CN114189189B - Double-three-phase motor hybrid pulse width modulation method based on harmonic suppression - Google Patents
Double-three-phase motor hybrid pulse width modulation method based on harmonic suppression Download PDFInfo
- Publication number
- CN114189189B CN114189189B CN202111552550.0A CN202111552550A CN114189189B CN 114189189 B CN114189189 B CN 114189189B CN 202111552550 A CN202111552550 A CN 202111552550A CN 114189189 B CN114189189 B CN 114189189B
- Authority
- CN
- China
- Prior art keywords
- vector
- voltage
- zero
- vectors
- switching frequency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- 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
- H02P21/20—Estimation of torque
-
- 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
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/50—Reduction of harmonics
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Inverter Devices (AREA)
Abstract
The invention provides a double three-phase motor hybrid pulse width modulation method based on harmonic suppression, and relates to the technical field of multiphase motor control. The invention improves on the basis of the maximum four-vector SVPWM algorithm, effectively utilizes 4 zero vectors and redistributes the effective vector time sequence, and provides an improved SVPWM modulation method which can reduce the switching frequency and the odd-multiple harmonic amplitude thereof, and combines the method with a random switching frequency modulation method, thereby providing a novel hybrid pulse width modulation technology. According to the method, on the premise of ensuring the vector control operation performance of the double three-phase motor, the switching frequency and the integral multiple harmonic content of the switching frequency are distributed more uniformly at the cost of only increasing one switching frequency, the harmonic amplitude of the low frequency band and the high frequency band of phase current is obviously reduced, and meanwhile, the harmonic amplitude fluctuation of the z1-z2 plane of the double three-phase motor is greatly restrained. The proposed technique does not change the characteristics of the fundamental wave nor does it use additional circuitry in the driver.
Description
Technical Field
The invention relates to the technical field of multiphase motor control, in particular to a double-three-phase motor mixed pulse width modulation method based on harmonic suppression.
Background
With the widespread use of power electronic converters, motor drive systems are no longer limited by the number of phases of a traditional three-phase power supply, multiphase motor drive systems are receiving widespread attention, and six-phase motors are receiving increasing attention due to their close association with traditional three-phase motors. Compared with the traditional three-phase motor speed regulating system, the multi-phase motor variable frequency speed regulating system can utilize a low-voltage device to improve motor power, can effectively reduce motor output torque pulsation, and has the advantages of good fault tolerance, more control degrees of freedom and the like. Therefore, the method is applicable to the application occasions requiring high power, high reliability and high performance, such as ship propulsion, electric automobiles, wind power generation, aerospace and the like. Multiphase motor drive systems are receiving increasing attention. The double three-phase motor with the phase shift of 30 degrees is provided with two groups of three-phase windings with isolated neutral points, the phase shift of 30 degrees is carried out in space, and the torque pulsation is smaller than that of a common multi-phase motor, so that the double three-phase motor has the advantage of being larger.
The double three-phase PMSM is driven by a six-phase voltage source inverter, concentrated high-frequency harmonic waves are generated at the switching frequency and integral multiples thereof by switching on and switching off of a power tube, compared with a three-phase five-phase motor, the double three-phase motor has the advantages that the harmonic wave low-impedance path exists, the high-frequency current harmonic waves and the low-frequency current harmonic waves generated by harmonic voltages in the double three-phase motor are much larger than those generated by the double three-phase motor, and therefore, the motor loss and the motor high-frequency noise problem of the double three-phase motor are much worse than those of the three-phase motor. In order to achieve higher direct-current bus voltage utilization rate, the vector control system of the double three-phase motor fully reflects the characteristic of more degrees of freedom of the multi-phase motor, and most of the vector space decoupling coordinate transformation maximum four-vector modulation mode is adopted, but the generated PWM switching sequence is not centrosymmetric, and although the influence of switching loss is reduced, the harmonic content is also obviously increased.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a double three-phase motor mixed pulse width modulation method based on harmonic suppression to suppress the problem of large harmonic of a double three-phase motor.
