CN111464082A - SVPWM control method of six-phase motor with low switching loss and common-mode interference - Google Patents

SVPWM control method of six-phase motor with low switching loss and common-mode interference Download PDF

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CN111464082A
CN111464082A CN202010298092.1A CN202010298092A CN111464082A CN 111464082 A CN111464082 A CN 111464082A CN 202010298092 A CN202010298092 A CN 202010298092A CN 111464082 A CN111464082 A CN 111464082A
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voltage vector
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张志锋
叶思聪
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Shenyang University of Technology
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements 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
    • H02P25/022—Synchronous motors
    • 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
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

The SVPWM control method of the six-phase motor with low switching loss and common-mode interference comprises the following steps of 1, utilizing space vector decoupling to carry out coordinate transformation on the six-phase motor, and respectively mapping voltage vectors of the six-phase motor to 3 orthogonal subspaces, 2, dividing α - β fundamental wave subspace participating in electromechanical energy conversion into 12 large sectors, selecting five effective voltage vectors in each sector, 3, calculating action time of the first four voltage vectors of the five effective voltage vectors in each sector in the step 2 according to a volt-second balance principle, 4, averagely distributing the action time of the zero voltage vector in the step 3 to the second voltage vector and the fifth voltage vector, and then obtaining new five vector action time.

Description

SVPWM control method of six-phase motor with low switching loss and common-mode interference
Technical Field
The invention relates to the technical field of multiphase motor control, in particular to an SVPWM (Space Vector Pulse Width Modulation) Modulation method for reducing switching loss and common-mode interference of a double-Y-shift 30-degree six-phase motor.
Background
In recent years, with the increasing requirements of some fields on speed regulation systems, the traditional three-phase alternating-current transmission system gradually shows inherent limitations, and with the continuous development of power electronic technology, the realization of a high-performance multiphase motor variable-frequency speed regulation system becomes possible, the application range is rapidly expanded, and particularly, the fields of high reliability, high power, low noise and the like are required, such as aerospace, power systems of ships and submarines, water cooling systems of nuclear power stations, electric vehicles and the like. The multi-phase motor improves the total power of the system by times while outputting the same power in each phase by improving the number of phases; the phase difference between each phase of windings is smaller, so that the magnetic potential distribution is closer to sine, and the electromagnetic torque pulsation of the multi-phase motor is smaller; whether a multi-phase motor or a multi-phase drive control system, as the number of phases increases, the redundancy of the system is also greater, thereby providing the possibility of high-reliability design of the system.
The common control method of the double-Y shift 30-degree six-phase motor with the isolated star nodes of the stator windings is a four-vector SVPWM control method, and the method can cause the switching frequency of the inverter to be too high, increase the switching loss and influence the service life of the inverter. In addition, a system formed by the motor and the corresponding inverter generates a common-mode voltage, and the common-mode voltage can be measured by the voltage between the star point of the stator winding and the midpoint of the direct current bus of the converter, namely the average value of the amplitude of each phase voltage. The common mode voltage may adversely affect the system by leakage current, deterioration of winding insulation, shaft voltage, electromagnetic interference, etc., and thus it is necessary to suppress it. At present, most of methods for inhibiting common mode voltage mainly use three-phase motors, and research on multi-phase motors is less. The existing scheme well inhibits the common-mode voltage of the six-phase motor, but the sum of voltage vectors of a z1-z2 harmonic component subspace is difficult to keep to be zero, the harmonic current is large, and the consideration on the switching loss is insufficient; some of the control methods are complicated and only take into account the problem of switching losses, but not the problem of rejection of the common mode voltage. The existing modulation method for inhibiting the common mode voltage is difficult to realize the balance of the switching frequency, the harmonic performance and the direct current voltage utilization rate of the inverter.
Disclosure of Invention
The purpose of the invention is as follows:
the invention provides a six-phase motor SVPWM control method with low switching loss and low common-mode interference, which aims to solve the problems in the prior art, reduce the switching frequency of voltage vectors and reduce the switching frequency of an inverter by not using zero vector modulation; in addition, the common-mode voltage at the junction is effectively reduced, and the current response, flux linkage track, electromagnetic torque and rotating speed performance of the motor are unchanged.
