CN117713579B - 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 (Insulate-Gate Bipolar Transistor, 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.
But 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, for example, the ratio of the high-voltage side voltage U dc1 to the low-voltage side voltage U dc2 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 PI controller is used for carrying out rotational speed deviation control calculation and projecting the rotational speed deviation control calculation to a d-q plane to obtain a reference currentReference current/>；
Step S12: a, B, C three-phase current output by an open winding motor is collected, coordinates are transformed and projected to a d-q plane, and current id and current iq are obtained;
step S13: based on reference current Reference current/>The reference voltage/>, the current id and the current iq are obtained through a PI controllerReference voltage/>；
Step S14: will reference voltageAnd reference voltage/>Converting to alpha-beta coordinates, and keeping the phase offset angle at 180 degrees to obtain reference voltage/>Reference voltage/>；
Step S15: based on reference voltageReference voltage/>Determining a reference vector/>Length V L of (a);
；
In the formula (i), Is the maximum length of the reference vector;
step S16: according to the reference vector Length V L and reference vector/>Included angle/>, with alpha-axis in alpha-beta coordinate systemDetermining a reference vector/>Wherein, the method comprises the steps of, wherein,
；
In the formula, u α、uβ is a reference vector respectivelyProjection lengths on the alpha and beta axes in the alpha-beta coordinate system;
Step S2: according to The 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 vector Positioning of the sub-sector:
sector conversion of any primary sector to primary sector I for reference vector Positioning the sub-sector;
In the sixty-degree coordinate system g-h,
；
In the formula, V g、Vh is a reference vector respectivelyProjection length on g-axis and h-axis;
respectively calculating V g、Vh and Is represented by the ratio R g、Rh,
；
Locating a reference vector according to R g、Rh In 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 vector The reference vector/>, is selected from the sub-sectorAssigned to the inverter I1;
Reference vector assigned to inverter I2 There 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 I1 The inverter I1 has basic vectors 000-111; wherein, 1 and 0 represent the high and low level states of A, B, C phase voltages respectively; 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, selecting zero vector 000 as output yields a reference vector/>；
When referring to vectorsWhen in the sub-sector 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 selected; Wherein the acting time of any effective vector is half of the control period;
When referring to vectors In sub-sector 3, select the nearest active vector and zero vector synthesis/>; Wherein the effective vector has a half control period of action time, 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 of Projection length/>, on alpha and beta axes of an alpha-beta coordinate system、/>；
；
In the formula (i),、/>For/>Projection lengths on the alpha and beta axes of the alpha-beta coordinate system;
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 hybrid inverter, when the ratio of the high-voltage side voltage U dc1 to the low-voltage side voltage U dc2 is 3:1, 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 PI controller is used for carrying out rotational speed deviation control calculation and projecting the rotational speed deviation control calculation to a d-q plane to obtain a reference currentReference current/>；
Step S12: a, B, C three-phase current output by an open winding motor is collected, coordinates are transformed and projected to a d-q plane, and current id and current iq are obtained;
step S13: based on reference current Reference current/>The reference voltage/>, the current id and the current iq are obtained through a PI controllerReference voltage/>；
Step S14: will reference voltageAnd reference voltage/>Converting to alpha-beta coordinates, and keeping the phase offset angle at 180 degrees to obtain reference voltage/>Reference voltage/>；
Step S15: based on reference voltageReference voltage/>Determining a reference vector/>Length V L of (a);
；
In the formula (i), Is the maximum length of the reference vector;
step S16: according to the reference vector Length V L and reference vector/>Included angle/>, with alpha-axis in alpha-beta coordinate systemDetermining a reference vector/>Wherein, the method comprises the steps of, wherein,
；
In the formula, u α、uβ is a reference vector respectivelyProjection lengths on the alpha and beta axes in the alpha-beta coordinate system;
Step S2: according to The 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 vector Positioning of the sub-sector:
sector conversion of any primary sector to primary sector I for reference vector Positioning the sub-sector;
In the sixty-degree coordinate system g-h,
；
In the formula, V g、Vh is a reference vector respectivelyProjection length on g-axis and h-axis;
respectively calculating V g、Vh and Is represented by the ratio R g、Rh,
；
Locating a reference vector according to R g、Rh In 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 vector The reference vector/>, is selected from the sub-sectorAssigned to the inverter I1;
Reference vector assigned to inverter I2 There 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 I1 The inverter I1 has basic vectors 000-111; wherein, 1 and 0 represent the high and low level states of A, B, C phase voltages respectively; 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, selecting zero vector 000 as output yields a reference vector/>；
When referring to vectorsWhen located in the sub-sectors 5, 9, 10, 11, 15, 16, the single significant vector nearest thereto is selected as the output synthetic reference vector/>；
When referring to vectorsWhen in sub-sector 2,3, 4, select the nearest active vector and zero vector synthesis/>; 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 vectors When the sub-sectors 6 and 8 are located, the nearest effective vector and zero vector synthesis/>, are selected; 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 vectors When located in sub-sectors 7, 12, 13, 14, two valid vector combinations of the current main sector are selected; 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 of Projection length/>, on alpha and beta axes of an alpha-beta coordinate system、/>；
；
In the formula (i),、/>For/>Projection lengths on the alpha and beta axes of the alpha-beta coordinate system;
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.