A double three-phase motor mixed pulse width modulation method based on harmonic suppression comprises the following steps:
step 1: according to the space decoupling matrix, mapping 64 voltage vectors of the six-phase voltage source inverter into three spaces, wherein the three spaces specifically comprise an alpha-beta subspace, a z1-z2 subspace and a zero sequence subspace which contain organic electric energy conversion, the voltage vectors of the alpha-beta space can generate electromagnetic torque in the running process of a motor, the voltage vectors of the z1-z2 space can generate harmonic waves and cannot generate electromagnetic torque, and the zero sequence subspace does not participate in the organic electric energy conversion of the motor; the voltage distribution in the α - β space and z1-z2 space is calculated as follows:
wherein a=e jπ/6 The method comprises the steps of carrying out a first treatment on the surface of the S represents the switching function of the inverter, S i =1 represents upper arm on and lower arm off, S i The opposite is true for i=a, b, c, u, v, w; u (U) dc Representing a DC bus voltage; u (U) α-β And U z1-z2 Reference voltage magnitudes for the α - β space and the z1-z2 space;
dividing the voltage vector into large vectors V according to the difference of the magnitudes of the voltage vectors max Middle vector V mid1 Basic vector V mids Small vector V min Four groups of forms, the amplitudes of which are respectively:
step 2: selecting four adjacent voltage vectors in the alpha-beta space for synthesis, enabling the voltage components of the z1-z2 planes of the four voltage vectors in one control period to be zero by distributing the action time of the four voltage vectors, and calculating the action time of the four voltage vectors, wherein the action time is as follows:
wherein T is s For the switching period, V xy For the y-th voltage vector in the x-axisProjection onto; t (T) y The active time of the y-th voltage vector in one PWM period is set; t (T) 5 The time of action for a zero vector;and->Is a reference voltage vector in the alpha-beta sub-plane;
step 3: the zero vector distribution mode and the vector action time sequence are adjusted on the basis of the maximum four-vector SVPWM technology, an improved SVPWM technology is established, and the harmonic performance of the inverter output is optimized;
step 3.1: selecting and distributing zero vectors;
when the zero vector is selected, the switching frequency in the mutual conversion process of the zero vector and the adjacent vector in the same sector is minimum;
step 3.2: adjusting the effective vector synthesis time sequence;
after changing the effective vector action time sequence in the second half carrier period and the effective vector time sequence is transformed, only the last zero vector is changed along with the change of the adjacent effective vectors. After adjustment, the effective vector of the improved SVPWM technology is not symmetrical about the zero vector center in the front half and the back half, the vector action time sequence, namely the switch change is consistent in the front half and the back half of a carrier period,
step 4: combining the modified SVPWM technology with the random switching frequency technology, a hybrid pulse width modulation technology based on the modified SVPWM is provided, and hybrid pulse width modulation based on the modified SVPWM is realized.
The improved SVPWM technology reduces the switching frequency of the phase voltage and the amplitude of the higher harmonic of odd times by changing the effective vector action sequence in the fixed carrier period; the carrier period is randomly changed by the random switching frequency modulation technology to inhibit the amplitude of the higher harmonic, and the carrier is randomly changed by the random switching frequency technology without affecting the change condition of the vector in the carrier period;
the mixed pulse width modulation technology generates uniformly distributed random numbers through a random number generating function, combines the random numbers with a triangular wave generator to generate triangular waves with random switching frequency, replaces the original fixed switching frequency with the random switching frequency, performs sector judgment in each random switching period, selects 4 kinds of zero vector preferential distribution modes according to corresponding sectors, performs transformation on effective vector acting time sequences, and selects effective vectors to perform time sequence transformation.
The beneficial effects of adopting above-mentioned technical scheme to produce lie in:
the harmonic amplitude of the double three-phase motor is restrained by combining the improved SVPWM and the random switching frequency modulation technology, the harmonic amplitude of the low frequency band and the high frequency band of phase current is obviously reduced, and meanwhile, the harmonic amplitude fluctuation of the harmonic sub-plane of the double three-phase motor z1-z2 is restrained greatly. The proposed technique does not change the characteristics of the fundamental wave nor does it use additional circuitry in the driver.
