CN117713579A - Hybrid inverter for open-winding motor and modulation method thereof - Google Patents
Hybrid inverter for open-winding motor and modulation method thereof Download PDFInfo
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Abstract
The invention provides a hybrid inverter for an open-winding motor and a modulation method thereof, and relates to the technical field of motor control. The hybrid inverter comprises two inverters which are positioned on a high-voltage side and a low-voltage side and are independently powered by voltage sources with unequal voltages, and the inverters on the high-voltage side and the low-voltage side respectively take IGBT (insulated gate bipolar transistor) and MOSFET (metal oxide semiconductor field effect transistor) as switching devices. Setting the ratio of the high-voltage side voltage to the low-voltage side voltage to be 2:1 or 3:1, respectively obtaining PWM modulation waves of the high-voltage side inverter and the low-voltage side inverter by using a clamping and space vector pulse width modulation method, and controlling an IGBT and a MOSFET to realize four-level output or five-level output of the hybrid inverter. The hybrid inverter can reduce the cost of a driver on the basis of higher electric energy quality; in addition, the hybrid inverter can utilize the advantages of high withstand voltage of the IGBT and high switching frequency of the MOSFET, reduce the switching frequency of the IGBT and the voltage required to be tolerated of the MOSFET, and can obtain a high-precision control effect and lower current harmonic wave through high sampling and high control frequency.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a hybrid inverter for an open-winding motor and a modulation method thereof.
Background
Permanent magnet synchronous motors have been widely used in various industries by virtue of their high efficiency and high power density. However, with the rapid development of science and technology, more and more working scenes put higher requirements on the precision and the electric energy quality of the permanent magnet synchronous motor driver.
The control frequency of the driver is improved, the control precision of the system can be directly improved, and better electric energy quality can be obtained by reducing current harmonic waves. However, in most of the scenes, IGBTs (insulated gate bipolar transistors) are used as switching devices of the driver, and if the control frequency of the driver needs to be raised at the same power level, it is often necessary to use a novel device with high withstand voltage and high switching frequency, such as SiC-Metal-Oxide-Semiconductor Field-Effect Transistor (silicon carbide Metal Oxide semiconductor field effect transistor). However, such new devices are still expensive, resulting in a significant increase in system cost. The other solution is to use a multi-level inverter to supply power to the motor, and the multi-level inverter has the advantages of small device voltage stress, small output harmonic wave and the like.
Conventional multilevel inverters mainly include Neutral-Point-Clamped (NPC), flying Capacitor (FC) inverters, and Cascaded H-Bridge (CHB) inverters. In practical application, better power quality can be obtained by adopting a high-order multilevel inverter. However, the higher-order multilevel inverter requires more devices, which drives an increase in driving cost. Furthermore, the addition of switching devices and capacitors will make the system more complex and reduce its reliability.
An Open winding permanent magnet synchronous motor (Open-Winding Permanent Magnet Synchronous Motor, OW-PMSM) opens the neutral point of the motor and connects the two ends of the winding to two-level inverters. The open-winding motor drive can also achieve multi-level characteristics without the need for additional clamping diodes and capacitors, as compared to conventional multi-level inverters. In addition, the open winding motor driver has the advantages of larger modulation range, better fault tolerance and more redundancy. There are three typical topologies for open-winding motor drives, depending on the power supply to the two sets of inverters: common dc bus topology, isolated dc bus topology, and hybrid topology with floating capacitors. The public direct current bus topology has the advantage of lower cost. However, due to the zero sequence paths present in the topology, measures have to be taken to suppress the zero sequence currents. In the isolated direct current bus topology, the voltage sources of the double inverters are independent, and the problem of ZSC can be effectively eliminated. Hybrid topologies with floating capacitors can also avoid zero sequence current problems and are less costly than isolated dc bus topologies. However, hybrid topologies with floating capacitors require specialized controls to balance the capacitor voltage. Therefore, the isolation direct current bus topological structure is selected to obtain more stable power supply, and the two-side power supplies are independent, so that the device has better flexibility. By setting the voltage ratio of the power supplies at two sides to 2:1 or 3:1, equivalent four-level or five-level output can be obtained, and higher precision and better power quality are realized.
However, the cost of two power drivers increases, so that the application of such topologies is limited.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a hybrid inverter for an open-winding motor and a modulation method thereof. Wherein the hybrid inverter uses different power electronic switching devices on both sides, in particular the inverter comprises:
the power supply comprises a high-voltage side inverter I1, a low-voltage side inverter I2 and a controller;
the alternating-current ends of the inverter I1 and the inverter I2 are respectively connected with the open-winding motor, and IGBT and MOSFET are respectively adopted as switching devices;
the controller is used for controlling each IGBT and each MOSFET.
