CN106385215B - A kind of alternating current generator change switching frequency PWM torque pulsation control methods - Google Patents
A kind of alternating current generator change switching frequency PWM torque pulsation control methods Download PDFInfo
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- CN106385215B CN106385215B CN201610851097.6A CN201610851097A CN106385215B CN 106385215 B CN106385215 B CN 106385215B CN 201610851097 A CN201610851097 A CN 201610851097A CN 106385215 B CN106385215 B CN 106385215B
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- pwm
- switch periods
- torque pulsation
- switching frequency
- torque
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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 invention discloses a kind of change switching frequency PWM torque pulsation control methods suitable for alternating current generator, which includes mainly torque pulsation prediction module and switch periods update module.With PWM torque pulsations peak value, object establishes PWM torque pulsation prediction algorithms to the present invention based on two current levels ripple real-time prediction models in order to control.Using the prediction algorithm, with PWM torque pulsations peak value object in order to control, change two level voltage source inverter switching frequencies.(CSFPWM) is controlled relative to fixed switching frequency PWM, inverter average frequency of switching can effectively be reduced by becoming switching frequency PWM controls (VSFPWM), to reduce switching loss, while can be effectively improved the EMI noise of motor driven systems.
Description
Technical field
The invention belongs to voltage sources to become switching frequency field, pre- in real time based on PWM torque pulsations more particularly, to one kind
Two level voltage sources for surveying model become switching frequency.
Background technology
In modern AC motor driven systems, torque pulsation is to weigh the important parameter of whole system, torque pulsation meeting
The noises such as vibration, the sense of hearing are brought to electric system, in many application scenarios, are directly related 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
It is dynamic directly and electric machine structure is associated, the pulsation of this partial torque is main and back-emf fundamental frequency and its harmonic wave are associated；Second,
Due to inverter and nonideal sine power supply, but go to simulate required sine by the means of number with a series of PWM wave
Voltage waveform, thus motor driver certainly will bring torque pulsation to motor, main and inverter switching device is pulsed frequently in this part
Rate and its harmonic wave are associated.It is directed to the former source to generate, mainly from the angle for improving electric machine structure, to optimize motor
Torque pulsation；The ameliorative way of the latter is dependent on the optimization to PWM method.
Currently being directed to PWM torque pulsations has achieved many achievements, and 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.
Invention content
For the disadvantages described above or Improvement requirement of the prior art, the present invention provides one kind to be predicted in real time based on torque pulsation
The alternating current generator of model becomes switching frequency PWM torque pulsation methods, establishes two-level inverter PWM torque pulsations and predicts in real time
Model, its object is to be based on PWM torque pulsation real-time prediction models, with PWM torque pulsation peak values Tripple_maxAs control
Object reduces motor driven systems switching loss and reduces EMI noise peak value.
The PWM current ripples of PWM torque pulsations and machine winding have direct correlation.Inverter output voltage waveform be
A series of PWM waves, and winding back emf is continuous sinusoidal voltage waveform, the voltage difference of the two has directly dropped to winding inductance
On, thereby produce current ripples.
However the electromagnetic torque of motor is directly generated by winding current, therefore PWM current ripples will generate PWM to motor
Torque pulsation.The present invention specifies the relationship between PWM current ripples and PWM torque pulsations, and PWM torques thus can be effectively predicted
Pulsation track is effectively reduced the switching loss of motor driven systems simultaneously to carry out becoming switching frequency control to inverter
Reduce the EMI noise peak value of motor driven systems.
To achieve the above object, according to one aspect of the present invention, PWM torque pulsation prediction algorithms are provided.PWM torques
Pulsation derives from three-phase actual current ripple, and the present invention is based on current ripples general predictive models to be given within the single carrier wave period
Determine three-phase duty ratio, three-phase current ripple is predicted.In conjunction with alternating current generator vector control method, by coordinate transform, i.e.,
PWM torque pulsation waveforms can be predicted out.
