CN113364331B - Overmodulation method and system for 3D-AZSPWM modulation strategy with minimum instantaneous error - Google Patents

Overmodulation method and system for 3D-AZSPWM modulation strategy with minimum instantaneous error Download PDF

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CN113364331B
CN113364331B CN202110747682.2A CN202110747682A CN113364331B CN 113364331 B CN113364331 B CN 113364331B CN 202110747682 A CN202110747682 A CN 202110747682A CN 113364331 B CN113364331 B CN 113364331B
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phase
modulation
voltage vector
azspwm
reference voltage
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CN113364331A (en
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杨淑英
王顺
谢震
马铭遥
张兴
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Delta Electronics Shanghai Co Ltd
Hefei University of Technology
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Hefei University of Technology
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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
    • 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
    • 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
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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
    • 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
    • H02M7/5387—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 in a bridge configuration
    • H02M7/53871—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 in a bridge configuration with automatic control of output voltage or current
    • H02M7/53875—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 in a bridge configuration with automatic control of output voltage or current with analogue control of three-phase output
    • 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
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    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • 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
    • H02P27/02—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using supply voltage with constant frequency and variable amplitude
    • 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

A3D-AZSPWM modulation strategy overmodulation method and a system with the minimum instantaneous error belong to the technical field of inverter modulation, solve the problem of how to calculate the maximum linear modulation degree of a 3D-AZSPWM modulation strategy, improve the modulation range of the 3D-AZSPWM modulation strategy through an overmodulation technology while not changing the characteristics of the 3D-AZSPWM modulation strategy for modulating a differential mode component and a common mode component simultaneously, obtain the maximum linear modulation degree of the 3D-AZSPWM modulation strategy through calculation, provide a spatial modulation body judgment where a spatial modulation reference vector is located, establish a corresponding compression plane constraint equation and an instantaneous error minimum compression scheme constraint equation during overmodulation, keep the minimum instantaneous error of an output voltage vector during overmodulation through an overmodulation technology while not changing the characteristics of the 3D-AZSPWM modulation strategy for modulating the differential mode component and the common mode component simultaneously, the applicability of the 3D-AZSPWM modulation strategy is effectively enhanced.

Description

Overmodulation method and system for 3D-AZSPWM modulation strategy with minimum instantaneous error
Technical Field
The invention belongs to the technical field of inverter modulation, and relates to a 3D-AZSPWM (three-dimensional-amplitude-modulated sinusoidal pulse width modulation) over-modulation method and system with the minimum instantaneous error.
Background
The 3D-AZSPWM (three-dimensional active zero-state pulse width modulation) strategy synthesizes a reference voltage vector by using six non-zero basic vectors, can simultaneously modulate a differential mode component and a common mode component of the reference voltage vector, and can effectively reduce a common mode voltage peak value output by an inverter, so that the three-dimensional active zero-state Pulse Width Modulation (PWM) strategy is widely applied to zero-sequence circulating current control needing to modulate common mode voltage, such as a common direct current bus and common neutral line double inverter open winding topological structure, a three-phase four-leg inverter and the like. Compared with the traditional SVPWM (space vector pulse width modulation) strategy only focusing on differential mode component modulation, the 3D-AZSPWM modulation strategy is limited in differential mode component modulation output range due to the fact that common mode components are modulated simultaneously, therefore, related linear modulation range calculation and a corresponding over-modulation scheme are urgently needed to expand the modulation range, and the applicability of the 3D-AZSPWM modulation strategy is improved.
In the prior art, a document, namely research on zero-sequence loop current suppression strategies of common direct-current bus open-winding asynchronous motors (Yang shuying et al, China Motor engineering, vol. 38, No. 12, 3688-page 3698 in 2018), which is published on the date of 2018, 6, and 20, discloses the realization of zero-sequence loop current closed-loop control of a common direct-current bus double-inverter open-winding system by using a 3D-AZSPWM modulation strategy, but the document does not specifically provide the maximum linear modulation degree of the 3D-AZSPWM modulation strategy and a related overmodulation strategy. The document "open winding asynchronous motor control strategy research based on common neutral wire topology" (Yang shuying et al, China Motor engineering reports, 40 vol. 11 st 3681 and 3691) published at 6/5/2020 discloses that the 3D-AZSPWM modulation strategy is used for realizing zero-sequence circulating current closed loop control of a common neutral wire double-inverter open winding system, but the linear modulation degree range and the related overmodulation strategy of the 3D-AZSPWM modulation strategy are not given.
In summary, the prior art has the following problems: 1) for a 3D-AZSPWM modulation strategy, the prior art only provides a basic synthesis principle and an implementation process, and does not provide a linear modulation range, namely the maximum linear modulation degree, of the 3D-AZSPWM modulation strategy; 2) a constraint scheme for overmodulation of a 3D-AZSPWM modulation strategy is not given, so that the application range of the 3D-AZSPWM modulation strategy cannot be effectively expanded by adopting the overmodulation constraint scheme.
Disclosure of Invention
The invention aims to calculate the maximum linear modulation degree of a 3D-AZSPWM modulation strategy, and on the premise of not changing the characteristic that the 3D-AZSPWM modulation strategy simultaneously modulates a differential mode component and a common mode component, the instantaneous error of an output voltage vector is kept to be minimum during overmodulation through an overmodulation technology, so that the modulation range of the 3D-AZSPWM modulation strategy is expanded.
