CN108667373B - Direct-current bus voltage fluctuation compensation method based on selective harmonic elimination pulse width modulation - Google Patents
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- H—ELECTRICITY
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Abstract
The invention discloses a direct current bus voltage fluctuation compensation method based on selective harmonic elimination pulse width modulation, which particularly relates to control of a three-phase alternating current motor driving system, and the method firstly determines a synchronous processing interval according to SHEPWM (pulse width modulation) switch angle distribution characteristics at different frequency division numbers; predicting the voltage waveform of the direct current bus in the processing interval; dividing intervals according to the predicted waveform, and accumulating stator flux linkage errors according to the switching time corresponding to the intervals; the method provided by the invention can keep the excellent harmonic characteristic of SHEPWM, simultaneously reduces the extra output voltage harmonic wave caused by the voltage fluctuation of the direct current bus to the minimum, and greatly reduces the low-frequency harmonic current and the output torque fluctuation caused by the voltage fluctuation of the bus; and the method can be directly applied to a common motor control system without adding extra hardware.
Description
Technical Field
The invention relates to the technical field of control of three-phase alternating current motors, in particular to a direct current bus voltage fluctuation compensation method based on selection of harmonic elimination pulse width modulation.
Background
The harmonic elimination pulse width modulation technology (SHEPWM) is selected as one of synchronous optimization modulation technologies, voltage harmonic components with lower orders can be eliminated as far as possible under a certain pulse number per period, and therefore the total harmonic current loss is reduced. From another point of view, the technology can reduce the pulse number of each phase in each fundamental wave period as much as possible under the condition of certain current harmonic total quantity limit, thereby reducing the switching frequency of the inverter and reducing the switching loss. Therefore, the technology is widely applied to occasions requiring low switching frequency and low loss, such as high-power motor transmission and the like.
In a typical ac-dc-ac motor drive configuration, the dc bus voltage tends to fluctuate periodically (e.g., in an electric drive system of a high-speed train, the dc bus voltage contains fluctuating components due to single-phase ac power supply, and the fundamental frequency of the fluctuation is twice the frequency of the input single-phase ac). This voltage ripple component causes current and torque ripple of the traction motor, which is significantly enhanced when the fundamental inverter output frequency is close to the bus voltage ripple frequency, creating additional losses as well as vibration and noise. Conventional processing methods include adding LC filters on the dc bus, increasing bus support capacitance, adding Active Power Filters (APF), etc. The above methods introduce additional hardware devices, which significantly increase the volume, weight and cost of the system. The invention provides a method for eliminating extra harmonic waves output by an inverter caused by the fluctuation of direct-current bus voltage, which is realized by pure software, on the basis of not increasing extra hardware.
The following three main difficulties exist for SHEPWM to realize compensation by adopting software: 1. due to the characteristics of a digital control system, the control quantity loaded at the starting moment of each control period is calculated in the previous control period, and when a harmonic elimination pulse width modulation technology is selected for application, the switching frequency is low, and the control period is long, so that if a pulse instruction obtained by calculating the direct current bus voltage sampled according to the current period is loaded in the next period, the delay equivalent to 1.5 control periods is introduced, the control performance is seriously influenced, and the harmonic is introduced, so that the bus voltage in the next period is required to be known in advance in the previous period; 2. the realization process of SHEPWM has no carrier concept, so that the traditional duty ratio compensation method based on carrier period is difficult to implement; 3. the generation of the selected harmonic wave elimination pulse width modulation waveform is synchronous with the phase of a voltage vector, so the phase of the voltage vector output by a current control link must be stable, otherwise the disorder of a pulse output time sequence can be caused, and great difficulty is brought to feedback control.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a SHEPWM-based direct current bus voltage fluctuation compensation method to weaken harmonic waves caused by direct current bus fluctuation and loss and torque pulsation caused by the harmonic waves.
The technical scheme of the invention is as follows:
the direct current bus voltage fluctuation compensation method based on the selective harmonic elimination pulse width modulation comprises the following steps:
101) voltage vector conversion step: converting a given voltage vector generated by standard vector control into a polar coordinate to obtain a voltage vector under the polar coordinate;
102) a sampling prediction step: the method comprises the steps that voltage vector prediction is carried out under polar coordinates, and a predicted waveform is obtained from a waveform of a given voltage vector delayed by a certain execution cycle time from the current time;
103) and a stator flux linkage error accumulation step: dividing intervals according to the predicted waveform, and accumulating stator flux linkage errors according to the switching time corresponding to the intervals
The cumulative formula is as follows:
wherein
In order to predict the dc bus voltage,
in order to average the dc bus voltage, level indicates a section in which the time range corresponding to the integral is the section in which the dc bus voltage is output at a high level;
104) adjusting the action of a switch: and if the switching time is adjusted until the switching time reaches the interval boundary or the two switching times are equal but not equal, recording the residual uncompensated quantity and taking the residual uncompensated quantity as a part of the accumulation of the stator flux linkage error of the next interval.
