CN109672381A - A kind of the ovennodulation control method and its device of motor - Google Patents

A kind of the ovennodulation control method and its device of motor Download PDF

Info

Publication number
CN109672381A
CN109672381A CN201811453518.5A CN201811453518A CN109672381A CN 109672381 A CN109672381 A CN 109672381A CN 201811453518 A CN201811453518 A CN 201811453518A CN 109672381 A CN109672381 A CN 109672381A
Authority
CN
China
Prior art keywords
signal
motor
angle
modulation ratio
voltage signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201811453518.5A
Other languages
Chinese (zh)
Other versions
CN109672381B (en
Inventor
张永昌
金家林
刘家利
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
North China University of Technology
Original Assignee
North China University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by North China University of Technology filed Critical North China University of Technology
Priority to CN201811453518.5A priority Critical patent/CN109672381B/en
Publication of CN109672381A publication Critical patent/CN109672381A/en
Application granted granted Critical
Publication of CN109672381B publication Critical patent/CN109672381B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022Synchronous motors
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04Arrangements 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
    • H02P27/06Arrangements 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
    • H02P27/08Arrangements 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
    • H02P27/12Arrangements 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
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05Synchronous machines, e.g. with permanent magnets or DC excitation

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The present invention discloses a kind of ovennodulation control method of motor, it is related to motor modulation technique, the following steps are included: the error signal and current feedback signal of acquisition motor feedback revolving speed and given rotating speed, obtain the command voltage signal U of motor by the coordinate transform of two-phase rotating coordinate system to two-phase stationary coordinate systemα *、Uβ *, by space vector pulse width modulation SVPWM, angle is obtained to (θh, θr) binary function F (θh, θr), it obtains modulation ratio MI and calculates modulation ratio MI;The modulation ratio MI and angle are to (θh, θr) correspond, according to the value of modulation ratio MI, angle is obtained to (θh, θr) value;According to angle to (θh, θr) value, calculate motor needed for voltage vector and corresponding duty ratio, then obtain six tunnel driving signal of inverter, the present invention need to only obtain angle to (θh, θr) numerical information, can determine the fundamental wave size to be exported, ovennodulation can be realized, principle is simple, easy to operate.

