CN112134507A - SVPWM control modulation and overmodulation method and device - Google Patents

SVPWM control modulation and overmodulation method and device Download PDF

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CN112134507A
CN112134507A CN201910556279.4A CN201910556279A CN112134507A CN 112134507 A CN112134507 A CN 112134507A CN 201910556279 A CN201910556279 A CN 201910556279A CN 112134507 A CN112134507 A CN 112134507A
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voltage vector
modulation
determining
target voltage
target
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马东辉
杨宝川
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Beijing CHJ Automotive Information Technology Co Ltd
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Beijing CHJ Automotive Information Technology Co Ltd
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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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control

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Abstract

The embodiment of the disclosure discloses a modulation and overmodulation method and a device for SVPWM control, relates to the technical field of motor control, and mainly aims to simplify the implementation process of modulation and overmodulation in SVPWM control. The embodiment of the present disclosure includes: according to the modulation zone where the target voltage vector is located, determining the projection u of the actual output voltage vector corresponding to the target voltage vector on the horizontal axis in the orthogonal axes* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* β(ii) a Wherein different modulation regions have different u* αAnd u* βDetermining a rule; based on the u* αAnd said u* βAnd determining the duty ratio output of the sector where the actual output voltage vector is positioned through a plurality of intermediate variables.

Description

SVPWM control modulation and overmodulation method and device
Technical Field
The embodiment of the disclosure relates to the technical field of motor control, in particular to a modulation and overmodulation method and device for SVPWM control.
Background
In devices such as motor control which need to implement a power inverter function, SVPWM control has become the most widely used control method because of its advantage of improving the utilization efficiency of a dc power supply. In order to make the fundamental wave amplitude of the motor larger and improve the utilization rate of voltage, SVPWM modulation is needed.
Currently, the SVPWM modulation method generally includes the following two methods: the first is to calculate the actual output voltage vector using the theory of equal area (i.e., the area that the actual voltage vector after modulation crosses in the O α β coordinate plane is equal to the area of the circle of the target voltage vector in that plane). And then modulated based on the actual output voltage vector. The second is, using mr. holtz classical overmodulation theory. However, in the above two methods, the sector judgment and the duty ratio calculation involve various intermediate variables, which are complicated in calculation, and the intermediate variables used in the sector judgment process and the duty ratio calculation both involve the control period of the SVPWM, which results in a large amount of calculation, so that the SVPWM modulation process is complicated.
Disclosure of Invention
In view of this, the embodiments of the present disclosure provide a modulation and overmodulation method and device for SVPWM control, and mainly aim to simplify the implementation process of modulation and overmodulation in SVPWM control. The embodiment of the disclosure mainly provides the following technical scheme:
in a first aspect, an embodiment of the present disclosure provides a modulation and overmodulation method for SVPWM control, the method including:
according to the modulation zone where the target voltage vector is located, determining the projection u of the actual output voltage vector corresponding to the target voltage vector on the horizontal axis in the orthogonal axes* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* β(ii) a Wherein different modulation regions have different u* αAnd u* βDetermining a rule;
based on the u* αAnd said u* βAnd determining the duty ratio output of the sector where the actual output voltage vector is positioned through a plurality of intermediate variables.
In a second aspect, embodiments of the present disclosure provide a modulation and overmodulation device for SVPWM control, the device comprising:
a first determining unit for determining a projection u of an actual output voltage vector corresponding to a target voltage vector on a horizontal axis of orthogonal axes according to a modulation region in which the target voltage vector is located* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* β(ii) a Wherein different modulation regions have different u* αAnd u* βDetermining a rule;
a second determination unit for determining u based on* αAnd said u* βAnd determining the duty ratio output of the sector where the actual output voltage vector is positioned through a plurality of intermediate variables.
In a third aspect, an embodiment of the present disclosure provides a storage medium including a stored program, wherein when the program runs, a device in which the storage medium is controlled to execute the modulation and overmodulation method of SVPWM control according to the first aspect.
In a fourth aspect, embodiments of the present disclosure provide a human-computer interaction device, which includes a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform the SVPWM controlled modulation and overmodulation method of the first aspect.
By means of the technical scheme, the modulation and overmodulation method and device of SVPWM control provided by the embodiment of the disclosure are based on u corresponding to the modulation region where the target voltage vector is located* αAnd u* βDetermining a rule to determine a projection u of an actual output voltage vector corresponding to the target voltage vector on a horizontal axis among orthogonal axes* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* β. Then according to u* αAnd u* βAnd determining the duty ratio output of the sector where the actual output voltage vector is positioned through a plurality of intermediate variables. It can be seen that the bookIn the disclosed embodiment, u is determined based on the modulation region in which the target voltage vector is located* α、u* βAccording to u* αAnd u* βThe duty ratio output of the sector where the actual output voltage vector is located is determined, and a large number of intermediate variables such as Ts are not used in the duty ratio calculation process, so that the modulation and overmodulation process of the SVPWM control is greatly simplified.
The foregoing description is only an overview of the embodiments of the present disclosure, and in order to make the technical means of the embodiments of the present disclosure more clearly understood, the embodiments of the present disclosure may be implemented in accordance with the content of the description, and in order to make the foregoing and other objects, features, and advantages of the embodiments of the present disclosure more clearly understood, the following detailed description of the embodiments of the present disclosure is given.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the embodiments of the present disclosure. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a flowchart of a modulation and overmodulation method of SVPWM control provided by an embodiment of the present disclosure;
FIG. 2 illustrates a sector schematic provided by an embodiment of the present disclosure;
fig. 3 illustrates a schematic diagram of a modulation region provided by an embodiment of the present disclosure;
FIG. 4 is a block diagram illustrating a modulation and overmodulation mechanism for SVPWM control according to an embodiment of the present disclosure;
fig. 5 shows a block diagram of another modulation and overmodulation device for SVPWM control according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In a first aspect, an embodiment of the present disclosure provides a modulation method controlled by SVPWM, as shown in fig. 1, the method mainly includes:
101. according to the modulation zone where the target voltage vector is located, determining the projection u of the actual output voltage vector corresponding to the target voltage vector on the horizontal axis in the orthogonal axes* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* β(ii) a Wherein different modulation regions have different u* αAnd u* βA rule is determined.
Specifically, six effective working vectors are involved in the SVPWM control, and the six effective working vectors divide the space voltage vector into six symmetrical sectors, and each sector corresponds to an angle of 60 °. A schematic diagram of a sector is shown in fig. 2. Each sector corresponds to three modulation regions, and the following description will be given for setting three modulation regions by taking one sector as an example:
defining a modulation ratio
Figure BDA0002106973600000041
Wherein the content of the first and second substances,
Figure BDA0002106973600000042
the modular length of the target voltage vector is characterized,
Figure BDA0002106973600000043
i.e. the target voltage vector in the six-step method (maximum bus voltage utilization)
Figure BDA0002106973600000044
Length of (d); u shapedcAnd characterizing the bus voltage value. The target voltage vector is a voltage of a desired output voltageAnd (4) vectors.
When in use
Figure BDA0002106973600000045
At the radius of the inscribed circle (30 in fig. 3 is the inscribed circle)
Figure BDA0002106973600000046
Inner time, i.e., 0< M ≦ 0.9068, linear modulation is active, so the 301 region shown in FIG. 3 is defined as a modulation one region, and the corresponding modulation ratio range for this modulation one region is (0, 0.9068)]。
When in use
Figure BDA0002106973600000047
Has already been greater than
Figure BDA0002106973600000048
I.e., the radius of the inscribed circle, the voltage vector may appear to exceed the side length of a regular hexagon (e.g., 31 in fig. 3 is a regular hexagon), and this part of the vector cannot be used
Figure BDA0002106973600000049
(six non-zero basis voltage vectors (x takes 1-6)) are implemented, so that
Figure BDA00021069736000000410
(
Figure BDA00021069736000000411
Characterizing the actual output voltage vector). The basic idea of over-modulation is to compensate the loss of the voltage vector, and the basic requirement for compensation is to modulate the voltage vector
Figure BDA0002106973600000051
With a target voltage vector
Figure BDA0002106973600000052
Compared with the same fundamental wave amplitude, the part is divided into two intervals according to different implementation methods:
at 0.9068<When M is less than or equal to 0.9516, overmodulation is realized by using a ratio
Figure BDA0002106973600000053
Larger voltage vector
Figure BDA0002106973600000054
To replace
Figure BDA0002106973600000055
In that
Figure BDA0002106973600000056
The portion beyond the boundary of the regular hexagon is modulated in accordance with the regular hexagon. So as to correspond to the modulation ratio range (0.9068, 0.9516)]The area of (2) is defined as modulation two zone, and 302 in fig. 3 is modulation two zone.
When M is 0.9516, the first layer is,
Figure BDA0002106973600000057
equal to 2/3UdcThe upper limit of the modulation two zone implementation has been reached. Therefore 0.9516<When M is less than or equal to 1, a new implementation method needs to be introduced, namely
Figure BDA0002106973600000058
Two sides, set an angle alphah(αhCharacterize the adjustment angle), if
Figure BDA0002106973600000059
Within this angle, then use
Figure BDA00021069736000000510
To replace
Figure BDA00021069736000000511
With following
Figure BDA00021069736000000512
Increase of alphahGradually increased to 30 degrees, and only at 30 degrees
Figure BDA00021069736000000513
And (4) acting. So as to correspond to the modulation ratio range (0.9516, 1)]The area of (2) is defined as three modulation regions, and 303 in fig. 3 is the three modulation regions.
Specifically, the method for determining the modulation region where the target voltage vector is located may include, but is not limited to: determining a modulation ratio corresponding to the target voltage vector according to the bus voltage value and the modular length of the target voltage vector; determining a modulation region where the target voltage vector is located in three preset modulation regions according to the angle, the mode length and the modulation ratio of the target voltage vector; the preset three modulation regions are obtained by dividing according to modulation ratios, and different modulation regions correspond to different modulation ratio ranges; and the modulation ratio range corresponding to the modulation region where the target voltage vector is located covers the modulation ratio corresponding to the target voltage vector.
Specifically, the method for determining the modulation ratio corresponding to the target voltage vector according to the bus voltage value and the modular length of the target voltage vector includes: and substituting the bus voltage value and the modular length of the target voltage vector into the following formula (1), and calculating to obtain the modulation ratio corresponding to the target voltage vector.
Figure BDA00021069736000000514
Wherein M represents a modulation ratio corresponding to the target voltage vector;
Figure BDA00021069736000000515
characterizing a modular length of the target voltage vector; u shapedcAnd characterizing the bus voltage value.
Specifically, after the modulation region where the target voltage vector is located is determined, a projection u of an actual output voltage vector corresponding to the target voltage vector on a horizontal axis in the orthogonal axis needs to be determined according to the modulation region where the target voltage vector is located* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* β. Determining u due to different modulation regions* α、u* βIs different, so that u is determined* α、u* βThe method at least comprises the following three methods:
first, if the modulation region in which the target voltage vector is located is a modulation region, the modulation ratio range corresponding to the modulation region is (0, 0.9068)](ii) a According to the modulation zone where the target voltage vector is located, determining the projection u of the actual output voltage vector corresponding to the target voltage vector on the horizontal axis in the orthogonal axes* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* β(ii) a The method comprises the following steps: determining a projection u of the target voltage vector on a horizontal axis of the orthogonal axesαAnd determining a projection u of the target voltage vector on a vertical axis of the orthogonal axesβ(ii) a Will uαIs determined as u* αWill uβIs determined as u* β. In the mode, because the actual output voltage vector does not exceed the radius of the inscribed circle, the track of the actual output voltage vector is circular, the line voltage is sine wave and is in a modulation area of linear modulation, u is modulatedαIs determined as u* αWill uβIs determined as u* βAnd (4) finishing.
Secondly, if the modulation zone in which the target voltage vector is located is a modulation zone two, the modulation ratio range corresponding to the modulation zone two is (0.9068, 0.9516)](ii) a Determining the projection u of the actual output voltage vector corresponding to the target voltage vector on the horizontal axis in the orthogonal axis according to the modulation zone where the target voltage vector is located* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* βThe method comprises the following steps: determining a projection u of the target voltage vector on a horizontal axis of the orthogonal axesαAnd determining a projection u of the target voltage vector on a vertical axis of the orthogonal axesβ(ii) a Determining a modulation ratio corresponding to the target voltage vector according to the bus voltage value and the modular length of the target voltage vector; determining a target amplification system in a preset amplification factor expression based on the modulation ratioA numerical expression; different amplification factor expressions correspond to different modulation ratio ranges; the amplification factor expression represents a functional relation between an amplification factor and a modulation ratio; determining an amplification factor by using the target amplification factor expression and the modulation ratio; will uαThe product of the amplification factor is determined as u* αAnd will uβThe product of the amplification factor is determined as u ×β. Wherein the amplification factor expression is based on a relationship between a reference angle and a modulation ratio; the reference angle characterizes a positional relationship between the target voltage vector and the actual output voltage vector. The following explains a setting method of the expression of the amplification factor:
to determine
Figure BDA0002106973600000071
Define a sector
Figure BDA0002106973600000072
The included angle between the regular hexagon and the regular hexagon is a reference angle alpharTo, for
Figure BDA0002106973600000073
Fourier decomposition is performed and the fundamental amplitude is made equal to
Figure BDA0002106973600000074
Can obtain an alpharThe modulation ratio M. Wherein alpha isrThe relationship with the modulation ratio M is as follows:
αr＝-30.23*M+27.94(0.9068≤M<0.909)
αr＝-8.58*M+8.23(0.909≤M<0.9485)
αr＝-26.43*M+25.15(0.9485≤M<0.9517)
according to alpharThe following results were obtained:
Figure BDA0002106973600000075
then according to the formula (1) order
Figure BDA0002106973600000076
Thereby obtaining
Figure BDA0002106973600000077
And
Figure BDA0002106973600000078
thereby obtaining an amplification factor expression:
k is 0.0191s +0.9891(0.5773< s ≦ 0.5790, i.e. 0.9068< M ≦ 0.909)
k is 103.28s2-120.14s +35.94(0.5790< s ≦ 0.6039, i.e., 0.909< M ≦ 0.9485)
k is 21.862s-12.144(0.6039< s.ltoreq. 0.6058, i.e. 0.9485< M.ltoreq. 0.9517)
Because different amplification factor expressions correspond to different modulation ratio ranges, the amplification factor expression is selected only according to the bus voltage value and the modular length of the target voltage vector, so that the amplification factor is obtained, and u is obtained* α、u* β. This implementation, in essence, "phase invariant, amplitude increase".
Thirdly, if the modulation region where the target voltage vector is located is a three-region modulation region, the modulation ratio range corresponding to the three-region modulation region is (0.9516, 1)](ii) a Determining the projection u of the actual output voltage vector corresponding to the target voltage vector on the horizontal axis in the orthogonal axes according to the modulation zone where the target voltage vector is located* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* βThe method comprises the following steps: determining a modulation ratio corresponding to the target voltage vector according to the bus voltage value and the modular length of the target voltage vector; determining a target adjustment angle expression in a preset adjustment angle expression based on the modulation ratio; different adjustment angle expressions correspond to different modulation ratio ranges; the adjustment angle expression represents a functional relation between an adjustment angle and a modulation ratio; selecting a target angle condition from preset angle conditions by using the target adjustment angle expression and the modulation ratio, and assigning a value corresponding to the target angle condition to u* αAnd u* β(ii) a Different angle conditions correspond to different u* αAnd u* βA value; the angle condition characterizes a relationship between an adjustment angle and an angle of the target voltage vector.
In particular, by adjusting the angle αhAnd controlling the voltage vector locus, wherein the output voltage vector is kept as a basic voltage vector, namely the vertex of a regular hexagon within the adjusting angle. The locus of the output voltage vector outside the adjustment angle is a hexagonal boundary. The following explains the adjustment angle expression:
according to pairs
Figure BDA0002106973600000081
Fourier decomposition is performed and the fundamental amplitude is made equal to
Figure BDA0002106973600000082
To obtain an alphahRelation to s:
αh＝576s-348.93(0.6058<s is less than or equal to 0.6238, i.e. 0.9517<M≤0.9799)；
αh＝11.75s-11.34(0.6238<s is less than or equal to 0.6350, i.e. 0.98<M≤0.9975)；
αh＝48.96s-48.43(0.6350<s is less than or equal to 0.6366, namely 0.9975<M≤1)；
Wherein the content of the first and second substances,
Figure BDA0002106973600000083
m represents a modulation ratio; alpha is alphahAnd characterizing the adjustment angle.
Specifically, the adjustment angle is calculated after a target adjustment angle expression is determined in a preset adjustment angle expression according to the modulation ratio. Then, a target angle condition is selected from preset angle conditions by utilizing the adjustment angle and the modulation ratio, and a value corresponding to the target angle condition is assigned to u* aAnd u* β. Table 1 below illustrates the angle of the target voltage vector and u* α、u* β、αh。
TABLE-1
Figure BDA0002106973600000091
In other angle conditions, u is* α＝1.2*uα，u* β＝1.2*uβ. The minimum magnitude (0.60581U) of the vector is taken as the coefficient 1.2dc) Expanding beyond the length of the side of a regular hexagon, i.e.
Figure BDA0002106973600000092
It should be noted that 1.2 is only an example and may be any integer larger than 1.2, such as 2.
102. Based on the u* αAnd said u* βAnd determining the duty ratio output of the sector where the actual output voltage vector is positioned through a plurality of intermediate variables.
In particular, based on u* αAnd u* βDetermining the duty ratio output of the sector where the actual output voltage vector is located through three intermediate variables, wherein the three intermediate variables comprise: according to u* αAnd u* βDetermining an intermediate variable X, Y, Z; wherein the expression of the intermediate variable is: x ═ u* β；
Figure BDA0002106973600000093
Figure BDA0002106973600000094
Determining the sector where the actual output voltage vector is located according to an intermediate variable X, Y, Z; determining u based on the corresponding relation between the preset sector and the intermediate variable and the sector where the actual output voltage vector is located* αAnd u* βCorresponding vector action times t1 and t2, respectively; in the corresponding relation, the intermediate variable corresponding to the sector is the vector action time; and determining duty ratio output according to the vector action time.
In particular, for u* α，u* βAnd (5) performing mark making treatment. Wherein the per-unit value is phase voltage amplitude
Figure BDA0002106973600000101
The vector action time is scaled to 0,1]. The duty ratio can be directly expressed by using an expression of action time of two basic vectors, and compared with a traditional algorithm, an intermediate variable Ts (control period of SVPWM) is omitted.
Specifically, u after mark processing* a，u* βSubstituting the expression X ═ u* β；
Figure BDA0002106973600000102
Figure BDA0002106973600000103
Resulting in intermediate variable X, Y, Z.
Specifically, the sector in which the actual output voltage vector is located is determined based on the intermediate variable X, Y, Z. The sector determination method is as follows:
y is more than 0, Z is less than or equal to 0, and X is more than or equal to 0, the sector 1 is the sector where the actual output voltage vector is located;
y is more than 0, Z is more than 0, X is more than 0, then the sector 2 is the sector where the actual output voltage vector is located;
y is less than or equal to 0, Z is greater than 0, and X is greater than or equal to 0, then the sector 3 is the sector where the actual output voltage vector is located;
y is less than or equal to 0, Z is more than 0, and X is less than 0, the sector 4 is the sector where the actual output voltage vector is located;
y is less than or equal to 0, Z is less than or equal to 0, and X is less than 0, the sector 5 is the sector where the actual output voltage vector is located;
y is more than 0, Z is less than or equal to 0, and X is less than 0, then the sector 6 is the sector where the actual output voltage vector is located.
Specifically, t1 and t2 are determined according to the correspondence as shown in table-2.
TABLE-2
Sector S Ⅰ Ⅱ Ⅲ Ⅳ Ⅴ Ⅵ
t1 -Z Z X -X -Y Y
t2 X Y -Y Z -Z -X
Specifically, the process of determining the duty ratio output according to the vector action time may include: according to u* αAnd u* βDetermining three corresponding to the actual output voltage vector according to the corresponding vector action time t1 and t2Duty cycle of the phase; and if the duty ratio is larger than 1, scaling the part of the duty ratio larger than 1 in an equal proportion to obtain the modulated duty ratio and the overmodulation duty ratio.
Specifically, the duty ratio calculation formula of the three phases is as follows:
Da＝d*(1+t1+t2)
Db＝d*(1-t1+t2)
Dc＝d*(1-t1-t2)
wherein the variables Ta, Tb and Tc are present
Ta＝t1+t2
Tb＝-t1+t2
Tc＝-t1-t2
It should be noted that d is a predetermined constant, and the value thereof may be, but is not limited to, 0.5. The duty cycle formulas for the symmetric sectors are the same, and in addition, the following relationship exists between the intermediate variables X, Y, Z: X-Y ═ Z; X-Z ═ Y; y + Z ═ X; therefore, the variables Ta, Tb and Tc are calculated as:
the duty ratio calculation formula corresponding to the sector 1 and the sector 4 is as follows:
Ta＝Y
Tb＝Z+X
Tc＝-Y
the duty ratio calculation formula corresponding to the sector 2 and the sector 5 is as follows:
Ta＝Y-Z
Tb＝X
Tc＝-X
the duty ratio calculation formula corresponding to the sector 3 and the sector 6 is as follows:
Ta＝-Z
Tb＝Z
Tc＝-X-Y
it should be noted that, considering that both the second modulation region and the third modulation region are overmodulation, if the duty ratio exceeds 1, the portion of the duty ratio exceeding 1 is scaled back in equal proportion, and the duty ratio is maintained
Figure BDA0002106973600000121
The phase is not changed, so that the track does not exceed six positive pointsThe sides of the polygon are long. The duty cycle is scaled back by multiplying the duty cycle calculation formulas by a factor that is a number less than 1, such as 0.5. Illustratively, the duty cycle calculation formula for the three phases is:
Ta＝0.5*(1+t1+t2)
Tb＝0.5*(1-t1+t2)
Tc＝0.5*(1-t1-t2)
it should be noted that, in the technical process of determining the sector and the duty ratio, the process of determining the sector and calculating the duty ratio is completed only by using X, Y, Z intermediate variables, and a large number of intermediate variables such as Ts are not used.
The embodiment of the disclosure provides a modulation and overmodulation method of SVPWM control, which is provided by the embodiment of the disclosure, according to u corresponding to a modulation region where a target voltage vector is located* αAnd u* βDetermining a rule to determine a projection u of an actual output voltage vector corresponding to the target voltage vector on a horizontal axis among orthogonal axes* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* β. Then according to u* αAnd u* βAnd determining the duty ratio output of the sector where the actual output voltage vector is positioned through a plurality of intermediate variables. Therefore, in the embodiment of the disclosure, u can be determined according to the modulation region where the target voltage vector is located* α、u* βAccording to u* αAnd u* βThe duty ratio output of the sector where the actual output voltage vector is located is determined, and a large number of intermediate variables such as Ts are not used in the duty ratio calculation process, so that the modulation and overmodulation process of the SVPWM control is greatly simplified.
In a second aspect, according to the method shown in fig. 1, another embodiment of the present disclosure further provides a modulation and overshoot apparatus for SVPWM control, as shown in fig. 4, the apparatus mainly includes:
a first determining unit 41, configured to determine, according to a modulation region where a target voltage vector is located, a projection u of an actual output voltage vector corresponding to the target voltage vector on a horizontal axis of orthogonal axes* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* β(ii) a Wherein different modulation regions have different u* αAnd u* βDetermining a rule;
a second determination unit 42 for determining u based on* αAnd said u* βAnd determining the duty ratio output of the sector where the actual output voltage vector is positioned through a plurality of intermediate variables.
The embodiment of the disclosure provides a modulation and over-modulation device controlled by SVPWM and provided by the embodiment of the disclosure, and according to u corresponding to a modulation region where a target voltage vector is located* αAnd u* βDetermining a rule to determine a projection u of an actual output voltage vector corresponding to the target voltage vector on a horizontal axis among orthogonal axes* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* β. Then according to u* αAnd u* βAnd determining the duty ratio output of the sector where the actual output voltage vector is positioned through a plurality of intermediate variables. Therefore, in the embodiment of the disclosure, u can be determined according to the modulation region where the target voltage vector is located* α、u* βAccording to uαAnd u* βThe duty ratio output of the sector where the actual output voltage vector is located is determined, and a large number of intermediate variables such as Ts are not used in the duty ratio calculation process, so that the modulation and overmodulation process of the SVPWM control is greatly simplified.
In some embodiments, as shown in fig. 5, if the modulation region in which the target voltage vector is located is a modulation region, the modulation ratio range corresponding to the modulation region is (0, 0.9068 ]; the first determining unit 41 includes:
a first determining module 411 for determining a projection u of the target voltage vector on a horizontal axis of the orthogonal axesαAnd determining a projection u of the target voltage vector on a vertical axis of the orthogonal axesβ(ii) a Subjecting said u toαIs determined as the u* αThe u is addedβIs determined as the u* β。
In some embodiments, as shown in fig. 5, if the modulation region in which the target voltage vector is located is a modulation two region, the modulation ratio range corresponding to the modulation two region is (0.9068, 0.9516 ]; the first determining unit 41 includes:
a second determination module 412 for determining a projection u of the target voltage vector on a horizontal axis of the orthogonal axesαAnd determining a projection u of the target voltage vector on a vertical axis of the orthogonal axesβ(ii) a Determining a modulation ratio corresponding to the target voltage vector according to the bus voltage value and the modular length of the target voltage vector; determining a target amplification factor expression in a preset amplification factor expression based on the modulation ratio; different amplification factor expressions correspond to different modulation ratio ranges; the amplification factor expression represents a functional relation between an amplification factor and a modulation ratio;
a third determining module 413, configured to determine an amplification factor by using the target amplification factor expression and the modulation ratio; subjecting said u toαThe product of the amplification factor is determined as u* αAnd mixing said uβThe product of the amplification factor is determined as u* β。
In some embodiments, as shown in fig. 5, the amplification factor expression referred to in the second determination module 412 is based on a relationship between a reference angle and a modulation ratio; the reference angle characterizes a positional relationship between the target voltage vector and the actual output voltage vector.
In some embodiments, the magnification factor expression comprises:
k is 0.0191s +0.9891(0.5773< s ≦ 0.5790, i.e., 0.9068< M ≦ 0.909);
k is 103.28s2-120.14s +35.94(0.5790< s.ltoreq. 0.6039, namely 0.909< M.ltoreq. 0.9485);
k is 21.862s-12.144(0.6039< s.ltoreq. 0.6058, i.e., 0.9485< M.ltoreq. 0.9517);
wherein the content of the first and second substances,
Figure BDA0002106973600000141
m represents a modulation ratio; k represents an amplification factor;
Figure BDA0002106973600000142
characterizing a modular length of the target voltage vector.
In some embodiments, as shown in fig. 5, if the modulation region in which the target voltage vector is located is a modulation three region, the modulation ratio range corresponding to the modulation three region is (0.9516, 1 ]; the first determining unit 41 includes:
a fourth determining module 414, configured to determine, according to a bus voltage value and a modular length of the target voltage vector, a modulation ratio corresponding to the target voltage vector; determining a target adjustment angle alpha in a preset adjustment angle expression based on the modulation ratiohAn expression; different adjustment angle expressions correspond to different modulation ratio ranges; the adjustment angle expression represents a functional relation between an adjustment angle and a modulation ratio;
a fifth determining module 415, configured to select a target angle condition within a preset angle condition by using the target adjustment angle expression and the modulation ratio, and assign a value corresponding to the target angle condition to u* αAnd u* β(ii) a Different angle conditions correspond to different u* αAnd u* βA value; the angle condition characterizes a relationship between an adjustment angle and an angle of the target voltage vector.
In some embodiments, as shown in fig. 5, the adjustment angle expression includes:
αh＝576s-348.93(0.6058<s is less than or equal to 0.6238, i.e. 0.9517<M≤0.9799)；
αh＝11.75s-11.34(0.6238<s is less than or equal to 0.6350, i.e. 0.98<M≤0.9975)；
αh＝48.96s-48.43(0.6350<s is less than or equal to 0.6366, namely 0.9975<M≤1)；
Wherein the content of the first and second substances,
Figure BDA0002106973600000151
m represents a modulation ratio; alpha is alphahRepresenting an adjusting angle;
Figure BDA0002106973600000152
characterizing a modular length of the target voltage vector.
In some embodiments, as shown in fig. 5, the second determining unit 42 includes:
a sixth determining module 421 for determining u according to* αAnd u* βDetermining intermediate variables X, Y and Z; wherein the expression of the intermediate variable is: x ═ u* β；
Figure BDA0002106973600000153
Determining the sector where the actual output voltage vector is located according to an intermediate variable X, Y, Z;
a seventh determining module 422, configured to determine u based on a preset corresponding relationship between a sector and an intermediate variable and a sector in which the actual output voltage vector is located* αAnd u* βCorresponding vector action times t1 and t2, respectively; in the corresponding relation, the intermediate variable corresponding to the sector is the vector action time; and determining duty ratio output according to the vector action time.
In some embodiments, as shown in FIG. 5, a seventh determining module 422 configured to determine u based on* αAnd u* βDetermining the duty ratios of three phases corresponding to the actual output voltage vector according to the corresponding vector action time t1 and t 2; and if the duty ratio is larger than 1, scaling the part of which the duty ratio is larger than 1 in an equal proportion mode.
In some embodiments, as shown in fig. 5, the SVPWM controlled modulation apparatus further includes:
a third determining unit 43, configured to determine, according to a bus voltage value and a modular length of the target voltage vector, a modulation ratio corresponding to the target voltage vector; determining a modulation region where the target voltage vector is located in three preset modulation regions according to the angle, the mode length and the modulation ratio of the target voltage vector; the preset three modulation regions are obtained by dividing according to modulation ratios, and different modulation regions correspond to different modulation ratio ranges; and the modulation ratio range corresponding to the modulation region where the target voltage vector is located covers the modulation ratio corresponding to the target voltage vector.
The modulation and overmodulation device for SVPWM control provided by the embodiment of the third aspect may be used to perform the modulation and overmodulation method for SVPWM control provided by the embodiment of the first aspect or the second aspect, and the related meanings and specific embodiments may be referred to the related descriptions in the embodiment of the first aspect or the second aspect, and will not be described in detail herein.
In a fourth aspect, an embodiment of the present disclosure provides a storage medium including a stored program, wherein when the program runs, a device in which the storage medium is located is controlled to execute the modulation and overmodulation method of the SVPWM control according to the first aspect or the second aspect.
The storage medium may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
In a fifth aspect, embodiments of the present disclosure provide a human-computer interaction device, which includes a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform the SVPWM controlled modulation and overmodulation method of the first or second aspect.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, embodiments of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, embodiments of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (16)

1. A method of SVPWM controlled modulation and overmodulation, the method comprising:
according to the modulation zone where the target voltage vector is located, determining the projection u of the actual output voltage vector corresponding to the target voltage vector on the horizontal axis in the orthogonal axes* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* β(ii) a Wherein different modulation regions have different u* αAnd u* βDetermining a rule;
based on the u* αAnd said u* βAnd determining the duty ratio output of the sector where the actual output voltage vector is positioned through a plurality of intermediate variables.
2. The method of claim 1, wherein if the modulation region in which the target voltage vector is located is a modulation-one region, the modulation-one region corresponds to a modulation ratio range of (0, 0.9068)](ii) a Determining the projection u of the actual output voltage vector corresponding to the target voltage vector on the horizontal axis in the orthogonal axis according to the modulation zone where the target voltage vector is located* αAnd determining the actual output voltageProjection u of a vector on the vertical axis of the orthogonal axes* βThe method comprises the following steps:
determining a projection u of the target voltage vector on a horizontal axis of the orthogonal axesαAnd determining a projection u of the target voltage vector on a vertical axis of the orthogonal axesβ；
Subjecting said u toαIs determined as the u* αThe u is addedβIs determined as the u* β。
3. The method of claim 1, wherein if the modulation region in which the target voltage vector is located is a modulation two region, the modulation ratio range corresponding to the modulation two region is (0.9068, 0.9516)](ii) a Determining the projection u of the actual output voltage vector corresponding to the target voltage vector on the horizontal axis in the orthogonal axis according to the modulation zone where the target voltage vector is located* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* βThe method comprises the following steps:
determining a projection u of the target voltage vector on a horizontal axis of the orthogonal axesαAnd determining a projection u of the target voltage vector on a vertical axis of the orthogonal axesβ；
Determining a modulation ratio corresponding to the target voltage vector according to the bus voltage value and the modular length of the target voltage vector;
determining a target amplification factor expression in a preset amplification factor expression based on the modulation ratio; different amplification factor expressions correspond to different modulation ratio ranges; the amplification factor expression represents a functional relation between an amplification factor and a modulation ratio;
determining an amplification factor by using the target amplification factor expression and the modulation ratio;
subjecting said u toαThe product of the amplification factor is determined as u* αAnd mixing said uβThe product of the amplification factor is determined as u* β。
4. The method of claim 3,
the amplification factor expression is based on a relationship between a reference angle and a modulation ratio; the reference angle characterizes a positional relationship between the target voltage vector and the actual output voltage vector.
5. The method of claim 4, wherein the magnification factor expression comprises:
k is 0.0191s +0.9891(0.5773< s ≦ 0.5790, i.e., 0.9068< M ≦ 0.909);
k is 103.28s2-120.14s +35.94(0.5790< s.ltoreq. 0.6039, namely 0.909< M.ltoreq. 0.9485);
k is 21.862s-12.144(0.6039< s.ltoreq. 0.6058, i.e., 0.9485< M.ltoreq. 0.9517);
wherein the content of the first and second substances,
Figure FDA0002106973590000021
m represents a modulation ratio; k represents an amplification factor;
Figure FDA0002106973590000022
characterizing a modular length of the target voltage vector.
6. The method of claim 1, wherein if the modulation region in which the target voltage vector is located is a modulation three region, the modulation three region corresponds to a modulation ratio range of (0.9516, 1)](ii) a Determining the projection u of the actual output voltage vector corresponding to the target voltage vector on the horizontal axis in the orthogonal axis according to the modulation zone where the target voltage vector is located* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* βThe method comprises the following steps:
determining a modulation ratio corresponding to the target voltage vector according to the bus voltage value and the modular length of the target voltage vector;
based on the modulation ratio, in a preset adjustment angle expressionTarget-fixed adjusting angle alphahAn expression; different adjustment angle expressions correspond to different modulation ratio ranges; the adjustment angle expression represents a functional relation between an adjustment angle and a modulation ratio;
selecting a target angle condition from preset angle conditions by using the target adjustment angle expression and the modulation ratio, and assigning a value corresponding to the target angle condition to u* αAnd u* β(ii) a Different angle conditions correspond to different u* αAnd u* βA value; the angle condition characterizes a relationship between an adjustment angle and an angle of the target voltage vector.
7. The method of claim 6, wherein adjusting the angle expression comprises:
αh＝576s-348.93(0.6058<s is less than or equal to 0.6238, i.e. 0.9517<M≤0.9799)；
αh＝11.75s-11.34(0.6238<s is less than or equal to 0.6350, i.e. 0.98<M≤0.9975)；
αh＝48.96s-48.43(0.6350<s is less than or equal to 0.6366, namely 0.9975<M≤1)；
Wherein the content of the first and second substances,
Figure FDA0002106973590000031
m represents a modulation ratio; alpha is alphahRepresenting an adjusting angle;
Figure FDA0002106973590000032
characterizing a modular length of the target voltage vector.
8. The method of claim 1, wherein the u is based on the k* αAnd said u* βDetermining, by a plurality of intermediate variables, a duty cycle output of a sector in which the actual output voltage vector is located, including:
according to said u* αAnd said u* βDetermining intermediate variables X, Y and Z; wherein the content of the first and second substances,the expression of the intermediate variable is: x ═ u* β；
Figure FDA0002106973590000033
Determining the sector where the actual output voltage vector is located according to the intermediate variables X, Y and Z;
determining the u based on the corresponding relation between the preset sector and the intermediate variable and the sector where the actual output voltage vector is located* αAnd said u* βCorresponding vector action times t1 and t2, respectively; in the corresponding relation, the intermediate variable corresponding to the sector is the vector action time;
and determining duty ratio output according to the vector action time.
9. The method of claim 8, wherein determining a duty cycle output based on the vector on-time comprises:
according to said u* αAnd said u* βDetermining the duty ratios of three phases corresponding to the actual output voltage vector according to the corresponding vector action time t1 and t 2;
and if the duty ratio is larger than 1, scaling the part of which the duty ratio is larger than 1 in an equal proportion mode.
10. The method according to any one of claims 1-9, characterized in that the method further comprises:
determining a modulation ratio corresponding to the target voltage vector according to the bus voltage value and the modular length of the target voltage vector;
determining a modulation region where the target voltage vector is located in three preset modulation regions according to the angle, the mode length and the modulation ratio of the target voltage vector; the preset three modulation regions are obtained by dividing according to modulation ratios, and different modulation regions correspond to different modulation ratio ranges; and the modulation ratio range corresponding to the modulation region where the target voltage vector is located covers the modulation ratio corresponding to the target voltage vector.
11. An SVPWM controlled modulation and overmodulation apparatus, comprising:
a first determining unit for determining a projection u of an actual output voltage vector corresponding to a target voltage vector on a horizontal axis of orthogonal axes according to a modulation region in which the target voltage vector is located* αAnd determining a projection u of the actual output voltage vector on a vertical axis of the orthogonal axes* β(ii) a Wherein different modulation regions have different u* αAnd u* βDetermining a rule;
a second determination unit for determining u based on* αAnd said u* βAnd determining the duty ratio output of the sector where the actual output voltage vector is positioned through a plurality of intermediate variables.
12. The apparatus of claim 11, wherein if the modulation region in which the target voltage vector is located is a modulation region, the modulation ratio range corresponding to the modulation region is (0, 0.9068 ]; the first determining unit includes:
a first determination module for determining a projection u of the target voltage vector on a horizontal axis of the orthogonal axesαAnd determining a projection u of the target voltage vector on a vertical axis of the orthogonal axesβ(ii) a Subjecting said u toαIs determined as the u* αThe u is addedβIs determined as the u* β。
13. The apparatus of claim 11, wherein if the modulation region in which the target voltage vector is located is a modulation two region, the modulation ratio range corresponding to the modulation two region is (0.9068, 0.9516), and the first determining unit comprises:
a second determination module for determining a projection u of the target voltage vector on a horizontal axis of the orthogonal axesαAnd determining the target voltage vectorProjection u of a quantity on a vertical axis among said orthogonal axesβ(ii) a Determining a modulation ratio corresponding to the target voltage vector according to the bus voltage value and the modular length of the target voltage vector; determining a target amplification factor expression in a preset amplification factor expression based on the modulation ratio; different amplification factor expressions correspond to different modulation ratio ranges; the amplification factor expression represents a functional relation between an amplification factor and a modulation ratio;
a third determining module, configured to determine an amplification factor by using the target amplification factor expression and the modulation ratio; subjecting said u toαThe product of the amplification factor is determined as u* αAnd mixing said uβThe product of the amplification factor is determined as u* β。
14. The apparatus according to claim 11, wherein if the modulation region in which the target voltage vector is located is a modulation three region, the modulation three region corresponds to a modulation ratio range of (0.9516, 1), and the first determining unit includes:
the fourth determining module is used for determining the modulation ratio corresponding to the target voltage vector according to the bus voltage value and the modular length of the target voltage vector; determining a target adjustment angle alpha in a preset adjustment angle expression based on the modulation ratiohAn expression; different adjustment angle expressions correspond to different modulation ratio ranges; the adjustment angle expression represents a functional relation between an adjustment angle and a modulation ratio;
a fifth determining module, configured to select a target angle condition within a preset angle condition by using the target adjustment angle expression and the modulation ratio, and assign a value corresponding to the target angle condition to u* αAnd u* β(ii) a Different angle conditions correspond to different u* αAnd u* βA value; the angle condition characterizes a relationship between an adjustment angle and an angle of the target voltage vector.
15. A storage medium characterized by comprising a stored program, wherein a device in which the storage medium is located is controlled to execute the SVPWM controlled modulation and overmodulation method according to any one of claims 1 to 10 when the program is run.
16. A human-computer interaction device, characterized in that the device comprises a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform the SVPWM controlled modulation and overmodulation method of any one of claims 1 to 10.
CN201910556279.4A 2019-06-25 2019-06-25 SVPWM control modulation and overmodulation method and device Pending CN112134507A (en)

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