CN108390604B - Zero-voltage vector optimization modulation device and method for five-bridge-arm two-permanent magnet motor system - Google Patents
Zero-voltage vector optimization modulation device and method for five-bridge-arm two-permanent magnet motor system Download PDFInfo
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- CN108390604B CN108390604B CN201810234471.7A CN201810234471A CN108390604B CN 108390604 B CN108390604 B CN 108390604B CN 201810234471 A CN201810234471 A CN 201810234471A CN 108390604 B CN108390604 B CN 108390604B
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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
Abstract
The invention belongs to the technical field of permanent magnet motor control, and aims to effectively improve the rotating speed range of a motor and reduce the harmonic waves of three-phase current on the basis of not changing a hardware circuit of a five-bridge arm two-permanent magnet motor control system. The invention relates to a zero voltage vector optimization modulation device and a zero voltage vector optimization modulation method for a five-bridge arm two-permanent magnet motor system, which are composed of a five-bridge arm inverter, two permanent magnet synchronous motors and a microprocessor, wherein the output of a three-phase power grid and an uncontrollable rectifier bridge is used as the input of the five-bridge arm inverter, each bridge arm of the five-bridge arm inverter is composed of two switching tubes which are connected in series, and the output of a series connection point controls one phase of the two three-phase permanent magnet synchronous motors; the microprocessor is provided with a speed loop and current loop proportional integral PI (proportional integral) controller and space voltage vector pulse width modulation, and controls and generates a switching tube switching signal to drive the motor. The invention is mainly applied to permanent magnet motor control.
Description
Technical Field
The invention relates to a two-motor voltage vector optimization modulation strategy, and belongs to the field of multi-motor control. In particular to a zero voltage vector optimization modulation strategy applied to a five-bridge arm two-permanent magnet motor system.
Background
With the development of modern industrial technology in recent years, two motors are often required to be driven to run simultaneously in some industries such as electric vehicles, heavy load lifting and the like, so as to solve the problems of low driving reliability, poor control performance, complex mechanical transmission mechanism of a system, high power requirement of a single motor and the like of the traditional single motor. In the control of two permanent magnet motors, a five-bridge inverter driving system is a better fault-tolerant scheme, and is widely researched, namely, the five-bridge inverter is adopted to independently control two three-phase motors. The method can save two power devices and reduce the system cost; in addition, when one phase of the traditional six-bridge arm inverter fails, the six-bridge arm inverter can also be used as a good fault-tolerant control scheme.
The pulse width modulation strategy is the key for realizing that the five-bridge-arm inverter drives the two-motor system, and the utilization rate of the bus voltage is required to be improved to the greatest extent under the condition of keeping the control independence of the two three-phase motors. The traditional modulation strategy has the defects that the utilization rate of the two motors to the voltage of a direct current bus is low and the speed regulation range is limited due to the fact that the zero vector action time is long.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a method which can effectively improve the rotating speed range of the motor and reduce the harmonic waves of three-phase current on the basis of not changing a hardware circuit of a control system of a five-bridge arm two-permanent magnet motor. The invention is realized by the following technical scheme:
the zero voltage vector optimization modulation device of the five-bridge-arm two-permanent magnet motor system comprises a five-bridge-arm inverter, two permanent magnet synchronous motors and a microprocessor, wherein the output of a three-phase power grid and an uncontrollable rectifier bridge is used as the input of the five-bridge-arm inverter, each bridge arm of the five-bridge-arm inverter consists of two switching tubes connected in series, the output of a series connection point controls one phase of the two three-phase permanent magnet synchronous motors, and the 3 rd bridge arm simultaneously controls one phase of each of the two three-phase permanent magnet synchronous motors; the microprocessor is provided with a speed loop and a current loop proportional integral PI (proportional integral) controller, and adopts the current i of the d axis of the motor under a two-phase rotating dq coordinate systemdControlling a speed loop and a current loop of each motor in a control mode of 0; specifically, the method comprises the following steps: subtracting the actual rotating speed of each motor from the given rotating speed, and generating q-axis current given i of the two motors after passing through a rotating speed loop PI controller1q *And i2q *(ii) a Will i1q *And i2q *And q-axis actual currents i of two motors1qAnd i2qSubtracting, and simultaneously setting the d-axis currents of the two motors to be i1d *And i2d *And d-axis actual current i of motor1dAnd i2dSubtracting, and obtaining two motor stator voltage components u after the obtained result passes through a current loop PI controller1d、u1q、u2d、u2qAnd converting the motor stator voltage component on the two-phase rotating dq coordinate system into the motor stator voltage component u on the two-phase static αβ coordinate system through an inverse Park conversion module in the microprocessor1α、u1β、u2α、u2β(ii) a And finally, calculating the action time of each voltage vector of each motor in a control period through a space voltage vector pulse width modulation (SVPWM) module in the microprocessor, and performing optimization operation on the action time of the voltage vectors to generate a switching tube switching signal to drive the motor.
