CN112636571A - Control method for improving carrier noise of controller - Google Patents
Control method for improving carrier noise of controller Download PDFInfo
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- CN112636571A CN112636571A CN202011637161.3A CN202011637161A CN112636571A CN 112636571 A CN112636571 A CN 112636571A CN 202011637161 A CN202011637161 A CN 202011637161A CN 112636571 A CN112636571 A CN 112636571A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/12—Arrangements for reducing harmonics from ac input or output
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/44—Circuits or arrangements for compensating for electromagnetic interference in converters or inverters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
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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
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- Power Engineering (AREA)
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- Electromagnetism (AREA)
- Inverter Devices (AREA)
Abstract
The invention discloses a control method for improving carrier noise of a controller, which comprises the steps of respectively using random pulse position modulation and random switching frequency modulation to add uniformly distributed random signals into a switching signal sent by the controller so that the switching signal is changed into a non-periodic signal, and distributing the energy originally concentrated on the switching frequency and the harmonic frequency of the switching signal in the whole control frequency domain range, thereby reducing the discrete harmonic amplitude and enabling a power spectrum to present continuous spectrum characteristics; and comparing the modulation effects of the two random modulation methods, and determining the selection of the random modulation method according to the actual test result and the development requirement. The invention uses proper carrier wave debugging under different working conditions, thereby effectively reducing the problem of single-frequency high-frequency electromagnetic squeal caused by electric drive switching frequency; and a specific frequency is adopted at a specific frequency, NVH and efficiency are considered, and the high-frequency sound quality problem of the new energy automobile is improved.
Description
Technical Field
The invention relates to the field of electric drive system carrier noise control, in particular to a control method for improving carrier noise of a controller.
Background
The noise of an electric drive system of a new energy automobile mainly comprises order noise caused by electromagnetic design and carrier noise caused by DC/AC conversion of a controller, wherein the carrier noise caused by the DC/AC conversion of the controller is concentrated in energy and high in frequency, the frequency generally can reach more than 8000Hz, the noise cannot be well masked on the whole automobile, and the noise becomes one of the most typical noises in the electric drive noise.
Space voltage vector modulation (SVPWM) is a recently developed electric drive control method, and is a pulse width modulation wave generated by a specific switching pattern composed of six power switching elements of a three-phase power inverter, and is capable of making an output current waveform as close to an ideal sinusoidal waveform as possible. The space voltage vector PWM is different from the traditional sine PWM, and the method is based on the overall effect of three-phase output voltage and aims to make the motor obtain an ideal circular flux linkage track. Compared with the SPWM, the SVPWM technology has the advantages that harmonic components of winding current waveforms are small, so that motor torque pulsation is reduced, a rotating magnetic field is more approximate to a circle, the utilization rate of direct-current bus voltage is greatly improved, and digitization is easier to realize.
When the electric drive system adopts the traditional SVPWM method, a large amount of higher harmonics are generated at the switching frequency and integral multiples thereof by the output voltage, thereby bringing a large amount of electromagnetic noise and interference and influencing the electromagnetic compatibility of the system.
In the prior art, a plurality of random SVPWM technologies are researched, parameters such as switching signal period, pulse position and the like are randomly changed, a driving signal is directly generated, an electromagnetic interference source is controlled from a source, and high-order harmonics can be well dispersed in a wide frequency range under the conditions of not changing a system topological structure and not increasing hardware cost, so that the electromagnetic interference is effectively reduced, and the electromagnetic compatibility of a system is improved.
According to the difference of randomized objects in random modulation technology, the method can be divided into random pulse position modulation technology and random switching frequency modulation technology. The capability of dispersing higher harmonics of the existing random pulse position modulation technology needs to be improved. The maximum value and the minimum value of the random switching frequency are symmetrically distributed on two sides of the average switching frequency, and the upper limit of the random switching frequency is limited by a switching device; if the switching frequency variation range is wide, the lower limit of the switching frequency variation range is also small, so that the current ripple is increased, and the steady-state performance of the system is affected. Meanwhile, the wider switching frequency range can bring about the phenomenon of frequency spectrum aliasing, so that higher harmonics between the switching frequency and twice the switching frequency are superposed, and the electromagnetic interference is increased.
