WO2018149041A1 - 永磁同步电机驱动系统无电解电容功率变换器及控制方法 - Google Patents

永磁同步电机驱动系统无电解电容功率变换器及控制方法 Download PDF

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Publication number
WO2018149041A1
WO2018149041A1 PCT/CN2017/084797 CN2017084797W WO2018149041A1 WO 2018149041 A1 WO2018149041 A1 WO 2018149041A1 CN 2017084797 W CN2017084797 W CN 2017084797W WO 2018149041 A1 WO2018149041 A1 WO 2018149041A1
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WIPO (PCT)
Prior art keywords
power
grid
switch tube
inductor
motor
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PCT/CN2017/084797
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English (en)
French (fr)
Inventor
张超
王琨
朱孝勇
全力
杜怿
左月飞
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江苏大学
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Priority to GB1912639.0A priority Critical patent/GB2575567B/en
Publication of WO2018149041A1 publication Critical patent/WO2018149041A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
    • H02M5/40—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc
    • H02M5/42—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters
    • H02M5/44—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac
    • H02M5/453—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M5/458—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/14—Arrangements for reducing ripples from dc input or output
    • H02M1/15—Arrangements for reducing ripples from dc input or output using active elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/01—Arrangements for reducing harmonics or ripples
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/32—Means for protecting converters other than automatic disconnection
    • H02M1/34—Snubber circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
    • H02M3/1582—Buck-boost converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/32—Means for protecting converters other than automatic disconnection
    • H02M1/34—Snubber circuits
    • H02M1/344—Active dissipative snubbers

Definitions

  • the invention belongs to the technical field of power electronics, and relates to a power converter for a permanent magnet synchronous motor drive system and a control method thereof.
  • PMSM Permanent magnetic synchronous machine
  • the PMSM drive system generally uses the voltage source inverter shown in Figure 1. It uses a large-capacity electrolytic capacitor to absorb the grid ripple power to stabilize the DC bus voltage and achieve high-performance operation of the motor.
  • the life of the electrolytic capacitor is only 8000 hours (85 ° C), and it decreases rapidly with the increase of the operating temperature, resulting in a decrease in the life and reliability of the motor drive system. It has been documented that 60% of voltage source inverter failures are caused by electrolytic capacitor failure.
  • the motor drive system can only use low-capacity film capacitors, and it cannot effectively absorb the pulsating power of the grid.
  • the bus voltage has a large fluctuation, which leads to an increase in motor output power and torque ripple, which seriously reduces the dynamic and static performance of the motor, and limits the application of the electroless capacitor power converter in the field of motor drive.
  • the existing Z-source inverter-based electroless capacitor power converter uses the Z-source network to realize the film capacitor instead of the electrolytic capacitor, but there are many devices, the inductor is difficult to manufacture, the control is complicated, and the power quality on the grid side is poor.
  • boost-type active power decoupling circuit can achieve power balance of motor drive system, but the increase of bus voltage increases the cost of three-phase inverter.
  • the parallel power processing circuit on the DC bus can reduce the bus voltage fluctuation when the grid voltage is low, but it has the disadvantages of low power factor and large current harmonic content on the grid side. Therefore, how to design an electroless capacitor power converter that can improve the running performance of the motor is a difficult problem in the field.
  • the object of the present invention is to provide a novel electroless capacitor power converter for a permanent magnet synchronous motor drive system and a control method thereof, which can replace electrolysis with an electroless capacitor by matching a corresponding active control strategy with a new active power buffer circuit.
  • the capacitors achieve power decoupling of the drive system, thereby increasing the life and reliability of the motor drive system.
  • the electroless capacitor power converter of the permanent magnet synchronous motor drive system of the present invention adopts the following technical solutions: a single-phase rectifier circuit unit connected to the power grid and a three-phase inverter connected to the permanent magnet synchronous motor, and the first Inductor, second inductor, film capacitor, fifth diode, sixth diode, seventh diode, first power switch, second switch tube, active power buffer circuit, single-phase rectifier circuit unit Output positive pole and one end of the first inductor
  • the connecting and outputting negative electrodes are simultaneously connected with the anode of the seventh diode, the source of the second switching tube, the negative pole of the film capacitor, and the input negative pole of the three-phase inverter bridge; the drain of the second switching tube and one end of the second inductor
  • the anode of the sixth diode is connected, the cathode of the seventh diode is connected to the other end of the second inductor, and is connected to the source of the first switch tube; the drain of the first switch tube
  • the control method of the electroless capacitor power converter of the permanent magnet synchronous motor drive system of the invention adopts the following technical scheme: the grid current is tracked to change the grid voltage by turning on and off the first switch tube and the second switch tube; The power buffer circuit absorbs the grid ripple power.