Drawings
FIG. 1 is a graph showing voltage vector distribution of a voltage vector of a double Y-shift 30-degree six-phase motor in an alpha-beta space, provided by an embodiment of the invention;
FIG. 2 is a graph showing voltage vector distribution of voltage vectors of a double Y-shift 30-degree six-phase motor in a z1-z2 space, provided by the embodiment of the invention;
fig. 3 is a schematic diagram of a double Y-shift 30 ° six-phase motor according to an embodiment of the present invention in a first sector switch state by adopting a continuous maximum four-vector modulation mode;
fig. 4 is a schematic diagram of a dual Y-shift 30 ° six-phase motor according to an embodiment of the present invention in a first sector synthesized vector space by adopting a continuous maximum four-vector modulation method;
fig. 5 is a schematic diagram of a dual Y-shift 30 ° six-phase motor according to an embodiment of the present invention in a first sector switch state by using an improved maximum four-vector modulation method;
fig. 6 is a schematic diagram of a dual Y-shift 30 ° six-phase motor according to an embodiment of the present invention in a first sector synthesized vector space by using an improved maximum four-vector modulation method;
fig. 7 is a schematic diagram of a synthesis principle of a dual Y-shift 30 ° six-phase motor according to an embodiment of the present invention using a hybrid spread spectrum modulation technique.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
A mixed pulse width modulation method of double three-phase motors based on harmonic suppression is characterized in that in the embodiment, the motor is a double three-phase permanent magnet synchronous motor to test the effectiveness of the strategy, the rated power of the double three-phase motor is 28KW, the rated rotation speed is 3000r/min, the rated current is 50A, the pole pair number is 4, the conventional SVPWM modulation fixed switching frequency is set to be 10KHz, and the variation range of random switching frequency is 8K and 12K]Driver DC side input voltage V dc 340V. The specific method is as follows:
step 1: according to the spatial decoupling matrix, 64 voltage vectors of the six-phase voltage source inverter are mapped into three subspaces. The system specifically comprises an alpha-beta subspace, a z1-z2 subspace and a zero sequence subspace which contain organic electric energy conversion; the voltage vector of the alpha-beta space can generate electromagnetic torque in the running process of the motor, the voltage vector of the z1-z2 subspace can generate harmonic waves and cannot generate electromagnetic torque, and the zero sequence subspace does not participate in the electromechanical energy conversion of the motor. The voltage distribution of the alpha-beta sub-plane and the z1-z2 sub-plane is calculated according to 64 voltage vector values corresponding to the conversion switch, and the voltage distribution of the alpha-beta space and the z1-z2 space is calculated according to the following formula, and the calculated voltage distribution is shown in fig. 1 and 2.
Wherein a=e jπ/6 The method comprises the steps of carrying out a first treatment on the surface of the S represents the switching function of the inverter, S i =1 represents upper arm on and lower arm off, S i The opposite is true for i=a, b, c, u, v, w; u (U) dc Representing a DC bus voltage; u (U) α-β And U z1-z2 Reference voltage magnitudes for the α - β space and the z1-z2 space;
dividing the voltage vector into large vectors V according to the difference of the magnitudes of the voltage vectors max Middle vector V mid1 Basic vector V mids Small vector V min Four groups of forms, the amplitudes of which are respectively:
step 2: according to the difference of the voltage vector amplitude values, four adjacent maximum four voltage vectors in the alpha-beta space are selected for synthesis, the action time of the four voltage vectors is distributed to enable the voltage components of the z1-z2 planes of the four voltage vectors in one control period to be zero, the action time of the four voltage vectors is calculated, and in order to improve the voltage utilization rate as much as possible and enable harmonic waves to be controllable, the modulation mode of the maximum four vector SVPWM is used on the alpha-beta sub-plane, and the reference voltage vector in the z1-z2 sub-plane is enabled to be 0. Taking the case of the reference voltage vector shown in FIG. 1 in sector I as an example for analysis, the effective voltage vector selected is V 45 -V 41 -V 9 -V 11 Other sectors and so on. After four effective voltage vectors are selected, the acting time of the four voltage vectors is reasonably distributed, and the acting time of the four voltage vectors and zero vectors thereof can be calculated according to the formula (1).
Wherein T is s Is a switching period; v (V) xy Projection of the y-th voltage vector on the x-axis; t (T) x The acting time of the xth voltage vector in one carrier period is as follows; t (T) 5 The time of action for the zero vector is,and->The action time of the four voltage vectors and the action time of the zero vector thereof can be calculated by taking the magnitudes of the voltage vectors into the reference voltage vectors in the alpha-beta sub-planes respectively.