The invention solves the technical problems through the following technical scheme:
A3D-AZSPWM modulation strategy overmodulation method with minimum instantaneous error comprises the following steps:
step S1, calculating a reference voltage vector V ref Of the alpha-beta plane component m 1 Phase of
Figure GDA0003628214150000021
And modulation degree M 1 Calculating a reference voltage vector V ref Gamma axis component V of γ Amplitude m of 3 And phase
Figure GDA0003628214150000022
Calculating a reference voltage vector V ref Characteristic phase difference of
Figure GDA0003628214150000023
Step S2, according to the amplitude m in step S1 3 And characteristic phase difference
Figure GDA0003628214150000024
Calculating the maximum linear modulation degree M of the 3D-AZSPWM modulation strategy max1 And maximum compression modulation degree M max2 ；
Step S3, according to the modulation degree M 1 Maximum linear modulation degree M max1 And maximum compression modulation degree M max2 And performing overmodulation judgment:
when calculating M 1 <M max1 In the linear modulation region, linear modulation is adoptedThe method for controlling regional wave generation comprises the following steps: according to V α 、V β And V γ Calculating the base voltage vector action time t by using a 3D-AZSPWM modulation strategy 1 、t 2 、t 3 And t 4 Wave generation control is carried out;
when calculating M max1 ≤M 1 ≤M max2 In the time, the wave generation control of the overmodulation region is adopted as the overmodulation region, and the method comprises the following steps:
when t is 1 Not less than 0 and t 4 When the value is more than or equal to 0, the value is a circular arc area of an overmodulation area according to V α 、V β And V γ Calculating the base voltage vector action time t by using a 3D-AZSPWM modulation strategy 1 、t 2 、t 3 And t 4 Wave generation control is carried out;
when t is 1 <0 or t 4 <At 0, for the boundary region of the overmodulation region, for the reference voltage vector V ref The α - β plane component of (a) is modified:
first according to V α 、V β And V γ For reference voltage vector V ref Judging the serial number of the modulation body, and selecting a corresponding compression plane constraint equation according to the judged serial number of the modulation body;
then, the modified reference voltage vector alpha axis component is obtained by simultaneous calculation with the constraint equation of the transient error minimum compression scheme
Figure GDA0003628214150000025
Reference voltage vector beta axis component
Figure GDA0003628214150000026
The constraint equation of the transient error minimum compression scheme is as follows:
Figure GDA0003628214150000031
wherein, P 1 、P 2 、P 3 Respectively in the selected compression plane constraint equations
Figure GDA0003628214150000032
Preceding coefficients and constant terms;
finally, according to the modified reference voltage vector alpha axis component
Figure GDA0003628214150000033
Modified reference voltage vector beta axis component
Figure GDA0003628214150000034
And V γ Calculating the action time of the modified base voltage vector by using a 3D-AZSPWM (three-dimensional-amplitude-zero-crossing-pulse width modulation) modulation strategy
Figure GDA0003628214150000035
And
Figure GDA0003628214150000036
wave generation control is performed.
According to the technical scheme, the maximum linear modulation degree of the 3D-AZSPWM modulation strategy is obtained through calculation, a spatial modulator where a spatial modulation reference vector is located is judged, a corresponding compression plane constraint equation and an instantaneous error minimum compression scheme constraint equation are combined during overmodulation, the modulation range of the 3D-AZSPWM modulation strategy is expanded through the overmodulation technology while the characteristic that the 3D-AZSPWM modulation strategy simultaneously modulates a differential mode component and a common mode component is not changed, the instantaneous error of an output voltage vector is kept minimum during overmodulation, and the applicability of the 3D-AZSPWM modulation strategy is effectively enhanced.
As a further improvement of the technical scheme of the invention, the reference voltage vector V is calculated in step S1 ref Of the alpha-beta plane component m 1 Phase of
Figure GDA0003628214150000037
And modulation degree M 1 The formula of (1) is:
Figure GDA0003628214150000038
wherein, V α 、V β Are respectively a reference voltage vector V ref Projection components of coordinate axes alpha and beta in a three-dimensional space coordinate system are converted into direct current voltage U dc Per-unit values.
As a further improvement of the technical scheme of the invention, the reference voltage vector V is calculated in step S1 ref Gamma axis component V of γ Amplitude m of 3 And phase
Figure GDA0003628214150000039
The formula of (1) is:
Figure GDA0003628214150000041
wherein, V γ，1 Is a first orthogonal component, V γ，2 Is a second orthogonal component; the first and second orthogonal components are pairs V γ Orthogonal decomposition is performed to obtain two components which are 90 degrees apart.
As a further improvement of the technical scheme of the invention, a reference voltage vector V is calculated in step S1 ref Characteristic phase difference of
Figure GDA0003628214150000042
The calculation formula is as follows:
Figure GDA0003628214150000043
wherein the content of the first and second substances,
Figure GDA0003628214150000044
is a reference voltage vector V ref Gamma axis component V of γ The phase of (a) is determined,
Figure GDA0003628214150000045
is a reference voltage vector V ref The phase of the alpha-beta plane component of (a).
As a further improvement of the technical scheme of the invention, the maximum linear modulation degree M of the 3D-AZSPWM modulation strategy is calculated in step S2 max1 And maximum compression modulationSystem M max2 The method specifically comprises the following steps:
defining a functional formula W 1 ，
Figure GDA0003628214150000046
Defining a functional formula W 2 ，
Figure GDA0003628214150000047
Wherein, theta 1 Has a value range of
Figure GDA0003628214150000048
At theta 1 Within the value range of (A) calculating the function formula W 1 Minimum value of W 1min Calculating a functional formula W 2 Minimum value of W 2min When W is 1min ≤W 2min When M is in contact with max1 ＝W 1min When W is 1min >W 2min When M is in contact with max1 ＝W 2min Calculating a functional curve W 1 Sum function formula W 2 The function value of the curve intersection point is M max2 。
As a further improvement of the technical solution of the present invention, the specific manner of judging the modulation entity number is as follows:
defining intermediate variables of modulation body serial number judgment as a first variable A, a second variable B, a third variable C and a fourth variable N, and defining a functional formula F 1 ，
Figure GDA0003628214150000049
Definition function formula F 2 ，F 2 ＝2V γ -V α Define the functional formula F 3 ，
Figure GDA00036282141500000410
Then:
when F is present 1 When the value is more than or equal to 0, A is 1; when F is present 1 <When 0, A is 0; when F is 2 When the value is more than or equal to 0, B is 1; when F is present 2 <When 0, B is 0(ii) a When F is present 3 When the carbon content is more than or equal to 0, C is 1; when F is present 3 <When 0, C is 0; n ═ a +2B + 4C;
each value of the fourth variable N corresponds to a modulation entity number, which is as follows: n ═ 5 corresponds to modulator 1; n1 corresponds to modulator 2; n ═ 3 corresponds to the modulator 3; n ═ 2 corresponds to the modulator 4; n ═ 6 corresponds to the modulator 5; n-4 corresponds to the modulator 6.