Fig. 8 (b) is a schematic diagram of vector allocation when the reference vector is located in the 3,4 sub-sectors of the main sector I at a voltage ratio of 3:1, r g＜Rh.
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-sided inverter is powered using two independent voltage sources of unequal voltage, the ratio of the high-side voltage U dc1 to the low-side voltage U dc2 being set to 2:1 and 3:1. The inverter I1 on the high voltage side uses an IGBT that has a high withstand voltage but allows a lower switching frequency, i.e., S A1、SA2、SB1、SB2、SC1、SC2, as a switching device; the inverter I2 on the low voltage side uses a MOSFET having a low withstand voltage but allowing a high switching frequency, i.e., S' 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.
The output of two inverters is represented by the switch state S A1, SB1, SC1, S´A1, S´B1, S´C1 of the three-phase bridge arm in each inverter, 8 output vectors of the inverter I1 can be represented by V 0(000)～V7 (111), and the basic vectors of 8 outputs of the inverter I2 are as follows(000)～/>(111). It should be noted that: "1" in the brackets indicates that the upper switch of the bridge arm is turned on, and may also indicate the high level state of the three-phase voltage of the current inverter A, B, C; 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 three-phase voltage of the current 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)、V7 (111) is zero vector and V 1(001)、V2(010)、V3(011)、V4(100)、V5(101)、V6 (110) is effective vector.
The system control proposed in this embodiment is shown in fig. 2, and the current motor rotation speed n is collected and the reference motor rotation speed is set。
The PI controller is used for carrying out rotational speed deviation control calculation and projecting the rotational speed deviation control calculation to a d-q plane to obtain a reference currentAnd/>；
Collecting each phase current i a,ib,ic of the current open-winding motor, namely i abc shown in fig. 2, and projecting the current i a,ib,ic to a d-q plane after coordinate transformation to obtain actual current of the current d-q plane and actual current id and actual current iq of the current d-q plane;
By reference current And/>The current d-q plane currents id and iq are used for obtaining reference voltage/>, through a PI controllerAnd/>；
Will reference voltageAnd/>Converting to alpha-beta coordinates, and keeping the phase offset angle 180 DEG out of phase to obtain a reference vector/>Component in the alpha-beta coordinate/>And/>For subsequent space vector modulation calculations. According to/>And/>The current reference vector/>, can be calculatedAngle of length V L in coordinates/>：
；
In the formula, u α、uβ is a reference vector respectivelyProjection lengths on the alpha and beta axes in the alpha-beta coordinate system.
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, the 64 vector combinations of the double inverters are distributed on the alpha-beta 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 equilateral triangle areas are all 2/3U dc2 in side length, and are defined as sub-sectors, so that each main sector is divided into 9 sub-sectors when the voltage ratio is 2:1, as shown in FIG. 4; at a voltage ratio of 3:1, each main sector is divided into 16 sub-sectors, as shown 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: because of the symmetry of sector distribution, 6 main sectors can be converted into a main sector I to position the sub-sector where the reference vector is located, and after conversion, the length V L of the reference vector is unchanged to change the angle Conversion to：
；
Where N is the value of the main sector where the current reference vector is located.
