CN108988718A - Inhibit the AC machine drive system and method for zero-sequence current and common-mode voltage - Google Patents
Inhibit the AC machine drive system and method for zero-sequence current and common-mode voltage Download PDFInfo
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- CN108988718A CN108988718A CN201810929279.XA CN201810929279A CN108988718A CN 108988718 A CN108988718 A CN 108988718A CN 201810929279 A CN201810929279 A CN 201810929279A CN 108988718 A CN108988718 A CN 108988718A
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- width signal
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- rising edge
- switching tube
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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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Abstract
The invention discloses the three-phases of a kind of inhibition zero-sequence current and common-mode voltage to open winding AC machine drive system and method, wherein motor driven systems include DC power supply, dc-link capacitance, the first three-phase inverter and the second three-phase inverter.Zero-sequence current problem and common-mode voltage problem caused by winding electric machine is powered by single DC power supply are opened for tradition, the present invention also provides a kind of control of zero-sequence current and common-mode voltage suppressing methods.Since the ac-side current that this method exports inverter has times yupin effect, ac-side current can be optimized, the torque pulsation of motor is reduced, while inverter can also be inhibited to be output to the common-mode voltage that three-phase opens winding electric machine, reduces the electromagnetic interference that motor driven systems generate.The present invention does not need to increase any hardware cost, and motor control performance can be improved.
Description
Technical field
The invention belongs to Motor Control Fields, more particularly, to a kind of three-phase for inhibiting zero-sequence current and common-mode voltage
Open winding AC machine drive system and method.
Background technique
In three phase alternating current motor, stator, which opens winding construction, has higher DC voltage utilization rate compared to hub-and-spoke configuration.
Based on the above feature, three-phase opens winding alternating current generator and is widely used in the winding back emf occasion higher than direct current power source voltage.By
It is opened in stator winding neutral point, making motor, there are the accesses of zero-sequence current in the case where single DC power supply is powered, generally
Control method very big zero-sequence current can be generated in motor stator winding, cause motor to generate very big torque pulsation, together
The harmonic loss of Shi Zengjia motor driven systems.Traditional zero-sequence current inhibition generallys use two methods, and a kind of method is to adopt
Two sets of inverter power supplies are given respectively with two independent DC power supplies, by blocking zero-sequence current path to realize zero-sequence current suppression
System；Another method is the method using single DC power supply combination active control, realizes zero sequence electricity by eliminating residual voltage
Stream inhibits.Former approach increases the volume and cost of system due to needing to increase an additional power supply；Latter
Method application is more, but existing Active Control Method is inhibiting due to sacrificing the freedom degree of twin inverter topology
While residual voltage, motor control effect is reduced, while also not accounting for the common-mode voltage problem of inverter.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of inhibition zero-sequence currents and common mode electricity
The three-phase of pressure opens winding AC machine drive system and method, and thus solution tradition opens winding electric machine and powered by single DC power supply
Caused zero-sequence current and suppression common mode electromagnetic interference problem.
To achieve the above object, according to one aspect of the present invention, it provides a kind of three-phase and opens winding alternating current generator zero sequence
Current drive system, comprising: DC power supply, dc-link capacitance and the first three-phase inverter, the system also includes second
Three-phase inverter；
First three-phase inverter includes the first bridge arm, the second bridge arm and third bridge arm, and first bridge arm includes
First switch tube and second switch, second bridge arm include third switching tube and the 4th switching tube, the third bridge arm packet
Include the 5th switching tube and the 6th switching tube；
Second three-phase inverter includes four bridge legs, the 5th bridge arm and the 6th bridge arm, and the four bridge legs include
7th switching tube and the 8th switching tube, the 5th bridge arm include the 9th switching tube and the tenth switching tube, the 6th bridge arm packet
Include the 11st switching tube and the 12nd switching tube；
The second end of the first switch tube is connect with the first end of the second switch, and the of the third switching tube
Two ends are connect with the first end of the 4th switching tube, the second end of the 5th switching tube and the first of the 6th switching tube
End connection；
The second end of 7th switching tube is connect with the first end of the 8th switching tube, and the of the 9th switching tube
Two ends are connect with the first end of the tenth switching tube, second end and the 12nd switching tube of the 11st switching tube
First end connection；
The first end of the dc-link capacitance, the first end of the first switch tube, the third switching tube first
End, the first end of the 5th switching tube, the first end of the 7th switching tube, the first end of the 9th switching tube and institute
The first end for stating the 11st switching tube is connect with the positive terminal of the DC power supply；
The second end of the dc-link capacitance, the second end of the second switch, the 4th switching tube second
End, the second end of the 6th switching tube, the second end of the 8th switching tube, the second end of the tenth switching tube and institute
The second end for stating the 12nd switching tube is connect with the negative pole end of the DC power supply；
At work, the first terminals that the midpoint of first bridge arm and three-phase open winding Stator Windings of AC Motor connect
It connecing, the midpoint of second bridge arm is connect with the second terminals that the three-phase opens winding Stator Windings of AC Motor, and described
The midpoint of three bridge arms is connect with the third terminals that the three-phase opens winding Stator Windings of AC Motor, in the four bridge legs
The 4th terminals that point opens winding Stator Windings of AC Motor with the three-phase are connect, the midpoint and described three of the 5th bridge arm
The 5th terminals connection of winding Stator Windings of AC Motor is mutually opened, the midpoint of the 6th bridge arm and the three-phase open winding friendship
Flow the 6th terminals connection of motor stator winding.