As a further improvement of the technical solution of the present invention, the specific way of selecting the corresponding compression plane constraint equation by the judged serial number of the modulation body is as follows:
the compression plane constraint equation of the modulator 1 is:
Figure GDA0003628214150000051
the compression plane constraint equation of the modulation volume 2 is:
Figure GDA0003628214150000052
the compression plane constraint equation of the modulator body 3 is:
Figure GDA0003628214150000053
the compression plane constraint equation of the modulation volume 4 is:
Figure GDA0003628214150000054
the compression plane constraint equation of the modulator 5 is:
Figure GDA0003628214150000055
the compression plane constraint equation for the modulator 6 is:
Figure GDA0003628214150000056
a system for applying the 3D-AZSPWM modulation strategy overmodulation method with minimal transient error, comprising: first DC source U dc1 A second DC source U dc2 A first three-phase two-level inverter VSI1, a second three-phase two-level inverterA transformer VSI2, a three-phase stator winding OEWIM, a neutral line I, a capacitor C1, a capacitor C2, a capacitor C3 and a capacitor C4;
the capacitor C1 and the capacitor C2 are connected in series and then connected to the first direct current source U dc1 Between the direct current positive bus P and the direct current negative bus N, a common node of the capacitor C1 and the capacitor C2 is marked as a point O; the capacitor C3 and the capacitor C4 are connected in series and then connected to a second direct current source U dc2 Between the positive dc bus P 'and the negative dc bus N', the common node of the capacitors C3 and C4 is denoted as point O ', the neutral line I connects the point O and the point O', and the first dc source U dc1 And a second DC source U dc2 All direct current voltages are U dc ；
In the three-phase bridge arm of the first three-phase two-level inverter VSI1, each phase of bridge arm includes 2 switching tubes with anti-parallel diodes, that is, the first three-phase two-level inverter VSI1 includes 6 switching tubes with anti-parallel diodes in total, and 6 switching tubes are respectively marked as S n1j Wherein n represents the phase sequence, n is a, b, c, j represents the serial number of the switching tube, and j is 1, 2; the three-phase bridge arms of the first three-phase two-level inverter VSI1 are connected in parallel between the direct current positive bus P and the direct current negative bus N, namely a switch tube S a11 、S b11 、S c11 The collectors are connected in parallel and then connected with a direct current positive bus P and a switching tube S a12 、S b12 、S c12 The emitting electrodes are connected in parallel and then connected with a direct current negative bus N; in the three-phase arm of the first three-phase two-level inverter VSI1, the switching tube S a11 And a switching tube S a12 Series, switch tube S b11 And a switching tube S b12 Series, switch tube S c11 And a switching tube S c12 The connection points of the series connection are respectively marked as three-phase bridge arm middle points a of the first three-phase two-level inverter VSI1 1 、b 1 、c 1 ；
In the three-phase bridge arm of the second three-phase two-level inverter VSI2, each phase of bridge arm includes 2 switching tubes with anti-parallel diodes, that is, the second three-phase two-level inverter VSI2 includes 6 switching tubes with anti-parallel diodes in total, and 6 switching tubes are respectively marked as S n2j (ii) a The three-phase bridge arms of the second three-phase two-level inverter VSI2 are connected in parallel between the direct current positive bus P 'and the direct current negative bus N', namely the switch tubeS a21 、S b21 、S c21 The collectors are connected in parallel and then connected with a direct current positive bus P', and a switching tube S a22 、S b22 、S c22 The emitting electrodes are connected in parallel and then connected with a direct current negative bus N'; in the three-phase leg of the second three-phase two-level inverter VSI2, the switching tube S a21 And a switching tube S a22 Series, switch tube S b21 And a switching tube S b22 Series, switch tube S c21 And a switching tube S c22 The connection points of the series connection are respectively marked as three-phase bridge arm middle points a of the second three-phase two-level inverter VSI2 2 、b 2 、c 2 ；
The three-phase stator winding OEWIM comprises three-phase windings, and the left ports of the A-phase winding, the B-phase winding and the C-phase winding are respectively connected with the three-phase bridge arm midpoint a of the first three-phase two-level inverter VSI1 1 、b 1 、c 1 The right ports of the A-phase winding, the B-phase winding and the C-phase winding are respectively connected with the three-phase bridge arm midpoint a of the second three-phase two-level inverter VSI2 2 、b 2 、c 2 。
The invention has the advantages that:
according to the technical scheme, the maximum linear modulation degree of the 3D-AZSPWM modulation strategy is obtained through calculation, the judgment of a spatial modulation body where a spatial modulation reference vector is located is given, a corresponding compression plane constraint equation and a transient error minimum compression scheme constraint equation are combined during overmodulation, the modulation range of the 3D-AZSPWM modulation strategy is expanded through an overmodulation technology while the characteristic that the 3D-AZSPWM modulation strategy modulates a differential mode component and a common mode component simultaneously is not changed, the transient error of an output voltage vector is kept to be minimum during overmodulation, and the applicability of the 3D-AZSPWM modulation strategy is effectively enhanced.