Step 3: the double three-phase motor SVPWM technology comprises 60 effective vectors and 4 zero vectors, wherein changing the action time sequence of the vectors or changing the distribution mode of the zero vectors can influence the harmonic characteristic of output phase voltage, and specific influence can be generated on the PWM harmonic content and distribution characteristics of phase current. Therefore, the zero vector distribution mode and the vector action time sequence are adjusted on the basis of the maximum four-vector SVPWM technology, an improved SVPWM technology is established, and the harmonic performance of the inverter output is optimized;
in a carrier period, the traditional maximum four-vector modulation mode is improved, 4 zero vector insertion positions are preferentially selected and utilized by the improved maximum four-vector modulation mode, the effective vector action time sequence of the second half period is changed, and the 4 zero vector insertion positions are recombined to form a new switch form, and the specific selection method is as follows:
step 3.1: after determining the time of application of the zero vector in a PWM period, it is also necessary to select the proper zero vector to be applied in the proper position. In order to eliminate even harmonics, it is necessary to ensure that the voltage modulation wave is a symmetrical waveform, and after determining the acting time of each vector, the traditional maximum four-vector modulation mode is used for selecting zero vectors for minimum switching times of the target vector in each sector. In order to reduce the switching operation times in vector transformation as much as possible, the strategy flexibly uses four zero vectors, and when the zero vectors are selected, the zero vectors are selected by the minimum switching times in the mutual transformation process of the zero vectors and adjacent vectors in the same sector, and the zero vectors at the beginning and the end are V 00 (0, 0), with an intervening zero vector V 77 (1, 1), i.e. the order of action of the voltage vectors is V 00 -V 1 -V 2 -V 3 -V 4 -V 77 -V 4 -V 3 -V 2 -V 1 -V 77 But since a given target vector stays in one sector for as long as tens to hundreds of PWM cycles(see nominal frequency f n And carrier period T s Depending on the relationship). In order to reduce the switching times as much as possible, the strategy flexibly uses the 4 zero vectors, and when the head-tail zero vector is selected, the minimum switching times in the mutual conversion process of the zero vector and the adjacent vector in the same sector are considered.
Taking the example of a composite voltage vector in the first sector, the voltage vector is close to V 45 Vector time selection V 07 Zero vector, where only two switches are changed, as is the intervening zero vector. In order to achieve small torque ripple of the output waveform, a strategy of continuously modulating the maximum four vectors is adopted, namely, all switches are operated in one PWM period, and a zero vector, namely, V, is inserted between the second effective vector and the third effective vector 45 And V is equal to 44 In order to ensure that each group of switches acts at least once in each PWM period, the selection of the inserted zero vector needs to ensure that the total switching times in the process of mutual conversion in two effective vectors are minimized, the corresponding switching states of the last vectors are shown as figure 3, and the action sequence is V 77 -V 55 -V 45 -V 07 -V 44 -V 64 -V 70 -V 64 -V 44 -V 07 -V 45 -V 55 -V 77 The method is similar to the traditional maximum four-vector modulation sequence V 00 -V 55 -V 45 -V 44 -V 64 -V 77 -V 64 -V 44 -V 45 -V 55 -V 00 The zero vector selection of (2) differs from the allocation scheme in that the vector effect timing torque ripple is small but the harmonic content is almost unchanged compared with the traditional maximum four vector modulation scheme.
TABLE 1 zero vector selection and order of action for each sector
Wherein V is A Is the head-end zero vector, V B For zero vector inserted between the second and third effective vectors, V C Is zero in the middleVector, V D Is the tail zero vector. As can be seen from fig. 4, in one carrier period, the effective vector of the continuous maximum four-vector modulation mode acts with respect to the zero vector V at a timing 70 The central symmetry, i.e. the switching states corresponding to the effective vectors are symmetrical about the intermediate zero vector, so that the waveform of the phase voltages in the motor is also about the intermediate zero vector V 70 Symmetry, so the phase voltages satisfy:
v(t+T s )＝v(t) (4)
wherein T is s Is a carrier period, so the period of the phase voltage is T s The frequency is as follows:
wherein n=1, 2,3,4, …, f s For carrier frequency, for continuous maximum four-vector SVPWM modulation technique, high and low harmonics of phase voltage are concentrated at f s ，2f s ，3f s ，4f s …
Step 3.2: in a carrier period, the traditional continuous maximum four-vector SVPWM modulation mode has the advantages that the action time sequence of an effective vector is centrosymmetric with respect to a middle zero vector, namely, the switching state corresponding to the effective vector is symmetrical with respect to the middle zero vector, so that the waveform of phase voltage in the motor is symmetrical with respect to the middle zero vector. In contrast, the modified SVPWM changes the active vector timing in the latter half of the carrier period, and only the last zero vector changes as the adjacent active vector changes after the active vector timing is transformed. Taking the first sector as an example, as shown in fig. 5, a switching state diagram of an improved SVPWM modulation method is shown, where the improved SVPWM method is to make the effective vector of the second half carrier period of the continuous maximum four-vector modulation method act on the sequential sequence V 64 -V 44 -V 07 -V 45 -V 55 Conversion to V 55 -V 45 -V 07 -V 44 -V 64 After the conversion, the vector action time sequence in the second half period of the carrier wave changes, so the corresponding switch state also changes. FIG. 6 shows a composite voltage of the modified SVPWM modulation schemeIt is apparent from the vector diagram that the change of the effective vector action time sequence does not affect the effective vector action time, so that the magnitude, i.e. the direction, of the synthesized voltage vector will not be affected.