A kind of the zero of winding AC machine drive system is opened based on above-mentioned three-phase it is another aspect of this invention to provide that providing
Sequence electric current suppressing method, comprising:
D shaft current, q shaft current and zero-axis current under rotating coordinate system is referred to d axis reference current, q axis respectively
Electric current and zero axle reference current are compared, and obtain d axis error electric current, q axis error electric current and zero axle error current；
By the d axis error electric current, the q axis error electric current and the zero axle error current, d axis is obtained with reference to electricity
Pressure, q axis reference voltage and zero axle reference voltage, and pass through the d axis reference voltage, the q axis reference voltage, the zero axle
Reference voltage and rotor position angle obtain the three-phase reference voltage under rest frame；
The reference voltage and the second three-phase inverter of each phase of first three-phase inverter are obtained by the three-phase reference voltage
The reference voltage of each phase, by the way that the reference voltage of each phase of the first three-phase inverter and second three-phase inverter is each
The reference voltage of phase carries out amplitude com parison with triangular carrier respectively and generates initial symmetrical pulse-width signal；
According to sector locating for the rotor position angle, each initial symmetrical pulse-width signal is moved respectively
Phase, so that first three-phase inverter and second three-phase inverter export the identical common-mode voltage for reducing amplitude,
Obtain target pulse-width signal PWM1, PWM2, PWM3, PWM4, PWM5 and PWM6, wherein PWM1, PWM2 and PWM3 are used
In the switching tube action for controlling first three-phase inverter, PWM4, PWM5 and PWM6 are for controlling the two or three contrary
Become the switching tube action of device, to inhibit the zero-sequence current and common-mode voltage of motor.
Preferably, the partitioning scenario of the sector are as follows:
Wherein, θ indicates the rotor position angle.
Preferably, if the rotor position angle is in the first sector, by Ga1Half of switch periods of phase shift obtain target
Pulse-width signal PWM1, by Ga2Half of switch periods of phase shift obtain target pulse-width signal PWM4, mobile Gb2Make Gb2Under
Drop obtains target pulse-width signal PWM5, mobile G along with PWM4 rising edge alignmentc2Make Gc2Rising edge and PWM4 failing edge
Alignment obtains target pulse-width signal PWM6, mobile Gb1Make Gb1Rising edge be aligned to obtain target pulsewidth with PWM1 failing edge
Modulated signal PWM2, mobile Gc1Make Gc1Failing edge and PWM1 rising edge alignment obtain target pulse-width signal PWM3, PWM2
Failing edge be aligned automatically with the failing edge of PWM6, the rising edge of PWM3 automatically with the rising edge alignment of PWM5, wherein Ga1、Gb1
And Gc1For the initial pulse-width signal for driving the first three-phase inverter upper tube, Ga2、Gb2And Gc2To drive described the
The initial pulse-width signal of two three-phase inverter upper tubes.
Preferably, if the rotor position angle is in the second sector, by Gc1Half of switch periods of phase shift obtain target
Pulse-width signal PWM3, by Gc2Half of switch periods of phase shift obtain target pulse-width signal PWM6, mobile Gb2Make Gb2Under
Drop obtains target pulse-width signal PWM5, mobile G along with PWM6 rising edge alignmenta2Make Ga2Rising edge and PWM6 failing edge
Alignment obtains target pulse-width signal PWM4, mobile Gb1Make Gb1Rising edge be aligned to obtain target pulsewidth with PWM3 failing edge
Modulated signal PWM2, mobile Ga1Make Ga1Failing edge and PWM3 rising edge alignment obtain target pulse-width signal PWM1, PWM2
Failing edge be aligned automatically with the failing edge of PWM4, the rising edge of PWM1 automatically with the rising edge alignment of PWM5, wherein Ga1、Gb1
And Gc1For the initial pulse-width signal for driving the first three-phase inverter upper tube, Ga2、Gb2And Gc2To drive described the
The initial pulse-width signal of two three-phase inverter upper tubes.
Preferably, if the rotor position angle is in third sector, by Gb1Half of switch periods of phase shift obtain target
Pulse-width signal PWM2, by Gb2Half of switch periods of phase shift obtain target pulse-width signal PWM5, mobile Gc2Make Gc2Under
Drop obtains target pulse-width signal PWM6, mobile G along with PWM5 rising edge alignmenta2Make Ga2Rising edge and PWM5 failing edge
Alignment obtains target pulse-width signal PWM4, mobile Gc1Make Gc1Rising edge be aligned to obtain target pulsewidth with PWM2 failing edge
Modulated signal PWM3, mobile Ga1Make Ga1Failing edge and PWM2 rising edge alignment obtain target pulse-width signal PWM1, PWM3
Failing edge be aligned automatically with the failing edge of PWM4, the rising edge of PWM1 automatically with the rising edge alignment of PWM6, wherein Ga1、Gb1
And Gc1For the initial pulse-width signal for driving the first three-phase inverter upper tube, Ga2、Gb2And Gc2To drive described the
The initial pulse-width signal of two three-phase inverter upper tubes.
Preferably, if the rotor position angle is in the 4th sector, by Ga1Half of switch periods of phase shift obtain target
Pulse-width signal PWM1, by Ga2Half of switch periods of phase shift obtain target pulse-width signal PWM4, mobile Gc2Make Gc2Under
Drop obtains target pulse-width signal PWM6, mobile G along with PWM4 rising edge alignmentb2Make Gb2Rising edge and PWM4 failing edge
Alignment obtains target pulse-width signal PWM5, mobile Gc1Make Gc1Rising edge be aligned to obtain target pulsewidth with PWM1 failing edge
Modulated signal PWM3, mobile Gb1Make Gb1Failing edge and PWM1 rising edge alignment obtain target pulse-width signal PWM2, PWM3
Failing edge be aligned automatically with the failing edge of PWM5, the rising edge of PWM2 automatically with the rising edge alignment of PWM6, wherein Ga1、Gb1
And Gc1For the initial pulse-width signal for driving the first three-phase inverter upper tube, Ga2、Gb2And Gc2To drive described the
The initial pulse-width signal of two three-phase inverter upper tubes.