The present invention also provides the switch periods update methods based on PWM torque pulsation peaks demands, in single switch week
In phase, switch periods are longer, the also directly proportional increase of torque pulsation limit value, however, it is determined that PWM torque pulsation limit values Tripple_re,
It then can be according to real-time prediction PWM torque pulsation peak values Tripple_maxWith fixed switching frequency TsN, update switch periods value
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect：
(1) the PWM torque pulsation prediction models are directed to two level any- phase voltage source inventer topologys, prediction process institute
It needs parameter few, calculates simply, it is highly practical.
(2) the VSFPWM AC Motor Control algorithms, it is (right in limit value to control each PWM torque pulsations peak value
The PWM torque pulsations limit value that should be controlled in CSFPWM), it is controlled compared to traditional CSFPWM, VSFPWM torque pulsation peak values
Distribution is more uniform.
(3) 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, to effectively reduce switching loss；
(4) change in a certain range due to VSFPWM switching frequencies, its corresponding PWM torque pulsation harmonic wave possesses broader
Frequency spectrum, can significantly reduce fixed switching frequency PWM (CSFPWM) torque pulsation to change switching frequency PWM (VSFPWM)
Frequency domain peak value and EMI noise peak value improve motor driven systems performance.
Description of the drawings
Fig. 1 is the AC machine drive system equivalent structure schematic diagram realized according to the present invention；
Fig. 2 is the monophase current ripple prediction circuit model signal for the two level voltage source inventers realized according to the present invention
Figure；
Fig. 3 is that flow diagram is predicted in the PWM torque pulsations in the single switch period realized according to the present invention in real time；
Fig. 4 is that the monophase current ripple in the single switch period realized according to the present invention predicts schematic diagram；
Fig. 5 is that block diagram is realized in the change switching frequency PWM torque pulsations control realized according to the present invention；
Fig. 6 is the switch periods update module composed structure schematic diagram realized according to the present invention；
Fig. 7 is the PWM torque pulsations under busbar voltage 120V, rotating speed 750rpm experiment conditions realized according to the present invention
Effect comparison schematic diagram；
Fig. 8 is the switching frequency results contrast schematic diagram under the experimental condition in such as Fig. 7 realized according to the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below that
Conflict is not constituted between this to can be combined with each other.
Upper blank, the present invention is applied to establish two-level inverter in motor torque ripple for switching frequency PWM is become
General Current ripple real-time prediction model uses vector control based on the relationship between current ripples and PWM torque pulsations in motor
Under the premise of system, with PWM torque pulsation peak values Tripple_maxObject in order to control is lost to reduce inverter switching device and reduces EMI
Noise peak.
Becoming switching frequency PWM (VSFPWM) and fixed switching frequency PWM (CSFPWM) has identical PWM torque pulsations to limit
Definite value.For VSFPWM compared to CSFPWM, switching frequency is changed below fixed switching frequency, there is broader spectrum distribution,
EMI noise peak value is lower, and effectively reduces switching loss.
It takes the lead in proposing the control application for becoming switching frequency in alternating current generator torque pulsation in the present invention as a result, 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, per phase output voltage
VBKRelative to DC bus midpoint, there are two voltage status (V altogetherdc/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 prediction model, single switch
In period, L is K phase inductances, VBKFor K phase inverter output voltages, including (Vdc/2,-Vdc/ 2), VmKFor average output electricity
Pressure, VcmFor common-mode voltage, V caused by n phase inverter output voltagesl_cmFor common-mode voltage caused by n phase average output voltages.
Wherein,(dKFor K phases duty ratio), Vl_cm=dcm×
Vdc/ 2 (for SVPWM：For SPWM：dcm=0).By model above, n is read in signal period
Phase duty ratio (d1,d2,d3......dn), pass through formulaThe single switch period can be calculated
Ripple current slope in interior each periodThe correspondence time of each segment can be calculated by n phase duty ratios simultaneously.
