CN108390604A - Five bridge arms, two permanent magnet motor system Zero voltage vector optimizes modulating device and method - Google Patents
Five bridge arms, two permanent magnet motor system Zero voltage vector optimizes modulating device and method Download PDFInfo
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- CN108390604A CN108390604A CN201810234471.7A CN201810234471A CN108390604A CN 108390604 A CN108390604 A CN 108390604A CN 201810234471 A CN201810234471 A CN 201810234471A CN 108390604 A CN108390604 A CN 108390604A
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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
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P27/12—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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- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/50—Reduction of harmonics
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention belongs to magneto control technology fields to effectively improve the range of speeds of motor, reduce the harmonic wave of three-phase current to realize on the basis of not changing five bridge arms, two Control System of AC Permanent Magnet Synchronous hardware circuit.Five bridge arm of the invention, two permanent magnet motor system Zero voltage vector optimization modulating device and method, it is made of five leg inverters, two permanent magnet synchronous motors and microprocessor, input of the output of three phase network and uncontrollable rectifier bridge as five leg inverters, each bridge arm of five leg inverters is made of two switching tubes of concatenation, concatenates a phase of two three-phase permanent magnet synchronous motors of points output-controlling；Speed ring and electric current loop proportional integration PI (proportional integral) controller, dSPACE of SVPWM are provided in microprocessor, control generates switching tube switching signal driving motor.Present invention is mainly applied to magneto controls.
Description
Technical field
The present invention relates to a kind of two electric moter voltage vector optimization modulation strategies, belong to multi_motor control field.Especially relate to
And a kind of five bridge arms, two permanent magnet motor system Zero voltage vector that is applied to optimizes modulation strategy.
Background technology
Recently as the development of modern industrial technology, often needed in some industries such as electric vehicle, heavy duty promotions
Two motors of driving are run simultaneously, and to improve, traditional single motor driving reliability is relatively low, control performance is poor, system mechanics driver
The problems such as structure is complicated, single motor power requirement is higher.In the control of two magnetoes, five leg inverter drive systems are one
The preferable fault-tolerant networks of kind, have obtained extensive research, i.e., have independently controlled two three phase electric machines using five leg inverters.This
Method can save two power devices, reduce system cost；In addition, when a phase of traditional six leg inverters breaks down
When, it can also be used as a kind of good faults-tolerant control scheme.
Pulsewidth modulation strategy is the key that realize that five leg inverters drive two electric systems, it is desirable that is keeping two three-phases
In the case that motor controls independence, its busbar voltage utilization rate is improved to the greatest extent.Conventional modulated strategy is due to zero vector
Action time is longer so that two motors are relatively low to the utilization rate of DC bus-bar voltage, and speed adjustable range is limited.
Invention content
In order to overcome the deficiencies of the prior art, the present invention is intended to provide a kind of method, can not change five bridge arms, two permanent magnetism
On the basis of electric machine control system hardware circuit, the range of speeds of motor is effectively improved, reduces the harmonic wave of three-phase current.This hair
It is bright to be achieved by following technical solution：
Five bridge arms, two permanent magnet motor system Zero voltage vector optimizes modulating device, same by five leg inverters, two permanent magnetism
It walks motor and microprocessor is constituted, the input of three phase network and uncontrollable rectifier bridge exported as five leg inverters, five bridges
Each bridge arm of arm inverter is made of two switching tubes of concatenation, and concatenation two three-phase permanents of points output-controlling synchronize electricity
One phase of machine, wherein the 3rd bridge arm controls each phase of two three-phase permanent magnet synchronous motors simultaneously；It is arranged in microprocessor
There are speed ring and electric current loop proportional integration PI (proportional integral) controller, in the case where two-phase rotates dq coordinate systems,
Using motor d shaft currents id=0 control mode controls the speed ring and electric current loop of every motor；Specifically：First will
The actual speed and given rotating speed of every motor are subtracted each other, and it is given that two motor q shaft currents are generated after der Geschwindigkeitkreis PI controllers
i1q *And i2q *；By i1q *And i2q *With two motor q axis actual currents i1qAnd i2qSubtract each other, while two motor d shaft currents being given
i1d *And i2d *With motor d axis actual currents i1dAnd i2dSubtract each other, acquired results obtain two motors after electric current loop PI controllers
Stator voltage component u1d、u1q、u2d、u2q；Two-phase is rotated on dq coordinate systems using the anti-Park conversion modules in microprocessor
Motor stator voltage component be transformed to the motor stator voltage component u on the static α β coordinate systems of two-phase1α、u1β、u2α、u2β；Most
Afterwards, dSPACE of SVPWM SVPWM (the space vector pulse width by being planted in microprocessor
Modulation) module seeks the action time of every motor each voltage vector in a controlling cycle, then to voltage vector
Action time optimizes operation, generates switching tube switching signal driving motor.
