CN111711406B - Five-phase inverter sector-division-free space voltage vector modulation method - Google Patents

Five-phase inverter sector-division-free space voltage vector modulation method Download PDF

Info

Publication number
CN111711406B
CN111711406B CN202010564903.8A CN202010564903A CN111711406B CN 111711406 B CN111711406 B CN 111711406B CN 202010564903 A CN202010564903 A CN 202010564903A CN 111711406 B CN111711406 B CN 111711406B
Authority
CN
China
Prior art keywords
voltage
vector
voltage vector
phase
vectors
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010564903.8A
Other languages
Chinese (zh)
Other versions
CN111711406A (en
Inventor
周扬忠
俞海良
屈艾文
陈艳慧
钟天云
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuzhou University
Original Assignee
Fuzhou University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fuzhou University filed Critical Fuzhou University
Priority to CN202010564903.8A priority Critical patent/CN111711406B/en
Publication of CN111711406A publication Critical patent/CN111711406A/en
Application granted granted Critical
Publication of CN111711406B publication Critical patent/CN111711406B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • 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
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • 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
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • 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
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation

Abstract

The invention relates to a five-phase inverter non-sector division space voltage vector modulation method, which comprises the steps of selecting 5 voltage vectors, respectively calculating the respective action time of the 5 voltage vectors, converting the respective action time of the 5 voltage vectors into the on-off time of each switching device of an inverter bridge arm of an inverter according to an impulse equivalence principle, controlling the switching signals of five-phase bridge arm power switching devices, and simultaneously acting five space voltage vectors output by a five-phase inverter on two motors so as to achieve decoupling control of electromechanical energy conversion of the two motors. The control strategy adopted by the matching of the two motors can adopt vector control and can also adopt a direct torque control strategy. The sector division-free SVPWM space voltage vector synthesis method provided by the invention realizes the accurate synthesis of space voltage vectors in M1 and M2 planes corresponding to two motors, simplifies the space voltage vector modulation algorithm and improves the voltage utilization rate of a direct current bus.

