CN1925314A - Voltage type variable-frequency control system using pulse width modulation synchronous switching - Google Patents
Voltage type variable-frequency control system using pulse width modulation synchronous switching Download PDFInfo
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- CN1925314A CN1925314A CN 200610112917 CN200610112917A CN1925314A CN 1925314 A CN1925314 A CN 1925314A CN 200610112917 CN200610112917 CN 200610112917 CN 200610112917 A CN200610112917 A CN 200610112917A CN 1925314 A CN1925314 A CN 1925314A
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Abstract
This invention relates to one voltage transducer speed adjusting system and method of PWM impulse width synchronous switch in electrical electron and alternating drive field, which comprises the following parts: control system main circuit and adjusting subject, wherein, control system hardware is composed of DSP digital signals process chip TMS320F2812 centered control board, fiber signal send board and power part trigger board aiming at space vector PWM impulse width modulation; main circuit adopts diode rectification and reverse topological structure composed of IPM and adjusting subject is of one four electrode asynchronous motor of 3KW and ratio voltage as 380V.
Description
Technical field
The invention belongs to power electronics and exchange the drive technology field, the voltage type variable-frequency control system and the method thereof that particularly provide a kind of PWM of employing pulse-width modulation to switch synchronously.
Background technology
Voltage type variable-frequency control system generally is made up of control system, major loop and speed governing object three parts.Control system generally is to be the numerical control system of core with the DSP digital signal processing chip; The power transmission path that major loop generally is made up of the electronic power switch device; The Mechatronic Systems that the speed governing object generally is made up of various motors.The formation of voltage type variable-frequency control system as shown in Figure 1.
In control system, can adopt multiple modulator approach (such as sinusoidal voltage pulse-width modulation method, space vector modulating method, particular harmonic null method etc.) to control the action of major loop switching device, thereby regulate the behavior of speed governing motion of objects.The notion that in various modulator approaches, all has a carrier wave ratio P.Such as in sinusoidal voltage pulse-width modulation method, carrier wave ratio P equals carrier frequency f
cWith modulating frequency f
rRatio, i.e. P=f
c/ f
rAccording to P and carrier frequency f
cWith modulating frequency f
rRelation, three kinds of modulation systems can be arranged, i.e. synchronous modulation, asynchronous modulation and segment sync modulation.
Synchronous modulation is meant that carrier signal and modulation signal keep the modulation system of synchronized relation.Modulating frequency f in the synchronous modulation mode
rDuring variation, carrier frequency f
cChange, P remains constant thereupon.Under this mode, when current transformer when pulse number is suitable in the high frequency operation half period, when low-frequency operation, umber of pulse just shows few in the half period, does not reach the requirement that low-frequency operation is eliminated more high order harmonic components.
Asynchronous modulation is meant that carrier signal and modulation signal do not keep the modulation system of synchronized relation.Modulating frequency f in the asynchronous modulation system
rDuring variation, carrier frequency f
cRemain unchanged, P is a parameter.Under this mode, when output frequency reduced, the umber of pulse in the output voltage half period increased, and can reduce pulsating torque, improves runnability.But P is a parameter on the other hand, is not integer often, causes three-phase output voltage asymmetric, causes the alternating current machine fluctuation of service.
The advantage of modulation integrated synchronous modulation of segment sync and asynchronous modulation, output frequency is divided into several sections, P is constant (also the asynchronous system active section can be set during low frequency) in each section, P changes between each section, reduce P with output frequency and increase, improve the requirement of runnability when so just having satisfied low frequency.Fig. 2 is that traditional segment sync method carrier wave ratio switches schematic diagram.
The method that traditional method for synchronously switching adopts carrier wave ratio directly to switch when carrier wave ratio switches, the disorder that this can cause output voltage when switching causes the motor operating state instability, occurs the rush of current phenomenon easily.
The purpose of this invention is to provide a kind of its method of voltage type variable-frequency control system that adopts new PWM pulse-width modulation method for synchronously switching, mainly is to have added a carrier wave ratio to take over seamlessly device.Carrier wave ratio takes over seamlessly device can regulate the carrier wave ratio of governing system in whole reference frequency output automatically, thoroughly solves the problem of rush of current in the carrier wave ratio handoff procedure.
Summary of the invention
The purpose of this invention is to provide voltage type variable-frequency control system and method thereof that a kind of PWM of employing pulse-width modulation is switched synchronously, mainly is to have added a carrier wave ratio to take over seamlessly device.Carrier wave ratio takes over seamlessly device can regulate the interior carrier wave ratio of the whole reference frequency output of governing system automatically, thoroughly solves the problem of rush of current in the carrier wave ratio handoff procedure.