  • the first switch tube and the second switch tube are turned on, and the film capacitor supplies energy to the motor through the three-phase inverter until the grid output current i g is greater than
  • ⁇ I is the current hysteresis width
  • the grid output current i g is greater than Turning off the first switch tube and the second switch tube, the grid, the first inductor is connected in series to provide energy to the motor, and the second inductor stores the remaining energy in the film capacitor through the sixth diode and the seventh diode. Until the grid output current i g is less than The time is over.
  • the grid output power P g is greater than the motor input power P M
  • the first switch tube and the second switch tube are turned on
  • the grid output power P g is stored, and the film capacitor supplies energy to the motor through the three-phase inverter.
  • the first switch tube and the second switch tube are turned off, the power grid and the first inductor provide energy to the motor;
  • the grid output power P g is smaller than the motor input power P M
  • the first switch tube and the second switch tube are turned on, and the film
  • the capacitor supplies energy to the motor through a three-phase inverter, turning off the first switch and the second switch, and the second inductor and the film capacitor provide energy to the motor.
  • the invention adopts an active power buffer circuit to control the grid output current to track the grid voltage change, effectively reduce the harmonic content of the grid output current, and can realize the operation of the grid output current low harmonic and high power factor; when the grid output power is greater than the motor
  • the power grid directly supplies power to the motor through the three-phase inverter unit, and the active power buffer circuit absorbs excess pulse energy of the power grid; when the power output of the power grid is less than the input power of the motor, the active power buffer circuit releases energy for the motor to work.
  • the motor is powered by the active power snubber circuit unit, the motor is powered by a thin film capacitor, and the grid no longer supplies energy to the motor.
  • the active power buffer circuit absorbs and releases energy through the active device in combination with the film capacitor, which effectively reduces the fluctuation of the DC bus voltage and is beneficial to the high-performance operation of the motor. Therefore, the electroless capacitor power converter of the invention realizes the operation of the grid side power factor of approximately 1 under the premise of ensuring the running performance of the motor, and the harmonic of the output current of the grid is less than 5%, thereby effectively improving the power quality of the grid side. . Increased service life of the drive system and reduced motor torque ripple
  • the invention can effectively reduce the voltage of the DC bus voltage when the motor drive system uses a small capacity film capacitor. To increase the average voltage of the DC bus, to achieve high-performance operation of the motor under the premise of improving the service life and reliability of the motor drive system.
  • the average voltage of the DC bus of the invention is approximately equal to the peak voltage of the power grid, so that the existing three-phase inverter can be used, the three-phase inverter is not required to be added, the cost of the drive system is reduced, and the upgrade and modification of the existing drive system are facilitated. .
  • the power quality of the grid side of the present invention is independent of the motor control, which simplifies the design of the controller.
  • the active buffer circuit instead of the large-capacity electrolytic capacitor to realize the power decoupling of the motor drive system, effectively reducing the fluctuation of the DC bus voltage.
  • the average value of the DC bus voltage of the power converter is approximately equal to the peak value of the grid voltage, which can significantly improve the life and reliability of the drive system without increasing the voltage stress of the inverter power device, and has low motor torque ripple.
  • the grid side output current harmonic content is low.
  • FIG. 1 is a schematic structural view of a conventional voltage source type inverter
  • FIG. 2 is a schematic structural view of a non-electrolytic capacitor power converter of a permanent magnet synchronous motor drive system according to the present invention
  • Figure 3 is a schematic diagram of the power output of the power grid of Figure 1;
  • FIG. 4 is a schematic diagram of power compensation of the active power buffer circuit of FIG. 1;
  • Figure 5 is a schematic diagram of the input power of the motor of Figure 1;
  • FIG. 6 is a working principle diagram of the two switching tubes in the active power buffer circuit when the output power of the grid is greater than the input power of the motor in FIG. 1;
  • FIG. 7 is a working principle diagram of the two switching tubes in the active power buffer circuit when the output power of the grid is greater than the input power of the motor in FIG. 1;
  • FIG. 8 is a schematic diagram showing the operation of the two power switches in the active power buffer circuit when the power output of the power grid is less than the input power of the motor in FIG. 1 .
  • the permanent magnet synchronous motor drive system of the present invention provides an electroless capacitor power converter including a single-phase rectification circuit unit A, an active power buffer circuit C, and a three-phase inverter B.
  • the input end of the single-phase rectification circuit unit A is connected to the power grid U g
  • the positive pole of the output end of the single-phase rectification circuit unit A is connected to the anode of the active power buffer circuit C
  • the negative electrode of C is connected to the negative electrode of the three-phase inverter B.