Description

Five-phase inverter sector-division-free space voltage vector modulation method
Technical Field
The invention relates to the field of five-phase inverter modulation, in particular to a five-phase inverter sector-division-free space voltage vector modulation method.
Background
Compared with a three-phase motor, the multi-phase motor reduces the phase current and the copper consumption of the motor stator under the same output torque. The advantage of multi-degree of freedom of the multi-phase motor is matched with a proper control algorithm, stable operation under the condition of open circuit fault of a certain phase winding of the motor can be realized, and the multi-phase motor is more and more widely concerned in industrial application occasions with higher reliability. The five-phase motor is a common multi-phase motor, has fewer winding phases and lower manufacturing cost, and is one of the commonly used multi-phase motors at present. In order to realize the stable control of the multi-phase motor, a five-phase inverter is adopted to supply power to the multi-phase motor. Therefore, a 5-phase bridge arm is needed, and the torque and the magnetic field of the five-phase motor are accurately controlled by controlling the output signals of the 5-phase bridge arm.
The number of voltage vectors of the multi-phase motor increases exponentially with the number of winding phases, and the number of voltage vectors that can be output by the multi-phase inverter is 2 λ (λ ═ 4,5,6 …). The increase of voltage vector resources is more beneficial to realizing the accurate control of the motor torque and flux linkage, thereby reducing the torque pulsation of the motor.
The degree of freedom of the five-phase motor is 4, and the electromechanical energy conversion control process of the five-phase motor with the sine wave as the counter electromotive force can be realized only by 2 degrees of freedom, so that other control objects can be controlled by adopting redundant 2-degree-of-freedom control. The double multi-phase motor series system adopts one set of inverter system to control two motors simultaneously, thereby reducing the cost of a switching device and an auxiliary circuit, being easy to realize feedback braking, and having economic and space advantages in the application occasions with strict requirements on space volume, such as aviation, ship transportation, electric automobiles and the like. The double five-phase motor series system adopts a set of five-phase inverters to control two five-phase motors, and utilizes voltage vectors output by the five-phase inverters to independently control the two five-phase motors with the degree of freedom of 2, so as to realize the conversion of electromechanical energy. The output voltage vector needs to meet the requirements of controlling two motors at the same time.
Disclosure of Invention
In view of the above, the present invention provides a five-phase inverter non-sector division space voltage vector modulation method to solve the problem of modulation of control vectors required for electrical energy conversion on two planes in a motor series system formed by two five-phase motors.
In order to achieve the purpose, the invention adopts the following technical scheme:
a five-phase inverter sector-division-free space voltage vector modulation method comprises the following steps:
step S1, collecting relevant data of the five-phase inverter, selecting 5 voltage vectors, and respectively calculating the acting time of the 5 voltage vectors;
step S2, converting the acting time of each of the 5 voltage vectors into the conducting and closing time of each switching device of an inverter bridge arm of the inverter according to an impulse equivalence principle, and controlling the switching signals of the five-phase bridge arm power switching devices;
and step S3, the five space voltage vectors output by the five-phase inverter are simultaneously acted on the two motors, so that decoupling control of electromechanical energy conversion of the two motors is realized.
Further, the step S1 specifically includes:
step S11, collecting the output current i of the five-phase inverterA、iB、iC、iD、iEAnd rotor position angles θ of the first five-phase motor M1 and the second five-phase motor M2 that are drive-controlled by the five-phase inverterr1And thetar2；
Step S12, respectively carrying out reference voltage vector magnitude calculation to obtain a voltage fundamental wave plane (M1 plane) of the first five-phase motor M1 and a reference voltage vector U of a voltage fundamental wave plane (M2 plane) of the second five-phase motor M2ref1 *And Uref2 *：
Figure BDA0002547303750000021
Wherein
Figure BDA0002547303750000022
Voltage fundamental plane stationary seat of M1Under the designation alpha1Shaft and beta1Voltage components on the axes;
Figure BDA0002547303750000023
alpha in a voltage fundamental wave plane static coordinate system of M22Shaft and beta2Voltage components on the axes; further, the expression of the magnitude and vector relationship of the reference voltage vector is obtained as follows:
Uref1 *＝|Uref1 *|∠θ1，Uref2 *＝|Uref2 *|∠θ2
wherein theta is1Is Uref1 *And alpha1The included angle between the axes; theta2Is Uref2 *And alpha2The included angle between the axes;
step S13, obtaining each basic voltage vector um1 on the voltage fundamental wave plane of M1 according to the series connection rule of the five-phase motor as follows:
Figure BDA0002547303750000024
wherein m1 ═ 16SA+8SB+4SC+2SD+SE
Each fundamental voltage vector um2 on the voltage fundamental plane of M2 is:
Figure BDA0002547303750000025
wherein m2 ═ 16SA+8SB+4SC+2SD+SE
S in the above two formulasA～SERepresenting the five-phase output state of the inverter, if the upper bridge arm is switched on, Sk1, k is a to E; if the lower bridge arm is on, Sk＝0；
Step S14 according to um1And um2The basic voltage vectors are drawn on two voltage fundamental wave planes according to the formulaDividing the magnitude of each drawn basic voltage vector into small vectors USMiddle vector UmSum long vector UL；
Step S15: introducing a proportionality coefficient Ra ═ Uref1 *|/|Uref2 *And selecting 5 different basic voltage vectors according to the value of Ra for synthesizing U on the M1 planeref1 *Synthesizing U on M2 planeref2 *。
Step S16: calculating the action time of the five selected basic voltage vectors according to the selected 5 basic voltage vectors;
step S17: if the action time of a certain voltage vector obtained by solving is negative, selecting a basic voltage vector with the same size and the opposite direction from the basic voltage vector in the space voltage vector distribution diagram to replace the voltage vector, enabling the action time to be a positive value which is the same as the absolute value of the original time, and then carrying out amplitude limiting processing on the action time of each voltage vector.
Further, in the step S15
Figure BDA0002547303750000031
Further, the step S16 specifically includes:
when Ra is more than or equal to 0.618 and less than or equal to 1.618, five middle vectors U are selected16、U8、U4、U2、U1For separately synthesizing Uref1 *And Uref2 *Calculating the action time T of the five selected basic voltage vectors5、T4、T3、T2、T1The sum of which is the control period time Ts；
When Ra is present>1.618 times, Uref1 *Compared with Uref2 *Larger magnitude, pick U as large vector in the M1 plane but small vector in the M2 plane25、U28、U14、U7、U19The five basic voltage vectors are used for respectively synthesizing Uref1 *And Uref2 *Calculating the action time T of the five selected basic voltage vectors5’、T4’、T3’、 T2’、T1', the sum of which is the control cycle time Ts；
When Ra is present<At 0.618, Uref1 *Compared with Uref2 *The magnitude is smaller, picking U which is a small vector in the M1 plane but a large vector in the M2 plane9、U20、U10、U5、U18The five basic voltage vectors are used for respectively synthesizing Uref1 *And Uref2 *Calculating the action time T of the five selected basic voltage vectors5”、T4”、T3”、 T2”、T1", the sum of which is the control cycle time Ts。