System of the present invention comprises: control system, major loop and speed governing object three parts.Hardware control system is by being that control core plate, fiber-optic signal transmission board and power device trigger board are formed with DSP digital signal processing chip TMS320F2812, and software adopts the mode of space vector PWM pulse-width modulation.Hardware control system also can change the control board that is made of other similar DSP digital signal processing chip such as TMS320LF2407A etc. into, and software also can adopt other modulation systems such as sinusoidal voltage pulse-width modulation, particular harmonic null method.Major loop comprises rectifying part and inversion part.Rectifying part adopts the diode bridge rectification, and the three level neutral point clamp formula topological structures that are made of IPM are partly adopted in inversion.Rectifying part also can change controlled rectification or PWM rectification etc. into, and the inversion part also can adopt two level or other many level topological structure, and switching device also is not limited to the IPM device.The speed governing object is four utmost point wire-wound asynchronous motors of a 3Kw, rated voltage 380V.The speed governing object is not limited to asynchronous machine, also can be synchronous machine.
Structure chart when Fig. 3 moves for the control system open loop of adopting conventional synchronization changing method system.Structure chart when Fig. 4 moves for the control system open loop of adopting novel synchronous changing method system.Two systems obtain current carrier wave ratio P according to given output frequency f, obtain the integration step Δ θ of current space vector of voltage electrical degree θ by carrier wave ratio P, obtain the electrical degree θ of current space vector of voltage then by integration.Long given in conjunction with the space vector of voltage mould | V
Ref| with space vector of voltage electrical degree θ, can draw the operate condition of 12 switching devices by space vector modulation algorithm SVPWM.Relatively two control system open loop service charts can be found, the novel synchronous handoff algorithms is with the different of conventional synchronization handoff algorithms, the given P of carrier wave ratio after the novel synchronous handoff algorithms does not switch carrier wave ratio
*Directly, take over seamlessly device but increased a carrier wave ratio as current carrier wave ratio output.Carrier wave ratio takes over seamlessly device and utilizes the given P of frequency converter carrier wave ratio
*Do poorly with the carrier wave ratio P in last sampling period of system, import a pi regulator then, adjuster output is as current carrier wave ratio P output.This link has been eliminated the drawback of conventional synchronization changing method carrier wave ratio sudden change when carrier wave ratio switches, and has realized the transition gradually of carrier wave ratio, has eliminated the root of current impact, has thoroughly solved the problem of rush of current.
Advantage is: adopt the voltage type variable-frequency control system of traditional PWM pulse-width modulation method for synchronously switching to have the rush of current phenomenon when carrier wave ratio switches, and adopt the voltage type variable-frequency control system of new PWM pulse-width modulation method for synchronously switching to take over seamlessly device owing to increased a carrier wave ratio, realized the gradual change of carrier wave ratio, eliminate the root of current impact, thoroughly solved the problem of rush of current.This carrier wave ratio takes over seamlessly utensil simple in structure, advantages such as the adjustment parameter is few, easy realization.
Description of drawings
Fig. 1 is the formation of voltage type variable-frequency control system.Wherein, control system 1, major loop 2, speed governing object 3.
Fig. 2 is carrier frequency f under the conventional synchronization changing method
cWith modulating frequency f
rRelation.
The structure chart that Fig. 3 moves for the control system open loop of adopting the conventional synchronization changing method.
The structure chart that Fig. 4 moves for the control system open loop of adopting method for synchronously switching of the present invention.
Fig. 5 is carrier frequency f under the method for synchronously switching of the present invention
cWith modulating frequency f
rRelation.
Rush of current phenomenon when Fig. 6 switches for the carrier wave ratio that adopts the conventional synchronization changing method.3 passages are stator current impulse current waveform when carrier wave ratio switches under the conventional synchronization switching mode
Current waveform when Fig. 7 switches for the carrier wave ratio that adopts method for synchronously switching of the present invention.Stator current waveforms enlarged drawing when stator current waveforms in the motor whole starting process, lower waveform are the carrier wave ratio switching.
Embodiment
Fig. 1, Fig. 4, Fig. 5, Fig. 7 are the specific embodiment of the present invention.
As shown in Figure 1, the present invention includes: control system, major loop and speed governing object three parts.Hardware control system is by being that control core plate, fiber-optic signal transmission board and power device trigger board are formed with DSP digital signal processing chip TMS320F2812, and software adopts the mode of space vector PWM pulse-width modulation.The three level neutral point clamp formula inversion topological structures that major loop adopts diode rectification and is made up of IPM.The speed governing object is four utmost point asynchronous machines of a 3Kw, rated voltage 380V.
