CN1481067A - Method of mid point balance of voltage utilized in frequency converter in three levels based on charge balance - Google Patents
Method of mid point balance of voltage utilized in frequency converter in three levels based on charge balance Download PDFInfo
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Abstract
Phase of reference voltage vector for controlling output voltage of frequency converter is determined first. Voltage vector sequence is generated based on the said phase determined. Based on voltage vector sequence, switch function of switching part in frequency converter with three electrical levels is determined. Based on switch function, pulse control signal is sent out to make the three levels frequency converter output three-phase symmetric voltage corresponding to identical phase of reference voltage and relevant amplitude. Based on the principle that within a switching period, applied a small voltage vector to motor causes DC capacitor to generate equal charging and discharging times, the time for applying voltage is determined so as to make increment of charge on capacitor equal to zero. Thus, balance at mid point voltage is unchanged. The method is simple, reliable and quick feasible.
Description
Technical field the present invention relates to a kind of three-level converter neutral point voltage balance method based on charge balance, belongs to the power electronics applied technical field.
Background technology is along with the development of power electronic technology, computer technology and modern control theory, and the multi-level frequency conversion device is just becoming one of research direction the most popular in the applications such as power power-supply, motor-driven and electric power system unsteady flow.It has strengthened the number of output level, helps realizing the sineization of output voltage waveforms, reduces harmonic component, reduces dv/dt and di/dt electric stress, thereby improves frequency converter efficient and power factor, improves system's operational reliability.The multi-level frequency conversion device mainly contains three kinds of topological structures: diode clamp formula, electric capacity cross connection type and H bridge tandem type.And since simple in structure, the control algolithm maturation, used components and parts number is few, and the three-level converter of diode clamp formula is used the most general.The pulse-width modulation of three-level converter (PWM) control algolithm is one of problem most crucial in the three-level converter system.PWM algorithm commonly used has harmonic wave null method, optimization aim function method, hysteresis current control method, carrier modulation method and space voltage vector PWM etc.Because the space voltage vector PWM control method has bigger advantage, can optimize the switch vector as it, reduce switching frequency, improve the utilance of voltage etc., mainly adopt the space voltage vector modulator approach to modulate at present.No matter there is any modulator approach, all there are an appearance the most normal and a necessary problem that solves for three-level converter, that is: when this frequency converter transmitted active power, energy imbalance may appear in two capacitance voltages up and down on the dc bus, promptly claims the mid-point voltage imbalance.It makes capacitance voltage generation difference up and down, not only influences output voltage waveforms, produces harmonic wave, and the voltage that switching device is born does not wait, and damages device, must take measures to make its balance.The method that addresses this problem of Cai Yonging mainly contained in the past: the independent direct current source that separate (1), and it needs the additional isolation transformer, and equipment volume is big, cost height, system complex; (2) the back-to-back method of rectification and inversion, control is complicated, and the gate-controlled switch device count is many; (3) stagnant ring comparison method adopts polygon hysteresis comparator, determines the frequency converter output state by the error of actual each phase current and set-point, measures to be difficult to accurately require the sample frequency height.These methods all are applied to some extent in practice, but all have as mentioned above problem separately.
Summary of the invention the objective of the invention is to propose a kind of three-level converter neutral point voltage balance method based on charge balance, be modulated to the basis with space voltage vector, when electric motor starting, especially in space vector first sector, application time to three small voltage vectors is redistributed, their electric charges to capacitor charge and discharge in one-period are equated, thereby guarantee that capacitance voltage is constant in one-period, keep neutral point voltage balance.
The balance method based on the three-level converter mid-point voltage of charge balance that the present invention proposes may further comprise the steps:
1, is identified for the phase place of the reference voltage vector of control of conversion device output voltage;
2, according to above-mentioned definite reference three-level converter phase place, formation voltage vector sequence;
3,, determine the switch function of the switching device in the three-level converter according to the voltage vector sequence;
4, according to above-mentioned switch function, send pulse control signal, make the three-level converter output and the phase place one of the reference voltage corresponding three-phase symmetric voltage of amplitude of making peace.
Voltage vector sequence in the said method meets the following conditions:
(1) each the integrated voltage vector in the voltage vector sequence is all on a minimum voltage triangular apex that comprises the reference vector end points;
(2) in a cycle period, all the integrated voltage vectors in the voltage vector sequence equal zero to the electric charge sum that discharges and recharges of dc-link capacitance mid point;
(3) any one the integrated voltage vector in the voltage vector sequence is the branch voltage vector sum of three phase place mutual deviations, 120 degree;
(4) any two the adjacent integrated voltage vectors in the voltage vector sequence are compared, and have one and a difference is only arranged in its three branch voltages.