Description

A kind of the ovennodulation control method and its device of motor
Technical field
The present invention relates to motor modulation techniques, particularly relate to the ovennodulation control method and its device of a kind of motor.
Background technique
The output voltage of usual inverter will receive the limitation of DC bus-bar voltage size, in the case of constant busbar voltage, Its utilization rate will will affect the torque and power output of motor in weak magnetic area, such as in the drive system of electric car, usually DC bus-bar voltage is not high, simultaneously as, with the increase of output power, DC bus-bar voltage can also subtract there are the internal resistance of source Small, this situation is very unfavorable to the high-power output of motor under high speed weak magnetic.And it rationally can be improved directly using Overmodulation Method Voltage utilization is flowed, the stable operation range of motor is extended.
In two level three-phase inversion systems, the regular hexagon region that basic voltage vectors are constituted is space vector pulse width tune Making the region in the voltage space inscribed circle of (SVPWM) is linear modulation area.It, can but in order to further increase voltage utilization So that output voltage vector expands to except inscribed circle within hexagon.Overmodulation technique has clear advantage: it is female to improve direct current Line voltage utilization rate improves speed output area to improve the fundamental voltage of inverter output, improves load capacity.Especially Under six-step mode, the maximum fundamental voltage of output can be improved into 10.27% (under conditions of SVPWM).But it also can band Carry out some problems, current harmonic content becomes larger, and torque pulsation and noise are big etc..At the same time, traditional Holtz double mode toning The defects of system is in the presence of that cannot make the fundamental voltage of output be equal to the fundamental wave value of demand, lack stringent theoretical proof.And it passes For the Bolognani single mode ovennodulation of system in identical modulation depth, the harmonic wave of output is larger.
Summary of the invention
In view of this, the present invention propose it is a kind of with angle to being control target based on space vector pulse width modulation, To the ovennodulation control method and its device of motor.
Ovennodulation control method based on above-mentioned purpose motor provided by the invention, comprising the following steps:
The error signal and current feedback signal for acquiring motor feedback revolving speed and given rotating speed, pass through two-phase rotating coordinate system Coordinate transform to two-phase stationary coordinate system obtains the command voltage signal U of motorα *、Uβ *, by space vector pulse width modulation SVPWM obtains angle to (θh, θr) binary function F (θh, θr), it obtains modulation ratio MI and calculates modulation ratio MI, whereinUrefFor modulating wave fundamental wave, that is, F (θh, θr), UdcFor DC bus-bar voltage;
The modulation ratio MI and angle are to (θh, θr) correspond, according to the value of modulation ratio MI, angle is obtained to (θh, θr) Value;
According to angle to (θh, θr) value, calculate motor needed for voltage vector and corresponding duty ratio, by voltage vector And corresponding duty ratio is input in dsp controller and is handled, then dsp controller output digit signals to inverter In, obtain six tunnel driving signal of inverter.
Coordinate transform described in this method the following steps are included:
Acquire motor feedback revolving speed and given rotating speed error signal and current feedback signal, according to motor feedback revolving speed with The error signal of given rotating speed obtains the reference current feedback signal i under d, q axis coordinate systemd *、iq *
According to the reference current feedback signal i gotd *、iq *D, q are obtained compared with the current feedback signal Reference voltage signal U under coordinate systemd *、Uq *
According to the reference voltage signal U gotd *、Uq *Obtain command voltage signal Uα *、Uβ *
According to command voltage signal Uα *、Uβ *, it obtains modulation ratio MI and calculates modulation ratio MI, judge the value of modulation ratio MI, When modulation ratio MI is less than 1, then obtain six path switching signal of inverter with Traditional Space Vector Pulse Width Modulation method, otherwise sequentially into The following step of row.
The i of reference current feedback signal described in this methodd *、iq *It is that the error signal of motor feedback revolving speed is passed through into PI tune Device is saved, to obtain the reference current feedback signal i under d, q axis coordinate systemd *、iq *
Reference voltage signal i described in this methodd *、iq *Compared with the current feedback signal relatively after, equally pass through PI tune Device is saved, to obtain the reference voltage signal U under d, q coordinate systemd *、Uq *
The U of command voltage signal described in this methodd *、Uq *By coordinate transform formula (1), command voltage signal U is obtainedα *、 Uβ *, the formula (1) are as follows:
Wherein, θ is the angle of voltage vector and α axis.
The U of command voltage signal described in this methodα *、Uβ *, angle is obtained to (θ according to formula (2) by SVPWMh, θr) Binary function F (θh, θr), and modulation ratio MI is calculated, the formula (2) are as follows:
Wherein, UdcFor DC bus-bar voltage,
The range of modulation ratio MI described in this method is 1-1.1027, and as modulation ratio MI=1.1027, fundamental voltage is