Sub-sector positioning with the aid of the g-h coordinate of the sixty-degree coordinate system, defining a reference vectorThe projection length on the g axis is V g, the projection length on the h axis is V h, and the maximum length of the defined reference vector is/>，
；
Calculating the ratio R g、Rh of the projection length V g、Vh of the reference vector on the g-h axis to the maximum length of the reference vector:
。
determining the sub-sector in which the reference vector is specifically located according to the value of R g、Rh:
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 is The vector assigned to inverter I2 is/>Wherein, the method comprises the steps of, wherein,
。
The inverter I1 may generate a base vector V 0（000）~V7 (111).
Inverter I1 references a vector when the voltage ratio is 2:1The synthesis method is as follows:
When referring to vectors When the vector is positioned in the sub-sector 1, the zero vector V 0 (000) is selected as output, and the synthesis/>When reference vector/>Located in sub-sectors 2, 4, 5, 6, 8, 9, a distance reference vector/>, will be selectedThe nearest single significant vector is taken as output, synthesized/>When reference vector/>When located in sub-sector 7, two adjacent active vectors are selected to synthesize/>And the action time of the two vectors is 1/2 of the control period, when the reference vector/>When located in sub-sector 3, a distance reference vector/>, is selectedThe nearest significant vector and zero vector are synthesized/>The acting time of the two vectors is 1/2 of the control period, and the selection of the zero vector is required to meet the requirement of synthesis/>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 vectors When the vector is positioned in the sub-sector 1, the zero vector V 0 (000) is selected as output, and the synthesis/>; When reference vector/>When in the sub-sectors 5, 9, 10, 11, 15, 16, the single active vector closest to the reference voltage vector will be selected as output, synthesized/>; When reference vector/>When located in sub-sectors 2, 3, 4, a distance reference vector/>, is selectedThe nearest significant vector and zero vector are synthesized/>The zero vector has the action time of 2/3 of the control period, the effective vector has the action time of 1/3 of the control period, and the zero vector is regarded as the reference vector/>When located in a sub-sector 6, 8, a distance reference vector/>, is selectedThe nearest significant vector and zero vector are synthesized/>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 selection of the zero vector is required to meet the requirements of synthesis/>When the inverter I1 only has one phase bridge arm to perform switching action; when referring to vectorsWhen located in the sub-sectors 7, 12, 13, 14, two adjacent effective vectors are selected to synthesize/>And distance reference vector/>The action time of the near effective vector is 2/3 of the control period, and the distance is greater than 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 V 0 (000) in the current control period.
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 V 4 (100) at the current cycle.
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 V 6 (110) at the current cycle.
As shown in fig. 5 (d), when the reference vector is located in the sub-sector 7, the inverter I1 is inTs (1/2 control period) outputs a vector V 4 (100),Ts outputs a vector V 6 (110), and the action sequence of the vectors is as follows: v 4（100）,V6（110）,V4 (100).
As shown in fig. 5 (e), when the reference vector is located in 3 sub-sectors and R g＜Rh, the inverter I1 is inTs outputs a zero vector V 7 (111),Ts outputs a vector V 6 (110), and the action sequence of the vectors is as follows: v 6（110）,V7（111）,V6 (110).
As shown in fig. 5 (f), when R g＞Rh, the inverter I1 isTs outputs a zero vector V 0 (000),Ts outputs a vector V 4 (100), and the action sequence of the vectors is as follows: v 0（000）,V4（100）,V0 (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 output by the low voltage side INV2, INV1 constantly outputs the vector V 0 (000) in the current control period.
According to the relation of R g、Rh, other sub-sectors are analyzed to be divided into an upper half part and a lower half part.
As shown in fig. 7, the upper half of R g＜Rh is described:
When R g＜Rh, as shown in FIG. 8 (b), the reference vectors are located in the 3,4 sectors, INV1 is Ts outputs a zero vector V 7 (111),Ts outputs a vector V 6 (110), and the action sequence of the vectors is as follows: v 6（110）,V7（111）,V6 (110).
As shown in fig. 8 (c), when the reference vector is located in 8 sub-sectors, INV1 is atTs outputs a zero vector V 7 (111),Ts outputs a vector V 6 (110), and the action sequence of the vectors is as follows: v 6（110）,V7（111）,V6 (110).