  • the anode of the input end of the three-phase inverter B is connected to the anode of the output end of the active power buffer circuit C, and the output end of the three-phase inverter B is connected to the three-phase winding of the permanent magnet synchronous motor.
  • the single-phase rectification circuit unit A is composed of four diodes D1, D2, D3, and D4.
  • the three-phase inverter B is composed of six power devices T1-T6, and the power devices T1-T6 are switched and turned off according to the rotor position of the motor, if T1, T3, T5 There is one conduction, the corresponding power devices T2, T4, T6 have two conduction; if T1, T3, T5 have two conduction, the corresponding power devices T2, T4, T6 have one conduction; meanwhile, the power device T1-T6 has a working state of simultaneous shutdown, at which time the motor is in inertia and does not draw energy from the power source.
  • the active power buffer circuit C is composed of a first inductor L1, a second inductor L2, a thin film capacitor C1, a fifth diode D5, a sixth diode D6, a seventh diode D7, and a first switch S1, a second
  • the switch tube S2 is composed.
  • the film capacitor C1 is used to store and release the grid pulsating energy and stabilize the DC bus voltage.
  • the first switching transistor S1 and the second switching transistor S2 have the same switching frequency, and are simultaneously turned on and off.
  • the first inductor L1 and the second inductor L2 control the first inductor L1 under the action of the first switching transistor S1 and the second switching transistor S2.
  • the output positive pole of the single-phase rectifying circuit unit A is connected to one end of the first inductor L1, and the output negative pole of the single-phase rectifying circuit A is simultaneously with the anode of the seventh diode D7, the source of the second switching transistor S2, and the film capacitor C1.
  • the input negative pole of the negative pole and the three-phase inverter bridge B are connected.
  • the drain of the second switch S2 is connected to one end of the second inductor L2 and the anode of the sixth diode D6, and the cathode of the seventh diode D7 is connected to the other end of the second inductor L2, and simultaneously with the first switch tube
  • the source of S1 is connected, the drain of the first switch S1 is connected to the other end of the first inductor L1, the anode of the fifth diode D5, and the cathode of the fifth diode D5 is connected to the anode of the film capacitor C1. It is connected to the cathode of the sixth diode D6 and the input positive electrode of the three-phase inverter B.
  • the permanent magnet synchronous motor drive system of the present invention has two control targets for the electroless capacitor power converter: one is to control the grid output current to track the grid voltage phase change, and realize the grid side power factor approximating to 1 and reducing the current harmonic control. Therefore, the power quality of the grid side is improved; the second is to balance the output power fluctuation of the power grid by using the active power buffer circuit C, and maintain a constant input power of the motor, thereby effectively reducing the fluctuation of the DC bus voltage, thereby reducing the cost of the inverter and improving the motor.
  • Dynamic, static performance details as follows:
  • Control target 1 The current hysteresis control is adopted to realize the grid current tracking grid voltage change by turning on and off the first switch tube S1 and the second switch tube S2.
  • the specific process is: when the grid output current i g and the set reference current When the difference is less than - ⁇ I, where ⁇ I is the current hysteresis width, usually designed as 5% of the peak value of the grid current, the first switch S1 and the second switch S2 are turned on, the grid current, the first inductor L1, the second inductor The L2 current rises to achieve storage of the grid output power, and the film capacitor C1 supplies energy to the motor through the three-phase inverter bridge B. The process until the grid output current i g is greater than The time is over.
  • the buffer circuit C when the grid is greater than the motor input power P M, the buffer circuit C is charged active power grid absorb excess energy; when the grid is less than the output power P g When the motor input power P M , the active power buffer circuit C discharges the release energy for the motor operation, thereby obtaining a stable motor input power P M as shown in FIG.
  • Control target 2 The active power buffer circuit C is used to realize the absorption of the pulsating power of the power grid, and the pulsation of the DC bus power grid is reduced, thereby improving the running performance of the motor. See Table 1 below and Figure 5-7 for the specific control process (assuming the motor draws energy from the power supply):
  • the film capacitor C1 absorbs energy more than the release energy, and the film capacitor C1 voltage rises, and when combined with the requirement of the control target one, when the first switch tube S1 and the second switch tube S2 lead when on, shown in Figure 6, a first inductor L1 and the second inductor L2 of the current rise, the storage grid to achieve the output power P g, the film capacitor C1 provides energy to the motor through three-phase inverter B, when the first When the switch tube S1 and the second switch tube S2 are turned off, as shown in FIG.