Further, when Ra is more than or equal to 0.618 and less than or equal to 1.618, five middle vectors U are selected16、U8、U4、U2、U1For separately synthesizing Uref1 *And Uref2 *Calculating the action time T of the five selected basic voltage vectors5、T4、T3、 T2、T1The method specifically comprises the following steps: after the volt-second product of each basic voltage vector is determined, the voltage-second product is converted into U in a space voltage vector distribution diagramref1 *、Uref2 *In the direction and perpendicular thereto, the following equation can be used:
Figure BDA0002547303750000032
wherein:
θ11＝θ1-2π/5,θ12＝θ1-4π/5,θ13＝θ1-6π/5,θ14＝θ1-8π/5,θ21＝θ2-2π/5， θ22＝θ2-4π/5,θ23＝θ2-6π/5,θ24＝θ2-8π/5。
solving to obtain the action time of each vector as follows:
Figure BDA0002547303750000041
T4＝TS·(4UDC+aUI-bUⅡ+cUⅢ+dUⅣ)/(20UDC)
T3＝TS·(4UDC-bUI+aUⅡ+dUⅢ-cUⅣ)/(20UDC)
T2＝TS·(4UDC-bUI+aUⅡ-dUⅢ+cUⅣ)/(20UDC)
T1＝TS·(4UDC+aUI-bUⅡ-cUⅢ-dUⅣ)/(20UDC)
wherein: u shapeⅠ＝Uref1 *cosθ1，UⅡ＝Uref2 *cosθ2，UⅢ＝Uref1 *sinθ1，UⅣ＝Uref2 *sinθ2，
Figure RE-GDA0002616569450000062
Further, when Ra is>1.618, select five medium vectors as U25、U28、U14、U7、U19Solving for U25、U28、U14、U7、U19The five basic voltage vectors act for a time T5’、T4’、T3’、T2’、T1' after the volt-second product of each basic voltage vector is determined, it is converted into U in the space voltage vector distribution diagramref1 *、 Uref2 *In the direction and perpendicular thereto, the following equation can be used:
Figure BDA0002547303750000043
solving to obtain the action time of each vector as follows:
Figure BDA0002547303750000044
T4'＝TS·(4UDC+aγUI+bηUⅡ+cγUⅢ-dηUⅣ)/(20UDC)
T3'＝TS·(4UDC-bγUI-aηUⅡ+dγUⅢ+cηUⅣ)/(20UDC)
T2'＝TS·(4UDC-bγUI-aηUⅡ-dγUⅢ-cηUⅣ)/(20UDC)
T1'＝TS·(4UDC+aγUI+bηUⅡ-cγUⅢ+dηUⅣ)/(20UDC)
where η is 1.618 and γ is 0.618.
Further, Ra<At 0.618, to solve for U9、U20、U10、U5、U18The five basic voltage vectors act for a time T5”、T4”、T3”、T2”、T1", after the volt-second product of each basic voltage vector is determined, it is converted into U in the space voltage vector distribution diagramref1 *、Uref2 *The direction of the device and the direction perpendicular to the device can be listed as the following:
Figure BDA0002547303750000051
solving to obtain the action time of each vector as follows:
Figure BDA0002547303750000052
further, the step S3 specifically includes: the equivalent principle of volt-second product is facilitated, the action time of five basic voltage vectors is converted into the conduction time T of each upper bridge arm of the inverter according to a vector tablea-TeThe five-phase inverter is used for controlling the space voltage vector output by the five-phase inverter to act on the first five-phase motor M1 and the second five-phase motor M2, so that decoupling control of electromechanical energy conversion of the two motors is realized.
A five-phase inverter non-sector division space voltage vector modulation system comprises a rectifier circuit module, a direct current bus voltage acquisition circuit module, a filter capacitor module, a five-phase inverter module, two five-phase alternating current motors M1 and M2 with the same parameters, a central controller module, an isolation driving module, a winding current acquisition circuit module, a first motor rotor position angle acquisition circuit module, a second motor rotor position angle acquisition circuit module and a human-computer interface module; the rectifier circuit module, the filter capacitor module, the five-phase inverter module and the five-phase alternating current motors M1 and M2 are sequentially connected; the filter capacitor module is also connected with the central controller module through a direct current bus voltage acquisition circuit module; the central controller module is respectively connected with the human-computer interface module, the winding current acquisition circuit module, the first motor rotor position angle acquisition circuit module and the second motor rotor position angle acquisition circuit module; the winding current acquisition circuit module acquires the output current of the five-phase inverter module; the first motor rotor position angle acquisition circuit module and the second motor rotor position angle acquisition circuit module are respectively used for detecting the rotor positions of five-phase alternating current motors M1 and M2.
Compared with the prior art, the invention has the following beneficial effects:
1. the method for synthesizing the space voltage vector without sector division is simple, and the division and judgment links of the sector where the complicated reference voltage vector is located are avoided;
2. the invention realizes the independent operation of the two motors and the accurate decoupling control of the torque, reduces the torque pulsation of the two motors and enhances the operation stability of the two motors;
3. the voltage vector adopted in the space voltage vector of the invention considers the actual motor operation condition, improves the utilization rate of the DC bus voltage and expands the motor operation speed range.
Drawings
Fig. 1 is a block diagram of a five-phase inverter dual five-phase motor series system non-sector division space voltage vector modulation structure in an embodiment of the present invention;
FIG. 2 is a hardware configuration diagram of a driving system according to an embodiment of the present invention;
FIG. 3 is a diagram of a dual five phase AC motor series system according to an embodiment of the present invention;
FIG. 4 is a graph of the space voltage vector distribution of the dual-phase five-phase AC motor on the electromechanical energy conversion planes M1 and M2 according to an embodiment of the present invention;
FIG. 5 is a timing diagram of the switch tube according to the embodiment of the present invention.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
Referring to fig. 1, the present invention provides a five-phase inverter non-sector division space voltage vector modulation method as shown in fig. 1, including the following steps:
step S1, collecting relevant data of the five-phase inverter, selecting 5 voltage vectors, and respectively calculating the acting time of the 5 voltage vectors;
step S11: collecting output current i of a five-phase inverterA、iB、iC、iD、iEAnd rotor position angles θ of the first five-phase motor M1 and the second five-phase motor M2 that are drive-controlled by the five-phase inverterr1And thetar2；
Step S12, respectively carrying out reference voltage vector magnitude calculation to obtain a voltage fundamental wave plane (M1 plane) of the first five-phase motor M1 and a reference voltage vector U of a voltage fundamental wave plane (M2 plane) of the second five-phase motor M2ref1 *And Uref2 *As shown in the formula:
Figure BDA0002547303750000061
wherein
Figure BDA0002547303750000062
Alpha in a voltage fundamental wave plane static coordinate system of M11Shaft and beta1Voltage components on the axes;
Figure BDA0002547303750000063
alpha in a voltage fundamental wave plane static coordinate system of M22Shaft and beta2Voltage components on both axes of the shaft. The expression for the magnitude and vector relationship of the reference voltage vector is as follows:
Uref1 *＝|Uref1 *|∠θ1，Uref2 *＝|Uref2 *|∠θ2
wherein theta is1Is Uref1 *And alpha1The included angle between the axes; theta2Is Uref2 *And alpha2The angle between the axes.
Step S13: obtaining each basic voltage vector u on the voltage fundamental wave plane of M1 according to the series connection rule of the five-phase motorm1Comprises the following steps:
Figure BDA0002547303750000064
wherein m1 ═ 16SA+8SB+4SC+2SD+SE
Fundamental voltage vectors u in M2 fundamental voltage planem2Comprises the following steps:
Figure BDA0002547303750000071
wherein m2 ═ 16SA+8SB+4SC+2SD+SE
S in the above two formulasA～SERepresenting the five-phase output state of the inverter, if the upper bridge arm is switched on, Sk1, k is a to E; if the lower bridge arm is on, Sk＝0；