As shown in fig. 8 (d), when the reference vector is located in the 7, 13, 14 sub-sectors, INV1 is atTs outputs a vector V 6 (110),Ts outputs a vector V 4 (100), and the action sequence of the vectors is as follows: v 4（100）,V6（110）,V4 (100);
As shown in fig. 8 (e), INV1 constantly outputs a vector V 6 (110) at the current cycle when the reference vector is located at the 9, 15, 16 sub-sectors.
It should be noted that: when the INV1 needs to output a zero vector, it needs to select whether to use the zero vector V 0 (000) or the zero vector V 7 (111) according to the effective vector to be output in the current period, and the selection criterion is that the INV1 is ensured that only one-phase device acts at most in each control period and only switches once, so that the switching operation frequency of the device of the 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. The switching device of the high-side inverter, i.e., the IGBT, is controlled using the modulated PWM wave as a control signal, i.e., S ABC1 shown in fig. 2.
When INV1 outputs vectorAfter determination, the corresponding/>Projection length/>, on alpha-beta coordinate system、Is also determined, the vector/>, which is required to be output by the INV2, can be calculatedProjection length on alpha-beta 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. The switching device of the high-side inverter, i.e., the MOSFET, is controlled using the modulated PWM wave as a control signal, i.e., S ABC2 shown in fig. 2.
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 (2)
1. A modulation method of a hybrid inverter for an open-winding motor, the hybrid inverter including 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;
The method is characterized in that the ratio of the high-voltage side voltage U dc1 to the low-voltage side voltage U dc2 is 2:1, and the method comprises the following steps:
step S1: determining a reference vector V *;
Step S11: collecting the rotating speed of an open winding motor, and setting a reference rotating speed; performing rotational speed deviation control calculation through a PI controller and projecting the rotational speed deviation control calculation to a d-q plane to obtain a reference current id * and a reference current iq *;
Step S12: a, B, C three-phase current output by an open winding motor is collected, coordinates are transformed and projected to a d-q plane, and current id and current iq are obtained;
Step S13: based on the reference current iq *, the reference current id *, the current id and the current iq, obtaining a reference voltage uq * and a reference voltage ud * through a PI controller;
Step S14: converting the reference voltage uq * and the reference voltage ud * to alpha-beta coordinates, and keeping the phase offset angle to be 180 DEG to obtain the reference voltage Reference voltage/>
Step S15: based on reference voltageReference voltage/>Determining a length V L of the reference vector V *;
In the formula (i), Is the maximum length of the reference vector;
Step S16: according to the length V L of the reference vector V * and the angle between the reference vector V * and the alpha-axis in the alpha-beta coordinate system A reference vector V * is determined, which, among other things,
In the formula, u α、uβ is the projection length of the reference vector V * on the alpha axis and the beta axis in the alpha-beta coordinate system respectively;
Step S2: according to The 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 the positioning of the sub-sector where the reference vector V * is located:
the sector converts any main sector into a main sector I to locate a sub-sector where a reference vector V * is located;
In the sixty-degree coordinate system g-h,
In the formula, V g、Vh is the projection length of the reference vector V * on the g axis and the h axis respectively;
respectively calculating V g、Vh and Is represented by the ratio R g、Rh,
The sub-sector in which the reference vector V * is located according to R g、Rh,
Step S5: assigning a reference vector V * of the inverter I1 to the inverter I1 and the inverter I2;
Selecting a reference vector according to the sub-sector in which the reference vector V * is located Assigned to the inverter I1;
Reference vector assigned to inverter I2 The presence is:
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 I1 The inverter I1 has basic vectors 000-111; wherein, 1 and 0 represent the high and low level states of A, B, C phase voltages respectively; 000. 111 is zero vector, 001, 010, 011, 100, 101, 110 is effective vector;
step S61: synthesizing reference vectors
When reference vector V * is located in sub-sector 1, zero vector 000 is selected as output to produce a reference vector
When the reference vector V * is located in the sub-sector 2,4,5, 6, 8, 9, the single significant vector nearest thereto is selected as the output composite reference vector
When the reference vector V * is located in the sub-sector 7, two effective vector synthesis reference vectors of the current main sector are selectedWherein the acting time of any effective vector is half of the control period;
When the reference vector V * is located in the sub-sector 3, the nearest effective vector and zero vector synthesis are selected Wherein the effective vector has a half control period of action time, 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 of Projection lengths u α_INV2、uβ_INV2 on the alpha and beta axes of the alpha-beta coordinate system;
In the formula, u α_INV1、uβ_INV1 is Projection lengths on the alpha and beta axes of the alpha-beta coordinate system;
U α_INV2、uβ_INV2 is inverted and then input into an SVPWM algorithm, and PWM modulation waves of the inverter I2 are calculated and obtained to control the MOSFET.