The zero voltage vector optimization modulation method of the five-bridge-arm two-permanent magnet motor system is realized on a system consisting of a five-bridge-arm inverter, two permanent magnet synchronous motors and a microprocessor, the output of a three-phase power grid and an uncontrollable rectifier bridge is used as the input of the five-bridge-arm inverter, each bridge arm of the five-bridge-arm inverter consists of two switching tubes which are connected in series, the output of a series connection point controls one phase of the two three-phase permanent magnet synchronous motors, wherein the 3 rd bridge arm simultaneously controls one phase of each of the two three-phase permanent magnet synchronous motors; the following specific control steps are executed by the microprocessor: under a two-phase rotating dq coordinate system, adopting a d-axis current i of a motordThe control mode is 0, the speed loop and the current loop of each motor adopt a proportional integral PI (proportional integral) controller, the actual rotating speed and the given rotating speed of each motor are firstly subtracted, and q-axis current given i of two motors is generated after passing through the rotating speed loop PI controller1q *And i2q *(ii) a Will i1q *And i2q *And q-axis actual currents i of two motors1qAnd i2qSubtracting, and simultaneously setting the d-axis currents of the two motors to be i1d *And i2d *And an electric machine dShaft actual current i1dAnd i2dSubtracting, and obtaining two motor stator voltage components u after the obtained result passes through a current loop PI controller1d、u1q、u2d、u2qAnd converting the motor stator voltage component on the two-phase rotating dq coordinate system into the motor stator voltage component u on the two-phase static αβ coordinate system through inverse Park conversion1α、u1β、u2α、u2β(ii) a And finally, calculating the action time of each voltage vector of each motor in a control period by adopting a space voltage vector pulse width modulation (SVPWM) technology, and performing optimization operation on the action time of the voltage vector to generate a switching tube switching signal to drive the motor.
The expression rule of the voltage vector in the SVPWM is as follows: 1 represents that an upper bridge arm is switched on and a lower bridge arm is switched off; 0 represents that the upper bridge arm is turned off and the lower bridge arm is turned on; during the operation of the motor, for each motor, a zero-voltage vector u0(0,0,0) and a zero voltage vector u7(1,1,1) the influence on the motor control is the same, and in order to prevent the motor from overmodulation, the sum of the duty ratios of the two motors on the common bridge arm is less than 1; based on the premise, u in each motor is determined7U for (1,1,1)0(0,0,0) replacing, and specifically comprising the following steps:
(1) according to the motor stator voltage component u on a two-phase stationary αβ coordinate system1α、u1β、u2α、u2βCalculating the duty ratio corresponding to the non-zero voltage vector in the three-phase PWM wave corresponding to each motor to obtain two new three-phase PWM waves;
(2) performing corresponding addition operation on the duty ratios of the two new three-phase PWM waves to obtain a five-phase PWM wave;
(3) optimizing the duty ratio corresponding to the non-zero voltage vector in the five-phase PWM wave;
(4) and uniformly distributing the duty ratio corresponding to the zero voltage vector in the five-phase PWM wave to the zero voltage vector (0,0,0,0,0) and the zero voltage vector (1,1,1,1,1), and centering the pulse corresponding to the duty ratio obtained through the steps in one control period.
In one example, usa、usb、uscIs a three-phase grid phase voltage; u. ofdcIs the DC side capacitor voltage; two permanent magnet synchronous motors (PMSM 1 and PMSM 2), wherein a bridge arm A, B, C in five bridge arms is used for driving a motor PMSM1, the bridge arm C, D, E is used for driving a motor PMSM2, a space voltage vector pulse width modulation mode is adopted, and the expression rule of a voltage vector is as follows: 1 represents that an upper bridge arm is switched on and a lower bridge arm is switched off; 0 represents that the upper bridge arm is turned off and the lower bridge arm is turned on; the specific implementation mode is as follows:
(1) according to the motor stator voltage component u on a two-phase stationary αβ coordinate system1α、u1β、u2α、u2βCalculating the duty ratio corresponding to the non-zero voltage vector in the three-phase PWM wave corresponding to each motor to obtain two new three-phase PWM waves, namely, two independent space vector pulse width modulation methods are used to obtain the duty ratio lambda of the PWM wave of the upper bridge arm of the inverter acting on the motor 1 in one control perioda1、λb1、λc1And the PWM wave duty ratio lambda of the upper bridge arm of the inverter acting on the motor 2a2、λb2、λc2；
(2) And correspondingly adding the duty ratios of the two new three-phase PWM waves to obtain a five-phase PWM wave, wherein in order to ensure that the duty ratio of the five-phase PWM wave is as less than 1 as possible and the duty ratio of a common bridge arm simultaneously meets the requirements of two motors, the following operations are carried out on the duty ratios of the phases:
in the formula, λA0、λB0、λC0、λD0、λE0Respectively the PWM wave duty ratio, lambda, of the upper bridge arm of each phasemin1＝min{λa1,λb1,λc1}，λmin2＝min{λa2,λb2,λc2}；
(3) Optimizing the duty ratio corresponding to the non-zero voltage vector in the five-phase PWM wave to avoid lambdaA0、λB0、λC0、λD0、λE0If the value is more than 1, further optimization is carried out, and the operation is as follows:
in the formula, λmin＝min{λA0,λB0,λC0,λD0,λE0}; then λA1、λB1、λC1、λD1、λE1The new duty ratios of the PWM waves of the five upper bridge arms are obtained;
(4) uniformly distributing the duty ratio corresponding to the zero voltage vector in the five-phase PWM wave to the zero voltage vector (0,0,0,0,0) and the zero voltage vector (1,1,1,1,1), and in a control period, centering the pulse corresponding to the duty ratio obtained through the steps, and performing the following operation:
in the formula, λmax＝max{λA1,λB1,λC1,λD1,λE1}；λA，λB，λC，λD，λEThe duty ratio of the five-phase PWM driving signal of the five-bridge arm inverter is finally obtained;
in each control period, corresponding five-phase PWM waves can be obtained according to the obtained duty ratio, and the purposes of independently controlling the two motors and expanding the speed range of the two motors are finally achieved.