In addition, the invention also provides a modulation method of the hybrid inverter, such as high-voltage side voltageU dc1 And low side voltageU dc2 The ratio is 2:1, comprising the following steps:
step S1: determining a reference vector；
Step S11: collecting the rotating speed of an open winding motor, and setting a reference rotating speed; the rotation speed deviation control calculation is carried out through a PI controller and projected tod-qPlane, obtain reference currentReference current->；
Step S12: collecting A, B, C three-phase current output by an open-winding motor, transforming coordinates and projecting the three-phase current tod-qPlane, obtain currentidCurrent flowiq；
Step S13: based on reference currentReference current->Current flowidCurrent flowiqThe reference voltage is obtained by the PI controller>Reference voltage->；
Step S14: will reference voltageAnd reference voltage->Conversion toα-βCoordinates and maintaining the phase offset angle at 180 DEG to obtain the reference voltage +.>Reference voltage->；
Step S15: based on reference voltageReference voltage->Determining a reference vector->Length of (2)V L ；
；
In the formula (i),is the maximum length of the reference vector;
step S16: according to the reference vectorLength of (2)V L And reference vector->And (3) withα-βIn a coordinate systemαIncluded angle of shaft->Determining a reference vector->Wherein, the method comprises the steps of, wherein,
；
in the formula (i),u α 、u β respectively the reference vectorsAt the position ofα-βIn a coordinate systemαShaft and method for producing the sameβProjection length on axis;
step S2: according toThe vector plane is divided into 6 main sectors,
；
step S3: equally dividing each main sector into 9 sub-sectors, and numbering 1 to 9;
step S4: determining a reference vectorPositioning of the sub-sector:
sector conversion of any primary sector to primary sector I for reference vectorPositioning the sub-sector;
in a sixty degree coordinate systemg-hIn,
；
in the formula (i),V g 、V h respectively the reference vectorsAt the position ofgShaft and method for producing the samehProjection length on axis;
separately calculateV g 、V h And (3) withRatio of (2)R g 、R h ，
；
According toR g 、R h Locating reference vectorsIn the sub-sector in which the sector is located,
；
step S5: reference vector of inverter I1Allocated to the inverter I1 and the inverter I2;
according to the reference vectorThe sub-sector in which the reference vector is located is selected +.>Assigned to the inverter I1;
reference vector assigned to inverter I2There are:
；
step S6: the PWM modulation wave of the inverter I1 is obtained by clamping modulation and is used for controlling IGBT;
reference vector to inverter I1The inverter I1 has basic vectors 000-111; wherein, 1 and 0 represent the high-low level state of each A, B, C phase voltage; 000. 111 is zero vector, 001, 010, 011, 100, 101, 110 is effective vector;
step S61: synthesisReference vector；
When referring to vectorsWhen in sub-sector 1, zero vector 000 is selected as output to generate reference vector +.>；
When referring to vectorsWhen in sub-sectors 2, 4, 5, 6, 8, 9, the single significant vector nearest to it is selected as the output synthetic reference vector +.>；
When referring to vectorsWhen the current main sector is positioned in the sub sector 7, two effective vector synthesis reference vectors of the current main sector are selectedThe method comprises the steps of carrying out a first treatment on the surface of the Wherein the acting time of any effective vector is half of the control period;
when referring to vectorsWhen the sub-sector 3 is located, the nearest effective vector and zero vector are selected to synthesize +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein the active time of the active vector is half of the control period, and the zero vector satisfies the synthetic reference vector +.>When the inverter I1 only has one phase bridge arm to perform switching action;
step S62: the PWM modulation wave of the inverter I1 is obtained through the action sequence of the basic vector, and is used for controlling IGBT;
step S7: calculation ofAt the position ofα-βCoordinate systemαShaft and method for producing the sameβProjection length on axis +.>、/>；
；
In the formula (i),、/>is->At the position ofα-βCoordinate systemαShaft and method for producing the sameβProjection length on axis;
will be、/>And after the inversion, inputting the PWM modulation wave into an SVPWM algorithm, and calculating to obtain a PWM modulation wave of the inverter I2 for controlling the MOSFET.
