、3rd brachium pontis 1 state is V17；When the first brachium pontis is 0 state, define 4 kinds of switch combinations of 4 switch single changers: the 5th brachium pontis 0 state, four bridge legs 0 state are V20,5th brachium pontis 0 state, four bridge legs 1 state are V21,5th brachium pontis 1 state, four bridge legs 0 state are V40, and the 5th brachium pontis 1 state, four bridge legs 1 state are V50；When the first brachium pontis is 1 state, define 4 kinds of switch combinations of 4 switch single changers: the 5th brachium pontis 0 state, four bridge legs 0 state are V22,5th brachium pontis 0 state, four bridge legs 1 state are V23,5th brachium pontis 1 state, four bridge legs 0 state are V46, and the 5th brachium pontis 1 state, four bridge legs 1 state are V57；

The all possible switch combination of 6 Switch Three-Phase changers and 4 switch single changers has 8 × 4=32 kind, is divided into 4 classes according to it in motor winding terminal resultant vector length:

1) V10 and V20 effect, V11 and V21 acts on, and V16 and V26 acts on, and V17 and V27 acts on, and these four kinds of states are defined as the zero vector of twin inverter synthesis；

2) V10 and V21 effect, V10 and V24 acts on, and V10 and V25 acts on, V11 and V20 acts on, and V11 and V25 acts on, and V12 and V20 acts on, V13 and V20 acts on, and V12 and V21 acts on, and V14 and V26 acts on, V14 and V27 acts on, and V15 and V27 acts on, and V16 and V22 acts on, V16 and V27 acts on, and V17 and V22 acts on, and V17 and V23 acts on, V17 and V26 acts on, and these 16 kinds of states are defined as the small vector of twin inverter synthesis；

3) V11 and V24 effect, V12 and V21 acts on, and V12 and V24 acts on, and V13 and V25 acts on, and V14 and V22 acts on, and V15 and V23 acts on, and V15 and V26 acts on, and V16 and V23 acts on, and these 8 kinds of states are defined as the middle vector of twin inverter synthesis；

4) V12 and V25 effect, V13 and V24 acts on, and V14 and V23 acts on, and V15 and V22 acts on, and these 4 kinds of states are defined as the big vector of twin inverter synthesis；

(3) according to above-mentioned each brachium pontis switch combination state and the corresponding synthesized voltage vector opening each phase winding of winding permanent magnet synchronous motor, the resultant voltage three dimensional vector diagram acting on out winding permanent magnet synchronous motor winding is drawn；

(4) principle that residual voltage is zero that three-phase windings is produced is produced according to synthesized voltage vector, it is proposed to do not produce the voltage vector of residual voltage；

(5) according to the voltage vector that when opening winding permanent magnet synchronous machine drives, each sector acts on determined, and calculate the action time obtaining each neighboring voltage vector in each sector, the pwm signal of each brachium pontis in corresponding acquisition 6 Switch Three-Phase changers and 4 switch single changers；

(6) each brachium pontis of 6 Switch Three-Phase changers and 4 switch single changers is arranged Dead Time, it is prevented that leading directly to of every phase brachium pontis.

After adopting such scheme, what the present invention compared traditional double inverter opens winding electric machine drive system, the basis of conventional three-phase changer eliminates a brachium pontis, 6 Switch Three-Phase changers can be equivalent to and 4 switch single changers are in parallel, the A phase brachium pontis of that phase (B phase) the 6 Switch Three-Phase changers lacked by 4 switch single changers replaces, still do three-phase output, constitute right three phase power output port.Compare traditional two changer independence control, more strict restriction relation is there is: the conduction mode of brachium pontis 1 is independent between each brachium pontis of five brachium pontis, the conduction mode of brachium pontis 2 is identical with the conduction mode of brachium pontis 4, and the conduction mode of brachium pontis 3 is identical with the conduction mode of brachium pontis 5.Described driving method drives the rotor position information of winding permanent magnet synchronous motor, winding current signal send gathering into controller, constitute speed outer shroud and current inner loop drive control module, 17 kinds of voltage vectors of five bridge-arm converter synthesis are rejected the zero-sequence current that the component producing residual voltage suppresses to open in winding electric machine, and realizes the SVPWM modulation of changer.Tradition of comparing opens double; two three-phase inverters topology that winding electric machine drive system adopts, and its power inverter cost can cut down 16.7%, but possesses equal speed adjusting performance.

