CN113992045A - Three-level inverter control method based on linear programming partition - Google Patents
Three-level inverter control method based on linear programming partition Download PDFInfo
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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
- H02M7/483—Converters with outputs that each can have more than two voltages levels
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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
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Abstract
The invention discloses a linear programming partition-based three-level inverter control method, which is characterized in that a plane space is partitioned into 24 triangular areas in a rectangular coordinate system by utilizing nine straight lines; then determining a basic voltage space vector sector; and then judging the sector where the synthesized voltage vector is located, finding three basic voltage space vectors of the synthesized voltage vector according to the latest vector principle after judging the sector where the synthesized voltage vector is located, calculating the action time of the three basic voltage space vectors, and distributing the action time of the calculated basic voltage space vectors to the corresponding vector state. The method does not relate to the angle of the synthesized voltage vector, does not distinguish large and small sectors, can judge the sector where the synthesized voltage vector is located at one time, then calculates the action time of the vector, and finally carries out time state distribution, thereby realizing the control of the switching device, realizing the closed-loop control of the three-level inverter and improving the dynamic performance of the inverter.
Description
Technical Field
The invention belongs to the technical field of inverter control, and particularly relates to a three-level inverter control method based on linear programming partition.
Background
The control method of the three-level inverter mainly comprises SPWM and SVPWM. Compared with the SPWM, the SVPWM control algorithm has higher voltage utilization rate, and is commonly used by the traditional algorithm, the two-level algorithm, the 60-degree coordinate system algorithm, the virtual coordinate system algorithm and the like. Because the angles of the synthesized voltage vectors are needed when the sectors are judged by the common algorithms, a two-stage judgment idea of judging the large sector firstly and then judging the small sector is adopted, and because points are less taken in one period during intermediate frequency control, the accurate angles of the synthesized voltage vectors are not easy to obtain during closed-loop control, the stability of output voltage waveforms is poor, and the development requirements of the three-level intermediate frequency inverter cannot be met.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a three-level inverter control method based on linear programming partition. The method adopts a direct region judgment method based on linear programming, does not relate to the angle of a synthesized voltage vector, does not distinguish large and small sectors, can judge the sector where the synthesized voltage vector is located at one time, then calculates the action time of the vector, and finally carries out time state distribution, thereby realizing the control of a switching device, realizing the closed-loop control of a three-level inverter and improving the dynamic performance of the inverter.
The invention is realized by the following technical scheme:
a three-level inverter control method based on linear programming partition comprises the following steps:
step 1, partitioning a plane space in a rectangular coordinate system alpha-beta by using nine straight lines, wherein the serial numbers of the nine straight lines are a, b, c, d, e, f, g, h and i in sequence, and are respectively expressed as follows:
a straight line a is an α axis and represents β ═ 0;
the straight line b forms an angle of 60 degrees with the positive direction of the alpha axis, and the equation of the straight line can be expressed as
The straight line c forms an angle of 120 degrees with the positive direction of the alpha axis, and the equation of the straight line can be expressed as
The intersection points of the straight line d and the alpha axis and the beta axis are respectively
Its linear equation can be expressed as
VdcIs an input dc voltage;
the straight line e is parallel to the alpha axis and intersects with the beta axis at an intersection point
Its linear equation can be expressed as
The intersection points of the straight line f and the alpha axis and the beta axis are respectively
Its linear equation can be expressed as
The intersection points of the straight line g and the alpha axis and the beta axis are respectively
Its linear equation can be expressed as
The intersection points of the straight line h and the alpha axis and the beta axis are respectively
Its linear equation can be expressed as
The straight line i is parallel to the alpha axis and intersects with the beta axis at an intersection point
Its linear equation can be expressed as
Dividing the alpha-beta plane space of the rectangular coordinate system into 24 triangular areas through the nine straight lines;
Step 3, judging the sector where the synthesized voltage vector is located;
and 5: and C, distributing the action time of the basic voltage space vector calculated in the step four to the corresponding vector state.