Alternatively, the invention also provides a voltage of the hybrid inverter at the high voltage sideU dc1 And low side voltageU dc2 When the ratio is 3:1, the method comprises the following steps:
step S1: determining a reference vector；
Step S11: collecting the rotating speed of an open winding motor, and setting a reference rotating speed; through PI controllerCalculating and projecting the rotational speed deviation controld-qPlane, obtain reference currentReference current->；
Step S12: collecting A, B, C three-phase current output by an open-winding motor, transforming coordinates and projecting the three-phase current tod-qPlane, obtain currentidCurrent flowiq；
Step S13: based on reference currentReference current->Current flowidCurrent flowiqThe reference voltage is obtained by the PI controller>Reference voltage->；
Step S14: will reference voltageAnd reference voltage->Conversion toα-βCoordinates and maintaining the phase offset angle at 180 DEG to obtain the reference voltage +.>Reference voltage->；
Step S15: based on reference voltageReference voltage->Determining a reference vector->Length of (2)V L ；
；
In the formula (i),is the maximum length of the reference vector;
step S16: according to the reference vectorLength of (2)V L And reference vector->And (3) withα-βIn a coordinate systemαIncluded angle of shaft->Determining a reference vector->Wherein, the method comprises the steps of, wherein,
；
in the formula (i),u α 、u β respectively the reference vectorsAt the position ofα-βIn a coordinate systemαShaft and method for producing the sameβProjection length on axis;
step S2: according toThe vector plane is divided into 6 main sectors,
；
step S3: equally dividing each main sector into 16 sub-sectors, and numbering 1 to 16;
step S4: determining a reference vectorPositioning of the sub-sector:
sector conversion of any primary sector to primary sector I for reference vectorPositioning the sub-sector;
in a sixty degree coordinate systemg-hIn,
；
in the formula (i),V g 、V h respectively the reference vectorsAt the position ofgShaft and method for producing the samehProjection length on axis;
separately calculateV g 、V h And (3) withRatio of (2)R g 、R h ，
；
According toR g 、R h Locating reference vectorsIn the sub-sector in which the sector is located,
；
step S5: reference vector of inverter I1Allocated to the inverter I1 and the inverter I2;
according to the reference vectorThe sub-sector in which the reference vector is located is selected +.>Assigned to the inverter I1;
reference vector assigned to inverter I2There are:
；
step S6: the PWM modulation wave of the inverter I1 is obtained by clamping modulation and is used for controlling IGBT;
reference vector to inverter I1The inverter I1 has basic vectors 000-111; wherein, 1 and 0 represent the high-low level state of each A, B, C phase voltage; 000. 111 is zero vector, 001, 010, 011, 100, 101, 110 is effective vector;
step S61: synthesizing reference vectors；
When referring to vectorsWhen in sub-sector 1, zero vector 000 is selected as output to generate reference vector +.>；
When referring to vectorsWhen in sub-sectors 5, 9, 10, 11, 15, 16, the single significant vector nearest to it is selected as the output synthetic reference vector +.>；
When referring to vectorsWhen the sub-sectors 2, 3 and 4 are located, the nearest effective vector and zero vector are selected to be synthesized +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein the action time of the zero vector is 2/3 of the control period, and the action time of the effective vector is 1/3 of the control period;
when referring to vectorsWhen the sub-sectors 6 and 8 are located, the nearest effective vector and zero vector are selected to synthesize +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein the action time of the zero vector is 1/3 of the control period, and the action time of the effective vector is 2/3 of the control period; zero vector satisfies the synthetic reference vector +.>When the inverter I1 only has one phase bridge arm to perform switching action;
when referring to vectorsWhen located in sub-sectors 7, 12, 13, 14, two valid vector combinations of the current main sector are selectedThe method comprises the steps of carrying out a first treatment on the surface of the Wherein, the action time of the effective vector close to the control device is 2/3 of the control period, and the action time of the effective vector far from the control device is 1/3 of the control period;
step S62: the PWM modulation wave of the inverter I1 is obtained through the action sequence of the basic vector, and is used for controlling IGBT;
step S7: calculation ofAt the position ofα-βCoordinate systemαShaft and method for producing the sameβProjection length on axis +.>、/>；
；
In the formula (i),、/>is->At the position ofα-βCoordinate systemαShaft and method for producing the sameβProjection length on axis;
will be、/>And after the inversion, inputting the PWM modulation wave into an SVPWM algorithm, and calculating to obtain a PWM modulation wave of the inverter I2 for controlling the MOSFET.
Compared with the prior art, the invention has the beneficial effects that:
the hybrid inverter for the open-winding motor can utilize the advantages of high withstand voltage of the IGBT and high switching frequency of the MOSFET on the basis of reducing the cost of a driver, and reduce the switching frequency of the IGBT and the required withstand voltage of the MOSFET.
Drawings
Fig. 1 is a schematic diagram of an open-winding motor to which the hybrid inverter of the present invention is applied.
Fig. 2 is a schematic block diagram of control of an open-winding motor to which the hybrid inverter of the present invention is applied.
FIG. 3 is a schematic diagram of space vectors at a voltage ratio of 2:1.
FIG. 4 is a schematic diagram of the sub-sector division of the main sector I at a voltage ratio of 2:1.
Fig. 5 (a) is a schematic diagram of vector allocation when the reference vector is located in 1 sub-sector of the main sector I at a voltage ratio of 2:1.
Fig. 5 (b) is a schematic diagram of vector allocation when the reference vector is located in the 2, 5, 6 sub-sectors of the main sector I at a voltage ratio of 2:1.
Fig. 5 (c) is a schematic diagram of vector allocation when the reference vector is located at the 4, 8, 9 sub-sectors of the main sector I at a voltage ratio of 2:1.