Drawings
FIG. 1 is a common-neutral open-winding topology as referred to in the present invention;
FIG. 2 is a flow chart of an over-modulation operation in any of the modulators of the embodiments of the present invention;
FIG. 3 is an illustration of a 3D-AZSPWM modulation strategy overall modulator in an embodiment of the present invention;
FIG. 4 is a diagram illustrating a 3D-AZSPWM modulation strategy modulator separately according to an embodiment of the present invention;
FIG. 5 shows the gamma component V of the reference voltage vector calculated in step 1 under the condition that the parameters in the experiment are accurate γ Amplitude m of 3 Schematic diagram of the variation situation of (1);
FIG. 6 shows the reference voltage vector V calculated in step 1 under the condition that the parameters in the experiment are accurate ref Characteristic phase difference of
Figure GDA0003628214150000071
Schematic diagram of the variation of (1);
FIG. 7 is a functional curve W drawn in step 2 under the condition that the parameters in the experiment are accurate 1 Formula of sum function W 2 Curve and maximum linear modulation degree M of 3D-AZSPWM modulation strategy obtained by calculation max1 And maximum compression modulation degree M max2 A schematic diagram;
fig. 8 is a schematic diagram of a change in amplitude of a fundamental voltage of a total output of a common-neutral open-winding electric drive system when a 3D-AZSPWM strategy is used for modulation from a modulation degree M of 0.72 to a modulation degree M of 0.8 when each parameter is accurate in an experiment;
FIG. 9 is a diagram depicting the principles and features of the present invention;
fig. 10 is a graph showing the trend of the variation of the fourth variable N in the judgment of the modulator measured in the experiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme of the invention is further described by combining the drawings and the specific embodiments in the specification:
example one
FIG. 1 is a drawing of the present inventionThe three-phase two-level voltage type inverter topology referred to in (1), it can be seen from the figure that the common neutral open winding electric drive system topology referred to in the present strategy comprises a first direct current source U dc1 A second DC source U dc2 The three-phase inverter comprises a first three-phase two-level inverter VSI1, a second three-phase two-level inverter VSI2, a three-phase stator winding OEWIM, a neutral wire I, a capacitor C1, a capacitor C2, a capacitor C3 and a capacitor C4;
the capacitor C1 and the capacitor C2 are connected in series and then connected to a first direct current source U dc1 Between the direct current positive bus P and the direct current negative bus N, a common node of the capacitor C1 and the capacitor C2 is marked as a point O; the capacitor C3 and the capacitor C4 are connected in series and then connected to a second direct current source U dc2 Between the positive dc bus P 'and the negative dc bus N', the common node of the capacitors C3 and C4 is denoted as point O ', the neutral line I connects the point O and the point O', and the first dc source U dc1 And a second DC source U dc2 All direct current voltages are U dc ；
In the three-phase bridge arm of the first three-phase two-level inverter VSI1, each phase of bridge arm includes 2 switching tubes with anti-parallel diodes, that is, the first three-phase two-level inverter VSI1 includes 6 switching tubes with anti-parallel diodes in total, and 6 switching tubes are respectively marked as S n1j Wherein n represents the phase sequence, n is a, b, c, j represents the serial number of the switching tube, and j is 1, 2; the three-phase bridge arms of the first three-phase two-level inverter VSI1 are connected in parallel between the direct current positive bus P and the direct current negative bus N, namely a switch tube S a11 、S b11 、S c11 The collectors are connected in parallel and then are connected with a direct current positive bus P and a switching tube S a12 、S b12 、S c12 The emitting electrodes are connected in parallel and then connected with a direct current negative bus N; in the three-phase leg of the first three-phase two-level inverter VSI1, the switching tube S a11 And a switching tube S a12 Series, switch tube S b11 And a switching tube S b12 Series, switch tube S c11 And a switching tube S c12 Are connected in series, and the connection points of the three-phase bridge arms are respectively marked as three-phase bridge arm midpoint a of the first three-phase two-level inverter VSI1 1 、b 1 、c 1 ；
In the three-phase bridge arm of the second three-phase two-level inverter VSI2, each phase of bridge arm comprises 2 bridge arms with two anti-parallel-connection partsThe switching tubes of the pole tube, i.e. the second three-phase two-level inverter VSI2, comprise 6 switching tubes with antiparallel diodes, and the 6 switching tubes are respectively denoted as S n2j (ii) a The three-phase bridge arms of the second three-phase two-level inverter VSI2 are connected in parallel between the direct current positive bus P 'and the direct current negative bus N', namely a switch tube S a21 、S b21 、S c21 The collectors are connected in parallel and then connected with a direct current positive bus P', and a switching tube S a22 、S b22 、S c22 The emitting electrodes are connected in parallel and then connected with a direct current negative bus N'; in the three-phase leg of the second three-phase two-level inverter VSI2, the switching tube S a21 And a switching tube S a22 Series, switch tube S b21 And a switching tube S b22 Series, switch tube S c21 And a switching tube S c22 The connection points of the series connection are respectively marked as three-phase bridge arm middle points a of the second three-phase two-level inverter VSI2 2 、b 2 、c 2 ；
The three-phase stator winding OEWIM comprises three-phase windings, and the left ports of the A-phase winding, the B-phase winding and the C-phase winding are respectively connected with the three-phase bridge arm midpoint a of the first three-phase two-level inverter VSI1 1 、b 1 、c 1 The right ports of the A-phase winding, the B-phase winding and the C-phase winding are respectively connected with the midpoint a of a three-phase bridge arm of a second three-phase two-level inverter VSI2 2 、b 2 、c 2 。
The invention comprises the following steps:
fig. 2 is a flow chart of overmodulation operation in any of the modulators according to the embodiments of the present invention, corresponding to steps 1 to 3.
Step 1, setting a reference voltage vector to be modulated of a three-phase two-level inverter as V ref The reference voltage vector is V ref Corresponding to the reference voltage vector output by any one of the two inverters VSI1 and VSI2, and referring to the voltage vector V ref Projection components of coordinate axes alpha, beta and gamma in a three-dimensional space coordinate system are subjected to direct current voltage U dc Performing per unit, and respectively marking as the alpha-axis component V of the reference voltage vector α Reference voltage vector beta axis component V β Reference voltage vector gamma axis component V γ Using the reference voltage vector alpha-axis component V α Reference voltage vector beta axis component V β Calculating to obtain a reference voltage vector V ref Of the alpha-beta plane component m 1 Reference voltage vector V ref Phase of the alpha-beta plane component of (1)
Figure GDA0003628214150000091
And a reference voltage vector V ref Modulation degree M corresponding to the alpha-beta plane component of 1 The calculation formula is as follows:
Figure GDA0003628214150000092
for reference voltage vector gamma axis component V γ Orthogonal decomposition is carried out to obtain two components with 90-degree phase difference, which are respectively marked as gamma-axis components V of reference voltage vector γ First orthogonal component V of γ，1 And a reference voltage vector gamma-axis component V γ Second orthogonal component V of γ，2 Calculating the gamma-axis component V of the reference voltage vector γ Amplitude m of 3 And a reference voltage vector gamma-axis component V γ Phase of
Figure GDA0003628214150000093
The calculation formula is as follows:
Figure GDA0003628214150000094
calculating a reference voltage vector V ref Characteristic phase difference of
Figure GDA0003628214150000095
The calculation formula is as follows:
Figure GDA0003628214150000096
step 2, obtaining the gamma axis component V of the reference voltage vector according to the step 1 γ Amplitude m of 3 And reference voltage vector V ref Characteristic phase difference of
Figure GDA0003628214150000101
Calculating the maximum linear modulation degree M of the 3D-AZSPWM modulation strategy max1 And maximum compression modulation degree M max2 ：
Defining a functional formula W 1 The following were used:
Figure GDA0003628214150000102
defining a functional formula W 2 The following were used:
Figure GDA0003628214150000103
wherein theta is 1 Has a value range of
Figure GDA0003628214150000104
At theta 1 Within the value range of (A) calculating the function formula W 1 Minimum value of W 1min Calculating a functional formula W 2 Minimum value of W 2min When W is 1min ≤W 2min When M is in contact with max1 ＝W 1min When W is 1min >W 2min When M is in contact with max1 ＝W 2min Calculating a functional curve W 1 Sum function formula W 2 The function value of the curve intersection point is M max2 。
Step 3, obtaining a reference voltage vector V according to the step 1 and the step 2 ref Modulation degree M corresponding to the alpha-beta plane component of 1 And the maximum linear modulation degree M of the 3D-AZSPWM modulation strategy max1 And maximum compression modulation degree M max2 Carrying out overmodulation judgment;
when calculating M 1 <M max1 If so, the step 3.1 is carried out, namely the linear modulation region is obtained;
when calculating M max1 ≤M 1 ≤M max2 If so, entering a step 3.2 for an overmodulation region;
step 3.1, calculate M 1 <M max1 Linear modulation region of timeDomain, according to the reference voltage vector α -axis component V α Reference voltage vector beta axis component V β And a reference voltage vector gamma axis component V γ Calculating the base voltage vector action time t by using a 3D-AZSPWM modulation strategy 1 Base voltage vector action time t 2 Base voltage vector action time t 3 And base voltage vector action time t 4 Wave generation control is carried out; time t 1 、t 2 、t 3 、t 4 The specific calculation process of (2) is referred to page 3692-3693 of the document' study on zero-sequence circulating current suppression strategy of open winding asynchronous motor with common direct current bus (Yang shuying et al, China Motor engineering, vol. 38, vol. 12, 2018), whose publication date is 2018, 6, month and 20.
Step 3.2, calculate M max1 ≤M 1 ≤M max2 An overmodulation region of time;
step 3.21, according to the reference voltage vector alpha axis component V α Reference voltage vector beta axis component V β And a reference voltage vector gamma axis component V γ Calculating the base voltage vector action time t by using a 3D-AZSPWM (three-dimensional-sinusoidal pulse Width modulation) strategy 1 Base voltage vector action time t 2 Base voltage vector action time t 3 And base voltage vector action time t 4 ；
When t is 1 T is not less than 0 4 When the value is more than or equal to 0, the value is a circular arc area of the overmodulation area, and the step 3.22 is carried out;
when t is 1 <0 or t 4 <When 0, the boundary area of the overmodulation area is reached, and the step 3.23 is carried out;
step 3.22, the action time t of the basic voltage vector is obtained by calculation 1 Base voltage vector action time t 2 Base voltage vector action time t 3 And base voltage vector action time t 4 Wave generation control is carried out;
step 3.23, for reference voltage vector V ref Is modified according to the alpha-axis component V of the reference voltage vector α Reference voltage vector beta axis component V β And a reference voltage vector gamma-axis component V γ For reference voltage vector V ref The modulation body is used for judging the serial number of the modulation body, the corresponding compression plane constraint equation is selected according to the judged serial number of the modulation body, and then the modified reference voltage vector alpha-axis component is obtained by simultaneous calculation with the constraint equation of the compression scheme with the minimum instantaneous error
Figure GDA0003628214150000111
Reference voltage vector beta axis component
Figure GDA0003628214150000112
According to the alpha-axis component of the modified reference voltage vector
Figure GDA0003628214150000113
Reference voltage vector beta axis component
Figure GDA0003628214150000114
And a reference voltage vector gamma axis component V γ Calculating the base voltage vector action time by using a 3D-AZSPWM modulation strategy
Figure GDA0003628214150000115
Base voltage vector action time
Figure GDA0003628214150000116
Base voltage vector action time
Figure GDA0003628214150000117
And base voltage vector action time
Figure GDA0003628214150000118
Wave generation control is carried out; time of day
Figure GDA0003628214150000119
The specific calculation process of the method is referred to page 3692-3693 of the publication "study on zero-sequence circulating current suppression strategy of common direct-current bus open-winding asynchronous motor" (Yangshui English, etc., the Chinese Motor engineering report, vol. 38, vol. 12, 2018), with the publication date of 2018, 6, month and 20.
The specific way of judging the modulation body serial number is as follows: statorThe intermediate variables judged by the number of the semaphores modulation body are a first variable A, a second variable B, a third variable C and a fourth variable N, and a functional formula F is defined 1 ，
Figure GDA00036282141500001110
Definition function formula F 2 ，F 2 ＝2V γ -V α Define the functional formula F 3 ，
Figure GDA00036282141500001111
Then:
when F is present 1 When the value is more than or equal to 0, A is 1,
when F is present 1 <When the number is 0, A is 0,
when F is present 2 When the value is more than or equal to 0, B is 1,
when F is present 2 <When the number of the carbon atoms is 0, B is 0,
when F is present 3 When the carbon content is more than or equal to 0, C is 1,
when F is present 3 <When the ratio is 0, C is 0,
N＝A+2B+4C，
each value of the fourth variable N corresponds to a modulation entity number, which is as follows:
n ═ 5 corresponds to modulator 1; n ═ 1 corresponds to modulator 2; n ═ 3 corresponds to the modulator 3; n ═ 2 corresponds to the modulator 4; n-6 corresponds to the modulator 5; n-4 corresponds to the modulator 6.
The corresponding relation between different values of the fourth variable N and the serial number of the modulation body is shown in the following table:
N 5 1 3 2 6 4
preparation body 1 2 3 4 5 6
Fig. 3 is an illustration of a total modulation body of a 3D-AZSPWM modulation strategy in an embodiment of the present invention, which is the total modulation body of the 3D-AZSPWM modulation strategy in an α - β - γ three-dimensional space.
Fig. 4 is a diagram illustrating a 3D-AZSPWM modulation strategy modulation entity separately according to an embodiment of the present invention, where the total modulation entity in fig. 3 is divided into six modulation entities and numbered.
The specific mode of selecting the corresponding compression plane constraint equation according to the judged modulation body serial number is as follows:
the compression plane constraint equation of the modulator 1 is:
Figure GDA0003628214150000121
the compression plane constraint equation of the modulation volume 2 is:
Figure GDA0003628214150000122
the compression plane constraint equation of the modulator body 3 is:
Figure GDA0003628214150000123
the compression plane constraint equation of the modulation volume 4 is:
Figure GDA0003628214150000124
the compression plane constraint equation for the modulator 5 is:
Figure GDA0003628214150000125
the compression plane constraint equation for the modulator 6 is:
Figure GDA0003628214150000126
the transient error minimum compression scheme constraint equation is as follows:
Figure GDA0003628214150000127
wherein, P 1 、P 2 、P 3 Respectively in the selected compression plane constraint equations
Figure GDA0003628214150000131
Preceding coefficients and constant terms;
namely, the wave-sending control of the 3D-AZSPWM modulation strategy with overmodulation is realized.
In order to verify the effectiveness of the invention, the invention was experimentally verified. Topological structure first direct current source U of common neutral open winding electric drive system dc1 And a second DC source U dc2 D.c. voltage U dc 280V, the main circuits of the first three-phase two-level inverter VSI1 and the second three-phase two-level inverter VSI2 are composed of Mitsubishi intelligent IGBT power module PM100CLA120, and the switching frequency f s The dead band is set at 3 mus at 9600 Hz. Using a three-phase asynchronous motor as a load, the asynchronous motor parameters: rated power p n 3kW, rated phase voltage U N 220V, stator resistance R s 1.93 omega, mutual inductance L m 0.19H, stator inductance L s 0.21H, pole pair number P2, operating frequency f e 50 Hz. 180-degree decoupling and average distribution of reference voltage vector required to be modulated by common neutral open-winding electric drive system to first three-phase two-level inverter VSI1 and second three-phase two-level inverter VSI2The line modulation, namely the reference voltage vectors of two three-phase two-level inverters to be modulated are equal in magnitude and opposite in direction.
Fig. 5 shows the gamma component V of the reference voltage vector calculated in step 1 for the first three-phase two-level inverter VSI1 γ Amplitude m of 3 Approximately 0.03, corresponding to a common mode voltage requirement of 8.4V for the first three-phase two-level inverter VSI1, and 16.8V for the total common mode voltage requirement of the common neutral open winding electric drive system.
Fig. 6 shows the calculation of the reference voltage vector V of the first three-phase two-level inverter VSI1 in step 1 ref Characteristic phase difference
Figure GDA0003628214150000132
About 0.5.
FIG. 7 shows the gamma component V at the reference voltage vector γ Amplitude m of 3 About 0.03, reference voltage vector V ref Characteristic phase difference of
Figure GDA0003628214150000133
About 0.5 by step 2 1 Sum function formula W 2 Curve, maximum linear modulation degree M of the corresponding first three-phase two-level inverter VSI1 obtained through calculation by using 3D-AZSPWM modulation strategy max1 The maximum compression modulation degree M is calculated to be 0.742, namely the maximum output of the first three-phase two-level inverter VSI1 is linearly modulated by using a 3D-AZSPWM modulation strategy to obtain 132.25V max2 Is 0.907.
Fig. 8 shows a reference voltage vector V of a first three-phase two-level inverter VSI1 ref Modulation degree M corresponding to the alpha-beta plane component of 1 And when the voltage rises from 0.72 to 0.8, the total output fundamental wave voltage amplitude of the common neutral open-winding electric drive system is modulated by using a 3D-AZSPWM modulation strategy. Therefore, the total output fundamental voltage amplitude can effectively break through the traditional linear modulation maximum constraint of 264.5V and be increased to about 273V by using the over-modulation strategy, and the modulation range of the 3D-AZSPWM modulation strategy is effectively increased.
Shown in FIG. 9, V * To pass through the scheme steps of the inventionAfter the step 1 to the step 3, the modified reference voltage vector alpha axis component obtained by calculation
Figure GDA0003628214150000141
Reference voltage vector beta axis component
Figure GDA0003628214150000142
And a reference voltage vector gamma axis component V γ A modified reference voltage vector composed of coordinates. Modified reference voltage vector V * Straight line of space with vertex on outer surface of modulator
Figure GDA0003628214150000143
Straight line of space
Figure GDA0003628214150000144
And a reference voltage vector V ref The same height, therefore, the common mode component output of the scheme of the invention can be ensured to follow the instruction. The compression scheme of the invention constrains the equation so that the reference voltage vector V ref Straight line to space
Figure GDA0003628214150000145
Making a vertical line, wherein the vertical foot is the modified reference voltage vector V * And (4) a vertex. Reference voltage vector V ref Modified reference voltage vector V * Vertex and spatial straight line of
Figure GDA0003628214150000146
The projections on the α β plane are respectively noted as point D, G and a straight line
Figure GDA0003628214150000147
Vector
Figure GDA0003628214150000148
Modified reference voltage vector V for the solution of the invention * And a reference voltage vector V ref Differential mode instantaneous error vector therebetween, composed of
Figure GDA0003628214150000149
Perpendicular to
Figure GDA00036282141500001410
It can be seen that the instantaneous error vector of the scheme of the present invention is minimal.
In the experiment, the determination of the modulation entity number was also verified in the following manner.
As can be seen from fig. 10, the value of the fourth variable N varies in the order of 5, 1, 3, 2, 6, 4 within one fundamental wave period, corresponding to the reference voltage vector V ref The modulation body 1 to the modulation body 6 rotate continuously for one circle, and the judgment of the modulation body serial number is accurate and effective.
The above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (8)

1. A3D-AZSPWM modulation strategy overmodulation method with minimum instantaneous error is characterized by comprising the following steps:
step S1, calculating a reference voltage vector V ref Of the alpha-beta plane component m 1 Phase of
Figure FDA0003628214140000011
And modulation degree M 1 Calculating a reference voltage vector V ref Gamma axis component V of γ Amplitude m of 3 And phase
Figure FDA0003628214140000012
Calculating a reference voltage vector V ref Characteristic phase difference of
Figure FDA0003628214140000013
Step S2, according to the amplitude m in step S1 3 And characteristic phase difference
Figure FDA0003628214140000014
Calculating the maximum linear modulation degree M of the 3D-AZSPWM modulation strategy max1 And maximum compression modulation degree M max2 ；
Step S3, according to the modulation degree M 1 Maximum linear modulation M max1 And maximum compression modulation degree M max2 And performing overmodulation judgment:
when calculating M 1 <M max1 In the time, the linear modulation area is adopted for wave sending control, and the method comprises the following steps: according to V α 、V β And V γ Calculating the base voltage vector action time t by using a 3D-AZSPWM modulation strategy 1 、t 2 、t 3 And t 4 Wave generation control is carried out;
when calculating M max1 ≤M 1 ≤M max2 In the time, the wave generation control of the overmodulation region is adopted as the overmodulation region, and the method comprises the following steps:
when t is 1 T is not less than 0 4 When the value is more than or equal to 0, the value is a circular arc area of an overmodulation area according to V α 、V β And V γ Calculating the base voltage vector action time t by using a 3D-AZSPWM modulation strategy 1 、t 2 、t 3 And t 4 Wave generation control is carried out;
when t is 1 <0 or t 4 <At 0, the boundary region of the overmodulation region is set to the reference voltage vector V ref The alpha-beta plane component of (a) is modified:
first according to V α 、V β And V γ For reference voltage vector V ref Judging the serial number of the modulation body in which the modulation body is positioned, and selecting a corresponding compression plane constraint equation according to the judged serial number of the modulation body;
then, the modified reference voltage vector alpha-axis component is obtained by simultaneous calculation with a constraint equation of the transient error minimum compression scheme
Figure FDA0003628214140000015
Reference voltage vector beta axis component
Figure FDA0003628214140000016
The constraint equation of the transient error minimum compression scheme is as follows:
Figure FDA0003628214140000017
wherein, P 1 、P 2 、P 3 Respectively in the selected compression plane constraint equations
Figure FDA0003628214140000021
Preceding coefficients and constant terms;
finally, according to the modified reference voltage vector alpha axis component
Figure FDA0003628214140000022
Modified reference voltage vector beta axis component
Figure FDA0003628214140000023
And V γ Calculating the action time of the modified base voltage vector by using a 3D-AZSPWM (three-dimensional-sinusoidal pulse width modulation) modulation strategy
Figure FDA0003628214140000024
And
Figure FDA0003628214140000025
wave generation control is performed.
2. The overmodulation method according to claim 1 for 3D-AZSPWM modulation strategy with minimal transient error, characterized in that in step S1, a reference voltage vector V is calculated ref Of the alpha-beta plane component m 1 Phase of
Figure FDA0003628214140000026
And modulation degree M 1 The formula of (1) is:
Figure FDA0003628214140000027
wherein, V α 、V β Are respectively a reference voltage vector V ref Projection components of coordinate axes alpha and beta in a three-dimensional space coordinate system are converted into direct current voltage U dc Per-unit values.
3. 3D-AZSPWM modulation strategy overmodulation method according to claim 2 with minimal transient error, characterized in that in step S1 the reference voltage vector V is calculated ref Gamma axis component V of γ Amplitude m of 3 And phase
Figure FDA0003628214140000028
The formula of (1) is:
Figure FDA0003628214140000029
wherein, V γ，1 Is a first orthogonal component, V γ，2 Is a second orthogonal component; the first and second orthogonal components are pairs V γ Orthogonal decomposition is performed to obtain two components which are 90 degrees apart.
4. 3D-AZSPWM modulation strategy overmodulation method according to claim 2 with minimal transient error, characterized in that in step S1 the reference voltage vector V is calculated ref Characteristic phase difference of
Figure FDA00036282141400000210
The calculation formula is as follows:
Figure FDA00036282141400000211
wherein the content of the first and second substances,
Figure FDA0003628214140000031
is a reference voltage vector V ref Gamma axis component V of γ The phase of (a) is determined,
Figure FDA0003628214140000032
is a reference voltage vector V ref The phase of the alpha-beta plane component of (a).
5. 3D-AZSPWM modulation strategy overmodulation method according to claim 2 with minimal transient error, characterized in that the maximum linear modulation M of the 3D-AZSPWM modulation strategy is calculated in step S2 max1 And maximum compression modulation degree M max2 The method specifically comprises the following steps:
defining a functional formula W 1 ，
Figure FDA0003628214140000033
Defining a functional formula W 2 ，
Figure FDA0003628214140000034
Wherein, theta 1 Has a value range of
Figure FDA0003628214140000035
At theta 1 Within the value range of (A) calculating the function formula W 1 Minimum value of W 1min Calculating a functional formula W 2 Minimum value of W 2min When W is 1min ≤W 2min When, M max1 ＝W 1min When W is 1min >W 2min When M is in contact with max1 ＝W 2min Calculating a functional curve W 1 Sum function formula W 2 The function value of the curve intersection point is M max2 。
6. The overmodulation method according to claim 1 for the 3D-AZSPWM modulation strategy with the minimum instantaneous error is characterized in that the specific way of judging the modulation entity number is as follows:
defining intermediate variables of modulation body serial number judgment as a first variable A, a second variable B, a third variable C and a fourth variable N, and defining a functional formula F 1 ，
Figure FDA0003628214140000036
Definition function formula F 2 ，F 2 ＝2V γ -V α Define the functional formula F 3 ，
Figure FDA0003628214140000037
Then:
when F is present 1 When the value is more than or equal to 0, A is 1; when F is present 1 <When 0, A is 0; when F is present 2 When the value is more than or equal to 0, B is 1; when F is present 2 <When 0, B is 0; when F is present 3 When the carbon content is more than or equal to 0, C is 1; when F is present 3 <When 0, C is 0; n ═ a +2B + 4C;
each value of the fourth variable N corresponds to a modulation entity number, which is as follows: n ═ 5 corresponds to modulator 1; n1 corresponds to modulator 2; n ═ 3 corresponds to the modulator 3; n-2 corresponds to the modulator 4; n ═ 6 corresponds to the modulator 5; n-4 corresponds to the modulator 6.
7. The overmodulation method according to claim 1 for a 3D-AZSPWM modulation strategy with minimal transient error, wherein the specific way to select the corresponding compression plane constraint equation from the determined modulation order number is:
the compression plane constraint equation of the modulator 1 is:
Figure FDA0003628214140000041
the compression plane constraint equation of the modulation volume 2 is:
Figure FDA0003628214140000042
of the preparation body 3The compression plane constraint equation is:
Figure FDA0003628214140000043
the compression plane constraint equation of the modulation volume 4 is:
Figure FDA0003628214140000044
the compression plane constraint equation of the modulator 5 is:
Figure FDA0003628214140000045
the compression plane constraint equation for the modulator 6 is:
Figure FDA0003628214140000046
8. a system for applying the 3D-AZSPWM modulation strategy overmodulation method with minimal transient error according to any of claims 1-7, comprising: first DC source U dc1 A second DC source U dc2 The three-phase two-level inverter comprises a first three-phase two-level inverter VSI1, a second three-phase two-level inverter VSI2, a three-phase stator winding OEWIM, a neutral line I, a capacitor C1, a capacitor C2, a capacitor C3 and a capacitor C4;
the capacitor C1 and the capacitor C2 are connected in series and then connected to a first direct current source U dc1 Between the direct current positive bus P and the direct current negative bus N, a common node of the capacitor C1 and the capacitor C2 is marked as a point O; the capacitor C3 and the capacitor C4 are connected in series and then connected to a second direct current source U dc2 Between the positive dc bus P 'and the negative dc bus N', the common node of the capacitors C3 and C4 is marked as point O ', and the connecting point O of the neutral line I and the point O', the first dc source U dc1 And a second DC source U dc2 All direct current voltages are U dc ；
In the three-phase bridge arm of the first three-phase two-level inverter VSI1, each phase of bridge arm comprises 2 switching tubes with anti-parallel diodes, that is, the first three-phase two-level inverter VSI1 comprises 6 switching tubes with anti-parallel diodes in total, and 6 switching tubesAre respectively marked as S n1j Wherein n represents the phase sequence, n is a, b, c, j represents the serial number of the switching tube, and j is 1, 2; the three-phase bridge arms of the first three-phase two-level inverter VSI1 are connected in parallel between the direct current positive bus P and the direct current negative bus N, namely a switch tube S a11 、S b11 、S c11 The collectors are connected in parallel and then are connected with a direct current positive bus P and a switching tube S a12 、S b12 、S c12 The emitting electrodes are connected in parallel and then connected with a direct current negative bus N; in the three-phase leg of the first three-phase two-level inverter VSI1, the switching tube S a11 And a switching tube S a12 Series, switch tube S b11 And a switching tube S b12 Series, switch tube S c11 And a switching tube S c12 The connection points of the series connection are respectively marked as three-phase bridge arm middle points a of the first three-phase two-level inverter VSI1 1 、b 1 、c 1 ；
In the three-phase bridge arm of the second three-phase two-level inverter VSI2, each phase of bridge arm includes 2 switching tubes with anti-parallel diodes, that is, the second three-phase two-level inverter VSI2 includes 6 switching tubes with anti-parallel diodes in total, and 6 switching tubes are respectively marked as S n2j (ii) a The three-phase bridge arms of the second three-phase two-level inverter VSI2 are connected in parallel between the direct current positive bus P 'and the direct current negative bus N', namely a switch tube S a21 、S b21 、S c21 The collectors are connected in parallel and then connected with a direct current positive bus P', and a switching tube S a22 、S b22 、S c22 The emitting electrodes are connected in parallel and then connected with a direct current negative bus N'; in the three-phase leg of the second three-phase two-level inverter VSI2, the switching tube S a21 And a switching tube S a22 Series, switch tube S b21 And a switching tube S b22 Series, switch tube S c21 And a switching tube S c22 The connection points of the series connection are respectively marked as three-phase bridge arm middle points a of the second three-phase two-level inverter VSI2 2 、b 2 、c 2 ；
The three-phase stator winding OEWIM comprises three-phase windings, and the left ports of the A-phase winding, the B-phase winding and the C-phase winding are respectively connected with the three-phase bridge arm midpoint a of the first three-phase two-level inverter VSI1 1 、b 1 、c 1 Of phase A, B and C windingsThe right port is respectively connected with the three-phase bridge arm midpoint a of the second three-phase two-level inverter VSI2 2 、b 2 、c 2 。
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