Accompanying drawing explanation

Fig. 1 is the structure chart of drive system of the present invention；

Fig. 2 is the control block diagram of driving method of the present invention；

Fig. 3 is the vectogram of 6 Switch Three-Phase changers；

Fig. 4 (a) is the first brachium pontis vectogram of 4 switch single changers when being 0；

Fig. 4 (b) is the first brachium pontis vectogram of 4 switch single changers when being 1；

Fig. 5 is the resultant voltage three dimensional vector diagram acting on out winding permanent magnet synchronous motor；

Fig. 6 is the voltage vector and coordinate system schematic diagram selected；

Fig. 7 is 6 Switch Three-Phase changers and the SVPWM signal schematic representation of 4 switch single changers；

Wherein, (a)-(f) represents the SVPWM signal of interval 1～6 respectively.

Detailed description of the invention

Below with reference to accompanying drawing, technical scheme and beneficial effect are described in detail.

As shown in Figure 1, the present invention provides a kind of and opens winding permanent magnet Synchromous machine drive system based on five bridge-arm converter, including driving winding permanent magnet synchronous motor, five bridge-arm converter, control module and DC source, wherein, control module include controller and the current signal collection module being attached thereto respectively, position signal acquisition module and drive module, introduce separately below.

Described five bridge-arm converter comprises 6 Switch Three-Phase changers parallel with one another and 4 switch single changers, the outfan of 6 Switch Three-Phase changers is connected with the left end winding ABC driving winding permanent magnet synchronous motor, the outfan of 4 switch single changers is connected with the right-hand member winding A ' C ' driving winding permanent magnet synchronous motor, right-hand member winding B ' is connected with left end winding A, specifically, 6 Switch Three-Phase changers comprise parallel with one another first to the 3rd brachium pontis, 4 switch single changers comprise the 4th and the 5th brachium pontis parallel with one another, each brachium pontis all comprises the upper brachium pontis being serially connected and lower brachium pontis, the midpoint that junction point is this brachium pontis of brachium pontis and lower brachium pontis in definition, outfan simultaneously as changer, wherein, first brachium pontis comprises brachium pontis IGBT and switchs T₁₀T is switched with lower brachium pontis IGBT₁₁, the second brachium pontis comprises brachium pontis IGBT and switchs T₂₀T is switched with lower brachium pontis IGBT₂₁, the 3rd brachium pontis comprises brachium pontis IGBT and switchs T₃₀T is switched with lower brachium pontis IGBT₃₁, four bridge legs comprises brachium pontis IGBT and switchs T₄₀T is switched with lower brachium pontis IGBT₄₁, the 5th brachium pontis comprises brachium pontis IGBT and switchs T₅₀T is switched with lower brachium pontis IGBT₅₁, each IGBT switchs equal anti-paralleled diode, and the DC side parallel of the first to the 5th brachium pontis connects DC source U_dcAnd the left end winding ABC driving winding permanent magnet synchronous motor connects the midpoint of the first to the 3rd brachium pontis respectively, open the right-hand member winding A ' C ' of winding permanent magnet synchronous motor connect the 5th respectively, the midpoint of four bridge legs, and right-hand member winding B ' connects left end winding A namely the midpoint of the first brachium pontis.

Current signal collection module is for gathering out the current signal of winding permanent magnet synchronous motor, position signal acquisition module is for gathering out the voltage signal of winding permanent magnet synchronous motor, and aforementioned currents, voltage signal all send into controller (in the present embodiment adopt AD5435), realize speed and current double closed loop control, ten road pwm signals are exported by driving module, drive 10 IGBT switches respectively, DC source is converted to three-phase alternating current electric drive and drives winding permanent magnet synchronous motor.

Coordinate shown in Fig. 2, based on above drive system, the present invention also provides for a kind of opening winding permanent magnet synchronous machine drives method based on five bridge-arm converter, including following content: utilize position signal acquisition module collection to open the rotor position information θ of winding permanent magnet synchronous motor, rotor speed feedback value ω is obtained, by given rotating speed ω through differentiation element^*Make after the recovery with feedback rotating speed after pi regulator, obtain motor q shaft current set-point i_q ^*；Current signal collection module collection is utilized to open the three-phase windings electric current i of winding permanent magnet synchronous motor_A,B,C, after ABC-dq coordinate transform, obtain d, q axle feedback current i in conjunction with rotor position information_d、i_q, by the i of speed ring output_q ^*With i_d=0 makes after the recovery respectively with value of feedback exports d, q shaft voltage value U through pi regulator_d、U_q, obtain α, β shaft voltage value U by dq-α β conversion_α、U_β, synthesizing rotational voltage vector, after SVPWM modulates, produce ten road pwm signals, winding permanent magnet synchronous motor realizes rotating speed, current double closed-loop controls to drive each IGBT of five bridge-arm converter, control changer driving to open respectively.

The key technology that the present invention realizes is in that five bridge-arm converter and the coordination driving winding permanent magnet synchronous motor controls, and namely in above-mentioned control module, the process that implements of SVPWM modulation technique is:

(1) first, there is strict restriction relation in the signal that drives of the upper and lower brachium pontis in each brachium pontis, upper and lower brachium pontis can not be simultaneously open-minded, otherwise the bridgc arm short of changer；Therefore, use for reference the switch function definition mode of conventional three-phase bridge converter, define the on off state of each brachium pontis: upper brachium pontis is opened, lower brachium pontis closes is 1 state, and upper brachium pontis closes, lower brachium pontis is opened is 0 state.Table 1 show for the assembled state of the first brachium pontis.

First brachium pontis switch combination of table 1 five bridge-arm converter

First brachium pontis on off state	T10	T11
			0	0	1
1	1	0

null(2) five bridge-arm converter is in parallel by 6 Switch Three-Phase changers and 4 switch single changers，By the 2 of each brachium pontis kinds of on off states，Define 8 kinds of switch combinations of 6 Switch Three-Phase changers: the first brachium pontis 0 state、Second brachium pontis 0 state、3rd brachium pontis 0 state is V10，First brachium pontis 0 state、Second brachium pontis 0 state、3rd brachium pontis 1 state is V11，First brachium pontis 0 state、Second brachium pontis 1 state、3rd brachium pontis 0 state is V12，First brachium pontis 0 state、Second brachium pontis 1 state、3rd brachium pontis 1 state is V13，First brachium pontis 1 state、Second brachium pontis 0 state、3rd brachium pontis 0 state is V14，First brachium pontis 1 state、Second brachium pontis 0 state、3rd brachium pontis 1 state is V15，First brachium pontis 1 state、Second brachium pontis 1 state、3rd brachium pontis 0 state is V16，First brachium pontis 1 state、Second brachium pontis 1 state、3rd brachium pontis 1 state is V17.Owing to the brachium pontis of 4 switch single changer disappearances is substituted by the first brachium pontis, therefore when the first brachium pontis is 0 state, define 4 kinds of switch combinations of 4 switch single changers: the 5th brachium pontis 0 state, four bridge legs 0 state are V20,5th brachium pontis 0 state, four bridge legs 1 state are V21,5th brachium pontis 1 state, four bridge legs 0 state are V40, and the 5th brachium pontis 1 state, four bridge legs 1 state are V50；When the first brachium pontis is 1 state, define 4 kinds of switch combinations of 4 switch single changers: the 5th brachium pontis 0 state, four bridge legs 0 state are V22,5th brachium pontis 0 state, four bridge legs 1 state are V23,5th brachium pontis 1 state, four bridge legs 0 state are V46, and the 5th brachium pontis 1 state, four bridge legs 1 state are V57.As shown in Figure 3 and Figure 4.

To sum up, each brachium pontis drives signal to there is strict restriction relation, and the first brachium pontis drives signal independent, and the second brachium pontis drives signal and four bridge legs to drive signal identical, and the 3rd brachium pontis drives signal and the 5th brachium pontis to drive signal identical.

Therefore, all possible switch combination of 6 Switch Three-Phase changers (INV1) and 4 switch single changers (INV2) has 8 × 4=32 kind, is divided into 4 classes according to it in motor winding terminal resultant vector length:

1) V10 and V20 effect, V11 and V21 acts on, and V16 and V26 acts on, V17 and V27 acts on, under these 4 kinds of states, the two ends opening the three-phase windings of winding permanent magnet synchronous motor connect the positive and negative end of power supply respectively, and these four kinds of states are defined as the zero vector of twin inverter synthesis；

2) V10 and V21 effect, V10 and V24 acts on, and V10 and V25 acts on, V11 and V20 acts on, and V11 and V25 acts on, and V12 and V20 acts on, V13 and V20 acts on, and V12 and V21 acts on, and V14 and V26 acts on, V14 and V27 acts on, and V15 and V27 acts on, and V16 and V22 acts on, V16 and V27 acts on, and V17 and V22 acts on, and V17 and V23 acts on, V17 and V26 acts on, and these 16 kinds of states are defined as the small vector of twin inverter synthesis；

3) V11 and V24 effect, V12 and V21 acts on, and V12 and V24 acts on, and V13 and V25 acts on, and V14 and V22 acts on, and V15 and V23 acts on, and V15 and V26 acts on, and V16 and V23 acts on, and these 8 kinds of states are defined as the middle vector of twin inverter synthesis；

4) V12 and V25 effect, V13 and V24 acts on, and V14 and V23 acts on, and V15 and V22 acts on, and these 4 kinds of states are defined as the big vector of twin inverter synthesis.

Specifically it is referred to shown in table 2.

The each brachium pontis switch combination type of table 2

nullThe switch combination driving winding permanent magnet synchronous motor is driven to have V10 and V20 effect or V11 and V21 effect or V16 and V26 effect or V17 and V27 effect or V11 and V24 effect from the five bridge-arm converter that is appropriate to determined above，V11 and V20 effect or V17 and V26 effect，V10 and V25 effect or V12 and V20 effect or V13 and V21 act on，V10 and V24 effect or V13 and V20 effect or V11 and V25 act on，V14 and V27 effect or V16 and V22 effect or V17 and V23 act on，V14 and V26 effect or V15 and V27 effect or V17 and V23 act on，V10 and V21 effect or V16 and V27 effect，V12 and V21 acts on，V13 and V25 effect or V12 and V24 effect，V14 and V22 effect or V15 and V23 effect，V15 and V26 acts on，V16 and V23 acts on，V10 and V20 acts on，V17 and V27 acts on，V12 and V25 acts on，V13 and V24 acts on，V15 and V22 acts on，Add up to 17 kinds.

(3) according to above-mentioned each brachium pontis switch combination state and the corresponding synthesized voltage vector opening each phase winding of winding permanent magnet synchronous motor, the resultant voltage three dimensional vector diagram acting on out winding permanent magnet synchronous motor winding as shown in Figure 5 is drawn；

(4) in this drive system, drive winding permanent magnet synchronous motor and there is zero sequence loop, for suppressing to open the zero sequence voltage component that in winding permanent magnet synchronous motor, synthesized voltage vector produces, reduce the zero-sequence current produced in the motor three-phase windings impact on electric efficiency, the principle that residual voltage is zero that three-phase windings is produced is produced, it is proposed to do not produce the voltage vector of residual voltage according to synthesized voltage vector.Select that synthesized voltage vector does not produce zero sequence voltage component and have 00000,00110,11001,11111,00101,01010,01001,01111,10000,10110,10101,11010, it is respectively defined as V00, V01, V06, V07, V1, V2, V ' 3, V3, V4, V ' 4, V5, V6, native system exists 4 Zero voltage vectors V00, V01, V06, V07, select V00 and V07 for simplifying algorithm, be respectively defined as V0 and V7.Wherein the vector length of V1～V6 isSetting the sector of first to the 6th as shown in Figure 6 and new η γ coordinate, α, β coordinate system turned clockwise 30 °, constitute η, γ coordinate system, corresponding relation is:

$\left\{\begin{array}{c}\mathrm{\η}=\frac{\sqrt{3}}{2}\mathrm{\α}-\frac{1}{2}\mathrm{\β}\\ \mathrm{\γ}=\frac{1}{2}\mathrm{\α}+\frac{\sqrt{3}}{2}\mathrm{\β}\end{array}\right.$

To the given voltage vector V being in each sector_refCan be synthesized by V1～V6 and zero vector, calculate the action time obtaining each sector each neighboring voltage vector as shown in the table:

The vector action time that table 3 respective bins is corresponding

Interval

1

2

3

4

5

6

TX

Z(2)

Y(4)

-Z(4)

-X(1)

X(2)

-Y(1)

TY

Y(6)

-X(5)

X(6)

Z(3)

-Y(3)

-Z(5)

Wherein:

$\left\{\begin{array}{c}X=\frac{T_S{V}_{\mathrm{\γ}}}{V_{dc}}\\ Y=\frac{T_S{V}_{\mathrm{\γ}}+\sqrt{3}{V}_{\mathrm{\η}}}{2V_{dc}}\\ Z=\frac{T_S{V}_{\mathrm{\γ}}-\sqrt{3}{V}_{\mathrm{\η}}}{2V_{dc}}\end{array}\right.$

Wherein, X, Y, Z are the action time turning on vector in each interval, T_SFor switch periods, V_γAnd V_ηγ axle that respectively controller provides and the voltage swing of η axle, V_dcFor DC bus-bar voltage.

(5) V0～V7 action time in each interval is obtained according to calculating, it is thus achieved that 6 Switch Three-Phase changers and brachium pontis T on 4 switch single changers_X0With lower brachium pontis T_X1Dutycycle (X=1～5), the driving signal of upper and lower brachium pontis is complementary, it is derived from the SVPWM signal of each IGBT switch as it is shown in fig. 7, each brachium pontis of 6 Switch Three-Phase changers and 4 switch single changers is arranged Dead Time, it is prevented that leading directly to of every phase brachium pontis.

Above example is only the technological thought that the present invention is described, it is impossible to limits protection scope of the present invention, every technological thought proposed according to the present invention, any change done on technical scheme basis with this, each falls within scope.

Claims (6)

1. open winding permanent magnet Synchromous machine drive system based on five bridge-arm converter for one kind, it is characterized in that: include out winding permanent magnet synchronous motor, five bridge-arm converter, control module and DC source, wherein, five bridge-arm converter comprises 6 Switch Three-Phase changers parallel with one another and 4 switch single changers, the DC side of 6 Switch Three-Phase changers and 4 switch single changers is all connected in parallel DC source, the outfan of 6 Switch Three-Phase changers is connected with the left end winding ABC driving winding permanent magnet synchronous motor, the right-hand member winding A ' B ' C ' driving winding permanent magnet synchronous motor has following 6 kinds of connected modes: the outfan of the right-hand member winding A ' C ' and 4 switch single changers that 1. drive winding permanent magnet synchronous motor is connected, right-hand member winding B ' is connected with left end winding A；The outfan of the right-hand member winding A ' B ' and 4 switch single changers that 2. drive winding permanent magnet synchronous motor is connected, and right-hand member winding B ' is connected with left end winding B；The outfan of the right-hand member winding B ' C ' and 4 switch single changers that 3. drive winding permanent magnet synchronous motor is connected, and right-hand member winding A ' is connected with left end winding C；The outfan of the right-hand member winding A ' C ' and 4 switch single changers that 4. drive winding permanent magnet synchronous motor is connected, and right-hand member winding B ' is connected with left end winding C；The outfan of the right-hand member winding B ' C ' and 4 switch single changers that 5. drive winding permanent magnet synchronous motor is connected, and right-hand member winding A ' connects left end winding B；The outfan of the right-hand member winding A ' B ' and 4 switch single changers that 6. drive winding permanent magnet synchronous motor is connected, and right-hand member winding C ' connects left end winding A；Control module include controller and the current signal collection module being attached thereto respectively, position signal acquisition module and drive module, current signal collection module is for gathering out the current signal of winding permanent magnet synchronous motor, position signal acquisition module is for gathering out the voltage signal of winding permanent magnet synchronous motor, and aforementioned currents, voltage signal all send into controller, realize speed and current double closed loop control, by driving module output pwm signal, it is achieved the control to five bridge-arm converter.

