CN114759854B - Voltage modulation method for isolated bus type open winding permanent magnet synchronous motor - Google Patents
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Abstract
The invention provides a voltage modulation method of an isolated bus type open winding permanent magnet synchronous motor, which improves the existing hexagonal space vector voltage modulation technology, effectively reduces the switching frequency in a mode of clamping a single inverter, enables the total switching frequency of a system to be equal to that of the traditional alternate sub-hexagonal modulation method, and can simultaneously improve the accuracy degree of voltage vector synthesis. Compared with the prior art, the method can synthesize the required voltage in a wider range, so that the double-inverter modulation can realize more effective coverage on the area where all the reference voltages are located, the problem of voltage vector synthesis deviation is solved, the control accuracy of the motor is improved, and the torque pulsation is reduced; the switching frequency is effectively reduced, so that the stable operation of the motor is ensured, and the hardware loss is reduced; the method can still ensure good modulation effect when the voltage difference of the two direct current buses is larger, so that the adaptability of the motor under different working conditions is effectively improved.
Description
Technical Field
The invention belongs to the technical field of permanent magnet synchronous motor modulation, and particularly relates to a reference voltage vector synthesis method of an isolated bus type motor under the condition that two direct current bus power supply voltages are unequal.
Background
For the isolated bus type open winding permanent magnet synchronous motor, an isolated bus type topological structure with two direct current power supplies respectively supplying power is adopted, two inverters respectively form a power supply loop, the influence of zero sequence current is eliminated, and the motor operation can be ensured under the condition that the two power supply voltages are unequal, so that the synthetic voltage range of the motor Space Vector Pulse Width Modulation (SVPWM) can be widened.
In the conventional voltage modulation strategy aiming at the isolated bus type open-winding permanent magnet synchronous motor, the central hexagonal method can eliminate common-mode voltage existing in the motor through targeted selection of voltage vectors, so that the influence of zero-sequence current on the operation effect of the motor is reduced, but the limitation of the modulation range reduces the utilization rate of direct-current bus voltage; the alternating sub-hexagonal method enables the two inverters to be in alternating clamping states in different modulation periods, ensures the maximum utilization rate of bus voltage, and effectively reduces the switching frequency by nearly half, but when two direct current power supply voltages of the isolated bus type motor are unequal, the voltage vector synthesis ranges in the clamping states of the different inverters are different, so that the respective modulation effects are different, the situation that the reference voltage vector cannot be accurately synthesized in certain periods is possibly caused, and the motor control effect is reduced.
Although there are some improvements in the prior art for the voltage synthesis effect and the switching frequency in modulation, such as a unified modulation method based on the relationship between the duration of the initial applied voltage and the sampling period, which simplifies the division of the sectors and effectively reduces the switching frequency, the area division inside the sectors and the calculation of the vector action time increase the complexity of the method; and the six-bridge arm structure of the traditional double-inverter is partially simplified into a four-bridge arm structure, two adjacent windings in the inverter share a group of upper and lower half-bridge arms, and the switching times of the switch are indirectly reduced by simplifying the hardware structure, but the application burden is increased by modifying the hardware. In addition, in the prior art, in the case of working under different voltages of the isolated bus type open winding permanent magnet synchronous motor, particularly, aiming at the problem of voltage synthesis effect, a solution with a good effect is lacking at present.
Disclosure of Invention
In view of the above, the present invention provides a voltage modulation method for an isolated bus type open winding permanent magnet synchronous motor, which specifically includes the following steps:
step one, acquiring three-phase current, rotating speed and rotor position angle data of an open-winding permanent magnet synchronous motor in real time by online data;
Establishing an equivalent model of the isolated bus type open-winding permanent magnet synchronous motor under a dq synchronous rotation coordinate system, and calculating a reference voltage vector at the next moment in real time by utilizing a dead beat current prediction control model and combining the data acquired in the step one;
step three, executing the following improved hexagonal voltage modulation according to the reference voltage vector obtained in the step two to obtain a rule of switching on an inverter switching tube, wherein the rule comprises the following steps: firstly, judging a voltage synthesis sector where the reference voltage vector is located in a hexagonal space voltage vector based on the amplitude and the phase angle of the reference voltage vector; when the power supply voltages of the direct current buses corresponding to the two inverters are unequal, three bridge switches of the inverter with lower power supply voltage are kept in a low-potential clamping state in one period so as to provide partial reference voltage vector components; enabling another inverter with higher power supply voltage to independently act in the period to modulate, providing another part of reference voltage vector components, and calculating the on time of a switching tube of the inverter according to a voltage zero vector and a non-zero vector;
and step four, determining the switching sequence of the switching actions of the corresponding inverter bridge arms according to the switching on time of the inverter obtained in the step three, generating PWM signals required by the inverter by comparing the triangular carrier wave with the switching points, and modulating corresponding three-phase voltage vectors.
Further, the isolated bus type open-winding permanent magnet synchronous motor established in the second step specifically adopts the following form:
Voltage equation:
Wherein U d、Uq is the stator voltage under the dq coordinate system respectively; i d、iq is the stator current in dq coordinate system respectively; r s is the stator resistance; l d、Lq is dq axis armature inductance respectively, and L d＝Lq＝Ls,Ls is stator inductance in the surface-mounted permanent magnet synchronous motor; omega e is the rotor electrical angular velocity; psi f is the rotor flux linkage; t is a time variable;
Motor torque equation:
wherein T e is electromagnetic torque; p is the pole pair number of the motor;
equation of mechanical motion of motor:
Wherein T l is motor load torque; j is the rotational inertia of the motor; omega m is the mechanical angular velocity of the motor rotor.
Further, calculating the reference voltage vector at the next moment by using the dead current prediction control model in the second step specifically includes:
the current discretization processing of the switching period T s and enough time is carried out by utilizing a first-order Euler discrete equation:
In the method, in the process of the invention, AndPredicted stator current at time k+1; omega e (k) is the electrical angular frequency at time k, and because the electrical angle does not change much in one period, it can be considered that θ (k+1) ≡θ (k) and thus ω e(k+1)≈ωe (k) exists;
In order to ensure that the actual current follows the reference current exactly, the predicted current at a given k+2 time is equal to the reference current, i.e The stator voltage at time k+1, i.e., the reference voltage vector, can be calculated by:
Wherein U d(k+1)、Uq (k+1) is the stator voltage at time k+1; i d ref(k)、iq ref (k) is the reference stator current at time k.
Further, the improved sub-hexagonal voltage modulation performed in step three specifically includes:
① . Performing inverse Clarke transformation on vector components of the reference voltage in a complex plane to obtain voltage vector components under an abc coordinate system:
wherein U α ref、Uβ ref is the reference voltage vector component under the alpha beta coordinate system of the motor respectively; u a ref、Ub ref and U c ref are respectively reference voltage vector components in an abc coordinate system; determining a sector where the reference voltage vector is located according to the positive-negative relation of the reference voltage vector components in the abc coordinate system;
② . Comparing the power supply voltages of the direct current buses corresponding to the two inverters, keeping the bridge switches of the inverter 2 with lower power supply voltage in a low-potential clamping state in one period, and providing partial reference voltage vector components; the inverter 1 having a higher supply voltage is caused to perform SVPWM modulation alone in this period; the components of the two inverters participating in the synthesis of the reference voltage vector are respectively:
Wherein I, II, III, IV, V and VI respectively represent six sectors of the space voltage vector hexagon; u 1α ref、U1β ref、U2α ref and U 2β ref are respectively corresponding components of a reference voltage vector synthesized by two inverters under an alpha beta coordinate system, ref in the upper label represents a reference value of a corresponding parameter, 1 and 2 in the lower label respectively represent an inverter 1 and an inverter 2, and alpha, beta and dc respectively represent components under the alpha beta coordinate system and direct current supply voltage; when the clamped inverter is opposite, the fixed reference voltage vector component in the above formula is exchanged with the reference voltage vector component participating in SVPWM modulation according to the modulation rule;
③ . For the reference voltage vector component participating in SVPWM modulation, wherein the voltage non-zero vector acting time is determined according to the volt-second balance principle, and the zero vector acting time is determined according to the switching frequency minimization principle:
Wherein T 0 and T 7 are the time of action of the two zero vectors V0 (000) and V7 (111); t 1 and T 2 are the time of action of two non-zero vectors.
Further, the specific process of modulating the three-phase voltage vector in the fourth step includes:
① . Comparing the switch action switching point with the triangular carrier signal to generate gate pulse signals with different duty ratios, and driving corresponding devices of the bridge arm of the inverter;
② . Based on the space voltage vectors corresponding to different on-off states of the two inverter switches, calculating a synthesized three-phase voltage vector:
The voltage modulation method of the isolated bus type open-winding permanent magnet synchronous motor improves the existing hexagonal space vector voltage modulation technology, effectively reduces the switching frequency in a mode of clamping a single inverter, enables the total switching frequency of the system to be equal to that of the traditional alternate sub-hexagonal modulation method, and can improve the accuracy degree of voltage vector synthesis. Compared with the prior art, the method has at least the following advantages:
1. When the two direct current bus power supply voltages of the isolated bus type open winding permanent magnet synchronous motor are unequal, only the high power supply voltage inverter is used for independently modulating, so that the required voltage can be synthesized in a wider range, the double-inverter modulation can realize more effective coverage on the area where all the reference voltages are located, the problem of voltage vector synthesis deviation is solved, the motor control accuracy is improved, and the torque pulsation is reduced;
2. because the low-voltage inverter does not switch the action of a switching tube in one modulation period, compared with the existing double-inverter modulation method, the switching frequency is reduced, and the hardware loss is reduced while the stable operation of the motor is ensured;
3. the method effectively overcomes the defect that the reference voltage vector synthesis of the isolated bus type open-winding permanent magnet synchronous motor is inaccurate when the power supply voltages are different in the prior art, can ensure good modulation effect even when the voltage difference between two direct current buses is large, and effectively improves the adaptability of the motor under different working conditions.
Drawings
FIG. 1 is a general flow chart of the method provided by the present invention;
FIG. 2 is a flow chart of dead-beat current prediction control performed by the method of the present invention;
FIG. 3 is a flow chart of a modified sub-hexagonal space voltage vector modulation method;
fig. 4 is a graph of dq-axis current when two dc voltages are not equal, according to a preferred example of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The voltage modulation method of the isolated bus type open winding permanent magnet synchronous motor provided by the invention, as shown in figure 1, specifically comprises the following steps:
step one, acquiring three-phase current, rotating speed and rotor position angle data of an open-winding permanent magnet synchronous motor in real time by online data;
Establishing an equivalent model of the isolated bus type open-winding permanent magnet synchronous motor under a dq synchronous rotation coordinate system, and calculating a reference voltage vector at the next moment in real time by utilizing a dead beat current prediction control model and combining the data acquired in the step one;
step three, executing the following improved hexagonal voltage modulation according to the reference voltage vector obtained in the step two to obtain a rule of switching on an inverter switching tube, wherein the rule comprises the following steps: firstly, judging a voltage synthesis sector where the reference voltage vector is located in a hexagonal space voltage vector based on the amplitude and the phase angle of the reference voltage vector; when the power supply voltages of the direct current buses corresponding to the two inverters are unequal, three bridge switches of the inverter with lower power supply voltage are kept in a low-potential clamping state in one period so as to provide partial reference voltage vector components; enabling another inverter with higher power supply voltage to independently act in the period to modulate, providing another part of reference voltage vector components, and calculating the on time of a switching tube of the inverter according to a voltage zero vector and a non-zero vector;
and step four, determining the switching sequence of the switching actions of the corresponding inverter bridge arms according to the switching on time of the inverter obtained in the step three, generating PWM signals required by the inverter by comparing the triangular carrier wave with the switching points, and modulating corresponding three-phase voltage vectors.
In a preferred embodiment of the present invention, the isolated bus type open-winding permanent magnet synchronous motor established in the second step specifically adopts the following form:
Voltage equation:
Wherein U d、Uq is the stator voltage under the dq coordinate system respectively; i d、iq is the stator current in dq coordinate system respectively; r s is the stator resistance; l d、Lq is dq axis armature inductance respectively, and L d＝Lq＝Ls,Ls is stator inductance in the surface-mounted permanent magnet synchronous motor; omega e is the rotor electrical angular velocity; psi f is the rotor flux linkage; t is a time variable;
Motor torque equation:
wherein T e is electromagnetic torque; p is the pole pair number of the motor;
equation of mechanical motion of motor:
Wherein T l is motor load torque; j is the rotational inertia of the motor; omega m is the mechanical angular velocity of the motor rotor.
In a preferred embodiment of the present invention, as shown in fig. 2, calculating the reference voltage vector at the next moment using the dead-beat current prediction control model in the second step specifically includes:
the current discretization processing of the switching period T s and enough time is carried out by utilizing a first-order Euler discrete equation:
In the method, in the process of the invention, AndPredicted stator current at time k+1; omega e (k) is the electrical angular frequency at time k, and because the electrical angle does not change much in one period, it can be considered that θ (k+1) ≡θ (k) and thus ω e(k+1)≈ωe (k) exists;
In order to ensure that the actual current follows the reference current exactly, the predicted current at a given k+2 time is equal to the reference current, i.e The stator voltage at time k+1, i.e., the reference voltage vector, can be calculated by:
Wherein U d(k+1)、Uq (k+1) is the stator voltage at time k+1; i d ref(k)、iq ref (k) is the reference stator current at time k.
In a preferred embodiment of the present invention, as shown in fig. 3, the modified sub-hexagonal voltage modulation performed in step three specifically includes:
① . Performing inverse Clarke transformation on vector components of the reference voltage in a complex plane to obtain voltage vector components under an abc coordinate system:
wherein U α ref、Uβ ref is the reference voltage vector component under the alpha beta coordinate system of the motor respectively; u a ref、Ub ref and U c ref are respectively reference voltage vector components in an abc coordinate system; determining a sector where the reference voltage vector is located according to the positive-negative relation of the reference voltage vector components in the abc coordinate system;
② . Comparing the power supply voltages of the direct current buses corresponding to the two inverters, keeping the bridge switches of the inverter 2 with lower power supply voltage in a low-potential clamping state in one period, and providing partial reference voltage vector components; the inverter 1 having a higher supply voltage is caused to perform SVPWM modulation alone in this period; the components of the two inverters participating in the synthesis of the reference voltage vector are respectively:
Wherein I, II, III, IV, V and VI respectively represent six sectors of the space voltage vector hexagon; u 1α ref、U1β ref、U2α ref and U 2β ref are respectively corresponding components of a reference voltage vector synthesized by two inverters under an alpha beta coordinate system, ref in the upper label represents a reference value of a corresponding parameter, 1 and 2 in the lower label respectively represent an inverter 1 and an inverter 2, and alpha, beta and dc respectively represent components under the alpha beta coordinate system and direct current supply voltage; when the clamped inverter is opposite, the fixed reference voltage vector component in the above formula is exchanged with the reference voltage vector component participating in SVPWM modulation according to the modulation rule;
③ . For the reference voltage vector component participating in SVPWM modulation, wherein the voltage non-zero vector acting time is determined according to the volt-second balance principle, and the zero vector acting time is determined according to the switching frequency minimization principle:
Wherein T 0 and T 7 are the time of action of the two zero vectors V0 (000) and V7 (111); t 1 and T 2 are the time of action of two non-zero vectors.
In a preferred embodiment of the present invention, the specific process of modulating the three-phase voltage vector in the fourth step includes:
① . Comparing the switch action switching point with the triangular carrier signal to generate gate pulse signals with different duty ratios, and driving corresponding devices of the bridge arm of the inverter;
② . Based on the space voltage vectors corresponding to different on-off states of the two inverter switches, calculating a synthesized three-phase voltage vector:
in a preferred example of the method according to the invention, a corresponding improved hexagonal space vector voltage modulation is performed for the case of an isolated bus open winding permanent magnet synchronous motor with inverter 1 dc supply voltage U dc1 = 100V and inverter 2 dc supply voltage U dc2 = 50V. When the motor rotating speed is 400r/min, the motor dynamic and static response effect is better when the method provided by the invention is adopted by comparing the motor dq-axis current curve graph modulated by the traditional alternating hexagonal voltage, as shown in fig. 4.
It should be understood that, the sequence number of each step in the embodiment of the present invention does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present invention.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. A voltage modulation method of an isolated bus type open winding permanent magnet synchronous motor is characterized by comprising the following steps of: the method specifically comprises the following steps:
step one, acquiring three-phase current, rotating speed and rotor position angle data of an open-winding permanent magnet synchronous motor in real time by online data;
step two, establishing an equivalent model of the isolated bus type open-winding permanent magnet synchronous motor under the dq synchronous rotation coordinate system, wherein the method specifically adopts the following form:
Voltage equation:
Wherein U d、Uq is the stator voltage under the dq coordinate system respectively; i d、iq is the stator current in dq coordinate system respectively; r s is the stator resistance; l d、Lq is dq axis armature inductance, L s is stator inductance; omega e is the rotor electrical angular velocity; psi f is the rotor flux linkage; t is a time variable;
Motor torque equation:
wherein T e is electromagnetic torque; p is the pole pair number of the motor;
equation of mechanical motion of motor:
Wherein T l is motor load torque; j is the rotational inertia of the motor; omega m is the mechanical angular velocity of the motor rotor;
Calculating a reference voltage vector at the next moment in real time by utilizing a dead beat current prediction control model and combining the data acquired in the first step, wherein the method specifically comprises the following steps of:
The current discretization processing of the switching period T s is carried out by utilizing a first-order Euler discrete equation:
In the method, in the process of the invention, AndPredicted stator current at time k+1; omega e (k) is the electrical angular frequency at time k;
given that the predicted stator current at time k+2 is equal to the reference current, the stator voltage at time k+1, i.e., the reference voltage vector, can be calculated by:
Wherein U d(k+1)、Uq (k+1) is the stator voltage at time k+1; i d ref(k)、iq ref (k) is the reference stator current at time k;
step three, executing the following improved hexagonal voltage modulation according to the reference voltage vector obtained in the step two to obtain a rule of switching on an inverter switching tube, wherein the rule comprises the following steps: firstly, judging a voltage synthesis sector where the reference voltage vector is located in a hexagonal space voltage vector based on the amplitude and the phase angle of the reference voltage vector; when the power supply voltages of the direct current buses corresponding to the two inverters are unequal, three bridge switches of the inverter with lower power supply voltage are kept in a low-potential clamping state in one period so as to provide partial reference voltage vector components; enabling another inverter with higher power supply voltage to independently act in the period to modulate, providing another part of reference voltage vector components, and calculating the on time of a switching tube of the inverter according to a voltage zero vector and a non-zero vector;
Determining a switching sequence of switching actions of corresponding inverter bridge arms according to the inverter switching on time obtained in the third step, generating PWM signals required by the inverter by comparing the triangular carrier wave with the switching points, and modulating corresponding three-phase voltage vectors, wherein the specific process comprises the following steps of:
① . Comparing the switch action switching point with the triangular carrier signal to generate gate pulse signals with different duty ratios, and driving corresponding devices of the bridge arm of the inverter;
② . Based on the space voltage vectors corresponding to different on-off states of the two inverter switches, calculating a synthesized three-phase voltage vector:
Wherein U a、Ub、Uc is three-phase voltage respectively; u dc1、Udc2 is the dc supply voltage of the inverter 1 and the inverter 2, respectively; s a1、Sb1、Sc1、Sa2、Sb2、Sc2 is the on-off state of each switch of the inverter 1 and the inverter 2, respectively.
2. The method of claim 1, wherein: the improved sub-hexagonal voltage modulation performed in step three specifically includes:
① . Performing inverse Clarke transformation on vector components of the reference voltage in a complex plane to obtain voltage vector components under an abc coordinate system:
wherein U α ref、Uβ ref is the reference voltage vector component under the alpha beta coordinate system of the motor respectively; u a ref、Ub ref and U c ref are respectively reference voltage vector components in an abc coordinate system; determining a sector where the reference voltage vector is located according to the positive-negative relation of the reference voltage vector components in the abc coordinate system;
② . Comparing the power supply voltages of the direct current buses corresponding to the two inverters, keeping the bridge switches of the inverter 2 with lower power supply voltage in a low-potential clamping state in one period, and providing partial reference voltage vector components; the inverter 1 having a higher supply voltage is caused to perform SVPWM modulation alone in this period; the components of the two inverters participating in the synthesis of the reference voltage vector are respectively:
Wherein I, II, III, IV, V and VI respectively represent six sectors of the space voltage vector hexagon; u 1α ref、U1β ref、U2α ref and U 2β ref are respectively corresponding components of a reference voltage vector synthesized by two inverters under an alpha beta coordinate system, ref in the upper label represents a reference value of a corresponding parameter, 1 and 2 in the lower label respectively represent an inverter 1 and an inverter 2, and alpha, beta and dc respectively represent components under the alpha beta coordinate system and direct current supply voltage; when the clamped inverter is opposite, the fixed reference voltage vector component in the above formula is exchanged with the reference voltage vector component participating in SVPWM modulation according to the modulation rule;
③ . For the reference voltage vector component participating in SVPWM modulation, wherein the voltage non-zero vector acting time is determined according to the volt-second balance principle, and the zero vector acting time is determined according to the switching frequency minimization principle:
Wherein, T 0 and T 7 are the action time of two zero vectors; t 1 and T 2 are the time of action of two non-zero vectors.
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| CN110299882A (en) * | 2019-06-21 | 2019-10-01 | 浙江大学 | The quick three vector models forecast Control Algorithm of winding permanent magnet synchronous motor is opened based on hybrid power supply type |
| CN111654225A (en) * | 2020-05-27 | 2020-09-11 | 江苏大学 | Model prediction current control method of open-winding permanent magnet vernier linear motor |
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| CN110299882A (en) * | 2019-06-21 | 2019-10-01 | 浙江大学 | The quick three vector models forecast Control Algorithm of winding permanent magnet synchronous motor is opened based on hybrid power supply type |
| CN111654225A (en) * | 2020-05-27 | 2020-09-11 | 江苏大学 | Model prediction current control method of open-winding permanent magnet vernier linear motor |
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