Further, the step 103) includes the following specific steps according to the switching time corresponding to the interval: and determining corresponding switch forms in the divided intervals according to the current voltage vector phase, obtaining modulation depth according to the voltage vector amplitude and the average value of the direct current bus voltage, searching corresponding key angle values through a corresponding lookup table, and determining the specific position of the switch at the moment.
Furthermore, the voltage waveform of the direct current bus is predicted according to the specific position of the switch.
Compared with the prior art, the invention has the advantages that:
the invention utilizes the characteristics of SHEPWM switch angle distribution under different frequency division number modes to divide equal-interval processing intervals with different lengths for different modes respectively, so that the switch forms of each phase in each processing interval correspond to the interval numbers one by one, only two phases in each interval have switching actions, and the interval numbers are determined by the phases of voltage vectors, thereby providing convenience for rapidly determining the original switch time in the next processing period by each calculation.
On the basis of interval division, compensation is realized by using a feed-forward method under the condition of not changing an original voltage vector: and estimating a stator flux linkage error by combining the predicted DC bus voltage waveform according to the original switching time in the processing interval, and then adjusting the switching time of two phases with switching action by combining the predicted DC bus voltage waveform again to compensate the stator flux linkage error.
The invention can keep the excellent harmonic characteristic of SHEPWM under the condition of not additionally increasing the hardware cost, simultaneously reduces the extra output voltage harmonic caused by the voltage fluctuation of the direct current bus to the minimum, and greatly reduces the low-frequency harmonic current and the output torque fluctuation when the motor frequency is close to the bus voltage fluctuation frequency caused by the voltage fluctuation of the bus.
Drawings
FIG. 1 is a structural schematic of the overall control system of the present invention;
FIG. 2 is a schematic representation of the working principle of a sliding prediction window of a repetition predictor;
FIG. 3 is a schematic diagram illustrating the division of processing intervals in different frequency division modes;
fig. 4 is a schematic diagram of estimation and compensation of stator flux linkage error.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
Example one
The direct current bus voltage fluctuation compensation method based on the selective harmonic elimination pulse width modulation comprises the following steps:
101) voltage vector conversion step: and converting the given voltage vector generated by the standard vector control into a voltage vector under the polar coordinate to obtain the voltage vector under the polar coordinate. The phase of the given voltage vector generates a synchronous trigger signal on one hand, and the synchronous trigger signal is used for starting a control period each time, acquiring starting vector control and direct-current bus voltage fluctuation sampling; and on the other hand, as phase basis, obtaining a key angle value by combining a specific table to form an original pulse sequence for generating each phase.
102) A sampling prediction step: the waveform of a given voltage vector is delayed from the current time by a certain execution period time to obtain a predicted waveform. The bus voltage information is required to be ready at the starting moment of the execution cycle for each prediction of the waveform, the execution result can be loaded only when the next execution cycle is finished, and the effect can be completely reflected when the next execution cycle is finished, so that the information is equivalent to two execution cycles ahead. Therefore, if the longest possible value of the execution period is Tmax, the required advance is at least 2 Tmax. The information is therefore delayed by at least two execution cycle times from the current time. Sampling is carried out by adopting an average prediction value method of a repeated predictor, namely, the sampling is carried out by multipoint acquisition and compensation analysis is carried out by an average value to carry out prejudgment, wherein the acquisition is carried out by integral compensation analysis prejudgment according to a carrier cycle, namely, the ideal switching forming time is compared with the result of prejudgment by the average value, so that the integral compensation is carried out according to the carrier cycle, wherein the divided interval is the carrier cycle, so that each interval is defined to only comprise three states, wherein only two states have switching action, and the other state is kept to be switched on or switched off; interval error compensation is needed when the state with switching action is on or off, and interval error compensation is not needed when the state is on or off.
