CN110957955A - Vector modulation method and system of star connection multiphase motor system - Google Patents

Vector modulation method and system of star connection multiphase motor system Download PDF

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CN110957955A
CN110957955A CN201911367598.7A CN201911367598A CN110957955A CN 110957955 A CN110957955 A CN 110957955A CN 201911367598 A CN201911367598 A CN 201911367598A CN 110957955 A CN110957955 A CN 110957955A
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phase
voltage
sequence
action time
impulse
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CN110957955B (en
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陈振
关兴
赵静
刘向东
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Beijing Institute of Technology BIT
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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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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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  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a vector modulation method and a vector modulation system of a star connection multiphase motor system. The method comprises the following steps: sequencing the reference values of the impulse of each phase voltage of the motor according to the magnitude; determining a transformation matrix for transforming the voltage impulse sequence into a space voltage vector action time sequence according to the connection relation between the input end and the power supply of the star-connected multi-phase motor in different switching states and a series voltage division rule; performing linear transformation on the voltage impulse sequence by adopting a transformation matrix to obtain a space voltage vector action time sequence; calculating the action time of each control cycle of the direct-current bus voltage of each phase of the multi-phase motor according to the space voltage vector action time sequence and the required zero voltage vector distribution mode; and outputting control signals of the switching tubes of each phase according to the action time and the dead time of each control cycle of the DC bus voltage of each phase. The method gets rid of the sensitivity to the change of the rotating speed of the motor, and has the advantages of simple calculation process and easy realization.

Description

Vector modulation method and system of star connection multiphase motor system
Technical Field
The invention relates to the field of motor control, in particular to a vector modulation method and system of a star connection multiphase motor system.
Background
In a motor driving system driven by a common voltage source inverter, a space voltage vector modulation mode is widely applied to control. The space voltage vector modulation can obtain fast and accurate dynamic response and lower switching loss. The modulation mode for the multiphase motor, especially for the fault-tolerant control, has more advantages in application because the carrier period volt-second balance modulation mode has the characteristic of simpler realization compared with the space voltage vector modulation mode.
In the current academic literature and engineering practice, the pulse width modulation method of the multiphase motor is more widely applied in carrier period volt-second balance modulation (CPWM) and space voltage vector modulation (SVPWM). Although the carrier period volt-second balance modulation mode is easy to realize, accurate counter potential information is required to be used as modulation information, and the modulation information is sensitive to large rotating speed variation and armature reaction. The derivation and calculation process of the space voltage vector modulation mode for the high-phase number multi-phase motor system and the fault-tolerant control is complex and is not easy to realize.
Disclosure of Invention
The invention aims to provide a vector modulation method and a vector modulation system of a star connection multi-phase motor system, so as to get rid of the sensitivity of a modulation mode based on the carrier period volt-second balance to the change of the rotating speed of a motor and the complexity of a space voltage vector modulation to the realization mode of a high-phase number motor system.
In order to achieve the purpose, the invention provides the following scheme:
a vector modulation method of a wye-connected multi-phase electric machine system, comprising:
determining impulse reference values of all phase voltages of the multi-phase motor;
sequencing the voltage impulse reference values from large to small or from small to large to obtain a voltage impulse reverse sequence or a voltage impulse sequence;
determining a transformation matrix for transforming the voltage impulse reverse sequence or the voltage impulse sequence into a space voltage vector action time sequence according to the connection relation between the input end and the power supply of the star-connected multi-phase motor in different switching states and a series voltage division rule;
performing linear transformation on the voltage impulse reverse sequence or the voltage impulse sequence by using the transformation matrix to obtain a space voltage vector action time sequence;
calculating the action time of each control cycle of the direct-current bus voltage of each phase of the multi-phase motor according to the space voltage vector action time sequence and the required zero voltage vector distribution mode;
and outputting control signals of the switching tubes of each phase according to the action time and the dead time of each control cycle of the DC bus voltage of each phase.
Optionally, the calculating the action time of the dc bus voltage of each phase of the multiphase motor per control cycle according to the space voltage vector action time sequence and the required zero voltage vector distribution mode specifically includes:
calculating the action time of each reverse sequence phase or each sequence phase of the direct current bus voltage in each control cycle according to the space voltage vector action time sequence and the required zero voltage vector distribution mode;
and determining the action time of each control cycle of the direct-current bus voltage of each phase of the multi-phase motor according to the action time of the direct-current bus voltage of each reverse-sequence phase or each sequence phase and the position of each phase voltage impulse reference value of the multi-phase motor in the voltage impulse reverse-sequence or the voltage impulse sequence.
Alternatively, when the multi-phase motor is a five-phase motor,
Figure BDA0002338842550000021
wherein, VdcIn order to be the bus voltage,
Figure BDA0002338842550000022
in order to transform the matrix, the matrix is,
Figure BDA0002338842550000023
in the reverse order sequence of the voltage impulses,
Figure BDA0002338842550000024
a time series is applied to the space voltage vector.
