CN116317662A - Zero-vector-free predictive control method for four-bridge arm inverter of new energy automobile - Google Patents
Zero-vector-free predictive control method for four-bridge arm inverter of new energy automobile 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
- H02M7/53—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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- H—ELECTRICITY
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
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- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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Abstract
The invention relates to a zero vector prediction control method of a four-bridge arm inverter of a new energy automobile, which comprises the following steps: collecting three-phase current at the time t; decoupling from an abc stationary coordinate system by park variation to obtain dq0 axis current and dq0 axis voltage; inputting the phase voltages corresponding to the initial sampling period and the initial switching state and the decoupled current into a current prediction model to obtain a predicted value of the current at the time t 1; optimizing vector selection to obtain an output current predicted value and a sampling period at a time t 2 corresponding to each switch state; substituting the current predicted value and a given reference value at the time t 2 under different switching states into a cost function for tracking the reference current, and selecting the switching state with the minimum cost function as the optimal switching state and the optimal sampling period at the time t 1. The invention simplifies the control process of the inverter, increases the cost function for tracking the reference current, reduces the distortion rate of the output current while inhibiting the common-mode voltage, and reduces the distortion rate of the output current from 3.9% and 2.54% to 1.43%.
Description
Technical Field
The invention relates to the technical field of motor control of new energy automobiles, in particular to a zero-vector-free predictive control method of a four-bridge arm inverter of a new energy automobile.
Background
The intelligent and electric development of the automobile enables more electronic equipment and cables to be applied to the automobile, so that more stray distribution parameters are brought, the development of power electronic devices is realized, the efficient conversion of electric energy and higher switching frequency are realized, and the high change rate of voltage and current generated by the high conversion rate acts on the stray parameters, so that extremely strong electromagnetic interference is caused. Meanwhile, electromagnetic sensitive devices in automobiles are increased, and electromagnetic interference influences various performances of new energy automobiles, such as dynamic performance, communication quality, safety and the like, through conduction and radiation ways, so that serious safety accidents can be caused.
Electromagnetic interference EMI generated by power electronics is generally coupled to various electromagnetic sensitive devices through conducted interference and radiated interference, wherein the main source of radiated interference is conducted interference, and thus conducted interference suppression is the main direction of investigation in electromagnetic compatibility. The conducted interference can be classified into common mode interference and differential mode interference according to propagation paths of the conducted interference. Common mode interference is generated by the voltage of the rapid jump of the middle point of each bridge arm and the middle point of the load of the inverter acting on the parasitic capacitance, and the voltage propagates in the live wire neutral line and the ground wire. The differential mode interference is derived from the current at the time of switching the power switch and the current oscillated by the parallel loop, and propagates between the neutral line and the signal line. Electromagnetic interference suppression is generally considered in three ways: reducing sources of interference, cutting off or attenuating interference in the propagation path, and improving the tamper resistance of the electronic device.
At present, the largest electromagnetic interference on an electric automobile is derived from an inverter in an electric drive system, and in a traditional three-phase three-bridge arm inverter, because of the limitation of circuit topology, the number of switching tubes conducted by an upper bridge arm and a lower bridge arm at any moment cannot be equal, so that common mode interference generated by asymmetrical circuit operation cannot be eliminated from the source even if an EMI filter is added on a circuit. At present, researches on suppression of common-mode interference are mainly started from a topological structure of a circuit and a modulation mode of an inverter, and a four-bridge arm proposed in 1999 has a simple topological structure and can theoretically eliminate common-mode voltage, but the problems of complex modulation, reduced output current waveform quality and the like brought by the common-mode interference are needed to be solved.
Disclosure of Invention
The invention aims to provide a zero vector-free predictive control method for a four-bridge arm inverter of a new energy automobile, which can reduce the common-mode voltage of a load end, improve the quality of output current and reduce the distortion rate of the current.
In order to achieve the above purpose, the present invention adopts the following technical scheme: a zero-vector-free predictive control method of a four-bridge arm inverter of a new energy automobile comprises the following sequential steps:
(1) Setting the time t as the initial time, applying an initial switching state and an initial sampling period to the time t, and acquiring three-phase current i at the time t a (t)，i b (t)，i c (t)；
(2) For the collected three-phase current i a (t)，i b (t)，i c (t) three-phase voltage u corresponding to initial switching state a (t)，u b (t)，u c (t) decoupling from the abc stationary coordinate system by park variation to obtain dq0 axis currents i, respectively d (t)、i q (t)、i 0 (t) and dq0 axis voltages u d (t)、u q (t)、u 0 (t)；
(3) The initial sampling period T s (t) the decoupled dq0 axis voltage u corresponding to the initial switch state d (t)、u q (t)、u 0 (t) the resulting dq0 axis current i of the decoupling d (t)、i q (t)、i 0 (t) inputting the current prediction model to obtain a predicted value of the current at the time t+1
(4) Predicted value of current at time t+1
Phase voltage u corresponding to the optimally selected switching state d (t+1)、u q (t+1)、u 0 (t+1) inputting the optimal sampling period T corresponding to each switch state into an optimization formula of the sampling period s (t+1) the optimal sampling period T corresponding to each switch state s Phase voltages u corresponding to the switching states at times (t+1) and (t+1) d (t+1)、u q (t+1)、u 0 Predicted value of current at times (t+1) and t+1
Obtaining output current predicted value +.2 at time t+2 corresponding to each switch state in the input current predicted model>
(5) Predicting current values at t+2 time under different switch states
Is +.>
And substituting the optimal switching state into a cost function of the tracking current reference value, and selecting a switching state which enables the cost function to be minimum, namely an optimal switching state at the time t+1 and a corresponding optimal sampling period.
In step (2), the formula of the park transformation is as follows:
wherein θ is the angle between the a-axis and the d-axis, i a 、i b 、i c Three-phase currents, u a 、u b 、u c Respectively three-phase voltages, i d 、i q 、i 0 For decoupling the resulting dq0 axis current, u d 、u d 、u 0 The resulting dq0 axis voltage is decoupled.
In step (3), the current prediction model is constructed based on a state equation of a four-leg inverter topology, and the state equation based on the four-leg inverter topology is as follows:
wherein R is a load resistor, L is a filter inductance, i d 、i q 、i 0 For decoupling the resulting dq0 axis current, u d 、u d 、u 0 The dq0 axis voltage obtained for decoupling;
obtaining a current prediction model by solving a state equation to accurately discretize output current:
wherein T is s And (t) is a sampling period at the time t, and i (t) is a load current at the time t.
In step (4), the switch state after the optimization selection refers to: the upper bridge arm on and the lower bridge arm off of each bridge arm of the four-bridge arm inverter topology are defined to be 1, and the output phase voltage is defined to be
The upper bridge arm of the reverse bridge arm is disconnected, the lower bridge arm is conducted to be 0, and the output phase voltage is +.>
Therefore, 16 switching states are shared under the four-bridge arm inverter topology, and the common-mode voltage of a load end is defined as the voltage difference between the midpoint of the three-phase load of the motor and the ground:
wherein U is cm Is common-mode voltage, U a ，U b ，U c ，U f Respectively the voltages of the bridge arm phases, U d Is a direct current source voltage;
when the upper bridge arm of the two bridge arms is always kept on and the lower bridge arm is turned off, the common-mode voltage of the load end is zero, six vectors 0011, 0101, 0110, 1001, 1010 and 1100 are selected as a finite switch state set, and the calculated amount is reduced on the premise of restraining the common-mode voltage to 0;
optimizing the sampling period by an optimization formula of the sampling period:
substituting the cost function and the current prediction model into the above model to obtain an optimal sampling period T s The value of (t+1) is taken, and then T is taken s And (t+1) substituting the current prediction model to obtain a current prediction value at the time t+2, namely:
wherein R is a load resistor, and L is a filter inductor.
The cost function approximates a reference value by using a least square method, namely, for a current predicted value at the time t+2, the cost function is as follows:
predicting the current at time t+2 under different switching states obtained in the step (4)
Is +.>
Substituting into the cost function to obtain g 1 (t+2)、g 2 (t+2)、g 3 (t+2)、g 4 (t+2)、g 5 (t+2)、g 6 And (t+2), selecting a switching state and a sampling period corresponding to the minimum value as optimal selection to be applied to the time t+1.
According to the technical scheme, the beneficial effects of the invention are as follows: firstly, the inverter structure adopts three-phase four-bridge arm topology, a finite state set is optimized, zero vectors are removed in a switching state, two bridge arms of the inverter are kept on all the time, the other two bridge arms are disconnected, and the common-mode voltage of a load end is restrained to be basically zero; secondly, the invention uses zero-vector-free predictive control to replace the modulation process, simplifies the control process of the inverter, simultaneously makes the predictive model more accurate, increases the cost function for tracking the reference current, reduces the distortion rate of the output current while inhibiting the common-mode voltage, and reduces the distortion rate of the output current from 3.9% and 2.54% to 1.43%.
Drawings
FIG. 1 is a block diagram of a four leg inverter topology;
FIG. 2 is a flow chart of the method of the present invention;
FIG. 3 is a common mode voltage waveform of a four leg inverter using the present invention;
FIG. 4 is an output current waveform of a three-phase four-bridge inverter using svpwm modulation;
FIG. 5 is an FFT analysis of the output current of a three-phase four-bridge inverter using svpwm modulation;
FIG. 6 is an FFT analysis of the output current waveform and current waveform of a three-phase three-bridge inverter using the svpwm modulation method;
FIG. 7 is an FFT analysis of the output current of a three-phase three-bridge inverter using the svpwm modulation method;
fig. 8 is an output current waveform and a current waveform of a three-phase four-bridge inverter using the present invention;
fig. 9 is an FFT analysis of output current using the three-phase four-bridge inverter of the present invention.
Detailed Description
As shown in fig. 2, a zero vector prediction control method for a four-leg inverter of a new energy automobile includes the following sequential steps:
(1) Setting the time t as the initial time, applying an initial switching state and an initial sampling period to the time t, and acquiring three-phase current i at the time t a (t)，i b (t)，i c (t)；
(2) For the collected three-phase current i a (t)，i b (t)，i c (t) and initial switch shapeThree-phase voltage u corresponding to state a (t)，u b (t)，u c (t) decoupling from the abc stationary coordinate system by park variation to obtain dq0 axis currents i, respectively d (t)、i q (t)、i 0 (t) and dq0 axis voltages u d (t)、u q (t)、u 0 (t)；
(3) The initial sampling period T s (t) the decoupled dq0 axis voltage u corresponding to the initial switch state d (t)、u q (t)、u0 ( t), and the resulting dq0 axis current i of the decoupling d (t)、i q (t)、i 0 (t) inputting the current prediction model to obtain a predicted value of the current at the time t+1
(4) Predicted value of current at time t+1
Phase voltage u corresponding to the optimally selected switching state d (t+1)、u q (t+1)、u 0 (t+1) inputting the optimal sampling period T corresponding to each switch state into an optimization formula of the sampling period s (t+1) the optimal sampling period T corresponding to each switch state s Phase voltages u corresponding to the switching states at times (t+1) and (t+1) d (t+1)、u q (t+1)、u 0 Predicted value of current at times (t+1) and t+1
Obtaining output current predicted value +.2 at time t+2 corresponding to each switch state in the input current predicted model>
(5) Predicting current values at t+2 time under different switch states
Is +.>
And substituting the optimal switching state into a cost function of the tracking current reference value, and selecting a switching state which enables the cost function to be minimum, namely an optimal switching state at the time t+1 and a corresponding optimal sampling period.
In step (2), the formula of the park transformation is as follows:
wherein θ is the angle between the a-axis and the d-axis, i a 、i b 、i c Three-phase currents, u a 、u b 、u c Respectively three-phase voltages, i d 、i q 、i 0 For decoupling the resulting dq0 axis current, u d 、u d 、u 0 The resulting dq0 axis voltage is decoupled.
In step (3), the current prediction model is constructed based on a state equation of a four-leg inverter topology, and the state equation based on the four-leg inverter topology is as follows:
wherein R is a load resistor, L is a filter inductance, i d 、i q 、i 0 For decoupling the resulting dq0 axis current, u d 、u d 、u 0 The dq0 axis voltage obtained for decoupling;
obtaining a current prediction model by solving a state equation to accurately discretize output current:
wherein T is s (t) is the sampling period at the moment t, i #t) is the load current at time t.
In step (4), the switch state after the optimization selection refers to: the upper bridge arm on and the lower bridge arm off of each bridge arm of the four-bridge arm inverter topology are defined to be 1, and the output phase voltage is defined to be
The upper bridge arm of the reverse bridge arm is disconnected, the lower bridge arm is conducted to be 0, and the output phase voltage is +.>
Therefore, 16 switching states are shared under the four-bridge arm inverter topology, and the common-mode voltage of a load end is defined as the voltage difference between the midpoint of the three-phase load of the motor and the ground:
wherein U is cm Is common-mode voltage, U a ，U b ，U c ，U f Respectively the voltages of the bridge arm phases, U d Is a direct current source voltage;
when the upper bridge arm of the two bridge arms is always kept on and the lower bridge arm is turned off, the common-mode voltage of the load end is zero, six vectors 0011, 0101, 0110, 1001, 1010 and 1100 are selected as a finite switch state set, and the calculated amount is reduced on the premise of restraining the common-mode voltage to 0;
since the selected switching state is reduced and zero vector transition is not generated, the cost function and the reference value deviate in the same sampling period and cannot accurately track the current, and therefore the sampling period is optimized through an optimization formula of the sampling period:
substituting the cost function and the current prediction model into the above model to obtain an optimal sampling period T s The value of (t+1) is taken, and then T is taken s And (t+1) substituting the current prediction model to obtain a current prediction value at the time t+ 2, namely:
wherein R is a load resistor, and L is a filter inductor.
The cost function approximates a reference value by using a least square method, namely, for a current predicted value at the time t+ 2, the cost function is as follows:
predicting the current at time t+2 under different switching states obtained in the step (4)
Is +.>
Substituting into the cost function to obtain g 1 (t+2)、g 2 (t+2)、g 3 (t+2)、g 4 (t+2)、g 5 (t+2)、g 6 And (t+2), selecting a switching state and a sampling period corresponding to the minimum value as optimal selection to be applied to the time t+ 1.
FIG. 1 shows a four-leg inverter topology with three-phase current i output by midpoint ABC of the first three legs a ，i b ，i c Wherein N is a load neutral point, and the output midpoint of the fourth bridge arm is connected with the three-phase bridge arm through the LC filter.
When the traditional svpwm modulation method is used for controlling the three-phase four-bridge inverter, although the state that two bridge arms are always conducted and two bridge arms are disconnected can be kept, so that the common-mode voltage is basically zero, three switches or four switches are simultaneously switched because no zero vector transition exists, the output current distortion rate is increased, and the output effect is shown in fig. 4 and 5.
The traditional three-phase three-bridge arm inverter also uses the svpwm modulation method of the zero removal vector, and because only three bridge arms exist, the common-mode voltage can be reduced from 1/2Ud to 1/6Ud theoretically. Meanwhile, as no zero vector transition exists, the situation that two or three switches switch states simultaneously exists, the distortion rate of output current is increased, and the output current effect is shown in fig. 6 and 7.
The invention builds an accurate current prediction model, optimizes vector selection, is applied to a three-phase four-bridge arm inverter structure, improves the quality of output current, namely reduces the distortion rate of the current while restraining the common-mode voltage of a load end from being basically zero, has the effects as shown in figures 3, 8 and 9, wherein the common-mode voltage is basically 0, and meanwhile, the current distortion rate is reduced from 2.54 percent to 1.43 percent.
In summary, the inverter structure in the invention adopts three-phase four-leg topology, optimizes the finite state set, removes zero vector in the switching state, keeps the upper legs of two legs of the inverter on all the time, and the lower legs of the other two legs are disconnected, and suppresses the common-mode voltage of the load end to be basically zero; the invention uses zero-free vector prediction control to replace the modulation process, simplifies the control process of the inverter, increases the cost function for tracking the reference current, reduces the distortion rate of the output current while inhibiting the common-mode voltage, and reduces the distortion rate of the output current from 3.9% and 2.54% to 1.43%.
Claims (5)
1. A zero-vector-free predictive control method for a four-bridge arm inverter of a new energy automobile is characterized by comprising the following steps of: the method comprises the following steps in sequence:
(1) Setting the time t as the initial time, applying an initial switching state and an initial sampling period to the time t, and acquiring three-phase current i at the time t a (t)，i b (t)，i c (t)；
(2) For the collected three-phase current i a (t)，i b (t)，i c (t) three-phase voltage u corresponding to initial switching state a (t)，u b (t)，u c (t) decoupling from the abc stationary coordinate system by park variation to obtain dq0 axis currents i, respectively d (t)、i q (t)、i 0 (t) and dq0 axis voltages u d (t)、u q (t)、u 0 (t)；
(3) The initial sampling period T s (t) the decoupled dq0 axis voltage u corresponding to the initial switch state d (t)、u q (t)、u 0 (t) the resulting dq0 axis current i of the decoupling d (t)、i q (t)、i 0 (t) inputting the current prediction model to obtain a predicted value of the current at the time t+1
(4) Predicted value of current at time t+1
Phase voltage u corresponding to the optimally selected switching state d (t+1)、u q (t+1)、u 0 (t+1) inputting the optimal sampling period T corresponding to each switch state into an optimization formula of the sampling period s (t+1) the optimal sampling period T corresponding to each switch state s Phase voltages u corresponding to the switching states at times (t+1) and (t+1) d (t+1)、u q (t+1)、u 0 Predicted value of current at times (t+1) and t+1
Obtaining output current predicted value +.2 at time t+2 corresponding to each switch state in the input current predicted model>
(5) Predicting current values at t+2 time under different switch states
i0pt+2 and given reference values idreft+2, iqreft+2, i0reft+2 are substituted into the cost function of the tracking current reference value, and are selectedAnd the switching state with the minimum cost function is the optimal switching state at the time t+1 and the corresponding optimal sampling period.
2. The zero-vector-free predictive control method for the four-leg inverter of the new energy automobile according to claim 1, wherein the zero-vector-free predictive control method is characterized by comprising the following steps of: in step (2), the formula of the park transformation is as follows:
wherein θ is the angle between the a-axis and the d-axis, i a 、i b 、i c Three-phase currents, u a 、u b 、u c Respectively three-phase voltages, i d 、i q 、i 0 For decoupling the resulting dq0 axis current, u d 、u d 、u 0 The resulting dq0 axis voltage is decoupled.
3. The zero-vector-free predictive control method for the four-leg inverter of the new energy automobile according to claim 1, wherein the zero-vector-free predictive control method is characterized by comprising the following steps of: in step (3), the current prediction model is constructed based on a state equation of a four-leg inverter topology, and the state equation based on the four-leg inverter topology is as follows:
wherein R is a load resistor, L is a filter inductance, i d 、i q 、i 0 For decoupling the resulting dq0 axis current, u d 、u d 、u 0 The dq0 axis voltage obtained for decoupling;
obtaining a current prediction model by solving a state equation to accurately discretize output current:
wherein T is s And (t) is a sampling period at the time t, and i (t) is a load current at the time t.
4. The zero-vector-free predictive control method for the four-leg inverter of the new energy automobile according to claim 1, wherein the zero-vector-free predictive control method is characterized by comprising the following steps of: in step (4), the switch state after the optimization selection refers to: the upper bridge arm on and the lower bridge arm off of each bridge arm of the four-bridge arm inverter topology are defined to be 1, and the output phase voltage is defined to be
The upper bridge arm of the reverse bridge arm is disconnected, the lower bridge arm is conducted to be 0, and the output phase voltage is +.>
Therefore, 16 switching states are shared under the four-bridge arm inverter topology, and the common-mode voltage of a load end is defined as the voltage difference between the midpoint of the three-phase load of the motor and the ground:
wherein U is cm Is common-mode voltage, U a ，U b ，U c ，U f Respectively the voltages of the bridge arm phases, U d Is a direct current source voltage;
when the upper bridge arm of the two bridge arms is always kept on and the lower bridge arm is turned off, the common-mode voltage of the load end is zero, six vectors 0011, 0101, 0110, 1001, 1010 and 1100 are selected as a finite switch state set, and the calculated amount is reduced on the premise of restraining the common-mode voltage to 0;
optimizing the sampling period by an optimization formula of the sampling period:
substituting the cost function and the current prediction model into the above model to obtain an optimal sampling period T s The value of (t+1) is taken, and then T is taken s And (t+1) substituting the current prediction model to obtain a current prediction value at the time t+2, namely:
wherein R is a load resistor, and L is a filter inductor.
5. The zero-vector-free predictive control method of the four-leg inverter of the new energy automobile according to claim 1 or 4, wherein the zero-vector-free predictive control method is characterized by comprising the following steps of: the cost function approximates a reference value by using a least square method, namely, for a current predicted value at the time t+2, the cost function is as follows:
predicting the current at time t+2 under different switching states obtained in the step (4)
Is +.>
Substituting into the cost function to obtain g 1 (t+2)、g 2 (t+2)、g 3 (t+2)、g 4 (t+2)、g 5 (t+2)、g 6 And (t+2), selecting a switching state and a sampling period corresponding to the minimum value as optimal selection to be applied to the time t+1.
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