Preferably, if the rotor position angle is in the 5th sector, by Gc1Half of switch periods of phase shift obtain target
Pulse-width signal PWM3, by Gc2Half of switch periods of phase shift obtain target pulse-width signal PWM6, mobile Ga2Make Ga2Under
Drop obtains target pulse-width signal PWM4, mobile G along with PWM6 rising edge alignmentb2Make Gb2Rising edge and PWM6 failing edge
Alignment obtains target pulse-width signal PWM5, mobile Ga1Make Ga1Rising edge be aligned to obtain target pulsewidth with PWM3 failing edge
Modulated signal PWM1, mobile Gb1Make Gb1Failing edge and PWM3 rising edge alignment obtain target pulse-width signal PWM2, PWM1
Failing edge be aligned automatically with the failing edge of PWM5, the rising edge of PWM2 automatically with the rising edge alignment of PWM4, wherein Ga1、Gb1
And Gc1For the initial pulse-width signal for driving the first three-phase inverter upper tube, Ga2、Gb2And Gc2To drive described the
The initial pulse-width signal of two three-phase inverter upper tubes.
Preferably, if the rotor position angle is in the 6th sector, by Gb1Half of switch periods of phase shift obtain target
Pulse-width signal PWM2, by Gb2Half of switch periods of phase shift obtain target pulse-width signal PWM5, mobile Ga2Make Ga2Under
Drop obtains target pulse-width signal PWM4, mobile G along with PWM5 rising edge alignmentc2Make Gc2Rising edge and PWM5 failing edge
Alignment obtains target pulse-width signal PWM6, mobile Ga1Make Ga1Rising edge be aligned to obtain target pulsewidth with PWM2 failing edge
Modulated signal PWM1, mobile Gc1Make Gc1Failing edge and PWM2 rising edge alignment obtain target pulse-width signal PWM3, PWM1
Failing edge be aligned automatically with the failing edge of PWM6, the rising edge of PWM3 automatically with the rising edge alignment of PWM4, Ga1、Gb1And
Gc1For the initial pulse-width signal for driving the first three-phase inverter upper tube, Ga2、Gb2And Gc2For driving the described 2nd 3
The initial pulse-width signal of phase inverter upper tube.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, the present invention is by passing
On the basis of monopole frequency multiplication SPWM modulator approach of uniting, phase-shifting carrier wave appropriate is carried out in the sector of each Vector modulation, makes two sets
Three-phase inverter exports the identical common-mode voltage for reducing amplitude in real time, opens winding exchange to eliminate inverter and be input to three-phase
Residual voltage in motor, realizes the inhibition of zero-sequence current, while reducing the common-mode voltage of motor side.Control method of the present invention is not
Need to increase hardware, it is versatile, while inhibiting zero-sequence current and common-mode voltage, it can reduce ac-side current harmonic wave.
Detailed description of the invention
Fig. 1 is that a kind of three-phase powered by single DC power supply provided in an embodiment of the present invention opens winding alternating current generator topology
Structure chart；
Fig. 2 is that a kind of three-phase provided in an embodiment of the present invention opens winding AC Motor Control block diagram；
Fig. 3 is that a kind of three-phase provided in an embodiment of the present invention opens winding alternating current generator zero-sequence current control method flow chart；
Fig. 4 is a kind of pwm signal waveform figure for driving two sets of three-phase inverters provided in an embodiment of the present invention；
Fig. 5 is that the zero-sequence current of a kind of zero-sequence current control provided in an embodiment of the present invention and non-zero-sequence current control compares
Figure；
Fig. 6 is the phase current pair of a kind of phase current provided in an embodiment of the present invention Yu general zero-sequence current Active Control Method
Than figure；
Fig. 7 is a kind of motor common-mode voltage provided in an embodiment of the present invention and general zero-sequence current Active Control Method is total to
Mode voltage comparison diagram；
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
1- DC power supply, 2- dc-link capacitance, the first three-phase inverter of 3-, the second three-phase inverter of 4-, 5- three-phase are opened
Winding alternating current generator, 6- three phase alternating current motor ground connection.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
The present invention provides a kind of three-phases for inhibiting zero-sequence current to open winding AC machine drive system and method, purpose
It is to inhibit the zero-sequence current as caused by single power supply power supply and common-mode voltage, while does not sacrifice the freedom degree of topology, improves system
The control effect of system.
It is as shown in Figure 1 that a kind of three-phase provided in an embodiment of the present invention opens winding alternating current generator zero-sequence current drive system
Structural schematic diagram, comprising: DC power supply 1, dc-link capacitance 2, the first three-phase inverter 3 and the second three-phase inverter 4；
First three-phase inverter 3 includes the first bridge arm, the second bridge arm and third bridge arm, and the first bridge arm includes first switch
Pipe and second switch, the second bridge arm include third switching tube and the 4th switching tube, and third bridge arm includes the 5th switching tube and the
Six switching tubes；
Second three-phase inverter 4 includes four bridge legs, the 5th bridge arm and the 6th bridge arm, and four bridge legs include the 7th switch
Eight switching tube of Guan Yu, the 5th bridge arm include the 9th switching tube and the tenth switching tube, the 6th bridge arm include the 11st switching tube and
12nd switching tube；
The second end of first switch tube and the first end of second switch connect, and the second end of third switching tube is opened with the 4th
The first end connection of pipe is closed, the second end of the 5th switching tube is connect with the first end of the 6th switching tube；
The second end of 7th switching tube is connect with the first end of the 8th switching tube, and the second end of the 9th switching tube is opened with the tenth
The first end connection of pipe is closed, the second end of the 11st switching tube is connect with the first end of the 12nd switching tube；
The first end of dc-link capacitance 2, the first end of first switch tube, the first end of third switching tube, the 5th switch
The first end of pipe, the first end of the 7th switching tube, the first end of the first end of the 9th switching tube and the 11st switching tube with
The positive terminal of DC power supply 1 connects；
The second end of dc-link capacitance 2, the second end of second switch, the second end of the 4th switching tube, the 6th switch
The second end of pipe, the second end of the 8th switching tube, the second end of the second end of the tenth switching tube and the 12nd switching tube with
The negative pole end of DC power supply 1 connects；
At work, the midpoint of the first bridge arm is connect with the first terminals that three-phase opens winding Stator Windings of AC Motor,
The midpoint of second bridge arm is connect with the second terminals that three-phase opens winding Stator Windings of AC Motor, the midpoint of third bridge arm and three
The third terminals connection of winding Stator Windings of AC Motor is mutually opened, it is fixed that the midpoint of four bridge legs and three-phase open winding alternating current generator
4th terminals of sub- winding connect, and midpoint and the three-phase of the 5th bridge arm open the 5th terminals of winding Stator Windings of AC Motor
Connection, the midpoint of the 6th bridge arm is connect with the 6th terminals that three-phase opens winding Stator Windings of AC Motor.
