CN106385215A - Variable switching frequency PWM torque ripple control method for alternating-current motor - Google Patents
Variable switching frequency PWM torque ripple control method for alternating-current motor Download PDFInfo
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- CN106385215A CN106385215A CN201610851097.6A CN201610851097A CN106385215A CN 106385215 A CN106385215 A CN 106385215A CN 201610851097 A CN201610851097 A CN 201610851097A CN 106385215 A CN106385215 A CN 106385215A
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- pwm
- switching frequency
- torque pulsation
- switch periods
- ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/10—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation using bang-bang controllers
Abstract
The present invention discloses a variable switching frequency PWM torque ripple control method for an alternating-current motor. A system mainly comprises a torque ripple prediction module and a switching cycle updating module. According to the method of the invention, with a PWM torque ripple peak value adopted as a control object, a PWM torque ripple prediction algorithm is established based on a two-level current ripple real-time prediction model; and with the PWM torque ripple peak value adopted as the control object, the algorithm can be adopted to change the switching frequency of a two-level voltage source inverter. Compared with constant switching frequency PWM control (CSFPWM), the variable switching frequency PWM control (VSFPWM) can effectively reduce the average switching frequency of the inverter, thereby, reducing switching loss, and at the same time, the variable switching frequency PWM control (VSFPWM) can effectively improve the EMI noises of a motor driving system.
Description
Technical field
The invention belongs to voltage source becomes switching frequency field, more particularly, to a kind of pre- in real time based on PWM torque pulsation
Two level voltage sources surveying model become switching frequency.
Background technology
In modern AC motor driven systems, torque pulsation is the important parameter weighing whole system, torque pulsation meeting
Bring the noises such as vibration, audition to electric system, in many application scenarios, it is directly connected to the running quality of whole system.
The generation of motor torque ripple is mainly derived from two aspects, first, during design of electrical motor, motor torque arteries and veins
Dynamic be directly associated with electric machine structure, the pulsation of this partial torque is main and back-emf fundamental frequency and its harmonic wave associated；Second,
Due to inverter nonideal sine power supply, but go to simulate required sine by the means of numeral with a series of PWM ripple
Voltage waveform, thus motor driver certainly will bring torque pulsation to motor, the pulsation of this part is main and inverter switching device frequently
Rate and its harmonic wave are associated.It is directed to the former source to produce, mainly from the angle improving electric machine structure, to optimize motor
Torque pulsation；The ameliorative way of the latter depends on the optimization to PWM method.
Currently it is directed to PWM torque pulsation achieved with a lot of achievements, existing method mainly proposes some model predictions
Motor control algorithms, but above-mentioned model prediction motor control algorithms are more complicated compared to traditional motor vector controlled.
Content of the invention
Disadvantages described above for prior art or Improvement requirement, the invention provides a kind of be based on torque pulsation real-time estimate
The alternating current generator of model becomes switching frequency PWM torque pulsation method, establishes two-level inverter PWM torque pulsation real-time estimate
Model, its object is to based on PWM torque pulsation real-time prediction model, with PWM torque pulsation peak value Tripple_maxAs control
Object, reduces motor driven systems switching loss and reduces EMI noise peak value.
The PWM current ripples of PWM torque pulsation and machine winding have direct correlation.Inverter output voltage waveform be
A series of PWM ripples, and winding back emf is continuous sinusoidal voltage waveform, both voltage differences have directly dropped to winding inductance
On, thereby produce current ripples.
But the electromagnetic torque of motor is directly produced by winding current, therefore PWM current ripples will produce PWM to motor
Torque pulsation.The present invention specify that the relation between PWM current ripples and PWM torque pulsation, thus can effectively predict PWM torque
Pulsation track, thus carrying out to inverter becoming switching frequency control, is effectively reduced the switching loss of motor driven systems simultaneously
Reduce the EMI noise peak value of motor driven systems.
