CN110829920A - Modulation device and system - Google Patents

Modulation device and system Download PDF

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Publication number
CN110829920A
CN110829920A CN201911067821.6A CN201911067821A CN110829920A CN 110829920 A CN110829920 A CN 110829920A CN 201911067821 A CN201911067821 A CN 201911067821A CN 110829920 A CN110829920 A CN 110829920A
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overmodulation
module
voltage vector
modulation
control
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李伟亮
李岩
陈晓娇
段立华
潘忠亮
范雨卉
李帅
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FAW Group Corp
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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
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference

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Abstract

The invention provides a modulation device and a modulation system. The modulation device comprises an overmodulation module, wherein the overmodulation module stores at least one overmodulation table, each overmodulation table corresponds to a group of synchronization numbers and synchronization angles, and the overmodulation module is used for receiving an input voltage vector value and outputting an overmodulation coefficient according to the input voltage vector value and one overmodulation table; the overmodulation control module is used for generating an overmodulation control command according to an overmodulation coefficient; the single-pulse modulation control module is used for generating a single-pulse modulation control instruction; and the switching module is used for switching the overmodulation control into the single-pulse modulation control when the accumulated times that the input voltage vector value is greater than a first threshold exceeds a first numerical value, and switching the single-pulse modulation control into the overmodulation control when the accumulated times that the input voltage vector value is less than a second threshold exceeds a second numerical value.