By the above computational methods, n phase duty ratios can be read in real time, predict current ripples in the switch periods.Tool
The pre- flow gauge of body such as Fig. 3：
(1) after reading in three-phase voltage modulated signal sampled value (da, db, dc), first, carrier wave comparison is carried out；
(2) carrier wave relatively after as a result, share the variation of 6 edges for three-phase PWM wave, in the entire carrier cycle,
Carrier cycle is divided into 7 sections；As shown in figure 4, three-phase duty ratio is given, corresponded to for 7 voltage action times therewith
(3) by calculating every section of voltage acted on outputting inductance, current ripples slope (di/dt) can be acquired；
(4) by three-phase duty ratio and fixed switch periods (TsN), every practical function time (Δ T) can be found out respectively；
(5) it calculates in this carrier cycle, each turning point of current ripplesSome switch week
Certain phase current ripple track is as shown in Figure 4 in phase；
(6) by above step, within the single switch period, each phase current ripple track is predictable, in conjunction with motor
The method of vector controlled, under dq rotating coordinate systems, motor torque equation isWherein PnFor electricity
Machine number of pole-pairs, ψfFor rotor flux, Ld、LqFor stator dq axle inductances, id、iqFor stator dq shaft currents.Rotor flux linkage orientation is to d
Axis, control d shaft currents are 0, then the torque formula of motor can be written asUsing PWM torque ripples as object, by three-phase
Ripple current finds out q axis ripple currents i by ab-dq coordinate transformsq_ripple, then PWM torque pulsations, which can be predicted out, is
Secondly, it is based on the above PWM torque pulsations real-time prediction model, can start to spread out and become switching frequency PWM
(VSFPWM) application in AC machine drive system.
Controller realizes block diagram as shown in figure 5, torque pulsation prediction module, which receives sampled signal, then reads in three-phase sampling
It is worth (da, db, dc), predicts PWM torque pulsationsWith PWM torque pulsation peak values Tripple_maxFor control
Object processed can be updated switch periods according to the PWM torque pulsation peak values relationship directly proportional to switch periodsDetailed process is as shown in fig. 6, wherein TsTo update switch periods, TsNTo fix switch periods,
Tripple_reTo fix PWM torque pulsations peak-peak (i.e. PWM torque pulsations limit value) in the switch periods lower primitive period,
Tripple_maxThe PWM torque pulsation peak values gone out for single switch periods interior prediction under fixed switch periods.
The control system includes the real-time prediction module 2 of PWM torque pulsations and switch periods update module 3, and controller 1 is real-time
The sampling of three-phase voltage modulated signal, the real-time 2 real-time calculating cycle of prediction module of PWM torque pulsations are completed according to sampled signal 4
The torque pulsation peak value of interior three-phase PWM wave control signal, switch periods update module 3 are calculated according to by torque pulsation peak meter
Switch periods update the triangular carrier cycle, comparator 6 provides inverse by comparing modulating wave and the newer triangular carrier
Become device gate signal, sampled signal 4 controls complete the triangular carrier cycle renewal process.
The real-time prediction module of PWM torque pulsations 2 receives sampled signal 4, reads in each phase duty ratio immediately and carries out torque arteries and veins
Dynamic prediction, prediction output valve is 3 input parameter of switch periods update module, according to PWM torque pulsation peaks demands, more new carrier wave
5 frequencies send out sampled signal 4 immediately when a complete carrier wave feeding comparator 6, into update control next time.
As shown in fig. 7, be according to the VSFPWM that realizes of the present invention compared with CSFPWM control torque pulsations, compared to
CSFPWM torque pulsations, VSFPWM torque pulsations distribution are more uniform.Within the entire 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 pulsations limit value Tripple_reUnder conditions of, VSFPWM switching frequencies
Change between 12.6K and 15.2K, the average switch period reduces, and switching loss then reduces.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (5)
1. a kind of change switching frequency PWM torque pulsation control methods of alternating current generator, which is characterized in that the control method includes such as
Lower step：
(1) current ripples in switch periods are calculated in real time；
(2) PWM torque pulsations are found out according to the current ripples obtained in the step (1)；
(3) switch periods are updated according to the torque pulsation obtained in the step (2)；
(4) repeating said steps (1)~(3) are achieved in the variation of the switching frequency.