The technical scheme is as follows: the SVPWM control method of the six-phase motor with low switching loss and common-mode interference comprises the following steps:
step 1, coordinate transformation is carried out on the six-phase motor by utilizing space vector decoupling, and voltage vectors of the six-phase motor are respectively mapped to 3 mutually orthogonal subspaces, namely α - β fundamental wave subspaces participating in electromechanical energy conversion and z not participating in electromechanical energy conversion1-z2Harmonic component subspace sum o1-o2A zero-sequence component subspace;
step 2, dividing α - β fundamental wave subspace participating in electromechanical energy conversion into 12 large sectors, and selecting five effective voltage vectors in each sector;
and step 3: calculating the action time of the first four voltage vectors of the five effective voltage vectors in each sector in the step 2 according to a volt-second balance principle, and if overmodulation does not exist, calculating the action time of a zero voltage vector;
and 4, step 4: and (3) averagely distributing the action time of the zero voltage vector in the step 3 to a second voltage vector and a fifth voltage vector, and then obtaining new action times of the five vectors.
The specific selection method for selecting five effective voltage vectors in each sector in step 2 is as follows:
step 2.1: selecting four adjacent maximum voltage vectors in each sector as a first voltage vector, a second voltage vector, a third voltage vector and a fourth voltage vector of the sector, wherein the arrangement sequence is clockwise;
step 2.2: the maximum voltage vector opposite the second voltage vector is selected as the fifth voltage vector for the sector.
The specific method of the step 3 comprises the following steps:
definition VnFor a selected voltage vector, TnIs the voltage vector action time, where n is 0, 1, 2, 3, 4, TsFor the period, the volt-second equilibrium equation is satisfied:
Figure BDA0002452970180000021
therefore, the action time of the first four vectors and the action time of the zero voltage vector are calculated.
The specific steps of the step 4 are as follows:
assigning the zero voltage vector on-time calculated in step 3 to the second and fifth voltage vectors:
Figure BDA0002452970180000031
and the action time of the final five voltage vectors is obtained together with the original first voltage vector, the original third voltage vector and the original fourth voltage vector, wherein the action time of the final five voltage vectors is as follows:
Figure BDA0002452970180000032
the advantages and effects are as follows:
the SVPWM control method of the six-phase motor with low switching loss and low common mode interference comprises the following steps:
step 1, coordinate transformation is carried out on a double-Y-shift 30-degree six-phase motor by utilizing space vector decoupling, and voltage vectors are respectively mapped to 3 mutually orthogonal subspaces, namely α - β fundamental wave subspaces participating in electromechanical energy conversion and z not participating in electromechanical energy conversion1-z2Harmonic component subspace sum o1-o2A zero-sequence component subspace;
step 2, dividing α - β fundamental wave subspace participating in electromechanical energy conversion into 12 large sectors, and selecting five effective voltage vectors in each sector, wherein the specific selection method comprises the following steps:
step 2.1: selecting four adjacent maximum voltage vectors in each sector as a first voltage vector, a second voltage vector, a third voltage vector and a fourth voltage vector of the sector, wherein the arrangement sequence is clockwise;
step 2.2: selecting the maximum voltage vector opposite to the second voltage vector as the fifth voltage vector of the sector;
and step 3: calculating the action time of the first four voltage vectors according to a volt-second balance principle, and if overmodulation does not exist, calculating the action time of a zero voltage vector;
and 4, step 4: and averagely distributing the action time of the zero voltage vector to a second voltage vector and a fifth voltage vector, and then obtaining new action times of the five vectors.
