CN112910144A - Multiphase winding series phase sequence with minimum bridge arm current stress and modulation method - Google Patents

Multiphase winding series phase sequence with minimum bridge arm current stress and modulation method Download PDF

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CN112910144A
CN112910144A CN202110103107.9A CN202110103107A CN112910144A CN 112910144 A CN112910144 A CN 112910144A CN 202110103107 A CN202110103107 A CN 202110103107A CN 112910144 A CN112910144 A CN 112910144A
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phase
bridge arm
winding
current
windings
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CN112910144B (en
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孙翔文
汪志远
李哲锴
孙千宸
黄霁蓝
李安
刘自程
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Huazhong University of Science and Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/46—Fastening of windings on the stator or rotor structure
    • H02K3/50—Fastening of winding heads, equalising connectors, or connections thereto
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage

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Abstract

The invention discloses a multiphase winding series phase sequence with the minimum bridge arm current stress and a modulation method, and belongs to the field of alternating current motors and drive control. All stator windings are phase-by-phase at intervals
Figure DDA0002916758320000011
The two windings are connected in series in an interval reverse direction, namely after the positive end and the negative end of each interval winding are reversed, the windings with the phase difference delta N are connected in series, and N +1 motor winding nodes are led out. The invention changes the current stress and the voltage utilization rate of the bridge arm by changing the connection sequence of the phase windings and reversely connecting partial windings, so that the current stress of the bridge arm can reach the minimum, and the problems of larger current stress and loss caused by the serial connection of motor phase windings in the common serial winding topology are solvedThe loss of the device can be greatly reduced, the cost is reduced, and the control performance is optimized; and the invention also obtains the open solution formula of the value of delta n and the open solution formula of the ratio of the corresponding current stress to the current of the phase winding in order to minimize the current stress when the number of the phases of the multi-phase motor is odd through analysis and calculation.

Description

Multiphase winding series phase sequence with minimum bridge arm current stress and modulation method
Technical Field
The invention belongs to the field of alternating current motors and drive control, and particularly relates to a multiphase winding series phase sequence with the minimum bridge arm current stress and a modulation method.
Background
In recent years, as a multi-phase motor has many advantages such as small torque ripple, low power device capacity requirement, strong fault tolerance capability, etc., the multi-phase motor and the control technology thereof are attracting more and more attention. In the research of multiphase motor drive, a half-bridge topology is a basic topology structure of a traditional multiphase inverter, but the half-bridge topology has the inherent defects of low stator current control freedom, narrow speed regulation range, poor fault tolerance performance and the like; in addition, an N-phase full-bridge inverter topology structure exists, and the topology structure overcomes partial defects of a half-bridge topology and brings other defects and contradictions of more power devices, high system cost, low power density, large operation loss and the like.
Chinese invention patent CN109039207A discloses an N-phase N +1 bridge arm inverter topology and its modulation method, as shown in fig. 1. The topological structure of the N-phase N +1 bridge arm can reduce the number of power devices in an inverter topology, reduce the capacity of the power devices, reduce the cost of a driving system and improve the power density.
However, for the topology structure of the series winding, under the condition that the voltage and the current of the phase winding of the motor are kept unchanged, the current stress of a bridge arm of the inverter part is relatively large, and the defects caused by the topology structure mainly comprise:
(1) the device loss is high, and the working efficiency is low;
(2) the requirement on the current stress of the device is high, the type selection of the device is difficult, and the cost is high.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a multiphase winding series phase sequence with the minimum bridge arm current stress and a modulation method, and aims to solve the problem that the bridge arm of the inverter with the topological structure of the existing series winding has larger current stress.
In order to achieve the above object, the present invention provides a multi-phase winding series phase sequence with minimum bridge arm current stress, N-phase N +1 winding node motor stator windings are symmetrically distributed, a phase difference α between adjacent corresponding electromotive forces is 2 pi/N, a first phase of the motor is taken as a reference phase, a node where a stator winding current flows in is defined as a winding positive end, and a node where the stator winding current flows out is defined as a winding negative end;
starting from the first phase, all the stator windings are phase-counted according to intervals
Figure BDA0002916758300000021
The two windings are connected in series in an interval reverse direction, namely after the positive end and the negative end of each interval winding are reversed, the windings with the phase difference of delta N are connected in series, and N +1 motor winding nodes are led out;
the N +1 motor winding nodes are used for being sequentially connected with the N +1 bridge arm output nodes in the N-phase N +1 bridge arm inverter;
wherein N is an odd number of 5 or more.