Optionally, when the multi-phase motor is a five-phase motor, the performing linear transformation on the voltage impulse reverse sequence or the voltage impulse sequence by using the transformation matrix to obtain a space voltage vector action time sequence specifically includes:
selecting four reverse sequence phases from the voltage impulse reverse sequence to form a one-dimensional array, and acquiring a row group corresponding to the selected reverse sequence phase in the transformation matrix to form a full-rank transformation matrix;
and performing linear transformation on the one-dimensional array by adopting the inverse matrix of the full-rank transformation matrix to obtain a space voltage vector action time sequence.
Optionally, when the multi-phase motor is a five-phase motor, the calculating the action time of the dc bus voltage of each phase of the multi-phase motor per control cycle according to the space voltage vector action time sequence and the required zero voltage vector distribution mode specifically includes:
when a distribution mode of evenly distributing the zero voltage vector action time to the middle and two ends of each control period is adopted, the method is based on
Figure BDA0002338842550000031
Figure BDA0002338842550000032
And
Figure BDA0002338842550000033
calculating the action time of each control cycle of each reverse sequence phase in the voltage impulse reverse sequence, wherein DuTy (x) is the action time of each control cycle of the x-th phase in the voltage impulse reverse sequence;
according to DuTA＝DuTy(NA)、DuTB＝DuTy(NB)、DuTC＝DuTy(NC)、DuTD＝DuTy(ND) And DuTE＝DuTy(NE) Determining the action time of the DC bus voltage of each phase of the multi-phase motor per control cycle, wherein DuTAFor the duration of the action of the A-phase DC bus voltage of a polyphase machine per control cycle, DuTBFor the voltage of the B-phase DC bus of a multiphase motor per control cycleDuration of action, DuTCFor the duration of the action of the C-phase DC bus voltage of a polyphase machine per control cycle, DuTDFor the D-phase DC bus voltage of a multiphase motor, NEFor the position of the E-phase voltage impulse of a polyphase machine in the reverse sequence of the voltage impulses, NAFor the position of the A-phase voltage impulses of the polyphase machine in the sequence of the voltage impulses in reverse order, NBFor the position of the B-phase voltage impulse of the polyphase machine in the reverse sequence of the voltage impulses, NCFor the position of the C-phase voltage impulse of the polyphase machine in the reverse sequence of the voltage impulses, NDFor the position of the D-phase voltage impulse of the polyphase machine in the reverse sequence of the voltage impulses, NEThe position of the E-phase voltage impulses in the reverse sequence of voltage impulses for the polyphase machine is determined.
The invention also provides a vector modulation system of the star connection multiphase motor system, which comprises the following components:
the impulse reference value determining module of each phase is used for determining the impulse reference value of each phase of the multi-phase motor;
the voltage impulse sequencing module is used for sequencing the voltage impulse reference values from large to small or from small to large to obtain a voltage impulse reverse sequence or a voltage impulse sequence;
the transformation matrix determining module is used for determining a transformation matrix for transforming the voltage impulse reverse sequence or the voltage impulse sequence into a space voltage vector action time sequence according to the connection relation between the input end and the power supply of the star-connected multi-phase motor in different switching states and a series voltage division rule;
the linear transformation module is used for performing linear transformation on the voltage impulse reverse sequence or the voltage impulse sequence by adopting the transformation matrix to obtain a space voltage vector action time sequence;
the bus voltage action time calculation module of each phase is used for calculating the action time of each control cycle of the direct current bus voltage of each phase of the multi-phase motor according to the space voltage vector action time sequence and the required zero voltage vector distribution mode;
and the Pulse Width Modulation (PWM) output module is used for outputting the control signals of the switching tubes of each phase according to the action time and the dead time of each control cycle of the direct-current bus voltage of each phase.
Optionally, the module for calculating the acting time of the bus voltage of each phase specifically includes:
the bus voltage action time calculation unit of each sequence phase is used for calculating the action time of each reverse sequence phase or each direct current bus voltage of each sequence phase in each control cycle according to the space voltage vector action time sequence and the required zero voltage vector distribution mode;
and the bus voltage action time calculation unit of each phase is used for determining the action time of each control cycle of the direct-current bus voltage of each phase of the multi-phase motor according to the direct-current bus voltage action time of each reverse phase or each sequential phase and the position of each phase voltage impulse reference value of the multi-phase motor in the voltage impulse reverse sequence or the voltage impulse sequence.
Alternatively, when the multi-phase motor is a five-phase motor,
Figure BDA0002338842550000041
wherein, VdcIn order to be the bus voltage,
Figure BDA0002338842550000051
in order to transform the matrix, the matrix is,
Figure BDA0002338842550000052
in the reverse order sequence of the voltage impulses,
Figure BDA0002338842550000053
a time series is applied to the space voltage vector.
Optionally, when the multi-phase motor is a five-phase motor, the linear transformation module specifically includes:
the selection unit is used for selecting four reverse sequence phases from the voltage impulse reverse sequence to form a one-dimensional array and acquiring a full-rank transformation matrix formed by rows corresponding to the selected reverse sequence phases in the transformation matrix;
and the linear transformation unit is used for performing linear transformation on the one-dimensional array by adopting an inverse matrix of the full-rank transformation matrix to obtain a space voltage vector action time sequence.