When modulation ratio MI is between 1-1.1027 range in this method, angle is to (θh, θr) function trace be hexagon and Hexagon Inner arc;When modulation ratio MI is equal to 1.1027, angle is to (θh, θr) function trace be hexagon.
Based on above-mentioned purpose, the present invention discloses a kind of device of the ovennodulation control method of motor, described devices Include:
Permanent magnet synchronous motor: for obtaining the given rotating speed of motor, the error signal of motor feedback revolving speed and given rotating speed And current feedback signal;
Inverter: the three-phase input electric energy of the permanent magnet synchronous motor is provided;
Signal acquisition and coordinate transformation module: it is used for acquisition instruction voltage signal Uα *、Uβ *
Modulation operation module: the command voltage signal U that will be obtainedα *、Uβ *Carry out Overmodulation Method, command voltage signal Uα *、 Uβ *Enter dsp controller after signal conditioning circuit and is transformed to digital signal;
Pulse output module: digital signal output is six way switch pulses by the dsp controller, then by driving The final driving signal of six switching tubes of the inverter is obtained after dynamic circuit.
Signal acquisition described in the device and coordinate transformation module include:
Current feedback signal obtains module: according to the error signal of motor feedback revolving speed and given rotating speed, obtaining d, q axis and sits Reference current feedback signal i under mark systemd *、iq *
Voltage signal obtains module: according to reference current feedback signal id *、iq *Relatively come compared with the current feedback signal Obtain the reference voltage signal U under d, q axis coordinate systemd *、Uq *
Command voltage signal acquisition module: according to reference voltage signal Ud *、Uq *The finger being transformed under two-phase stationary coordinate system Enable voltage signal Uα *、Uβ *
From the above it can be seen that a kind of ovennodulation control method of motor provided by the invention, by acquiring motor The error signal of given rotating speed and machine feedback revolving speed, is obtained by the coordinate transform of two-phase rotating coordinate system to two-phase stationary coordinate system To the command voltage signal U of motorα *、Uβ *, by space vector pulse width modulation SVPWM, angle is obtained to (θh, θr) binary letter Number F (θh, θr), it defines modulation ratio MI and calculates modulation ratio MI and obtain angle to (θ further according to the value of modulation ratio MIh, θr) Value, according to angle to (θh, θr) value, calculate motor needed for voltage vector and corresponding duty ratio, finally obtain inverter six Road driving signal.Relative to Bolognani single mode overmodulation method, solve in identical modulation depth, output harmonic wave Larger problem;Opposite Holtz double mode overmodulation method, there is stringent theoretical proof, and it is big to solve torque pulsation, deposits The noise the problems such as;Subregion is not needed, it is only necessary to control angle to (θh, θr), it can realize ovennodulation, principle is simple, operation It is convenient.
Detailed description of the invention
Fig. 1 is the structure principle chart of the embodiment of the present invention;
Fig. 2 is the method schematic of the embodiment of the present invention;
Fig. 3 is the vector locus of ovennodulation in the embodiment of the present invention;
Fig. 4 is simulation result diagram of the modulation ratio M1 between 1.08-1.1027 range in the embodiment of the present invention;
Fig. 5 is experimental waveform of the motor operation under six-step mode in the embodiment of the present invention;
Fig. 6 is the structural block diagram in the embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings to invention is more fully described, wherein illustrating exemplary embodiment of the present invention.
For the problems such as current harmonic content existing for traditional overmodulation method becomes larger, torque pulsation and noise are big, originally The solution that invention proposes is the ovennodulation control method using a kind of motor, only need to obtain angle to (θh, θr) numerical value letter Breath, can determine the fundamental wave size to be exported, ovennodulation can be realized, principle is simple, easy to operate.
The ovennodulation control method of motor provided by the invention, comprising the following steps:
The error signal and current feedback signal for acquiring motor feedback revolving speed and given rotating speed, pass through two-phase rotating coordinate system Coordinate transform to two-phase stationary coordinate system obtains the command voltage signal U of motorα *、Uβ *, by space vector pulse width modulation SVPWM obtains modulation ratio MI and calculates modulation ratio MI, whereinUrefFor modulating wave fundamental wave, that is, F (θh, θr), UdcFor DC bus-bar voltage;
The modulation ratio MI and angle are to (θh, θr) correspond, according to the value of modulation ratio MI, angle is obtained to (θh, θr) Value;
According to angle to (θh, θr) value, calculate motor needed for voltage vector and corresponding duty ratio, by voltage vector And corresponding duty ratio is input in dsp controller and is handled, then dsp controller output digit signals to inverter In, obtain six tunnel driving signal of inverter.