Five bridge arms, two permanent magnet motor system Zero voltage vector optimizes modulator approach, same in five leg inverters, two permanent magnetism
It is realized in the system that step motor and microprocessor are constituted, the output of three phase network and uncontrollable rectifier bridge is as five leg inverters
Input, each bridge arm of five leg inverters is made of two switching tubes of concatenation, concatenates points output-controlling two three
One phase of phase permanent magnet synchronous motor, wherein the 3rd bridge arm controls each phase of two three-phase permanent magnet synchronous motors simultaneously；Profit
Following specific rate-determining steps are executed with microprocessor：In the case where two-phase rotates dq coordinate systems, using motor d shaft currents id=0 control
Mode processed, the speed ring and electric current loop of every motor are all made of proportional integration PI (proportional integral) controller,
First the actual speed of every motor and given rotating speed are subtracted each other, two motor q shaft currents are generated after der Geschwindigkeitkreis PI controllers
Given i1q *And i2q *；By i1q *And i2q *With two motor q axis actual currents i1qAnd i2qSubtract each other, while by two motor d shaft currents
Given i1d *And i2d *With motor d axis actual currents i1dAnd i2dSubtract each other, acquired results obtain two after electric current loop PI controllers
Motor stator voltage component u1d、u1q、u2d、u2q；Become the motor stator electricity changed commanders on two-phase rotation dq coordinate systems using anti-Park
Pressure component is transformed to the motor stator voltage component u on the static α β coordinate systems of two-phase1α、u1β、u2α、u2β；Finally, using space electricity
Vector Pulse Width Modulation SVPWM (the space vector pulse width modulation) technology of pressure, seeks every motor one
The action time of each voltage vector in a controlling cycle, then operation is optimized to voltage vector action time, generate switching tube
Switching signal driving motor.
Wherein, the expression rule of voltage vector is in SVPWM：The upper bridge arm of 1 representative is open-minded, lower bridge arm shutdown；0 represents upper bridge
Arm turns off, and lower bridge arm is open-minded；In motor operation course, to every motor, Zero voltage vector u0(0,0,0) and Zero voltage vector
u7The influence that (1,1,1) controls motor is identical, while to make motor not occur ovennodulation phenomenon, two motors on public bridge arm
It is less than 1 after duty ratio adduction operation；Based on above-mentioned premise, by the u in every motor7(1,1,1) u is used0(0,0,0) it replaces, tool
Steps are as follows for body：
(1) according to the motor stator voltage component u on the static α β coordinate systems of two-phase1α、u1β、u2α、u2β, calculate every motor
Duty ratio in corresponding three-phase PWM wave corresponding to nonzero voltage space vector obtains two new three-phase PWM waves；
(2) duty ratio of the three-phase PWM wave new to two carries out corresponding add operation, obtains a five phase PWM waves；
(3) optimize the duty ratio in five phase PWM waves corresponding to nonzero voltage space vector；
(4) by the duty ratio corresponding to the Zero voltage vector in five phase PWM waves evenly distribute to Zero voltage vector (0,0,0,
0,0) and Zero voltage vector (1,1,1,1,1), and in a controlling cycle, that the duty ratio institute obtained by above step is right
The pulse answered is placed in the middle.
In an example, usa、usb、uscFor three phase network phase voltage；udcFor DC capacitor voltage；Two permanent magnetism are same
Motor (permanent magnet synchronous motor) PMSM1, PMSM2 is walked, five bridge arm bridge arm A, B, C are for driving
Dynamic motor PMSM1, bridge arm C, D, E are used for driving motor PMSM2, using dSPACE of SVPWM mode, voltage vector
Expression rule be：The upper bridge arm of 1 representative is open-minded, lower bridge arm shutdown；0 represents upper bridge arm shutdown, and lower bridge arm is open-minded；Specific implementation side
Formula is as follows：
(1) according to the motor stator voltage component u on the static α β coordinate systems of two-phase1α、u1β、u2α、u2β, calculate every motor
Duty ratio in corresponding three-phase PWM wave corresponding to nonzero voltage space vector obtains two new three-phase PWM waves, that is, uses two
A independent space vector width pulse modulation method obtains acting on bridge arm on the inverter of motor 1 in a controlling cycle
PWM wave duty ratio λa1、λb1、λc1With act on motor 2 inverter on bridge arm PWM wave duty ratio λa2、λb2、λc2；
(2) duty ratio of the three-phase PWM wave new to two carries out corresponding add operation, obtains a five phase PWM waves, is
Keep the duty ratio of five phase PWM waves as small as possible in 1, and the duty ratio of public bridge arm meets two motors simultaneously, is accounted for each phase
Empty operation following than progress：
In formula, λA0、λB0、λC0、λD0、λE0The PWM wave duty ratio of bridge arm, λ in respectively every phasemin1=min { λa1,λb1,
λc1, λmin2=min { λa2,λb2,λc2}；
(3) optimize the duty ratio in five phase PWM waves corresponding to nonzero voltage space vector, in order to avoid λA0、λB0、λC0、λD0、λE0
It more than 1, advanced optimizes, operation is as follows：
In formula, λmin=min { λA0,λB0,λC0,λD0,λE0}；Then λA1、λB1、λC1、λD1、λE1For new five upper bridge arm PWM
Wave duty ratio；
(4) by the duty ratio corresponding to the Zero voltage vector in five phase PWM waves evenly distribute to Zero voltage vector (0,0,0,
0,0) and Zero voltage vector (1,1,1,1,1), and in a controlling cycle, that the duty ratio institute obtained by above step is right
The pulse answered is placed in the middle, makees following operation：
In formula, λmax=max { λA1,λB1,λC1,λD1,λE1}；λA, λB, λC, λD, λEIt is the five of final five leg inverter
The duty ratio of phase PWM drive signal；
In each controlling cycle, corresponding five phases PWM wave can be obtained according to the duty ratio of gained, it is final to realize solely
Two motors of vertical control and the purpose for extending its velocity interval.