The voltage of any one in three branch voltages wherein or be zero or press for positive direct current bus bar half, or press for negative direct current bus bar half, promptly have three level to select.
The method of the definite switch function in the said method is the switch function that makes the corresponding a kind of three-level converter switching device of each integrated voltage vector.Switch function comprises switching mode and switching time.Switching mode is by the ordering decision of three branch voltage vectors of integrated voltage vector in the voltage vector sequence; Discharge and recharge the decision that equals zero of electric charge sum by the integrated voltage vector to the dc-link capacitance mid point switching time.
The balance method based on the three-level converter mid-point voltage of charge balance that the present invention proposes has following advantage:
1, according to what the small voltage vector that in the switch periods motor is applied produced dc capacitor is discharged and recharged equal principle of time (charging and discharging electric weight equates), the time length that decision applies, the electric charge increment on the electric capacity is zero in the one-period thereby make, and then keeps neutral point voltage balance constant.
2, this voltage vector compound mode is only used in first big sector among the space voltage figure when electric motor starting, in case and after winding back emf sets up, can use conventional space voltage vector to control, so the inventive method is simple and reliable.
3, be the executive system of the control system on basis as the inventive method in order to digital signal processor (DSP), DSP has high arithmetic speed and powerful expanded function, thereby can realize control apace.
Accompanying drawing is concise and to the point
Fig. 1 is a three-level converter space voltage vector distribution map.
Fig. 2 is the first sector voltage vector graph of a relation.
Fig. 3 adopts the front and back mid-point voltage waveform of neutral point voltage balance method to compare.
Embodiment
The balance method based on the three-level converter mid-point voltage of charge balance that the present invention proposes at first is identified for the phase place of the reference voltage vector of control of conversion device output voltage; According to above-mentioned definite reference three-level converter phase place, formation voltage vector sequence; According to the voltage vector sequence, determine the switch function of the switching device in the three-level converter; According to above-mentioned switch function, send pulse control signal, make three-level converter output and the reference voltage phase place one corresponding three-phase symmetric voltage of amplitude of making peace.
Voltage vector sequence in the said method meets the following conditions: each the integrated voltage vector in the voltage vector sequence is all on a minimum voltage triangular apex that comprises the reference vector end points; In a cycle period, all the integrated voltage vectors in the voltage vector sequence equal zero to the electric charge sum that discharges and recharges of dc-link capacitance mid point; Any one integrated voltage vector in the voltage vector sequence is the branch voltage vector sum of three phase place mutual deviations, 120 degree; Any two adjacent integrated voltage vectors in the voltage vector sequence are compared, and have one and a difference is only arranged in its three branch voltages.Any one voltage in three branch voltages wherein or be zero, or be positive direct current bus bar is pressed half, or be half of negative direct current bus bar pressure.
Determine in the said method switch function method be the switch function that makes the corresponding a kind of three-level converter switching device of each integrated voltage vector.Switch function wherein comprises switching mode and switching time.Switching mode wherein is by the ordering decision of three branch voltage vectors of integrated voltage vector in the voltage vector sequence.Discharge and recharge the decision that equals zero of electric charge sum by the integrated voltage vector to the dc-link capacitance mid point switching time wherein.
The PWM modulator approach that one embodiment of the present of invention adopted is three level space voltage vector PWM algorithms.Have 27 output voltage vector can supply to be used in combination in the three-phase tri-level inverter system, the space voltage vector map space distributes as shown in Figure 1.Size according to the voltage switch vector magnitude is divided, and they can be divided into four classes: and 3 of zero voltage switch vectors (Vooo, Vppp, Vnnn), 12 of small voltage switch vectors, and overlap (Vo1p and Vo1n, Vo2p and Vo2n, Vo3p and Vo3n Vo4p and Vo4n in twos, Vo5p and Vo5n, Vo6p and Vo6n), middle voltage switch vector 6 (V12, V23, V34, V45, V56, V61), big voltage switch vector 6 (V1, V2, V3, V4, V5, V6).Wherein, Vref is given reference voltage vector.Get α, β coordinate system as shown in Figure 1, then reference vector Vref is the center of circle with O, counterclockwise rotation.The reference vector one-period of smoothly rotation is resolved into n minor time slice Ts, each time T s internal reference vector position maintains static, at this moment to approach this reference vector apart from three nearest voltage vectors of this vector, thereby form to constitute the switch combination of these voltage vectors, Here it is space voltage vector modulation principle.