In the above technical solution, in step 2, if Sa is defined as the a-phase arm switch output state, Sb is defined as the b-phase arm switch output state, and Sc is defined as the c-phase arm switch output state, each phase voltage is represented as:
wherein Sx is 1, which indicates that the first switching tube and the second switching tube of the x-th phase bridge arm are conducted, and is recorded as the x-th phase bridge arm output p; sx is 0, which indicates that the second switching tube and the third switching tube of the x-th phase bridge arm are conducted and is recorded as the output o of the x-th phase bridge arm; sx is-1, which indicates that the third switching tube and the fourth switching tube of the x-th phase bridge arm are conducted and is recorded as the output n of the x-th phase bridge arm; where x is any one of a, b and c;
in the above technical solution, in step 2, the space vector of the basic voltage is defined as
Determining a comparison relation between output states of bridge arms of each phase and a basic voltage space vector Vk, and listing all basic voltage space vectors in a rectangular coordinate system alpha-beta;
in the above technical solution, the three-phase three-level inverter outputs 27 switching state combinations, and the comparison relationship between the output state of each phase bridge arm and the basic voltage space vector Vk is shown in the following table, corresponding to 27 different inverter switching states:
table: comparison table of output states of bridge arms of each phase and basic voltage space vector Vk
In the above-described embodiment, each basic voltage space vector is decomposed along the α axis and the β axis, respectively, to obtain the abscissa and ordinate of each basic voltage space vector, where α ═ v (k) cos θ, β ═ v (k) sin θ.
In the above technical solution, the synthesized voltage vector falls in 24 triangular regions and is determined and judged by the linear programming partitioning principle, and the judgment method is as follows:
table: judgment table for sector where synthetic voltage vector is located
| Region(s) | Rule of judgment | Region(s) | Rule of judgment |
| D 11 | f<0,a>0,b<0 | D 41 | a<0,b>0,h>0 |
| D 12 | a>0,d<0 | D 42 | a<0,g>0 |
| D 13 | f>0,d>0,e<0 | D 43 | g<0,h<0,i>0 |
| D 14 | e>0,b<0 | D 44 | i<0,b>0 |
| D 21 | b>0,c>0,e<0 | D 51 | b<0,c<0,i>0 |
| D 22 | f>0,b>0 | D 52 | b<0,h<0 |
| D 23 | e>0,g<0,f<0 | D 53 | i<0,h>0,d>0 |
| D 24 | c>0,g>0 | D 54 | d<0,c<0 |
| D 31 | a>0,c<0,g<0 | D 61 | c>0,a<0,d>0 |
| D 32 | e>0,c<0 | D 62 | c>0,i<0 |
| D 33 | g>0,e<0,h>0 | D 63 | d<0,i>0,f<0 |
| D 34 | h<0,a>0 | D 64 | a<0,f>0 |
The invention has the advantages and beneficial effects that:
the invention establishes a linear programming partition-based three-level inverter control method, which adopts a linear programming partition-based direct region judgment method, does not relate to the angle of a synthesized voltage vector, does not distinguish large and small sectors, can judge the sector where the synthesized voltage vector is positioned at one time, then calculates the action time of the vector, and finally carries out time state distribution, thereby realizing the control of a switching device, realizing the closed-loop control of a three-level inverter and improving the dynamic performance of the inverter.
Drawings
FIG. 1 is a linear programming partition diagram of the present invention;
FIG. 2 is a diagram of a basic voltage space vector sector of the present invention;
FIG. 3 is a diagram showing the relationship between the action time of the basic vector and the vector state.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the present invention is further described below with reference to specific examples.
A three-level inverter control method based on linear programming partition comprises the following steps:
step 1, partitioning based on linear programming
Partitioning a plane space in a rectangular coordinate system by using nine straight lines:
specifically, as shown in fig. 1, in a rectangular coordinate system α - β, nine straight lines are drawn, and the number of the nine straight lines is a, b, c, d, e, f, g, h, i in sequence, which are respectively expressed as follows:
a straight line a is an α axis and represents β ═ 0;
the straight line b forms an angle of 60 degrees with the positive direction of the alpha axis, and the equation of the straight line can be expressed as
The straight line c forms an angle of 120 degrees with the positive direction of the alpha axis, and the equation of the straight line can be expressed as
The intersection points of the straight line d and the alpha axis and the beta axis are respectively
Its linear equation can be expressed as
VdcIs an input dc voltage;
the straight line e is parallel to the alpha axis and intersects with the beta axis at an intersection point
Its linear equation can be expressed as
The intersection points of the straight line f and the alpha axis and the beta axis are respectively
Its linear equation can be expressed as
The intersection points of the straight line g and the alpha axis and the beta axis are respectively
Its linear equation can be expressed as
The intersection points of the straight line h and the alpha axis and the beta axis are respectively
Its linear equation can be expressed as
The straight line i is parallel to the alpha axis and intersects with the beta axis at an intersection point
Its linear equation can be expressed as
The alpha-beta plane space of the rectangular coordinate system is divided into 24 regular triangle areas by the nine straight lines.
Because each phase of bridge arm of the three-level I-type three-phase (a, b, c) inverter power module has 4 switching tubes, and only two adjacent switching tubes in the 4 switching tubes are conducted (namely, each phase of bridge arm has three output states, namely, a first switching tube is conducted with a second switching tube, or a second switching tube is conducted with a third switching tube, or a third switching tube is conducted with a fourth switching tube), switching variables Sa, Sb and Sc are defined to represent output states of each phase of bridge arm, namely Sa is an a-phase bridge arm output state, Sb is a b-phase bridge arm output state, Sc is a c-phase bridge arm output state, and then each phase voltage is expressed as:
wherein Sx is 1, which indicates that the first switching tube and the second switching tube of the x-th phase bridge arm are conducted, and is recorded as the x-th phase bridge arm output p; sx is 0, which indicates that the second switching tube and the third switching tube of the x-th phase bridge arm are conducted and is recorded as the output o of the x-th phase bridge arm; sx is-1, which indicates that the third switching tube and the fourth switching tube of the x-th phase bridge arm are conducted and is recorded as the output n of the x-th phase bridge arm; where x is any one of a, b and c.
Therefore, the three-phase three-level inverter can output 27 switching state combinations, and the 27 groups of different inverter switching states correspond to the 27 groups of different inverter switching states. Defining a fundamental voltage space vector of
When k is 1, 2, 3.. 24, the comparison relationship between the output state of each phase bridge arm and the basic voltage space vector Vk is shown in the following table:
table 1: comparison table of output states of bridge arms of each phase and basic voltage space vector Vk
As shown in fig. 2, all the basic voltage space vectors V0-V18 are listed in the rectangular coordinate system α - β, and each basic voltage space vector is decomposed along the α axis and the β axis, so that α ═ Vkcos θ, β ═ Vksin θ, θ refers to an included angle between the basic voltage space vector and the α axis; the whole space is divided into 24 regions by nine straight lines shown in step one, that is, the whole space vector sector is divided into 24 triangular sectors, which are named as D11, D12, D13, D14, D21, D22, D23, D24, D31, D32, D33, D34, D41, D42, D43, D44, D51, D52, D53, D54, D61, D62, D63 and D64.
Step 3, determining the sector where the synthesized voltage vector to be demodulated is located
In the process of space vector control, the synthesized voltage vector rotates along the origin, so that the sector where the space vector is located needs to be determined.
Taking sector D13 as an example, the condition that the sector D13 is below the straight line f, above the straight line D and below the straight line e, namely the resultant voltage vector falls in the sector D13, is that the sector D13 is surrounded by three straight lines f, D and e in an alpha-beta plane
Sector D21 is defined by three straight lines b, c and e, and based on the linear programming principle, sector D21 is above straight line b, above straight line c and below straight line e, i.e. the condition that the resultant voltage vector falls in sector D21 is that
Similarly, the resultant voltage vector falling in 24 sectors may be determined by linear programming partitioning. The judgment method is shown in the following table 2:
table 2: judgment table for sector where synthetic voltage vector is located
| Region(s) | Rule of judgment | Region(s) | Rule of judgment |
| D 11 | f<0,a>0,b<0 | D 41 | a<0,b>0,h>0 |
| D 12 | a>0,d<0 | D 42 | a<0,g>0 |
| D 13 | f>0,d>0,e<0 | D 43 | g<0,h<0,i>0 |
| D 14 | e>0,b<0 | D 44 | i<0,b>0 |
| D 21 | b>0,c>0,e<0 | D 51 | b<0,c<0,i>0 |
| D 22 | f>0,b>0 | D 52 | b<0,h<0 |
| D 23 | e>0,g<0,f<0 | D 53 | i<0,h>0,d>0 |
| D 24 | c>0,g>0 | D 54 | d<0,c<0 |
| D 31 | a>0,c<0,g<0 | D 61 | c>0,a<0,d>0 |
| D 32 | e>0,c<0 | D 62 | c>0,i<0 |
| D 33 | g>0,e<0,h>0 | D 63 | d<0,i>0,f<0 |
| D 34 | h<0,a>0 | D 64 | a<0,f>0 |
And after the sector where the synthesized voltage vector is located is judged, three basic voltage space vectors of the synthesized voltage vector are found according to the nearest vector principle, and the action time of the three basic voltage space vectors is calculated.
Taking the synthesized voltage vector in sector D13 as an example, the synthesized voltage vector can be synthesized by three basic voltage space vectors such as V1, V2, V7 and the like, the corresponding action time is T1, T2 and T3 respectively, and based on an alpha-beta coordinate system, the synthesized voltage vector is obtained by synthesizing the three basic voltage space vectors
Vref(Vα,Vβ) Substituting into the volt-second equilibrium equation.
According to the coordinate equation operation rule, the following results are obtained:
α -axis:
the beta axis:
bonding of
T1+T2+T3＝Ts
Solving to obtain:
similarly, the action time of the basic voltage space vector when the reference voltage vector is in other areas can be obtained.
And 5: distributing the action time of the basic voltage space vector calculated in the step four to the corresponding vector state
Typical centrosymmetric seven-segment SVPWM waveforms are used to assign the action time of the fundamental voltage space vector to the corresponding vector state. Taking sector D13 as an example, the correspondence between the action time of the fundamental voltage space vector and the vector state is shown in fig. 3. The three-phase vector state corresponds to all the switch states, the acting time of the basic voltage space vector is distributed to the corresponding vector state, namely the on-off time of the switch device is distributed to the corresponding switch device, and the control of the main circuit switch device is realized.
Claims (6)
1. A three-level inverter control method based on linear programming partition is characterized in that: the method comprises the following steps:
step 1, partitioning a plane space in a rectangular coordinate system alpha-beta by using nine straight lines, wherein the serial numbers of the nine straight lines are a, b, c, d, e, f, g, h and i in sequence, and are respectively expressed as follows:
a straight line a is an α axis and represents β ═ 0;
the straight line b forms an angle of 60 degrees with the positive direction of the alpha axis, and the equation of the straight line can be expressed as
The straight line c forms an angle of 120 degrees with the positive direction of the alpha axis, and the equation of the straight line can be expressed as
The intersection points of the straight line d and the alpha axis and the beta axis are respectively
Its linear equation can be expressed as
VdcIs an input dc voltage;
the straight line e is parallel to the alpha axis and intersects with the beta axis at an intersection point
Its linear equation can be expressed as
The intersection points of the straight line f and the alpha axis and the beta axis are respectively
Its linear equation can be expressed as
The intersection points of the straight line g and the alpha axis and the beta axis are respectively
Its linear equation can be expressed as
The intersection points of the straight line h and the alpha axis and the beta axis are respectively
Its linear equation can be expressed as
The straight line i is parallel to the alpha axis and intersects with the beta axis at an intersection point
Its linear equation can be expressed as
Dividing the alpha-beta plane space of the rectangular coordinate system into 24 triangular areas through the nine straight lines;
step 2, determining a basic voltage space vector sector;
step 3, judging the sector where the synthesized voltage vector is located;
step 4, after the sector where the synthesized voltage vector is located is judged, three basic voltage space vectors of the synthesized voltage vector are found according to the nearest vector principle, and the action time of the three basic voltage space vectors is calculated;
and 5: and C, distributing the action time of the basic voltage space vector calculated in the step four to the corresponding vector state.
2. The linear programming partition-based three-level inverter control method according to claim 1, characterized in that: in step 2, defining Sa as the output state of the a-phase bridge arm switch, Sb as the output state of the b-phase bridge arm switch, and Sc as the output state of the c-phase bridge arm switch, the phase voltages are expressed as:
wherein Sx is 1, which indicates that the first switching tube and the second switching tube of the x-th phase bridge arm are conducted, and is recorded as the x-th phase bridge arm output p; sx is 0, which indicates that the second switching tube and the third switching tube of the x-th phase bridge arm are conducted and is recorded as the output o of the x-th phase bridge arm; sx is-1, which indicates that the third switching tube and the fourth switching tube of the x-th phase bridge arm are conducted and is recorded as the output n of the x-th phase bridge arm; where x is any one of a, b and c.
3. The linear programming partition-based three-level inverter control method according to claim 2, characterized in that: in step 2, a basic voltage space vector is defined as
Here, k is 1, 2, 3.. 24, the comparison relationship between the output state of each phase bridge arm and the basic voltage space vector Vk is determined, and all the basic voltage space vectors are listed in the rectangular coordinate system α - β.
4. The linear programming partition based three-level inverter control method according to claim 3, wherein: in step 2, the three-phase three-level inverter outputs 27 switching state combinations, and the comparison relationship between the output state of each phase bridge arm and the basic voltage space vector Vk is shown in the following table, corresponding to 27 different inverter switching states.
Table: comparison table of output states of bridge arms of each phase and basic voltage space vector Vk
5. The linear programming partition based three-level inverter control method according to claim 4, wherein: in step 2, each basic voltage space vector is decomposed along the α axis and the β axis, respectively, to obtain the abscissa and ordinate of each basic voltage space vector, α ═ v (k) cos θ, β ═ v (k) sin θ.
6. The linear programming partition based three-level inverter control method according to claim 5, wherein: the resultant voltage vectors fall in 24 triangular regions and are determined by the linear programming partitioning principle, the determination method is shown in the following table.
Table: judgment table for sector where synthetic voltage vector is located
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