Furthermore, the directions of the positive and negative ends of the phase windings on two sides of the same bridge arm of the N-phase N +1 bridge arm inverter are opposite.
Further, the bridge arm current stress of the N-phase N +1 bridge arm inverter reaches the minimum.
Furthermore, the current stress of the head and the tail of the N-phase N +1 bridge arm inverter is equal to the current of the phase winding, and the ratio of the current of the middle bridge arm to the current of the phase winding is as follows:
Figure BDA0002916758300000022
according to another aspect of the present invention, there is provided a method for modulating the series phase sequence of the multi-phase winding with the least bridge arm current stress, which comprises applying the reference output voltage V of N +1 bridge armsl(k)Comparison with a carrier signal, Vl(k)When the signal is greater than the carrier signal, the upper bridge arm is switched on, and the lower bridge arm is switched off; vl(k)When the signal is smaller than the carrier signal, the lower bridge arm is switched on, and the upper bridge arm is switched off; obtaining a driving signal of the power switching device in each bridge arm, inputting the driving signal into a driving circuit, driving the power switching device to act, and generating the required motor stator phase voltage Vp(i)Wherein, i is 1,2, N, k is 1,2, N + 1.
When the N-phase motor adopting the multiphase winding series phase sequence provided by the invention is driven by using an N-phase N +1 bridge arm inverter topology, a corresponding voltage modulation strategy is required to be adopted, so that the effect of minimum bridge arm current stress is achieved.
The modulation algorithm generates N-phase stator voltage required by the motor by controlling the complementary conduction of the power switch devices in the N +1 bridge arms, and the current stress of the bridge arms is minimum.
The phase voltage amplitudes of the N-phase stators of the motor are equal, and the phase difference alpha between adjacent corresponding electromotive forces is 2 pi/N, so that the voltages of the N-phase stators of the motor are set as shown in the following formula:
Vp(i)＝vpref sin(ωt-(i-1)α)
wherein v isprefThe amplitude of the stator phase voltage is the voltage angular frequency ω.
Similarly, the reference output voltages of the N +1 bridge arms are sinusoidal voltages with equal amplitude and different phases. Let the bridge arm voltage be Vl(k)Amplitude is set to vlref。
According to the topological structure, the stator phase voltage is the difference between the reference output voltages of two adjacent bridge arms:
Vp(i)＝Vl(k)-Vl(k+1)
stator phase voltage amplitude vprefReference output voltage amplitude v of sum bridge armlrefThe relationship is as follows:
Figure BDA0002916758300000031
parameters of N +1 bridge armsThe phase of the output voltage is sequentially different by an angle
Figure BDA0002916758300000032
Therefore, the reference output voltage of N +1 bridge arms is set as:
Figure BDA0002916758300000033
through the technical scheme, compared with the prior art, the bridge arm current stress and voltage utilization rate are changed by changing the connection sequence of the phase windings and reversely connecting partial windings, the solution that the current stress of the bridge arm can reach the minimum is obtained by theoretical analysis and experimental verification, the problems of large current stress and high loss caused by the serial connection of the motor phase windings in the common series winding topology are solved, the loss of devices can be greatly reduced, the cost is reduced, and the control performance is optimized; and the invention also obtains the open solution formula of the value of delta n and the open solution formula of the ratio of the corresponding current stress to the current of the phase winding in order to minimize the current stress when the number of the phases of the multi-phase motor is odd through analysis and calculation.