Specifically, if two capacitance voltages of (establishing direct voltage is Vdc) keep equating that then every phase voltage of three level all has three level states on the three-level converter dc bus, promptly+V
Dc/ 2,0 and-V
Dc/ 2.Like this, just have 3 in the three-phase system
3=27 voltage vectors can be for being used in combination.Fig. 1 is a three-level converter switch vector distribution map, and wherein P, O, N represent that respectively AC side voltage is+V
Dc/ 2,0 ,-V
Dc/ 2, vector number PON represents a, b, and the phase voltage of c three-phase is respectively V
Dc/ 2,0 ,-V
Dc/ 2, remaining is similar.
If divide, they can be divided into four classes according to the size of voltage switch vector magnitude.
The first kind: zero voltage switch vector
Width of cloth length is zero, represents that respectively the frequency converter AC side connects positive level, zero level or negative level simultaneously.
Second class: small voltage switch vector
Amplitude is V
Dc/
Be evenly distributed on the boundary line of six sectors.As can be seen from Figure 1, each small voltage vector all has two different on off states, wherein Shang Mian small vector (as
) represent each phase brachium pontis all to connect positive level or zero level, and following small vector (as
) then represent each phase brachium pontis to distinguish connecting to neutral level or negative level.Small vector can cause the imbalance of dc capacitor voltage.In addition, if the dc capacitor voltage of three-level converter | V
Dc1| and | V
Dc2| unequal, two small voltage vectors are no longer overlapped, only be more approaching vector.Like this, the three-phase voltage of frequency converter output is no longer symmetrical.
The 3rd class: middle voltage switch vector
Width of cloth length is
/ 2.The common feature of these six voltage vectors is that three arms of frequency converter are connected on respectively on positive level, negative level and the zero level of dc voltage.Middle voltage switch vector also can cause the imbalance of dc capacitor voltage.
The 4th class: big voltage switch vector
Amplitude is 2V
Dc/
These six vectors all have join a positive level or a negative level, in addition two-phase then correspondence connect negative level and positive level.Because the mid point electric current is zero, can not change the equilibrium condition of dc capacitor voltage.
As seen from Figure 1, the voltage switch vector is evenly distributed in each sector.In order to reduce the harmonic wave of output voltage, according to the voltage given value that control system provides, choose suitable on off state, be the top priority of three level pulse-width modulations (PWM) control.The same with two level, three level space voltage vector PWM algorithms are from being a kind of equivalent control in essence.By at each switch periods T
sIn, carry out equivalence with three summit vectors in the little triangle in reference vector place.
Define each vector among Fig. 1 with formula
S in the formula
a, S
b, S
cRepresent the threephase switch state of this vector;
With given voltage from the DQ origin coordinate system transform to α β coordinate system, have
V
refα＝V
refd·cosγ-V
refq·sinγ?????????????????(2)
V
refβ＝V
refd·sinγ+V
refq·cosγ
γ is the angle between DQ coordinate system and the α β coordinate system in the formula.
From the α beta-axis component of reference voltage, the mould that can obtain synthetic given voltage vector is long | V
Ref| and phase angle theta is respectively
Long and phase angle can judge which leg-of-mutton zone it drops in according to the mould of formula (3) gained reference voltage.Associating reference voltage and this Atria summit vector just can be realized the PWM modulation of this vector.
Fig. 2 is first sector voltage vector Distribution Calculation action time.Below will with given level angle in first sector (be phase angle theta from 0 ° to 60.) time carry out labor.When the angle of given voltage greater than 60.The time, can adopt similar situation to calculate.
Table 1: the switch vector table of three-level pwm frequency converter
*
It is the value of voltage switch vector
Can calculate each voltage switch vector in 0 ° to 60 ° according to formula (1), as shown in table 1.In this sector, each little leg-of-mutton each summit vector distributes definition action time, as shown in Figure 2.
In order to determine given voltage as early as possible
Be in which little delta-shaped region among Fig. 2, can suppose earlier that given voltage vector is positioned at the 3rd zone.Three the summit vectors in this zone are respectively
Suppose that these three corresponding vectors in summit are followed successively by t action time
A0, t
B0, t
C0So, have:
t
a0+t
b0+t
c0＝T
s
T in the formula
sSwitch periods for space voltage vector PWM.
Switch vector substitution following formula with each summit in formula (3), the table 1 can draw t
A0, t
B0, t
C0Value, be respectively
t
a0＝(1-2ksinθ)·T
s
Modulation ratio in the formula
Investigation is to the small vector and the middle vector of the influential maximum of Voltage unbalance, and this wherein again with the small vector influence more so.Following bridge wall capacitor is a research object, small vector can be divided into charging vector (USV) and discharge vector (LSV) USV:
LSV:
Investigate when voltage vector is positioned at the 1st sub-sector of first sector, each voltage vector and action effect thereof are as shown in table 2.