The structure chart that Fig. 4 moves for the control system open loop of adopting novel synchronous changing method system.Obtain the given P of current carrier wave ratio according to given output frequency f
*, utilize the given P of frequency converter carrier wave ratio
*Do poorly with the carrier wave ratio P in last sampling period, import a pi regulator then, adjuster output is as current carrier wave ratio output P.Obtain the integration step Δ θ of current space vector of voltage electrical degree θ by current carrier wave ratio P, obtain the electrical degree θ of current space vector of voltage then by integration.Long given in conjunction with the space vector of voltage mould | V
Ref| with space vector of voltage electrical degree θ, can draw the operate condition of 12 switching devices by space vector modulation algorithm SVPWM.
Fig. 5 is for adopting carrier frequency f under the novel synchronous changing method
cWith modulating frequency f
rRelation.
Fig. 6 is for adopting the stator current impact phenomenon of system when carrier wave ratio switches of conventional synchronization changing method.Experiment condition is that busbar voltage 560V is surveyed in rectification, the direct short-circuit of rotor winding, and motor band DC generator is load, 5.8 ohm of load resistances, generator are separately excited type, exciting voltage 150V, carrier wave ratio is 36 and 6 before and after switching, frequency of modulated wave f during switching
rBe 30Hz.Switch the back maximum current as can be seen and impact 2.5 times that are about the preceding maximum current of switching.
Fig. 7 is the stator current waveforms of system when carrier wave ratio switches that adopts method for synchronously switching of the present invention, and experiment condition is the same, can see switching the back maximum current and switching preceding maximum current equating substantially.As seen adopt the system of method for synchronously switching can thoroughly solve the problem that current of electric impacts in the carrier wave ratio handoff procedure really.
Claims (6)
1, a kind of voltage type variable-frequency control system that adopts the PWM pulse-width modulation to switch synchronously, it is characterized in that: this system comprises: control system, major loop and speed governing object three parts; Hardware control system is by being that control core plate, fiber-optic signal transmission board and power device trigger board are formed with DSP digital signal processing chip TMS320F2812, and software adopts the mode of space vector PWM pulse-width modulation; Major loop comprises rectifying part and inversion part, and rectifying part adopts the diode bridge rectification, and the three level neutral point clamp formula topological structures that are made of IPM are partly adopted in inversion; The speed governing object is four utmost point wire-wound asynchronous motors of a 3Kw, rated voltage 380V.
2, according to the described control system of claim 1, it is characterized in that: the control board that hardware control system adopts similar DSP digital signal processing chip TMS320LF2407A to constitute, software adopts sinusoidal voltage pulse-width modulation or particular harmonic null method modulation system.
3, according to the described control system of claim 1, it is characterized in that: rectifying part adopts controlled rectification or PWM rectification, and two level or many level topological structure are partly adopted in inversion.
4, according to the described control system of claim 1, it is characterized in that: the speed governing object is a synchronous machine.
5, a kind of pulse-width modulation method for synchronously switching that adopts the described control system of claim 1 is characterized in that: obtain the given P of current carrier wave ratio according to given output frequency f
*, utilize the given P of frequency converter carrier wave ratio
*With the carrier wave ratio P in last sampling period do poor, import a pi regulator then, adjuster output is as current carrier wave ratio output P, obtain the integration step Δ θ of current space vector of voltage electrical degree θ by current carrier wave ratio P, obtain the electrical degree θ of current space vector of voltage then by integration, long given in conjunction with the space vector of voltage mould | V
Ref| with space vector of voltage electrical degree θ, can draw the operate condition of 12 switching devices by space vector modulation algorithm SVPWM.
6, in accordance with the method for claim 1, it is characterized in that: carrier wave ratio takes over seamlessly device, and carrier wave ratio takes over seamlessly device and utilizes the given P of frequency converter carrier wave ratio
*Do poorly with the carrier wave ratio P in last sampling period of system, import a pi regulator then, adjuster output is as current carrier wave ratio P output.