2. the change switching frequency PWM torque pulsation control methods of alternating current generator as described in claim 1, which is characterized in that institute
It further includes following sub-step to state step (1)：
(1-1) samples three-phase voltage modulated signal, obtains three-phase sampled value da, db, dc, the three-phase PWM wave control
Signal shares 6 edge variations, and in entire carrier cycle, Three Phase Carrier Based is divided into 7 sections；
(1-2) calculates every section of voltage acted on outputting inductance, obtains current ripples slope di/dt；
(1-3) is by three-phase duty ratio and fixed switch periods TsN, every section of practical function time Δ T is found out respectively；
(1-4) is calculated in this carrier cycle, each turning point of current ripples
3. the change switching frequency PWM torque pulsation control methods of alternating current generator as claimed in claim 2, which is characterized in that institute
It includes following sub-step to state step (2)：
By motor vector controlled, under dq rotating coordinate systems, motor torque equation isWherein Pn
For motor number of pole-pairs, ψfFor rotor flux, Ld、LqFor stator dq axle inductances, id、iqFor stator dq shaft currents；
Rotor flux linkage orientation is to d axis, and control d shaft currents are 0, then the torque formula of motor is
Using PWM torque ripples as object, three-phase ripple current is found out into q axis ripple currents i by ab-dq coordinate transformsq_ripple,
PWM torque pulsations, which then can be predicted out, is
4. the change switching frequency PWM torque pulsation control methods of alternating current generator as claimed in claim 3, which is characterized in that institute
Step (3) is stated to include the following steps：
By the torque pulsation peak value T obtained in the step (3)ripple_max, according to PWM torque pulsations peak value and switch periods at
The relationship of direct ratio can be updated switch periods：
Wherein TsTo update switch periods, TsNFor fixed switch periods, Tripple_reFor in the fixed switch periods lower primitive period
PWM torque pulsation limit values, Tripple_maxFor the PWM torque pulsations peak that single switch periods interior prediction goes out under fixed switching frequency
Value.
5. a kind of change switching frequency PWM torque pulsation control systems of alternating current generator, which is characterized in that the control system includes control
Device (1), the real-time prediction module of PWM torque pulsations (2), switch periods update module (3), sampled signal (4) and comparator processed
(6), the controller (1) completes the sampling of three-phase modulations voltage signal, the PWM torques arteries and veins according to sampled signal (4) in real time
The torque pulsation peak value for the three-phase PWM wave control signal that real-time prediction module (2) is calculated in real time in switch periods is moved, it is described
Switch periods update module (3) updates the triangular carrier cycle, institute according to the switch periods calculated by the torque pulsation peak meter
Comparator (6) is stated by comparing modulating wave and the newer triangular carrier, inverter gate signal, the sampling letter are provided
Number (4) control complete the triangular carrier cycle renewal process.
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| 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 |
| 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 |
| CN109510445B (en) * | 2018-10-31 | 2020-02-14 | 华中科技大学 | Inverter variable switching frequency modulation method considering inductance saturation characteristic |
| CN112448511B (en) * | 2019-08-15 | 2022-04-15 | 比亚迪股份有限公司 | Motor and energy conversion device thereof |
| JP7443020B2 (en) * | 2019-10-24 | 2024-03-05 | 三菱重工サーマルシステムズ株式会社 | Control device, electric compressor, ripple voltage detection method and program |
| CN111092581B (en) * | 2019-12-24 | 2023-04-21 | 河北工业大学 | Model predictive control method with variable control period |
| CN111355436B (en) * | 2020-03-09 | 2021-11-23 | 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 |
| CN111934577B (en) * | 2020-07-17 | 2021-10-15 | 华中科技大学 | Current source inverter variable switching frequency modulation method and system |
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