Step S14: according to um1And um2The formula draws each basic voltage vector on two voltage fundamental wave planes, and divides each basic voltage vector into small vectors U according to the magnitude of each drawn basic voltage vectorSMiddle vector UmSum long vector UL，|UL|:|Um|:|US|＝2cos(π/5):1:2cos(2π/5)≈1.618:1:0.618；
Step S15: introducing a proportionality coefficient Ra ═ Uref1 *|/|Uref2 *In order to select different 5 basic voltage vectors according to the value of Ra for synthesizing U in M1 planeref1 *Synthesizing U on M2 planeref2 *。
When Ra is more than or equal to 0.618 and less than or equal to 1.618, five middle vectors U are selected16、U8、U4、U2、U1For separately synthesizing Uref1 *And Uref2 *Calculating the action time T of the five selected basic voltage vectors5、T4、T3、T2、T1The sum of which is the control period time Ts；
When Ra is present>1.618 times, Uref1 *Compared with Uref2 *Larger magnitude, pick U as large vector in the M1 plane but small vector in the M2 plane25、U28、U14、U7、U19The five basic voltage vectors are used for respectively synthesizing Uref1 *And Uref2 *Calculating the action time T of the five selected basic voltage vectors5’、T4’、T3’、 T2’、T1', the sum of which is the control cycle time Ts；
When Ra is present<At 0.618, Uref1 *Compared withIn Uref2 *The magnitude is smaller, picking U which is a small vector in the M1 plane but a large vector in the M2 plane9、U20、U10、U5、U18The five basic voltage vectors are used for respectively synthesizing Uref1 *And Uref2 *Calculating the action time T of the five selected basic voltage vectors5”、T4”、T3”、 T2”、T1", the sum of which is the control cycle time Ts；
Step S16: if the action time of a certain voltage vector obtained by solving is negative, selecting a basic voltage vector with the same size and the opposite direction from the basic voltage vector in the space voltage vector distribution diagram to replace the voltage vector, changing the action time of the basic voltage vector into a positive value with the same absolute value as the original time, and carrying out amplitude limiting treatment on the action time of each voltage vector.
Step S2, converting the acting time of the 5 voltage vectors into the conducting and closing time of each switching element of the inverter bridge arm according to impulse equivalence principle, and controlling the switching signals of the five-phase bridge arm power switching elements;
step S3, converting the action time of five basic voltage vectors into the conduction time T of each upper bridge arm of the inverter according to the vector table by the volt-second product equivalent principlea-TeThe five-phase inverter is used for controlling the space voltage vector output by the five-phase inverter to act on the first five-phase motor M1 and the second five-phase motor M2, so that decoupling control of electromechanical energy conversion of the two motors is realized.
In this embodiment, when Ra is 0.618 ≦ 1.618, it is to solve U16、U8、U4、U2、U1The five fundamental voltage vectors act for a time T5、T4、T3、T2、T1After the volt-second product of each basic voltage vector is determined, the voltage-second product is converted into U in a space voltage vector distribution diagramref1 *、Uref2 *In the direction and perpendicular thereto, the following equation can be used:
Figure BDA0002547303750000081
wherein: theta11＝θ1-2π/5,θ12＝θ1-4π/5,θ13＝θ1-6π/5,θ14＝θ1-8π/5,θ21＝θ2-2π/5， θ22＝θ2-4π/5,θ23＝θ2-6π/5,θ24＝θ2-8π/5。
Solving to obtain the action time of each vector as follows:
Figure BDA0002547303750000082
T4＝TS·(4UDC+aUI-bUⅡ+cUⅢ+dUⅣ)/(20UDC)
T3＝TS·(4UDC-bUI+aUⅡ+dUⅢ-cUⅣ)/(20UDC)
T2＝TS·(4UDC-bUI+aUⅡ-dUⅢ+cUⅣ)/(20UDC)
T1＝TS·(4UDC+aUI-bUⅡ-cUⅢ-dUⅣ)/(20UDC)
wherein: u shapeⅠ＝Uref1 *cosθ1，UⅡ＝Uref2 *cosθ2，UⅢ＝Uref1 *sinθ1，UⅣ＝Uref2 *sinθ2，
Figure RE-GDA0002616569450000123
In the present embodiment, Ra>1.618, to solve for U25、U28、U14、U7、U19The five basic voltage vectors act for a time T5’、T4’、T3’、T2’、T1' after the volt-second product of each basic voltage vector is determined, it is converted into U in the space voltage vector distribution diagramref1 *、Uref2 *In the direction and perpendicular thereto, the following equation can be used:
Figure BDA0002547303750000085
solving to obtain the action time of each vector as follows:
Figure BDA0002547303750000091
T4'＝TS·(4UDC+aγUI+bηUⅡ+cγUⅢ-dηUⅣ)/(20UDC)
T3'＝TS·(4UDC-bγUI-aηUⅡ+dγUⅢ+cηUⅣ)/(20UDC)
T2'＝TS·(4UDC-bγUI-aηUⅡ-dγUⅢ-cηUⅣ)/(20UDC)
T1'＝TS·(4UDC+aγUI+bηUⅡ-cγUⅢ+dηUⅣ)/(20UDC)
where η is 1.618 and γ is 0.618.
In the present embodiment, Ra<At 0.618, to solve for U9、U20、U10、U5、U18The five basic voltage vectors act for a time T5”、T4”、T3”、T2”、T1", after the volt-second product of each basic voltage vector is determined, it is converted into U in the space voltage vector distribution diagramref1 *、Uref2 *In the direction ofPerpendicular thereto, the following equation can be used:
Figure BDA0002547303750000092
solving to obtain the action time of each vector as follows:
Figure BDA0002547303750000093
T4”＝TS·(4UDC+aηUI+bγUⅡ+cηUⅢ-dγUⅣ)/(20UDC)
T3”＝TS·(4UDC-bηUI-aγUⅡ+dηUⅢ+cγUⅣ)/(20UDC)
T2”＝TS·(4UDC-bηUI-aγUⅡ-dηUⅢ-cγUⅣ)/(20UDC)
T1”＝TS·(4UDC+aηUI+bγUⅡ-cηUⅢ+dγUⅣ)/(20UDC)
in this embodiment, when the time during which one of the voltage vectors obtained by the solution is applied is negative, the voltage vector is replaced with a voltage vector having the same magnitude and the opposite direction to the voltage vector, the application time is made a positive value equal to the absolute value of the original time, and the application time of each voltage vector is subjected to the slice processing. For example, when Ra is 0.618 ≦ 1.618, T is used1For example, the clipped values are:
T1＝|T1|·Ts/(|T5|+|T4|+|T3|+|T2|+|T1|)
analogously may list T2～T5The expression after time slicing.
When Ra is present>At 1.618, with T1For example, the clipped values are:
T’1＝|T’1|·Ts/(|T5’|+|T4’|+|T3’|+|T2’|+|T1|)
analogously may list T2’～T5' expression after time clipping.
When Ra is present<At 0.618, with T1For example, the clipped values are:
T1”＝|T1”|·Ts/(|T5”|+|T4”|+|T3”|+|T2”|+|T1”|)
analogously may list T2”～T5"expression after time slicing.
Preferably, as shown in fig. 1, the embodiment includes a five-phase inverter, a M1 and M2 plane reference voltage vector calculation link, a proportional coefficient Ra value judgment link, a voltage vector selection link, a voltage vector replacement link, a voltage vector action time limiting link, a vector table lookup link, an inverter bridge arm switch tube conduction time conversion link, and the like. Each phase output current i acquired by a five-phase inverterA～iEAnd rotor position angle theta of two five-phase motorsr1And thetar2Sending to reference voltage vector calculation link, and obtaining U by vector control or direct torque controlref1 *、Uref2 *(ii) a Defining the ratio of the reference voltage vector amplitudes of the electromechanical energy conversion planes of the two motors as Ra, and sending the Ra to a proportional coefficient Ra numerical value judgment link; and selecting five different voltage vectors according to the judgment result to respectively synthesize the reference voltage vectors. After the volt-second product of each basic voltage vector is determined according to the geometrical relationship between the graph (a) and the graph (b) in fig. 4, the volt-second product is converted into the U in the space voltage vector distribution diagram shown in fig. 4ref1 *、Uref2 *In the direction and perpendicular thereto; writing a matrix equation of the action time of each voltage vector according to the converted geometric relation, and solving the matrix equation to obtain the action time of each voltage vector; if the obtained 5 voltage vectors are solved in the action timeIf one or more time values are negative, the voltage vector is replaced by a voltage vector having the same magnitude and opposite direction in fig. 4, and the action time is converted into a positive value. The sum of the action time of each voltage vector is still kept as the control period T through a time amplitude limiting links(ii) a Finally, the calculated voltage vector and the action time thereof are sent to a switching tube conduction time conversion link of the inverter bridge arm, and switching signals S of power switching devices of the five inverter bridge arms A-E after conversion are obtained according to a table 4A-SEWhen the upper tube of a certain phase bridge arm is connected and the lower tube is disconnected, the S corresponding to the bridge arm is connectedi1(i ═ a to E); when the upper tube of a certain phase of bridge arm is turned off and the lower tube is turned on, the S corresponding to the bridge armi0(i ═ a to E); the upper tube and the lower tube are conducted complementarily, and no complicated sector judgment link exists in the whole space voltage vector modulation process. At SA-SEUnder the action of switch control, the five-phase inverter outputs corresponding switch signals, and the switch signals act on the two five-phase motors to realize decoupling control of electromechanical energy conversion in respective planes of the two motors, and control strategies of the two motors can adopt a vector control mode or a direct torque control mode.