Optionally, when the multi-phase motor is a five-phase motor, the module for calculating the voltage acting time of each phase of bus specifically includes:
each negative sequence phase bus voltage action time calculating subunit is used for calculating the action time T of the zero voltage vector when the application0When the distribution mode is evenly distributed to the middle and two ends of each control period, the method is based on
Figure BDA0002338842550000054
Figure BDA0002338842550000055
And
Figure BDA0002338842550000056
calculating the action time of each control cycle of each reverse sequence phase in the voltage impulse reverse sequence, wherein DuTy (x) is the action time of each control cycle of the x-th phase in the voltage impulse reverse sequence;
each natural phase bus voltage action time calculating subunit for calculating the action time according to the DuTA＝DuTy(NA)、DuTB＝DuTy(NB)、DuTC＝DuTy(NC)、DuTD＝DuTy(ND) And DuTE＝DuTy(NE) Determining the action time of the DC bus voltage of each phase of the multi-phase motor per control cycle, wherein DuTAFor the duration of the action of the A-phase DC bus voltage of a polyphase machine per control cycle, DuTBFor the duration of the action of the B-phase DC bus voltage of a multiphase motor per control cycle, DuTCFor the duration of the action of the C-phase DC bus voltage of a polyphase machine per control cycle, DuTDFor the D-phase DC bus voltage of a multiphase motor, NEFor the position of the E-phase voltage impulse of a polyphase machine in the reverse sequence of the voltage impulses, NAFor the position of the A-phase voltage impulses of the polyphase machine in the sequence of the voltage impulses in reverse order, NBFor multiphase motors with B-phase voltage impulses at said voltagePosition in the impulse reversed sequence, NCFor the position of the C-phase voltage impulse of the polyphase machine in the reverse sequence of the voltage impulses, NDFor the position of the D-phase voltage impulse of the polyphase machine in the reverse sequence of the voltage impulses, NEThe position of the E-phase voltage impulses in the reverse sequence of voltage impulses for the polyphase machine is determined.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the vector modulation method and the vector modulation system of the star connection multi-phase motor system sort the impulse reference values of each phase voltage of the multi-phase motor according to the magnitude to obtain a voltage impulse reverse (sequential) sequence, and record the position of the impulse reference values of each phase voltage in the voltage impulse reverse (sequential) sequence; selecting the obtained voltage impulse reverse (sequential) sequence and carrying out linear transformation on the selection result to obtain a space voltage vector action time sequence; calculating the action time of each control cycle of the direct current bus voltage of each reverse (sequential) phase according to the space voltage vector action time sequence and the required zero voltage vector distribution mode; distributing the action time of each control cycle of the reverse (sequential) phase direct-current bus voltage to a natural phase according to the action time of each reverse (sequential) phase direct-current bus voltage and the position of each natural phase voltage impulse in a voltage impulse reverse (sequential) sequence; and outputting control signals of the switching tubes of each phase according to the action time and the dead time of each control cycle of the obtained direct current bus voltage of each phase. Compared with the space vector pulse width modulation technology, the invention has the characteristics of simple realization and insensitivity to phase number on the premise of obtaining the motor with the same torque and rotating speed characteristics and direct-current voltage utilization rate, and can be simply and conveniently applied to a star-connected multi-phase motor system driven by a voltage source inverter. In addition, the invention avoids the counter potential from participating in the duty ratio calculation, thereby getting rid of the dependence on the large change of the rotating speed and the accuracy of the counter potential.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart of an embodiment of a vector modulation method of a wye-connected multi-phase electric motor system of the present invention;
FIG. 2 shows an input terminal and a power supply (V) of the motor in different switch states according to the embodiment of the present inventiondcAnd GND);
fig. 3 is a schematic diagram of a control structure in normal operation of a five-phase motor in the embodiment of the present invention;
FIG. 4 is a schematic diagram of a control structure when the open-circuit fault of the phase A of the five-phase motor is performed according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of the action time per control cycle of the space voltage vector of each phase of the five-phase motor according to the embodiment of the present invention;
fig. 6 is a block diagram of an embodiment of a vector modulation system of the wye-connected multi-phase motor system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
A first aspect of the present invention provides a method of vector modulation for a star-connected polyphase electric machine system, as shown in fig. 1, comprising the steps of:
step 101: determining impulse reference values of all phase voltages of the multi-phase motor;
step 102: sequencing the voltage impulse reference values from large to small or from small to large to obtain a voltage impulse reverse sequence or a voltage impulse sequence;
step 103: determining a transformation matrix for transforming the voltage impulse reverse sequence or the voltage impulse sequence into a space voltage vector action time sequence according to the connection relation between the input end and the power supply of the star-connected multi-phase motor in different switching states and a series voltage division rule; star-connected multiphase motor input terminal and power supply (V) under different switch statesdcAnd GND) as shown in fig. 2;
step 104: performing linear transformation on the voltage impulse reverse sequence or the voltage impulse sequence by using the transformation matrix to obtain a space voltage vector action time sequence;
step 105: calculating the action time of each control cycle of the direct-current bus voltage of each phase of the multi-phase motor according to the space voltage vector action time sequence and the required zero voltage vector distribution mode;
step 106: and outputting control signals of the switching tubes of each phase according to the action time and the dead time of each control cycle of the DC bus voltage of each phase.