Disclosure of Invention
The invention aims to: the control method for improving the carrier noise of the controller is provided, and the problem of high-frequency noise sharpness caused by high-frequency current harmonic waves at the switching frequency is solved by using proper random carrier modulation under different working conditions.
The technical scheme of the invention is as follows:
the control method for improving the carrier noise of the controller, wherein the controller adopts a space voltage vector modulation method SVPWM to send a switching signal to an inverter consisting of six power switches, comprises the following steps:
s1, adding uniformly distributed random signals into the switching signals sent by the controller by respectively using random pulse position modulation and random switching frequency modulation, so that the switching signals are changed into non-periodic signals, and distributing the energy originally concentrated on the switching frequency and the harmonic frequency of the switching signals in the whole control frequency domain range, thereby reducing the discrete harmonic amplitude and enabling the power spectrum to present continuous spectrum characteristics;
and S2, comparing the modulation effects of the two random modulation methods in the S1, and determining the selection of the random modulation method according to the actual test result and the development requirement.
Preferably, the random pulse position modulation method is realized by changing two zero vectors U in the space voltage vector modulation method SVPWM0、U7Including introducing a random number random (), which is in [0,1 ]]And are randomly and uniformly distributed, the zero vector random time is:
in the formula, t0And t7Is a zero vector, T0For time requiring zero vector actionAnd (3) removing the solvent.
Preferably, the random switching frequency modulation is performed by randomizing the switching frequency in the space voltage vector modulation method SVPWM, and the switching random frequency f expression is as follows:
f＝fz+R△f
wherein f iszIs a central switching frequency, R is [ -1,1 [)]And Δ f is the range of the set switching frequency fluctuation.
Preferably, in order to ensure the spectrum diffusion effect and not affect the quality of the output voltage, the range Δ f of the switching frequency fluctuation of the central switching frequency is calibrated according to the actual effect, and the calibration method is to balance the actual requirement of NVH and the assembly efficiency.
Preferably, when the range Δ f of the switching frequency fluctuation of the center switching frequency is calibrated, the variation range of the switching frequency and the random number thereof is limited, so as to avoid causing unpredictable influence.
Preferably, the random switching frequency modulation is performed in a frequency conversion mode in a required rotating speed section according to requirements, and other rotating speed sections are not performed with any operation.
The invention has the advantages that:
1. according to the control method for improving the carrier noise of the controller, the appropriate carrier debugging is used under different working conditions, so that the problem of single-frequency and high-frequency electromagnetic squeal caused by the frequency of an electric drive switch is effectively reduced;
2. the control method for improving the carrier noise of the controller adopts the specific frequency at the specific frequency, and has both NVH and efficiency;
3. the control method for improving the carrier noise of the controller can improve the high-frequency sound quality problem of the electrically-driven new energy automobile.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a schematic diagram of an inverter circuit in SVPWM modulation;
FIG. 2 is a diagram showing the magnitude and position of eight basic voltage space vectors
FIG. 3 is a graph of the switching frequency noise effect before and after random pulse position modulation;
FIG. 4 is a graph showing the effect of switching frequency noise before and after random switching frequency modulation;
FIG. 5 is a graph showing the effect of noise in switching frequency before and after random frequency conversion in a part of the rotational speed range.
Detailed Description
To facilitate understanding of the implementation of the present invention, the following description will first describe the SVPWM technique.
The theoretical basis of space voltage vector modulation SVPWM is the principle of mean value equivalence, i.e. the mean value of the basic voltage vectors is made equal to the given voltage vector by combining them in one switching cycle. At a certain moment, the rotation of the voltage vector into a certain area can be obtained by two adjacent non-zero vectors making up this area and by different combinations of zero vectors in time. The action time of the two vectors is applied for a plurality of times in a sampling period, thereby controlling the action time of each voltage vector, enabling the voltage space vector to approach to rotate according to a circular track, approaching to an ideal magnetic flux circle through the actual magnetic flux generated by different switching states of the inverter, and determining the switching state of the inverter according to the comparison result of the two vectors, thereby forming a PWM waveform. The inverter circuit is shown in fig. 1.
Setting the voltage at the side of the direct current bus as UdcThe three-phase voltage output by the inverter is UA、UB、UCWhich are respectively added on three-phase plane static coordinate systems with mutual difference of 120 degrees in space, three voltage space vectors U can be definedA(t)、UB(t)、UC(t) their direction is always on the axis of each phase, while their magnitude varies sinusoidally with time, with time phases that differ by 120.