A kind of ovennodulation control method of motor provided by the invention feeds back revolving speed by acquisition motor given rotating speed and machine Error signal, the command voltage signal of motor is obtained by the coordinate transform of two-phase rotating coordinate system to two-phase stationary coordinate system Uα *、Uβ *, by space vector pulse width modulation SVPWM, angle is obtained to (θh, θr) binary function F (θh, θr), define modulation ratio MI simultaneously calculates modulation ratio MI, further according to the value of modulation ratio MI, obtains angle to (θh, θr) value, according to angle to (θh, θr) Value, calculate motor needed for voltage vector and corresponding duty ratio, finally obtain six tunnel driving signal of inverter.Relative to Bolognani single mode overmodulation method, solves in identical modulation depth, the larger problem of output harmonic wave;Relatively Holtz double mode overmodulation method, there is stringent theoretical proof, and solves the problems such as torque pulsation is big, and there are noises;No Need subregion, it is only necessary to control angle to (θh, θr), it can realize ovennodulation, principle is simple, easy to operate.
Relatively good implementation of the present invention is described in detail below.In the examples below, motor is using permanent magnetism Synchronous motor, the present invention have made the correctness of experimental verification this method of permanent magnet synchronous motor, can similarly be transplanted to it On his motor.
Referring to Fig. 1, coordinate transform described in this method the following steps are included:
Believed according to the error signal and current feedback of permanent magnet synchronous motor given rotating speed and permanent magnet synchronous motor feedback revolving speed Number, wherein the given rotating speed fixation of permanent magnet synchronous motor will not change, and the error of permanent magnet synchronous motor Real-time Feedback is believed Number (error value between given rotating speed) is variation, obtains the reference current under d, q axis coordinate system according to the two values Feedback signal id *、iq *
According to the reference current feedback signal i got befored *、iq *Compared with the current feedback signal Reference voltage signal U under to d, q coordinate systemd *、Uq *, wherein reference voltage signal Ud *、Uq *It is to obtain d, q by pi regulator Reference voltage signal U under coordinate systemd *、Uq *, pi regulator is a kind of linear controller, it is defeated according to given value and reality Value constitutes control deviation out, and the ratio of deviation and integral are constituted control amount by linear combination, controlled controlled device;
According to the reference voltage signal U got befored *、Uq *The instruction electricity being transformed under two-phase stationary coordinate system Press signal Uα *、Uβ *, wherein reference voltage signal Ud *、Uq *It is also by pi regulator, by the signal under two-phase stationary coordinate system Acquisition and coordinate transform formula (1), the formula (1) are as follows:
Wherein, θ is the angle of voltage vector and α axis, obtains command voltage signal Uα *、Uβ *
According to command voltage signal Uα *、Uβ *, obtain modulation ratio MI and calculate modulation ratio MI, wherein UrefFor modulating wave fundamental wave, that is, F (θh, θr), UdcFor DC bus-bar voltage;The value for judging modulation ratio MI, when modulation ratio MI is less than 1, Six path switching signal of inverter then is obtained with Traditional Space Vector Pulse Width Modulation method, otherwise sequentially carries out following step.This In the Traditional Space Vector Pulse Width Modulation method mentioned be Holtz two-mode method and Bolognani single mode overmodulation method;
When modulation ratio MI is not less than 1, then by space vector pulse width modulation (Space Vector Pulse Width Modulation), the main thought of SVPWM is with three-phase symmetrical motor stator sub-ideal when the power supply of three-phase symmetrical sine voltage Magnetic linkage circle is reference standard, makees switching appropriate with three-phase inverter difference switching mode, so that PWM wave is formed, to be formed Practical flux linkage vector track its accurate magnetic linkage circle.The command voltage signal U that will be obtainedα *、Uβ *By Overmodulation Method, adopt The command voltage signal U collectedα *、Uβ *Dsp controller is entered back into after signal conditioning circuit is transformed to digital signal, DSP control Device, that is, DSP (Digital Signal Process) chip, that is, Digital Signal Processing processed, dsp chip refer to realize number The chip of word signal processing technology.According to formula (2), the formula (2) are as follows:
Wherein, UdcFor DC bus-bar voltage,And then angle is obtained to (θh, θr) binary Function F (θh, θr);
The modulation ratio MI and angle are to (θh, θr) correspond, according to the value of modulation ratio MI, angle is obtained to (θh, θr) Value modulated angle can be obtained to (θ by the function trace of modulation ratio MIh, θr) function trace, then in institute It asks and keeps corner position vector in angular range, then the voltage vector of other angles effect is one section of hexagon side, toning The entire scope of system is exactly from starting pointIt is final available to the process of terminal (0,0)
Then according to the angle got to (θh, θr) value, calculate motor needed for voltage vector and corresponding duty Than then obtaining the driving signal of six way switch pipe of inverter.
The range of modulation ratio MI described in this method is 1-1.1027, and as modulation ratio MI=1.1027, fundamental voltage is
When modulation ratio MI is between 1-1.1027 range in this method, angle is to (θh, θr) function trace be hexagon and Hexagon Inner arc;When modulation ratio MI is equal to 1.1027, angle is to (θh, θr) function trace be hexagon, i.e., so-called six Step mode.
Referring to Fig. 2, need to only obtain angle to (θh, θr) numerical information, can determine the fundamental wave size to be exported.