Drawings
FIG. 1 is a typical topology of a prior art N-phase N +1 bridge arm series winding circuit;
FIG. 2 is a voltage current vector diagram of a five-phase six-leg multi-phase motor;
FIG. 3 is a voltage vector diagram of a five-phase six-bridge arm multiphase motor with phase windings connected in series;
FIG. 4 is a voltage current vector diagram of a seven-phase eight-leg multi-phase motor;
fig. 5 is a voltage-current vector diagram of a seven-phase eight-leg multi-phase motor Δ n equal to 1 with phase windings connected in series;
fig. 6 is a voltage-current vector diagram of a seven-phase eight-bridge arm multi-phase motor Δ n being 3 and with phase windings in reverse series at intervals;
FIG. 7 is a topological structure of N-phase N +1 bridge arm series winding circuit interval anti-series connection according to the present invention;
fig. 8 is a voltage-current vector diagram of a five-phase six-bridge arm multi-phase motor Δ n being 2 and with phase windings in opposite series at intervals;
fig. 9(a) and 9(b) are waveforms of phase voltages and currents output by the five-phase six-leg multi-phase motor in embodiment 1, respectively;
fig. 10 is a bridge arm current stress waveform of a five-phase six-bridge arm multiphase motor in a minimum wiring mode of current stress in embodiment 1;
fig. 11(a) and 11(b) are bridge arm current stress waveforms of the five-phase six-bridge arm multi-phase motor in example 1 in other connection modes, respectively;
fig. 12(a) and 12(b) are output phase voltage and current waveforms of the seven-phase eight-leg multi-phase motor in embodiment 2, respectively;
fig. 13 is a bridge arm current stress waveform of a seven-phase eight-bridge arm multiphase motor in a minimum wiring mode of current stress in embodiment 2;
fig. 14 shows bridge arm current stress waveforms for a seven-phase eight-bridge multi-phase motor in example 2 in other connection modes.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The main circuit of the invention is an N-phase N +1 bridge arm motor driving topology based on a series winding topology structure, as shown in fig. 1, the main circuit is a typical topology structure of the main circuit, and under the condition that the voltage and the current of a motor phase winding are not changed, the voltage utilization rate and the current stress of a bridge arm can be determined by the phase number of a motor and the connection mode of the motor phase winding. The invention changes the current stress and the voltage utilization rate of the bridge arm by changing the connection sequence of the phase windings and reversely connecting partial windings, obtains the solution for minimizing the current stress of the bridge arm by theoretical analysis and experimental verification, and solves the problems of larger current stress, higher loss and higher device cost caused by the sequential serial connection of the motor phase windings in the common serial winding topology.
The general conclusion and the parameter formula of the phase winding connection mode for minimizing the current stress in the odd-phase multi-phase motor are obtained through theoretical analysis and calculation, and are described as follows:
for the multi-phase motor, for convenience of representation, each phase of the multi-phase motor is represented by an Arabic numeral from small to large in sequence, as shown in FIG. 2, and the reference numeral Vp(1)～Vp(5)Representing the winding voltage vectors of the phases of a five-phase motor. And taking Δ n as the difference of phase sequences of motor phase windings on two sides of the same bridge arm, and obtaining the topology shown in fig. 1, namely the five-phase motor is the case that Δ n is 3-1-5-3-2. If the windings are sequentially strung according to the condition that delta n is 1, the windings represent that the windings are sequentially arranged from left to right in a 1-5 phase sequence, and voltage vectors which are 1-5 phases in a vector diagram are connected end to form a regular pentagon, as shown in fig. 3.
For a multiphase motor drive control topology with an odd number of phases N (N.sub.5, 7,9, 11. cndot.), the control topology is implemented
Figure BDA0002916758300000051
And when the windings are in reverse series at intervals (the connection modes of the phase windings on two sides of the same bridge arm are opposite), the current stress of the bridge arm is minimum. At the moment, the current stress of the head bridge arm and the tail bridge arm is equal to the current of the phase winding, and the general formula of the ratio of the current stress of the rest middle bridge arms to the current of the phase winding is as follows:
Figure BDA0002916758300000061
now exemplifying the exemplary analysis method of the present invention, fig. 4 is a voltage-current vector diagram of a seven-phase eight-leg motor, fig. 5 is a voltage vector diagram with Δ n equal to 1 and phase windings connected in series, the winding connection method is (-1-2-3-4-5-6-7- (the sequence of numbers indicates the phase sequence of the phase windings, the numbers with an upper dash line indicate reverse connection), the ratio of the leg current to the winding phase current is 0.868, fig. 6 is a vector diagram with Δ n equal to 3 and phase windings connected in reverse series, and the winding connection method is
Figure BDA0002916758300000062
Except the head bridge arm and the tail bridge arm, the ratio of the current of the rest bridge arms to the phase current of the winding is 0.445 at the minimum value.
The invention discloses an open winding motor driven by a series winding inverter, which is a novel motor system topological structure with double-end power supply formed by opening a winding neutral point of a conventional motor and respectively connecting a converter in series at two ends. As shown in fig. 2, when the stator windings of the motor are symmetrically distributed, the phase difference between the adjacent corresponding electromotive forces is α -2 pi/N. Defining the starting point of the voltage vector of each phase winding of the stator, namely a node into which the winding current flows, as a winding positive end; the end point of the voltage vector of each phase winding of the stator, i.e. the node where the winding current flows out, is defined as the winding negative terminal. If the positive and negative ends of the N-phase windings are sequentially connected end to end according to the phase number interval of delta N, and the led-out N +1 motor winding nodes and N +1 bridge arm output nodes are sequentially connected in sequence, the existing serial connection mode is obtained, as shown in fig. 1. If the positive end and the negative end of the winding of the second arbitrary phase in the N-phase windings are reversed and then connected in series with the other windings, the winding reverse series is realized, as shown in fig. 7. The windings are marked with an "x" terminal in the figure as the winding minus terminal.