103) And a stator flux linkage error accumulation step: and predicting the voltage waveform of the direct current bus according to the specific position of the switch. And integrating the difference value of the predicted direct-current bus voltage and the average bus voltage in each phase of high-level time, wherein the integrated value is the estimated stator flux linkage error accumulated in each state in the next processing period. Dividing intervals according to the predicted waveform, and accumulating stator flux linkage errors according to the switching time corresponding to the intervals
The cumulative formula is as follows:
wherein
In order to predict the dc bus voltage,
in order to average the dc bus voltage, level "high" indicates a section in which the time range corresponding to the integration is the section in which the dc bus voltage of the high level is output.
Taking the processing section corresponding to the voltage vector angle of 10 ° to 30 ° in the mode in which the number of pulses per fundamental wave period of each phase is 11 as an example, the switching pattern of each phase is shown in fig. 4 (a). The three phases of a, b and c are arranged from top to bottom. The shaded area in the figure represents the integral of the difference between the predicted bus voltage value and the average bus voltage in the high level area of each phase, i.e., the cumulative flux linkage error. The three-phase error is then transformed according to Clarke:
the transformation is carried out into an orthogonal coordinate system,obtaining the flux linkage error delta of the stator with the direct axis and the quadrature axisλαAnd deltaλβFinally, will ΔλαAnd deltaλβMapping respective negative value back to the two-phase coordinate with switching action in the processing interval to obtain the flux linkage compensation quantity of the two-phase stator
(x is any two phases of a, b and c):
the lines from top to bottom represent the states of all the states of the corresponding a, b, a, c, b and c with switch actions.
104) Adjusting the action of a switch: and if the switching time is adjusted until the switching time reaches the interval boundary or the two switching times are equal but not equal, recording the residual uncompensated quantity and taking the residual uncompensated quantity as a part of the accumulation of the stator flux linkage error of the next interval.
Specifically, as shown in fig. 4, (a) three states of estimation of the stator flux linkage error in the diagram are, from top to bottom, a state of maintaining an on or off state, a state of having one switching action, and a state of having two switching actions. In the specific compensation mode, compensation is not performed for keeping the on state or the off state from top to bottom in sequence. The switch has a state of switch action, and the switch time is directly adjusted. There are two switch states, which are adjusted equidistantly from both sides. If the adjustment is carried out until the switching time reaches the boundary of the interval or the two switching times before and after the interval are equal but the compensation is not completed, the residual uncompensated quantity is recorded and added to the second step in the calculation of the next interval to be used as the accumulation of errors.
The invention can keep the excellent harmonic characteristic of SHEPWM under the condition of not additionally increasing the hardware cost, simultaneously reduces the extra output voltage harmonic caused by the voltage fluctuation of the direct current bus to the minimum, and greatly reduces the low-frequency harmonic current and the output torque fluctuation when the motor frequency is close to the bus voltage fluctuation frequency caused by the voltage fluctuation of the bus.
Example two
Fig. 1 is a global schematic diagram of the system architecture. The standard vector control process is shown in the right dashed box. The vector control finally generates a given voltage vector which is converted to polar coordinates. The phase of the given voltage vector generates a synchronous trigger signal on one hand, and the synchronous trigger signal is used for starting each control period, starting vector control calculation and direct-current bus voltage fluctuation compensation; and on the other hand, the key angle value obtained by combining the table look-up is used as the phase basis for generating the original pulse sequence of each phase. And the angle adjustment value obtained by the voltage fluctuation compensation of the direct current bus acts on the original pulse sequence to finally generate a compensated pulse sequence. The phase of each synchronization trigger signal is consistent with the synchronization processing section boundary to be described later, so that each control result is guaranteed to be suitable for execution of the next section.
As shown in fig. 2 to 4, the sensorless sampling method based on the rotating speed adaptive sliding mode observer includes the following steps:
101) voltage vector conversion step: and converting the given voltage vector generated by the standard vector control into a voltage vector under the polar coordinate to obtain the voltage vector under the polar coordinate. The phase of the given voltage vector generates a synchronous trigger signal on one hand, and the synchronous trigger signal is used for starting a control period each time, acquiring starting vector control and direct-current bus voltage fluctuation sampling; and on the other hand, as phase basis, obtaining a key angle value by combining a specific table to form an original pulse sequence for generating each phase.
102) A sampling prediction step: the method is characterized in that the method is formed by predicting a voltage vector under polar coordinates, a predicted waveform is obtained by delaying the waveform of a given voltage vector of a certain execution period time from the current time, and a certain sampling frequency is set to collect the predicted waveform to obtain a processing interval.
The bus voltage information is required to be ready at the starting moment of the execution cycle for each prediction of the waveform, the execution result can be loaded only when the next execution cycle is finished, and the effect can be completely reflected when the next execution cycle is finished, so that the information is equivalent to two execution cycles ahead. Therefore, if the longest possible value of the execution period is Tmax, the required advance is at least 2 Tmax. The information is therefore delayed by at least two execution cycle times from the current time.
