CN108039850B - Universal method for realizing SVPWM control of multiphase converter - Google Patents
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- H—ELECTRICITY
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- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
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- 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
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Abstract
The invention relates to a general method for realizing SVPWM control of a multiphase converter, which comprises the following steps: s1: dividing the effective voltage vector of the multi-phase converter into sectors; s2: selecting a working vector; s3: judging the sector where the fundamental voltage reference vector is located; s4: constructing a virtual voltage vector for each subharmonic plane; s5: obtaining the duration of the working vector according to the virtual voltage vector; s6: according to the duration of the working vector, determining the on-time and the off-time of an upper bridge arm switch of a certain phase of the m-phase current transformer in a continuous SVPWM mode with symmetrically distributed zero vectors; s7: and controlling the converter according to the change of the reference vector of each harmonic voltage. Compared with the prior art, the SVPWM control method has simple and clear universality for the SVPWM control of the odd-number symmetrical multi-phase converter, can conveniently realize seamless connection of sine power supply and harmonic injection, and improves the voltage utilization rate.
Description
Technical Field
The invention relates to the technical field of symmetrical multiphase load variable frequency power supply, in particular to a universal method for realizing SVPWM control of a multiphase converter.
Background
Energy shortage, environmental pollution and climate warming are global problems faced by human beings in the 21 st century, and cause wide attention of countries in the world on energy saving technology, so that energy saving and consumption reduction are not slow at all. The power industry is a large-capacity household and a large-energy-consumption household, and the energy conservation of the motor and the system thereof is a common concern of the current international society. Except for setting up corresponding energy consumption standards and popularizing the high-efficiency motor greatly, the saving effect of the high-power alternating-current speed regulating system is very obvious, and the symmetrical winding multi-phase motor provides a reliable way for realizing high-power transmission. The symmetrical winding multi-phase motor has the outstanding advantages of high torque density, high efficiency, small torque pulsation, strong fault-tolerant capability and the like, and is widely applied to the occasions of ship propulsion, electric locomotives, renewable energy power generation and the like. The alternating current speed regulating system consisting of the multiphase converter and the symmetrical winding multiphase motor has better advantages in the aspects of improving the overall performance of the system, realizing low-voltage high-power transmission and the like. The multi-phase converter PWM control is the core technology of a multi-phase speed regulation system. For multiphase PWM converters, SPWM methods, CFPWM methods and SVPWM methods are generally used. The CFPWM method and the SPWM method are not suitable for PWM control of a speed regulating system of a high-power symmetrical winding multiphase motor due to factors such as switching frequency, waveform quality and bus voltage utilization rate. In order to ensure the operation quality of the speed regulating system, the SVPWM control of the multiphase converter is necessary.
The SVPWM control method regards a converter and an ac motor as one body, and controls an inverter to operate with a circular rotating magnetic field as a target, thereby generating a constant electromagnetic torque. In the existing literature, an adjacent maximum two vector (NTV) SVPWM method of five-phase SVPWM is proposed for a five-phase current converter, and although the voltage utilization rate of the voltage modulation is high, the excessive harmonic content becomes the biggest obstacle for the practical application. There is also a document that proposes an SVPWM technique based on carrier wave based on the principle that the reference voltage in the carrier wave period is equal to the average voltage output by the inverter, but this method cannot accurately calculate the on-time of each bridge arm of the inverter in each sampling period, and the high requirement for the sampling period makes the implementation of the technique difficult. In addition, the SVPWM implementation method is less at home and abroad when the nine-phase current transformer is in sine power supply, and is still in the primary stage, and the methods in the prior art are complex.
Disclosure of Invention
The present invention aims to overcome the above-mentioned drawbacks of the prior art and provide a general method for implementing SVPWM control of a multi-phase converter.
The purpose of the invention can be realized by the following technical scheme:
a general method for realizing SVPWM control of a multiphase converter comprises the following steps:
s1: and (3) sector division: dividing the effective voltage vector of the multi-phase converter into sectors;
s2: selecting a working vector: selecting a working vector for the divided sectors;
s3: judging the sector: judging the sector where the fundamental voltage reference vector is located;
s4: virtual voltage vector construction: constructing a virtual voltage vector for each subharmonic plane;
s5: working vector duration acquisition: obtaining the duration of the working vector according to the virtual voltage vector;
s6: determining the on and off time of an upper bridge arm: according to the duration of the working vector, determining the on-time and the off-time of an upper bridge arm switch of a certain phase of the m-phase current transformer in a continuous SVPWM mode with symmetrically distributed zero vectors;
s7: controlling a converter: and adjusting the change of the reference vector of each harmonic voltage to control the converter according to the sine wave control and harmonic injection control strategies.
Preferably, in step S1, the obtaining expression of the effective voltage vector of the multiphase current transformer is as follows:
wherein,
m is the number of phases of the converter, and m is 3,5,7,9, … …; sxThe on-off function of an upper bridge arm switch and an on-off function of a lower bridge arm switch of the x phase of the converter are obtained; v is the order of the harmonic, and v is 1,3,5, …, m-2.
Preferably, the specific content of step S2 is: the operation vector is preferably selected from the boundary voltage vectors of the sectors of the fundamental plane.
Preferably, in step S3, the specific process of sector judgment is as follows: from the fundamental plane reference vector u1refIn a two-phase stationary coordinate system α1-β1Projection u onα1And uβ1Determining that it is located in sector N (N ═ 1,2, … …,2 m):
wherein the ceil (x) function is rounded towards plus infinity; theta1As a fundamental planar reference vector u1refAt α1-β1The phase angle in the two-phase stationary orthogonal coordinate system,the expression is as follows:
preferably, in step S4, the magnitude of the virtual voltage vector constructed for each subharmonic plane is:
wherein v is the number of each harmonic, v is 1,3,5, …, m-2; n is the index of the working vector, and n is 1,2,3, … …, m-1.
Preferably, in step S5, the working vector duration TnThe formula for (n ═ 1,2, … …, m-1) is:
wherein, when the sector number N is an odd number, A1＝N-1，A2When N is an even number, A1＝N，A2＝N-1；TsIs a sampling period; u. ofαvAnd uβvAre respectively the v-th harmonic reference vector uvrefAt the axis αv-βvProjection of (2); k is 1,2,3, … …, (m-1)/2.
Preferably, in step S6, the expression of the on-time and the off-time of the upper arm switch of the xth phase of the m-phase current transformer is as follows:
wherein,
when in use
When the temperature of the water is higher than the set temperature,
when in use
When the temperature of the water is higher than the set temperature,
when in use
When the temperature of the water is higher than the set temperature,
introducing j (j ═ 1,3,5, … …, m-1) turn-on times
And turn-off time
Then
In the formula, TsFor a sampling period, Tj-1Is the duration, T, of the j-1 th working vector0And TmAre respectively zero vector U0And UmAnd has:
preferably, in step S7, the main content of controlling the converter according to the variation of the harmonic voltage reference vector is as follows: let out the fundamental voltage reference vector u1refOuter harmonic voltage reference vector uvrefIf the voltage is zero, the converter outputs sine waveform voltage; if each harmonic voltage reference vector uvrefAccording to a given rule, the change isThe current transformer is controlled harmonic injection.
The invention aims at improving the voltage utilization rate of a direct current bus and reducing the switching loss, provides a method for optimizing a working vector, constructing a virtual voltage vector to solve the duration of the working vector and further determining the on-off time of each bridge arm in a rapid and digital mode. Compared with the prior art, the SVPWM control method has simple and clear universality for the SVPWM control of the odd-number symmetrical multi-phase current transformer, can conveniently realize seamless connection of sine power supply and harmonic injection, improves the voltage utilization rate, and fully develops the potential of the multi-phase motor.
Drawings
FIG. 1 is a schematic diagram of a stator winding power supply of an m-phase current transformer;
FIG. 2 is a flow chart of the method of the present invention;
FIG. 3 is a plan view of the effective voltage vector distribution and sector division of the fundamental wave of the converter using nine phases as an example;
FIG. 4 is a plane operation vector distribution diagram of a fundamental wave of a three-phase current transformer;
FIG. 5 is a distribution diagram of a planar working vector of a fundamental wave of a nine-phase current transformer;
fig. 6 is a schematic diagram illustrating sector judgment of the SVPWM of the nine-phase inverter according to the present invention;
fig. 7 is a virtual voltage vector distribution diagram of a working vector selected in a first sector by a nine-phase current transformer in each subharmonic plane according to the present invention, where fig. 7(a) is a working voltage vector of a fundamental plane, fig. 7(b) is a virtual voltage vector of a third harmonic plane, fig. 7(c) is a virtual voltage vector of a fifth harmonic plane, and fig. 7(d) is a virtual voltage vector of a seventh harmonic plane;
fig. 8 is a diagram of a result of SVPWM simulation of a three-phase current transformer according to an embodiment of the present invention, where fig. 8(a) is a waveform diagram of a load current, fig. 8(b) is a waveform diagram of a load voltage, and fig. 8(c) is a waveform diagram of a modulation wave;
fig. 9 is a diagram of a simulation result of the SVPWM of the nine-phase current transformer according to the embodiment of the present invention, where fig. 9(a) is a waveform diagram of a load current, fig. 9(b) is a waveform diagram of a load voltage, and fig. 9(c) is a waveform diagram of a modulation wave.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Fig. 1 shows a converter for m (m is 3,5,7,9, … …) symmetrical winding motor stator winding power supply, UdIs the direct voltage supplied to the converter; the numbers of the arms of the current transformer arranged from left to right are respectively 1,2, … … and m, and the spatial position of the axis of the winding connected with the x (x is 1,2, … … and m) th arm is 2(x-1) pi/m. m phase current transformer total 2mAn operating state using a switching function SxShowing the x-th phase of the converter with the upper arm switch on and the lower arm switch off, example S1If the current value is 1, the upper arm switch of the 1 st phase of the converter is turned on, and the lower arm switch is turned off; if S1If the result is 0, the opposite is true; the other cases are similar.
The invention relates to a general method for realizing SVPWM control of a multiphase converter, as shown in figure 2, the method comprises the following steps:
1) and (3) sector division:
dividing the effective voltage vector of the multiphase converter into sectors by UdThe voltage/2 is a base value, and the effective voltage vector of the m-phase current transformer in each harmonic v is 1,3,5, …, m-2 plane can be obtained by the following formula:
wherein,
the m phase current transformer has 2 zero vectors which are respectively U0And UmAnd 2m2 effective voltage vectors. In the fundamental wave plane will 2mThe 2 effective voltage vectors are divided into symmetrical 2m sectors, each sector corresponding to a/m arc degree. The effective voltage vector and sector division, for example, with m-9, is shown in fig. 3.
2) Selecting a working vector:
a part of the boundary voltage vectors of the sectors in the fundamental plane is preferably used as a working vector, and the working vector can be expressed by { lambda, m-lambda }. And lambda and (m-lambda) are respectively the on-off number or the on-off number of the upper bridge arm switches of the adjacent bridge arms, and the on-off upper bridge arms are continuously arranged. Obviously, from knowledge of permutation and combination, the { λ, m- λ } group includes 2m working vectors.
For example, the grouping and the number of groups when m is 3,5,7, and 9 are shown in table 1.
TABLE 1 grouping situation of operating vectors of different-phase number converters
In table 1, the three-phase current transformer has only one group {1,2}, and includes 2 × 3 — 6 working vectors: {100, 110, 010, 011, 001, 101 }; the nine-phase current transformer has four groups of 4x2x 9-72 working vectors, taking the group {1,8} as an example, the nine-phase current transformer includes 2x 9-18 working vectors: {100000000, 010000000, 001000000, 000100000, 000010000, 000001000, 000000100, 000000010, 000000001, 011111111, 101111111, 110111111, 111011111, 111101111, 111110111, 111111011, 111111101, 111111110}, and others can be similarly found.
The working vectors and the sector division and the numbering of the three-phase current transformer and the nine-phase current transformer SVPWM are shown in figures 4 and 5, and other conditions can be obtained similarly.
3) Judging the sector to which the reference voltage vector belongs:
from the fundamental plane reference vector u1refIn a two-phase stationary coordinate system α1-β1Projection u onα1And uβ1Determining that it is located in the N (N ═ 1,2, … …,2m) th sector, where the sector number N can be determined by the following equation:
wherein the ceil (x) function is rounded towards plus infinity; theta1As a fundamental plane referenceVector u1refAt α1-β1The phase angle in the two-phase static orthogonal coordinate system is expressed as:
taking the nine-phase current transformer as an example, the sector judgment schematic diagram is shown in fig. 6.
4) Virtual voltage vector construction:
constructing virtual voltage vector V for each subharmonic planevkThe magnitude of the vector is:
where, v is 1,3,5, …, m-2 is the order of the harmonic, and n is 1,2,3, … …, m-1 is the index of the virtual voltage vector.
5) Working vector duration acquisition:
at each sampling period TsSynthesizing the reference vector by using m-1 working vectors internally, namely constructing an m-1-element linear equation system to obtain the duration T of the working vectorsn(n＝1,2,……,m-1)。
The working vector duration calculation formula of the m-phase current transformer obtained according to the volt-second balance principle is as follows:
when N is an odd number, A1＝N-1，A2＝N；
When N is an even number, A1＝N，A2＝N-1。
Wherein, v is 1,3,5, …, m-2 is the order of each harmonic, k is 1,2,3, … …, (m-1)/2.
6) Determining the on and off time of an upper bridge arm:
the expression of the on-time and the off-time of the upper bridge arm switch of a certain phase of the m-phase current transformer is as follows:
wherein,
when in use
When the temperature of the water is higher than the set temperature,
when in use
When the temperature of the water is higher than the set temperature,
when in use
When the temperature of the water is higher than the set temperature,
the zero vector U is obtained by adopting a continuous SVPWM (space vector pulse width modulation) realization method with symmetrical and uniform distribution of zero vector on the principle that both the switching loss and harmonic component are smaller0And UmDuration T of0And TmEqual, i.e.:
according to equations (6) and (7), j (j ═ 1,3,5, … …, m-1) switching-on times are introduced
And turn-off time
Then it can be obtained:
in the formula, TsFor a sampling period, Tj-1The duration of the j-1 th working vector.
The on-off time of each bridge arm of the m-phase current transformer in different sectors can be deduced based on the formula (7) and the formula (8), so that the size of the modulation wave is determined, and the trigger control of each phase power switch is realized.
7) Controlling a converter:
let out the fundamental voltage reference vector u1refOuter harmonic voltage reference vector uvrefIf the voltage is zero, the converter outputs sine waveform voltage; if harmonic voltage reference vector uvrefAnd when the current transformer is changed according to a given rule, the current transformer is subjected to controlled harmonic injection, so that the voltage utilization rate of the direct current bus can be improved.
In order to prove the effectiveness and the superiority of the method, the simulation according to sinusoidal voltage control is respectively carried out on the three-phase converter SVPWM and the nine-phase converter SVPWM. Resistive-inductive loads are used in the simulation instead of stator windings. The simulation results are shown in fig. 8 and 9.
As can be seen from fig. 8(a) and 9(a), in the steady state, the load current waveforms of the three-phase converter SVPWM and the nine-phase converter SVPWM are standard sine waves having a frequency of 50Hz and being symmetrical; in addition, the current has a small amount of ripples due to the influence of pulse width modulation of the power switch, and the ripples are consistent with the sine power supply condition of the converter. As can be seen from fig. 8(b) and 9(b), the m-phase inverter generates a voltage waveform consisting of 2m-1 levels across the load, thereby changing the load voltage in a sinusoidal manner. Fig. 8(c) and 9(c) show modulation waves of the three-phase current transformer SVPWM and the nine-phase current transformer SVPWM, respectively.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A general method for realizing SVPWM control of a multiphase converter is characterized by comprising the following steps:
s1: and (3) sector division: dividing the effective voltage vector of the multi-phase converter into sectors;
s2: selecting a working vector: selecting a working vector for the divided sectors;
s3: judging the sector: judging the sector where the fundamental voltage reference vector is located;
s4: virtual voltage vector construction: constructing a virtual voltage vector for each subharmonic plane;
s5: working vector duration acquisition: obtaining the duration of the working vector according to the virtual voltage vector;
s6: determining the on and off time of an upper bridge arm: according to the duration of the working vector, determining the on-time and the off-time of an upper bridge arm switch of a certain phase of the m-phase current transformer in a continuous SVPWM mode with symmetrically distributed zero vectors;
s7: controlling a converter: adjusting the change of each harmonic voltage reference vector to control the converter according to the sine wave control and harmonic injection control strategies;
in step S1, the obtaining expression of the effective voltage vector of the multi-phase current transformer is:
wherein,
m is the number of phases of the converter, and m is 3,5,7,9, … …; sxThe on-off function of an upper bridge arm switch and an on-off function of a lower bridge arm switch of the x phase of the converter are obtained; v is the order of the harmonic, and v is 1,3,5, …, m-2.
2. The method as claimed in claim 1, wherein the specific content of step S2 is as follows: the operation vector is preferably selected from the boundary voltage vectors of the sectors of the fundamental plane.
3. The method as claimed in claim 1, wherein in step S3, the sector determination process includes: from the fundamental plane reference vector u1refIn a two-phase stationary coordinate system α1-β1Projection u onα1And uβ1Determining that it is located in sector N (N ═ 1,2, … …,2 m):
wherein the ceil (x) function is rounded towards plus infinity; theta1As a fundamental planar reference vector u1refAt α1-β1The phase angle in the two-phase static orthogonal coordinate system is expressed as:
4. the general method for realizing SVPWM control of a multiphase converter according to claim 3, wherein in step S4, the magnitude of the virtual voltage vector constructed for each subharmonic plane is:
wherein v is the number of each harmonic, v is 1,3,5, …, m-2; n is the index of the working vector, n is 1,2,3, … …, m-1, k is 1,2,3, … …, (m-1)/2.
5. The method as claimed in claim 4, wherein in step S5, the operating vector is the same as the SVPWM control method of the multiphase converterDuration of volume TnThe formula for (n ═ 1,2, … …, m-1) is:
wherein, when the sector number N is an odd number, A1＝N-1，A2When N is an even number, A1＝N，A2＝N-1；TsIs a sampling period; u. ofαvAnd uβvAre respectively the v-th harmonic reference vector uvrefAt the axis αv-βvProjection of (2); k is 1,2,3, … …, (m-1)/2.
6. The method as claimed in claim 1, wherein in step S6, the conduction time of the upper arm switch of the x-phase of the m-phase converter is set according to the SVPWM control method
And turn-off time
The expression of (a) is:
wherein,
the moment when the upper bridge arm switch is switched on,
the moment of turning off the upper bridge arm switch;
when in use
When the temperature of the water is higher than the set temperature,
when in use
When the temperature of the water is higher than the set temperature,
when in use
When the temperature of the water is higher than the set temperature,
in the formula, N is a sector number;
introducing j (j ═ 1,3,5, … …, m-1) turn-on times
And turn-off time
Then
In the formula, TsFor a sampling period, Tj-1Is the duration, T, of the j-1 th working vector0And TmAre respectively zero vector U0And UmAnd has:
in the formula, Tn(n-1, 2, … …, m-1) is the duration of the working vectorAnd (3) removing the solvent.
7. The method as claimed in claim 1, wherein in step S7, the main contents for controlling the converter according to the reference vector variation of the harmonic voltages are: let out the fundamental voltage reference vector u1refOuter harmonic voltage reference vector uvrefIf the voltage is zero, the converter outputs sine waveform voltage; if each harmonic voltage reference vector ivrefAnd changing according to a given rule, and then the converter is controlled harmonic injection.
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| Title |
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| "九相逆变器SVPWM实现方法的研究";罗娜等;《电机与控制应用》;20160630;第43卷(第6期);第52-57页 * |
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| Publication number | Publication date |
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| CN108039850A (en) | 2018-05-15 |
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