Referring to Fig. 3, being the angle after ovennodulation of the present invention to (θh, θr) function trace, the similar sinusoidal rail in the track Mark is from track starting pointTo the process of terminal (0,0).
Referring to Fig. 4, being the simulation result diagram that modulation ratio MI is 1.08-1.1027, wherein channel 1 indicates speed, channel 2 For electromagnetic torque, channel 3 is a phase current, and channel 4 is a phase voltage, from simulation result it can be seen that even if without weak magnetic, originally Invention can improve fundamental voltage very well still to improve revolving speed.
Referring to Fig. 5, being experimental waveform of the motor operation under six-step mode, under this state modulation ratio MI=1.Channel 1, 2 be respectively given revolving speed and actual revolving speed, and channel 3 is phase voltage, and channel 4 is electric machine phase current.No matter emulate or real It tests all consistent with theory analysis.
A kind of ovennodulation control method of motor provided by the invention feeds back revolving speed by acquisition motor given rotating speed and machine Error signal, the command voltage signal of motor is obtained by the coordinate transform of two-phase rotating coordinate system to two-phase stationary coordinate system Uα *、Uβ *, by space vector pulse width modulation SVPWM, angle is obtained to (θh, θr) binary function F (θh, θr), define modulation ratio MI simultaneously calculates modulation ratio MI, further according to the value of modulation ratio MI, obtains angle to (θh, θr) value, according to angle to (θh, θr) Value, calculate motor needed for three sections of voltage vectors and corresponding duty ratio, finally obtain six tunnel driving signal of inverter.Relatively It in Bolognani single mode overmodulation method, solves in identical modulation depth, the larger problem of output harmonic wave;Relatively Holtz double mode overmodulation method, there is stringent theoretical proof, and solves the problems such as torque pulsation is big, and there are noises;No Need subregion, it is only necessary to control angle to (θh, θr), it can realize ovennodulation, principle is simple, easy to operate.
Based on above-mentioned purpose, the present invention discloses a kind of device of the ovennodulation control method of motor,
Fig. 6 is please referred to, described device includes:
Permanent magnet synchronous motor 1: for obtaining the given rotating speed of motor, the error signal of motor feedback revolving speed and given rotating speed And current feedback signal;
Inverter 2: the three-phase input electric energy of the permanent magnet synchronous motor is provided;
Signal acquisition and coordinate transformation module 3: it is used for acquisition instruction voltage signal Uα *、Uβ *
Modulation operation module 4: the command voltage signal U that will be obtainedα *、Uβ *Carry out Overmodulation Method, command voltage signal Uα *、Uβ *Enter dsp controller after signal conditioning circuit and is transformed to digital signal;
Pulse output module 5: digital signal output is six way switch pulses by the dsp controller, is then passed through The final driving signal of six switching tubes of the inverter is obtained after driving circuit.
Signal acquisition described in the device and coordinate transformation module include:
Current feedback signal obtains module 31: according to the error signal of motor feedback revolving speed and given rotating speed, obtaining d, q axis Reference current feedback signal i under coordinate systemd *、iq *
Voltage signal obtains module 32: according to reference current feedback signal id *、iq *Compared with the current feedback signal Obtain the reference voltage signal U under d, q axis coordinate systemd *、Uq *
Command voltage signal acquisition module 33: according to reference voltage signal Ud *、Uq *It is transformed under two-phase stationary coordinate system Command voltage signal Uα *、Uβ *
A kind of ovennodulation control method of motor provided by the invention feeds back revolving speed by acquisition motor given rotating speed and machine Error signal, the command voltage signal of motor is obtained by the coordinate transform of two-phase rotating coordinate system to two-phase stationary coordinate system Uα *、Uβ *, by space vector pulse width modulation SVPWM, angle is obtained to (θh, θr) binary function F (θh, θr), define modulation ratio MI simultaneously calculates modulation ratio MI, further according to the value of modulation ratio MI, obtains angle to (θh, θr) value, according to angle to (θh, θr) Value, calculate motor needed for three sections of voltage vectors and corresponding duty ratio, finally obtain six tunnel driving signal of inverter.Relatively It in Bolognani single mode overmodulation method, solves in identical modulation depth, the larger problem of output harmonic wave;Relatively Holtz double mode overmodulation method, there is stringent theoretical proof, and solves the problems such as torque pulsation is big, and there are noises;No Need subregion, it is only necessary to control angle to (θh, θr), it can realize ovennodulation, principle is simple, easy to operate.
Description of the invention is provided for the sake of example and explanation, and is not exhaustively or will be of the invention It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches It states embodiment and is to more preferably illustrate the principle of the present invention and practical application, and those skilled in the art is enable to manage The solution present invention is to design various embodiments suitable for specific applications with various modifications.