null2. as claimed in claim 1 open winding permanent magnet Synchromous machine drive system based on five bridge-arm converter，It is characterized in that: described 6 Switch Three-Phase changers comprise parallel with one another first to the 3rd brachium pontis，4 switch single changers comprise the 4th and the 5th brachium pontis parallel with one another，Each brachium pontis all comprises the upper brachium pontis being serially connected and lower brachium pontis，The midpoint that junction point is this brachium pontis of brachium pontis and lower brachium pontis in definition，The DC side of the first to the 5th brachium pontis is all connected in parallel DC source，The left end winding ABC driving winding permanent magnet synchronous motor connects the midpoint of the first to the 3rd brachium pontis respectively，The right-hand member winding A ' B ' C ' driving winding permanent magnet synchronous motor has following 6 kinds of connected modes: the right-hand member winding A ' C ' 1. driving winding permanent magnet synchronous motor connects the 5th respectively、The midpoint of four bridge legs，And right-hand member winding B ' connects left end winding A；2. open the right-hand member winding A ' B ' of winding permanent magnet synchronous motor connect the 5th respectively, the midpoint of four bridge legs, and right-hand member winding C ' connects left end winding B；3. the right-hand member winding B ' C ' driving winding permanent magnet synchronous motor connects the midpoint of the four, the 5th brachium pontis respectively, and right-hand member winding A ' connects left end winding C；4. open the right-hand member winding A ' C ' of winding permanent magnet synchronous motor connect the 5th respectively, the midpoint of four bridge legs, and right-hand member winding B ' connects left end winding C；5. the right-hand member winding B ' C ' driving winding permanent magnet synchronous motor connects the midpoint of the four, the 5th brachium pontis respectively, and right-hand member winding A ' connects left end winding B；6. open the right-hand member winding A ' B ' of winding permanent magnet synchronous motor connect the 5th respectively, the midpoint of four bridge legs, and right-hand member winding C ' connects left end winding A.

3. as claimed in claim 2 open winding permanent magnet Synchromous machine drive system based on five bridge-arm converter, it is characterised in that: described upper brachium pontis and lower brachium pontis all adopt the IGBT of anti-paralleled diode to switch.

4. open winding permanent magnet synchronous machine drives method based on five bridge-arm converter for one kind, it is characterized in that including following content: gather the rotor position information driving winding permanent magnet synchronous motor, obtain rotor speed feedback value, given rotating speed is made after the recovery with feedback rotating speed after pi regulator, obtains motor q shaft current set-point；Gather the three-phase windings electric current driving winding permanent magnet synchronous motor, after ABC-dq coordinate transform, d, q axle feedback current is obtained in conjunction with rotor position information, electric current loop gives and value of feedback is made after the recovery and exported d, q shaft voltage value through pi regulator, α, β shaft voltage value is obtained by dq-α β conversion, synthesis rotational voltage vector, producing ten road pwm signals after SVPWM modulates, in control five bridge-arm converter, 6 Switch Three-Phase changers and the driving of 4 switch single changers are driven winding permanent magnet synchronous motor and are realized rotating speed, current double closed-loop control.

5. as claimed in claim 4 open winding permanent magnet synchronous machine drives method based on five bridge-arm converter, it is characterised in that: in described five bridge-arm converter, the driving signal of each brachium pontis has following restriction:

(1) there is strict restriction relation in the signal that drives of the upper and lower brachium pontis in each brachium pontis, and upper and lower brachium pontis can not be simultaneously open-minded；

(2) each brachium pontis drives signal to there is strict restriction relation, according to the connected mode opening winding permanent magnet synchronous motor right-hand member winding, there are following 6 kinds of situations: 1. the first brachium pontis drives signal independent, second brachium pontis drives signal and four bridge legs to drive signal identical, and the 3rd brachium pontis drives signal and the 5th brachium pontis to drive signal identical；2. the second brachium pontis drives signal independent, and the first brachium pontis drives signal and four bridge legs to drive signal identical, and the 3rd brachium pontis drives signal and the 5th brachium pontis to drive signal identical；3. the 3rd brachium pontis drives signal independent, and the first brachium pontis drives signal and four bridge legs to drive signal identical, and the second brachium pontis drives signal and the 5th brachium pontis to drive signal identical；4. the 3rd brachium pontis drives signal independent, and the first brachium pontis drives signal and four bridge legs to drive signal identical, and the second brachium pontis drives signal and the 5th brachium pontis to drive signal identical；5. the second brachium pontis drives signal independent, and the 3rd brachium pontis drives signal and four bridge legs to drive signal identical, and the first brachium pontis drives signal and the 5th brachium pontis to drive signal identical；6. the first brachium pontis drives signal independent, and the 3rd brachium pontis drives signal and four bridge legs to drive signal identical, and the second brachium pontis drives signal and the 5th brachium pontis to drive signal identical.