Wherein, DC power supply 1 is used to provide direct current to system, and the first three-phase inverter 3 and the second three-phase inverter 4 are used
In DC inverter for three-phase alternating current and is input to driving motor work in motor stator winding, three-phase opens winding exchange
Motor 5 is used for stable DC side voltage for converting electrical energy into mechanical energy output, dc-link capacitance 2, and motor ground connection 6 is used for
Prevent motor from causing electric leakage to device line or personal Danger Electric shock risk because of failure or insulation damages.
Wherein, it may include induction machine and permanent magnet synchronous motor etc. that three-phase, which opens winding alternating current generator 5,.
The embodiment of the invention also provides a kind of zero-sequence currents that winding AC machine drive system is opened based on above-mentioned three-phase
With common-mode voltage suppressing method, main thought is to close on the basis of traditional monopole frequency multiplication SPWM modulator approach in each vector
At sector carry out phase-shifting carrier wave appropriate, so that two sets of three-phase inverters is exported the identical common-mode voltage for reducing amplitude in real time,
Three-phase is input to eliminating inverter and opens residual voltage in winding alternating current generator, the inhibition of zero-sequence current is realized, drops simultaneously
The common-mode voltage of low motor side.
In terms of motor control, using vector control method, basic ideas are the d by designing in pulse-width modulation circuit
Axis, q axis and zero-axis current controller generate the reference voltage vector under rotating coordinate system, are then calculated by coordinate transform static
Amplitude com parison is made in three-phase reference voltage under coordinate system, reselection triangular carrier and three-phase reference voltage instruction, generates required
Pulse-width signal is used to control the switching tube action of inverter.
It is illustrated in figure 2 the signal that a kind of three phase alternating current motor provided in an embodiment of the present invention uses vector control method
Figure.Control system is made of inner ring (electric current loop) and outer ring (speed ring).Speed ring adjusts reference velocity by speed control
And the difference of feedback speed obtains the instruction value i of torque current componentqref, the instruction value i of same d axis and zero-axis currentdrefAnd i0ref
Also it is adjusted according to actual needs.Reference current is under dq0 coordinate compared with feedback current, wherein the feedback under dq0 coordinate
Electric current is that the three-phase current measured is obtained by coordinate transform, is finally adjusted by d axis, q axis and zero-axis current controller,
Generate reference voltage Vd, VqAnd V0。Vd, VqAnd V0The three-phase reference voltage V under rest frame is generated using coordinate transforma, Vb
And Vc, last Va, VbAnd VcIt is input to zero-sequence current control algolithm module, generates the pwm signal of two sets of inverters for driving it
Corresponding switching tube action is realized to the electric current of motor and the control of speed.The rotor-position of motor is used for coordinate transform, motor
Revolving speed be used for loop feedback, wherein rotor-position and revolving speed can be obtained by position sensor.Specifically, including it is following
Step:
(1) d shaft current, q shaft current and the zero-axis current under rotating coordinate system are joined with d axis reference current, q axis respectively
It examines electric current and zero axle reference current is compared, obtain d axis error electric current, q axis error electric current and zero axle error current；
Wherein, byIt obtains under rotating coordinate system
D shaft current id, q shaft current iqAnd zero-axis current i0, ia、ibAnd icFor the three-phase current under rest frame, θ is rotor
Position angle.
Wherein, ia、ibAnd icIt is obtained by current sensor in sampling feedback circuit, θ is obtained by position sensor, is adopted
Sample feed circuit input termination three-phase opens the output end of winding alternating current generator 5 current sensor and rotor-position sensor, output
It is connected with drive control circuit, opens winding Stator Windings of AC Motor electric current and rotor position information for acquiring three-phase and be sent into
To drive control circuit, drive control circuit generates pwm signal for controlling the first three-phase inverter 3 and the second three-phase inverter
4 each switching tube actions, output order voltage control the electric current in motor stator winding.
(2) by d axis error electric current, q axis error electric current and zero axle error current, d axis reference voltage, q axis ginseng are obtained
Voltage and zero axle reference voltage are examined, and passes through d axis reference voltage, q axis reference voltage, zero axle reference voltage and rotor position angle
Degree, obtains the three-phase reference voltage under rest frame；
Wherein, byObtain d axis error electric current id_err, q axis error electric current iq_errAnd zero axle error
Electric current i0_err, idref、iqrefAnd i0refThe respectively reference current of d axis, q axis and zero axle.
Wherein, Vd、VqWith V0The respectively reference voltage instruction of d axis, q axis and the output of zero-axis current controller.