Claims (10)

1. a kind of ovennodulation control method of motor, it is characterised in that: the following steps are included:
The error signal and current feedback signal for acquiring motor feedback revolving speed and given rotating speed, pass through two-phase rotating coordinate system to two The coordinate transform of phase rest frame obtains the command voltage signal U of motorα *、Uβ *, by space vector pulse width modulation SVPWM, Angle is obtained to (θh, θr) binary function F (θh, θr), it obtains modulation ratio MI and calculates modulation ratio MI, wherein wherein,UrefFor modulating wave fundamental wave, that is, F (θh, θr), UdcFor DC bus-bar voltage;
The modulation ratio MI and angle are to (θh, θr) correspond, according to the value of modulation ratio MI, angle is obtained to (θh, θr) value;
According to angle to (θh, θr) value, voltage vector and corresponding duty ratio needed for calculating motor, by voltage vector and Corresponding duty ratio, which is input in dsp controller, to be handled, and then dsp controller output digit signals are obtained into inverter To six tunnel driving signal of inverter.
2. the ovennodulation control method of motor according to claim 1, it is characterised in that:
The error signal and current feedback signal for acquiring motor feedback revolving speed and given rotating speed according to motor feedback revolving speed and give The error signal of revolving speed obtains the reference current feedback signal i under d, q axis coordinate systemd *、iq *
According to the reference current feedback signal i gotd *、iq *D, q coordinate are obtained compared with the current feedback signal Reference voltage signal U under systemd *、Uq *
According to the reference voltage signal U gotd *、Uq *Obtain command voltage signal Uα *、Uβ *
According to command voltage signal Uα *、Uβ *, modulation ratio MI at modulation ratio MI and calculating is obtained, the value of modulation ratio MI is judged, works as tune System less than 1, then obtains six path switching signal of inverter with Traditional Space Vector Pulse Width Modulation method, otherwise counts and sequentially carry out than MI Following step.
3. the ovennodulation control method of motor according to claim 2, it is characterised in that: the reference current feedback signal id *、iq *It is by the error of motor feedback revolving speed by pi regulator, to obtain the reference current feedback letter under d, q axis coordinate system Number id *、iq *
4. the ovennodulation control method of motor according to claim 2, it is characterised in that: the reference voltage signal id *、 iq *Compared with the current feedback signal relatively after, equally by pi regulator, to obtain the reference voltage signal under d, q coordinate system Ud *、Uq *
5. the ovennodulation control method of motor according to claim 2, it is characterised in that: described instruction voltage signal Ud *、 Uq *By coordinate transform formula (1), command voltage signal U is obtainedα *、Uβ *, the formula (1) are as follows:
Wherein, θ is the angle of voltage vector and α axis.
6. the ovennodulation control method of motor according to claim 1, it is characterised in that: described instruction voltage signal Uα *、 Uβ *, angle is obtained to (θ according to formula (2) by SVPWMh, θr) binary function F (θh, θr), and modulation ratio MI is calculated, institute State formula (2) are as follows:
Wherein, UdcFor DC bus-bar voltage,
7. the ovennodulation control method of motor according to claim 1, it is characterised in that: the range of the modulation ratio MI is 1-1.1027, as modulation ratio MI=1.1027, fundamental voltage is
8. the ovennodulation control method of motor according to claim 7, it is characterised in that: when modulation ratio MI is in 1-1.1027 Between range, angle is to (θh, θr) function trace be hexagon and hexagon Inner arc;When modulation ratio MI is equal to 1.1027, Angle is to (θh, θr) function trace be hexagon.
9. a kind of device of the ovennodulation control method of motor described in any one of -8 according to claim 1, feature exist In: described device includes:
Permanent magnet synchronous motor: for obtaining the revolving speed of motor and the error signal of motor feedback revolving speed;
Inverter: the three-phase input electric energy of the permanent magnet synchronous motor is provided;
Signal acquisition and coordinate transformation module: it is used for acquisition instruction voltage signal Uα *、Uβ *
Modulation operation module: the command voltage signal U that will be obtainedα *、Uβ *Carry out Overmodulation Method, command voltage signal Uα *、Uβ *Through It crosses after signal conditioning circuit and is transformed to digital signal into dsp controller;
Pulse output module: digital signal output is six way switch pulses by the dsp controller, then through electricity of overdriving The final driving signal of six switching tubes of the inverter is obtained behind road.
10. the device of the ovennodulation control method of motor according to claim 9, it is characterised in that: the signal acquisition And coordinate transformation module includes:
Current feedback signal obtains module: according to the error signal of motor feedback revolving speed and given rotating speed, obtaining d, q axis coordinate system Under reference current feedback signal id *、iq *
Voltage signal obtains module: according to reference current feedback signal id *、iq *D, q are obtained compared with the current feedback signal Reference voltage signal U under axis coordinate systemd *、Uq *
Command voltage signal acquisition module: according to reference voltage signal Ud *、Uq *The instruction electricity being transformed under two-phase stationary coordinate system Press signal Uα *、Uβ *
CN201811453518.5A 2018-11-30 2018-11-30 Over-modulation control method and device for motor Expired - Fee Related CN109672381B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811453518.5A CN109672381B (en) 2018-11-30 2018-11-30 Over-modulation control method and device for motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811453518.5A CN109672381B (en) 2018-11-30 2018-11-30 Over-modulation control method and device for motor