In particular, the present embodiment corresponds to a matching hardware structure of the driving system as shown in fig. 2. The module comprises: the device comprises a rectifier circuit module, a direct current bus voltage acquisition circuit module, a filter capacitor module, a five-phase inverter module, two five-phase alternating current motors M1 and M2 with the same parameters, a central controller module, an isolation driving module, a winding current acquisition circuit module, a motor rotor position angle acquisition circuit module, a man-machine interface module and the like. The relevant power devices in the five-phase inverter can adopt MOSFET or IGBT, and the central controller uses DSP or a single chip microcomputer. The current collection of the five-phase winding can be obtained by combining an operational amplifier and a Hall current sensor, and can also be obtained by connecting a winding series power resistor with a differential operational amplifier. The scheme of combining the operational amplifier and the Hall current sensor can realize the electrical isolation of the main loop and the control loop, and the scheme has lower cost. The acquisition of the voltage value of the direct current bus can be obtained by combining a Hall voltage sensor and an operational amplifier, and also can be obtained by combining a voltage follower formed by connecting a parallel resistor with a voltage divider and then connecting the voltage divider with the operational amplifier. The rotor position angle detection circuit module is composed of a rotary encoder and a level conversion circuit, and can also be composed of a rotary transformer and a decoding circuit, wherein the rotary encoder is low in cost and low in precision, and the rotary transformer is high in cost and high in sampling precision. Weak current signals output by the current detection and voltage sampling circuit are sent to an A/D conversion module of the central controller, and pulse signals output by the position angle detection circuit are sent to a QEP module of the central controller. According to the obtained signals and the space vector modulation method of the embodiment, switching signals of an inverter arm are output, and the switching action of a power switching tube in the inverter is controlled through isolation driving.
Preferably, in the embodiment, the output current i of the five-phase inverter is collected by the five-phase winding current collecting circuit moduleA、iB、iC、iD、iE(ii) a Rotor position angles theta of the five-phase motor M1 and the five-phase motor M2 are acquired and obtained through two motor rotor position angle acquisition circuit modulesr1And thetar2。
Specifically, in the present embodiment, the connection mode of the two five-phase ac motors M1 and M2 for the five-phase inverter power supply is as shown in fig. 3, and the spatial vector of the inverter output voltage under constant power conversion can be represented as:
Figure BDA0002547303750000111
wherein k ∈ (0, 31). SA～SERepresenting the five-phase output state of the inverter, if the upper bridge arm is switched on, Sk1(k ═ a to E); if the lower bridge arm is on, Sk＝0。
The motor series system formed by the two five-phase alternating current motors has four degrees of freedom, and 2 degrees of freedom can form a plane, so that the controllable electromechanical energy conversion planes of the motor series system formed by the double five-phase motors are 2. The five-phase inverter is switched on or off according to the switches of the five-phase bridge armsIn the closed state, 32 kinds of switch modes (00000-11111) can be formed. According to the phase angles corresponding to the five-phase bridge arms and the motor series connection rule, the projection distribution diagrams of the 32 voltage vectors on the two motor electromechanical energy conversion planes M1 and M2 are shown in FIG. 4, wherein: u shaperef1 *、Uref2 *The space voltage reference vectors of the M1 and M2 electromechanical energy conversion planes are controlled separately.
The correspondence relationship between the vector positions of the voltages of large, medium and small in fig. 4 is shown in tables 1 and 2.
According to the series rule of the five-phase motor, further obtaining medium vectors u on two planesm1And um2Respectively is as follows:
Figure BDA0002547303750000112
Figure BDA0002547303750000113
the vector-amplitude relationship between the medium vector and the small vector can be obtained from the geometric relationship of the voltage vector distribution diagram
TABLE 1M1 plane vector
Figure BDA0002547303750000114
Figure BDA0002547303750000121
TABLE 2M2 plane vector
θ2Angle of rotation Short vector US Middle vector Um Long vector UL
0 6 16 22
0.2π 19 30 18
0.4π 24 2 26
0.6π 14 27 10
0.8π 3 8 11
π 25 15 9
1.2π 21 1 13
1.4π 7 29 5
1.6π 17 4 21
1.8π 28 23 20
As shown in table 3 below.
TABLE 3 five-phase voltage inverter voltage space vector magnitude
Figure BDA0002547303750000122
In order to better realize the electromechanical energy conversion decoupling control of the M1 and M2 motors and the sector division-free space vector modulation control of the two five-phase motors, the ratio of the reference voltage vectors of the two electromechanical energy conversion planes is set as Ra, and Ra is Uref1 */Uref2 *. Depending on the magnitude of the Ra value, 5 different voltage vectors are selected for the composite reference voltage vector:
when Ra is more than or equal to 0.618 and less than or equal to 1.618, solving U16、U8、U4、U2、U1The five basic voltage vectors act for a time T5、T4、T3、T2、T1After the volt-second product of each basic voltage vector is determined, the voltage-second product is converted intoU in space voltage vector distribution diagramref1 *、Uref2 *In the direction and perpendicular thereto, the following equation can be used:
Figure BDA0002547303750000131
wherein:
θ11＝θ1-2π/5,θ12＝θ1-4π/5,θ13＝θ1-6π/5,θ14＝θ1-8π/5,θ21＝θ2-2π/5，
θ22＝θ2-4π/5,θ23＝θ2-6π/5,θ24＝θ2-8π/5。
solving to obtain the action time of each vector as follows:
Figure BDA0002547303750000132
T4＝TS·(4UDC+aUI-bUⅡ+cUⅢ+dUⅣ)/(20UDC)
T3＝TS·(4UDC-bUI+aUⅡ+dUⅢ-cUⅣ)/(20UDC)
T2＝TS·(4UDC-bUI+aUⅡ-dUⅢ+cUⅣ)/(20UDC)
T1＝TS·(4UDC+aUI-bUⅡ-cUⅢ-dUⅣ)/(20UDC)
wherein: u shapeⅠ＝Uref1 *cosθ1，UⅡ＝Uref2 *cosθ2，UⅢ＝Uref1 *sinθ1，UⅣ＝Uref2 *sinθ2，
Figure RE-GDA0002616569450000192
When Ra is present>1.618, to solve for U25、U28、U14、U7、U19The five basic voltage vectors act for a time T5’、T4’、T3’、T2’、T1' after the volt-second product of each basic voltage vector is determined, it is converted into U in the space voltage vector distribution diagramref1 *、Uref2 *In the direction and perpendicular thereto, the following equation can be used:
Figure BDA0002547303750000135
solving to obtain the action time of each vector as follows:
Figure BDA0002547303750000141
T4'＝TS·(4UDC+aγUI+bηUⅡ+cγUⅢ-dηUⅣ)/(20UDC)
T3'＝TS·(4UDC-bγUI-aηUⅡ+dγUⅢ+cηUⅣ)/(20UDC)