The invention has the characteristics and beneficial effects that:
the invention provides a modulation method applied to a five-bridge-arm two-permanent magnet motor system, and provides a zero-voltage vector optimization modulation strategy.
Drawings
Fig. 1 is a circuit topology structure diagram of a five-bridge arm two-permanent magnet motor system.
Fig. 2 is a control structure diagram of a five-bridge arm two-permanent magnet motor system.
Fig. 3 is a space voltage vector diagram of a single motor.
Fig. 4 is a three-phase PWM drive waveform for two motors. In the figure:
(a) three-phase PWM wave of the motor 1;
(b) three-phase PWM wave of the motor 2.
Fig. 5 is a five-phase PWM wave generated by a conventional modulation strategy during one control period.
Fig. 6 is a five-phase PWM wave generated by optimizing the modulation strategy during one control period.
Fig. 7 is a graph comparing the slew ranges for two modulation strategies. In the figure:
(a) a conventional modulation strategy;
(b) and optimizing the modulation strategy.
Fig. 8 is a graph of current harmonic analysis for two modulation strategies. In the figure:
(a) a conventional modulation strategy;
(b) and optimizing the modulation strategy.
Detailed Description
Compared with the traditional modulation strategy, the invention constructs a modulation strategy based on zero voltage vector optimization, the strategy combines the traditional space vector pulse width modulation technology, under the condition of meeting the requirement of consistent pulse width of a common bridge arm, the change range of the non-zero voltage vector action time of each motor is expanded as much as possible in a control period, namely the action time of the non-zero voltage vector is firstly distributed in a control period, then the uniform distribution of the action time of the zero voltage vector is considered, and the purposes of independently controlling the two motors and expanding the speed regulation range of the two motors are further achieved.
The circuit structure of the invention is a five-bridge arm double-permanent magnet motor system, which comprises a five-bridge arm inverter, two permanent magnet synchronous motors and a microprocessor, wherein the output of a three-phase power grid and an uncontrollable rectifier bridge is used as the input of the five-bridge arm inverter, each bridge arm of the five-bridge arm inverter is composed of two switching tubes connected in series, the output of a series point controls one phase of the two three-phase permanent magnet synchronous motors, and the 3 rd bridge arm simultaneously controls one phase of each of the two three-phase permanent magnet synchronous motors.
The control algorithm of the invention is mainly realized in a microprocessor, and the d-axis current i of the motor is adopted under a two-phase rotating dq coordinate systemdIn a control mode of 0, a Proportional Integral (PI) controller is used for a speed loop and a current loop of each motor. Subtracting the actual rotating speed of each motor from the given rotating speed, and generating q-axis current given i of the two motors after passing through a rotating speed loop PI controller1q *And i2q *(ii) a Will i1q *And i2q *And q-axis actual currents i of two motors1qAnd i2qSubtracting, and simultaneously setting the d-axis currents of the two motors to be i1d *And i2d *And d-axis actual current i of motor1dAnd i2dSubtracting, and obtaining two motor stator voltage components u after the obtained result passes through a current loop PI controller1d、u1q、u2d、u2qAnd converting the motor stator voltage component on the two-phase rotating dq coordinate system into the motor stator voltage component u on the two-phase static αβ coordinate system through inverse Park conversion1α、u1β、u2α、u2β(ii) a And finally, calculating the action time of each voltage vector of each motor in a control period by adopting a Space Vector Pulse Width Modulation (SVPWM) technology, and then performing optimization operation on the action time of the voltage vectors to generate a switching tube switching signal to drive the motor.
The expression rule of the voltage vector in the SVPWM is as follows: 1 represents that an upper bridge arm is switched on and a lower bridge arm is switched off; and 0 represents that the upper bridge arm is turned off and the lower bridge arm is turned on. During the operation of the motor, for each motor, a zero-voltage vector u0(0,0,0) and a zero voltage vector u7(1,1,1) has the same influence on motor control, and in order to prevent the motor from overmodulation, the sum of the duty ratios of the two motors on the common bridge arm is less than 1. Based on the premise, the invention uses u in each motor7U for (1,1,1)0(0,0,0) replacing, on one hand, the action time of the non-zero voltage vector of each motor is the same as that of the non-zero voltage vector generated by the independent SVPWM, and the control effect is not influenced; on the other hand, can makeThe duty ratio of each phase Pulse Width Modulation (PWM) wave of each motor is minimum, namely the action time range of the non-zero voltage vector is enlarged as much as possible under the condition that the sum of the duty ratios of the two motors on the public bridge arm is less than 1, so that the speed regulation range of the motors is enlarged. The method comprises the following specific steps:
(1) according to the motor stator voltage component u on a two-phase stationary αβ coordinate system1α、u1β、u2α、u2βAnd calculating the duty ratio corresponding to the non-zero voltage vector in the three-phase PWM wave corresponding to each motor to obtain two new three-phase PWM waves.
(2) And carrying out corresponding addition operation on the duty ratios of the two new three-phase PWM waves to obtain a five-phase PWM wave.
(3) And optimizing the duty ratio corresponding to the non-zero voltage vector in the five-phase PWM wave.
(4) And uniformly distributing the duty ratio corresponding to the zero voltage vector in the five-phase PWM wave to the zero voltage vector (0,0,0,0,0) and the zero voltage vector (1,1,1,1, 1). And in a control period, the pulse corresponding to the duty ratio obtained through the steps is centered.
The following describes in detail a zero-voltage optimized modulation strategy applied to a five-leg two-permanent-magnet motor system according to the present invention with reference to embodiments and drawings.
In this embodiment, a TMS320F28335 microprocessor of TI corporation is selected to perform formula calculation, algorithm processing, signal acquisition, and generate switching tube switching signals. FIG. 1 is a circuit topology structure diagram of a five-bridge arm two-permanent magnet motor system, the left side is a three-phase power grid and an uncontrollable rectifier bridge, wherein u issa、usb、uscEach phase voltage of the three-phase power grid; u. ofdcIs the DC side capacitor voltage; sx1(x ═ A, B, C, D, E) represents the switching state of the upper arm switching tube, S represents the switching state of the upper arm switching tubex2And (x ═ A, B, C, D and E) represents the switching state of the lower-arm switching tube, and the switching state of the lower-arm switching tube are complementary. The right side of the inverter is provided with a converter bridge of a five-bridge arm inverter, two Permanent Magnet Synchronous Motors (PMSM) PMSM1 and PMSM2, wherein a bridge arm A, B, C is used for driving a motor PMSM1, and a bridge arm C, D, E is used for driving a motor PMSM 2.It can be seen that, compared with the conventional inverter, the five-bridge arm structure reduces the number of power switching devices, and two motors share the C-phase bridge arm. In this embodiment, a space voltage vector pulse width modulation (SVPWM) is adopted, and the expression rule of the voltage vector is: 1 represents that an upper bridge arm is switched on and a lower bridge arm is switched off; and 0 represents that the upper bridge arm is turned off and the lower bridge arm is turned on.
The control structure of the present invention is shown in FIG. 2, using idThe speed loop and the current loop both adopt a Proportional Integral (PI) controller, and ω is an integer1refAnd ω2refRespectively setting the rotating speeds of the two motors; omega1And ω2The actual rotating speeds of the two motors are respectively; i.e. i1d *And i2d *D-axis currents of the two motors on the two-phase rotating dq coordinate system are respectively given; i.e. i1dAnd i2dD-axis actual currents of the two motors on the two-phase rotating dq coordinate system are respectively; i.e. i1q *And i2q *Respectively giving q-axis currents of two motors on a two-phase rotating dq coordinate system; i.e. i1qAnd i2qQ-axis actual currents of the two motors on the two-phase rotating dq coordinate system respectively; u. of1d、u1q、u2d、u2qIs the stator voltage component of the two motors on the two-phase rotating dq coordinate system; i.e. i1α、i1β、i2α、i2βIs the stator current component of two motors in a two-phase stationary αβ coordinate system u1α、u1β、u2α、u2βIs the stator voltage component of the two motors in a two-phase stationary αβ coordinate system1And theta2The rotation electrical angles of the two motors are respectively; SVPWM refers to space vector pulse width modulation; lambda [ alpha ]a1，λb1，λc1，λa2，λb2，λc2Duty ratio of six-phase PWM wave generated by SVPWM; lambda [ alpha ]A，λB，λC，λD，λEDuty ratio of five-phase PWM driving signal of five-bridge-arm inverter, F L-VSI representing five-bridge-arm voltage source inverter, PMSM1 and PMSM2 being two permanent magnet synchronous motors, and anti-ParkThe transformation transforms the stator voltage component on the two-phase rotational dq coordinate system to the stator voltage component on the two-phase stationary αβ coordinate system by the formula:
in the formula u1α、u1β、u2α、u2βIs the stator voltage component of the two motors in a two-phase stationary αβ coordinate system u1d、u1q、u2d、u2qIs the stator voltage component of the two motors on the two-phase rotating dq coordinate system; theta1And theta2The rotation electrical angle of the two motors.
3/2 transformation transforms the three-phase stator current into stator current components on a two-phase stationary αβ coordinate system, with the formula:
in the formula i1α、i1β、i2α、i2βIs the stator current component of two motors in a two-phase stationary αβ coordinate system ia1、ib1、ic1、ia2、ib2、ic2The three-phase stator currents of the two motors are respectively.
The Park transformation is a transformation of the stator current component on the two-phase stationary αβ coordinate system to the stator current component on the two-phase rotating dq coordinate system, and is formulated as:
in the formula i1α、i1β、i2α、i2βIs the stator current component of two motors in a two-phase stationary αβ coordinate system i1d、i1q、i2d、i2qIs the stator current component of the two motors on a two-phase rotating αβ coordinate system.
The invention innovatively optimizes the modulation strategy of the circuit, and the traditional strategy is compared with the strategy of the invention.
1. Legacy modulation strategy
In motor control, the relationship between the space flux linkage and the voltage vector can be expressed by the following equation
Δψs≈usTs(7)
In the formula,. DELTA.psisIs the variation of the magnetic linkage in one control period; u. ofsIs a voltage vector; t issIs a control cycle.
In FIG. 3, uref1And uref2Respectively are two motor reference voltage vectors; for each individual motor, the space voltage vector is divided into six sectors I, II, III, IV, V and VI; u. of1(1,0,0)，u2(1,1,0)，u3(0,1,0)，u4(0,1,1)，u5(0,0,1)，u6(1,0,1) are six non-zero voltage vectors; u. of0(0,0,0)，u7(1,1,1) are two zero voltage vectors; omega1、ω2Rotational angular velocities of the motor 1 and the motor 2, respectively; theta1Is the electrical angle of rotation of the motor 1.