6. as claimed in claim 5 open winding permanent magnet synchronous machine drives method based on five bridge-arm converter, it is characterised in that: 1. planting connected mode for open winding permanent magnet synchronous motor right-hand member winding the, the detailed process of described SVPWM modulation is:

(1) on off state of each brachium pontis is defined: upper brachium pontis is opened, lower brachium pontis closes is 1 state, and upper brachium pontis closes, lower brachium pontis is opened is 0 state；

null(2) by 2 kinds of on off states of each brachium pontis，Define 8 kinds of switch combinations of 6 Switch Three-Phase changers: the first brachium pontis 0 state、Second brachium pontis 0 state、3rd brachium pontis 0 state is V10，First brachium pontis 0 state、Second brachium pontis 0 state、3rd brachium pontis 1 state is V11，First brachium pontis 0 state、Second brachium pontis 1 state、3rd brachium pontis 0 state is V12，First brachium pontis 0 state、Second brachium pontis 1 state、3rd brachium pontis 1 state is V13，First brachium pontis 1 state、Second brachium pontis 0 state、3rd brachium pontis 0 state is V14，First brachium pontis 1 state、Second brachium pontis 0 state、3rd brachium pontis 1 state is V15，First brachium pontis 1 state、Second brachium pontis 1 state、3rd brachium pontis 0 state is V16，First brachium pontis 1 state、Second brachium pontis 1 state、3rd brachium pontis 1 state is V17；When the first brachium pontis is 0 state, define 4 kinds of switch combinations of 4 switch single changers: the 5th brachium pontis 0 state, four bridge legs 0 state are V20,5th brachium pontis 0 state, four bridge legs 1 state are V21,5th brachium pontis 1 state, four bridge legs 0 state are V40, and the 5th brachium pontis 1 state, four bridge legs 1 state are V50；When the first brachium pontis is 1 state, define 4 kinds of switch combinations of 4 switch single changers: the 5th brachium pontis 0 state, four bridge legs 0 state are V22,5th brachium pontis 0 state, four bridge legs 1 state are V23,5th brachium pontis 1 state, four bridge legs 0 state are V46, and the 5th brachium pontis 1 state, four bridge legs 1 state are V57；

The all possible switch combination of 6 Switch Three-Phase changers and 4 switch single changers has 8 × 4=32 kind, is divided into 4 classes according to it in motor winding terminal resultant vector length:

1) V10 and V20 effect, V11 and V21 acts on, and V16 and V26 acts on, and V17 and V27 acts on, and these four kinds of states are defined as the zero vector of twin inverter synthesis；

2) V10 and V21 effect, V10 and V24 acts on, and V10 and V25 acts on, V11 and V20 acts on, and V11 and V25 acts on, and V12 and V20 acts on, V13 and V20 acts on, and V12 and V21 acts on, and V14 and V26 acts on, V14 and V27 acts on, and V15 and V27 acts on, and V16 and V22 acts on, V16 and V27 acts on, and V17 and V22 acts on, and V17 and V23 acts on, V17 and V26 acts on, and these 16 kinds of states are defined as the small vector of twin inverter synthesis；

3) V11 and V24 effect, V12 and V21 acts on, and V12 and V24 acts on, and V13 and V25 acts on, and V14 and V22 acts on, and V15 and V23 acts on, and V15 and V26 acts on, and V16 and V23 acts on, and these 8 kinds of states are defined as the middle vector of twin inverter synthesis；

4) V12 and V25 effect, V13 and V24 acts on, and V14 and V23 acts on, and V15 and V22 acts on, and these 4 kinds of states are defined as the big vector of twin inverter synthesis；

(3) according to above-mentioned each brachium pontis switch combination state and the corresponding synthesized voltage vector opening each phase winding of winding permanent magnet synchronous motor, the resultant voltage three dimensional vector diagram acting on out winding permanent magnet synchronous motor winding is drawn；

(4) principle that residual voltage is zero that three-phase windings is produced is produced according to synthesized voltage vector, it is proposed to do not produce the voltage vector of residual voltage；

(5) according to the voltage vector that when opening winding permanent magnet synchronous machine drives, each sector acts on determined, and calculate the action time obtaining each neighboring voltage vector in each sector, the pwm signal of each brachium pontis in corresponding acquisition 6 Switch Three-Phase changers and 4 switch single changers；

(6) each brachium pontis of 6 Switch Three-Phase changers and 4 switch single changers is arranged Dead Time, it is prevented that leading directly to of every phase brachium pontis.