T2'＝TS·(4UDC-bγUI-aηUⅡ-dγUⅢ-cηUⅣ)/(20UDC)
T1'＝TS·(4UDC+aγUI+bηUⅡ-cγUⅢ+dηUⅣ)/(20UDC)
where η is 1.618 and γ is 0.618.
When Ra is present<At 0.618, to solve for U9、U20、U10、U5、U18The five basic voltage vectors act for a time T5”、T4”、T3”、T2”、T1", after the volt-second product of each basic voltage vector is determined, it is converted into U in the space voltage vector distribution diagramref1 *、Uref2 *In the direction and perpendicular thereto, the following equation can be used:
Figure BDA0002547303750000142
solving to obtain the action time of each vector as follows:
Figure BDA0002547303750000143
T4”＝TS·(4UDC+aηUI+bγUⅡ+cηUⅢ-dγUⅣ)/(20UDC)
T3”＝TS·(4UDC-bηUI-aγUⅡ+dηUⅢ+cγUⅣ)/(20UDC)
T2”＝TS·(4UDC-bηUI-aγUⅡ-dηUⅢ-cγUⅣ)/(20UDC)
T1”＝TS·(4UDC+aηUI+bγUⅡ-cηUⅢ+dγUⅣ)/(20UDC)
if the action time of one voltage vector obtained by solving is negative, the voltage vector is replaced by the voltage vector with the same magnitude and the opposite direction to the voltage vector, the action time of the voltage vector is changed into a positive value with the same absolute value of the original time, and then the action time of each voltage vector is subjected to amplitude limiting treatment. For example, when Ra is 0.618 ≦ 1.618 and the reference voltage vector U is setref1 *And Uref2 *U obtained from phase and amplitude16Time of action T5<0、U8Time of action T4<0 and the action time of each other vector is positive, thenWill U16、U8Is replaced by U15And U23. And performing amplitude limiting processing on all the voltage action time obtained by the voltage limiting processing to obtain T1For example, the clipped values are:
T1＝|T1|·Ts/(|T5|+|T4|+|T3|+|T2|+|T1|)
analogously may list T2～T5The expression after time slicing.
Setting the conduction time of each upper bridge arm of the five-phase inverter as Ta-TeVoltage vector (u)0～u31) Duration of action (T)0～T31) Conversion to Ta-TeThe selected voltage vector can be directly output in time sequence as shown in the following table 4:
TABLE 4 on-time chart of bridge arm on each voltage vector action time conversion switch tube
u0 u1 u2 u3 u4 u5 u6 u7 u8 u9 u10 u11 u12 u13 u14 u15
Ta 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Tb 0 0 0 0 0 0 0 0 T8 T9 T10 T11 T12 T13 T14 T15
Tc 0 0 0 0 T4 T5 T6 T7 0 0 0 0 T12 T13 T14 T15
Td 0 0 T2 T3 0 0 T6 T7 0 0 T10 T11 0 0 T14 T15
Te 0 T1 0 T3 0 T5 0 T7 0 T9 0 T11 0 T13 0 T15
u16 u17 u18 u19 u20 u21 u22 u23 u24 u25 u26 u27 u28 u29 u30 u31
Ta T16 T17 T18 T19 T20 T21 T22 T23 T24 T25 T26 T27 T28 T29 T30 T31
Tb 0 0 0 0 0 0 0 0 T24 T25 T26 T27 T28 T29 T30 T31
Tc 0 0 0 0 T20 T21 T22 T23 0 0 0 0 T28 T29 T30 T31
Td 0 0 T18 T19 0 0 T22 T23 0 0 T26 T27 0 0 T30 T31
Te 0 T17 0 T19 0 T21 0 T23 0 T25 0 T27 0 T29 0 T31
The action time is converted into the on time of each switching tube according to the table 4, and the PWM waveform is shown in FIG. 5:
when Ra is present>At 1.618, with T1For example, the clipped values are:
T’1＝|T’1|·Ts/(|T5’|+|T4’|+|T3’|+|T2’|+|T’1|)
analogously may list T2’～T5The expression after time clipping is converted into the switching-on time of each switching tube according to table 4.
When Ra is present<At 0.618, with T1For example, the clipped values are:
T1”＝|T1”|·Ts/(|T5”|+|T4”|+|T3”|+|T2”|+|T1”|)
analogously may list T2”～T5The expression after time slicing is converted into the on time of each switching tube according to table 4.
The specific process working in this embodiment includes the following steps:
(1) calculating the plane reference voltage vectors U of M1 and M2 according to a vector control strategy or a direct torque control strategyref1 *And Uref2 *。
(2) Obtaining each basic voltage vector u on the voltage fundamental wave plane of M1 according to the series connection rule of the five-phase motorm1Comprises the following steps:
Figure BDA0002547303750000161
wherein m1 ═ 16SA+8SB+4SC+2SD+SE
Fundamental voltage vectors u in M2 fundamental voltage planem2Comprises the following steps:
Figure BDA0002547303750000162
wherein m2 ═ 16SA+8SB+4SC+2SD+SE
S in the above two formulasA～SERepresenting the five-phase output state of the inverter, if the upper bridge arm is switched on, Sk1, k is a to E; if the lower bridge arm is on, Sk＝0；
(3) According to um1And um2The formula draws each basic voltage vector on two voltage fundamental wave planes, and divides each basic voltage vector into small vectors U according to the magnitude of each drawn basic voltage vectorSMiddle vector UmSum long vector UL， |UL|:|Um|:|US|＝2cos(π/5):1:2cos(2π/5)≈1.618:1:0.618；
(4) Introducing a proportionality coefficient Ra ═ Uref1 *|/|Uref2 *In order to select different 5 basic voltage vectors according to the value of Ra for synthesizing U in M1 planeref1 *Synthesizing U on M2 planeref2 *。
(5) When Ra is more than or equal to 0.618 and less than or equal to 1.618, five middle vectors U are selected16、U8、U4、U2、U1The five fundamental voltage vectors have an action time T5、T4、T3、T2、T1For separately synthesizing Uref1 *And Uref2 *After the volt-second product of each basic voltage vector is determined, the voltage-second product is converted into U in a space voltage vector distribution diagramref1 *、Uref2 *In the direction and perpendicular thereto, the following equation can be used:
Figure BDA0002547303750000171
wherein:
θ11＝θ1-2π/5,θ12＝θ1-4π/5,θ13＝θ1-6π/5,θ14＝θ1-8π/5,θ21＝θ2-2π/5， θ22＝θ2-4π/5,θ23＝θ2-6π/5,θ24＝θ2-8π/5。
solving to obtain the action time of each vector as follows:
Figure BDA0002547303750000172
T4＝TS·(4UDC+aUI-bUⅡ+cUⅢ+dUⅣ)/(20UDC)
T3＝TS·(4UDC-bUI+aUⅡ+dUⅢ-cUⅣ)/(20UDC)
T2＝TS·(4UDC-bUI+aUⅡ-dUⅢ+cUⅣ)/(20UDC)
T1＝TS·(4UDC+aUI-bUⅡ-cUⅢ-dUⅣ)/(20UDC)
wherein: u shapeⅠ＝Uref1 *cosθ1，UⅡ＝Uref2 *cosθ2，UⅢ＝Uref1 *sinθ1，UⅣ＝Uref2 *sinθ2，
Figure RE-GDA0002616569450000233
(6) When Ra is present>1.618, to solve for U25、U28、U14、U7、U19The five basic voltage vectors act for a time T5’、T4’、T3’、T2’、T1' after determining the volt-second product of each basic voltage vector, converting the product into U in the space voltage vector distribution diagramref1 *、Uref2 *In the direction and perpendicular thereto, the following equation can be used:
Figure BDA0002547303750000175
solving to obtain the action time of each vector as follows:
Figure BDA0002547303750000176
T4'＝TS·(4UDC+aγUI+bηUⅡ+cγUⅢ-dηUⅣ)/(20UDC)
T3'＝TS·(4UDC-bγUI-aηUⅡ+dγUⅢ+cηUⅣ)/(20UDC)
T2'＝TS·(4UDC-bγUI-aηUⅡ-dγUⅢ-cηUⅣ)/(20UDC)
T1'＝TS·(4UDC+aγUI+bηUⅡ-cγUⅢ+dηUⅣ)/(20UDC)
where η is 1.618 and γ is 0.618.
(7) When Ra is present<At 0.618, to solve for U9、U20、U10、U5、U18The five basic voltage vectors act for a time T5”、T4”、T3”、T2”、T1", after the volt-second product of each basic voltage vector is determined, it is converted into U in the space voltage vector distribution diagramref1 *、Uref2 *The direction of the device and the direction perpendicular to the device can be listed as the following:
Figure BDA0002547303750000181
solving to obtain the action time of each vector as follows:
Figure BDA0002547303750000182
T4”＝TS·(4UDC+aηUI+bγUⅡ+cηUⅢ-dγUⅣ)/(20UDC)
T3”＝TS·(4UDC-bηUI-aγUⅡ+dηUⅢ+cγUⅣ)/(20UDC)
T2”＝TS·(4UDC-bηUI-aγUⅡ-dηUⅢ-cγUⅣ)/(20UDC)
T1”＝TS·(4UDC+aηUI+bγUⅡ-cηUⅢ+dγUⅣ)/(20UDC)
(8) if the action time of a certain voltage vector obtained by solving is negative, the voltage vector is replaced by a voltage vector with the same magnitude and opposite to the direction of the voltage vector, the action time of the voltage vector is changed into a positive value with the same absolute value as the original time, and then the action time of each voltage vector is subjected to amplitude limiting treatment.
(9) Converting the action time of five basic voltage vectors into the conduction time T of each upper bridge arm of the inverter according to the table 4 by the volt-second product equivalent principlea-TeThe five-phase inverter is used for controlling the space voltage vector output by the five-phase inverter to act on the first five-phase motor M1 and the second five-phase motor M2, so that decoupling control of electromechanical energy conversion of the two motors is realized.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the present invention.