To illustrate the method of using the present invention in detail, specific simulation experimental data are exemplified. The required hardware parts include: the system comprises an N-phase N +1 bridge arm inverter, an N-phase open winding permanent magnet synchronous motor and a current sensor. The three-phase alternating current power supply obtains direct current bus voltage Udc through uncontrolled rectification, the direct current bus voltage Udc is supplied to a voltage source type inverter, and the inverter is used for controlling a synchronous motor to carry out vector control. Open loop control is used in the simulation, and the software part comprises: the bridge arm reference voltage vector generation module and the carrier comparison pulse width modulation module.
Example 1
Taking a five-phase six-bridge arm motor driving system as an example, experiments are carried out according to the specific implementation steps of the invention. The invention is specifically explained and verified by taking data obtained in the experimental process as an example. The simulation parameter settings are shown in table 1:
TABLE 1
Parameter(s) Numerical value
Number of phases 5
Bus voltage 400V
Output phase voltage 120V
Output phase current 7.5A
Excitation inductance 3.4mH
Stator resistor 1.5Ω
The five-phase motor is used as an odd-phase motor, and when the windings are spaced by a plurality of numbers
Figure BDA0002916758300000071
And the phase windings are alternately arranged in reverse order, i.e. in accordance with
Figure BDA0002916758300000072
When the forms are connected: the current stress of the bridge arm is minimum, and the optimal solution is obtained. Bridge arm voltage V at this timel(1)～Vl(6)Phase voltage V of windingP(1)～VP(5)The vector relationship of (a) is shown in fig. 8. According to the topological structure, the relation between the reference output voltage of the N +1 bridge arms and the N phase voltage vectors is as follows:
Vp(i)＝Vl(k)-Vl(k+1)
the bridge arm reference voltage vector is thus set to:
Figure BDA0002916758300000073
the waveforms of the output phase voltage and the phase current are shown in fig. 9(a) and 9(b), and the amplitudes are 120V and 7.4A, respectively.
The bridge arm currents are shown in fig. 10, the stress of the two bridge arms at the head and the tail is equal to the phase winding current and is 7.4A, and the current of the middle bridge arm is about 4.575A. According to the odd-phase motor bridge arm current stress formula provided by the invention:
Figure BDA0002916758300000081
the actual value of the simulation current is basically consistent with the theoretical value, and the deviation is within the error range.
Similarly, simulation tests show that the current stress of the five-phase motor is shown in fig. 11(a) and 11(b) under the condition that the winding interval number is 1 and 2 in the parallel connection, the current stress of the middle bridge arm is 8.7A and 14.1A respectively under the condition that the output phase voltage and the output current are consistent, and the current stress is obviously larger than the current stress under the optimal wiring provided by the invention.
Example 2
In order to embody the universality of the method, a seven-phase eight-bridge arm motor driving system is taken as an example, and experiments are carried out according to the specific implementation steps of the method. The simulation parameters are set as follows:
TABLE 2
Parameter(s) Numerical value
Number of phases 7
Bus voltage 400V
Output phase voltage 50V
Output phase current 3.15A
Excitation inductance 3.4mH
Stator resistor 1.5Ω
Seven-phase motor is used as odd-phase motor, and when the windings are spaced by several
Figure BDA0002916758300000082
And the phase windings are alternately arranged in reverse order, i.e. in accordance with
Figure BDA0002916758300000083
When the forms are connected: the current stress of the bridge arm is minimum, and the optimal solution is obtained. Bridge arm voltage V at this timel(1)～Vl(8)Phase voltage V of windingP(1)～VP(7)The vector relationship of (a) is shown in fig. 6. According to the topological structure, the relation between the reference output voltage vector of the N +1 bridge arms and the N phase voltage vectors is as follows:
Vp(i)＝Vl(k)-Vl(k+1)
the bridge arm reference voltage vector is thus set to:
Figure BDA0002916758300000084
the waveforms of the output phase voltage and phase current are shown in fig. 12(a) and 12(b), and the amplitudes are 50V and 3.15A, respectively. The bridge arm currents are as shown in fig. 13, the stress of the first and the last bridge arm currents is equal to the phase winding current, and the middle bridge arm current is about 1.42A. According to the odd-phase motor bridge arm current stress formula provided by the invention:
Figure BDA0002916758300000091
the actual value of the simulation current is basically consistent with the theoretical value, and the deviation is within the error range. The generality of the method of the invention in the case of odd phases is shown.