Where the sampling frequency is set to 100kHz or higher, to ensure a high bandwidth of sampling and high resolution of the waveform within the subsequent prediction window. The duration of the predicted waveform is 2Tmax, the sampling period is Ts, and the number of the predicted intervals of the predicted waveform is set to be 2Tmax/TsRetardation of 2Tmax/Ts,2Tmax/Ts1, 3,2,1, such that the output of each delay cell is in turn 2T in the futuremax/Ts-2Tmax/Ts,2Tmax/Ts-(2Tmax/Ts-1),...,2Tmax/Ts-3,2Tmax/Ts-2,2Tmax/TsTime 1, i.e. 0,1,2,. 2Tmax/Ts-3,2Tmax/Ts-2,2Tmax/Ts-1 predicted values for each time instant, forming a 2T value obtained at any time instant starting from that time instant until the futuremax/Ts-a predicted waveform of the bus voltage between instants 1.
For example, assume t1For the current moment, a repeated prediction is predicted at that moment (t)1+2Tmax) The bus voltage value at that moment. At predicted (t)1+2Tmax) Adding delay string after the value of time, and recording the sampling period as TsThen the number of delay units in the delay chain will be 2T as described abovemax/Ts. Specifically, as shown in FIG. 2, t1The set of intersections of the dashed line corresponding to the time and the delay chain represents t1The predicted values in the prediction window of the time are sequentially from the current time t from bottom to top1To the farthest future 2Tmax-1/fsampling，fsamplingIs the sampling frequency. For example, suppose Tmax2ms, the maximum time advance is 2Tmax-1/fsampling≈2Tmax＝4ms，The number of corresponding delay string elements under the sampling frequency of 100kHz is 400, and the predicted bus voltage waveform in two future processing intervals can be guaranteed to be obtained at any time as long as the maximum possible length of the processing interval does not exceed 2 ms.
103) A synchronous processing step: and selecting the number of pulses of each fundamental wave period of each phase in different pulse number modes, and dividing the pulse numbers into intervals respectively to form direct and unique correlation between the position of each interval and the phase of the voltage vector. The four typical modes with the number of pulses per fundamental wave period of each phase being 15, 11, 7, and 3 respectively (which can also be extended to other pulse number modes) can be specifically selected, and as described in the left side of fig. 3, the angle ranges of the 4 modes are sequentially divided into 4, 3,2, and 1 intervals according to 15 °, 20 °, 30 °, and 60 °, respectively, so that the number of angles in each interval is determined at any modulation depth. And each interval position is directly and uniquely related to the phase of the voltage vector. Thus, by dividing the voltage vector angle by 24, 18, 12 and 6 in 4 cycles by 15, 20, 30, 60, respectively, the switching pattern of each phase in each interval will be uniquely determined, except that the position of the switching time within the interval varies with modulation depth.
104) And an interval compensation judgment step: each interval only comprises three states, wherein one state and only two states have switching action, and the other state is kept on or off; interval error compensation is needed when the state with switching action is on or off, and interval error compensation is not needed when the state is on or off. Thereby facilitating subsequent compensation.
The DC bus voltage fluctuation compensation method mainly comprises the following steps:
201) confirming the specific position of the switch: and determining the corresponding switch form in the divided interval according to the current voltage vector phase, namely judging the number of the processing interval corresponding to the next control period, and determining the switch form in each corresponding state. Meanwhile, the modulation depth is obtained according to the voltage vector amplitude and the average value of the direct current bus voltage, the corresponding key angle value is searched through the corresponding lookup table, and then the specific position of the switching moment is determined. Namely, as shown in the left side of fig. 3, the corresponding key angle value is searched, and then the specific position of each phase switch time is determined.
202) And a stator flux linkage error accumulation step: and predicting the voltage waveform of the direct current bus according to the specific position of the switch. And integrating the difference value of the predicted direct-current bus voltage and the average bus voltage in each phase of high-level time, wherein the integrated value is the estimated stator flux linkage error accumulated in each state in the next processing period. According to the above-mentioned division interval of predicted waveform making stator flux linkage error accumulation
The cumulative formula is as follows:
wherein
In order to predict the dc bus voltage,
in order to average the dc bus voltage, level "high" indicates a section in which the time range corresponding to the integration is the section in which the dc bus voltage of the high level is output.