Wherein, byObtain three under rest frame
Phase reference voltage Va、VbAnd Vc。
(3) reference voltage and the second three-phase inverter 4 of each phase of the first three-phase inverter 3 are obtained by three-phase reference voltage
The reference voltage of each phase, by by the ginseng of the reference voltage of each phase of the first three-phase inverter 3 and each phase of the second three-phase inverter 4
It examines voltage and carries out the initial symmetrical pulse-width signal of amplitude com parison generation with triangular carrier respectively；
(4) sector according to locating for rotor position angle carries out phase shift to each initial symmetrical pulse-width signal respectively, with
So that the first three-phase inverter 3 and the second three-phase inverter 4 is exported the identical common-mode voltage for reducing amplitude, obtains target pulsewidth
Modulated signal PWM1, PWM2, PWM3, PWM4, PWM5 and PWM6, wherein PWM1, PWM2 and PWM3 are for controlling the one or three
The switching tube action of phase inverter 3, PWM4, PWM5 and PWM6 are used to control the switching tube action of the second three-phase inverter 4, with
Inhibit zero-sequence current and common-mode voltage.
As shown in figure 3, three-phase reference voltage is assigned in two sets of three-phase inverters, the reference that two sets of inverters respectively mutually obtain
Voltage are as follows:Wherein Va1, Vb1And Vc1For the three-phase reference voltage of the first three-phase inverter 3, Va2, Vb2With
Vc2For the three-phase reference voltage of the second three-phase inverter 4.By the way that two groups of three-phase voltage commands are carried out Amplitude Ration with triangular carrier
Initial SPWM pulse-width signal symmetrical compared with generation；Rotor position angle is additionally incorporated, sector judgement is carried out, sector is grouped feelings
Condition are as follows:
Corresponding phase shift scheme is selected in each sector according to sector situation, ultimately produces target SPWM pulse-width signal
For driving the switching tube action and reference voltage output of two sets of three-phase inverters.
As shown in figure 4, left side legend is the initial symmetrical pulsewidth tune that general SPWM modulator approach generates in sector 1~6
Signal processed, wherein Ga1、Gb1、Gc1、Ga2、Gb2And Gc2Respectively drive the initial pulsewidth modulation letter of two sets of three-phase inverter upper tubes
Number waveform, Vcm1With Vcm2The common-mode voltage of respectively two sets of inverters output.It can be seen that the common mode electricity of two sets of inverter output
Pressure is not identical, can hold in three-phase and generate zero-sequence current in winding electric machine；The right legend is what improved SPWM modulator approach generated
Target pulse-width signal, by carrying out suitable phase shift to initial pulse-width signal, it is ensured that two sets of inverter outputs
Common-mode voltage keep identical in a switch periods, while the common-mode voltage amplitude that every set inverter generates after phase shift is compared
Reduction is also achieved before non-phase shift, to inhibit the zero-sequence current and common-mode voltage of motor.Wherein realize zero-sequence current and common mode
The phase-shift theory of voltage inhibitory effect is as follows:
In the first sector, two initial pulse-width signals of A phase, Ga1Six pulse-width signal duty ratios most
Greatly, Ga2It is minimum in six pulse-width signal duty ratios, two of A phase are opened for initial half of phase shift of pulse-width signal at this time
The pass period obtains target pulse-width signal PWM1 and target pulse-width signal PWM4, B phase and the initial pulsewidth modulation of C phase is believed
Number also carry out real-time phase shifting control, Gb2Moving right makes its failing edge and PWM4 rising edge alignment obtain target pulse-width signal
PWM5, and Gc2Its rising edge is set to be aligned to obtain target pulse-width signal PWM6 with PWM4 failing edge to moving to left, in addition Gb1To the right
Shifting makes its rising edge be aligned to obtain target pulse-width signal PWM2 with PWM1 failing edge, and Gc1To move to left make its failing edge with
PWM1 rising edge alignment obtains target pulse-width signal PWM3, and the failing edge of remaining edge placement PWM2 can automatically with
The failing edge of PWM6 is aligned, the rising edge of PWM3 can automatically with the rising edge alignment of PWM5.It, can be with after above-mentioned phase shift system
Guarantee that two sets of inverters common-mode voltage in this sector is consistent, to eliminate residual voltage, while realizing every set inverter
Common-mode voltage amplitude reduce, inhibit zero-sequence current and common-mode voltage；
In the second sector, two initial pulse-width signals of C phase, Gc1Six pulse-width signal duty ratios most
It is small, and Gc2In six pulse-width signal largest duty cycles, two of C phase are opened for initial half of phase shift of pulse-width signal at this time
The pass period obtains target pulse-width signal PWM3 and target pulse-width signal PWM6, A phase and the initial pulsewidth modulation of B phase is believed
Number also carry out real-time phase shifting control, Gb2Its failing edge and PWM6 rising edge alignment is set to obtain target pulse-width signal to moving to left
PWM5, and Ga2Moving right makes its rising edge be aligned to obtain target pulse-width signal PWM4 with PWM6 failing edge, in addition Gb1To the left
Shifting makes its rising edge be aligned to obtain target pulse-width signal PWM2 with PWM3 failing edge, and Ga1Move right make its failing edge with
PWM3 rising edge alignment obtains target pulse-width signal PWM1, and the failing edge of remaining edge placement PWM2 can automatically with
The failing edge of PWM4 is aligned, the rising edge of PWM1 can automatically with the rising edge alignment of PWM5.It, can be with after above-mentioned phase shift system
Guarantee that two sets of inverters common-mode voltage in this sector is consistent, to eliminate residual voltage, while realizing every set inverter
Common-mode voltage amplitude reduce, inhibit zero-sequence current and common-mode voltage；
In third sector, two initial pulse-width signals of B phase, Gb1Six pulse-width signal duty ratios most
Greatly, Gb2It is minimum in six pulse-width signal duty ratios, two of B phase are opened for initial half of phase shift of pulse-width signal at this time
The pass period obtains target pulse-width signal PWM2 and target pulse-width signal PWM5, A phase and the initial pulsewidth modulation of C phase is believed
Number also carry out real-time phase shifting control, Gc2Moving right makes its failing edge and PWM5 rising edge alignment obtain target pulse-width signal
PWM6, and Ga2Its rising edge is set to be aligned to obtain target pulse-width signal PWM4 with PWM5 failing edge to moving to left, in addition Gc1To the right
Shifting makes its rising edge be aligned to obtain target pulse-width signal PWM3 with PWM2 failing edge, and Ga1To move to left make its failing edge with
PWM2 rising edge alignment obtains target pulse-width signal PWM1, and the failing edge of remaining edge placement PWM3 can automatically with
The failing edge of PWM4 is aligned, the rising edge of PWM1 can automatically with the rising edge alignment of PWM6.It, can be with after above-mentioned phase shift system
Guarantee that two sets of inverters common-mode voltage in this sector is consistent, to eliminate residual voltage, while realizing every set inverter
Common-mode voltage amplitude reduce, inhibit zero-sequence current and common-mode voltage；
In the 4th sector, two initial pulse-width signals of A phase, Ga1Six pulse-width signal duty ratios most
It is small, and Ga2In six pulse-width signal largest duty cycles, two of A phase are opened for initial half of phase shift of pulse-width signal at this time
The pass period obtains target pulse-width signal PWM1 and target pulse-width signal PWM4, B phase and the initial pulsewidth modulation of C phase is believed
Number also carry out real-time phase shifting control, Gc2Its failing edge and PWM4 rising edge alignment is set to obtain target pulse-width signal to moving to left
PWM6, and Gb2Moving right makes its rising edge be aligned to obtain target pulse-width signal PWM5 with PWM4 failing edge, in addition Gc1To the left
Shifting makes its rising edge be aligned to obtain target pulse-width signal PWM3 with PWM1 failing edge, and Gb1Move right make its failing edge with
PWM1 rising edge alignment obtains target pulse-width signal PWM2, and the failing edge of remaining edge placement PWM3 can automatically with
The failing edge of PWM5 is aligned, the rising edge of PWM2 can automatically with the rising edge alignment of PWM6.It, can be with after above-mentioned phase shift system
Guarantee that two sets of inverters common-mode voltage in this sector is consistent, to eliminate residual voltage, while realizing every set inverter
Common-mode voltage amplitude reduce, inhibit zero-sequence current and common-mode voltage；
In the 5th sector, two initial pulse-width signals of C phase, Gc1Six pulse-width signal duty ratios most
Greatly, Gc2It is minimum in six pulse-width signal duty ratios, two of C phase are opened for initial half of phase shift of pulse-width signal at this time
The pass period obtains target pulse-width signal PWM3 and target pulse-width signal PWM6, A phase and the initial pulsewidth modulation of B phase is believed
Number also carry out real-time phase shifting control, Ga2Moving right makes its failing edge and PWM6 rising edge alignment obtain target pulse-width signal
PWM4, and Gb2Its rising edge is set to be aligned to obtain target pulse-width signal PWM5 with PWM6 failing edge to moving to left, in addition Ga1To the right
Shifting makes its rising edge be aligned to obtain target pulse-width signal PWM1 with PWM3 failing edge, and Gb1To move to left make its failing edge with
PWM3 rising edge alignment obtains target pulse-width signal PWM2, and the failing edge of remaining edge placement PWM1 can automatically with
The failing edge of PWM5 is aligned, the rising edge of PWM2 can automatically with the rising edge alignment of PWM4.It, can be with after above-mentioned phase shift system
Guarantee that two sets of inverters common-mode voltage in this sector is consistent, to eliminate residual voltage, while realizing every set inverter
Common-mode voltage amplitude reduce, inhibit zero-sequence current and common-mode voltage；
In the 6th sector, two initial pulse-width signals of B phase, Gb1Six pulse-width signal duty ratios most
It is small, and Gb2In six pulse-width signal largest duty cycles, two of B phase are opened for initial half of phase shift of pulse-width signal at this time
The pass period obtains target pulse-width signal PWM2 and target pulse-width signal PWM5, A phase and the initial pulsewidth modulation of C phase is believed
Number also carry out real-time phase shifting control, Ga2Its failing edge and PWM5 rising edge alignment is set to obtain target pulse-width signal to moving to left
PWM4, and Gc2Moving right makes its rising edge be aligned to obtain target pulse-width signal PWM6 with PWM5 failing edge, in addition Ga1To the left
Shifting makes its rising edge be aligned to obtain target pulse-width signal PWM1 with PWM2 failing edge, and Gc1Move right make its failing edge with
PWM2 rising edge alignment obtains target pulse-width signal PWM3, and the failing edge of remaining edge placement PWM1 can automatically with
The failing edge of PWM6 is aligned, the rising edge of PWM3 can automatically with the rising edge alignment of PWM4.It, can be with after above-mentioned phase shift system
Guarantee that two sets of inverters common-mode voltage in this sector is consistent, to eliminate residual voltage, while realizing every set inverter
Common-mode voltage amplitude reduce, inhibit zero-sequence current and common-mode voltage.
As shown in figure 5, carrying out general modulation algorithm and zero-sequence current proposed by the present invention and common mode electricity under identical operating condition
Press the zero-sequence current comparison of restrainable algorithms.It can be seen that compare general modulation algorithm, using zero-sequence current proposed by the present invention and
Common-mode voltage restrainable algorithms can greatly reduce zero-sequence current, improve the effect of motor control.
As shown in fig. 6, carrying out existing zero-sequence current restrainable algorithms and zero sequence proposed by the present invention electricity under identical operating condition
The phase current of stream and common-mode voltage restrainable algorithms compares.It can be seen that zero-sequence current and common-mode voltage proposed by the present invention inhibit to calculate
Method compares existing zero-sequence current restrainable algorithms, and phase current has times yupin effect, and high-frequency harmonic content is smaller, can obtain more
Good motor control effect.
As shown in fig. 7, carrying out existing zero-sequence current restrainable algorithms and zero sequence proposed by the present invention electricity under identical operating condition
The common-mode voltage of stream and common-mode voltage restrainable algorithms compares.It can be seen that zero-sequence current and common-mode voltage proposed by the present invention inhibit
Algorithm compares existing zero-sequence current restrainable algorithms, and common-mode voltage peak value is smaller, can reduce the suppression common mode electromagnetic interference of system.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of three-phase for inhibiting zero-sequence current and common-mode voltage opens winding AC machine drive system, comprising: DC power supply
(1), dc-link capacitance (2) and the first three-phase inverter (3), which is characterized in that the system also includes the two or three contraries
Become device (4)；
First three-phase inverter (3) includes the first bridge arm, the second bridge arm and third bridge arm, and first bridge arm includes the
One switching tube and second switch, second bridge arm include third switching tube and the 4th switching tube, and the third bridge arm includes
5th switching tube and the 6th switching tube；
Second three-phase inverter (4) includes four bridge legs, the 5th bridge arm and the 6th bridge arm, and the four bridge legs include the
Seven switching tubes and the 8th switching tube, the 5th bridge arm include the 9th switching tube and the tenth switching tube, and the 6th bridge arm includes
11st switching tube and the 12nd switching tube；
The second end of the first switch tube is connect with the first end of the second switch, the second end of the third switching tube
It is connect with the first end of the 4th switching tube, the second end of the 5th switching tube and the first end of the 6th switching tube connect
It connects；
The second end of 7th switching tube is connect with the first end of the 8th switching tube, the second end of the 9th switching tube
It is connect with the first end of the tenth switching tube, the second end of the 11st switching tube and the first of the 12nd switching tube
End connection；
The first end of the dc-link capacitance (2), the first end of the first switch tube, the third switching tube first
End, the first end of the 5th switching tube, the first end of the 7th switching tube, the first end of the 9th switching tube and institute
The first end for stating the 11st switching tube is connect with the positive terminal of the DC power supply (1)；
The second end of the dc-link capacitance (2), the second end of the second switch, the 4th switching tube second
End, the second end of the 6th switching tube, the second end of the 8th switching tube, the second end of the tenth switching tube and institute
The second end for stating the 12nd switching tube is connect with the negative pole end of the DC power supply (1)；
At work, the midpoint of first bridge arm is connect with the first terminals that three-phase opens winding Stator Windings of AC Motor,
The midpoint of second bridge arm is connect with the second terminals that the three-phase opens winding Stator Windings of AC Motor, the third bridge
The midpoint of arm is connect with the third terminals that the three-phase opens winding Stator Windings of AC Motor, the midpoint of the four bridge legs with
The three-phase opens the 4th terminals connection of winding Stator Windings of AC Motor, and the midpoint of the 5th bridge arm is opened with the three-phase
5th terminals of winding Stator Windings of AC Motor connect, and the midpoint of the 6th bridge arm and the three-phase open winding alternating current
6th terminals of machine stator winding connect.
2. a kind of zero-sequence current and common-mode voltage suppression for opening winding AC machine drive system based on three-phase described in claim 1
Method processed characterized by comprising
By d shaft current, q shaft current and the zero-axis current under rotating coordinate system respectively with d axis reference current, q axis reference current
And zero axle reference current is compared, and obtains d axis error electric current, q axis error electric current and zero axle error current；
By the d axis error electric current, the q axis error electric current and the zero axle error current, d axis reference voltage, q are obtained
Axis reference voltage and zero axle reference voltage, and referred to by the d axis reference voltage, the q axis reference voltage, the zero axle
Voltage and rotor position angle obtain the three-phase reference voltage under rest frame；
The reference voltage and the second three-phase inverter of the first three-phase inverter (3) each phase are obtained by the three-phase reference voltage
(4) reference voltage of each phase, by by the reference voltage and the two or three contrary of each phase of first three-phase inverter (3)
The reference voltage for becoming device (4) each phase carries out amplitude com parison with triangular carrier respectively and generates initial symmetrical pulse-width signal；
According to sector locating for the rotor position angle, phase shift is carried out to each initial symmetrical pulse-width signal respectively,
So that first three-phase inverter (3) and the identical common mode electricity for reducing amplitude of second three-phase inverter (4) output
Pressure, obtain target pulse-width signal PWM1, PWM2, PWM3, PWM4, PWM5 and PWM6, wherein PWM1, PWM2 and
PWM3 is used to control the switching tube action of first three-phase inverter (3), and PWM4, PWM5 and PWM6 are for controlling described the
The switching tube action of two three-phase inverters (4), to inhibit the zero-sequence current and common-mode voltage of motor.
3. according to the method described in claim 2, it is characterized in that, the partitioning scenario of the sector are as follows:
Wherein, θ indicates the rotor position angle.
4. according to the method described in claim 3, it is characterized in that, being incited somebody to action if the rotor position angle is in the first sector
Ga1Half of switch periods of phase shift obtain target pulse-width signal PWM1, by Ga2Half of switch periods of phase shift obtain target pulsewidth
Modulated signal PWM4, mobile Gb2Make Gb2Failing edge and PWM4 rising edge alignment obtain target pulse-width signal PWM5, it is mobile
Gc2Make Gc2Rising edge be aligned to obtain target pulse-width signal PWM6, mobile G with PWM4 failing edgeb1Make Gb1Rising edge with
PWM1 failing edge is aligned to obtain target pulse-width signal PWM2, mobile Gc1Make Gc1Failing edge obtained with PWM1 rising edge alignment
Failing edge to target pulse-width signal PWM3, PWM2 is aligned with the failing edge of PWM6 automatically, the rising edge of PWM3 automatically with
The rising edge alignment of PWM5, wherein Ga1、Gb1And Gc1For the initial pulsewidth tune for driving the first three-phase inverter (3) upper tube
Signal processed, Ga2、Gb2And Gc2For the initial pulse-width signal for driving the second three-phase inverter (4) upper tube.