  • the power grid and the first inductor L1 provide energy to the motor, and the remaining energy of the grid is stored in the film capacitor C1; when the grid output power Pg is smaller than the motor input power When P M , the film capacitor C1 absorbs energy less than the release energy, and the film capacitor C1 voltage drops, and in combination with the requirement of the control target one, when the first switch tube S1 and the second switch tube S2 are turned on, as shown by 6, first inductor L1 and the second inductor L2 current increases, the output power of the power storage achieve P g, the film capacitor C1 provides energy to the motor through three-phase inverter B, when the first switch S1 and the second switch S2 is turned off when the As shown in Figure 8. The second inductor L2 and the film capacitor C1 provide energy to the motor.
  • the grid output power P g is:
  • Ug and Ig are the effective values of the grid voltage and current, ⁇ is the angular frequency of the grid, and P M is the input power of the motor.
  • the grid output power P g is pulsating at twice the grid frequency, and the motor input power P M is constant. Absorption power when the output power P g P M is greater than the motor input power energy, the energy released is less than the input power P M the electric motor, drive system in order to achieve small-capacity power decoupling capacitor film.
  • the pulsating energy W r of the grid output is:
  • Equation (2) shows that under the condition that the grid angular frequency ⁇ is constant, the pulsating energy W r of the grid output is proportional to the motor input power P M .
  • the first inductor L1 and the second inductor L2 store energy negligible, so there are:
  • U c_max and U c_min are respectively the highest and lowest working voltage of the DC bus, that is, the highest and lowest working voltage of the output of the single-phase rectifier circuit unit A.
  • U c_max can be determined according to the voltage level of the power device, and U c_min is selected according to the working performance of the motor. After the parameters are determined, the required film capacitor C1 capacity can be obtained according to the following formula:
  • U g_max and U L2 are the peak voltage of the grid and the voltage across the second inductor L2.
  • U c is the voltage of the film capacitor C1.
  • t on and t off are the on-time and off-time of the first switch S1 and the second switch S2 respectively in one switching cycle, and the conversion of the equation (7) is finally obtained, and the output of the single-phase rectifier circuit unit A is finally obtained.
  • the voltage U DC that is, the DC bus voltage U DC is:
  • Equation (8) shows that the DC bus voltage U DC is approximately equal to the grid voltage peak, so that it is not necessary to increase the power device voltage of the three-phase inverter B.
  • the first inductor L1 operates in the current continuous mode
  • the second inductor L2 operates in the current interrupt mode
  • the first switch tube S1 and the second switch tube S2 are turned on
  • the first inductor L1 and the second inductor L2 have the same current, so the inductive reactance of the second inductor L2 is 10-30% of the inductive reactance value of the first inductor L1.
  • the sum of the inductive reactance values of the first inductor L1 and the second inductor L2 is:
  • D max corresponds to the maximum duty ratio of the first switch tube S1 and the second switch tube S2
  • f sw is the operating frequency of the first switch tube S1 and the second switch tube S2.

Abstract

一种永磁同步电机驱动系统无电解电容功率变换器及控制方法。该功率变换器包括连接电网（U g）的单相整流电路单元（A）和连接永磁同步电机的三相逆变器（B），还包括由第一、第二电感（L1、L2），薄膜电容（C1），第五二极管（D5）、第六二极管（D6）、第七二极管（D7）和第一、第二开关管（S1、S2）组成的有源功率缓冲电路（C）。有源功率缓冲电路控制电网输出电流（i g）跟踪电网电压变化，当电网输出功率（P g）大于电机输入功率（P M）时，电网通过三相逆变器直接向电机供电，有源功率缓冲电路吸收电网多余脉动能量，当电网输出功率小于电机输入功率时，有源功率缓冲电路释放能量用于电机工作，在保证电机运行性能的前提下，实现电网侧功率因数近似为1的运行，且电网输出电流的谐波低于5％，提高驱动系统的使用寿命。

Description

永磁同步电机驱动系统无电解电容功率变换器及控制方法 技术领域
本发明属于电力电子技术领域，涉及一种用于永磁同步电机驱动系统的功率变换器及其控制方法。
背景技术
永磁同步电动机(Permanent magnetic synchronous machine，PMSM)具有结构简单、功率密度大、维护方便等优点，在家用电器、工业生产、汽车驱动等领域已逐步取代直流有刷电机和异步电机。目前，PMSM的驱动系统普遍采用附图1所示的电压源型逆变器，它使用大容值电解电容吸收电网脉动功率，以稳定直流母线电压，实现电机高性能运行。然而，电解电容的使用寿命仅有8000小时(85℃)，并随着工作温度的增加快速下降，从而导致电机驱动系统的寿命和可靠性下降。有文献记载表明：60％的电压源型逆变器故障是电解电容失效造成。为解决这一问题，一般使用长寿命、高可靠性的薄膜电容替代电解电容，但受成本约束，电机驱动系统仅能使用低容值的薄膜电容，而它无法有效吸收电网的脉动功率，直流母线电压存在大幅度波动，导致电机输出功率、转矩脉动增加，严重降低了电机的动态和静态性能，限制了无电解电容功率变换器在电机驱动领域的应用。目前，已有的基于Z源逆变器的无电解电容功率变换器利用Z源网络实现薄膜电容替代电解电容，但是存在器件多、电感制作难度大、控制复杂、电网侧电能质量差、仅适用于大惯性负载等缺点；升压型有源功率解耦电路可以实现电机驱动系统的功率平衡，但是母线电压的提升增加了三相逆变器的成本。在直流母线上并联功率处理电路可以在电网电压较低时降低母线电压波动，但存在电网侧功率因数低、电流谐波含量大的缺点。为此，如何设计出能提高电机运行性能的无电解电容功率变换器是本领域的难点。
发明内容
本发明的目的是提供一种用于永磁同步电机驱动系统的新型无电解电容功率变换器及其控制方法，通过新型有源功率缓冲电路，匹配相应的控制策略，可以用无电解电容取代电解电容实现驱动系统功率解耦，从而提高电机驱动系统的寿命和可靠性。
为实现上述目的，本发明永磁同步电机驱动系统无电解电容功率变换器采用如下技术方案：包括连接电网单相整流电路单元和连接永磁同步电机的三相逆变器，还包括由第一电感、第二电感，薄膜电容，第五二极管、第六二极管、第七二极管和第一开关管、第二开关管组成的有源功率缓冲电路，单相整流电路单元的输出正极与第一电感的一端 连接、输出负极同时与第七二极管的阳极、第二开关管的源极、薄膜电容的负极、三相逆变桥的输入负极连接；第二开关管的漏极与第二电感的一端、第六二极管的阳极连接，第七二极管的阴极与第二电感的另一端连接，同时与第一开关管的源极连接；第一开关管的漏极与第一电感的另一端、第五二极管的阳极连接，第五二极管的阴极和薄膜电容的正极连接，同时与第六二极管的阴极、三相逆变器的输入正极连接。
本发明永磁同步电机驱动系统无电解电容功率变换器的控制方法采用如下技术方案：通过对第一开关管、第二开关管的导通、关断实现电网电流跟踪电网电压变化；采用有源功率缓冲电路吸收电网脉动功率。
进一步地，当电网输出电流ig与设定参考电流
Figure PCTCN2017084797-appb-000001
之差小于-ΔI，导通第一开关管和第二开关管，薄膜电容通过三相逆变器给电机提供能量，直至电网输出电流ig大于
Figure PCTCN2017084797-appb-000002
时结束，ΔI为电流滞环宽度；当电网输出电流ig大于
Figure PCTCN2017084797-appb-000003
时，关断第一开关管和第二开关管，电网、第一电感串联给电机提供能量，第二电感经第六二极管、第七二极管将剩余的能量存储在薄膜电容中，直至电网输出电流ig小于
Figure PCTCN2017084797-appb-000004
时结束。
进一步地，电网输出功率Pg大于电机输入功率PM时，当第一开关管和第二开关管导通，对电网输出功率Pg的存储，薄膜电容通过三相逆变器给电机提供能量，当第一开关管和第二开关管关断，电网和第一电感为电机提供能量；电网输出功率Pg小于电机输入功率PM时，导通第一开关管和第二开关管，薄膜电容通过三相逆变器给电机提供能量，关断第一开关管和第二开关管，第二电感和薄膜电容为电机提供能量。
本发明采用上述技术方案后具有的技术效果是：
1、本发明采用有源功率缓冲电路控制电网输出电流跟踪电网电压变化，有效降低电网输出电流的谐波含量，可实现电网输出电流低谐波、高功率因数的运行；当电网输出功率大于电机输入功率时，电网通过三相逆变器单元直接向电机供电，有源功率缓冲电路吸收电网多余脉动能量；当电网输出功率小于电机输入功率时，有源功率缓冲电路释放能量用于电机工作，电机由该有源功率缓冲电路单元提供能量，电机由薄膜电容供电，电网不再向电机提供能量。有源功率缓冲电路通过有源器件，结合薄膜电容吸收、释放能量，有效降低了直流母线电压的波动，有利于电机高性能的运行。由此，本发明无电解电容功率变换器在保证电机运行性能的前提下，实现电网侧功率因数近似为1的运行，且电网输出电流的谐波低于5％，有效提高了电网侧电能质量。提高了驱动系统的使用寿命，降低了电机转矩脉动，
2、本发明可以在电机驱动系统使用小容量薄膜电容时，有效降低直流母线电压的波 动，提高直流母线平均电压，从而在提高电机驱动系统使用寿命、可靠性的前提下，实现电机高性能运行。
3、本发明的直流母线平均电压近似等于电网峰值电压，从而可使用现有的三相逆变器，无需增加三相逆变器，降低了驱动系统成本，便于现有驱动系统的升级和改造。
4、本发明的电网侧电能质量与电机控制相互独立，简化了控制器的设计。
5、利用有源缓冲电路替代大容量电解电容实现电机驱动系统的功率解耦，有效降低直流母线电压的波动。此外，该功率变换器直流母线电压平均值近似等于电网电压峰值，能够在不增加逆变器功率器件电压应力的前提下，显著提高驱动系统的寿命和可靠性，同时具有电机转矩脉动低、电网侧输出电流谐波含量低等优点。
附图说明
图1是传统的电压源型逆变器的结构示意图；
图2本发明提出的永磁同步电机驱动系统无电解电容功率变换器的结构示意图；
图3是图1中电网输出功率示意图；
图4是图1中有源功率缓冲电路的功率补偿示意图；
图5是图1中电机输入功率示意图；
图6是图1中当电网输出功率大于电机输入功率时，有源功率缓冲电路中两个开关管导通时的工作原理图；
图7是图1中当电网输出功率大于电机输入功率时，有源功率缓冲电路中两个开关管关断时的工作原理图；
图8是图1中当电网输出功率小于电机输入功率时，有源功率缓冲电路中两个开关管关断时的工作原理图。
具体实施方式
如图2所示，本发明提出的永磁同步电机驱动系统无电解电容功率变换器包括单相整流电路单元A、有源功率缓冲电路C和三相逆变器B。单相整流电路单元A的输入端与电网Ug相连，单相整流电路单元A输出端的正极与有源功率缓冲电路C的正极相连，单相整流电路单元A输出端的负极与有源功率缓冲电路C的负极和三相逆变器B的负极相连。三相逆变器B的输入端的正极与有源功率缓冲电路C输出端的正极相连，三相逆变器B的输出端连接永磁同步电机的三相绕组。
单相整流电路单元A由四个二极管D1、D2、D3、D4构成。三相逆变器B由六个功率器件T1-T6构成，功率器件T1-T6根据电机转子位置开关和关断，如果T1、T3、T5 有一个导通，对应的功率器件T2、T4、T6有两个导通；如果T1、T3、T5有两个导通，对应的功率器件T2、T4、T6有一个导通；同时，功率器件T1-T6存在同时关断的工作状态，此时电机处于惯性运行，不从电源获取能量。
有源功率缓冲电路C由第一电感L1、第二电感L2，薄膜电容C1，第五二极管D5、第六二极管D6、第七二极管D7和第一开关管S1、第二开关管S2组成。其中薄膜电容C1用于存储、释放电网脉动能量，稳定直流母线电压。第一开关管S1和第二开关管S2的开关频率相同，同时开启和关闭；第一电感L1、第二电感L2在第一开关管S1、第二开关管S2作用下控制第一电感L1、第二电感L2的电流，从而控制电网输出电流，实现驱动系统高功率因数、低电流谐波运行。
单相整流电路单元A的输出正极与第一电感L1的一端连接，单相整流电路A的输出负极同时与第七二极管D7的阳极、第二开关管S2的源极、薄膜电容C1的负极、三相逆变桥B的输入负极连接。
第二开关管S2的漏极与第二电感L2的一端、第六二极管D6的阳极连接，第七二极管D7的阴极与第二电感L2的另一端连接，同时与第一开关管S1的源极连接，第一开关管S1的漏极与第一电感L1的另一端、第五二极管D5的阳极连接，第五二极管D5的阴极和薄膜电容C1的正极连接，同时与第六二极管D6的阴极、三相逆变器B的输入正极连接。
本发明所述永磁同步电机驱动系统无电解电容功率变换器的控制目标有两个：一是控制电网输出电流跟踪电网电压相位变化，实现电网侧功率因数近似为1及降低电流谐波的控制，从而提高电网侧电能质量；二是利用有源功率缓冲电路C平衡电网输出功率波动，并保持恒定的电机输入功率，有效降低了直流母线电压的波动，从而降低逆变器成本，提高电机的动态、静态性能。具体如下：
控制目标一：采用电流滞环控制，通过对第一开关管S1、第二开关管S2的导通、关断实现电网电流跟踪电网电压变化。具体过程为：当电网输出电流ig与设定参考电流
Figure PCTCN2017084797-appb-000005
之差小于-ΔI时，其中ΔI为电流滞环宽度，通常设计为电网电流峰值的5％，第一开关管S1和第二开关管S2导通，电网电流、第一电感L1、第二电感L2电流上升，实现对电网输出功率的存储，薄膜电容C1通过三相逆变桥B给电机提供能量。该过程直至电网输出电流ig大于
Figure PCTCN2017084797-appb-000006
时结束。当电网输出电流ig大于
Figure PCTCN2017084797-appb-000007
时，第一开关管S1和第二开关管S2关断，电网、第一电感L1串联给电机提供能量，电网电流下降，同时第二电感L2经第六二极管D6、第七二极管D7将剩余的能量存储在薄膜电容C1中，该过程 直至电网输出电流ig小于
Figure PCTCN2017084797-appb-000008
时结束。如图3所示的电网输出功率Pg，它以2倍的电网频率脉动。如图4所示的有源功率缓冲电路C的功率Pbuf变化，当电网输出功率Pg大于电机输入功率PM，有源功率缓冲电路C充电吸收电网多余能量；当电网输出功率Pg小于电机输入功率PM时，有源功率缓冲电路C放电释放能量用于电机工作，从而获得如图5所示的稳定的电机输入功率PM。
控制目标二：利用有源功率缓冲电路C实现对电网脉动功率的吸收，并实现直流母线电网脉动的降低，从而提高电机运行性能。具体控制过程参见下表1和图5-7(假设电机从电源获取能量)：
表1
Figure PCTCN2017084797-appb-000009
当电网输出功率Pg大于电机输入功率PM时，薄膜电容C1吸收能量大于释放能量，薄膜电容C1电压上升，同时结合控制目标一的要求，当第一开关管S1和第二开关管S2导通时，如图6所示，第一电感L1和第二电感L2的电流上升，实现对电网输出功率Pg的存储，薄膜电容C1通过三相逆变器B给电机提供能量，当第一开关管S1和第二开关管S2关断时，如图7所示，电网和第一电感L1为电机提供能量，电网剩余能量存储在薄膜电容C1中；当电网输出功率Pg小于电机输入功率PM时，薄膜电容C1吸收能量小于释放能量，薄膜电容C1电压下降，同时结合控制目标一的要求，当第一开关管S1和第二开关管S2导通时，如6所示，第一电感L1和第二电感L2电流上升，实现对电网输出功率Pg的存储，薄膜电容C1通过三相逆变器B给电机提供能量，当第一开关管S1和第二开关管S2关断时，如图8所示，第二电感L2和薄膜电容C1为电机提供能量。
假设电网电流和电网电压同相位，则电网输出功率Pg为：
Pg＝2UgIg(sinωt)2＝UgIg(1-cos(2ωt))＝PM-PM cos(2ωt)    (1)
式中Ug、Ig分别是电网电压和电流的有效值，ω为电网的角频率，PM为电机输入功率。由式(1)可知，电网输出功率Pg以电网频率的2倍脉动，而电机输入功率PM是恒定的。在电网输出功率Pg大于电机输入功率PM时吸收能量，在小于电电机输入功率PM时释放 能量，从而实现驱动系统采用小容量薄膜电容功率解耦。在半个电网周期内，且电网输出功率Pg大于电机输入功率PM时，电网输出的脉动能量Wr为：
Figure PCTCN2017084797-appb-000010
式中ωt1、ωt2分别对应π/4(5π/4)和3π/4(7π/4)。式(2)表明：在电网角频率ω不变条件下，电网输出的脉动能量Wr和电机输入功率PM成正比关系。与电容相比，第一电感L1和第二电感L2存储能量可以忽略不计，故有：
Figure PCTCN2017084797-appb-000011
式中Uc_max、Uc_min分别是直流母线的最高、最低工作电压，即单相整流电路单元A输出的最高、最低工作电压，可根据功率器件电压等级确定Uc_max，根据电机工作性能选择Uc_min，参数确定后，则可根据下式得到所需薄膜电容C1容值：
Figure PCTCN2017084797-appb-000012
当第一开关管S1、第二开关管S2导通时，第一电感L1两端电压UL1为：
UL1＝Ug_max-UL2         (5)
式中Ug_max、UL2分别为电网峰值电压、第二电感L2两端电压。当第一开关管S1、第二开关管S2闭合时，第一电感L1两端电压UL1为：
UL1＝Uc-Ug_max           (6)
Uc是薄膜电容C1的电压。
根据伏秒平衡原理，有下列公式存在：
(Ug_max-Uc)ton＝(Uc-Ug_max)toff        (7)
其中ton、toff分别是一个开关周期内第一开关管S1和第二开关管S2的导通时间和关断时间，对式(7)进行变换最后可得单相整流电路单元A输出的电压UDC，也即直流母线电压UDC为：
Figure PCTCN2017084797-appb-000013
式(8)表明，直流母线电压UDC近似等于电网电压峰值，从而无需增加三相逆变器B的功率器件电压。
为确保功率缓冲电路C正常工作，第一电感L1工作在电流连续模式，第二电感L2工作在电流断续模式，而当第一开关管S1和第二开关管S2导通时，应能使第一电感L1、第二电感L2电流相同，故第二电感L2的感抗值为第一电感L1感抗值的10-30％。则第一电感L1和第二电感L2感抗值之和为：
Figure PCTCN2017084797-appb-000014
式中Dmax对应第一开关管S1、第二开关管S2最大占空比，fsw为第一开关管S1、第二开关管S2的工作频率。

Claims (7)

  1. 一种永磁同步电机驱动系统无电解电容功率变换器，包括连接电网单相整流电路单元和连接永磁同步电机的三相逆变器，其特征是：还包括由第一电感(L1)、第二电感(L2)，薄膜电容(C1)，第五二极管(D5)、第六二极管(D6)、第七二极管(D7)和第一开关管(S1)、第二开关管(S2)组成的有源功率缓冲电路；单相整流电路单元的输出正极与第一电感(L1)的一端连接、输出负极同时与第七二极管(D7)的阳极、第二开关管(S2)的源极、薄膜电容(C1)的负极、三相逆变桥的输入负极连接；第二开关管(S2)的漏极与第二电感(L2)的一端、第六二极管(D6)的阳极连接，第七二极管(D7)的阴极与第二电感(L2)的另一端连接，同时与第一开关管(S1)的源极连接；第一开关管(S1)的漏极与第一电感(L1)的另一端、第五二极管(D5)的阳极连接，第五二极管(D5)的阴极和薄膜电容(C1)的正极连接，同时与第六二极管(D6)的阴极、三相逆变器的输入正极连接。
  2. 根据权利要求1所述永磁同步电机驱动系统无电解电容功率变换器，其特征是：薄膜电容的容值
    Figure PCTCN2017084797-appb-100001
    PM为电机输入功率，ω为电网的角频率，Uc_max、Uc_min分别是单相整流电路单元输出的最高、最低工作电压。
  3. 根据权利要求1所述永磁同步电机驱动系统无电解电容功率变换器，其特征是：当第一开关管(S1)和第二开关管(S2)导通时，第一电感(L1)两端电压UL1＝Ug_max-UL2，Ug_max、UL2分别为电网峰值电压、第二电感(L2)两端电压；当第一开关管(S1)和第二开关管(S2)闭合时，第一电感(L1)两端电压UL1＝Uc-Ug_max，Uc是薄膜电容的电压。
  4. 根据权利要求1所述永磁同步电机驱动系统无电解电容功率变换器，其特征是：第一电感(L1)和第二电感(L2)感抗值之和Ug_max为电网峰值电压，Dmax为第一开关管(S1)和第二开关管(S2)的最大占空比，ΔI为电流滞环宽度，fsw为第一开关管(S1)和第二开关管(S2)的工作频率。
  5. 一种如权利要求1所述永磁同步电机驱动系统无电解电容功率变换器的控制方法，其特征是：通过对第一开关管(S1)、第二开关管(S2)的导通、关断实现电网电流跟踪电网电压变化；采用有源功率缓冲电路吸收电网脉动功率。
  6. 根据权利要求5所述永磁同步电机驱动系统无电解电容功率变换器的控制方法，其 特征是：当电网输出电流ig与设定参考电流
    Figure PCTCN2017084797-appb-100003
    之差小于-ΔI，第一开关管(S1)和第二开关管(S2)导通，薄膜电容通过三相逆变器给电机提供能量，直至电网输出电流ig大于
    Figure PCTCN2017084797-appb-100004
    +ΔI时结束，ΔI为电流滞环宽度；当电网输出电流ig大于
    Figure PCTCN2017084797-appb-100005
    时，第一开关管(S1)和第二开关管(S2)关断，电网、第一电感(L1)串联给电机提供能量，第二电感(L2)经第六二极管(D6)、第七二极管(D7)将剩余的能量存储在薄膜电容中，直至电网输出电流ig小于
    Figure PCTCN2017084797-appb-100006
    时结束。
  7. 根据权利要求5所述永磁同步电机驱动系统无电解电容功率变换器的控制方法，其特征是：当电网输出功率Pg大于电机输入功率PM时，导通第一开关管(S1)和第二开关管(S2)，对电网输出功率Pg的存储，薄膜电容通过三相逆变器给电机提供能量，关断第一开关管(S1)和第二开关管(S2)，电网和第一电感(L1)为电机提供能量；当电网输出功率Pg小于电机输入功率PM时，导通第一开关管(S1)和第二开关管(S2)，薄膜电容通过三相逆变器给电机提供能量，关断第一开关管(S1)和第二开关管(S2)，第二电感(L2)和薄膜电容为电机提供能量。
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