Claims (6)

1. A five-phase inverter sector-division-free space voltage vector modulation method is characterized by comprising the following steps of:
step S1, collecting relevant data of the five-phase inverter, selecting 5 voltage vectors, and respectively calculating the acting time of the 5 voltage vectors;
step S2, converting the acting time of each of the 5 voltage vectors into the conducting and closing time of each switching device of an inverter bridge arm of the inverter according to an impulse equivalence principle, and controlling the switching signals of the five-phase bridge arm power switching devices;
step S3, the five space voltage vectors output by the five-phase inverter are simultaneously acted on the two motors, so that decoupling control of electromechanical energy conversion of the two motors is realized;
the step S1 specifically includes:
step S11, collecting the output current i of the five-phase inverterA、iB、iC、iD、iEAnd rotor position angles θ of the first five-phase motor M1 and the second five-phase motor M2 that are drive-controlled by the five-phase inverterr1And thetar2；
Step S12, respectively carrying out reference voltage vector magnitude calculation to obtain a voltage fundamental wave plane (M1 plane) of the first five-phase motor M1 and a reference voltage vector U of a voltage fundamental wave plane (M2 plane) of the second five-phase motor M2ref1 *And Uref2 *：
Figure FDA0003359160160000011
Wherein
Figure FDA0003359160160000012
Alpha in a voltage fundamental wave plane static coordinate system of M11Shaft and beta1Voltage components on the axes;
Figure FDA0003359160160000013
alpha in a voltage fundamental wave plane static coordinate system of M22Shaft and beta2Voltage components on the axes; further, the expression of the magnitude and vector relationship of the reference voltage vector is obtained as follows:
Uref1 *＝|Uref1 *|∠θ1，Uref2 *＝|Uref2 *|∠θ2
wherein theta is1Is Uref1 *And alpha1The included angle between the axes; theta2Is Uref2 *And alpha2The included angle between the axes;
step S13, obtaining each basic voltage vector um1 on the voltage fundamental wave plane of M1 according to the series connection rule of the five-phase motor as follows:
Figure FDA0003359160160000021
wherein m1 ═ 16SA+8SB+4SC+2SD+SE
Each fundamental voltage vector um2 on the voltage fundamental plane of M2 is:
Figure FDA0003359160160000022
wherein m2 ═ 16SA+8SB+4SC+2SD+SE
S in the above two formulasA～SERepresenting the five-phase output state of the inverter, if the upper bridge arm is switched on, Sk1, k is a to E; if the lower bridge arm is on, Sk＝0；
Step S14 according to um1And um2The formula draws each basic voltage vector on two voltage fundamental wave planes, and divides each basic voltage vector into small vectors U according to the magnitude of each drawn basic voltage vectorSMiddle vector UmSum long vector UL；
Step S15: introducing a proportionality coefficient Ra ═ Uref1 *|/|Uref2 *And selecting 5 different basic voltage vectors according to the value of Ra for synthesizing U on the M1 planeref1 *Synthesizing U on M2 planeref2 *；
Step S16: calculating the action time of the five selected basic voltage vectors according to the selected 5 basic voltage vectors;
step S17: if the action time of a certain voltage vector obtained by solving is negative, selecting a basic voltage vector with the same size and the opposite direction from the basic voltage vector in the space voltage vector distribution diagram to replace the voltage vector, enabling the action time of the basic voltage vector to be a positive value which is the same as the absolute value of the original time, and then carrying out amplitude limiting treatment on the action time of each voltage vector;
in the step S15
Figure FDA0003359160160000031
Figure FDA0003359160160000032
The step S16 specifically includes:
when Ra is more than or equal to 0.618 and less than or equal to 1.618, five middle vectors U are selected16、U8、U4、U2、U1For separately synthesizing Uref1 *And Uref2 *Calculating the action time T of the five selected basic voltage vectors5、T4、T3、T2、T1The sum of which is the control period time Ts；
When Ra is present>1.618 times, Uref1 *Compared with Uref2 *Larger magnitude, pick U as large vector in the M1 plane but small vector in the M2 plane25、U28、U14、U7、U19The five basic voltage vectors are used for respectively synthesizing Uref1 *And Uref2 *Calculating the action time T of the five selected basic voltage vectors5’、T4’、T3’、T2’、T1', the sum of which is the control cycle time Ts；
When Ra is present<At 0.618, Uref1 *Compared with Uref2 *The magnitude is smaller, picking U which is a small vector in the M1 plane but a large vector in the M2 plane9、U20、U10、U5、U18The five basic voltage vectors areIn the respective synthesis of Uref1 *And Uref2 *Calculating the action time T of the five selected basic voltage vectors5”、T4”、T3”、T2”、T1", the sum of which is the control cycle time Ts。
2. The five-phase inverter sectorionless space-voltage vector modulation method as claimed in claim 1, wherein when Ra is 0.618 ≦ 1.618, five medium vectors U are selected16、U8、U4、U2、U1For separately synthesizing Uref1 *And Uref2 *Calculating the action time T of the five selected basic voltage vectors5、T4、T3、T2、T1The method specifically comprises the following steps: after the volt-second product of each basic voltage vector is determined, the voltage-second product is converted into U in a space voltage vector distribution diagramref1 *、Uref2 *In the direction and perpendicular thereto, the following equation can be used:
Figure FDA0003359160160000041
wherein: theta11＝θ1-2π/5,θ12＝θ1-4π/5,θ13＝θ1-6π/5,θ14＝θ1-8π/5,θ21＝θ2-2π/5，θ22＝θ2-4π/5,θ23＝θ2-6π/5,θ24＝θ2-8π/5；
Solving to obtain the action time of each vector as follows:
Figure FDA0003359160160000042
T4＝TS·(4UDC+aUⅠ-bUⅡ+cUⅢ+dUⅣ)/(20UDC)
T3＝TS·(4UDC-bUⅠ+aUⅡ+dUⅢ-cUⅣ)/(20UDC)
T2＝TS·(4UDC-bUⅠ+aUⅡ-dUⅢ+cUⅣ)/(20UDC)
T1＝TS·(4UDC+aUⅠ-bUⅡ-cUⅢ-dUⅣ)/(20UDC)
wherein:
Figure FDA0003359160160000043
Figure FDA0003359160160000044
3. the five-phase inverter sectorionless space-voltage vector modulation method as claimed in claim 2, wherein when Ra is Ra, the space-voltage vector modulation method is characterized in that>1.618, select five medium vectors as U25、U28、U14、U7、U19Solving for U25、U28、U14、U7、U19The five basic voltage vectors act for a time T5’、T4’、T3’、T2’、T1' after the volt-second product of each basic voltage vector is determined, it is converted into U in the space voltage vector distribution diagramref1 *、Uref2 *In the direction and perpendicular thereto, the following equation can be used:
Figure FDA0003359160160000051
solving to obtain the action time of each vector as follows:
Figure FDA0003359160160000052
T4'＝TS·(4UDC+aγUⅠ+bηUⅡ+cγUⅢ-dηUⅣ)/(20UDC)
T3'＝TS·(4UDC-bγUⅠ-aηUⅡ+dγUⅢ+cηUⅣ)/(20UDC)
T2'＝TS·(4UDC-bγUⅠ-aηUⅡ-dγUⅢ-cηUⅣ)/(20UDC)
T1'＝TS·(4UDC+aγUⅠ+bηUⅡ-cγUⅢ+dηUⅣ)/(20UDC)
where η is 1.618 and γ is 0.618.
4. The five-phase inverter sectorionless space-voltage vector modulation method as claimed in claim 2, wherein Ra is<At 0.618, to solve for U9、U20、U10、U5、U18The five basic voltage vectors act for a time T5”、T4”、T3”、T2”、T1", after the volt-second product of each basic voltage vector is determined, it is converted into U in the space voltage vector distribution diagramref1 *、Uref2 *In the direction and perpendicular thereto, the following equation can be used:
Figure FDA0003359160160000053
solving to obtain the action time of each vector as follows:
Figure FDA0003359160160000054
5. the five-phase inverter sectorionless space voltage vector modulation method according to claim 1, wherein the step S3 specifically comprises: the equivalent principle of volt-second product is facilitated, the action time of five basic voltage vectors is converted into the conduction time T of each upper bridge arm of the inverter according to a vector tablea-TeThe five-phase inverter is used for controlling the space voltage vector output by the five-phase inverter to act on the first five-phase motor M1 and the second five-phase motor M2, so that decoupling control of electromechanical energy conversion of the two motors is realized.
6. The system of five-phase inverter sectorization-free space voltage vector modulation method according to any one of claims 1-5, characterized in that: the device comprises a rectification circuit module, a direct-current bus voltage acquisition circuit module, a filter capacitor module, a five-phase inverter module, two five-phase alternating-current motors M1 and M2 with the same parameters, a central controller module, an isolation driving module, a winding current acquisition circuit module, a first motor rotor position angle acquisition circuit module, a second motor rotor position angle acquisition circuit module and a man-machine interface module; the rectifier circuit module, the filter capacitor module, the five-phase inverter module and the five-phase alternating current motors M1 and M2 are connected in sequence; the filter capacitor module is also connected with the central controller module through the direct current bus voltage acquisition circuit module; the central controller module is respectively connected with the human-computer interface module, the winding current acquisition circuit module, the first motor rotor position angle acquisition circuit module and the second motor rotor position angle acquisition circuit module; the winding current acquisition circuit module acquires the output current of the five-phase inverter module; the first motor rotor position angle acquisition circuit module and the second motor rotor position angle acquisition circuit module are respectively used for detecting the rotor positions of five-phase alternating current motors M1 and M2.
CN202010564903.8A 2020-06-19 2020-06-19 Five-phase inverter sector-division-free space voltage vector modulation method Active CN111711406B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010564903.8A CN111711406B (en) 2020-06-19 2020-06-19 Five-phase inverter sector-division-free space voltage vector modulation method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010564903.8A CN111711406B (en) 2020-06-19 2020-06-19 Five-phase inverter sector-division-free space voltage vector modulation method