With the reference voltage vectors in the positions shown in fig. 3, the three-phase PWM driving waveforms of the two motors are shown in fig. 4. In FIG. 4, TsFor controlling the period, T11、T12Respectively the action time, T, of two non-zero voltage vectors of the motor 121、T22Respectively the action time, T, of two non-zero voltage vectors of the motor 210、T20The time of zero voltage vector action for motor 1 and motor 2, respectively.
Wherein, Ta1、Tb1、Tc1、Ta2、Tb2、Tc2The on-time of each upper bridge arm switching device in one control period is respectively, the duty ratio of each phase of PWM wave driving signal is
Straight settingCurrent bus voltage of udcTaking the I-th sector as an example, u can be knownref1By u1(1,0,0)、u2(1,1,0) synthesized, from which the non-zero voltage vector on-time can be calculated as
In the formula T11And T12Respectively represent voltage vectors u1(1,0,0) and u2(1,1,0) duration of action within one control cycle.
From equation (7), when the motor rotation speed increases, | Δ ψsIf | becomes larger, then | uref1I becomes larger; from the equation (9), the non-zero voltage vector action time T11、T12And also increases.
In a traditional modulation strategy, a control period is averagely divided into two half periods to realize the independent control of two motors, one motor is respectively and independently controlled in each half period, the other motor is acted by a zero voltage vector, reference voltage vectors required by the two motors are alternately generated in the whole modulation period, the simultaneous control of the two motors in one control period is converted into the independent control of the two motors in two half periods in a time sharing mode, the conflict caused by different switching states of a common bridge arm switching device when the two motors are simultaneously controlled is avoided, the independent control of the two motors is realized, the utilization rate of the two motors to the direct current bus voltage is lower due to the fact that the acting time of the zero vector is prolonged, and the speed regulation range is limited.
By way of example, fig. 5 shows u for the electric machine 1ref1U for voltage vector1(1,0,0) and u2(1,1,0) Synthesis, motor 2 uref2U for voltage vector3(0,1,0) and u4And (0,1,1) during synthesis, Pulse Width Modulation (PWM) waveforms of the switching tubes of the upper bridge arm of five phases in one control period are complementary with waveforms of the switching tubes of the lower bridge arm. In the figure, TsIs a control cycle; t is11And T12Respectively, represent the voltage vector u of the electric machine 11(1,0,0) and u2(1,1,0) during a control cycleA (c) is added; t is21And T22Respectively, representing the voltage vector u of the electric machine 23(0,1,0) and u4(0,1,1) an action time within one control cycle; A. b, C, D, E represents five bridge arms. As can be seen from fig. 5, the non-zero voltage vector acting time range of the two motors in the conventional modulation strategy is small, so that the speed regulation range of the motors is limited. For example, when the motor 2 runs at a low speed, the acting time of the non-zero voltage vector of the motor 2 is close to zero, and the variation range of the acting time of the non-zero voltage vector of the motor 1 is only 0 to TsAnd/2, limiting the speed regulating range of the motor 1.
2. The invention relates to a zero-voltage vector optimization modulation strategy
The invention relates to a voltage vector optimization modulation strategy applied to a five-bridge arm two-permanent magnet motor system, which is used for a two-motor control system consisting of a five-bridge arm inverter and two permanent magnet synchronous motors, and comprises the following steps:
(1) according to the motor stator voltage component u on a two-phase stationary αβ coordinate system1α、u1β、u2α、u2βAnd calculating the duty ratio corresponding to the non-zero voltage vector in the three-phase PWM wave corresponding to each motor to obtain two new three-phase PWM waves. That is, two independent space vector pulse width modulation methods are used to obtain the PWM wave duty ratio lambda of the upper bridge arm of the inverter acting on the motor 1 in one control perioda1、λb1、λc1And the PWM wave duty ratio lambda of the upper bridge arm of the inverter acting on the motor 2a2、λb2、λc2。
(2) And carrying out corresponding addition operation on the duty ratios of the two new three-phase PWM waves to obtain a five-phase PWM wave. In order to make the duty ratio of the five-phase PWM wave as less than 1 as possible and make the duty ratio of the common bridge arm simultaneously satisfy two motors, the following operation is carried out on the duty ratio of each phase:
in the formula, λA0、λB0、λC0、λD0、λE0Respectively being an upper bridge arm of each phaseDuty ratio of PWM wave of (lambda)min1＝min{λa1,λb1,λc1}，λmin2＝min{λa2,λb2,λc2}。
When the reference voltage vector of the motor 1 is located in the first sector and the reference voltage vector of the motor 2 is located in the third sector, the PWM wave shown in fig. 6 can be obtained by performing the operation of equation (10). In FIG. 6, TsIs a control cycle; t is11And T12Respectively, represent the voltage vector u of the electric machine 11(1,0,0) and u2(1,1,0) duration of action within a control period; t is21And T22Respectively, representing the voltage vector u of the electric machine 23(0,1,0) and u4(0,1,1) an action time within one control cycle; A. b, C, D, E represents five bridge arms; lambda [ alpha ]A0、λB0、λC0、λD0、λE0Representing the PWM wave duty cycle of each upper arm. Fig. 6 shows that the action time of the nonzero voltage vectors of the two motors is not changed after the optimization, so the optimization method can simultaneously and independently drive the two motors.