Publications (2)

Publication Number Publication Date
CN109672381A true CN109672381A (en) 2019-04-23
CN109672381B CN109672381B (en) 2020-08-11

Family

ID=66143599

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811453518.5A Expired - Fee Related CN109672381B (en) 2018-11-30 2018-11-30 Over-modulation control method and device for motor

Country Status (1)

Country Link
CN (1) CN109672381B (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110266236A (en) * 2019-06-24 2019-09-20 珠海格力电器股份有限公司 A kind of voltage vector ovennodulation control method, device and permanent magnet synchronous motor
CN110380657A (en) * 2019-07-24 2019-10-25 凡己科技(苏州)有限公司 A kind of torque magnification method when electri forklift motor weak magnetic works
CN112448634A (en) * 2019-09-03 2021-03-05 博世华域转向系统有限公司 Improved space vector modulation method
CN113472267A (en) * 2020-03-31 2021-10-01 安徽威灵汽车部件有限公司 Overmodulation control method and device, motor drive system, and storage medium

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101442290A (en) * 2009-01-04 2009-05-27 株洲南车时代电气股份有限公司 Overmodulation method and system for bi-level space vector pulse duration modulation
CN101674046B (en) * 2009-09-07 2011-09-14 清华大学 Electric current reconstructing and over-modulating device of air conditioning frequency converter and method thereof
KR20120079978A (en) * 2011-01-06 2012-07-16 홍익대학교 산학협력단 A space vector pwm overmodulation control method and apparatus thereof
CN108418502A (en) * 2018-01-19 2018-08-17 江苏大学 A kind of permanent magnet synchronous motor based on improvement type SVPWM opens the fault-tolerant Direct Torque Control of winding