Fig. 5 (d) is a diagram showing vector allocation when the reference vector is located in the 7 sub-sectors of the main sector I at a voltage ratio of 2:1.
Fig. 5 (e) is a diagram showing vector allocation when the reference vector is located in the 3 sub-sectors of the main sector I at a voltage ratio of 2:1.
Fig. 5 (f) is a schematic diagram of vector assignment for reference vectors in main sector I when the voltage ratio is 2:1.
FIG. 6 is a schematic diagram of space vectors at a voltage ratio of 3:1.
FIG. 7 is a schematic diagram of the sub-sector division of the main sector I at a voltage ratio of 3:1.
Fig. 8 (a) is a schematic diagram of vector allocation when the reference vector is located at 1 sub-sector of the main sector I at a voltage ratio of 3:1.
Figure 8 (b) is a voltage ratio of 3:1,R g ＜R h the time reference vector is located in the vector allocation diagram of the 3, 4 sub-sectors of the main sector I.
Fig. 8 (c) is a diagram showing vector allocation when the reference vector is located in the 8 sub-sectors of the main sector I at a voltage ratio of 3:1.
Fig. 8 (d) is a schematic diagram of vector allocation when the reference vector is located at the 7, 13, 14 sub-sectors of the main sector I at a voltage ratio of 3:1.
Fig. 8 (e) is a schematic diagram of vector allocation when the reference vector is located at the 9, 15, 16 sub-sectors of the main sector I at a voltage ratio of 3:1.
Detailed Description
The present invention will be described in further detail below by way of examples with reference to the accompanying drawings.
Example 1
As shown in fig. 1, this example proposes a hybrid inverter for an open-winding motor. The two-side inverter is powered by two independent voltage sources with unequal voltage, and the high-voltage side voltageU dc1 And low voltage side voltageU dc2 Is set to a ratio of 2:1 and 3:1. Inverter I1 on the high voltage side uses IGBTs of high withstand voltage but allowing a lower switching frequency, i.eS A1 、S A2 、S B1 、S B2 、S C1 、S C2 As a switching device; the inverter I2 on the low voltage side uses MOSFETs with low withstand voltage but high switching frequency, i.eS´ A1 、S´ A2 、S´ B1 、S´ B2 、S´ C1 、S´ C2 As a switching device.
The average switching operation frequency of the low-voltage side inverter I2 device can be made the same as the control frequency, and the average switching operation frequency of the high-voltage side inverter I1 device is far lower than the control frequency.
Using the switching state of three-phase legs in each inverterS A1 , S B1 , S C1 , S´ A1 , S´ B1 , S´ C1 To represent the outputs of two inverters, 8 output vectors of inverter I1 can be usedV 0 (000)～V 7 (111) The basic vectors representing the 8 outputs of inverter I2 are(000)～/>(111). It should be noted that: the "1" in brackets indicates that the upper switch of the bridge arm is turned on, and also indicates the current three-phase voltage of the inverter A, B, CHigh state of (2); the lower switch is turned off, and "0" indicates that the lower switch of the bridge arm is turned on, and the upper switch is turned off, and may also indicate a low level state of the current three-phase voltage of the inverter A, B, C. For example, if the a-phase voltage is high and the B-phase and C-phase voltages are low, the corresponding base vector is 100. Wherein,V 0 (000)、V 7 (111) Is the vector of zero which is the zero vector,V 1 (001)、V 2 (010)、V 3 (011)、V 4 (100)、V 5 (101)、V 6 (110) Is a valid vector.
The system control proposed in this embodiment is shown in fig. 2, and the current motor rotation speed is collectednAnd setting a reference motor rotation speed。
The PI controller is used for carrying out rotational speed deviation control calculation and projecting the rotational speed deviation calculation tod-qPlane, obtain reference currentAnd->；
Collecting current of each phase of current open-winding motori a ，i b ，i c I.e. as shown in FIG. 2i abc ，And projected to after coordinate transformationd-qPlane to obtain the currentd-qActual current sum of planesidAndiq；
by reference currentAnd->Currently, there is a need for a device for controlling the current state of the artd-qPlane currentidAndiqobtaining a reference voltage via a PI controller>And->；
Will reference voltageAnd->Conversion toα-βCoordinates, and keeps the phase offset angle 180 DEG out of phase, to obtain a reference vector +.>At the position ofα-βComponent of coordinates->And->For subsequent space vector modulation calculations. According to->And->The current reference vector can be calculated>Length of (2)V L Angle in coordinates +.>：
；
In the formula (i),u α 、u β respectively the reference vectorsAt the position ofα-βIn a coordinate systemαShaft and method for producing the sameβProjection length on axis.