Assuming Um is the effective value of the phase voltage and f is the power frequency, then:
where θ is 2 π ft, the resultant space vector U (t) of the three-phase voltage space vector addition can be expressed as:
it can be seen that u (t) is a rotating space vector whose amplitude is 1.5 times of the peak value of the phase voltage, Um is the peak value of the phase voltage, and the space vector rotates at a constant speed in the counterclockwise direction with an angular frequency ω being 2 π f, and the projection of the space vector u (t) on the three-phase coordinate axes (a, b, c) is a symmetrical three-phase sine quantity.
As the three-phase bridge arm of the inverter has 6 power tubes, a switch function S is specially defined in order to research the space voltage vector output by the inverter when the upper and lower bridge arms of each phase are combined with different switchesx(x ═ a, b, c) is:
all possible combinations of (Sa, Sb, Sc) are eight, including 6 non-zero vectors Ul(001)、U2(010)、U3(011)、U4(100)、U5(101)、U6(110) And two zero vectors U0(000)、U7(111) The corresponding relationship between the switching state and the phase voltage and the line voltage is shown in table 1.
TABLE 1-1 correspondence of switch states to phase and line voltages
As shown in fig. 2, which is a schematic diagram of the magnitude and position of eight basic voltage space vectors
The non-zero vectors have the same magnitude (modulo length of 2U)dcAnd/3), adjacent vectors are separated by 60 °, and two zero vectors are zero in magnitude and are centered. In each of the sectors, the sector is,two adjacent voltage vectors and a zero vector are selected, and any voltage vector in each sector is synthesized according to the principle of volt-second balance, namely:
or equivalent to the following formula:
Uref*T＝Ux*Tx+Uy*Ty+U0*T0 (5)
wherein, UrefFor a desired voltage vector T as a sampling period Tx、Ty、T0Respectively corresponding to two non-zero voltage vectors Ux、UyAnd zero voltage vector U0The exposure time in one sampling period; wherein U is0Comprises U0And U7Two zero vectors. The meaning of the formula (5) is that the vector UrefThe integral effect value and the sum of U generated in the T timex、Uy、U0Respectively at time Tx、Ty、T0The sum of the added integration effects generated in the process is the same.
Since the three-phase sine wave voltages are combined into an equivalent rotating voltage in the voltage space vector, the rotating speed of which is the input power angular frequency, the trace of the equivalent rotating voltage will be circular as shown in fig. 2. Therefore, to generate three-phase sine wave voltage, the above voltage vector synthesis technique can be used to set the voltage vector from U on the voltage space vector4(100) Starting from the position, every time a small increment is added, every small increment setting voltage vector can be synthesized by using two adjacent basic non-zero vectors and zero voltage vectors in the region, so that the obtained setting voltage vector is equivalent to a voltage space vector which smoothly rotates on a voltage space vector plane, and the purpose of voltage space vector pulse width modulation is achieved.
The control method for improving the carrier noise of the controller disclosed by the invention is characterized in that two random modulation technologies are used for adding uniformly distributed random signals into a switching signal sent by the controller, so that the switching signal is changed into a non-periodic signal, and the energy originally concentrated on the switching frequency and the harmonic frequency of the switching signal is distributed in the whole control frequency domain range, thereby reducing the discrete harmonic amplitude and enabling the power spectrum to present continuous spectrum characteristics; the two random modulation techniques are random pulse position modulation and random switching frequency modulation respectively. And comparing the modulation effects of the two random modulation methods, and determining the selection of the random modulation method according to the actual test result and the development requirement.
The random pulse position modulation method is realized by changing two zero vectors U in space voltage vector modulation (SVPWM)0、U7Including introducing a random number random (), which is in [0,1 ]]And are randomly and uniformly distributed, the zero vector random time is:
in the formula, t0And t7Is a zero vector, T0The time required for zero vector action.
The random switching frequency modulation is realized by randomizing the switching frequency in the SVPWM method by changing the space voltage vector modulation method, and the switching random frequency f expression is as follows:
f＝fz+RΔf (7)
wherein f iszIs a central switching frequency, R is [ -1,1 [)]And Δ f is the range of the set switching frequency fluctuation.