Table 2: the 1st sub-sector vector selecting sequence table of first sector
In the table, each integrated voltage vector action time among switch periods Ts of first behavior, T1-T7; Second behavior corresponding each action time of the pairing integrated voltage vector of not considering neutral point voltage balance; The third line is for constituting the pairing three-phase voltage vectorial combination of these synthetic vectors; Fourth line is replaceable voltage vector; Fifth line is each voltage vector concrete value of action time.
The neutral point voltage balance algorithm need detect the current direction by mid point in the past, thus control voltage vector action time.In the reality very difficulty measure the sense of current.This method is directly started with from the charge balance that each voltage vector of the 1st sub-sector, the 1st big sector discharges and recharges, and promptly in one-period, discharges and recharges total electrical charge and is
ΔQ＝(i
c+i
b)(T
1+T
7)+(i
a+i
b)(T
3+T
5)+i
aT
4??????????????????????(6)
Final goal wishes to reach 0.
Notice for the three-phase Y connection motor windings,
Equate respectively so need only the three-phase current coefficient, promptly for following formula
T
1+T
7＝T
3+T
4+T
5???????????????????????????????????????????????(7)
T
1+ T
7=T
1+ T
7+ T
3+ T
5(8) therefrom be not difficult to find out T
3=-T
5, and the negative sign explanation, should be adjusted former vectorial combination (be that the discharge vector is many originally, change into and discharge and recharge balance) for reaching the desired effect of formula (6), can change 00N into PP0.And when requiring each voltage synthetic vector to change, each switch only moves once, has adopted the vector of line in the table 2.Switch motion such as table 3:
Table 3: switch combination table in the one-period
In the table 3, Sa1, Sa2 ..., Sc4 is 12 each switch in the main circuit, and 1 is expressed as open-mindedly, and 0 is expressed as and closes.Switch combination in adopting table 3 then can obtain the combination of the setting-out voltage vector in the table 2, is that effect on average equals zero to capacitor charge and discharge in one-period.
| ??Sa1 | ??Sa2 | ??Sa3 | ??Sa4 | ??Sb1 | ?Sb2 | ?Sb3 | ?Sb4 | ?Sc1 | ?Sc2 | ?Sc3 | ?Sc4 |
| ??1 | ??1 | ??0 | ??0 | ??0 | ??1 | ??1 | ??0 | ??0 | ??1 | ??1 | ??0 |
| ??0 | ??1 | ??1 | ??0 | ??0 | ??1 | ??1 | ??0 | ??0 | ??1 | ??1 | ??0 |
| ??0 | ??1 | ??1 | ??0 | ??0 | ??1 | ??1 | ??0 | ??0 | ??0 | ??1 | ??1 |
| ??0 | ??1 | ??1 | ??0 | ??0 | ??0 | ??1 | ??1 | ??0 | ??0 | ??1 | ??1 |
| ??1 | ??1 | ??0 | ??0 | ??1 | ??1 | ??0 | ??0 | ??0 | ??1 | ??1 | ??0 |
| ??1 | ??1 | ??0 | ??0 | ??1 | ??1 | ??0 | ??0 | ??1 | ??1 | ??0 | ??0 |
| ??1 | ??1 | ??0 | ??0 | ??0 | ??1 | ??1 | ??0 | ??0 | ??1 | ??1 | ??0 |
After the back electromotive force in the motor was set up, when voltage vector was arranged in other sectors, still can satisfy upper and lower bridge arm capacitance voltage deviation by constant approach of diverse vector form, action time was 0.The small vector of comparing, the influence of middle vector is much smaller, so run into include in the situation of vector, adopt conventional space voltage vector combination.
After adopting new space voltage vector combination, the space voltage vector combination of first sector is as shown in table 4.
Table 4: first sector space voltage vector combination table with neutral balance
Each row meaning is identical with table 2 in the table, gets the voltage vector combination of setting-out down in the table.
After above-mentioned space voltage vector combination, programming realizes in DSP.DSP calculates back output ten two road trigger impulse sequences, by the respective switch combination of major loop switching device, makes the capacitance voltage mid point on the dc bus keep balance.Fig. 3 adopts the front and back mid-point voltage waveform of neutral point voltage balance method to compare among the embodiment.Last figure is a mid-point voltage oscillogram of not considering the neutral point voltage balance method, from scheming as seen, alter a great deal at the starting stage of electric motor starting mid-point voltage, and then trend steadily.Figure below then is the mid-point voltage waveform after the employing neutral point voltage balance method, and as can be seen, mid-point voltage keeps balance constant from start to finish.