The specific method of the step 2 comprises the following steps:
definition VnFor a selected voltage vector, TnIs the voltage vector action time, where n is 0, 1, 2, 3, 4, TsFor the period, the volt-second equilibrium equation is satisfied:
Figure BDA0002452970180000033
therefore, the action time of the first four vectors and the action time of the zero voltage vector are calculated. Then zero voltage vector action time is assigned to the second and fifth voltage vectors:
Figure BDA0002452970180000041
and the action time of the final five voltage vectors is obtained together with the original first voltage vector, the original third voltage vector and the original fourth voltage vector, wherein the action time of the final five voltage vectors is as follows:
Figure BDA0002452970180000042
according to the technical scheme, the invention has the beneficial effects that: the SVPWM control method of the six-phase motor with low switching loss and common-mode interference can greatly reduce the common-mode voltage at the node and ensure lower switching frequency of the inverter, thereby having lower switching loss, higher bus voltage utilization rate and harmonic and torque performance.
Drawings
Fig. 1 is a spatial distribution diagram of coils of a double Y-shift 30 ° six-phase permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 2 is a connection diagram of a double Y-shift 30 ° six-phase permanent magnet synchronous motor inverter according to an embodiment of the present invention;
FIG. 3 is a distribution diagram of voltage vectors of a double Y-shift 30 ° six-phase permanent magnet synchronous motor in the space of α - β according to an embodiment of the present invention;
fig. 4 is a distribution diagram of voltage vectors of a double Y-shifted 30 ° six-phase permanent magnet synchronous motor in z1z2 space according to an embodiment of the present invention;
fig. 5 is a voltage vector sector division of a double Y-shifted 30 ° six-phase permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 6 is a timing diagram of the switching of a PWM cycle of a double Y-shifted 30 ° six-phase permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 7 shows the variation of the common-mode voltage at two nodes of the double-Y30 ° shifted six-phase permanent magnet synchronous motor according to the embodiment of the present invention.
Detailed Description
The SVPWM control method of the six-phase motor with low switching loss and common-mode interference is characterized by comprising the following steps of:
step 1, coordinate transformation is carried out on the six-phase motor by utilizing space vector decoupling, and the voltage vectors of the six-phase motor are respectively mapped to 3 mutually orthogonal subspaces, namely α - β fundamental wave subspaces participating in electromechanical energy conversion and z not participating in electromechanical energy conversion1-z2Harmonic component subspace sum o1-o2A zero-sequence component subspace;
step 2, dividing α - β fundamental wave subspace participating in electromechanical energy conversion into 12 large sectors, and selecting five effective voltage vectors in each sector;
and step 3: calculating the action time of the first four voltage vectors of the five effective voltage vectors in each sector in the step 2 according to a volt-second balance principle, and if overmodulation does not exist, calculating the action time of a zero voltage vector;
and 4, step 4: and (3) averagely distributing the action time of the zero voltage vector in the step 3 to a second voltage vector and a fifth voltage vector, and then obtaining new action times of the five vectors.
The specific selection method for selecting five effective voltage vectors in each sector in step 2 is as follows:
step 2.1: selecting four adjacent maximum voltage vectors in each sector as a first voltage vector, a second voltage vector, a third voltage vector and a fourth voltage vector of the sector, wherein the arrangement sequence is clockwise;
step 2.2: the maximum voltage vector opposite the second voltage vector is selected as the fifth voltage vector for the sector.
The specific method of the step 3 comprises the following steps:
definition VnFor a selected voltage vector, TnIs the voltage vector action time, where n is 0, 1, 2, 3, 4, TsFor the period, the volt-second equilibrium equation is satisfied:
Figure BDA0002452970180000051
therefore, the action time of the first four vectors and the action time of the zero voltage vector are calculated.
The specific steps of the step 4 are as follows:
assigning the zero voltage vector on-time calculated in step 3 to the second and fifth voltage vectors:
Figure BDA0002452970180000052
and the action time of the final five voltage vectors is obtained together with the original first voltage vector, the original third voltage vector and the original fourth voltage vector, wherein the action time of the final five voltage vectors is as follows:
Figure BDA0002452970180000053
the following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The invention is further described with respect to a double Y-shift 30 ° six-phase permanent magnet synchronous motor as an example.