5. according to the method described in claim 3, it is characterized in that, being incited somebody to action if the rotor position angle is in the second sector
Gc1Half of switch periods of phase shift obtain target pulse-width signal PWM3, by Gc2Half of switch periods of phase shift obtain target pulsewidth
Modulated signal PWM6, mobile Gb2Make Gb2Failing edge and PWM6 rising edge alignment obtain target pulse-width signal PWM5, it is mobile
Ga2Make Ga2Rising edge be aligned to obtain target pulse-width signal PWM4, mobile G with PWM6 failing edgeb1Make Gb1Rising edge with
PWM3 failing edge is aligned to obtain target pulse-width signal PWM2, mobile Ga1Make Ga1Failing edge obtained with PWM3 rising edge alignment
Failing edge to target pulse-width signal PWM1, PWM2 is aligned with the failing edge of PWM4 automatically, the rising edge of PWM1 automatically with
The rising edge alignment of PWM5, wherein Ga1、Gb1And Gc1For the initial pulsewidth tune for driving the first three-phase inverter (3) upper tube
Signal processed, Ga2、Gb2And Gc2For the initial pulse-width signal for driving the second three-phase inverter (4) upper tube.
6. according to the method described in claim 3, it is characterized in that, being incited somebody to action if the rotor position angle is in third sector
Gb1Half of switch periods of phase shift obtain target pulse-width signal PWM2, by Gb2Half of switch periods of phase shift obtain target pulsewidth
Modulated signal PWM5, mobile Gc2Make Gc2Failing edge and PWM5 rising edge alignment obtain target pulse-width signal PWM6, it is mobile
Ga2Make Ga2Rising edge be aligned to obtain target pulse-width signal PWM4, mobile G with PWM5 failing edgec1Make Gc1Rising edge with
PWM2 failing edge is aligned to obtain target pulse-width signal PWM3, mobile Ga1Make Ga1Failing edge obtained with PWM2 rising edge alignment
Failing edge to target pulse-width signal PWM1, PWM3 is aligned with the failing edge of PWM4 automatically, the rising edge of PWM1 automatically with
The rising edge alignment of PWM6, wherein Ga1、Gb1And Gc1For the initial pulsewidth tune for driving the first three-phase inverter (3) upper tube
Signal processed, Ga2、Gb2And Gc2For the initial pulse-width signal for driving the second three-phase inverter (4) upper tube.
7. according to the method described in claim 3, it is characterized in that, being incited somebody to action if the rotor position angle is in the 4th sector
Ga1Half of switch periods of phase shift obtain target pulse-width signal PWM1, by Ga2Half of switch periods of phase shift obtain target pulsewidth
Modulated signal PWM4, mobile Gc2Make Gc2Failing edge and PWM4 rising edge alignment obtain target pulse-width signal PWM6, it is mobile
Gb2Make Gb2Rising edge be aligned to obtain target pulse-width signal PWM5, mobile G with PWM4 failing edgec1Make Gc1Rising edge with
PWM1 failing edge is aligned to obtain target pulse-width signal PWM3, mobile Gb1Make Gb1Failing edge obtained with PWM1 rising edge alignment
Failing edge to target pulse-width signal PWM2, PWM3 is aligned with the failing edge of PWM5 automatically, the rising edge of PWM2 automatically with
The rising edge alignment of PWM6, wherein Ga1、Gb1And Gc1For the initial pulsewidth tune for driving the first three-phase inverter (3) upper tube
Signal processed, Ga2、Gb2And Gc2For the initial pulse-width signal for driving the second three-phase inverter (4) upper tube.
8. according to the method described in claim 3, it is characterized in that, being incited somebody to action if the rotor position angle is in the 5th sector
Gc1Half of switch periods of phase shift obtain target pulse-width signal PWM3, by Gc2Half of switch periods of phase shift obtain target pulsewidth
Modulated signal PWM6, mobile Ga2Make Ga2Failing edge and PWM6 rising edge alignment obtain target pulse-width signal PWM4, it is mobile
Gb2Make Gb2Rising edge be aligned to obtain target pulse-width signal PWM5, mobile G with PWM6 failing edgea1Make Ga1Rising edge with
PWM3 failing edge is aligned to obtain target pulse-width signal PWM1, mobile Gb1Make Gb1Failing edge obtained with PWM3 rising edge alignment
Failing edge to target pulse-width signal PWM2, PWM1 is aligned with the failing edge of PWM5 automatically, the rising edge of PWM2 automatically with
The rising edge alignment of PWM4, wherein Ga1、Gb1And Gc1For the initial pulsewidth tune for driving the first three-phase inverter (3) upper tube
Signal processed, Ga2、Gb2And Gc2For the initial pulse-width signal for driving the second three-phase inverter (4) upper tube.
9. according to the method described in claim 3, it is characterized in that, being incited somebody to action if the rotor position angle is in the 6th sector
Gb1Half of switch periods of phase shift obtain target pulse-width signal PWM2, by Gb2Half of switch periods of phase shift obtain target pulsewidth
Modulated signal PWM5, mobile Ga2Make Ga2Failing edge and PWM5 rising edge alignment obtain target pulse-width signal PWM4, it is mobile
Gc2Make Gc2Rising edge be aligned to obtain target pulse-width signal PWM6, mobile G with PWM5 failing edgea1Make Ga1Rising edge with
PWM2 failing edge is aligned to obtain target pulse-width signal PWM1, mobile Gc1Make Gc1Failing edge obtained with PWM2 rising edge alignment
Failing edge to target pulse-width signal PWM3, PWM1 is aligned with the failing edge of PWM6 automatically, the rising edge of PWM3 automatically with
The rising edge alignment of PWM4, Ga1、Gb1And Gc1For the initial pulsewidth modulation letter for driving the first three-phase inverter (3) upper tube
Number, Ga2、Gb2And Gc2For the initial pulse-width signal for driving the second three-phase inverter (4) upper tube.
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| CN113965125A (en) * | 2021-10-12 | 2022-01-21 | 上海飒智智能科技有限公司 | Intelligent mobile robot hub motor servo driver parallel control method |
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