Claims (7)
1, a kind of balance method of the three-level converter mid-point voltage based on charge balance is characterized in that this method may further comprise the steps:
(1) is identified for the phase place of the reference voltage vector of control of conversion device output voltage;
(2) according to above-mentioned definite reference three-level converter phase place, formation voltage vector sequence;
(3), determine the switch function of the switching device in the three-level converter according to the voltage vector sequence;
(4) according to above-mentioned switch function, send pulse control signal, make three-level converter output and the reference voltage phase place one corresponding three-phase symmetric voltage of amplitude of making peace.
2, the method for claim 1, the described therein voltage vector sequence of its feature meets the following conditions:
(1) each the integrated voltage vector in the voltage vector sequence is all on a minimum voltage triangular apex that comprises the reference vector end points;
(2) in a cycle period, all the integrated voltage vectors in the voltage vector sequence equal zero to the electric charge sum that discharges and recharges of dc-link capacitance mid point;
(3) any one the integrated voltage vector in the voltage vector sequence is the branch voltage vector sum of three phase place mutual deviations, 120 degree;
(4) any two the adjacent integrated voltage vectors in the voltage vector sequence are compared, and have one and a difference is only arranged in its three branch voltages.
3, method as claimed in claim 2 is characterized in that any one voltage in wherein said three branch voltages or is zero, or be positive direct current bus bar is pressed half, or is half of negative direct current bus bar pressure.
4, the method for claim 1, it is characterized in that wherein said definite switch function method be the switch function that makes the corresponding a kind of three-level converter switching device of each integrated voltage vector.
5, method as claimed in claim 4 is characterized in that wherein said switch function comprises switching mode and switching time.
6, method as claimed in claim 5 is characterized in that the ordering decision of wherein said switching mode by three branch voltage vectors of integrated voltage vector in the voltage vector sequence.
7, method as claimed in claim 5 is characterized in that discharge and recharge the decision that equals zero of electric charge sum by the integrated voltage vector to the dc-link capacitance mid point wherein said switching time.
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| CN101834443A (en) * | 2010-04-22 | 2010-09-15 | 河源市雅达电子有限公司 | Method for balancing three-level direct current midpoint voltage by using time factor |
| CN101510736B (en) * | 2009-03-11 | 2010-12-08 | 南京航空航天大学 | Method for restraining mid-point potential excursion of three-phase four-bridge arm tri-level inverter |
| CN101667806B (en) * | 2009-03-04 | 2012-01-18 | 深圳职业技术学院 | Space vector pulse width modulation controller of tri-level circuit and control method thereof |
| CN101753044B (en) * | 2010-01-26 | 2012-06-27 | 北方工业大学 | Three-level midpoint potential balance control method based on zero-sequence voltage injection |
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| CN105406744A (en) * | 2014-09-16 | 2016-03-16 | 上海三菱电梯有限公司 | Midpoint potential balance control method for three-level power converter |
| CN106253647A (en) * | 2016-10-14 | 2016-12-21 | 天津大学 | The control method that a kind of NPC three-level inverter output current characteristic optimizes |
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| CN101510736B (en) * | 2009-03-11 | 2010-12-08 | 南京航空航天大学 | Method for restraining mid-point potential excursion of three-phase four-bridge arm tri-level inverter |
| CN101753044B (en) * | 2010-01-26 | 2012-06-27 | 北方工业大学 | Three-level midpoint potential balance control method based on zero-sequence voltage injection |
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| CN103117667B (en) * | 2012-12-26 | 2015-05-27 | 深圳创动科技有限公司 | Three-phase three-wire system inverter and wire phase voltage conversion method thereof |
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| CN103095166A (en) * | 2013-01-30 | 2013-05-08 | 华为技术有限公司 | Modulating method and modulating equipment of space vector pulse width |
| CN103095166B (en) * | 2013-01-30 | 2015-03-18 | 华为技术有限公司 | Modulating method and modulating equipment of space vector pulse width |
| CN103227580A (en) * | 2013-04-15 | 2013-07-31 | 中国矿业大学 | Three-level frequency converter control method |
| CN104158422A (en) * | 2014-07-30 | 2014-11-19 | 华南理工大学 | Mid-point voltage control method for midpoint clamping type three-level inverter |
| CN105406744A (en) * | 2014-09-16 | 2016-03-16 | 上海三菱电梯有限公司 | Midpoint potential balance control method for three-level power converter |
| CN105406744B (en) * | 2014-09-16 | 2017-11-24 | 上海三菱电梯有限公司 | Neutral-point potential balance control method for three level power converters |
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