Similarly, through simulation experiments, the current stress of the seven-phase motor under the condition of parallel connection and the number of windings at intervals of 1 is shown in fig. 14, the current of the middle bridge arm is 2.737a under the condition that the output phase voltage and the output current are consistent, and the current stress is obviously larger than the current stress under the optimal wiring provided by the invention.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (6)

1. A multi-phase winding series phase sequence with the minimum bridge arm current stress is characterized in that N phases of N +1 winding nodes are symmetrically distributed on a motor stator winding, the phase difference alpha between adjacent corresponding electromotive forces is 2 pi/N, the first phase of the motor is taken as a reference phase, a node where the stator winding current flows in is defined as a winding positive end, and a node where the stator winding current flows out is defined as a winding negative end;
starting from the first phase, all the stator windings are phase-counted according to intervals
Figure FDA0002916758290000012
Are sequentially spaced in reverse orderIn the connection, after the positive end and the negative end of every other winding are reversed, the windings with the phase difference of delta N are connected in series, and N +1 motor winding nodes are led out;
the N +1 motor winding nodes are used for being sequentially connected with N +1 bridge arm output nodes in the N-phase N +1 bridge arm inverter;
wherein N is an odd number of 5 or more.
2. The multiphase winding series phase sequence of claim 1, wherein the positive and negative ends of the phase windings on both sides of the same bridge arm of the N-phase N +1 bridge arm inverter are in opposite directions.
3. The series phase sequence of multiphase windings according to claim 2, wherein said N-phase N +1 leg inverter leg current stresses are minimized.
4. The multiphase winding series phase sequence of claim 3, wherein the head and tail bridge arm current stresses of the N-phase N +1 bridge arm inverter are equal to the phase winding current, and the ratio of the middle bridge arm current to the phase winding current is:
Figure FDA0002916758290000011
5. a method for modulating a series phase sequence of polyphase windings according to any one of claims 1 to 4, comprising the steps of:
outputting the reference output voltage V of N +1 bridge armsl(k)Comparison with a carrier signal, Vl(k)When the signal is greater than the carrier signal, the upper bridge arm is switched on, and the lower bridge arm is switched off; vl(k)When the signal is smaller than the carrier signal, the lower bridge arm is switched on, and the upper bridge arm is switched off; obtaining a driving signal of the power switching device in each bridge arm, inputting the driving signal into a driving circuit, driving the power switching device to act, and generating the required motor stator phase voltage Vp(i)Wherein i is 1,2, …, N, k is 1,2, …, N + 1.
6. A modulation method according to claim 5,
reference output voltage V of N +1 bridge armsl(k)With N stator phase voltages Vp(i)The relationship of (1) is:
Vp(i)＝Vl(k)-Vl(k+1)
Vp(i)＝vprefsin(ωt-(i-1)α)
Figure FDA0002916758290000021
Figure FDA0002916758290000022
wherein v isprefIs stator phase voltage Vp(i)Amplitude of (v)lrefFor reference output voltage V of bridge arml(i)ω is the voltage angular frequency, α is 2 pi/N, i is 1,2, …, N, k is 1,2, …, N + 1.
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US20100315026A1 (en) * 2005-01-07 2010-12-16 Ronald De Four Self Starting Method and an Apparatus for Sensorless Commutation of Brushless CD Motors
JP2008228399A (en) * 2007-03-09 2008-09-25 Nippon Soken Inc Vehicular ac motor device
CN107070014A (en) * 2017-05-08 2017-08-18 史立伟 A kind of composite excitation servomotor
CN108258976A (en) * 2018-01-19 2018-07-06 华中科技大学 One kind opens winding electric machine driver topology and its modulator approach
CN109039207A (en) * 2018-07-23 2018-12-18 华中科技大学 A kind of N phase N+1 leg inverter and its modulator approach
JP2020188531A (en) * 2019-05-10 2020-11-19 株式会社デンソー Motor operation system, motor, and driving method for motor

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