In the above embodiment, taking a five-phase permanent magnet synchronous motor as an example, referring to fig. 3 and 4, the reference value of the impulse of each phase voltage is shown in fig. 3
Figure BDA0002338842550000081
In FIG. 4 are
Figure BDA0002338842550000082
Figure BDA0002338842550000083
FIG. 3 is a schematic diagram of a control structure during normal operation of a five-phase motor, referring to FIG. 3, in which iA, iB, iC, iD, and iE are measured values of respective phases of current, and are converted into a corresponding d of a synchronous rotating coordinate system through Clark and Park extension1Axis q1Shaft, d3Axis and q3Shaft current measurement id1m，iq1m，id3m，iq3m。Spd*Is a given value of the rotational speed, SpdmIs a measure of the rotational speed. The input of the speed ring proportional integral controller is the difference Spd between the set value and the measured value of the rotating speed*-SpdmThe output is fundamental current q1Shaft reference current value
Figure BDA0002338842550000084
Figure BDA0002338842550000085
Is a fundamental current d1The axis refers to the current value.
Figure BDA0002338842550000086
And
Figure BDA0002338842550000087
are respectively third harmonic current d3Axis and q3The axis refers to the current value. The input of the current loop proportional-integral controller is the corresponding d of the synchronous rotating coordinate system1Axis q1Shaft, d3Axis q3Difference between reference current value and measured value of axial fundamental wave and third harmonic wave
Figure BDA0002338842550000088
The output is the corresponding d of the synchronous rotating coordinate system1Axis q1Shaft, d3Axis q3Reference value of shaft fundamental wave and third harmonic voltage impulse
Figure BDA0002338842550000089
Figure BDA00023388425500000810
The impulse reference value of each phase voltage is converted through the expansion Park and Clark inverse transformation
Figure BDA00023388425500000811
Fig. 4 is a schematic diagram of a control structure during operation with open-circuit fault of phase a of the five-phase motor, and see fig. 4, iB, iC, and iD are measured values of phase B, C, and D currents. Spd*Given value of speed of rotation, SpdmIs a measure of the rotational speed. Ring ratio of speedsThe input of the integral controller is the difference Spd between the given value and the measured value of the rotating speed*-SpdmThe output is a torque reference value
Figure BDA00023388425500000812
θeAnd measuring the converted electrical angle value of the motor for the photoelectric encoder. The reference current generation module has the input of
Figure BDA00023388425500000813
And thetaeThe output is B, C, D phase reference current iB*，iC*，iD*. The input of the current loop proportional-integral controller is the difference between the reference value and the measured value of the phase current of B, C and D
Figure BDA00023388425500000814
Figure BDA00023388425500000815
The output is the reference value of the impulse of the phase voltage of B, C and D
Figure BDA00023388425500000816
The reference value of the E-phase voltage impulse is
Figure BDA00023388425500000817
On the basis of the foregoing embodiment, step 102 of this embodiment may be: sequencing the impulse reference values of the voltages of each phase from large to small to obtain a reference voltage impulse reverse sequence [ VT [ ]0 *,VT1 *,VT2 *,VT3 *,VT4 *]T(wherein VT0Maximum, VT4Minimum), with the array N ═ NA,NB,NC,ND,NE]TRecording the impulse reference value of each phase voltage
Figure BDA00023388425500000818
Position in the reverse sequence of voltage impulses. N is a radical ofA0 means that the reference voltage impulse of phase a is the most in the reverse sequenceBig, accounting for bit 0. Same NAThe 4-th bit indicates that the reference voltage pulse of the phase a is the smallest in the reverse sequence and occupies the 4 th bit.
On the basis of the foregoing embodiment, step 105 of this embodiment specifically includes:
calculating the action time of each reverse sequence phase or each sequence phase of the direct current bus voltage in each control cycle according to the space voltage vector action time sequence and the required zero voltage vector distribution mode;
and determining the action time of each control cycle of the direct-current bus voltage of each phase of the multi-phase motor according to the action time of the direct-current bus voltage of each reverse-sequence phase or each sequence phase and the position of each phase voltage impulse reference value of the multi-phase motor in the voltage impulse reverse-sequence or the voltage impulse sequence.
In the above embodiment, when the multi-phase motor is a five-phase motor, the voltage impulse negative sequence and the space voltage vector action time sequence satisfy the following equation:
Figure BDA0002338842550000091
wherein, VdcIn order to be the bus voltage,
Figure BDA0002338842550000092
in order to transform the matrix, the matrix is,
Figure BDA0002338842550000093
in the reverse order sequence of the voltage impulses,
Figure BDA0002338842550000094
a time series is applied to the space voltage vector.