After adjustment, the effective vector of the improved SVPWM technology is not symmetrical about the zero vector center in the front half and the rear half, and the vector action time sequence, namely the switch change, is consistent in the front half and the rear half of a carrier period, so that the phase voltage waveform of the obtained novel technology becomes an even harmonic function in one carrier period, the phase voltage switch frequency and the odd multiple harmonic amplitude thereof are eliminated, and meanwhile, 4 zero vectors are preferentially selected and distributed according to the change of the effective vector by the strategy, and the change of the effective vector action time sequence hardly influences the change of the integral switch times.
Within one carrier period, each vector action is allowed to become V 77 -V 55 -V 45 -V 07 -V 44 -V 64 -V 70 -V 55 -V 45 -V 07 -V 44 -V 64 -V 70 The modified SVPWM technique has its effective vector not at zero vector V in the first and second half of the late phase 70 The center is symmetrical, the vector action time sequence, namely the switch change, is consistent in the front half period and the back half period of the carrier period, so that the phase voltage waveform of the obtained novel technology becomes an even harmonic function in one carrier period, and the improved phase voltage meets the following conditions:
v(t+0.5T s )＝v(t) (6)
wherein Ts is a carrier period, and it can be seen from the above that the phase voltage adjustment period becomes 0.5Ts, and the frequency thereof is:
wherein n=1, 2,3,4, …, f s Is the carrier frequency. As can be seen from the above equation, after the switching state is changed, the phase voltage has half of its change period, and the PWM harmonic frequency of the phase voltage is doubled, so that the phase voltage is highSubharmonic energy is concentrated at 2f s ，4f s ，6f s ，8f s … it can be seen that the phase voltage switching frequency and its odd harmonic frequencies are eliminated. In one carrier period, the switching times of the improved SVPWM is 23 times in total, and the switching times of the continuous maximum four-vector modulation mode before improvement is 22 times.
Step 4: the above suggests that the modified SVPWM technique greatly reduces the switching frequency of the phase voltage and the amplitude of the higher harmonics of the odd-order thereof by changing the order of the effective vector action within a fixed carrier period, but the modified SVPWM technique has little effect on the harmonics of the even-order of the switching frequency. The improved SVPWM technology performs harmonic suppression by adjusting vector allocation conditions in carrier periods at microscopic angles, and the random switching frequency modulation technology can perform suppression on higher harmonic amplitude by integrally and randomly changing carrier periods from macroscopic angles. The random switching frequency technology ensures that the carrier random change does not influence the change condition of the vector in the carrier period, the carrier random change and the carrier period are mutually independent, and the realization process does not have the mutual coupling relation, so that the hybrid pulse width modulation technology based on the improved SVPWM is provided by combining the improved SVPWM technology with the random switching frequency technology, and the hybrid pulse width modulation based on the improved SVPWM is realized. The specific implementation process is shown in fig. 7.