Taking the processing section corresponding to the voltage vector angle of 10 ° to 30 ° in the mode in which the number of pulses per fundamental wave period of each phase is 11 as an example, the switching pattern of each phase is shown in fig. 4 (a). The three phases of a, b and c are arranged from top to bottom. The shaded area in the figure represents the integral of the difference between the predicted bus voltage value and the average bus voltage in the high level area of each phase, i.e., the cumulative flux linkage error. The three-phase error is then transformed according to Clarke:
converting into orthogonal coordinate system to obtain flux linkage error delta of stator with direct axis and quadrature axisλαAnd deltaλβFinally, will ΔλαAnd deltaλβMapping respective negative value back to the two-phase coordinate with switching action in the processing interval to obtain the flux linkage compensation quantity of the two-phase stator
(x is any two phases of a, b and c):
the lines from top to bottom represent the states of all the states of the corresponding a, b, a, c, b and c with switch actions.
203) Adjusting the action of a switch: and if the switching time is adjusted until the switching time reaches the interval boundary or the two switching times are equal but not equal, recording the residual uncompensated quantity and taking the residual uncompensated quantity as a part of the accumulation of the stator flux linkage error of the next interval. Specifically, as shown in fig. 4, (a) three states of estimation of the stator flux linkage error in the diagram are, from top to bottom, a state of maintaining an on or off state, a state of having one switching action, and a state of having two switching actions. In the specific compensation mode, compensation is not performed for keeping the on state or the off state from top to bottom in sequence. The switch has a state of switch action, and the switch time is directly adjusted. There are two switch states, which are adjusted equidistantly from both sides. If the adjustment is carried out until the switching time reaches the boundary of the interval or the two switching times before and after the interval are equal but the compensation is not completed, the residual uncompensated quantity is recorded and added to the second step in the calculation of the next interval to be used as the accumulation of errors.
In the conventional feedforward compensation method, because an off-line optimized modulation mode corresponding to SHEPWM does not exist, the method does not have an explicit carrier period concept, so that the compensation is difficult to be performed according to a common idea of adjusting a duty ratio. However, the mode of synchronously processing the intervals is also adopted, the existing subsequent compensation directly adopts the average predicted value method of the repeated predictor, namely, the compensation analysis and comparison are carried out through multipoint acquisition and the average value, and because the existing interval division is the integral compensation carried out according to a carrier period, the effect of carrying out accurate and fine division compensation by the method is not good necessarily. The overall method advantages of the present application are more pronounced, especially when the number of pulses is low.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the spirit of the present invention, and these modifications and decorations should also be regarded as being within the scope of the present invention.
Claims (3)
1. The direct-current bus voltage fluctuation compensation method based on the selective harmonic elimination pulse width modulation is characterized by comprising the following steps of:
101) voltage vector conversion step: converting a given voltage vector generated by standard vector control into a polar coordinate to obtain a voltage vector under the polar coordinate;
102) a sampling prediction step: the method comprises the steps that voltage vector prediction is carried out under polar coordinates, and a predicted waveform is obtained from a waveform of a given voltage vector delayed by a certain execution cycle time from the current time;
103) and a stator flux linkage error accumulation step: dividing intervals according to the predicted waveform, and accumulating stator flux linkage errors according to the switching time corresponding to the intervals
The cumulative formula is as follows:
wherein
For predicting dc busThe pressure is applied to the inner wall of the cylinder,
in order to average the dc bus voltage, level indicates a section in which the time range corresponding to the integral is the section in which the dc bus voltage is output at a high level;
104) adjusting the action of a switch: dividing equal-interval processing sections with different lengths for different modes respectively, so that the switch forms of all phases in each processing section correspond to the section numbers one by one, and only two phases in each section have switch actions; and if the switching time is adjusted until the switching time reaches the interval boundary or the two switching times are equal but not equal, recording the residual uncompensated quantity and taking the residual uncompensated quantity as a part of the accumulation of the stator flux linkage error of the next interval.
2. The method for compensating voltage ripple of a direct current bus based on selective harmonic cancellation pulse width modulation according to claim 1, wherein: step 103) the specific steps according to the switching time corresponding to the interval are as follows: and determining corresponding switch forms in the divided intervals according to the current voltage vector phase, obtaining modulation depth according to the voltage vector amplitude and the average value of the direct current bus voltage, searching corresponding key angle values through a corresponding lookup table, and determining the specific position of the switch at the moment.
3. The method for compensating voltage ripple of a direct current bus based on selective harmonic cancellation pulse width modulation according to claim 2, wherein: and predicting the voltage waveform of the direct current bus according to the specific position of the switch.
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