The space structure diagram of the stator coil of the double-Y30-degree-shift six-phase permanent magnet synchronous motor is shown in fig. 1, and it can be seen from the distribution of the stator winding that the stator winding is composed of two sets of conventional three-phase windings ABC and DEF, each set of windings are connected in a Y shape, the space inside each set of corresponding Y-shaped windings is 120 degrees different from each other, and the included angle between the corresponding phases of the two sets of three-phase windings is 30 degrees.
As shown in fig. 2, the connection diagram of the inverter and the motor is a connection diagram, a stator coil of the motor has two sets of independent windings, the two sets of stator windings have two independent nodes, ABC is a first set of windings, the nodes are N, DEF is a second set of windings, and the nodes are N'Isolated, the o1-o2 subspace does not generate current. Alternative vector of six-phase motor is 26Of the 64 vectors, there are 4 zero voltage vectors and 60 effective voltage vectors, divided into four groups, of which the amplitude is 0.644u dc12 maximum vectors; amplitude of 0.471u dc12 medium voltage vectors; amplitude of 0.333udcThe sum of the 24 basic voltage vectors is 0.1725udcOf 12 minimum voltage vectors, where udcIs the dc bus side voltage.
Definition VxyAnd representing a voltage vector, wherein x represents a switch combination on a first node N, y represents a switch combination on a second node N', and x and y have values of 0, 1, 2, …, 6 and 7, and the switch states of the switch combinations are represented by three-digit binary numbers. And 0 and 1 represent the on-off of an upper bridge arm of the inverter, 0 represents off, and 1 represents on. E.g. V11The first 1 represents that the on-off condition of the bridge arm at the first junction is 001, the second 1 represents that the on-off condition of the bridge arm at the second junction is 001, and V12The 1 in the graph represents that the on-off condition of the bridge arm at the first node is 001, the 2 represents that the on-off condition of the bridge arm at the second node is 010, and the like.
Sector definition: as shown in FIG. 5, the interval enclosed by two of the 12 maximum voltage vectors becomes a large sector, wherein [ - π/12 π/12] is the first large sector, and counterclockwise [ π/12 π/4] is the second large sector, and so on. For any small sector, the method is realized in a five-vector nine-segment symmetric mode.
In order to introduce the voltage change condition at the node, the node voltage under the action of the switching tube needs to be defined, when the switching state is 7, namely the on-off condition is 111, the upper bridge arm of the inverter is conducted, and the node voltage is udcAnd/2, when the switch state is 0, namely the on-off condition is 000, the upper bridge arm of the inverter is switched off, and the node voltage is-udc/2. When the node switch combination is 3, 5 and 6, namely the switch states exist two 1, and are 011, 101 or 110, the node average voltage is udc/6, when the node switch combination is 1, 2, 4, i.e. there are two switch states 1, 001, 010 or 100 asWhen used, the node average voltage is-udc/6。
The existence of a zero voltage vector is one of main reasons for generating common-mode voltage, and when the zero voltage vector exists, the voltage change amplitude is very large when the voltage jumps at a node, so the adopted method is to select the combined action of the voltage vectors in opposite directions and carry out zero-free vector modulation in a period variable mode, wherein the voltage vector selection principle comprises the steps of (1) realizing the control of a chip in one PWM period by using TMS320f28335, (2) ensuring that the selected voltage vector not only can synthesize a reference voltage vector in α - β subspace, but also can ensure that the vector sum of z1-z2 sub-planes is zero, (3) ensuring the minimum loss by switching the times as few as possible in one PWM period, and (4) carrying out the symmetry of PWM modulation waveforms to reduce harmonic waves.
The SVPWM control method for reducing the common mode voltage is specifically described below by taking the I-th sector as an example, and the other sectors adopt the same method.