Description

Modulation device and system
Technical Field
The embodiment of the invention relates to a motor control technology, in particular to a modulation device and a modulation system.
Background
In the development process of the pulse width modulation technology, the Space Vector Pulse Width Modulation (SVPWM) is increasingly applied to various electrical control occasions due to the characteristics of high voltage utilization rate of a direct current bus, small harmonic content and contribution to digital implementation.
If the reference voltage vector exceeds the linear modulation region in the SVPWM, the normal SVPWM algorithm is not applicable any more, and a new control method is needed in the overmodulation region to realize the modulation of the inverter. In the related art, overmodulation methods can be classified into two types, i.e., a single-mode overmodulation method in which one control method is used in the entire region without distinguishing an overmodulation region, and a dual-mode overmodulation method in which an overmodulation region is divided into two blocks, i.e., an overmodulation i region and an overmodulation ii region, according to a modulation factor, and different control methods are used for different overmodulation regions.
In the prior art, a single-mode overmodulation method is low in control precision and high in higher harmonic content of a control waveform. The dual-mode overmodulation method is complex in calculation, not beneficial to engineering realization, and prone to interruption time overflow, so that the problem of inaccurate magnetic field orientation is solved.
Disclosure of Invention
The invention provides a modulation device and a modulation system, which are used for achieving the purposes of easy combination with a conventional SVPWM control system, contribution to engineering realization and high overmodulation control precision.
In a first aspect, an embodiment of the present invention provides a modulation apparatus, including:
an overmodulation module storing at least one overmodulation table, each overmodulation table corresponding to a set of synchronization numbers and synchronization angles, the overmodulation module receiving an input voltage vector value and outputting an overmodulation coefficient according to the input voltage vector value and one of the overmodulation tables;
the overmodulation control module is used for generating an overmodulation control command according to the overmodulation coefficient;
the single-pulse modulation control module is used for generating a single-pulse modulation control instruction;
and the switching module is used for switching the overmodulation control into the single-pulse modulation control when the accumulated times that the input voltage vector value is greater than a first threshold exceeds a first numerical value, and switching the single-pulse modulation control into the overmodulation control when the accumulated times that the input voltage vector value is less than a second threshold exceeds a second numerical value.
In a second aspect, an embodiment of the present invention further provides a modulation system, including the modulation device described in the embodiment of the present invention, further including a motor and a position sensor, where the motor is configured to receive the modulation instruction sent by the modulation device, and the position sensor is configured to measure position information of a rotor of the motor.
Compared with the prior art, the invention has the beneficial effects that: the modulation device provided by the invention has an overmodulation function, the aim of overmodulation can be achieved by increasing the amplitude of an output voltage vector, the overmodulation control method is simple, the conventional SVPWM method does not need to be changed, and the engineering realization is easy.
Drawings
FIG. 1 is a block diagram of a modulation apparatus according to a first embodiment;
FIG. 2 is a block diagram of another modulating apparatus in the first embodiment;
fig. 3 is a block diagram of a modulation system according to a second embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a block diagram of a modulation device according to a first embodiment, and referring to fig. 1, the present embodiment provides a modulation device including an overmodulation module 1, where the overmodulation module 1 stores at least one overmodulation table, each of which corresponds to a set of synchronization numbers and synchronization angles, and the overmodulation module 1 is configured to receive input voltage vector values and output an overmodulation coefficient according to the input voltage vector values and an overmodulation table. And the overmodulation control module 2 is used for generating an overmodulation control command according to the overmodulation coefficient. And the single-pulse modulation control module 3 is used for generating a single-pulse modulation control instruction. And the switching module 4 is used for switching the overmodulation control into the single-pulse modulation control when the accumulated times that the input voltage vector value is greater than the first threshold exceeds a first numerical value, and switching the single-pulse modulation control into the overmodulation control when the accumulated times that the input voltage vector value is less than the second threshold exceeds a second numerical value.
Optionally, the overmodulation module 1 determines an overmodulation table to be used according to the number of synchronizations and the synchronization angle. Preferably, the overmodulation module 1 determines the overmodulation table to be used according to the number of synchronizations.
In this embodiment, the modulation method adopted by the modulation apparatus includes SVPWM modulation, and the SVPWM modulation is based on the principle that the average values of voltage vectors in one PWM duty cycle are equal, that is, in one sector, the resultant voltage vector is equal to the given voltage vector by the combination of adjacent basic voltage vectors, and the relationship between the resultant voltage vector and the given voltage vector is as follows:
Figure BDA0002259954060000031
in the formula, TiAs a basic voltage vector UiTime of action of (T)i+1Is a basic electric vector Ui+1Time of action of (T)sFor one PWM switching period, U is a given voltage vector.