Publications (2)

Publication Number Publication Date
CN111711406A CN111711406A (en) 2020-09-25
CN111711406B true CN111711406B (en) 2022-03-11

Family

ID=72542912

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010564903.8A Active CN111711406B (en) 2020-06-19 2020-06-19 Five-phase inverter sector-division-free space voltage vector modulation method

Country Status (1)

Country Link
CN (1) CN111711406B (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106787918A (en) * 2017-01-16 2017-05-31 南京航空航天大学 A kind of random SVPWM method of Five-phase inverter
CN110165918A (en) * 2019-05-07 2019-08-23 福州大学 A kind of nearest four-vector space voltage vector modulation method of Five-phase inverter biplane
CN110504898A (en) * 2019-08-22 2019-11-26 中国人民解放军海军工程大学 A kind of five-phase induction motor space vector calculation method

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8233295B2 (en) * 2010-03-09 2012-07-31 GM Global Technology Operations LLC Methods, systems and apparatus for approximation of peak summed fundamental and third harmonic voltages in a multi-phase machine
US8446117B2 (en) * 2011-01-03 2013-05-21 GM Global Technology Operations LLC Methods, systems and apparatus for adjusting duty cycle of pulse width modulated (PWM) waveforms
JP5447466B2 (en) * 2011-09-13 2014-03-19 株式会社デンソー Rotating machine control device
DE102016216560A1 (en) * 2016-04-29 2017-11-02 Robert Bosch Gmbh Method for switching off a multi-phase electric machine in a motor vehicle

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106787918A (en) * 2017-01-16 2017-05-31 南京航空航天大学 A kind of random SVPWM method of Five-phase inverter
CN110165918A (en) * 2019-05-07 2019-08-23 福州大学 A kind of nearest four-vector space voltage vector modulation method of Five-phase inverter biplane
CN110504898A (en) * 2019-08-22 2019-11-26 中国人民解放军海军工程大学 A kind of five-phase induction motor space vector calculation method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
基于虚拟电压矢量的五相电压源逆变器空间矢量调制算法;余彬等;《中国电机工程学报》;20200105(第01期);全文 *

Also Published As

Publication number Publication date
CN111711406A (en) 2020-09-25

Similar Documents

Publication Publication Date Title
CN107565868B (en) Fault-tolerant control system and method for five-phase permanent magnet synchronous motor under open-circuit fault
CN1035709C (en) Voltage-type pwm converter/inverter system and process for controlling the same
CN102232265B (en) Alternating current-direct current converting apparatus and apparatus for driving electric machinery
WO2022110277A1 (en) Model predictive decomposition control method and apparatus for open-winding five-phase permanent magnet synchronous motor
Ge et al. An effective control technique for medium-voltage high-power induction motor fed by cascaded neutral-point-clamped inverter
CN102195550A (en) Methods, systems and apparatus for optimization of third harmonic current injection in a multi-phase machine
CN108574442B (en) Six-phase motor direct torque control system and control method thereof
CN110299882B (en) Three-vector model prediction control method for hybrid power supply type open winding permanent magnet synchronous motor
CN110165918B (en) Double-plane nearest four-vector space voltage vector modulation method for five-phase inverter
CN104380594A (en) Power conversion device
CN207427006U (en) Electric machine control system, transducer air conditioning
CN108258945B (en) Nine-switch inverter of double-permanent-magnet synchronous motor and control method thereof
CN108206651B (en) Nine-switch inverter double-motor driving system and control method thereof
CN111711406B (en) Five-phase inverter sector-division-free space voltage vector modulation method
CN112260605B (en) Direct torque control method for one-phase-lacking fault of five-phase permanent magnet synchronous motor
CN109981017B (en) Fault-tolerant control system and method for two-unit same-phase permanent magnet synchronous motor under open-circuit fault
CN108023474A (en) Pfc circuit, electric machine control system and transducer air conditioning
CN112039384A (en) High-efficiency servo drive control system
CN109600095B (en) Phase failure fault-tolerant control system and method of permanent magnet synchronous motor based on four-bridge-arm inverter
CN110504881A (en) A kind of permanent magnet synchronous motor sensorless strategy method based on TNPC inverter
CN113437855B (en) Generalized Clarke coordinate transformation and three-phase control circuit
Abe et al. Harmonics Reduction Control for the Input Current of Electrolytic Capacitor-less High-Power-Factor Inverter for IPMSM
Taïb et al. An improved fixed switching frequency direct torque control of induction motor drives fed by direct matrix converter
CN207884486U (en) Pfc circuit, electric machine control system and transducer air conditioning
Tahar et al. Sensorless DTC of IPMSM for embedded systems

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant