CN112234887A - Space voltage vector PWM (pulse-Width modulation) method based on double independent H bridges - Google Patents
Space voltage vector PWM (pulse-Width modulation) method based on double independent H bridges Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
-
- 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
- H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Inverter Devices (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention relates to a space voltage vector PWM (pulse-Width modulation) method based on double independent H bridges, which is technically characterized by comprising the following steps of: establishing a basic voltage vector according to the on and off states of a switching tube of the double H-bridge circuit; judging which sector the basic voltage vector is in according to the components of the basic voltage vector on two axes in the two-phase static coordinate system; calculating the action time of two adjacent voltage vectors of the current sector according to a vector synthesis principle; arranging the basic space voltage vector action sequence, and generating the PWM waveform by adopting a five-segment vector method. The invention uses double independent H-bridge drive, because each H-bridge drives a winding, the current on the winding is commutated at the zero crossing point, so that the problem of dead zone does not exist. Compared with the vector control of the three-phase alternating current motor, the invention reduces the Clarke transformation link from the three-phase static coordinate system to the two-phase static coordinate system in control and reduces the integral calculation amount of the vector control algorithm because the two-phase windings of the two-phase alternating current motor are orthogonal in space.
Description
Technical Field
The invention belongs to the field of electrical control, and particularly relates to a space voltage vector PWM (pulse-width modulation) method based on double independent H bridges.
Background
The alternating current motor is a multivariable, nonlinear and strong-coupling system, and compared with a direct current motor with the same volume, the alternating current motor has higher output power, simple structure and convenient maintenance, so the alternating current motor is widely applied to the industrial field. At present, the frequency conversion control of an alternating current motor is mainly concentrated on a three-phase motor, in a classical vector control technology, a three-phase full-bridge inverter circuit is generally used for driving, an ideal flux linkage circle of a three-phase symmetrical motor stator is used as a reference standard, and appropriate switching is performed under different switching modes of a three-phase inverter, so that a PWM waveform is formed to drive the motor.
In some unique cases, two-phase ac motors are used in addition to three-phase ac motors, and because of the orthogonal form of the two-phase winding structure, vector control is different from three-phase ac motors, and if a three-phase full-bridge inverter circuit is designed as a driving circuit, the vector output torque becomes small, and a dead zone needs to be designed to prevent conduction between the upper and lower arms.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a space voltage vector PWM (pulse-width modulation) method based on a double independent H bridge, which can effectively increase the output torque of a motor and solve the problem of dead zones so as to reduce voltage loss and ripple current.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a space voltage vector PWM modulation method based on double independent H bridges is characterized by comprising the following steps:
step 3, calculating the action time of two adjacent voltage vectors of the current sector according to the judgment of the sector and a vector synthesis principle;
and 4, arranging the basic space voltage vector action sequence, and generating the PWM waveform by adopting a five-segment vector method.
Moreover, the specific implementation method of the step 1 is as follows: the two-phase alternating current motor driving circuit comprises a double H-bridge circuit, each H-bridge comprises 4 switching tubes with freewheeling diodes, 9 combinations are designed according to the on and off states of the switching tubes, 8 space voltage vectors and 1 zero voltage vector are corresponding to the switching tubes, in a two-phase static coordinate system, 8 basic space voltage vectors are distributed in a fan shape at an interval of 45 degrees by taking an original point as a center, and the coordinate system is divided into 8 sectors.
Moreover, the specific implementation method of the step 2 is as follows: the desired composite space voltage vector is u, which is a rotating vector with a rotating speed of w and an amplitude of | u | in a two-phase stationary coordinate system, obtained according to the parallelogram rule
uT＝u1T1+u2T2+u0T0
T＝T1+T2+T0
Wherein T is the PWM period of the control system, u1To a desired resultant space voltage vector u an adjacent basis voltage vector u2To a desired resultant space voltage vector u another adjacent basic voltage vector u0Is a zero voltage vector, T1Is u1Time of action of (T)2Is u2Time of action of (T)0Is u0The time of action of (c);
the desired resultant space voltage vector can be composed of two adjacent basic voltage vectors, according to which the component u of the alpha axis of the resultant space voltage vector u in the two-phase stationary coordinate system is determinedαAnd the component u of the beta axisβCalculating sector angle
According to sector angle
The desired composite space voltage vector is determined at the sector location.
Moreover, the specific implementation method of step 3 is as follows: according to the parallelogram rule, the expected synthetic space voltage vector u is projected on an alpha axis and a beta axis in a two-phase static coordinate system to obtain
If the first sector space vector composition is obtained, | u1|＝|Udc|，
Wherein, UdcIs the DC bus voltage, T is the control system PWM period, u1To a desired resultant space voltage vector u an adjacent basis voltage vector u2To a desired resultant space voltage vector u another adjacent basic voltage vector u0Is a zero voltage vector, T1Is u1Time of action of (T)2Is u2Time of action of (T)0Is u0The time of action of (c);
component u of the alpha axis in the stationary phase coordinate systemαAnd the component u of the beta axisβTo obtain
If supersaturation occurs, i.e. T1+T2+T0If > T, then
Moreover, the specific implementation method of the step 4 is as follows: the vector in the odd sector is chosen clockwise and the vector in the even sector is chosen counter-clockwise.