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| CN101282093B (en) * | 2007-04-04 | 2011-09-14 | 三垦力达电气(江阴)有限公司 | PWM control method for tandem multi-level inverter |
| CN102223138A (en) * | 2011-06-27 | 2011-10-19 | 株洲南车时代电气股份有限公司 | Motor synchronous modulation method and control system thereof |
| CN102255597A (en) * | 2011-07-29 | 2011-11-23 | 株洲南车时代电气股份有限公司 | Motor synchronous control method, apparatus thereof and system thereof |
| CN102291083A (en) * | 2010-06-07 | 2011-12-21 | 洛克威尔自动控制技术股份有限公司 | Common mode voltage reduction apparatus and method for current source converter based drive |
| CN102497111A (en) * | 2011-11-20 | 2012-06-13 | 合肥华耀电子工业有限公司 | Fast-control power supply system based on IPM (intelligent power module) H-bridge cascade connection |
| US8450957B2 (en) | 2008-06-13 | 2013-05-28 | Zhuzhou Csr Times Electric Co., Ltd. | Space vector based synchronous modulating method and system |
| CN103701400A (en) * | 2013-12-17 | 2014-04-02 | 上海发电设备成套设计研究院 | Low-frequency synthesis method for high-voltage variable-frequency speed regulating device |
| CN103944183A (en) * | 2014-04-10 | 2014-07-23 | 浙江大学 | Hybrid PWM modulation switching device and method |
| WO2014180298A1 (en) * | 2013-05-09 | 2014-11-13 | 三一重机有限公司 | Pulse-width modulation method, control system and electrically driven mine car |
| CN106452128A (en) * | 2016-10-31 | 2017-02-22 | 许继电源有限公司 | Control method and device for solving space vector pulse width modulation current zero-crossing distortion |
| CN111669000A (en) * | 2019-03-08 | 2020-09-15 | 美的威灵电机技术（上海）有限公司 | Control circuit of rotor, rotor assembly, motor and compressor |
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| JP4007309B2 (en) * | 2003-10-28 | 2007-11-14 | 日産自動車株式会社 | Motor control device and motor control method |
| CN1270438C (en) * | 2004-08-20 | 2006-08-16 | 清华大学 | Variable frequency driving device of 3KV-10KV middle-high voltage multi-level three-phase AC motor |
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| CN101282093B (en) * | 2007-04-04 | 2011-09-14 | 三垦力达电气(江阴)有限公司 | PWM control method for tandem multi-level inverter |
| US8450957B2 (en) | 2008-06-13 | 2013-05-28 | Zhuzhou Csr Times Electric Co., Ltd. | Space vector based synchronous modulating method and system |
| CN102291083A (en) * | 2010-06-07 | 2011-12-21 | 洛克威尔自动控制技术股份有限公司 | Common mode voltage reduction apparatus and method for current source converter based drive |
| CN102291083B (en) * | 2010-06-07 | 2014-04-23 | 洛克威尔自动控制技术股份有限公司 | Common mode voltage reduction apparatus and method for current source converter based drive |
| CN102223138A (en) * | 2011-06-27 | 2011-10-19 | 株洲南车时代电气股份有限公司 | Motor synchronous modulation method and control system thereof |
| CN102223138B (en) * | 2011-06-27 | 2013-04-03 | 株洲南车时代电气股份有限公司 | Motor synchronous modulation method and control system thereof |
| CN102255597A (en) * | 2011-07-29 | 2011-11-23 | 株洲南车时代电气股份有限公司 | Motor synchronous control method, apparatus thereof and system thereof |
| CN102255597B (en) * | 2011-07-29 | 2013-06-12 | 株洲南车时代电气股份有限公司 | Motor synchronous control method, apparatus thereof and system thereof |
| CN102497111A (en) * | 2011-11-20 | 2012-06-13 | 合肥华耀电子工业有限公司 | Fast-control power supply system based on IPM (intelligent power module) H-bridge cascade connection |
| WO2014180298A1 (en) * | 2013-05-09 | 2014-11-13 | 三一重机有限公司 | Pulse-width modulation method, control system and electrically driven mine car |
| CN103701400A (en) * | 2013-12-17 | 2014-04-02 | 上海发电设备成套设计研究院 | Low-frequency synthesis method for high-voltage variable-frequency speed regulating device |
| CN103701400B (en) * | 2013-12-17 | 2016-03-09 | 上海发电设备成套设计研究院 | A kind of low frequency synthesis method of high-voltage frequency conversion and speed-adjusting device |
| CN103944183A (en) * | 2014-04-10 | 2014-07-23 | 浙江大学 | Hybrid PWM modulation switching device and method |
| CN103944183B (en) * | 2014-04-10 | 2015-11-25 | 浙江大学 | A kind of hybrid PWM modulation switching device shifter and method |
| CN106452128A (en) * | 2016-10-31 | 2017-02-22 | 许继电源有限公司 | Control method and device for solving space vector pulse width modulation current zero-crossing distortion |
| CN106452128B (en) * | 2016-10-31 | 2019-01-22 | 许继电源有限公司 | Solve the control method and device of the distortion of space vector pulse width modulation current zero-crossing point |
| CN111669000A (en) * | 2019-03-08 | 2020-09-15 | 美的威灵电机技术（上海）有限公司 | Control circuit of rotor, rotor assembly, motor and compressor |
| CN111669000B (en) * | 2019-03-08 | 2021-09-21 | 美的威灵电机技术（上海）有限公司 | Control circuit of rotor, rotor assembly, motor and compressor |
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