In this embodiment, the sampling and control frequency of the system40kHz is a high switching frequency that is difficult to achieve with conventional IGBT converters. The average switching frequency of the low-voltage side inverter I2 device is the same as the control frequency, and the switching frequency of the high-voltage side inverter I1 device is far lower than the system control frequency. Generally, the operating frequency of the IGBT is 20Khz or less.
Specifically, the spatial vector modulation method suitable for the voltage ratio of 2:1 and 3:1 according to the embodiment mainly includes: dividing vector planes under different voltage ratios in detail, positioning reference vectors, and finally distributing the reference vectors to the inverters on two sides according to the specific sub-sectors of the reference vectors; the specific division of the vector plane comprises the following steps: as shown in fig. 3 and 6, when the voltage ratio is 2:1 and 3:1, 64 vector combinations of the double inverters are distributed in the following wayα-βIn plane, according to the angle of the reference vectorThe vector plane is divided into 6 main sectors,
；
dividing each main sector again: when the voltage ratio is 2:1, the output of the double inverter can be equivalently a four-level inverter, and when 37 different vectors are arranged on a vector plane, 54 equilateral triangle areas with the same size can be formed, as shown in fig. 3; when the voltage ratio is 3:1, the output of the five-level inverter can be equivalently used at the moment, and 96 equilateral triangle areas with the same size can be formed, as shown in fig. 6; the sides of the equilateral triangle areas are all 2/3U dc2 Defining these equilateral triangle areas as sub-sectors, each main sector is divided into 9 sub-sectors at a voltage ratio of 2:1, as shown in FIG. 4; at a voltage ratio of 3:1, each main sector is divided into 16 sub-sectors, e.gShown in fig. 7. It should be noted that: the blank dots in fig. 6 represent that no actual vector combinations are distributed at this point and are used only to assist in sub-sector division.
Further, the positioning of the sub-sector where the reference vector is located is performed according to the following steps, including:
examples are master sector I: due to the symmetry of sector distribution, 6 main sectors can be converted into a main sector I to locate the sub-sector where the reference vector is located, and after conversion, the length of the reference vectorV L Unchanged, will angleIs transformed into->：
；
Wherein,Nis the value of the main sector where the current reference vector is located.
By means of a sixty-degree coordinate systemg-hSub-sector positioning by coordinates, defining reference vectorsAt the position ofgThe projection length on the axis isV g In the followinghThe projection length on the axis isV h Defining the maximum length of the reference vector as +.>，
；
Recalculating the reference vector atg-hOn-axis projection lengthV g 、V h Ratio to maximum length of reference vectorR g 、R h ：
。
According toR g 、R h Determines the sub-sector in which the reference vector is specifically located:
when the voltage ratio is 2:1, the sub-sector is positioned:
；
at a voltage ratio of 3:1, the sub-sector is positioned:
。
after the division of the main sector and the sub-sector is completed, distributing the reference vector to the inverter I1 and the inverter I2 according to the sub-sector where the reference vector is located, and comprising the following steps: the vector assigned to inverter I1 isThe vector assigned to inverter I2 is +.>Wherein, the method comprises the steps of, wherein,
。
the basic vector that can be generated by the inverter I1 isV 0 （000）~V 7 （111）。
Inverter I1 references a vector when the voltage ratio is 2:1The synthesis method is as follows:
when referring to vectorsWhen in sub-sector 1, a zero vector will be selectedV 0 (000) As output, synthesize +.>When the reference vector->In the sub-sectors 2, 4, 5, 6, 8, 9, the distance reference vector will be chosen +.>The nearest single significant vector is taken as output, synthesized +.>When the reference vector->When in the sub-sector 7, two adjacent active vectors are selected to synthesize +.>And the time of action of both vectors is 1/2 control period, when the reference vector +.>When located in sub-sector 3, distance reference vector +.>The nearest active vector and the zero vector are combined +.>The action time of the two vectors is 1/2 control period, and the zero vector is selected to satisfy the condition of synthesizing +.>When the inverter I1 is operated, only one phase arm is operated.
Inverter I1 references a vector when the voltage ratio is 3:1The synthesis method is as follows:
when referring to vectorsIs positioned atWhen sub-sector 1, a zero vector will be selectedV 0 (000) As output, synthesize +.>The method comprises the steps of carrying out a first treatment on the surface of the When reference vector->When in the sub-sectors 5, 9, 10, 11, 15, 16, the single effective vector closest to the reference voltage vector is selected as output, synthesized +.>The method comprises the steps of carrying out a first treatment on the surface of the When reference vector->When located in sub-sectors 2, 3, 4, a distance reference vector is selected +.>The nearest active vector and the zero vector are combined +.>The zero vector has a control period of 2/3 and the effective vector has a control period of 1/3, and is used as a reference vector +.>When located in sub-sectors 6, 8, distance reference vector is selected +.>The nearest active vector and the zero vector are combined +.>The zero vector has the action time of 1/3 of the control period, the action time of the effective vector is 2/3 of the control period, and the zero vector is selected to meet the requirement of synthesizing +.>When the inverter I1 only has one phase bridge arm to perform switching action; when referring to vectorsWhen located in sub-sectors 7, 12, 13, 14, two adjacent active vectors are selected to synthesize +.>And distance reference vector +.>The time of action of the near active vector is 2/3 of the control period, distance from the reference vector +.>The far effective vector has an active time of 1/3 of the control period.
Taking the main sector I as an example, the reference vector assignment for a voltage ratio of 2:1 is shown in fig. 5 (a) to 5 (f).
As shown in fig. 5 (a), when the reference vector is located in the 1 sub-sector, the reference vector is completely outputted from the inverter I2 on the low voltage side, and the inverter I1 constantly outputs the vector in the current control periodV 0 （000）。
As shown in fig. 5 (b), when the reference vector is located in the 2, 5, 6 sub-sectors, the inverter I1 constantly outputs the vector in the current periodV 4 （100）。
As shown in fig. 5 (c), when the reference vector is located in the 4, 8, 9 sub-sectors, the inverter I1 constantly outputs the vector in the current periodV 6 （110）。
As shown in fig. 5 (d), when the reference vector is located in the sub-sector 7, the inverter I1 is in Ts(1/2 control period) output vectorV 4 （100）， TsOutput vectorV 6 (110) The order of action of the vectors is:V 4 （100），V 6 （110），V 4 （100）。
as shown in fig. 5 (e), when the reference vector is at 3Sub-sector, andR g ＜R h at this time, the inverter I1 is TsOutputting zero vectorsV 7 （111）， TsOutput vectorV 6 (110) The order of action of the vectors is:V 6 （110），V 7 （111），V 6 （110）。
as shown in FIG. 5 (f), whenR g ＞R h At this time, the inverter I1 is TsOutputting zero vectorsV 0 （000）， TsOutput vectorV 4 (100) The order of action of the vectors is:V 0 （000），V 4 （100），V 0 （000）。
the reference vector assignment when the voltage ratio is 3:1 is as shown in fig. 8 (a) to 8 (e):
as shown in fig. 8 (a), when the reference vector is located in the 1 sub-sector, the reference vector is also completely outputted from the low voltage side INV2, INV1 constantly outputs the vector in the current control periodV 0 （000）。
According toR g 、R h The analysis of the other sub-sector is performed as upper and lower halves.
As shown in FIG. 7, describeR g ＜R h Is the upper half of (2):
when (when)R g ＜R h In this case, as shown in FIG. 8 (b), the reference vector is located in 3, 4 sectors, INV1 is TsOutputting zero vectorsV 7 （111）， TsOutput vectorV 6 (110) The order of action of the vectors is:V 6 （110），V 7 （111），V 6 （110）。
as shown in fig. 8 (c), when the reference vector is located in 8 sub-sectors, INV1 is at TsOutputting zero vectorsV 7 （111）， TsOutput vectorV 6 (110) The order of action of the vectors is:V 6 （110），V 7 （111），V 6 （110）。
as shown in fig. 8 (d), when the reference vector is located in the 7, 13, 14 sub-sectors, INV1 is at TsOutput vectorV 6 （110）， TsOutput vectorV 4 (100) The order of action of the vectors is:V 4 （100），V 6 （110），V 4 （100）；
as shown in fig. 8 (e), INV1 constantly outputs a vector in the current period when the reference vector is located at the 9, 15, 16 sub-sectorsV 6 （110）。
It should be noted that: when the INV1 needs to output the zero vector, the zero vector needs to be selected to be used according to the effective vector to be output in the current periodV 0 (000) Or a zero vectorV 7 （111) The selection criterion is to ensure that only one-phase device acts at most in each control period and only one time of switching is performed, so that the switching operation frequency of the device of INV1 is effectively reduced.
According to the determined vector action sequence and time, PWM modulation waves for driving the INV1 can be obtained, and modulation of the inverter I1 is realized. Using modulated PWM waves as control signals, i.e. as shown in FIG. 2S ABC1 The switching devices of the high-side inverter, i.e., IGBTs, are controlled.
When INV1 outputs vectorAfter determination, the corresponding->At the position ofα-βProjection length on coordinate System +.>、Is also determined, a vector of the desired output of INV2 can be calculated>At the position ofα-βProjection length on coordinate system、/>：
；
For example, when the voltage ratio is 2:1, the reference vector is calculated to be located at the 7 sub-sectors of main sector I、：
；
When the voltage ratio is 3:1, the reference vector is located at the 8 sub-sectors of main sector I, the calculation is performed、/>：
；
When (when)、/>After the determination, the two are inverted and used as the input of a space vector pulse width modulation algorithm (SVPWM), and PWM modulation waves for driving the INV2 are calculated, so that the modulation of the INV2 is realized. Using modulated PWM waves as control signals, i.e. as shown in FIG. 2S ABC2 The switching devices of the high-side inverter, i.e. the MOSFETs, are controlled.
The hybrid inverter for the open-winding motor can utilize the advantages of high withstand voltage of the IGBT and high switching frequency of the MOSFET on the basis of reducing the cost of a driver, and reduce the switching frequency of the IGBT and the required withstand voltage of the MOSFET.
Further, when the input voltage of the high-voltage side inverter and the input voltage of the low-voltage side inverter in the hybrid inverter are 2:1, equivalent four-level output can be obtained; and when the ratio is 3:1, equivalent five-level output can be obtained so as to ensure higher electric energy quality. In addition, by adopting a higher sampling frequency and a control frequency, a high-precision control effect and lower current harmonic waves can be obtained.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A hybrid inverter for an open-winding motor, comprising a high-side inverter I1, a low-side inverter I2, and a controller;
the alternating-current ends of the inverter I1 and the inverter I2 are respectively connected with the open-winding motor, and IGBT and MOSFET are respectively adopted as switching devices;
the controller is used for controlling each IGBT and each MOSFET.
2. A modulation method of a hybrid inverter for an open-winding motor as claimed in claim 1, characterized by, for example, a high-side voltageU dc1 And low side voltageU dc2 The ratio is 2:1, comprising the following steps:
step S1: determining a reference vector；
Step S11: collecting the rotating speed of an open winding motor, and setting a reference rotating speed; the rotation speed deviation control calculation is carried out through a PI controller and projected tod-qPlane, obtain reference currentReference current->；
Step S12: collecting A, B, C three-phase current output by an open-winding motor, transforming coordinates and projecting the three-phase current tod-qPlane, obtain currentidCurrent flowiq；
Step S13: based on reference currentReference current->Current flowidCurrent flowiqObtaining a reference voltage through a PI controllerReference voltage->；
Step S14: will reference voltageAnd reference voltage->Conversion toα-βCoordinates and maintaining the phase offset angle at 180 DEG to obtain the reference voltage +.>Reference voltage->；
Step S15: based on reference voltageReference voltage->Determining a reference vector->Length of (2)V L ；
；
In the formula (i),is the maximum length of the reference vector;
step S16: according to the reference vectorLength of (2)V L And reference vector->And (3) withα-βIn a coordinate systemαIncluded angle of shaft->Determining a reference vector->Wherein, the method comprises the steps of, wherein,
；
in the formula (i),u α 、u β respectively the reference vectorsAt the position ofα-βIn a coordinate systemαShaft and method for producing the sameβProjection length on axis;
step S2: according toThe vector plane is divided into 6 main sectors,
；
step S3: equally dividing each main sector into 9 sub-sectors, and numbering 1 to 9;
step S4: determining a reference vectorPositioning of the sub-sector:
sector conversion of any primary sector to primary sector I for reference vectorPositioning the sub-sector;
in a sixty degree coordinate systemg-hIn,
；
in the formula (i),V g 、V h respectively the reference vectorsAt the position ofgShaft and method for producing the samehProjection length on axis;
separately calculateV g 、V h And (3) withRatio of (2)R g 、R h ，
；
According toR g 、R h Locating reference vectorsIn the sub-sector in which the sector is located,
；
step S5: reference vector of inverter I1Allocated to the inverter I1 and the inverter I2;
according to the reference vectorThe sub-sector in which the reference vector is located is selected +.>Assigned to the inverter I1;
reference vector assigned to inverter I2There are:
；
step S6: the PWM modulation wave of the inverter I1 is obtained by clamping modulation and is used for controlling IGBT;
reference vector to inverter I1The inverter I1 has basic vectors 000-111; wherein, 1 and 0 represent the high-low level state of each A, B, C phase voltage; 000. 111 is zero vector, 001, 010, 011, 100, 101, 110 is effective vector;
step S61: synthesizing reference vectors；
When referring to vectorsWhen in sub-sector 1, zero vector 000 is selected as output to generate reference vector +.>；
When referring to vectorsWhen in sub-sectors 2, 4, 5, 6, 8, 9, the nearest single significant vector is selected as the inputGo out synthetic reference vector +.>；
When referring to vectorsWhen in sub-sector 7, two active vector synthesis reference vectors of the current main sector are selected +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein the acting time of any effective vector is half of the control period;
when referring to vectorsWhen the sub-sector 3 is located, the nearest effective vector and zero vector are selected to synthesize +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein the active time of the active vector is half of the control period, and the zero vector satisfies the synthetic reference vector +.>When the inverter I1 only has one phase bridge arm to perform switching action;
step S62: the PWM modulation wave of the inverter I1 is obtained through the action sequence of the basic vector, and is used for controlling IGBT;
step S7: calculation ofAt the position ofα-βCoordinate systemαShaft and method for producing the sameβProjection length on axis +.>、/>；
；
In the formula (i),、/>is->At the position ofα-βCoordinate systemαShaft and method for producing the sameβProjection length on axis;
will be、/>And after the inversion, inputting the PWM modulation wave into an SVPWM algorithm, and calculating to obtain a PWM modulation wave of the inverter I2 for controlling the MOSFET.