The features of the present invention and advantageous effect are：
A kind of a kind of modulator approach being applied to five bridge arms, two permanent magnet motor system of the present invention, it is proposed that Zero voltage vector
Optimize modulation strategy, compared with conventional measures, new modulation strategy effectively increases electric machine speed regulation range, while reducing electric current
Harmonic wave.
Description of the drawings
Fig. 1 is five bridge arms, two permanent magnet motor system circuit topological structure figure.
Fig. 2 is five or five bridge arm, two permanent magnet motor system control structure figure.
Fig. 3 is single motor space voltage vector figure.
Fig. 4 is the three-phase PWM drive waveforms of two motors.In figure：
(a) the three-phase PWM wave of motor 1；
(b) the three-phase PWM wave of motor 2.
Fig. 5 is five phase PWM waves caused by conventional modulated strategy in a controlling cycle.
Fig. 6 is five phase PWM waves caused by optimization modulation strategy in a controlling cycle.
Fig. 7 is the speed adjustable range comparison diagram of two kinds of modulation strategies.In figure：
(a) conventional modulated strategy；
(b) optimize modulation strategy.
Fig. 8 is the current harmonics analysis chart of two kinds of modulation strategies.In figure：
(a) conventional modulated strategy；
(b) optimize modulation strategy.
Specific implementation mode
Compared to conventional modulated strategy, the present invention constructs a kind of modulation strategy optimized based on Zero voltage vector, the plan
Slightly combine traditional space vector pulse width modulation, in the case where meeting public bridge arm pulsewidth unanimous circumstances, a controlling cycle
Inside expand the variation range of every motor nonzero voltage space vector action time as far as possible, i.e. first to non-zero in a controlling cycle
The action time of voltage vector is allocated, and considers further that evenly distributing for Zero voltage vector action time, and then reaches independent control
It makes two motors and extends the purpose of the speed adjustable range of two motors.
The circuit structure that the present invention is directed to is the double permanent magnet motor systems of five bridge arms, same by five leg inverters, two permanent magnetism
It walks motor and microprocessor is constituted, the input of three phase network and uncontrollable rectifier bridge exported as five leg inverters, five bridges
Each bridge arm of arm inverter is made of two switching tubes of concatenation, and concatenation two three-phase permanents of points output-controlling synchronize electricity
One phase of machine, wherein the 3rd bridge arm controls each phase of two three-phase permanent magnet synchronous motors simultaneously.
Inventive control algorithm is mainly realized in the microprocessor, in the case where two-phase rotates dq coordinate systems, using motor d axis electricity
Flow id=0 control mode, the speed ring and electric current loop of every motor are all made of proportional integration (proportional
Integral, PI) controller.First the actual speed of every motor and given rotating speed are subtracted each other, after der Geschwindigkeitkreis PI controllers
It generates two motor q shaft currents and gives i1q *And i2q *；By i1q *And i2q *With two motor q axis actual currents i1qAnd i2qSubtract each other, together
When by two motor d shaft currents give i1d *And i2d *With motor d axis actual currents i1dAnd i2dSubtract each other, acquired results are through overcurrent
Two motor stator voltage component u are obtained after ring PI controllers1d、u1q、u2d、u2q；Become two-phase of changing commanders using anti-Park and rotates dq
Motor stator voltage component on coordinate system is transformed to the motor stator voltage component u on the static α β coordinate systems of two-phase1α、u1β、
u2α、u2β；Finally, using dSPACE of SVPWM (space vector pulse width modulation,
SVPWM) technology is sought the action time of every motor each voltage vector in a controlling cycle, then is acted on voltage vector
Time optimizes operation, generates switching tube switching signal driving motor.
Wherein, the expression rule of voltage vector is in SVPWM：The upper bridge arm of 1 representative is open-minded, lower bridge arm shutdown；0 represents upper bridge
Arm turns off, and lower bridge arm is open-minded.In motor operation course, to every motor, Zero voltage vector u0(0,0,0) and Zero voltage vector
u7The influence that (1,1,1) controls motor is identical, while to make motor not occur ovennodulation phenomenon, two motors on public bridge arm
It is less than 1 after duty ratio adduction operation.Based on above-mentioned premise, the present invention is by the u in every motor7(1,1,1) u is used0(0,0,0)
Instead of on the one hand so that the action time of the nonzero voltage space vector of every motor and the independent SVPWM nonzero voltage space vectors generated
It is identical, do not influence control effect；On the other hand, enable to every motor per phase pulsewidth modulation (pulse width
Modulation, PWM) wave duty ratio it is minimum, i.e., be less than 1 after two motor duty ratios adduction operations on meeting public bridge arm
Under conditions of, increase the action time range of nonzero voltage space vector as possible, the speed adjustable range of motor is made to become larger.Specific steps are such as
Under：
(1) according to the motor stator voltage component u on the static α β coordinate systems of two-phase1α、u1β、u2α、u2β, calculate every motor
Duty ratio in corresponding three-phase PWM wave corresponding to nonzero voltage space vector obtains two new three-phase PWM waves.
(2) duty ratio of the three-phase PWM wave new to two carries out corresponding add operation, obtains a five phase PWM waves.
(3) optimize the duty ratio in five phase PWM waves corresponding to nonzero voltage space vector.
(4) by the duty ratio corresponding to the Zero voltage vector in five phase PWM waves evenly distribute to Zero voltage vector (0,0,0,
And Zero voltage vector (1,1,1,1,1) 0,0).It is and in a controlling cycle, the duty ratio obtained by above step institute is right
The pulse answered is placed in the middle.
With reference to embodiment and attached drawing to a kind of no-voltage being applied to five bridge arms, two permanent magnet motor system of the present invention
Optimization modulation strategy is described in detail.
In the present embodiment, the TMS320F28335 microprocessors of TI companies is selected to carry out formula calculating, algorithm process, letter
Number acquisition, and generates switching tube switching signal.Fig. 1 is five bridge arms, two permanent magnet motor system circuit topological structure figure, left side three
Phase power grid and uncontrollable rectifier bridge, wherein usa、usb、uscFor each phase phase voltage of three phase network；udcFor DC capacitor voltage；
Sx1(x=A, B, C, D, E) is upper bridge arm switching tube on off state, Sx2(x=A, B, C, D, E) is that lower bridge arm switching tube switchs shape
State, the two are complementary.Right side is the unsteady flow bridge and two permanent magnet synchronous motors (permanent magnet of five leg inverters
Synchronous motor, PMSM) PMSM1, PMSM2, wherein bridge arm A, B, C are used for driving motor PMSM1, bridge arm C, D, E
For driving motor PMSM2.As can be seen that compared with traditional inverter, five bridge arm structures reduce device for power switching
Quantity, two motors have shared C phase bridge arms.In the present embodiment, using dSPACE of SVPWM mode (space
Vector pulse width modulation, SVPWM), the expression rule of voltage vector is：The upper bridge arm of 1 representative is open-minded, under
Bridge arm turns off；0 represents upper bridge arm shutdown, and lower bridge arm is open-minded.
The control structure figure of the present invention is as shown in Fig. 2, using id=0 control mode, speed ring and electric current loop are all made of ratio
Example integral (proportional integral, PI) controller, ω1refAnd ω2refThe respectively given rotating speed of two motors；ω1
And ω2The respectively actual speed of two motors；i1d *And i2d *Respectively the d shaft currents of two motors are given on two-phase rotation dq coordinate systems
It is fixed；i1dAnd i2dThe d axis actual currents of two motors respectively on two-phase rotation dq coordinate systems；i1q *And i2q *Respectively two-phase rotates
The q shaft currents of two motors are given on dq coordinate systems；i1qAnd i2qRespectively the q axis of two motors is practical on two-phase rotation dq coordinate systems
Electric current；u1d、u1q、u2d、u2qIt is stator voltage component of two motors on two-phase rotation dq coordinate systems；i1α、i1β、i2α、i2βIt is
Stator current components of two motors on the static α β coordinate systems of two-phase；u1α、u1β、u2α、u2βIt is two motors in the static α β of two-phase
Stator voltage component on coordinate system；θ1And θ2The rotation electrical angle of respectively two motors；SVPWM refers to space vector arteries and veins
Width modulation；λa1, λb1, λc1, λa2, λb2, λc2For the duty ratio of six phase PWM waves caused by SVPWM；λA, λB, λC, λD, λEFor five bridges
The duty ratio of five phase PWM drive signals of arm inverter；FL-VSI indicates five bridge arm voltage source inventers；PMSM1 and PMSM2 are
Two permanent magnet synchronous motors；The stator voltage component that anti-Park changes are changed commanders on two-phase rotation dq coordinate systems is transformed to quiet in two-phase
Only the stator voltage component on α β coordinate systems, formula are：
In formula, u1α、u1β、u2α、u2βIt is stator voltage component of two motors on the static α β coordinate systems of two-phase；u1d、u1q、
u2d、u2qIt is stator voltage component of two motors on two-phase rotation dq coordinate systems；θ1And θ2For the rotation electric angle of two motors
Degree.
3/2 change changes commanders threephase stator current transformation as the stator current components on the static α β coordinate systems of two-phase, formula
For：
In formula, i1α、i1β、i2α、i2βIt is stator current components of two motors on the static α β coordinate systems of two-phase；ia1、ib1、
ic1、ia2、ib2、ic2The threephase stator electric current of respectively two motors.
Park transformation is to be transformed to the stator current components on the static α β coordinate systems of two-phase to rotate dq coordinates in two-phase
The stator current components fastened, formula are：
In formula, i1α、i1β、i2α、i2βIt is stator current components of two motors on the static α β coordinate systems of two-phase；i1d、i1q、
i2d、i2qIt is stator current components of two motors on two-phase rotation alpha β coordinate systems.
The present invention has carried out innovation optimization to the modulation strategy of circuit, below carries out conventional measures and strategy of the present invention pair
Than.
1, conventional modulated strategy
In motor control, the relationship between space magnetic linkage and voltage vector can be expressed with the following formula
△ψs≈usTs (7)
In formula, Δ ψsFor the variable quantity of a controlling cycle magnetic linkage；usFor voltage vector；TsFor a controlling cycle.
In Fig. 3, uref1And uref2Respectively two motor reference voltage vectors；For each individual motor, space electricity
Pressure vector is divided into I, II, III, IV, V, VI 6 sector；u1(1,0,0), u2(1,1,0), u3(0,1,0), u4(0,1,
1), u5(0,0,1), u6(1,0,1) it is six nonzero voltage space vectors；u0(0,0,0), u7(1,1,1) it is two Zero voltage vectors；
ω1、ω2The respectively angular velocity of rotation of motor 1 and motor 2；θ1It is the rotation electrical angle of motor 1.
When reference voltage vector position shown in Fig. 3, the three-phase PWM drive waveforms of two motors are as shown in Figure 4.Fig. 4
In, TsPeriod in order to control, T11、T12The respectively action time of two nonzero voltage space vectors of motor 1, T21、T22Respectively motor
The action time of 2 two nonzero voltage space vectors, T10、T20The respectively time of the Zero voltage vector of motor 1 and motor 2 effect.
Wherein, Ta1、Tb1、Tc1、Ta2、Tb2、Tc2In a respectively controlling cycle when conducting of each upper bridge arm switching device
Between, then the duty ratio of each phase PWM wave drive signal is
If DC bus-bar voltage is udc, by taking the Ith sector as an example, it is known that uref1By u1(1,0,0)、u2(1,1,0) it synthesizes,
Thus can calculate nonzero voltage space vector action time is
T in formula11And T12Respectively represent voltage vector u1(1,0,0) and u2(1,1,0) effect in a controlling cycle
Time.
Known by formula (7), when motor speed increases, | Δ ψs| become larger, then | uref1| become larger；By formula (9) it is found that non-zero is electric
Press vector action time T11、T12It is consequently increased.
In conventional modulated strategy, a controlling cycle, which is averaged, is divided into two half periods to realize the only of two motors
Vertical control, separately controls a motor, another motor is then acted on by Zero voltage vector, whole within each half period
The required reference voltage vector of two motors is alternately generated in a modulation period, by a controlling cycle to two motors
Control simultaneously is converted into the independent control to two motor timesharing in two half periods, public when avoiding two motors while controlling
Conflict, realizes the independent control of two motors caused by the on off state difference of bridge arm switching device, since zero vector acts on
Time is elongated so that two motors are relatively low to the utilization rate of DC bus-bar voltage, and speed adjustable range is limited.
For example, Fig. 5 is the u of motor 1ref1Voltage vector u1(1,0,0) and u2(1,1,0) it synthesizes, motor 2
uref2Voltage vector u3(0,1,0) and u4(0,1,1) when synthesizing, bridge arm switching tube pulsewidth in five phases in a controlling cycle
(pulse width modulation, PWM) waveform is modulated, lower bridge arm switching tube waveform is complementary therewith.In figure, TsIt is controlled for one
Period processed；T11And T12Respectively represent the voltage vector u of motor 11(1,0,0) and u2(1,1,0) work in a controlling cycle
Use the time；T21And T22Respectively represent the voltage vector u of motor 23(0,1,0) and u4(0,1,1) work in a controlling cycle
Use the time；A, B, C, D, E represent five bridge arms.As shown in Figure 5, two motor nonzero voltage space vector effects in conventional modulated strategy
Time range is smaller, and electric machine speed regulation range is made to be restricted.For example, when 2 low speed of motor is run, 2 nonzero voltage space vector of motor
Action time close to zero, the variation range of 1 nonzero voltage space vector action time of motor is only 0~T at this times/ 2, limit electricity
The speed adjustable range of machine 1.
2, Zero voltage vector of the present invention optimizes modulation strategy
A kind of voltage vector optimization modulation strategy being applied to five bridge arms, two permanent magnet motor system of the present invention, for by five
Two electric machine control systems of leg inverter and two permanent magnet synchronous motors composition, include the following steps：
(1) according to the motor stator voltage component u on the static α β coordinate systems of two-phase1α、u1β、u2α、u2β, calculate every motor
Duty ratio in corresponding three-phase PWM wave corresponding to nonzero voltage space vector obtains two new three-phase PWM waves.Use two
A independent space vector width pulse modulation method obtains acting on bridge arm on the inverter of motor 1 in a controlling cycle
PWM wave duty ratio λa1、λb1、λc1With act on motor 2 inverter on bridge arm PWM wave duty ratio λa2、λb2、λc2。
(2) duty ratio of the three-phase PWM wave new to two carries out corresponding add operation, obtains a five phase PWM waves.For
Keep the duty ratio of five phase PWM waves as small as possible in 1, and the duty ratio of public bridge arm meets two motors simultaneously, is accounted for each phase
Empty operation following than progress：
In formula, λA0、λB0、λC0、λD0、λE0The PWM wave duty ratio of bridge arm, λ in respectively every phasemin1=min { λa1,λb1,
λc1, λmin2=min { λa2,λb2,λc2}。
It is done when the reference voltage vector of motor 2 is located at III sector when the reference voltage vector of motor 1 is located at the Ith sector
Formula (10) operation can obtain PWM wave as shown in FIG. 6.In Fig. 6, TsFor a controlling cycle；T11And T12Respectively represent the electricity of motor 1
Press vector u1(1,0,0) and u2(1,1,0) action time in a controlling cycle；T21And T22Respectively represent the electricity of motor 2
Press vector u3(0,1,0) and u4(0,1,1) action time in a controlling cycle；A, B, C, D, E represent five bridge arms；
λA0、λB0、λC0、λD0、λE0Represent the PWM wave duty ratio of each upper bridge arm.Fig. 6 does not change two motor non-zeros after showing optimization
The action time of voltage vector, thus the optimization method can simultaneously two motors of independent driving.
(3) optimize the duty ratio in five phase PWM waves corresponding to nonzero voltage space vector.When the reference voltage vector of two motors
In there are one or two be located at I, II sector when, then λA0、λB0、λC0、λD0、λE0In there are one being zero, such modulation at this time is
Through making nonzero voltage space vector action time range be optimized to maximum.And when the reference voltage vector of two motors is respectively positioned on III, IV,
V, VI when, then λA0、λB0、λC0、λD0、λE0Value be all higher than zero, in order to avoid duty ratio be more than 1, can also do further it is excellent
Change.Comprehensive both above five phase duty ratio of situation pair does following operation：
In formula, λmin=min { λA0,λB0,λC0,λD0,λE0}；Then λA1、λB1、λC1、λD1、λE1For new five upper bridge arm PWM
Wave duty ratio.
(4) by the duty ratio corresponding to the Zero voltage vector in five phase PWM waves evenly distribute to Zero voltage vector (0,0,0,
And Zero voltage vector (1,1,1,1,1) 0,0).It is and in a controlling cycle, the duty ratio obtained by above step institute is right
The pulse answered is placed in the middle.By the above optimization method, in speed adjustable range, in a controlling cycle, the electricity corresponding to five phase PWM waves
It presses and will be not present Zero voltage vector (1,1,1,1,1) in vector.In order to avoid switching tube was opened and is turned off within the extremely short time,
As traditional SVPWM, by the action time of zero vector be averagely allocated to zero vector (0,0,0,0,0) and zero vector (1,1,1,
1,1), make following operation：
In formula, λmax=max { λA1,λB1,λC1,λD1,λE1}；λA, λB, λC, λD, λEIt is the five of final five leg inverter
The duty ratio of phase PWM drive signal.
By formula (12) and Fig. 6 it is found that when 2 low speed of motor is run, the action time of 2 nonzero voltage space vector of motor is close
Zero, the variation range of 1 nonzero voltage space vector action time of motor is 0~T at this times, compared to conventional method, optimize modulation strategy
In, the variation range of nonzero voltage space vector action time becomes larger, that is, extends the speed governing model of five leg inverters driving bi-motor
It encloses.Compared to traditional modulation strategy, the switching frequency of inverter reduces half.
A kind of Zero voltage vector optimization modulation strategy being applied to five bridge arms, two permanent magnet motor system of the present invention, control
Target is：1, the speed adjustable range of two motors is improved；2, reduce current harmonics.
To verify effectiveness of the invention, builds experimental system and tested, the parameter of two motors is as shown in table 1.
1 parameter of electric machine of table
Fig. 7 is the rotating speed and q shaft current oscillograms of conventional modulated strategy and optimization modulation strategy, and two motors are unloaded, ω1
And ω2The respectively rotating speed of motor 1 and motor 2.In conventional modulated strategy, it is 50r/min to make the rotating speed of motor 1, is gradually increased
The rotating speed for adding motor 2, in 5s, the given rotating speed of motor 2 from 780r/min steps to 850r/min, trembled by speed waveform
It is dynamic, and the fluctuation of q shaft currents is larger, illustrates the normal speed adjustable range for having exceeded motor 2 at this time, therefore when the rotating speed of motor 1 is 50r/
When min, the maximum speed of motor 2 is 780r/min.In optimizing modulation strategy, make motor 1 rotating speed be 50r/min when, by
Cumulative plus motor 2 rotating speed, in 5s, the given rotating speed of motor 2 is from 1450r/min steps to 1500r/min, although rotating speed energy
Enough follow given, but significantly shaking have occurred in q shaft currents at this time, i.e., torque ripple is especially big, so when had exceeded
The normal speed adjustable range of motor 2, i.e., when the rotating speed of motor 1 is 50r/min, the maximum (top) speed of motor 2 is 1450r/min.It can
When finding out that the rotating speed when two motors differs greatly, the speed adjustable range for optimizing modulation strategy is far longer than conventional modulated strategy.
Fig. 8 is that the rotating speed of two motors is 300r/min, when adding the load of 4N to motor 2, the current waveform of motor 2,
ieFor a phase current of motor 2；iepeakFor the peak value of each harmonic wave；T is the time；F is the frequency of each harmonic wave.To two kinds of control strategies
Current harmonics analyzed, the THD of conventional modulated strategy is 8.74%, and the THD for optimizing modulation strategy is 3.83%, therefore is optimized
The current of electric harmonic content of modulation strategy is less than conventional modulated strategy.
In conclusion the present invention is based on five leg inverter of SVPWM technologies pair drive two motor modulation strategies carried out it is excellent
Change, the speed adjustable range of two motors is extended by the reasonable distribution to Zero voltage vector and reduces the current harmonics of motor.
Although above in conjunction with figure, invention has been described, and the invention is not limited in above-mentioned specific embodiment parties
Formula, the above mentioned embodiment is only schematical, rather than restrictive, and those skilled in the art are in this hair
Under bright enlightenment, without deviating from the spirit of the invention, many variations can also be made, these belong to the guarantor of the present invention
Within shield.
Claims (4)
1. a kind of double permanent magnet motor system Zero voltage vectors of five bridge arms optimize modulating devices, characterized in that by five leg inverters,
Two permanent magnet synchronous motors and microprocessor are constituted, and the output of three phase network and uncontrollable rectifier bridge is as five leg inverters
Input, each bridge arm of five leg inverters are made of two switching tubes of concatenation, concatenate two three-phases of points output-controlling
One phase of permanent magnet synchronous motor, wherein the 3rd bridge arm controls each phase of two three-phase permanent magnet synchronous motors simultaneously；Micro- place
It is provided with speed ring and electric current loop proportional integration PI (proportional integral) controller in reason device, is rotated in two-phase
Under dq coordinate systems, using motor d shaft currents id=0 control mode controls the speed ring and electric current loop of every motor；
Specifically：First the actual speed of every motor and given rotating speed are subtracted each other, two motor q are generated after der Geschwindigkeitkreis PI controllers
Shaft current gives i1q *And i2q *；By i1q *And i2q *With two motor q axis actual currents i1qAnd i2qSubtract each other, while by two motor d
Shaft current gives i1d *And i2d *With motor d axis actual currents i1dAnd i2dSubtract each other, acquired results obtain after electric current loop PI controllers
To two motor stator voltage component u1d、u1q、u2d、u2q；Two-phase is rotated using the anti-Park conversion modules in microprocessor
Motor stator voltage component on dq coordinate systems is transformed to the motor stator voltage component u on the static α β coordinate systems of two-phase1α、u1β、
u2α、u2β；Finally, dSPACE of SVPWM SVPWM (the space vector pulse by being planted in microprocessor
Width modulation) module, the action time of every motor each voltage vector in a controlling cycle is sought, then to electricity
Pressure vector action time optimizes operation, generates switching tube switching signal driving motor.
2. a kind of double permanent magnet motor system Zero voltage vectors of five bridge arms optimize modulator approaches, characterized in that five leg inverters,
It is realized in the system that two permanent magnet synchronous motors and microprocessor are constituted, the output of three phase network and uncontrollable rectifier bridge is as five
Each bridge arm of the input of leg inverter, five leg inverters is made of two switching tubes of concatenation, concatenation point output
A phase of two three-phase permanent magnet synchronous motors is controlled, wherein two three-phase permanent magnet synchronous motors of the 3rd bridge arm while control
Each phase；Following specific rate-determining steps are executed using microprocessor：In the case where two-phase rotates dq coordinate systems, using motor d axis electricity
Flow id=0 control mode, the speed ring and electric current loop of every motor are all made of proportional integration PI (proportional
The actual speed of every motor and given rotating speed are first subtracted each other, are generated after der Geschwindigkeitkreis PI controllers by integral) controller
Two motor q shaft currents give i1q *And i2q *；By i1q *And i2q *With two motor q axis actual currents i1qAnd i2qSubtract each other, simultaneously will
Two motor d shaft currents give i1d *And i2d *With motor d axis actual currents i1dAnd i2dSubtract each other, acquired results pass through electric current loop PI
Two motor stator voltage component u are obtained after controller1d、u1q、u2d、u2q；Become two-phase of changing commanders using anti-Park and rotates dq coordinates
The motor stator voltage component fastened is transformed to the motor stator voltage component u on the static α β coordinate systems of two-phase1α、u1β、u2α、u2β；
Finally, using dSPACE of SVPWM SVPWM (space vector pulse width modulation) technology,
The action time of every motor each voltage vector in a controlling cycle is sought, then voltage vector action time is optimized
Operation generates switching tube switching signal driving motor.
3. the double permanent magnet motor system Zero voltage vectors of five bridge arm as claimed in claim 2 optimize modulator approach, characterized in that
The expression rule of voltage vector is in SVPWM：The upper bridge arm of 1 representative is open-minded, lower bridge arm shutdown；0 represents upper bridge arm shutdown, lower bridge arm
It is open-minded；In motor operation course, to every motor, Zero voltage vector u0(0,0,0) and Zero voltage vector u7(1,1,1) to electricity
The influence of machine control is identical, while to make motor that ovennodulation phenomenon not occur, and two motor duty ratio adductions are transported on public bridge arm
It is less than 1 after calculation；Based on above-mentioned premise, by the u in every motor7(1,1,1) u is used0(0,0,0) it replaces, is as follows：
(1) according to the motor stator voltage component u on the static α β coordinate systems of two-phase1α、u1β、u2α、u2β, it is right to calculate every motor institute
Duty ratio in the three-phase PWM wave answered corresponding to nonzero voltage space vector obtains two new three-phase PWM waves；
(2) duty ratio of the three-phase PWM wave new to two carries out corresponding add operation, obtains a five phase PWM waves；
(3) optimize the duty ratio in five phase PWM waves corresponding to nonzero voltage space vector；
(4) duty ratio corresponding to the Zero voltage vector in five phase PWM waves is evenly distributed and gives Zero voltage vector (0,0,0,0,0)
It will be by corresponding to duty ratio that above step obtains and in a controlling cycle with Zero voltage vector (1,1,1,1,1)
Pulse is placed in the middle.
4. the double permanent magnet motor system Zero voltage vectors of five bridge arm as claimed in claim 2 optimize modulator approach, characterized in that
In one example, usa、usb、uscFor three phase network phase voltage；udcFor DC capacitor voltage；Two permanent magnet synchronous motors
(permanent magnet synchronous motor) PMSM1, PMSM2, five bridge arm bridge arm A, B, C are used for driving motor
PMSM1, bridge arm C, D, E are used for driving motor PMSM2, using dSPACE of SVPWM mode, the expression of voltage vector
Rule is：The upper bridge arm of 1 representative is open-minded, lower bridge arm shutdown；0 represents upper bridge arm shutdown, and lower bridge arm is open-minded；Specific implementation is such as
Under：
(1) according to the motor stator voltage component u on the static α β coordinate systems of two-phase1α、u1β、u2α、u2β, it is right to calculate every motor institute
Duty ratio in the three-phase PWM wave answered corresponding to nonzero voltage space vector obtains two new three-phase PWM waves, i.e., solely with two
Vertical space vector width pulse modulation method obtains acting on bridge arm PWM wave on the inverter of motor 1 in a controlling cycle
Duty ratio λa1、λb1、λc1With act on motor 2 inverter on bridge arm PWM wave duty ratio λa2、λb2、λc2；
(2) duty ratio of the three-phase PWM wave new to two carries out corresponding add operation, a five phase PWM waves is obtained, in order to make
The duty ratio of five phase PWM waves is as small as possible in 1, and the duty ratio of public bridge arm meets two motors simultaneously, to each phase duty ratio
Carry out following operation：
In formula, λA0、λB0、λC0、λD0、λE0The PWM wave duty ratio of bridge arm, λ in respectively every phasemin1=min { λa1,λb1,λc1,
λmin2=min { λa2,λb2,λc2}；
(3) optimize the duty ratio in five phase PWM waves corresponding to nonzero voltage space vector, in order to avoid λA0、λB0、λC0、λD0、λE0It is more than
1, it advanced optimizes, operation is as follows：
In formula, λmin=min { λA0,λB0,λC0,λD0,λE0}；Then λA1、λB1、λC1、λD1、λE1It is accounted for for new five upper bridge arm PWM waves
Empty ratio；
(4) duty ratio corresponding to the Zero voltage vector in five phase PWM waves is evenly distributed and gives Zero voltage vector (0,0,0,0,0)
It will be by corresponding to duty ratio that above step obtains and in a controlling cycle with Zero voltage vector (1,1,1,1,1)
Pulse is placed in the middle, makees following operation：
In formula, λmax=max { λA1,λB1,λC1,λD1,λE1}；λA, λB, λC, λD, λEIt is five phase PWM of final five leg inverter
The duty ratio of drive signal；
In each controlling cycle, corresponding five phases PWM wave can be obtained according to the duty ratio of gained, it is final to realize independent control
Two motors of system and the purpose for extending its velocity interval.
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