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101442290A (en) * 2009-01-04 2009-05-27 株洲南车时代电气股份有限公司 Overmodulation method and system for bi-level space vector pulse duration modulation
CN101674046B (en) * 2009-09-07 2011-09-14 清华大学 Electric current reconstructing and over-modulating device of air conditioning frequency converter and method thereof
KR20120079978A (en) * 2011-01-06 2012-07-16 홍익대학교 산학협력단 A space vector pwm overmodulation control method and apparatus thereof
CN108418502A (en) * 2018-01-19 2018-08-17 江苏大学 A kind of permanent magnet synchronous motor based on improvement type SVPWM opens the fault-tolerant Direct Torque Control of winding

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110266236A (en) * 2019-06-24 2019-09-20 珠海格力电器股份有限公司 A kind of voltage vector ovennodulation control method, device and permanent magnet synchronous motor
CN110380657A (en) * 2019-07-24 2019-10-25 凡己科技(苏州)有限公司 A kind of torque magnification method when electri forklift motor weak magnetic works
CN112448634A (en) * 2019-09-03 2021-03-05 博世华域转向系统有限公司 Improved space vector modulation method
CN112448634B (en) * 2019-09-03 2022-07-15 博世华域转向系统有限公司 Improved space vector modulation method
CN113472267A (en) * 2020-03-31 2021-10-01 安徽威灵汽车部件有限公司 Overmodulation control method and device, motor drive system, and storage medium
CN113472267B (en) * 2020-03-31 2023-06-06 安徽威灵汽车部件有限公司 Overmodulation control method, overmodulation control device, motor driving system and storage medium

Also Published As

Publication number Publication date
CN109672381B (en) 2020-08-11

Similar Documents

Publication Publication Date Title
CN109672381A (en) A kind of the ovennodulation control method and its device of motor
JP4429338B2 (en) Motor control device, current detection unit
CN102195553B (en) Methods, systems and apparatus for overmodulation of a five-phase machine
CN1157845C (en) Non-synchronous motor parameter identification method
Shen et al. Current reconstruction of three-phase voltage source inverters considering current ripple
CN101917158B (en) Dead-zone compensation method for voltage source inverter
US20150069941A1 (en) Three-Phase Synchronous Motor Drive Device
CN109391199B (en) Dead zone compensation method, motor driver and computer readable storage medium
KR101535036B1 (en) Apparatus and Method for compensating torque about current order of driving motor
CN110071669A (en) A kind of permanent magnet synchronous motor vector controlled " dead time effect " compensation method
JP2010068653A (en) Inverter control apparatus and motor drive system
CN105720879B (en) A kind of novel doubly fed induction generator control method based on direct character control
CN110545057A (en) feedforward voltage compensation based compensation method for compensating parameters below basic speed of permanent magnet synchronous motor
CN104811119A (en) Frequency converter dead-band compensation voltage self-learning method
CN104539220A (en) Self-adaptation pulse width modulation method for three-phase four-switch inverter
CN101964597A (en) Dead zone compensation method for space vector pulse width modulation output based on equivalent vector effect
CN111682814B (en) Method and device for determining external characteristic parameters of motor system, electronic equipment and medium
CN107046388B (en) A kind of switched reluctance machines curren tracing control method, controller and speed-regulating system
CN109546911B (en) Single current sensor motor control method based on mixed pulse width modulation technology
CN105871278B (en) A kind of novel salient pole permanent magnet synchronous motor control method based on direct character control
CN117394735A (en) Inverter dead zone compensation method and system
CN104901577A (en) Three-phase inverter dead band time online adjustment and compensation method
Chen et al. Open‐switch fault diagnosis in three‐level rectifiers based on selective calculation method for instant voltage deviation
CN108599638B (en) Method for identifying stator flux linkage of permanent magnet synchronous motor
CN103607105A (en) Dead zone compensation control method and system thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20200811