The sequence of the phase action time reverse sequence is the same as the sequence of the phase voltage impulse reverse sequence. Secondly, since any four rows of the transformation matrix in the above formula can form a full-rank 4 × 4 matrix, the relation between the voltage vector action time sequence and the voltage impulse can be derived by selecting the next four rows of inversion matrices, as follows
Figure BDA0002338842550000095
On the basis of the foregoing embodiments, this embodiment provides a specific implementation method of step 104 when the multi-phase motor is a five-phase motor, which is as follows:
selecting four reverse sequence phases from the voltage impulse reverse sequence to form a one-dimensional array, and acquiring a row group corresponding to the selected reverse sequence phase in the transformation matrix to form a full-rank transformation matrix;
and performing linear transformation on the one-dimensional array by adopting the full-rank transformation matrix to obtain a space voltage vector action time sequence.
For example, the voltage impulse reverse sequence [ VT ] is selected0 *,VT1 *,VT2 *,VT3 *,VT4 *]TMiddle VT1 *,VT2 *,VT3 *,VT4 *Forming a reference one-dimensional array [ VT1 *,VT2 *,VT3 *,VT4 *]TLogarithmic set [ VT1 *,VT2 *,VT3 *,VT4 *]TDo the following linear transformation
Figure BDA0002338842550000101
Obtaining space voltage vector action time sequence T1,T2,T3,T4]T. The transformation matrix coefficient contains DC bus voltage value Vdc。
On the basis of the foregoing embodiments, this embodiment provides a specific implementation method of step 105 when the multi-phase motor is a five-phase motor, specifically as follows:
the action time of the zero voltage vector can be distributed to all parts of each control period according to the rule defined by the user, and the zero voltage vector is evenly distributed to each control period in the embodimentThe middle and both ends of (a) are examples. The DC bus voltage V obtained by the 0 phase with the maximum duty ratiodcPer control cycle ofT sInternal action time DuT0Is composed of
Figure BDA0002338842550000102
The bus voltage V obtained for the next largest duty cycle 1 phasedcPer control cycle ofT sInternal action time DuT1Is composed of
Figure BDA0002338842550000103
The dc bus voltage V obtained by the 2-phase with the third largest duty cycledcPer control cycle ofT sInternal action time DuT2Is composed of
Figure BDA0002338842550000104
The direct current bus voltage V obtained by the 3-phase with the fourth largest duty ratiodcPer control cycle ofT sInternal action time DuT3Is composed of
Figure BDA0002338842550000111
The dc bus voltage V obtained by 4 phases with the minimum duty cycledcPer control cycle ofT sInternal action time DuT4Is composed of
Figure BDA0002338842550000112
With the number group DuTy ═ DuT0,DuT1,DuT2,DuT3,DuT4]TIndicating the resulting DC bus voltage VdcEach control cycle of (a) applies a time-reversed sequence.
And distributing the action time of each control cycle corresponding to the reverse sequence voltage impulse sequence to the natural phase according to the position of each natural phase voltage impulse in the reverse sequence voltage impulse sequence.
DC bus voltage V corresponding to natural phases A, B, C, D and EdcPer control cycle ofT sInternal action time DuTA,DuTB,DuTC,DuTD,DuTEIs composed of
DuTA＝DuTy(NA)
DuTB＝DuTy(NB)
DuTC＝DuTy(NC)
DuTD＝DuTy(ND)
DuTE＝DuTy(NE)
As shown in FIG. 5, X0For the action time interval of zero voltage vector at both ends of each control cycle, X1,X2,X3,X4The action time interval of the 1 st, 2 nd, 3 th and 4 th space voltage vectors per control cycle, X5Zero is the time interval during which the voltage vector is active in the middle of each control cycle.
T0For the action time, T, of zero voltage vector per control cycle1,T2,T3,T4The action time of the 1 st, 2 nd, 3 rd and 4 th voltage vectors (switch states) in each control period.
A second aspect of the present invention provides a vector modulation system for a star connected polyphase electric machine system, as shown in fig. 6, comprising:
a reference value determining module 601 for determining a reference value of each phase voltage impulse of the multi-phase motor;
a voltage impulse sequencing module 602, configured to sequence voltage impulse reference values from large to small or from small to large to obtain a voltage impulse reverse sequence or a voltage impulse sequence;
a transformation matrix determining module 603, configured to determine a transformation matrix for transforming the voltage impulse reverse sequence or the voltage impulse sequence into a space voltage vector action time sequence according to a connection relationship between an input end and a power supply of the star-connected multi-phase motor in different switching states and a serial voltage division rule;
a linear transformation module 604, configured to perform linear transformation on the voltage impulse reverse order sequence or the voltage impulse order sequence by using the transformation matrix to obtain a space voltage vector action time sequence;
the bus voltage action time calculation module 605 of each phase is used for calculating the action time of each control cycle of the direct current bus voltage of each phase of the multi-phase motor according to the space voltage vector action time sequence and the required zero voltage vector distribution mode;
and a Pulse Width Modulation (PWM) output module 606, configured to output a control signal of the switching tube of each phase according to an action time and a dead time of each control cycle of the dc bus voltage of each phase.