Because the switching frequency is too low, the low-order harmonic component is increased, the noise caused by the switching frequency is worsened, and the mechanical vibration is possibly generated; the radiation noise is improved by the too high switching frequency, but the switching loss of the response is increased. In order to ensure that the spectrum has a good diffusion effect and the quality of the output voltage is not affected, Δ f needs to be calibrated according to an actual effect, a calibration method needs to balance between actual requirements of NVH and assembly efficiency, but the basic premise is that the change range of the switching frequency and the random number is not too wide, so that other unpredictable effects are caused.
As shown in fig. 3, it is an effect diagram of the switching frequency noise before and after the random pulse position modulation, and it can be known from the effect diagram that the extra noise component is added after the random pulse position modulation, so as to generate extra masking effect on the single-frequency noise, and as shown in block 1, the noise sounds smoother and natural.
As shown in fig. 4, the effect diagram of the switching frequency noise before and after the random switching frequency modulation is performed, and it can be seen from the effect diagram that the noise is more uniform at the switching frequency, and especially at the low rotation speed stage, the single frequency noise is almost averaged, which is not obvious. The scheme of the invention can also carry out frequency conversion operation in the required rotating speed section according to the requirement so as to achieve the optimal effect. As shown in FIG. 5, it is a comparison graph of the noise effect of the switching frequency when the frequency conversion is performed at 5000rpm or less and no operation is performed in other rotation speed sections.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All modifications made according to the spirit of the main technical scheme of the invention are covered in the protection scope of the invention.
Claims (6)
1. The control method for improving the carrier noise of the controller, the controller adopts a space voltage vector modulation method SVPWM to send a switching signal to an inverter consisting of six power switches, and the method is characterized by comprising the following steps of
S1, adding uniformly distributed random signals into the switching signals sent by the controller by respectively using random pulse position modulation and random switching frequency modulation, so that the switching signals are changed into non-periodic signals, and distributing the energy originally concentrated on the switching frequency and the harmonic frequency of the switching signals in the whole control frequency domain range, thereby reducing the discrete harmonic amplitude and enabling the power spectrum to present continuous spectrum characteristics;
and S2, comparing the modulation effects of the two random modulation methods in the S1, and determining the selection of the random modulation method according to the actual test result and the development requirement.
2. The method as claimed in claim 1, wherein the random pulse position modulation is performed by changing two zero vectors U in SVPWM0、U7Including introducing a random number random (), which is in [0,1 ]]And are randomly and uniformly distributed, the zero vector random time is:
in the formula, t0And t7Is a zero vector U0、U7Time of action of (T)0The time required for zero vector action.
3. The control method for improving the carrier noise of the controller according to claim 2, wherein the random switching frequency modulation is performed by randomizing the switching frequency in the space voltage vector modulation SVPWM, and the switching random frequency f is expressed as:
f＝fz+R△f
wherein f iszIs a central switching frequency, R is [ -1,1 [)]And Δ f is the range of the set switching frequency fluctuation.
4. The control method for improving the carrier noise of the controller according to claim 3, wherein in order to ensure the spectrum spreading effect without affecting the quality of the output voltage, the range Δ f of the switching frequency fluctuation of the central switching frequency is calibrated according to the actual effect, and the calibration method is a balance between the actual NVH requirement and the assembly efficiency.
5. The method as claimed in claim 4, wherein the range Δ f of the switching frequency fluctuation of the central switching frequency is calibrated to limit the variation range of the switching frequency and its random number, so as to avoid unexpected influence.
6. The control method for improving the carrier noise of the controller according to claim 3, wherein the random switching frequency modulation is performed in a frequency conversion operation in a required rotation speed section according to the requirement, and no operation is performed in other rotation speed sections.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115940685A (en) * | 2022-11-28 | 2023-04-07 | 国网江苏省电力有限公司电力科学研究院 | Three-dimensional space vector pulse width modulation method and system of three-phase four-bridge arm inverter |
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| CN106160453A (en) * | 2016-08-05 | 2016-11-23 | 江苏大学 | A kind of NPC inverter based on Markov chain mixes random SVPWM control system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115940685A (en) * | 2022-11-28 | 2023-04-07 | 国网江苏省电力有限公司电力科学研究院 | Three-dimensional space vector pulse width modulation method and system of three-phase four-bridge arm inverter |
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