For achieving the above object, according to one aspect of the present invention, there is provided PWM torque pulsation prediction algorithm.PWM torque
Pulsation derives from three-phase actual current ripple, and the present invention is based on current ripples general predictive model, within the single carrier wave cycle, gives
Determine three-phase dutycycle, three-phase current ripple is predicted.In conjunction with alternating current generator vector control method, by coordinate transform, that is,
Measurable go out PWM torque pulsation waveform.
Present invention also offers the switch periods update method based on PWM torque pulsation peaks demand, in single switch week
In phase, switch periods are longer, and torque pulsation limit value is also directly proportional increase however, it is determined that PWM torque pulsation limit value Tripple_re,
Then can be according to real-time estimate PWM torque pulsation peak value Tripple_maxWith fixed switching frequency TsN, update switch periods value
In general, by the contemplated above technical scheme of the present invention compared with prior art, can obtain down and show
Beneficial effect：
(1) this PWM torque pulsation forecast model is directed to two level any- phase voltage source inventer topologys, predicts process institute
Need parameter few, calculate simple, practical.
(2) this VSFPWM AC Motor Control algorithm, it is (right in limit value to control each PWM torque pulsation peak value
The PWM torque pulsation limit value that should control in CSFPWM), control compared to traditional CSFPWM, VSFPWM torque pulsation peak value
Distribution is more uniform.
(3) this change switching frequency PWM (VSFPWM) is compared to CSFPWM, switching frequency below fixed switching frequency according to
Certain rule changes, and can effectively reduce AC machine drive system average frequency of switching, thus effectively reducing switching loss；
(4) due to VSFPWM switching frequency certain limit change, accordingly its PWM torque pulsation harmonic wave have broader
Frequency spectrum, thus this change switching frequency PWM (VSFPWM) can significantly reduce fixed switching frequency PWM (CSFPWM) torque pulsation
Frequency domain peak value and EMI noise peak value, improve motor driven systems performance.
Brief description
Fig. 1 is the AC machine drive system equivalent structure schematic diagram realized according to the present invention；
Fig. 2 is that the monophase current ripple prediction circuit model of the two level voltage source inventers realized according to the present invention is illustrated
Figure；
Fig. 3 is according to the PWM torque pulsation real-time estimate schematic flow sheet in the single switch cycle of present invention realization；
Fig. 4 is according to the monophase current ripple prediction schematic diagram in the single switch cycle of present invention realization；
Fig. 5 is the change switching frequency PWM torque pulsation control realization block diagram realized according to the present invention；
Fig. 6 is the switch periods update module composition structural representation realized according to the present invention；
Fig. 7 is the PWM torque pulsation under busbar voltage 120V, rotating speed 750rpm experiment condition realized according to the present invention
Effectiveness comparison schematic diagram；
Fig. 8 is the switching frequency results contrast schematic diagram under the such as experimental condition of Fig. 7 realized according to the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, not
For limiting the present invention.As long as additionally, involved technical characteristic in each embodiment of invention described below that
The conflict of not constituting between this just can be mutually combined.
For becoming blank in motor torque ripple application for the switching frequency PWM, the present invention establishes two-level inverter
General Current ripple real-time prediction model, based on the relation between current ripples and PWM torque pulsation, adopts vector control in motor
On the premise of system, with PWM torque pulsation peak value Tripple_maxFor control object, to reduce inverter switching device and to be lost and reduce EMI
Noise peak.
Becoming switching frequency PWM (VSFPWM) and fixed switching frequency PWM (CSFPWM) has the torque pulsation of identical PWM to limit
Definite value.Compared to CSFPWM, switching frequency is change below fixed switching frequency to VSFPWM, has broader spectrum distribution,
EMI noise peak value is lower, and effectively reduces switching loss.
Thus, take the lead in the present invention proposing the control application becoming switching frequency in alternating current generator torque pulsation, effectively
Reduce motor driven systems switching loss and EMI noise.
As shown in figure 1, the present invention is directed to two above-mentioned level voltage power inverters, as shown in Fig. 2 every phase output voltage
VBKHave two voltage status (V with respect to dc bus midpointdc/2,-Vdc/ 2), wherein VdcFor DC bus-bar voltage.
In monophase current ripple prediction circuit model as shown in Figure 2, in monophase current ripple forecast model, single switch
In cycle, L is K phase inductance, VBKFor K phase inverter output voltage, including (Vdc/2,-Vdc/ 2), VmKExport electricity for average
Pressure, VcmThe common-mode voltage causing for n phase inverter output voltage, Vl_cmThe common-mode voltage causing for n phase average output voltage.
Wherein,(dKFor K phase dutycycle), Vl_cm=dcm×
Vdc/ 2 (for SVPWM：For SPWM：dcm=0).By model above, read in n in signal period
Phase dutycycle (d1,d2,d3......dn), by formulaThe single switch cycle can be calculated
Ripple current slope in each time period interiorThe corresponding time of each segment can be calculated by n phase dutycycle simultaneously.
By above computational methods, n phase dutycycle can be read in real time, predict current ripples in this switch periods.Tool
Body pre- flow gauge such as Fig. 3：
(1), after reading in three-phase voltage modulated signal sampled value (da, db, dc), first, carry out carrier wave ratio relatively；
(2) carrier wave ratio relatively after result, the change of 6 edges is had for three-phase PWM ripple, in described whole carrier cycle,
Carrier cycle be divide into 7 sections；As shown in figure 4, three-phase dutycycle gives, corresponded to for 7 voltage action times therewith
(3) pass through to calculate every section of voltage acting on outputting inductance, just current ripples slope (di/dt) can be tried to achieve；
(4) by three-phase dutycycle and fixing switch periods (TsN), the every practical function time (Δ T) can be obtained respectively；
(5) calculate in this carrier cycle, each turning point of current ripplesCertain switch week
In phase, certain phase current ripple track is as shown in Figure 4；
(6) pass through above step, within the single switch cycle, each phase current ripple track is all measurable, in conjunction with motor
The method of vector controlled, under dq rotating coordinate system, motor torque equation isWherein PnFor electricity
Machine number of pole-pairs, ψfFor rotor flux, Ld、LqFor stator dq axle inductance, id、iqFor stator dq shaft current.Rotor flux linkage orientation is to d
Axle, controls d shaft current to be 0, then the torque formula of motor can be written asWith PWM torque ripple as object, by three-phase
Ripple current obtains q axle ripple current i through ab-dq coordinate transformq_ripple, then measurable go out PWM torque pulsation be
Secondly, based on above PWM torque pulsation real-time prediction model, change switching frequency PWM can be started to spread out
(VSFPWM) application in AC machine drive system.
Block diagram realized by controller as shown in figure 5, torque pulsation prediction module receives sampled signal then reads in three phase samplers
Value (da, db, dc), predicts PWM torque pulsationWith PWM torque pulsation peak value Tripple_maxFor control
Object processed, the relation being directly proportional to switch periods according to PWM torque pulsation peak value, switch periods can be updatedDetailed process is as shown in fig. 6, wherein TsFor updating switch periods, TsNFor fixing switch periods,
Tripple_reFor fixing PWM torque pulsation peak-peak (i.e. PWM torque pulsation limit value) in the switch periods lower primitive period,
Tripple_maxThe PWM torque pulsation peak value going out for single switch periods interior prediction under fixing switch periods.
This control system includes PWM torque pulsation real-time estimate module 2 and switch periods update module 3, and controller 1 is real-time
Complete the sampling of three-phase voltage modulated signal, the real-time calculating cycle of PWM torque pulsation real-time estimate module 2 according to sampled signal 4
The torque pulsation peak value of interior three-phase PWM wave control signal, switch periods update module 3 calculates according to by torque pulsation peak meter
Switch periods update the triangular carrier cycle, comparator 6, by comparing to the triangular carrier of modulating wave and described renewal, provides inverse
Become device gate signal, sampled signal 4 controls complete the triangular carrier cycle renewal process.
PWM torque pulsation real-time estimate module 2 receives sampled signal 4, reads in each phase dutycycle immediately and carries out torque arteries and veins
Dynamic prediction, prediction output valve is switch periods update module 3 |input paramete, according to PWM torque pulsation peaks demand, more new carrier wave
5 frequencies, when a complete carrier wave sends into comparator 6, send sampled signal 4 immediately, enter and update control next time.
As shown in fig. 7, being to control torque pulsation to compare according to the VSFPWM that the present invention realizes with CSFPWM, compared to
CSFPWM torque pulsation, VSFPWM torque pulsation distribution is more uniform.Within the whole primitive period, CSFPWM can only be in minority
Between point can reach torque pulsation limit value, and VSFPWM is substantially equal to limit value in each switch periods internal torque peak systole.
It is the comparison of the switching frequency of VSFPWM and CSFPWM under experimental conditions as shown in Figure 8, CSFPWM corresponds to
Fixed switching frequency 15.2KHz, is meeting identical PWM torque pulsation limit value Tripple_reUnder conditions of, VSFPWM switching frequency
Change between 12.6K and 15.2K, the average switch cycle reduces, switching loss then reduces.
As it will be easily appreciated by one skilled in the art that the foregoing is only presently preferred embodiments of the present invention, not in order to
Limit the present invention, all any modification, equivalent and improvement made within the spirit and principles in the present invention etc., all should comprise
Within protection scope of the present invention.
Claims (5)
1. a kind of alternating current generator change switching frequency PWM torque pulsation control method it is characterised in that this control method include as
Lower step：
(1) current ripples in switch periods are calculated in real time；
(2) obtain PWM torque pulsation according to the current ripples obtaining in described step (1)；
(3) according to the torque pulsation obtaining in described step (2), switch periods are updated；
(4) repeating said steps (1)～(3) are achieved in the change of described switching frequency.
2. the change switching frequency PWM method for controlling torque of alternating current generator as claimed in claim 1 is it is characterised in that described step
Suddenly (1) also includes following sub-step：
(1-1) three-phase voltage modulated signal is sampled, obtain three-phase sampled value da, db, dc, described three-phase PWM ripple controls
Signal has 6 edge changes, in described whole carrier cycle, Three Phase Carrier Based is divided into 7 sections；
(1-2) calculate every section of voltage acting on outputting inductance, obtain current ripples slope di/dt；
(1-3) by three-phase dutycycle and fixing switch periods TsN, obtain every section of practical function time Δ T respectively；
(1-4) calculate in this carrier cycle, each turning point of current ripples
3. the change switching frequency PWM method for controlling torque of alternating current generator as claimed in claim 2 is it is characterised in that described step
Suddenly (2) include following sub-step：
By motor vector controlled, under dq rotating coordinate system, motor torque equation isWherein Pn
For motor number of pole-pairs, ψfFor rotor flux, Ld、LqFor stator dq axle inductance, id、iqFor stator dq shaft current；
Rotor flux linkage orientation, to d axle, controls d shaft current to be 0, then the torque formula of motor is
With PWM torque ripple as object, three-phase ripple current is obtained q axle ripple current i through ab-dq coordinate transformq_ripple,
Then measurable go out PWM torque pulsation be
4. the change switching frequency PWM torque pulsation control method of alternating current generator as claimed in claim 3 is it is characterised in that institute
State step (3) to comprise the steps：
By the torque pulsation peak value T obtaining in described step (3)ripple_max, become with switch periods according to PWM torque pulsation peak value
Switch periods can be updated by the relation of direct ratio：
Wherein TsFor updating switch periods, TsNFor fixing switch periods, Tripple_reFor in the fixing switch periods lower primitive period
PWM torque pulsation limit value, Tripple_maxThe PWM torque pulsation peak going out for switch periods interior prediction single under fixed switching frequency
Value.
5. a kind of change switching frequency PWM torque pulsation control system of alternating current generator is it is characterised in that this control system includes
PWM torque pulsation real-time estimate module (2) and switch periods update module (3), described controller (1) is in real time according to sampled signal
(4) complete the sampling of three-phase modulations voltage signal, described PWM torque pulsation real-time estimate module (2) calculates switch periods in real time
The torque pulsation peak value of interior described three-phase PWM wave control signal, described switch periods update module (3) is according to by described torque
The switch periods that peak systole calculates update the triangular carrier cycle, and described comparator (6) is by modulating wave and described renewal
Triangular carrier compare, provide inverter gate signal, described sampled signal (4) controls complete the triangular carrier cycle updated
Journey.
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Cited By (9)
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| CN106972799A (en) * | 2017-04-05 | 2017-07-21 | 西北工业大学 | A kind of magneto control parameter computational methods based on change switching frequency |
| CN107241039A (en) * | 2017-06-22 | 2017-10-10 | 广州视源电子科技股份有限公司 | Vector control method, system and the storage medium of permagnetic synchronous motor |
| CN109510445A (en) * | 2018-10-31 | 2019-03-22 | 华中科技大学 | A kind of inverter change switching frequency modulation method considering inductance saturated characteristic |
| CN109510499A (en) * | 2018-10-29 | 2019-03-22 | 华中科技大学 | One kind being suitable for shunt chopper circulation ripple peak control methods and control system |
| CN111092581A (en) * | 2019-12-24 | 2020-05-01 | 河北工业大学 | Model prediction control method with variable control period |
| CN111355436A (en) * | 2020-03-09 | 2020-06-30 | 珠海格力电器股份有限公司 | Driver carrier frequency control method and device capable of effectively reducing interference and driver |
| CN111934577A (en) * | 2020-07-17 | 2020-11-13 | 华中科技大学 | Current source inverter variable switching frequency modulation method and system |
| CN112448511A (en) * | 2019-08-15 | 2021-03-05 | 比亚迪股份有限公司 | Motor and energy conversion device thereof |
| CN114585814A (en) * | 2019-10-24 | 2022-06-03 | 三菱重工制冷空调系统株式会社 | Control device, electric compressor, method for detecting pulsating voltage, and program |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106972799A (en) * | 2017-04-05 | 2017-07-21 | 西北工业大学 | A kind of magneto control parameter computational methods based on change switching frequency |
| CN107241039A (en) * | 2017-06-22 | 2017-10-10 | 广州视源电子科技股份有限公司 | Vector control method, system and the storage medium of permagnetic synchronous motor |
| CN107241039B (en) * | 2017-06-22 | 2019-07-16 | 广州视源电子科技股份有限公司 | Vector control method, system and the storage medium of permanent magnet synchronous motor |
| CN109510499A (en) * | 2018-10-29 | 2019-03-22 | 华中科技大学 | One kind being suitable for shunt chopper circulation ripple peak control methods and control system |
| CN109510499B (en) * | 2018-10-29 | 2019-10-25 | 华中科技大学 | One kind being suitable for shunt chopper circulation ripple peak control methods and control system |
| CN109510445A (en) * | 2018-10-31 | 2019-03-22 | 华中科技大学 | A kind of inverter change switching frequency modulation method considering inductance saturated characteristic |
| CN112448511A (en) * | 2019-08-15 | 2021-03-05 | 比亚迪股份有限公司 | Motor and energy conversion device thereof |
| EP4016806A4 (en) * | 2019-08-15 | 2022-11-02 | BYD Company Limited | Motor and energy conversion device thereof |
| CN114585814A (en) * | 2019-10-24 | 2022-06-03 | 三菱重工制冷空调系统株式会社 | Control device, electric compressor, method for detecting pulsating voltage, and program |
| CN111092581A (en) * | 2019-12-24 | 2020-05-01 | 河北工业大学 | Model prediction control method with variable control period |
| CN111355436A (en) * | 2020-03-09 | 2020-06-30 | 珠海格力电器股份有限公司 | Driver carrier frequency control method and device capable of effectively reducing interference and driver |
| CN111934577A (en) * | 2020-07-17 | 2020-11-13 | 华中科技大学 | Current source inverter variable switching frequency modulation method and system |
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