In an embodiment, the bus voltage action time calculation module 605 for each phase may include:
the bus voltage action time calculation unit of each sequence phase is used for calculating the action time of each reverse sequence phase or each direct current bus voltage of each sequence phase in each control cycle according to the space voltage vector action time sequence and the required zero voltage vector distribution mode;
and the bus voltage action time calculation unit of each phase is used for determining the action time of each control cycle of the direct-current bus voltage of each phase of the multi-phase motor according to the direct-current bus voltage action time of each reverse phase or each sequential phase and the position of each phase voltage impulse reference value of the multi-phase motor in the voltage impulse reverse sequence or the voltage impulse sequence.
In an embodiment, when the multi-phase motor is a five-phase motor,
Figure BDA0002338842550000121
Vdcis the bus voltage, wherein,
Figure BDA0002338842550000122
in order to transform the matrix, the matrix is,
Figure BDA0002338842550000131
in the reverse order sequence of the voltage impulses,
Figure BDA0002338842550000132
a time series is applied to the space voltage vector.
In an embodiment, when the multi-phase motor is a five-phase motor, the linear transformation module 604 may include:
the selection unit is used for selecting four reverse sequence phases from the voltage impulse reverse sequence to form a one-dimensional array and acquiring a full-rank transformation matrix formed by rows corresponding to the selected reverse sequence phases in the transformation matrix;
and the linear transformation unit is used for performing linear transformation on the one-dimensional array by adopting an inverse matrix of the full-rank transformation matrix to obtain a space voltage vector action time sequence.
In an embodiment, when the multi-phase motor is a five-phase motor, the bus voltage application time calculation module 605 for each phase may include:
each negative-sequence phase bus voltage acting time calculating subunit is used for calculating the acting time according to the distribution mode of evenly distributing the zero voltage vector to the middle and two ends of each control period
Figure BDA0002338842550000133
Figure BDA0002338842550000134
And
Figure BDA0002338842550000135
calculating the action time of each control cycle of each reverse sequence phase in the voltage impulse reverse sequence, wherein DuTy (x) is the action time of each control cycle of the x-th phase in the voltage impulse reverse sequence;
each natural phase bus voltage action time calculating subunit for calculating the action time according to the DuTA＝DuTy(NA)、DuTB＝DuTy(NB)、DuTC＝DuTy(NC)、DuTD＝DuTy(ND) And DuTE＝DuTy(NE) Determining the action time of the DC bus voltage of each phase of the multi-phase motor per control cycle, wherein,DuTAfor the duration of the action of the A-phase DC bus voltage of a polyphase machine per control cycle, DuTBFor the duration of the action of the B-phase DC bus voltage of a multiphase motor per control cycle, DuTCFor the duration of the action of the C-phase DC bus voltage of a polyphase machine per control cycle, DuTDFor the D-phase DC bus voltage of a multiphase motor, NEFor the position of the E-phase voltage impulse of a polyphase machine in the reverse sequence of the voltage impulses, NAFor the position of the A-phase voltage impulses of the polyphase machine in the sequence of the voltage impulses in reverse order, NBFor the position of the B-phase voltage impulse of the polyphase machine in the reverse sequence of the voltage impulses, NCFor the position of the C-phase voltage impulse of the polyphase machine in the reverse sequence of the voltage impulses, NDFor the position of the D-phase voltage impulse of the polyphase machine in the reverse sequence of the voltage impulses, NEThe position of the E-phase voltage impulses in the reverse sequence of voltage impulses for the polyphase machine is determined.
Compared with the prior art, the invention has the following advantages:
(1) compared with the space vector pulse width modulation technology, the method has the characteristics of simple realization and insensitivity to phase number on the premise of obtaining the motor with the same torque and rotating speed characteristics and direct-current voltage utilization rate, and can be simply and conveniently applied to a star-connected multi-phase motor system driven by a voltage source inverter.
(2) The technical scheme of the application avoids the counter potential from participating in duty ratio calculation, thereby getting rid of the dependence on counter potential accuracy.
(3) The technical scheme of the application has the advantages of small fluctuation of output torque, quick dynamic response and the like which are the same as the space voltage vector modulation mode, is easier to realize on line in actual engineering, occupies fewer control chip resources, is superior to the current modulation algorithm, and has good application prospect.
(4) The modulation mode of this application can realize nimble zero voltage vector action time distribution, and reasonable zero voltage vector action time distribution can reduce because of total switching frequency and the switching loss of switch tube.
(5) The method adopts a modulation mode equivalent to space vector pulse width modulation, and can continuously realize the drive control of the motor with high precision, quick response and high energy utilization rate according to a proper current reference value after the open-circuit fault of the multi-phase motor.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (10)

1. A vector modulation method for a wye-connected multi-phase electric machine system, comprising:
determining impulse reference values of all phase voltages of the multi-phase motor;
sequencing the voltage impulse reference values from large to small or from small to large to obtain a voltage impulse reverse sequence or a voltage impulse sequence;
determining a transformation matrix for transforming the voltage impulse reverse sequence or the voltage impulse sequence into a space voltage vector action time sequence according to the connection relation between the input end and the power supply of the star-connected multi-phase motor in different switching states and a series voltage division rule;
performing linear transformation on the voltage impulse reverse sequence or the voltage impulse sequence by using the transformation matrix to obtain a space voltage vector action time sequence;
calculating the action time of each control cycle of the direct-current bus voltage of each phase of the multi-phase motor according to the space voltage vector action time sequence and the required zero voltage vector distribution mode;
and outputting control signals of the switching tubes of each phase according to the action time and the dead time of each control cycle of the DC bus voltage of each phase.
2. The vector modulation method of a star-connected multiphase motor system according to claim 1, wherein the calculating the action time per control cycle of the dc bus voltage of each phase of the multiphase motor according to the space voltage vector action time sequence and the required zero voltage vector distribution manner specifically comprises:
calculating the action time of each reverse sequence phase or each sequence phase of the direct current bus voltage in each control cycle according to the space voltage vector action time sequence and the required zero voltage vector distribution mode;
and determining the action time of each control cycle of the direct-current bus voltage of each phase of the multi-phase motor according to the action time of the direct-current bus voltage of each reverse-sequence phase or each sequence phase and the position of each phase voltage impulse reference value of the multi-phase motor in the voltage impulse reverse-sequence or the voltage impulse sequence.
3. The vector modulation method of a wye-connected multi-phase electric machine system of claim 1, wherein when the multi-phase electric machine is a five-phase electric machine,
Figure FDA0002338842540000011
wherein, VdcIn order to be the bus voltage,
Figure FDA0002338842540000021
in order to transform the matrix, the matrix is,
Figure FDA0002338842540000022
in the reverse order sequence of the voltage impulses,
Figure FDA0002338842540000023
a time series is applied to the space voltage vector.
4. The vector modulation method according to claim 3, wherein when the multiphase motor is a five-phase motor, the performing linear transformation on the voltage impulse reverse sequence or the voltage impulse sequence by using the transformation matrix to obtain a space voltage vector action time sequence specifically comprises:
selecting four reverse sequence phases from the voltage impulse reverse sequence to form a one-dimensional array, and acquiring a row group corresponding to the selected reverse sequence phase in the transformation matrix to form a full-rank transformation matrix;
and performing linear transformation on the one-dimensional array by adopting the inverse matrix of the full-rank transformation matrix to obtain a space voltage vector action time sequence.
5. The vector modulation method according to claim 4, wherein when the multiphase motor is a five-phase motor, the calculating the action time per control cycle of the dc bus voltage of each phase of the multiphase motor according to the space voltage vector action time sequence and the required zero voltage vector distribution manner specifically comprises:
when a distribution mode of evenly distributing the zero voltage vector action time to the middle and two ends of each control period is adopted, the method is based on
Figure FDA0002338842540000024
Figure FDA0002338842540000025
And
Figure FDA0002338842540000026
calculating the action time of each control cycle of each reverse sequence phase in the voltage impulse reverse sequence, wherein DuTy (x) is the action time of each control cycle of the x-th phase in the voltage impulse reverse sequence;
according to DuTA＝DuTy(NA)、DuTB＝DuTy(NB)、DuTC＝DuTy(NC)、DuTD＝DuTy(ND) And DuTE＝DuTy(NE) Determining the action time of the DC bus voltage of each phase of the multi-phase motor per control cycle, wherein DuTAFor the duration of the action of the A-phase DC bus voltage of a polyphase machine per control cycle, DuTBFor the duration of the action of the B-phase DC bus voltage of a multiphase motor per control cycle, DuTCFor the duration of the action of the C-phase DC bus voltage of a polyphase machine per control cycle, DuTDFor the D-phase DC bus voltage of a multiphase motor, NEFor the position of the E-phase voltage impulse of a polyphase machine in the reverse sequence of the voltage impulses, NAFor the position of the A-phase voltage impulses of the polyphase machine in the sequence of the voltage impulses in reverse order, NBFor the position of the B-phase voltage impulse of the polyphase machine in the reverse sequence of the voltage impulses, NCFor the position of the C-phase voltage impulse of the polyphase machine in the reverse sequence of the voltage impulses, NDFor the position of the D-phase voltage impulse of the polyphase machine in the reverse sequence of the voltage impulses, NEThe position of the E-phase voltage impulses in the reverse sequence of voltage impulses for the polyphase machine is determined.
6. A vector modulation system for a wye-connected multi-phase electric machine system, comprising:
the impulse reference value determining module of each phase is used for determining the impulse reference value of each phase of the multi-phase motor;
the voltage impulse sequencing module is used for sequencing the voltage impulse reference values from large to small or from small to large to obtain a voltage impulse reverse sequence or a voltage impulse sequence;
the transformation matrix determining module is used for determining a transformation matrix for transforming the voltage impulse reverse sequence or the voltage impulse sequence into a space voltage vector action time sequence according to the connection relation between the input end and the power supply of the star-connected multi-phase motor in different switching states and a series voltage division rule;
the linear transformation module is used for performing linear transformation on the voltage impulse reverse sequence or the voltage impulse sequence by adopting the transformation matrix to obtain a space voltage vector action time sequence;
the bus voltage action time calculation module of each phase is used for calculating the action time of each control cycle of the direct current bus voltage of each phase of the multi-phase motor according to the space voltage vector action time sequence and the required zero voltage vector distribution mode;
and the pulse width modulation output module is used for outputting the control signals of the switching tubes of each phase according to the action time and the dead time of each control cycle of the direct-current bus voltage of each phase.
7. The vector modulation system of a star connected multi-phase electric machine system according to claim 6, wherein the bus voltage action time calculation module for each phase specifically comprises:
the bus voltage action time calculation unit of each sequence phase is used for calculating the action time of each reverse sequence phase or each direct current bus voltage of each sequence phase in each control cycle according to the space voltage vector action time sequence and the required zero voltage vector distribution mode;
and the bus voltage action time calculation unit of each phase is used for determining the action time of each control cycle of the direct-current bus voltage of each phase of the multi-phase motor according to the direct-current bus voltage action time of each reverse phase or each sequential phase and the position of each phase voltage impulse reference value of the multi-phase motor in the voltage impulse reverse sequence or the voltage impulse sequence.
8. The vector modulation system of a wye-connected multi-phase electric machine system of claim 6, wherein when the multi-phase electric machine is a five-phase electric machine,
Figure FDA0002338842540000041
wherein, VdcIn order to be the bus voltage,
Figure FDA0002338842540000042
in order to transform the matrix, the matrix is,
Figure FDA0002338842540000043
in the reverse order sequence of the voltage impulses,
Figure FDA0002338842540000044
a time series is applied to the space voltage vector.
9. The vector modulation system of a wye-connected multi-phase electric machine system of claim 8, wherein when the multi-phase electric machine is a five-phase electric machine, the linear transformation module comprises:
the selection unit is used for selecting four reverse sequence phases from the voltage impulse reverse sequence to form a one-dimensional array and acquiring a full-rank transformation matrix formed by rows corresponding to the selected reverse sequence phases in the transformation matrix;
and the linear transformation unit is used for performing linear transformation on the one-dimensional array by adopting an inverse matrix of the full-rank transformation matrix to obtain a space voltage vector action time sequence.
10. The vector modulation system of a star-connected multi-phase electric motor system according to claim 9, wherein when the multi-phase electric motor is a five-phase electric motor, the bus voltage action time calculation module for each phase specifically includes:
each negative sequence phase bus voltage action time calculating subunit is used for calculating the action time T of the zero voltage vector when the application0When the distribution mode is evenly distributed to the middle and two ends of each control period, the method is based on
Figure FDA0002338842540000051
Figure FDA0002338842540000052
And
Figure FDA0002338842540000053
calculating the action time of each control cycle of each reverse sequence phase in the voltage impulse reverse sequence, wherein DuTy (b) ((b))x) is the action time of the xth phase in the voltage impulse reversed sequence in each control cycle;
each natural phase bus voltage action time calculating subunit for calculating the action time according to the DuTA＝DuTy(NA)、DuTB＝DuTy(NB)、DuTC＝DuTy(NC)、DuTD＝DuTy(ND) And DuTE＝DuTy(NE) Determining the action time of the DC bus voltage of each phase of the multi-phase motor per control cycle, wherein DuTAFor the duration of the action of the A-phase DC bus voltage of a polyphase machine per control cycle, DuTBFor the duration of the action of the B-phase DC bus voltage of a multiphase motor per control cycle, DuTCFor the duration of the action of the C-phase DC bus voltage of a polyphase machine per control cycle, DuTDFor the D-phase DC bus voltage of a multiphase motor, NEFor the position of the E-phase voltage impulse of a polyphase machine in the reverse sequence of the voltage impulses, NAFor the position of the A-phase voltage impulses of the polyphase machine in the sequence of the voltage impulses in reverse order, NBFor the position of the B-phase voltage impulse of the polyphase machine in the reverse sequence of the voltage impulses, NCFor the position of the C-phase voltage impulse of the polyphase machine in the reverse sequence of the voltage impulses, NDFor the position of the D-phase voltage impulse of the polyphase machine in the reverse sequence of the voltage impulses, NEThe position of the E-phase voltage impulses in the reverse sequence of voltage impulses for the polyphase machine is determined.
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Publication number Priority date Publication date Assignee Title
CN101515782A (en) * 2009-03-19 2009-08-26 浙江理工大学 Phase voltage difference value type SVPWM control method for asynchronous motor
US20110006711A1 (en) * 2009-07-08 2011-01-13 Denso Corporation Apparatus for carrying out improved control of rotary machine
CN103414363A (en) * 2013-08-30 2013-11-27 阳光电源股份有限公司 Control method and system for capacity and potential balance of three-phase and three-level inverter

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101515782A (en) * 2009-03-19 2009-08-26 浙江理工大学 Phase voltage difference value type SVPWM control method for asynchronous motor
US20110006711A1 (en) * 2009-07-08 2011-01-13 Denso Corporation Apparatus for carrying out improved control of rotary machine
CN103414363A (en) * 2013-08-30 2013-11-27 阳光电源股份有限公司 Control method and system for capacity and potential balance of three-phase and three-level inverter

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