Typically, the resultant voltage vector is formed using a combination of adjacent base voltage vectors and a zero voltage vector, e.g., where a given voltage vector is in the i sector, the time of action of each voltage vector is calculated by:
Figure BDA0002259954060000041
T0＝Ts-Ti-Ti+1
in the formula, theta is U and UiAngle of (U)dcIs the dc bus voltage. During modulation, the two basic voltage vectors should satisfy the following equation:
Figure BDA0002259954060000043
from the above equation, it can be seen that the maximum magnitude of the output voltage vector is
Figure BDA0002259954060000044
When the amplitude of the given voltage vector exceeds the maximum value of the SVPWM modulation vector, the voltage vector output by the inverter is smaller than the given voltage vector.
In the present embodiment, the overmodulation coefficient for the output voltage vector is looked up by the overmodulation table stored in the overmodulation block 1, and the amplitude of the output voltage vector is amplified using the overmodulation coefficient. Illustratively, the overmodulation table used in this embodiment is as follows:
TABLE 1
Figure BDA0002259954060000045
TABLE 2
Figure BDA0002259954060000051
TABLE 3
Figure BDA0002259954060000052
TABLE 4
Figure BDA0002259954060000053
TABLE 5
Figure BDA0002259954060000054
TABLE 6
Figure BDA0002259954060000055
TABLE 7
Figure BDA0002259954060000061
TABLE 8
Figure BDA0002259954060000062
In the above table, m is the vector value of the input voltage, K is the over-modulation coefficient, where m and K are both per unit values and the base value is
Figure BDA0002259954060000063
Illustratively, the corresponding relation between m and K is calculated by an impulse equivalence principle. The number of times of SVPWM modulation calculation is performed every one cycle of the motor, the synchronization angle means the offset value with respect to the start angle of each sector when SVPWM modulation calculation is performed every time, for example, when the number of synchronization is 6, that is, when the voltage space vector falls in 6 sectors and the synchronization angle is 0 degree, modulation calculation is performed at the positions of 0 degree, 60 degrees, 120 degrees, 180 degrees, 240 degrees and 300 degrees, respectively, and when the synchronization angle is 10 degrees, modulation calculation is performed at the positions of 10 degrees, 70 degrees, 130 degrees, 190 degrees, 250 degrees and 310 degrees, respectively.
The working process of the over-modulation device provided by the embodiment comprises the following steps:
step 1, the overmodulation module 1 determines the synchronization number, and then determines the synchronization angle and the overmodulation table to be used according to the synchronization number.
Because the actual output voltage can change along with the change of the synchronization number under the condition that the vector of the input voltage is not changed, in order to avoid the influence brought by the change of the synchronization number, in the step, when the synchronization numbers are different, the used overmodulation tables are also different, and different synchronization angles are set simultaneously to counteract the influence of the synchronization numbers on the output voltage.
And 2, the overmodulation module 1 receives the input voltage vector value, judges whether the input voltage vector value is greater than a first threshold value, records the accumulated times greater than the first threshold value, judges whether the input voltage vector value is less than a second threshold value, and records the accumulated times less than the second threshold value.
Illustratively, in this step, the first threshold is 1.15, and the second threshold is 0.8 times the first threshold, i.e., 0.92. In this embodiment, values of the first threshold and the second threshold are empirically selected, so that single pulse modulation control is adopted when the number of times of accumulation of the voltage greater than the first threshold exceeds a certain value, so as to fully utilize the voltage on the dc side.
And step 3, the overmodulation module 1 acquires a currently required overmodulation coefficient K through an overmodulation table.
And 4, receiving the accumulated times greater than the first threshold or the accumulated times smaller than the second threshold by the switching module 4, switching the overmodulation control to the single-pulse modulation control when the accumulated times greater than the first threshold are greater than a first value, and jumping to the step 6, and switching the single-pulse modulation control to the overmodulation control when the accumulated times smaller than the second threshold are greater than a second value, and jumping to the step 5.
Illustratively, the first value in this step is 100 and the second value is 10.
And 5, amplifying the amplitude of the output voltage vector by the overmodulation coefficient K by the overmodulation control module 2, for example, multiplying the amplitude of the output voltage vector by the overmodulation coefficient K to achieve the purpose of overmodulation.
And 6, outputting square waves by the single-pulse modulation control module 3, and performing single-pulse modulation.
When the SVPWM overmodulation device provided by the embodiment is utilized, the conventional SVPWM method is not required to be modified, the purpose of overmodulation can be achieved by increasing the amplitude of the output voltage vector, and the overmodulation control method is simple and is easy to implement in engineering.
Fig. 2 is a structural diagram of another modulation apparatus in the first embodiment, and referring to fig. 2, the modulation apparatus further includes a filtering module 5 for filtering the input voltage vector value to generate an input voltage vector filtered value, and sending the input voltage vector filtered value to the overmodulation module 1.
Optionally, the filtering module 5 performs filtering by using a first-order digital filter.
The modulation device further comprises a voltage vector calculation module 6 for performing per unit on a given voltage vector to generate an input voltage vector value m.
Wherein, the formula for per unit is as follows:
Figure BDA0002259954060000081
wherein U is a given voltage vector, UdcIs the dc bus voltage.
The modulation device further comprises a driving module 7, which is used for driving the motor to work according to the overmodulation control instruction or the single pulse modulation control instruction. The driving module 7 is an inverter, and a power switching element in the inverter operates in a specific switching mode according to a modulation control instruction, so as to drive the motor to operate.
The modulation device further comprises a voltage conversion module 8 for converting the voltage U in the two-phase rotor coordinate systemd、UqConversion to a voltage U in a two-phase stationary frameα、Uβ。
The modulation device further comprises a current conversion module 9 for collecting the current of the motor and converting the current into a two-phase rotor coordinate system.
The modulation device further comprises a control module 10 for regulating the current in the two-phase rotor coordinate system and outputting a voltage U in said two-phase rotor coordinate systemd、Uq. Optional control Module 10The PID control method is characterized in that current in a two-phase rotor coordinate system is used as input, voltage in the two-phase rotor coordinate system is used as output to establish a PID control equation, and control over the input voltage is achieved.
The operation of the modulation device shown in fig. 2 comprises:
step 1, a current conversion module 9 collects two-phase currents in a motor and converts the two-phase currents into a two-phase rotor coordinate system to obtain a current idAnd a current iq。
Step 2, the control module 10 receives the set current i in the two-phase rotor coordinate systemdCurrent iqAnd current idCurrent iqTaking the current as input, and outputting the voltage U in the two-phase rotor coordinate system through a PID equationd、Uq。
Step 3, the voltage conversion module 8 converts the voltage U in the two-phase rotor coordinate systemd、UqConversion to a voltage U in a two-phase stationary frameα、Uβ。
And 4, the overmodulation module 1 determines the synchronization number and then determines the synchronization angle and an overmodulation table required to be used according to the synchronization number.
And 5, receiving the input voltage vector value by the overmodulation module 1, judging whether the input voltage vector value is greater than a first threshold value, recording the accumulated times greater than the first threshold value, judging whether the input voltage vector value is less than a second threshold value, and recording the accumulated times less than the second threshold value.
Illustratively, in this step, the first threshold is 1.15, and the second threshold is 0.8 times the first threshold, i.e., 0.92. In this embodiment, values of the first threshold and the second threshold are empirically selected, so that single pulse modulation control is adopted when the number of times of accumulation of the voltage greater than the first threshold exceeds a certain value, so as to fully utilize the voltage on the dc side.
And step 6, the overmodulation module 1 acquires a currently required overmodulation coefficient K through an overmodulation table.
And 7, receiving the accumulated times greater than the first threshold or the accumulated times smaller than the second threshold by the switching module 4, switching the overmodulation control to the single-pulse modulation control when the accumulated times greater than the first threshold are greater than a first value, and jumping to step 9, and switching the single-pulse modulation control to the overmodulation control when the accumulated times smaller than the second threshold are greater than a second value, and jumping to step 8.
Illustratively, the first value in this step is 100 and the second value is 10.
Step 8, passing voltage U by the overmodulation control module 2α、UβThe sector where the given voltage vector is located is judged, the acting time of each voltage vector in each sector is calculated by using an SVPWM (space vector pulse width modulation) method, an output voltage vector is further obtained, and the overmodulation control module 2 amplifies the amplitude of the output voltage vector through an overmodulation coefficient K, for example, the overmodulation control command is generated by multiplying the overmodulation coefficient K and the amplitude of the output voltage vector.
As an alternative, the method for the overmodulation control module 2 to determine the sector in which the given voltage vector is located includes:
passing voltage Uα_n、Uβ_nJudging the sector where the voltage vector is located, wherein the voltage is opposite to the voltage U through the bus voltageα、UβPerforming per unit to obtain a voltage Uα_n、Uβ_nE.g. of
Figure BDA0002259954060000101
In the formula of UdcIs the bus voltage.
The method for judging the sector where the voltage vector is located comprises the following steps:
when U is turnedβ_nGreater than zero, Uα_nIs greater than
Figure BDA0002259954060000102
At time, the voltage vector is in sector i.
When U is turnedβ_nGreater than zero, Uα_nIs less than
Figure BDA0002259954060000103
And is greater than
Figure BDA0002259954060000104
The voltage vector is in sector ii.
When U is turnedβ_nGreater than zero, Uα_nIs less than or equal to
Figure BDA0002259954060000105
The voltage vector is in sector iii.
When U is turnedβ_nIs less than or equal to zero, Uα_nIs greater than
Figure BDA0002259954060000106
The voltage vector is in sector vi.
When U is turnedβ_nIs less than or equal to zero, Uα_nIs less than
Figure BDA0002259954060000107
And is greater than
Figure BDA0002259954060000108
The voltage vector is in sector v.
When U is turnedβ_nIs less than or equal to zero, Uα_nIs less than or equal toThe voltage vector is in sector iv.
The overmodulation control module 2 determines the sector in which the given voltage vector is located, calculates the output voltage vector, amplifies the amplitude of the output voltage vector by an overmodulation coefficient K, for example, by multiplying the overmodulation coefficient K by the amplitude of the output voltage vector, and generates an overmodulation control command.
And 9, generating a single-pulse modulation control instruction by the single-pulse modulation control module 3 and outputting a square wave.
And step 10, the driving module 7 drives the motor to work according to the overmodulation control instruction or the single pulse modulation control instruction.
The modulation device shown in fig. 2 forms a closed-loop control device based on the voltage conversion module 8, the current conversion module 9 and the control module 10, improves the accuracy of SVPWM modulation and overmodulation, and simultaneously, the overmodulation method is continuous and easy to implement in engineering.
Referring to fig. 2, optionally, the modulation apparatus further includes a modulation control module 13, configured to generate a modulation control instruction. Wherein the modulation control module 13 generates the modulation command by using a conventional SVPWM modulation method. In this case, step 5 and step 10 in the operation process of the modulation device are as follows:
step 5, the overmodulation module 1 receives an input voltage vector value, judges whether the input voltage vector value is smaller than 1, generates a modulation control instruction by the modulation control module 13 when the input voltage vector is smaller than 1, and jumps to the step 10; when the input voltage vector is greater than or equal to 1, judging whether the input voltage vector value is greater than a first threshold value, recording the accumulated times greater than the first threshold value, judging whether the input voltage vector value is less than a second threshold value, and recording the accumulated times less than the second threshold value.
And step 10, the driving module 7 drives the motor to work according to the modulation control command, the over-modulation control command or the single-pulse modulation control command.
Example two
Fig. 3 is a structural diagram of a modulation system in a second embodiment, and referring to fig. 3, the present embodiment proposes a modulation system, which includes any modulation device described in the first embodiment, and further includes a motor 11, where the motor 11 is configured to receive a modulation command sent by the modulation device, and operate according to the modulation command.
Preferably, the modulation system comprises the modulation device shown in fig. 2, and further comprises a position sensor 12, wherein the position sensor 12 is used for measuring the position information, namely the theta angle, of the rotor of the motor 11.
The modulation system provided by the embodiment can execute the execution method corresponding to the modulation device in any embodiment of the invention, and has the corresponding beneficial effects of the execution method.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A modulation device, comprising:
an overmodulation module storing at least one overmodulation table, each overmodulation table corresponding to a set of synchronization numbers and synchronization angles, the overmodulation module receiving an input voltage vector value and outputting an overmodulation coefficient according to the input voltage vector value and one of the overmodulation tables;
the overmodulation control module is used for generating an overmodulation control command according to the overmodulation coefficient;
the single-pulse modulation control module is used for generating a single-pulse modulation control instruction;
and the switching module is used for switching the overmodulation control into the single-pulse modulation control when the accumulated times that the input voltage vector value is greater than a first threshold exceeds a first numerical value, and switching the single-pulse modulation control into the overmodulation control when the accumulated times that the input voltage vector value is less than a second threshold exceeds a second numerical value.
2. The modulation device of claim 1 wherein the overmodulation module determines the overmodulation table to use based on the synchronization count.
3. The modulation device according to claim 1, further comprising:
and the filtering module is used for filtering the input voltage vector value to generate an input voltage vector filtering value and sending the input voltage vector filtering value to the overmodulation module.
4. The modulation device according to claim 1 or 3, further comprising:
and the voltage vector calculation module is used for per-unit transforming the set voltage vector to generate the input voltage vector value.
5. The modulation device according to claim 1, further comprising:
and the driving module is used for driving the motor to work according to the overmodulation control instruction or the single pulse modulation control instruction.
6. The modulation device according to claim 1, further comprising:
a voltage conversion module for converting the voltage U in the two-phase rotor coordinate systemd、UqConversion to a voltage U in a two-phase stationary frameα、Uβ。
7. The modulation device according to claim 6, further comprising:
and the current conversion module is used for collecting the current of the motor and converting the current into a two-phase rotor coordinate system.
8. The modulation device according to claim 7, further comprising:
a control module for adjusting the current in the two-phase rotor coordinate system and outputting the voltage U in the two-phase rotor coordinate systemd、Uq。
9. The modulation device according to claim 1, further comprising:
and the modulation control module is used for generating a modulation control instruction.
10. A modulation system comprising the modulation device according to any one of claims 1 to 9, further comprising a motor for receiving the modulation command transmitted from the modulation device, and a position sensor for measuring position information of a rotor of the motor.
CN201911067821.6A 2019-11-04 2019-11-04 Modulation device and system Pending CN110829920A (en)

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CN113098355A (en) * 2021-04-29 2021-07-09 臻驱科技（上海）有限公司 Over-modulation method and system of motor controller
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

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CN113098355A (en) * 2021-04-29 2021-07-09 臻驱科技（上海）有限公司 Over-modulation method and system of motor controller

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Application publication date: 20200221