3. A modulation method of a hybrid inverter for an open-winding motor as claimed in claim 1, characterized in that the high-side voltageU dc1 And low side voltageU dc2 When the ratio is 3:1, the method comprises the following steps:
step S1: determining a reference vector；
Step S11: collecting the rotating speed of an open winding motor, and setting a reference rotating speed; the rotation speed deviation control calculation is carried out through a PI controller and projected tod-qPlane, obtain reference currentReference current->；
Step S12: collecting A, B, C three-phase current output by an open-winding motor, transforming coordinates and projecting the three-phase current tod-qPlane, obtain currentidCurrent flowiq；
Step S13: based on reference currentReference current->Current flowidCurrent flowiqObtaining a reference voltage through a PI controllerReference voltage->；
Step S14: will reference voltageAnd reference voltage->Conversion toα-βCoordinates and maintaining the phase offset angle at 180 DEG to obtain the reference voltage +.>Reference voltage->；
Step S15: based on reference voltageReference voltage->Determining a reference vector->Length of (2)V L ；
；
In the formula (i),is the maximum length of the reference vector;
step S16: according to the reference vectorLength of (2)V L And reference vector->And (3) withα-βIn a coordinate systemαIncluded angle of shaft->Determining a reference vector->Wherein, the method comprises the steps of, wherein,
；
in the formula (i),u α 、u β respectively the reference vectorsAt the position ofα-βIn a coordinate systemαShaft and method for producing the sameβProjection length on axis;
step S2: according toThe vector plane is divided into 6 main sectors,
；
step S3: equally dividing each main sector into 16 sub-sectors, and numbering 1 to 16;
step S4: determining a reference vectorPositioning of the sub-sector:
sector conversion of any primary sector to primary sector I for reference vectorPositioning the sub-sector;
in a sixty degree coordinate systemg-hIn,
；
in the formula (i),V g 、V h respectively the reference vectorsAt the position ofgShaft and method for producing the samehProjection length on axis;
separately calculateV g 、V h And (3) withRatio of (2)R g 、R h ，
；
According toR g 、R h Locating reference vectorsIn the sub-sector in which the sector is located,
；
step S5: reference vector of inverter I1Allocated to the inverter I1 and the inverter I2;
according to the reference voltage vectorThe sub-sector in which the reference vector is located is selected +.>Assigned to the inverter I1;
reference vector assigned to inverter I2There are:
；
step S6: the PWM modulation wave of the inverter I1 is obtained by clamping modulation and is used for controlling IGBT;
reference vector to inverter I1The inverter I1 has basic vectors 000-111; wherein, 1 and 0 represent the high-low level state of each A, B, C phase voltage; 000. 111 is zero vector, 001, 010, 011, 100, 101, 110 is effective vector;
step S61: synthesizing reference vectors；
When referring to vectorsWhen in sub-sector 1, zero vector 000 is selected as the output productRaw reference vector->；
When referring to vectorsWhen in sub-sectors 5, 9, 10, 11, 15, 16, the single significant vector nearest to it is selected as the output synthetic reference vector +.>；
When referring to vectorsWhen the sub-sectors 2, 3 and 4 are located, the nearest effective vector and zero vector are selected to be synthesized +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein the action time of the zero vector is 2/3 of the control period, and the action time of the effective vector is 1/3 of the control period;
when referring to vectorsWhen the sub-sectors 6 and 8 are located, the nearest effective vector and zero vector are selected to synthesize +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein the action time of the zero vector is 1/3 of the control period, and the action time of the effective vector is 2/3 of the control period; zero vector satisfies the synthetic reference vector +.>When the inverter I1 only has one phase bridge arm to perform switching action;
when referring to vectorsWhen located in sub-sectors 7, 12, 13, 14, the current main is selectedTwo effective vector synthesis of sector +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the action time of the effective vector close to the control device is 2/3 of the control period, and the action time of the effective vector far from the control device is 1/3 of the control period;
step S62: the PWM modulation wave of the inverter I1 is obtained through the action sequence of the basic vector, and is used for controlling IGBT;
step S7: calculation ofAt the position ofα-βCoordinate systemαShaft and method for producing the sameβProjection length on axis +.>、/>；
；
In the formula (i),、/>is->At the position ofα-βCoordinate systemαShaft and method for producing the sameβProjection length on axis;
will be、/>After the inversion, the PWM is input into an SVPWM algorithm, and the PWM of the inverter I2 is obtained through calculationAnd modulating the wave to control the MOSFET.
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