Step 4.1: in the implementation process of the improved SVPWM in the area 1, compared with the continuous maximum four-vector SVPWM modulation technology, the improved SVPWM changes the sequence of the active vector in the second half period, that is, the corresponding switch state is also changed, so that the implementation of the improved SVPWM modulation mode needs to determine the corresponding time switching point in each sector, and the change of the switch state at the time switching point realizes the order of the active vector, wherein the time switching points (1) (2) (3) (4) (5) and the specific time corresponding to the time switching points are shown in the area 3 in fig. 7. In one carrier period, the SVPWM modulation method is improved over the conventional continuous maximum four vector modulation method in that there are three modified switching functions and three unchanged switching functions. When V is atIn a sector, the switching state and time switching point are as shown in region three of FIG. 7, the switching state function S a ，S V ，S w The switching state is the same as that of the traditional continuous maximum four-vector modulation mode, and the modified switching transfer function S b To a low level at time point (1) and to a high level at time point (5), switch S c At the time point (1) becomes high level, at the time point (2) becomes low level, the switch S w At the time point (1) becomes high level, and at the time point (4) becomes low level. Similarly, when the vector is located in the other eleven sectors, a specific time switch point can be calculated in the same way, and the specific time switch point is shown in table 1:
table 2 switch state transition tables for each sector
Wherein (1) (2) (3) (4) (5) represents a time switching point, ∈r represents a high level, ∈r represents a low level, and according to the logic of the graph, the transition of the effective vector timing within each carrier period can be easily implemented in the MCU.
Step 4.2: as shown in fig. 7, region 2 represents a Random carrier generation process, compared with an improved SVPWM modulation mode, the hybrid spread spectrum modulation technology generates uniformly distributed Random numbers through a form Random module, generates triangular waves with Random switching frequencies by combining with a triangular wave generator, replaces the original fixed switching frequencies with the Random switching frequencies, and performs preferential selection of zero vectors and transformation of effective vector action time sequences in each Random switching period, so that the hybrid pulse width modulation mode based on the improved SVPWM is realized.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions, which are defined by the scope of the appended claims.
Claims (1)
1. The double three-phase motor hybrid pulse width modulation method based on harmonic suppression is characterized by comprising the following steps of:
step 1: according to a space decoupling matrix, mapping 64 voltage vectors of a six-phase voltage source inverter into three spaces, wherein the three spaces specifically comprise an alpha-beta subspace containing organic electric energy conversion, a z1-z2 subspace and a zero sequence subspace, the voltage vectors of the alpha-beta subspace can generate electromagnetic torque in the running process of a motor, the voltage vectors of the z1-z2 subspace can generate harmonic waves and cannot generate electromagnetic torque, and the zero sequence subspace does not participate in the electric energy conversion of the motor; the voltage distribution of the alpha-beta subspace and the z1-z2 subspace is calculated as follows:
wherein a=e jπ/6 The method comprises the steps of carrying out a first treatment on the surface of the S represents the switching function of the inverter, S i =1 represents upper arm on and lower arm off, S i The opposite is true for i=a, b, c, u, v, w; u (U) dc Representing a DC bus voltage; u (U) α-β And U z1-z2 Reference voltage magnitudes for the alpha-beta subspace and the z1-z2 subspace;
dividing the voltage vector into large vectors V according to the difference of the magnitudes of the voltage vectors max Middle vector V mid1 Basic vector V mids Small vector V min Four groups of forms, the amplitudes of which are respectively:
step 2: selecting four adjacent voltage vectors in the alpha-beta subspace to synthesize, enabling the voltage components of the z1-z2 planes of the four voltage vectors in one control period to be zero by distributing the action time of the four voltage vectors, and calculating the action time of the four voltage vectors, wherein the action time is as follows:
wherein T is s For the switching period, V xy Projection of the y-th voltage vector on the x-axis; t (T) y The active time of the y-th voltage vector in one PWM period is set; t (T) 5 The time of action for a zero vector;and->Is a reference voltage vector in the alpha-beta sub-plane;
step 3: the zero vector distribution mode and the vector action time sequence are adjusted on the basis of the maximum four-vector SVPWM technology, namely an improved SVPWM technology is established, and the harmonic performance of the inverter output is optimized;
the step 3 specifically comprises the following steps:
step 3.1: selecting and distributing zero vectors;
when the zero vector is selected, the switching frequency in the mutual conversion process of the zero vector and the adjacent vector in the same sector is minimum;
step 3.2: adjusting the effective vector synthesis time sequence;
changing the effective vector action time sequence in the second half carrier period, wherein after the effective vector time sequence is transformed, only the last zero vector is changed along with the change of the adjacent effective vectors; after adjustment, the effective vector of the improved SVPWM technology is not symmetrical about the zero vector center in the front half and the rear half, and the vector action time sequence, namely the switch change, is consistent in the front half and the rear half of the carrier period;
step 4: combining the modified SVPWM technology with the random switching frequency technology, providing a hybrid pulse width modulation technology based on the modified SVPWM, and realizing the hybrid pulse width modulation based on the modified SVPWM;
the improved SVPWM technique in step 4 reduces the phase voltage switching frequency and its odd multiple higher harmonic amplitude by changing the order of the active vector action in the fixed carrier period;
the carrier period is randomly changed by the random switching frequency modulation technology to inhibit the amplitude of the higher harmonic, and the carrier is randomly changed by the random switching frequency technology without affecting the change condition of the vector in the carrier period;
the mixed pulse width modulation technology generates uniformly distributed random numbers through a random number generating function, combines the random numbers with a triangular wave generator to generate triangular waves with random switching frequency, replaces the original fixed switching frequency with the random switching frequency, performs sector judgment in each random switching period, selects 4 kinds of zero vector preferential distribution modes according to corresponding sectors, performs transformation on effective vector acting time sequences, and selects effective vectors to perform time sequence transformation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111552550.0A CN114189189B (en) | 2021-12-17 | 2021-12-17 | Double-three-phase motor hybrid pulse width modulation method based on harmonic suppression |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111552550.0A CN114189189B (en) | 2021-12-17 | 2021-12-17 | Double-three-phase motor hybrid pulse width modulation method based on harmonic suppression |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114189189A CN114189189A (en) | 2022-03-15 |
| CN114189189B true CN114189189B (en) | 2023-09-22 |
Family
ID=80605521
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111552550.0A Active CN114189189B (en) | 2021-12-17 | 2021-12-17 | Double-three-phase motor hybrid pulse width modulation method based on harmonic suppression |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114189189B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114584029B (en) * | 2022-05-07 | 2022-07-22 | 电子科技大学(深圳)高等研究院 | Method and system for inhibiting zero sequence current of symmetrical six-phase alternating current motor |
| CN118074599A (en) * | 2024-03-01 | 2024-05-24 | 江苏大学 | Dual-centering SVPWM double-three-phase permanent magnet motor low-vibration-noise control method based on variable delay |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106787918A (en) * | 2017-01-16 | 2017-05-31 | 南京航空航天大学 | A kind of random SVPWM method of Five-phase inverter |
| CN107276445A (en) * | 2017-06-15 | 2017-10-20 | 上海电力学院 | The space voltage vector modulation method that common-mode voltage is minimized |
| CN108336932A (en) * | 2018-01-15 | 2018-07-27 | 西安理工大学 | Double three-phase machine minimum harmonic injection Over-modulation and its carrier wave implementation method |
| CN109450319A (en) * | 2018-12-12 | 2019-03-08 | 西安理工大学 | The biplane multidimensional SVPWM method of double three-phase permanent-magnetic synchronous motor |
| CN109617496A (en) * | 2019-02-18 | 2019-04-12 | 哈尔滨工程大学 | A kind of six phase SVPWM methods based on vector among the double Vector modulations of coaxial line |
| CN110380670A (en) * | 2019-07-20 | 2019-10-25 | 哈尔滨工业大学 | The space vector width pulse modulation method of odd times PWM frequency harmonic wave can be eliminated |
| CN112910347A (en) * | 2021-01-21 | 2021-06-04 | 西安理工大学 | Dual-random SVPWM harmonic suppression method based on Meisen rotation algorithm |
| CN113422555A (en) * | 2021-05-19 | 2021-09-21 | 江苏大学 | Double-phase permanent magnet synchronous motor PMSM sawtooth carrier double-random SVPWM control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108233755B (en) * | 2018-02-12 | 2020-01-31 | 武汉大学 | space vector pulse width modulation method for inhibiting common-mode voltage of multi-phase motor |
-
2021
- 2021-12-17 CN CN202111552550.0A patent/CN114189189B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106787918A (en) * | 2017-01-16 | 2017-05-31 | 南京航空航天大学 | A kind of random SVPWM method of Five-phase inverter |
| CN107276445A (en) * | 2017-06-15 | 2017-10-20 | 上海电力学院 | The space voltage vector modulation method that common-mode voltage is minimized |
| CN108336932A (en) * | 2018-01-15 | 2018-07-27 | 西安理工大学 | Double three-phase machine minimum harmonic injection Over-modulation and its carrier wave implementation method |
| CN109450319A (en) * | 2018-12-12 | 2019-03-08 | 西安理工大学 | The biplane multidimensional SVPWM method of double three-phase permanent-magnetic synchronous motor |
| CN109617496A (en) * | 2019-02-18 | 2019-04-12 | 哈尔滨工程大学 | A kind of six phase SVPWM methods based on vector among the double Vector modulations of coaxial line |
| CN110380670A (en) * | 2019-07-20 | 2019-10-25 | 哈尔滨工业大学 | The space vector width pulse modulation method of odd times PWM frequency harmonic wave can be eliminated |
| CN112910347A (en) * | 2021-01-21 | 2021-06-04 | 西安理工大学 | Dual-random SVPWM harmonic suppression method based on Meisen rotation algorithm |
| CN113422555A (en) * | 2021-05-19 | 2021-09-21 | 江苏大学 | Double-phase permanent magnet synchronous motor PMSM sawtooth carrier double-random SVPWM control method |
Non-Patent Citations (1)
| Title |
|---|
| 五相逆变器非正弦双随机空间矢量脉宽调制策略;朱琳;卜飞飞;黄文新;浦天宇;;电工技术学报(第20期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114189189A (en) | 2022-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114189189B (en) | Double-three-phase motor hybrid pulse width modulation method based on harmonic suppression | |
| Yu et al. | Virtual voltage vector-based model predictive current control for five-phase VSIs with common-mode voltage reduction | |
| CN109617496B (en) | Six-phase SVPWM method for synthesizing intermediate vector based on coaxial line dual vectors | |
| CN105827176B (en) | Double Y are inhibited to move the space vector modulating method of 30 degree of six-phase motor common-mode voltages | |
| CN113422555B (en) | Double-phase permanent magnet synchronous motor PMSM sawtooth carrier double-random SVPWM control method | |
| Palanisamy et al. | Maximum Boost Control for 7-level z-source cascaded h-bridge inverter | |
| CN108390604B (en) | Zero-voltage vector optimization modulation device and method for five-bridge-arm two-permanent magnet motor system | |
| CN112104281A (en) | Permanent magnet synchronous motor vibration reduction and noise reduction method based on harmonic selective elimination random SVPWM | |
| JP2023025679A (en) | Motor drive device | |
| CN108336932A (en) | Double three-phase machine minimum harmonic injection Over-modulation and its carrier wave implementation method | |
| Li et al. | Zero-sequence current suppressing strategy for dual three-phase permanent magnet synchronous machines connected with single neutral point | |
| WO2024169062A1 (en) | Continuous modulation fault-tolerant double-random low-vibration-noise control method for five-phase permanent magnet motor | |
| KR20230078259A (en) | Motor driving apparatus and method | |
| CN108347188B (en) | Low-switching-loss SVPWM control method for six-phase motor for electric automobile | |
| CN117458948A (en) | Motor driving device | |
| Chinmaya et al. | Analysis of space vector PWM techniques for dual three-phase induction machine | |
| Das et al. | A Six-Phase Space Vector PWM Technique for Wide-Bandgap Device-Based Three-Level Inverters | |
| Du et al. | Hybrid Random SVPWM Strategy for High Order Harmonics Suppression of Permanent Magnet Synchronous Motor Servo Drive System | |
| Gauri et al. | Torque Ripple Reduction in Six-phase Induction Motor Drive using DTC Technique | |
| Chen et al. | An impulse modulation strategy for the M-phase permanent magnet synchronous motor with the current source inverter | |
| Hakami et al. | Simplified SVPWM Technique for Ripple-Free Voltage and Current Control in Flying Capacitor of Five-Level Hybrid ANPC Converters | |
| Gupta et al. | Open-end winding AC drives with enhanced reactive power support to the grid while eliminating switching common-mode voltage | |
| CN115250088B (en) | Nine-phase open winding permanent magnet synchronous motor model prediction control method considering dead zone compensation | |
| Chen et al. | Model Predictive Control of a Twelve-Phase PMSM with Simplified Cost Function | |
| CN111865125B (en) | Traction inverter control system and PWM modulation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |