CN106787915B - Inhibit the dual carrier SVPWM control method of energy back feed device circulation - Google Patents
Inhibit the dual carrier SVPWM control method of energy back feed device circulation Download PDFInfo
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- CN106787915B CN106787915B CN201710010865.XA CN201710010865A CN106787915B CN 106787915 B CN106787915 B CN 106787915B CN 201710010865 A CN201710010865 A CN 201710010865A CN 106787915 B CN106787915 B CN 106787915B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
-
- 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
- H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
-
- 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
- H02P27/12—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 pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Dc-Dc Converters (AREA)
Abstract
The invention discloses a kind of dual carrier SVPWM control methods for inhibiting energy back feed device circulation, the dual carrier SVPWM control method includes: that sector cutting calculates judgement, voltage vector action time calculates, and voltage vector switching time calculates, and Three Phase Carrier Based judgement and PWM wave generate.The present invention controls the matching used energy back feed device of universal frequency converter using SVPWM control technology, a kind of new dual carrier space vector modulation technique is applied in the control strategy of energy back feed device, the circulation when rectifier bridge parallel running of energy back feed device and frequency converter can be effectively reduced, output current wave distortion is reduced, the efficiency and stability of whole system are improved.
Description
Technical field
The present invention relates to power electronics field, the SVPWM controlling party of especially a kind of frequency converter energy back feed device
Method.
Background technique
Frequency converter energy back feed device is as a kind of special gird-connected inverter, the direct current of direct current input side and frequency converter
Bus is connected, and exchange outlet side is connected with the input side of frequency converter, while being connected with three phase network.When the electricity that frequency converter is driven
Machine works in regenerative braking state, and the regenerating braking energy of motor enters on the DC bus of frequency converter, leads to frequency converter
DC voltage increase, when voltage height arrive a certain setting value when, pass through control energy back feed device 6 power devices conducting
The recycling of electric energy is realized by the energy feedback on DC bus into power grid with shutdown, reaches energy-efficient purpose.
SVPWM is a kind of control method developed in recent years, is made of 6 power devices of three-phase inverter specific
The pulse width modulated wave that switching mode generates, enables to output current wave as close as ideal sinusoidal waveform.With SPWM
It compares, SVPWM may make the voltage utilization of DC bus to improve and be more easily implemented digitlization, therefore in Electrified Transmission side
Face is widely used.
Since the pulse width modulated wave of SVPWM is generated according to the switching mode of inverter, determined according to two-valued variable
The switch function of justice, which is combined, shares 8 kinds of groundwork states, it may be assumed that 100,110,010,011,001,101,111,000.
Wherein preceding 6 working conditions are effective, and rear 2 working conditions are zero vector.
Due to the topological structure that energy back feed device and the rectifier bridge of frequency converter are in parallel, if using traditional based on list
Carrier wave SVPWM switch modulation mode, theoretical analysis shows that, due to there are the zero vector of 2 switch states, then existing in switch state
Energy back feed device can make the input side of frequency converter generate pulse current when running, form circulation problem, reduce system effectiveness,
Also the grid-connected current quality of energy back feed device is influenced.It can inhibit the circulation although with the output filter of big inductance quantity,
But it will definitely increase the volume and cost of energy back feed device.Therefore, energy will be unfavorable for using traditional SVPWM control strategy
Measure the efficient stable operation of feedback device.
Summary of the invention
The purpose of the present invention is to provide a kind of dual carrier SVPWM control methods for inhibiting energy back feed device circulation, use
The circulation problem in conventional single carrier SVPWM control strategy is used to solve frequency converter energy back feed device.
Realize the technical solution of the object of the invention are as follows: a kind of dual carrier SVPWM control for inhibiting energy back feed device circulation
Method, comprising the following steps:
Step 1, sector cutting calculates, to the output voltage of energy back feed device Double closed-loop of voltage and current in dq coordinate
It is the component U of lower two axisd、UqPark inverse transformation is carried out, the U under two-phase stationary coordinate system is obtainedα、UβReference voltage vector, root
According to Uα、UβCalculate sector locating for current spatial voltage vector；
Step 2, voltage vector action time calculates, and obtains reference voltage vector U using step 1α、Uβ, DC bus-bar voltage
UdcAnd sampling period TSVoltage vector action time variable X, Y, Z are obtained, calculates adjacent non-zero using the sector of step 1 cutting
The action time T of vector1、T2With the corresponding relationship of time variable X, Y, Z；
Step 3, voltage vector switching time calculates, and utilizes action time T1, T2 of the adjacent non-zero vector that step 2 obtains
Calculate time quantum Ta、Tb、Tc, the corresponding switch time T of A, B, C tri- is calculated using the sector of step 1 cuttingcm1、Tcm2、Tcm3
With time quantum Ta、Tb、TcCorresponding relationship；
Step 4, Three Phase Carrier Based judges, the three-phase modulations wave signal T obtained using step 3cm1、Tcm2、Tcm3Judgement selection institute
Need the triangular carrier being compared with it；
Step 5, PWM wave generates, the three-phase modulations wave signal T obtained using step 3cm1、Tcm2、Tcm3It is obtained with step 4
Triangular carrier, which is compared, generates three-phase PWM wave.
Compared with prior art, the present invention its remarkable advantage are as follows:
Do not have in the three-phase space vector PWM signal that dual carrier SVPWM control method of the invention generates 000 and 111 this
Two kinds of zero vectors can effectively reduce circulation problem when energy back feed device operation, reduce the pulse electricity of frequency converter input side
Stream, reduces the output current distortion of energy back feed device, improves the efficiency and stability of system.
Detailed description of the invention
Fig. 1 is the circuit diagram of energy back feed device in the embodiment of the present invention.
Fig. 2 is the flow chart of dual carrier SVPWM control strategy of the embodiment of the present invention.
Fig. 3 is the three-phase modulations wave and single carrier shape figure that conventional single carrier SVPWM modulation system obtains.
Fig. 4 is the three-phase PWM waveform diagram obtained using conventional single carrier SVPWM modulation system.
Frequency converter A phase input current waveform when Fig. 5 is the energy back feed device operation obtained using conventional single carrier SVPWM
Figure.
Fig. 6 is the three-phase modulations wave obtained using dual carrier SVPWM modulation system and dual carrier waveform diagram.
Fig. 7 is the three-phase PWM waveform diagram obtained using dual carrier SVPWM modulation system.
Frequency converter A phase input current waveform figure when Fig. 8 is the energy back feed device operation obtained using dual carrier SVPWM.
Specific embodiment
The topological structure of frequency converter energy back feed device is using parallel three phase voltage-source type structure, DC side and change
The DC bus of frequency device is connected, and exchange side is connected with three phase network, using Double closed-loop of voltage and current mode, circuit theory
Figure is as shown in Figure 1.
The present invention provides a kind of dual carrier SVPWM control method of energy back feed device, control flow chart such as Fig. 2 institute
Show, comprising the following steps:
Step 1, sector cutting calculates, to the output voltage of energy back feed device Double closed-loop of voltage and current in dq coordinate
It is the component U of lower two axisd、UqPark inverse transformation is carried out, the U under two-phase stationary coordinate system is obtainedα、UβReference voltage vector, root
According to Uα、UβCalculate sector locating for current spatial voltage vector；
Step 2, voltage vector action time calculates, and obtains reference voltage vector U using step 1α、Uβ, DC bus-bar voltage
UdcAnd sampling period TSVoltage vector action time variable X, Y, Z are obtained, calculates adjacent non-zero using the sector of step 1 cutting
The action time T of vector1、T2With the corresponding relationship of time variable X, Y, Z；
Step 3, voltage vector switching time calculates, and utilizes the action time T for the adjacent non-zero vector that step 2 obtains1、T2
Calculate time quantum Ta、Tb、Tc, the corresponding switch time T of A, B, C tri- is calculated using the sector of step 1 cuttingcm1、Tcm2、Tcm3
With time quantum Ta、Tb、TcCorresponding relationship；
Step 4, Three Phase Carrier Based judges, the three-phase modulations wave signal T obtained using step 3cm1、Tcm2、Tcm3Judgement selection institute
Need the triangular carrier being compared with it；
Step 5, PWM wave generates, the three-phase modulations wave signal T obtained using step 3cm1、Tcm2、Tcm3It is obtained with step 4
Triangular carrier, which is compared, generates three-phase PWM wave.
Further, the detailed process that the cutting of step 1 sector calculates are as follows:
To point of output voltage two axis under dq coordinate system of energy back feed device Double closed-loop of voltage and current module
Measure Ud、UqPark inverse transformation is carried out, the U under two-phase stationary coordinate system is obtainedα、UβReference voltage vector, and count according to the following formula
Calculation obtains the value of A, B, C:
The symbol of A, B, C are determined according to formula (2):
Formula N=4sign (A)+2sign (B)+sign (C) is calculated, after obtaining the numerical value of sector value N, to sector
Cutting is carried out, N and the corresponding relationship of each sector are as follows:
| N | 3 | 1 | 5 | 4 | 6 | 2 |
| Sector number | Ⅰ | Ⅱ | Ⅲ | Ⅳ | Ⅴ | Ⅵ |
Further, step 1 is to energy back feed device voltage and current double closed-loop output quantity Ud、UqCarry out Park inverse transformation:
For electric network voltage phase angle.
Further, the detailed process that step 2 voltage vector action time calculates are as follows:
Reference voltage vector U is obtained using step 1α、Uβ, DC bus-bar voltage UdcAnd sampling period TsObtain voltage arrow
Measure action time variable X, Y, Z:
The action time of each sector space voltage vector are as follows:
| Sector number | Ⅰ | Ⅱ | Ⅲ | Ⅳ | Ⅴ | Ⅵ |
| T1 | -Z | Z | X | -X | -Y | Y |
| T2 | X | Y | -Y | Z | -Z | -X |
T1、T2For the action time of adjacent non-zero vector；
Further, the detailed process that step 3 voltage vector switching time calculates are as follows:
Determine the time quantum T that space voltage vector switches in each sectora、Tb、Tc, wherein
To A in different sectors, the corresponding switch time T of B, C tri-cm1、Tcm2、Tcm3It is chosen, pair with each sector
It should be related to are as follows:
Further, the detailed process of step 4 Three Phase Carrier Based judgement are as follows:
Modulating wave is switch time T described in step 3cm1、Tcm2、Tcm3, selection gist are as follows: at any time, to three-phase
The size of modulating wave instantaneous value is compared, that phase modulating wave that size is in intermediate corresponds to outgoing carrier Uc, minimum and maximum
Two-phase modulating wave then corresponds to outgoing carrier U 'c, corresponding relationship are as follows:
| Modulating wave compares | A phase carrier wave | B phase carrier wave | C phase carrier wave |
| Tcm2< Tcm1< Tcm3 | Uc | U′c | U′c |
| Tcm2< Tcm3< Tcm1 | U′c | U′c | Uc |
| Tcm1< Tcm2< Tcm3 | U′c | Uc | U′c |
| Tcm3< Tcm1< Tcm2 | Uc | U′c | U′c |
| Tcm1< Tcm3< Tcm2 | U′c | U′c | Uc |
| Tcm3< Tcm2< Tcm1 | U′c | Uc | U′c |
Wherein, outgoing carrier UcWith U 'cIt is that two amplitudes are equal, the isosceles triangle wave that 180 ° of phase mutual deviation.
Further, the detailed process that PWM wave generates in step 5 are as follows:
Three-phase modulations wave is compared respectively with the triangular carrier obtained by step 4 and generates symmetrical three road space vector
Pwm signal PWM1, PWM3, PWM5, then the tri- road pwm signal of PWM1, PWM3, PWM5 is negated respectively, obtain other three tunnel
Space vector signal PWM4, PWM6, PWM2.
Further, 000 and 111 both switching vector selector states are not present in the pwm signal that step 5 generates.
Further, circulation of the present invention refers to frequency converter exchange input side electric current when energy back feed device operation.
The present invention is further explained in the light of specific embodiments.
Embodiment
The system of frequency converter energy back feed device designs are as follows: energy feedback system using Three-phase PWM Voltage Rectifier with
Diode rectifier bridge parallel connection replaces, and exchange side connects 220V three-phase AC grid altogether, and DC side utilizes 700V constant voltage DC source mould
The DC bus-bar voltage U of frequency converter when quasi- motor regenerative brakingdc, voltage control loop command voltageIt is set as 680V, switchs
Frequency is 10kHz, and exchange side outputting inductance is 2.4mH, dead time 1us.
It is less than traditional single carrier to verify circulation of the energy back feed device using dual carrier SVPWM modulation system when
SVPWM modulation system is emulated using MATLAB to ring under two kinds of modulation systems in the case where guaranteeing that system parameters are consistent
Stream situation compares:
It is the three-phase modulations wave obtained using conventional single carrier SVPWM modulation system and single carrier waveform shown in Fig. 3；
It is the three-phase PWM waveform obtained using conventional single carrier SVPWM modulation system shown in Fig. 4, as seen from the figure one
There are 111,101,001,000,001,101 this 6 kinds of switch states in a carrier cycle.
Frequency converter A phase input current when being the energy back feed device operation obtained using conventional single carrier SVPWM shown in Fig. 5
Waveform, ordinate unit are A, and abscissa unit s, virtual value is about 1.6A；
It is the three-phase modulations wave and dual carrier waveform obtained using dual carrier SVPWM modulation system shown in Fig. 6；
It is the three-phase PWM waveform obtained using dual carrier SVPWM modulation system shown in Fig. 7, is carried as seen from the figure at one
There are 010,110,100,101,100,110 this 6 kinds of switch states in wave period；
Frequency converter A phase input current wave when being the energy back feed device operation obtained using dual carrier SVPWM shown in Fig. 8
Shape, ordinate unit are A, and abscissa unit s, virtual value is about 0.25A；
Can be seen that from the comparison of the above simulation waveform can make energy feedback fill using dual carrier SVPWM control method
Circulation when setting operation is far smaller than traditional single carrier control method.
Discussed above is only one embodiment of the present of invention, any equivalent transformation made on the basis of the present invention,
It is included in scope of patent protection of the invention.
Claims (7)
1. a kind of dual carrier SVPWM control method for inhibiting energy back feed device circulation, which comprises the following steps:
Step 1, sector cutting calculates, to the output voltage of energy back feed device Double closed-loop of voltage and current under dq coordinate system
The component U of two axisd、UqPark inverse transformation is carried out, the U under two-phase stationary coordinate system is obtainedα、UβReference voltage vector, according to Uα、
UβCalculate sector locating for current spatial voltage vector；
Step 2, voltage vector action time calculates, and obtains reference voltage vector U using step 1α、Uβ, DC bus-bar voltage UdcWith
And sampling period TsVoltage vector action time variable X, Y, Z are obtained, calculates adjacent non-zero vector using the sector of step 1 cutting
Action time T1、T2With the corresponding relationship of time variable X, Y, Z；
Step 3, voltage vector switching time calculates, and utilizes the action time T for the adjacent non-zero vector that step 2 obtains1、T2It calculates
Time quantum Ta、Tb、Tc, the corresponding switch time T of A, B, C tri- is calculated using the sector of step 1 cuttingcm1、Tcm2、Tcm3With when
Between unit Ta、Tb、TcCorresponding relationship；
Step 4, Three Phase Carrier Based judges, the three-phase modulations wave signal T obtained using step 3cm1、Tcm2、Tcm3Required for judgement selection
The triangular carrier being compared with it；
Step 5, PWM wave generates, the three-phase modulations wave signal T obtained using step 3cm1、Tcm2、Tcm3The triangle obtained with step 4
Carrier wave, which is compared, generates three-phase PWM wave.
2. the dual carrier SVPWM control method according to claim 1 for inhibiting energy back feed device circulation, feature exist
In the detailed process that sector cutting calculates in step 1 are as follows:
To the component U of output voltage two axis under dq coordinate system of energy back feed device Double closed-loop of voltage and current moduled、
UqPark inverse transformation is carried out, the U under two-phase stationary coordinate system is obtainedα、UβReference voltage vector, and calculate according to the following formula
To the value of A, B, C:
The symbol of A, B, C are determined according to formula (2):
Formula N=4sign (A)+2sign (B)+sign (C) is calculated, after obtaining the numerical value of sector value N, sector is carried out
Cutting, N and the corresponding relationship of each sector are as follows:
3. the dual carrier SVPWM control method according to claim 2 for inhibiting energy back feed device circulation, feature exist
In step 1 is to energy back feed device voltage and current double closed-loop output quantity Ud、UqCarry out Park inverse transformation:
For electric network voltage phase angle.
4. the dual carrier SVPWM control method according to claim 1 for inhibiting energy back feed device circulation, feature exist
In the detailed process that voltage vector action time calculates in step 2 are as follows:
Reference voltage vector U is obtained using step 1α、Uβ, DC bus-bar voltage UdcAnd sampling period TsObtain voltage vector work
With time variable X, Y, Z:
The action time of each sector space voltage vector are as follows:
T1、T2For the action time of adjacent non-zero vector；
5. the dual carrier SVPWM control method according to claim 1 for inhibiting energy back feed device circulation, feature exist
In the detailed process that voltage vector switching time calculates in step 3 are as follows:
Determine the time quantum T that space voltage vector switches in each sectora、Tb、Tc, wherein
To A in different sectors, the corresponding switch time T of B, C tri-cm1、Tcm2、Tcm3It is chosen, it is corresponding with each sector to close
System are as follows:
6. the dual carrier SVPWM control method according to claim 1 for inhibiting energy back feed device circulation, feature exist
In the detailed process of step 4 Three Phase Carrier Based judgement are as follows:
Modulating wave is switch time T described in step 3cm1、Tcm2、Tcm3, selection gist are as follows: at any time, to three-phase modulations
The size of wave instantaneous value is compared, that phase modulating wave that size is in intermediate corresponds to outgoing carrier Uc, minimum and maximum two-phase
Modulating wave then corresponds to outgoing carrier U 'c, corresponding relationship are as follows:
Wherein, outgoing carrier UcWith U 'cIt is that two amplitudes are equal, the isosceles triangle wave that 180 ° of phase mutual deviation.
7. the dual carrier SVPWM control method according to claim 1 for inhibiting energy back feed device circulation, feature exist
In the detailed process that PWM wave generates in step 5 are as follows:
Three-phase modulations wave is compared respectively with the triangular carrier obtained by step 4 and generates symmetrical three road space vector PWM
Signal PWM1, PWM3, PWM5, then the tri- road pwm signal of PWM1, PWM3, PWM5 is negated respectively, obtain other three tunnel space
Vector signal PWM4, PWM6, PWM2.
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| EP1487093B1 (en) * | 2002-03-20 | 2012-08-08 | Kabushiki Kaisha Yaskawa Denki | Pwm inverter device |
| CN102843018A (en) * | 2012-08-09 | 2012-12-26 | 东南大学 | Integral-variable bicirculating mapping pulse width modulation method of modularized multi-level converter |
| CN102904419A (en) * | 2012-09-25 | 2013-01-30 | 上海交通大学 | Three-phase PWM (Pulse-Width Modulation) wave FPGA (Field Programmable Gate Array) generating device |
| CN103888007A (en) * | 2014-03-17 | 2014-06-25 | 电子科技大学 | Inverter parallel-connection loop current restraining system based on PR control and dual-carrier modulation |
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|---|---|---|---|---|
| EP1487093B1 (en) * | 2002-03-20 | 2012-08-08 | Kabushiki Kaisha Yaskawa Denki | Pwm inverter device |
| CN102843018A (en) * | 2012-08-09 | 2012-12-26 | 东南大学 | Integral-variable bicirculating mapping pulse width modulation method of modularized multi-level converter |
| CN102904419A (en) * | 2012-09-25 | 2013-01-30 | 上海交通大学 | Three-phase PWM (Pulse-Width Modulation) wave FPGA (Field Programmable Gate Array) generating device |
| CN103888007A (en) * | 2014-03-17 | 2014-06-25 | 电子科技大学 | Inverter parallel-connection loop current restraining system based on PR control and dual-carrier modulation |
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