2. A modulation method of a hybrid inverter for an open-winding motor, the hybrid inverter including 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;
The method is characterized in that if the ratio of the high-voltage side voltage U dc1 to the low-voltage side voltage U dc2 is 3:1, the method comprises the following steps:
step S1: determining a reference vector V *;
Step S11: collecting the rotating speed of an open winding motor, and setting a reference rotating speed; performing rotational speed deviation control calculation through a PI controller and projecting the rotational speed deviation control calculation to a d-q plane to obtain a reference current id * and a reference current iq *;
Step S12: a, B, C three-phase current output by an open winding motor is collected, coordinates are transformed and projected to a d-q plane, and current id and current iq are obtained;
Step S13: based on the reference current iq *, the reference current id *, the current id and the current iq, obtaining a reference voltage uq * and a reference voltage ud * through a PI controller;
Step S14: converting the reference voltage uq * and the reference voltage ud * to alpha-beta coordinates, and keeping the phase offset angle to be 180 DEG to obtain the reference voltage Reference voltage/>
Step S15: based on reference voltageReference voltage/>Determining a length V L of the reference vector V *;
In the formula (i), Is the maximum length of the reference vector;
Step S16: according to the length V L of the reference vector V * and the angle between the reference vector V * and the alpha-axis in the alpha-beta coordinate system A reference vector V * is determined, which, among other things,
In the formula, u α、uβ is the projection length of the reference vector V * on the alpha axis and the beta axis in the alpha-beta coordinate system respectively;
Step S2: according to The 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 the positioning of the sub-sector where the reference vector V * is located:
the sector converts any main sector into a main sector I to locate a sub-sector where a reference vector V * is located;
In the sixty-degree coordinate system g-h,
In the formula, V g、Vh is the projection length of the reference vector V * on the g axis and the h axis respectively;
respectively calculating V g、Vh and Is represented by the ratio R g、Rh,
The sub-sector in which the reference vector V * is located according to R g、Rh,
Step S5: assigning a reference vector V * of the inverter I1 to the inverter I1 and the inverter I2;
Selecting a reference vector according to the sub-sector in which the reference voltage vector V * is located Assigned to the inverter I1;
Reference vector assigned to inverter I2 The presence is:
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 I1 The inverter I1 has basic vectors 000-111; wherein, 1 and 0 represent the high and low level states of A, B, C phase voltages respectively; 000. 111 is zero vector, 001, 010, 011, 100, 101, 110 is effective vector;
step S61: synthesizing reference vectors
When reference vector V * is located in sub-sector 1, zero vector 000 is selected as output to produce a reference vector
When the reference vector V * is located in a sub-sector 5, 9,10, 11, 15, 16, the single significant vector nearest thereto is selected as the output composite reference vector
When the reference vector V * is located in the sub-sector 2, 3,4, the nearest active vector and zero vector combination is selectedWherein, 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 the reference vector V * is located in the sub-sector 6, 8, the nearest active vector and zero vector combination is selected 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 the reference vector V * is located in the sub-sector 7, 12, 13, 14, two valid vector combinations of the current main sector are selected
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 of Projection lengths u α_INV2、uβ_INV2 on the alpha and beta axes of the alpha-beta coordinate system;
In the formula, u α_INV1、uβ_INV1 is Projection lengths on the alpha and beta axes of the alpha-beta coordinate system;
U α_INV2、uβ_INV2 is inverted and then input into an SVPWM algorithm, and PWM modulation waves of the inverter I2 are calculated and obtained to control the MOSFET.
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