(3) And optimizing the duty ratio corresponding to the non-zero voltage vector in the five-phase PWM wave. When one or two of the reference voltage vectors of the two motors are located in sectors I and II, then lambda isA0、λB0、λC0、λD0、λE0One of which is zero, when such modulation has optimized the non-zero voltage vector contribution time span to a maximum. When the reference voltage vectors of the two motors are all positioned at III, IV, V and VI, then lambda is determinedA0、λB0、λC0、λD0、λE0The values of (d) are all greater than zero, and further optimization can be performed to avoid duty cycle being greater than 1. The five-phase duty ratio is calculated by combining the two conditions as follows:
in the formula, λmin＝min{λA0,λB0,λC0,λD0,λE0}; then λA1、λB1、λC1、λD1、λE1And the new five upper bridge arm PWM wave duty ratios are obtained.
(4) And uniformly distributing the duty ratio corresponding to the zero voltage vector in the five-phase PWM wave to the zero voltage vector (0,0,0,0,0) and the zero voltage vector (1,1,1,1, 1). And in a control period, the pulse corresponding to the duty ratio obtained through the steps is centered. Through the optimization method, in a speed regulation range, zero voltage vectors (1,1,1,1,1) do not exist in voltage vectors corresponding to five-phase PWM waves in one control period. In order to avoid switching on and switching off the switching tube in a very short time, the action time of the zero vector is averagely distributed to the zero vector (0,0,0,0,0) and the zero vector (1,1,1,1,1) as in the traditional SVPWM, and the following operations are carried out:
in the formula, λmax＝max{λA1,λB1,λC1,λD1,λE1}；λA，λB，λC，λD，λEThe duty ratio of the five-phase PWM driving signal of the final five-leg inverter is obtained.
As can be seen from the equation (12) and FIG. 6, when the motor 2 operates at a low speed, the acting time of the non-zero voltage vector of the motor 2 approaches zero, and the variation range of the acting time of the non-zero voltage vector of the motor 1 is 0 to TsCompared with the traditional method, in the optimized modulation strategy, the change range of the non-zero voltage vector action time is enlarged, namely the speed regulation range of the five-bridge-arm inverter driving double motors is expanded. The switching frequency of the inverter is reduced by half compared to conventional modulation strategies.
The invention relates to a zero-voltage vector optimization modulation strategy applied to a five-bridge arm two-permanent magnet motor system, which comprises the following control targets: 1. the speed regulation range of the two motors is improved; 2. current harmonics are reduced.
In order to verify the effectiveness of the invention, an experimental system is set up for carrying out experiments, and the parameters of the two motors are shown in table 1.
TABLE 1 Motor parameters
FIG. 7 is a waveform diagram of the rotational speed and q-axis current for a conventional modulation strategy and an optimized modulation strategy, both motors are unloaded, ω is1And ω2The rotational speeds of the motor 1 and the motor 2, respectively. In the traditional modulation strategy, the rotating speed of the motor 1 is 50r/min, the rotating speed of the motor 2 is gradually increased, the given rotating speed of the motor 2 is stepped from 780r/min to 850r/min at 5s, the rotating speed waveform shakes, and the fluctuation of the q-axis current is large, which indicates that the normal speed regulation range of the motor 2 is exceeded, so that when the rotating speed of the motor 1 is 50r/min, the highest rotating speed of the motor 2 is 780 r/min. In the optimized modulation strategy, when the rotating speed of the motor 1 is 50r/min, the rotating speed of the motor 2 is gradually increased, and when the rotating speed is 5s, the given rotating speed of the motor 2 is stepped from 1450r/min to 1500r/min, although the rotating speed can follow the given rotating speed, the q-axis current at the moment has obvious jitter, namely the torque fluctuation is extremely large, so that the normal speed regulation range of the motor 2 is exceeded at the moment, namely when the rotating speed of the motor 1 is 50r/min, the maximum rotating speed of the motor 2 is 1450 r/min. It can be seen that when the rotation speeds of the two motors are greatly different, the speed regulation range of the optimized modulation strategy is far larger than that of the traditional modulation strategy.
FIG. 8 is a graph showing the current waveform i of the motor 2 when the rotation speeds of the two motors are both 300r/min and a 4N load is applied to the motor 2eIs a phase current of the motor 2; i.e. iepeakThe peak value of each harmonic wave; t is time; f is the frequency of each harmonic. The current harmonics of the two control strategies are analyzed, the THD of the traditional modulation strategy is 8.74%, the THD of the optimized modulation strategy is 3.83%, and therefore the content of the motor current harmonics of the optimized modulation strategy is lower than that of the traditional modulation strategy.
In conclusion, the modulation strategy of the two motors driven by the five-bridge-arm inverter is optimized based on the SVPWM technology, the speed regulation range of the two motors is expanded through reasonable distribution of zero voltage vectors, and the current harmonic waves of the motors are reduced.
While the present invention has been described with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are intended to be illustrative rather than restrictive, and many modifications may be made by those skilled in the art without departing from the spirit of the present invention within the scope of the appended claims.
Claims (3)
1. A zero voltage vector optimization modulation device of a five-bridge-arm two-permanent magnet motor system is characterized by comprising a five-bridge-arm inverter, two permanent magnet synchronous motors and a microprocessor, wherein the output of a three-phase power grid and an uncontrollable rectifier bridge are used as the input of the five-bridge-arm inverter, each bridge arm of the five-bridge-arm inverter is composed of two switching tubes which are connected in series, the output of a series connection point controls one phase of the two three-phase permanent magnet synchronous motors, and the 3 rd bridge arm simultaneously controls one phase of each of the two three-phase permanent magnet synchronous motors; the microprocessor is provided with a speed loop and a current loop proportional integral PI (proportional integral) controller, and adopts the current i of the d axis of the motor under a two-phase rotating dq coordinate systemdControlling a speed loop and a current loop of each motor in a control mode of 0; specifically, the method comprises the following steps: subtracting the actual rotating speed of each motor from the given rotating speed, and generating q-axis current given i of the two motors after passing through a rotating speed loop PI controller1q *And i2q *(ii) a Will i1q *And i2q *And q-axis actual currents i of two motors1qAnd i2qSubtracting, and simultaneously setting the d-axis currents of the two motors to be i1d *And i2d *And d-axis actual current i of motor1dAnd i2dSubtracting, and obtaining two motor stator voltage components u after the obtained result passes through a current loop PI controller1d、u1q、u2d、u2qAnd converting the motor stator voltage component on the two-phase rotating dq coordinate system into the motor stator voltage component u on the two-phase static αβ coordinate system through an inverse Park conversion module in the microprocessor1α、u1β、u2α、u2β(ii) a Finally, space voltage vector pulse width modulation (SVPWM) module of the microprocessor is used for obtainingThe action time of each voltage vector of each motor in a control period is optimized, and a switching tube switching signal is generated to drive the motor; wherein the content of the first and second substances,
usa、usb、uscis a three-phase grid phase voltage; u. ofdcIs the DC side capacitor voltage; two permanent magnet synchronous motors (PMSM 1 and PMSM 2), wherein a bridge arm A, B, C in five bridge arms is used for driving a motor PMSM1, the bridge arm C, D, E is used for driving a motor PMSM2, a space voltage vector pulse width modulation mode is adopted, and the expression rule of a voltage vector is as follows: 1 represents that an upper bridge arm is switched on and a lower bridge arm is switched off; 0 represents that the upper bridge arm is turned off and the lower bridge arm is turned on; the specific implementation mode is as follows:
(1) according to the motor stator voltage component u on a two-phase stationary αβ coordinate system1α、u1β、u2α、u2βCalculating the duty ratio corresponding to the non-zero voltage vector in the three-phase PWM wave corresponding to each motor to obtain two new three-phase PWM waves, namely, two independent space vector pulse width modulation methods are used to obtain the duty ratio lambda of the PWM wave of the upper bridge arm of the inverter acting on the motor 1 in one control perioda1、λb1、λc1And the PWM wave duty ratio lambda of the upper bridge arm of the inverter acting on the motor 2a2、λb2、λc2；
(2) And correspondingly adding the duty ratios of the two new three-phase PWM waves to obtain a five-phase PWM wave, wherein in order to ensure that the duty ratio of the five-phase PWM wave is as less than 1 as possible and the duty ratio of a common bridge arm simultaneously meets the requirements of two motors, the following operations are carried out on the duty ratios of the phases:
in the formula, λA0、λB0、λC0、λD0、λE0Respectively the PWM wave duty ratio, lambda, of the upper bridge arm of each phasemin1＝min{λa1,λb1,λc1}，λmin2＝min{λa2,λb2,λc2}；
(3) Optimizing the duty ratio corresponding to the non-zero voltage vector in the five-phase PWM wave to avoid lambdaA0、λB0、λC0、λD0、λE0If the value is more than 1, further optimization is carried out, and the operation is as follows:
in the formula, λmin＝min{λA0,λB0,λC0,λD0,λE0}; then λA1、λB1、λC1、λD1、λE1The new duty ratios of the PWM waves of the five upper bridge arms are obtained;
(4) uniformly distributing the duty ratio corresponding to the zero voltage vector in the five-phase PWM wave to the zero voltage vector (0,0,0,0,0) and the zero voltage vector (1,1,1,1,1), and in a control period, centering the pulse corresponding to the duty ratio obtained through the steps, and performing the following operation:
in the formula, λmax＝max{λA1,λB1,λC1,λD1,λE1}；λA，λB，λC，λD，λEThe duty ratio of the five-phase PWM driving signal of the five-bridge arm inverter is finally obtained;
in each control period, corresponding five-phase PWM waves can be obtained according to the obtained duty ratio, and the purposes of independently controlling the two motors and expanding the speed range of the two motors are finally achieved.
2. A zero voltage vector optimization modulation method for a five-bridge-arm two-permanent magnet motor system is characterized by being realized on a system composed of a five-bridge-arm inverter, two permanent magnet synchronous motors and a microprocessor, the outputs of a three-phase power grid and an uncontrollable rectifier bridge are used as the inputs of the five-bridge-arm inverter, and each bridge of the five-bridge-arm inverterThe arms are composed of two switching tubes connected in series, the output of a serial connection point controls one phase of the two three-phase permanent magnet synchronous motors, wherein the 3 rd bridge arm simultaneously controls one phase of each of the two three-phase permanent magnet synchronous motors; the following specific control steps are executed by the microprocessor: under a two-phase rotating dq coordinate system, adopting a d-axis current i of a motordThe control mode is 0, the speed loop and the current loop of each motor adopt a proportional integral PI (proportional integral) controller, the actual rotating speed and the given rotating speed of each motor are subtracted, and q-axis current given i of the two motors is generated after passing through the rotating speed loop PI controller1q *And i2q *(ii) a Will i1q *And i2q *And q-axis actual currents i of two motors1qAnd i2qSubtracting, and simultaneously setting the d-axis currents of the two motors to be i1d *And i2d *And d-axis actual current i of motor1dAnd i2dSubtracting, and obtaining two motor stator voltage components u after the obtained result passes through a current loop PI controller1d、u1q、u2d、u2qAnd converting the motor stator voltage component on the two-phase rotating dq coordinate system into the motor stator voltage component u on the two-phase static αβ coordinate system through inverse Park conversion1α、u1β、u2α、u2β(ii) a Finally, the action time of each voltage vector of each motor in a control period is obtained by adopting a space voltage vector pulse width modulation (SVPWM) technology, and then the action time of the voltage vector is optimized to generate a switching tube switching signal to drive the motor;
wherein u issa、usb、uscIs a three-phase grid phase voltage; u. ofdcIs the DC side capacitor voltage; two permanent magnet synchronous motors (PMSM 1 and PMSM 2), wherein a bridge arm A, B, C in five bridge arms is used for driving a motor PMSM1, the bridge arm C, D, E is used for driving a motor PMSM2, a space voltage vector pulse width modulation mode is adopted, and the expression rule of a voltage vector is as follows: 1 represents that an upper bridge arm is switched on and a lower bridge arm is switched off; 0 represents that the upper bridge arm is turned off and the lower bridge arm is turned on; the specific implementation mode is as follows:
(1) according to the motor stator voltage component u on a two-phase stationary αβ coordinate system1α、u1β、u2α、u2βCalculating the duty ratio corresponding to the non-zero voltage vector in the three-phase PWM wave corresponding to each motor to obtain two new three-phase PWM waves, namely, two independent space vector pulse width modulation methods are used to obtain the duty ratio lambda of the PWM wave of the upper bridge arm of the inverter acting on the motor 1 in one control perioda1、λb1、λc1And the PWM wave duty ratio lambda of the upper bridge arm of the inverter acting on the motor 2a2、λb2、λc2；
(2) And correspondingly adding the duty ratios of the two new three-phase PWM waves to obtain a five-phase PWM wave, wherein in order to ensure that the duty ratio of the five-phase PWM wave is as less than 1 as possible and the duty ratio of a common bridge arm simultaneously meets the requirements of two motors, the following operations are carried out on the duty ratios of the phases:
in the formula, λA0、λB0、λC0、λD0、λE0Respectively the PWM wave duty ratio, lambda, of the upper bridge arm of each phasemin1＝min{λa1,λb1,λc1}，λmin2＝min{λa2,λb2,λc2}；
(3) Optimizing the duty ratio corresponding to the non-zero voltage vector in the five-phase PWM wave to avoid lambdaA0、λB0、λC0、λD0、λE0If the value is more than 1, further optimization is carried out, and the operation is as follows:
in the formula, λmin＝min{λA0,λB0,λC0,λD0,λE0}; then λA1、λB1、λC1、λD1、λE1For new five upper bridge arm PWM wavesA duty cycle;
(4) uniformly distributing the duty ratio corresponding to the zero voltage vector in the five-phase PWM wave to the zero voltage vector (0,0,0,0,0) and the zero voltage vector (1,1,1,1,1), and in a control period, centering the pulse corresponding to the duty ratio obtained through the steps, and performing the following operation:
in the formula, λmax＝max{λA1,λB1,λC1,λD1,λE1}；λA，λB，λC，λD，λEThe duty ratio of the five-phase PWM driving signal of the five-bridge arm inverter is finally obtained;
in each control period, corresponding five-phase PWM waves can be obtained according to the obtained duty ratio, and the purposes of independently controlling the two motors and expanding the speed range of the two motors are finally achieved.
3. The zero-voltage vector optimization modulation method of the five-bridge-arm two-permanent-magnet motor system according to claim 2, wherein the expression rule of the voltage vector in the SVPWM is as follows: 1 represents that an upper bridge arm is switched on and a lower bridge arm is switched off; 0 represents that the upper bridge arm is turned off and the lower bridge arm is turned on; during the operation of the motor, for each motor, a zero-voltage vector u0(0,0,0) and a zero voltage vector u7(1,1,1) the influence on the motor control is the same, and in order to prevent the motor from overmodulation, the sum of the duty ratios of the two motors on the common bridge arm is less than 1; based on the premise, u in each motor is determined7U for (1,1,1)0(0,0,0) replacing, and specifically comprising the following steps:
(1) according to the motor stator voltage component u on a two-phase stationary αβ coordinate system1α、u1β、u2α、u2βCalculating the duty ratio corresponding to the non-zero voltage vector in the three-phase PWM wave corresponding to each motor to obtain two new three-phase PWM waves;
(2) performing corresponding addition operation on the duty ratios of the two new three-phase PWM waves to obtain a five-phase PWM wave;
(3) optimizing the duty ratio corresponding to the non-zero voltage vector in the five-phase PWM wave;
(4) and uniformly distributing the duty ratio corresponding to the zero voltage vector in the five-phase PWM wave to the zero voltage vector (0,0,0,0,0) and the zero voltage vector (1,1,1,1,1), and centering the pulse corresponding to the duty ratio obtained through the steps in one control period.
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