Step 1: judging the reference voltage vector angle to be synthesized in the first sector;
step 2: selecting a voltage vector to be used according to the sector;
step 2.1: selecting four adjacent maximum voltage vectors as the first, second, third and fourth voltage vectors of the sector, wherein the sequence is clockwise, namely V64，V44，V45，V55；
Step 2.2: the maximum voltage vector opposite to the second voltage vector is selected as the fifth voltage vector of the sector, i.e. V44Relative V33；
And step 3: according to the volt-second equilibrium principle:
Figure BDA0002452970180000071
therefore, the action time of the first four vectors and the action time of the zero voltage vector are calculated. Then zero voltage vector action time is assigned to the second and fifth voltage vectors:
Figure BDA0002452970180000072
the action times of the final five voltage vectors are:
Figure BDA0002452970180000073
and arranging the selected five voltage vectors by adopting a five-vector nine-segment symmetrical arrangement mode according to the five voltage vectors and the action time thereof, and analyzing the switching times of the inverter and the voltage change conditions at the two stator nodes.
The final voltage vector action sequence obtained by the method of the embodiment and the switching condition of the inverter are shown in fig. 6. It can be seen that in one PWM period, the six leg inverter switches 14 times in total, and the switching frequency is very low. The voltage jump at the two nodes is shown in fig. 7. The voltage at node N has changed only four times with a magnitude of udc/3, while the voltage at node N' has changed only two times with a magnitude of udcAnalysis shows that the common mode voltage at the junction is much lower.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions and scope of the present invention as defined in the appended claims.
What is not described in detail in the specification is prior art that is well known to those skilled in the art.

Claims (4)

1. The SVPWM control method of the six-phase motor with low switching loss and common-mode interference is characterized by comprising the following steps of:
step 1: coordinate transformation of six-phase motor by utilizing space vector decouplingIn other words, the voltage vectors of the six-phase motor are respectively mapped to 3 mutually orthogonal subspaces, namely α - β fundamental wave subspaces participating in electromechanical energy conversion and z not participating in electromechanical energy conversion1-z2Harmonic component subspace sum o1-o2A zero-sequence component subspace;
step 2, dividing α - β fundamental wave subspace participating in electromechanical energy conversion into 12 large sectors, and selecting five effective voltage vectors in each sector;
and step 3: calculating the action time of the first four voltage vectors of the five effective voltage vectors in each sector in the step 2 according to a volt-second balance principle, and if overmodulation does not exist, calculating the action time of a zero voltage vector;
and 4, step 4: and (3) averagely distributing the action time of the zero voltage vector in the step 3 to a second voltage vector and a fifth voltage vector, and then obtaining new action times of the five vectors.
2. The SVPWM control method for six-phase motor with low switching loss and common mode interference according to claim 1, characterized in that:
the specific selection method for selecting five effective voltage vectors in each sector in step 2 is as follows:
step 2.1: selecting four adjacent maximum voltage vectors in each sector as a first voltage vector, a second voltage vector, a third voltage vector and a fourth voltage vector of the sector, wherein the arrangement sequence is clockwise;
step 2.2: the maximum voltage vector opposite the second voltage vector is selected as the fifth voltage vector for the sector.
3. The SVPWM control method for six-phase motor with low switching loss and common mode interference according to claim 1, characterized in that: the specific method of the step 3 comprises the following steps:
definition VnFor a selected voltage vector, TnIs the voltage vector action time, where n is 0, 1, 2, 3, 4, TsFor the period, the volt-second equilibrium equation is satisfied:
Figure FDA0002452970170000011
therefore, the action time of the first four vectors and the action time of the zero voltage vector are calculated.
4. The SVPWM control method for six-phase motor with low switching loss and common mode interference according to claim 1, characterized in that:
the specific steps of the step 4 are as follows:
assigning the zero voltage vector on-time calculated in step 3 to the second and fifth voltage vectors:
Figure FDA0002452970170000021
and the action time of the final five voltage vectors is obtained together with the original first voltage vector, the original third voltage vector and the original fourth voltage vector, wherein the action time of the final five voltage vectors is as follows:
T1′＝T1,
Figure FDA0002452970170000022
T3′＝T3,T4′＝T4,
Figure FDA0002452970170000023
CN202010298092.1A 2019-06-03 2020-04-16 SVPWM control method of six-phase motor with low switching loss and common-mode interference Pending CN111464082A (en)

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