The invention has the advantages and positive effects that:
1. according to the method, a basic voltage vector is established according to the on and off states of a switching tube in a double H bridge circuit of a two-phase alternating current motor driving circuit; judging which sector the basic voltage vector is in according to the components of the basic voltage vector on two axes in the two-phase static coordinate system; according to the judgment of the sector, calculating the action time of two adjacent voltage vectors of the current sector according to a vector synthesis principle; the basic space voltage vector action sequence is arranged, and a five-segment vector method is adopted to generate PWM waveforms, so that the purpose of effectively increasing the output torque of the motor is achieved.
2. The invention uses double independent H-bridge drive, because each H-bridge drives a winding, the current on the winding is commutated at the zero crossing point, so that the problem of dead zone does not exist.
3. Compared with the vector control of a three-phase alternating current motor, the vector control method of the invention is used for the vector control of the two-phase alternating current motor, and because the two-phase windings of the two-phase alternating current motor are orthogonal in space, the Clarke conversion link from a three-phase static coordinate system to a two-phase static coordinate system is reduced in control, and the integral calculation amount of a vector control algorithm is reduced.
Drawings
Fig. 1 is a driving circuit diagram of a two-phase alternating current motor based on a double independent H-bridge;
FIG. 2 is a schematic diagram of the basic space voltage vector and sector of the present invention;
FIG. 3 is a first sector voltage vector composite of the present invention;
fig. 4 is a first sector five-segment vector method waveform diagram of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A space voltage vector PWM modulation method based on double independent H bridges comprises the following steps:
The specific implementation method of the step is as follows: as shown in fig. 1, the two-phase ac motor driving circuit includes a dual H-bridge circuit, each H-bridge includes 4 switching tubes with freewheeling diodes, which defines that the H-bridge is forward-switched to "1", reverse-switched to "-1", switched off to "0", and Sa、SbRespectively representing the working state of an H bridge A, H bridge B, designing 9 combinations, namely 9 working states, corresponding to 8 space voltage vectors and 1 zero voltage vector, in a two-phase static coordinate system, taking 8 basic space voltage vectors as the center with an original point, distributing in a fan shape at 45-degree intervals, dividing the coordinate system into 8 sectors, and respectively corresponding to 9 working states (S)a，Sb)＝(0,0)(0,1), (0, -1), (1,0), (1,1), (1, -1), (-1,0), (-1,1), (-1, -1) defining Uα、UβFor the voltage on the quadrature winding of the AC machine, UdcFor the dc bus voltage, the fundamental voltage vector is generated as shown in table one.
TABLE 1 basic Voltage vector Table
It can be known from table 1 that 9 working states of the double H-bridge are composed of 8 basic voltage vectors with different amplitudes and 1 zero voltage vector, and the positions of the 9 voltage vectors on the space are shown in fig. 2, wherein the zero voltage vector does not participate in the division of the sectors, the space is divided into 8 sectors by 8 non-zero voltage vectors, the sectors are respectively a sector i, a sector ii, a sector iii, a sector iv, a sector v, a sector vi, a sector vii and a sector viii, and the amplitudes and phases of two adjacent basic voltage vectors corresponding to the sectors are different. The dashed circle in the figure is the vector locus of the reference voltage, which is a standard circle due to the orthogonal windings of the ac motor.
And 2, judging which sector the basic voltage vector is in according to the components of the basic voltage vector on two axes in the two-phase static coordinate system.
The specific implementation method of the step is as follows: if the desired composite space voltage vector u is defined as u, which is a rotating vector with a rotating speed of w and an amplitude of | u | in the two-phase stationary coordinate system, and is within the first sector at this time, as shown in fig. 3, it can be obtained by the parallelogram rule:
uT＝u1T1+u2T2+u0T0
T＝T1+T2+T0
wherein T is the PWM period of the control system, u1To a desired resultant space voltage vector u an adjacent basis voltage vector u2To a desired resultant space voltage vector u another adjacent basic voltage vector u0Is a zero voltage vector, T1Is u1Do asTime of use, T2Is u2Time of action of (T)0Is u0The time of action of (c).
The desired composite space voltage vector can be composed of two adjacent basic voltage vectors according to the sector angle
The desired composite space voltage vector is determined at the sector location.
The expected composite space voltage vector u in the first sector is composed of two adjacent vectors in the first sector, and the expected voltage vector is further composed of two adjacent basic voltage vectors in the sector. The component u of the alpha axis in the two-phase stationary frame according to the desired composite space voltage vector uαAnd the component u of the beta axisβCalculating sector angle
Based on the calculated sector angle as shown in Table 2
And judging the position of the sector.
Table 2 sector decision table
And 3, calculating the action time of two adjacent voltage vectors of the current sector according to the judgment of the sector and a vector synthesis principle.
The specific implementation method of the step is as follows: according to the parallelogram rule, the expected synthetic space voltage vector u is projected on an alpha axis and a beta axis in a two-phase static coordinate system to obtain
If the first sector space vector composition is obtained, | u1|＝|Udc|，
Wherein, UdcIs the bus voltage;
component u of the alpha axis in the stationary phase coordinate systemαAnd the component u of the beta axisβTo obtain
If supersaturation occurs, i.e. T1+T2+T0If > T, then
And 4, arranging the basic space voltage vector action sequence, and generating the PWM waveform by adopting a five-segment vector method.
After the sector where the expected voltage is located, the basic voltage vector and the vector action time are determined, the action sequence of the basic voltage needs to be determined, and the five-segment modulation method is used because the basic voltage vector only comprises a zero voltage vector. Based on the principle of reducing the loss of the switching tube, the vector selection in the odd-numbered sector is designed to be clockwise, and the vector selection in the even-numbered sector is designed to be anticlockwise. For example, in the first sector, the vector is selected to be u first1After u2(ii) a In the second sector, the vector is selected as u first3After u2. The basic voltage vector sequence of the five-segment modulation method is shown in table 3:
TABLE 3 basic Voltage vector order Table
Taking the first sector as an example, a PWM synthesized waveform diagram is shown in fig. 4, and other sector synthesis methods are consistent with the first sector.
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but also includes other embodiments that can be derived from the technical solutions of the present invention by those skilled in the art.
Claims (5)
1. A space voltage vector PWM modulation method based on double independent H bridges is characterized by comprising the following steps:
step 1, establishing a basic voltage vector according to the on and off states of a switching tube in a double H bridge circuit of a two-phase alternating current motor driving circuit;
step 2, judging which sector the basic voltage vector is in according to the components of the basic voltage vector on two axes in the two-phase static coordinate system;
step 3, calculating the action time of two adjacent voltage vectors of the current sector according to the judgment of the sector and a vector synthesis principle;
and 4, arranging the basic space voltage vector action sequence, and generating the PWM waveform by adopting a five-segment vector method.
2. The space voltage vector PWM modulation method based on the double independent H bridges as claimed in claim 1, characterized in that: the specific implementation method of the step 1 comprises the following steps: the two-phase alternating current motor driving circuit comprises a double H-bridge circuit, each H-bridge comprises 4 switching tubes with freewheeling diodes, 9 combinations are designed according to the on and off states of the switching tubes, 8 space voltage vectors and 1 zero voltage vector are corresponding to the switching tubes, in a two-phase static coordinate system, 8 basic space voltage vectors are distributed in a fan shape at an interval of 45 degrees by taking an original point as a center, and the coordinate system is divided into 8 sectors.
3. The space voltage vector PWM modulation method based on the double independent H bridges as claimed in claim 1, characterized in that: the specific implementation method of the step 2 comprises the following steps: the desired composite space voltage vector is u, which is a rotating vector with a rotating speed of w and an amplitude of | u | in a two-phase stationary coordinate system, obtained according to the parallelogram rule
uT＝u1T1+u2T2+u0T0
T＝T1+T2+T0
Wherein T is the PWM period of the control system, u1To a desired resultant space voltage vector u an adjacent basis voltage vector u2To a desired resultant space voltage vector u another adjacent basic voltage vector u0Is a zero voltage vector, T1Is u1Time of action of (T)2Is u2Time of action of (T)0Is u0The time of action of (c);
the desired composite space voltage vector can be composed of two adjacent basic voltage vectorsThe component u of the alpha axis of the resultant space voltage vector u in the two-phase stationary coordinate system is expectedαAnd the component u of the beta axisβCalculating sector angle
According to sector angle
The desired composite space voltage vector is determined at the sector location.
4. The space voltage vector PWM modulation method based on the double independent H bridges as claimed in claim 1, characterized in that: the specific implementation method of the step 3 is as follows: according to the parallelogram rule, the expected synthetic space voltage vector u is projected on an alpha axis and a beta axis in a two-phase static coordinate system to obtain
If the first sector space vector composition is obtained, | u1|＝|Udc|，
Wherein, UdcIs the DC bus voltage, T is the control system PWM period, u1To a desired resultant space voltage vector u an adjacent basis voltage vector u2To a desired resultant space voltage vector u another adjacent basic voltage vector u0Is a zero voltage vector, T1Is u1Time of action of (T)2Is u2Time of action of (T)0Is u0The time of action of (c);
component u of the alpha axis in the stationary phase coordinate systemαAnd the component u of the beta axisβTo obtain
If supersaturation occurs, i.e. T1+T2+T0If > T, then
5. The space voltage vector PWM modulation method based on the double independent H bridges as claimed in claim 1, characterized in that: the specific implementation method of the step 4 comprises the following steps: the vector in the odd sector is chosen clockwise and the vector in the even sector is chosen counter-clockwise.
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| CN116587886A (en) * | 2023-07-18 | 2023-08-15 | 江西五十铃汽车有限公司 | Control method and system for electric drive system |
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