WO2025010703A1 - 一种随机pwm控制方法、系统、设备和存储介质 - Google Patents

一种随机pwm控制方法、系统、设备和存储介质 Download PDF

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WO2025010703A1
WO2025010703A1 PCT/CN2023/107157 CN2023107157W WO2025010703A1 WO 2025010703 A1 WO2025010703 A1 WO 2025010703A1 CN 2023107157 W CN2023107157 W CN 2023107157W WO 2025010703 A1 WO2025010703 A1 WO 2025010703A1
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pwm
carrier
random
phase
carrier pattern
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French (fr)
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张沛然
王善铭
李毅拓
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Tsinghua University
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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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0003—Details of control, feedback or regulation circuits
    • H02M1/0038—Circuits or arrangements for suppressing, e.g. by masking incorrect turn-on or turn-off signals, e.g. due to current spikes in current mode control
    • 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
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • 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
    • H02M1/12—Arrangements for reducing harmonics from AC input or output
    • 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
    • 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
    • H02M1/44—Circuits or arrangements for compensating for electromagnetic interference in 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P27/08—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 with pulse width modulation

Definitions

  • the invention relates to a random PWM control method, system, device and storage medium for eliminating high-frequency and high-amplitude PWM harmonics, and belongs to the field of motor drive and power inverter control.
  • voltage source inverters can use PWM (Pulse Width Modulation) technology to provide voltage with variable amplitude and frequency to adjust the working state of the motor and save power consumption.
  • PWM Pulse Width Modulation
  • the rectangular square wave pulses output by the voltage source inverter under PWM technology control contain many high-frequency and high-amplitude PWM voltage harmonics located near the carrier frequency and its integer multiples. These high-frequency and high-amplitude PWM voltage harmonics can cause high-frequency current ripple, high-frequency vibration, high-frequency noise, EMI and other problems.
  • the current main solutions include increasing the carrier frequency, installing an AC filter at the inverter output end, and using random PWM technology, but these methods will bring the following problems:
  • the purpose of the present invention is to provide a random PWM control method, system, device and storage medium.
  • the method can eliminate most of the high-frequency and high-amplitude PWM harmonics by randomly selecting a carrier pattern, and can set the carrier frequency and current sampling frequency to fixed values.
  • the present invention adopts the following technical solutions:
  • the present invention provides a random PWM control method, comprising the following steps:
  • the phase shift angle of the carrier pattern is randomly set within p consecutive carrier cycles of each phase PWM to form a random carrier pattern sequence for controlling the PWM voltage pulse output by the inverter.
  • PWM harmonic component coefficients A mn and B mn at the certain frequency are expressed as:
  • rand i (0,1,...,N–1) represents the (i+1)th random number randomly selected from 0, 1, 2...,(N–1);
  • p is the number of carrier periods used for two-dimensional Fourier analysis;
  • m 1/p, 2/p, 3/p, 4/p,...;
  • n is an integer;
  • V dc is the DC bus voltage;
  • f c is the carrier frequency;
  • f 0 is the fundamental frequency;
  • ⁇ c is the carrier angular frequency;
  • ⁇ 0 is the fundamental angular frequency;
  • VR(y) is the reference wave expression;
  • x f and x r are the upper and lower limits of integration.
  • the phase shift angle of the carrier pattern is randomly set within p consecutive carrier cycles of each phase PWM to form a random carrier pattern sequence for controlling the PWM voltage pulse output by the inverter, including:
  • the multiplication factors contained in the PWM harmonic component coefficients are analyzed by using the principle of mutual cancellation of complex vectors, and the carrier pattern relationship that each phase PWM needs to satisfy is determined based on the analysis results;
  • phase shift angle of the carrier pattern of each phase PWM in p consecutive carrier cycles is randomly set to form a random carrier pattern sequence for controlling the PWM voltage pulse output by the inverter.
  • the carrier pattern relationship that each phase PWM needs to satisfy is: in each carrier cycle, a carrier pattern is randomly selected from a carrier pattern group including N basic carrier patterns, N is a positive integer greater than 1, and the selection is repeated p times in p consecutive carrier cycles.
  • phase shift angle of the carrier pattern of each phase PWM in p consecutive carrier cycles is randomly set to form a random carrier pattern sequence, including:
  • a random number generator is used to randomly select a number from N numbers in the value range of 1, 2, 3, ..., N, thereby forming a random number sequence;
  • a random number sequence is used to randomly select from N basic carrier patterns to form a random carrier pattern sequence.
  • the present invention provides a random PWM control system, comprising:
  • a Fourier analysis module is used to perform a two-dimensional Fourier analysis on the output PWM voltage of one of the single-phase bridge arms of the inverter to obtain a multiplication factor related to the PWM harmonic component coefficient;
  • the random PWM control module is used to randomly set the phase shift angle of the carrier pattern within p consecutive carrier cycles of each phase PWM based on the obtained multiplication factor related to the PWM harmonic component coefficient, so as to form a random carrier pattern sequence for controlling the PWM voltage pulse output by the inverter.
  • the random PWM control module includes:
  • a phase shift angle relationship determination module is used to analyze the multiplication factors related to the PWM harmonic component coefficients by using the principle of mutual cancellation of complex vectors, and determine the phase shift angle relationship that the carrier pattern of each phase PWM needs to satisfy within p consecutive carrier cycles based on the analysis results;
  • the pulse output module is used to randomly set the phase shift angle of the carrier pattern of each phase PWM within p consecutive carrier cycles based on the phase shift angle relationship to form a random carrier pattern sequence for controlling the PWM voltage pulse output by the inverter.
  • the present invention provides a computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions, which, when executed by a computing device, cause the computing device to perform any of the methods.
  • the present invention provides a computing device comprising: one or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include instructions for executing any of the methods.
  • the present invention adopts the above technical solution, which has the following advantages:
  • the present invention can eliminate most high-frequency and high-amplitude PWM harmonics by randomly setting the PWM carrier pattern, thereby effectively reducing the high-frequency vibration and high-frequency noise of the motor, and effectively solving the EMI problem in the PWM drive system;
  • the carrier frequency and current sampling frequency of the present invention can be set to fixed values, and thus are suitable for digital closed-loop control systems.
  • the present invention can bring extremely high application value and economic value by simply changing the control algorithm, and is suitable for electrical Transmission, ship propulsion and rail transportation and other fields.
  • FIG1 is a flow chart of a random PWM control method provided by an embodiment of the present invention.
  • FIG2 is a schematic diagram of a basic carrier pattern group according to an embodiment of the present invention.
  • 3(a) to 3(d) are schematic diagrams of the working process of a single-phase bridge arm in an embodiment of the present invention.
  • FIG. 5 is a phase voltage spectrum analysis diagram of the random SVPWM method of the present invention when the modulation ratio is 0.7, the carrier frequency is 8.0kHz, and there are three basic carrier patterns with phase shift angles differing by 2 ⁇ /3 angles available for random selection;
  • 6 is a phase voltage spectrum analysis diagram of the random SVPWM method of the present invention when the modulation ratio is 0.7, the carrier frequency is 8.0 kHz, and there are 6 basic carrier patterns with phase shift angles differing by ⁇ /3 and integer multiples thereof for random selection.
  • a random PWM control method forms a random carrier pattern sequence by randomly setting a phase shift angle in a carrier pattern within each carrier period of each phase PWM, thereby eliminating most of the high-frequency and high-amplitude PWM harmonics, thereby effectively reducing the high-frequency vibration and high-frequency noise of the motor, and effectively solving the EMI problem in the PWM drive system.
  • a random PWM control system, device and storage medium are provided.
  • this embodiment provides a random PWM control method, which includes the following steps:
  • phase shift angle of the carrier pattern is randomly set within p consecutive carrier cycles of each phase PWM to form a random carrier pattern sequence for controlling the PWM voltage pulse output by the inverter.
  • a two-dimensional Fourier analysis can be performed. Specifically, a two-dimensional Fourier analysis is performed on the output PWM voltage of one of the single-phase bridge arms of the inverter, and the calculation formulas of the coefficients A mn and B mn of the PWM harmonic component "A mn cos(m ⁇ c t +n ⁇ 0 t)+B mn sin(m ⁇ c t+n ⁇ 0 t)" at the frequency (mf c +nf 0 ) can be derived as follows:
  • rand i (0,1,...,N–1) represents the (i+1)th random number randomly selected from 0, 1, 2...,(N–1);
  • p is the number of carrier cycles used for two-dimensional Fourier analysis;
  • m 1/p, 2/p, 3/p, 4/p,...;
  • n is an integer;
  • V dc is the DC bus voltage;
  • f c is the carrier frequency;
  • f 0 is the fundamental frequency;
  • ⁇ c is the carrier angular frequency;
  • ⁇ 0 is the fundamental angular frequency;
  • VR(y) is the reference wave expression, and the form of the reference wave is not restricted;
  • the expressions of the integral upper limit x f and the integral lower limit x r are:
  • the above step 2) includes the following steps:
  • phase shift angle of the carrier pattern of each phase PWM in p consecutive carrier cycles is randomly set to form a random carrier pattern sequence, which is used to control the PWM voltage pulse output by the inverter.
  • formula (1) contains a key multiplication factor, and the modulus of this embodiment is defined as:
  • HDC will affect the PWM harmonic component coefficient, and a smaller HDC value will attenuate high-amplitude PWM harmonics.
  • the expression of HDC is understood from the perspective of the mutual cancellation of complex vectors: there are N equal-modulus complex vectors, and there is a phase difference of 2m ⁇ /N between any two adjacent complex vectors.
  • the random PWM control method of the present invention randomly selects these N complex vectors in each carrier cycle, and repeats the selection p times in p consecutive carrier cycles to obtain p complex vectors.
  • the average value of these p complex vectors is taken in the complex domain, and the modulus of the average value is defined as HDC.
  • the carrier pattern group of the random PWM control method of the present invention can also be composed of phase shift patterns of carrier patterns of other shapes, such as a carrier pattern group composed of unilaterally asymmetrical triangular phase shift patterns.
  • phase shift angle between any two carrier patterns may not be 2 ⁇ /N or its integer multiples.
  • equation (1) should be modified as follows:
  • rand i (1,2,...,N) represents the (i+1)th random number randomly selected from 1,2,...,N. Accordingly, formula (4) Should be amended to:
  • phase difference between the complex vectors corresponding to different carrier patterns can still achieve the weakening of HDC and high-frequency and high-amplitude PWM harmonics, and the specific weakening degree can be obtained from the complex vector diagram according to the calculation result of HDC.
  • step 2.2 when the phase shift angle of the carrier pattern of each phase PWM in p consecutive carrier periods is randomly set, it includes: using a random number generator to generate a random number sequence, in each carrier period of the p carrier periods, using the random number generator to randomly select a number from N numbers in the value range of 1, 2, 3, ..., N, thereby forming a random number sequence; using the random number sequence to randomly select from N basic carrier patterns to form a random carrier pattern sequence.
  • the random PWM control method of the present invention can also be combined with a random carrier frequency strategy to further eliminate the remaining PWM harmonics.
  • Figures 3(a) to 3(d) are schematic diagrams of the working process of a single-phase bridge arm, where Ts is the carrier period.
  • the random number generator can provide random numbers with a value range of 1, 2, 3, ..., N;
  • the random number sequence determines the sequence of the corresponding basic carrier pattern;
  • the basic carrier pattern sequence determines the sequence of the two-dimensional Fourier analysis unit, which can be used to perform two-dimensional Fourier analysis;
  • Figure 3(d) is a schematic diagram of the output PWM voltage pulse determined by the basic carrier pattern sequence.
  • the reference wave in the two-dimensional Fourier analysis unit is an example of the reference wave of the conventional seven-segment SVPWM.
  • the random PWM control method of the present invention is not limited by the form of the reference wave, and other forms of reference waves can still be combined with the random carrier pattern strategy of the present invention.
  • the phase voltage spectrum analysis of the conventional SVPWM method is shown in FIG4
  • the above-mentioned embodiment 1 provides a random PWM control method, and correspondingly, this embodiment provides a random PWM control system.
  • the system provided by this embodiment can implement the random PWM control method of embodiment 1, and the system can be implemented by software, hardware, or a combination of software and hardware.
  • the system may include integrated or separate functional modules or functional units to perform the corresponding steps in each method of embodiment 1. Since the system of this embodiment is basically similar to the method embodiment, the description process of this embodiment is relatively simple, and the relevant parts can refer to the partial description of embodiment 1.
  • the embodiment of the system provided by this embodiment is only illustrative.
  • This embodiment provides a random PWM control system, including:
  • a Fourier analysis module is used to perform a two-dimensional Fourier analysis on the PWM voltage pulse output by one of the single-phase bridge arms of the inverter to obtain the PWM harmonic component coefficient at a certain frequency;
  • the random PWM control module is used to randomly set the phase shift angle of the carrier pattern within p consecutive carrier cycles of each phase PWM based on the obtained PWM harmonic component coefficient, form a random carrier pattern sequence, and control the PWM voltage pulse output by the inverter.
  • the random PWM control module comprises:
  • a phase shift angle determination module is used to analyze the multiplication factors contained in the PWM harmonic component coefficients by using the principle of mutual cancellation of complex vectors, and determine the carrier pattern relationship that each phase PWM needs to satisfy based on the analysis results;
  • the pulse output module is used to use the above relationship to randomly set the phase shift angle of the carrier pattern of each phase PWM within p consecutive carrier cycles to form a random carrier pattern sequence to control the PWM voltage pulse output by the inverter.
  • This embodiment provides a processing device corresponding to the random PWM control method provided in this embodiment 1.
  • the processing device can be a processing device for a client, such as a mobile phone, a laptop computer, a tablet computer, a desktop computer, etc., to execute the method of embodiment 1.
  • the processing device includes a processor, a memory, a communication interface and a bus, and the processor, the memory and the communication interface are connected through the bus to complete mutual communication.
  • the memory stores a computer program that can be run on the processor, and the processor executes the random PWM control method provided in this embodiment 1 when running the computer program.
  • the memory may be a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage.
  • RAM random access memory
  • non-volatile memory such as at least one disk storage.
  • the processor may be a central processing unit (CPU), a digital signal processor (DSP), or other general-purpose processors of various types, which are not limited herein.
  • CPU central processing unit
  • DSP digital signal processor
  • the random PWM control method of the present embodiment 1 may be specifically implemented as a computer program product.
  • the computer program product may include a computer-readable storage medium carrying computer-readable program instructions for executing the random PWM control method of the present embodiment 1.
  • Computer readable storage media can be tangible devices that hold and store instructions used by instruction execution devices.
  • Computer readable storage media can be, for example, but not limited to, electronic storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any combination thereof.
  • the above-mentioned implementation mode is only used to illustrate the present invention.
  • the value of N, the shape of the basic carrier pattern, the phase shift angle of the basic carrier pattern, the number of selected basic carrier patterns and the form of the reference wave can all be changed.
  • the carrier frequency can be either a fixed value or a variable value. Any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention should be included in the protection scope of the present invention.

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Abstract

本发明涉及一种随机PWM控制方法、系统、设备和存储介质，包括：对逆变器其中一个单相桥臂输出的PWM电压脉冲进行二维傅里叶分析，得到位于某一频率处的PWM谐波分量系数；基于得到的PWM谐波分量系数，在每一相PWM的连续p个载波周期内对其载波图案随机设置相移角，形成随机载波图案序列，用于控制逆变器输出的PWM电压脉冲。本发明可消除绝大多数高频高幅值的PWM谐波，进而有效降低电机的高频振动、高频噪声，并可有效解决PWM驱动系统中的EMI问题。因此，本发明只需改变控制算法便可带来极高的应用价值和经济价值，可以广泛应用于电气传动、船舶推进及轨道交通等领域。

Description

一种随机PWM控制方法、系统、设备和存储介质 技术领域
本发明涉及一种消除高频高幅值PWM谐波的随机PWM控制方法、系统、设备和存储介质，属于电机驱动器和电力逆变器控制领域。
背景技术
随着能源问题与日常生活和环境保护的关系越来越密切，电压源型逆变器的应用和技术发展成为重要的研究课题之一，因为电压源型逆变器可以通过使用PWM(Pulse Width Modulation，脉冲宽度调制)技术来提供幅值和频率都可变的电压以调整电机的工作状态并节省电力消耗。
然而，PWM技术控制下的电压源型逆变器输出的矩形方波脉冲蕴含了众多位于载波频率及其整数倍附近的高频高幅值的PWM电压谐波，这些高频高幅值的PWM电压谐波会导致高频电流纹波、高频振动、高频噪声以及EMI等问题。
为了解决上述问题，当前的主要方案有提高载波频率、逆变器输出端加装交流滤波器以及使用随机PWM技术等，但这些方法会带来以下问题：
1)提高载波频率会提高电力电子器件的开关频率，这不仅会带来更多的开关损耗，还会受到器件本身特性的约束；
2)交流滤波器会带来额外的成本，且其体积大、重量重；
3)常见的随机PWM技术需要对载波频率进行随机化，这会导致电流采样频率的随机化，进而带来电流采样的误差，影响数字闭环系统的控制性能。
技术问题
针对上述问题，本发明的目的是提供一种随机PWM控制方法、系统、设备和存储介质，该方法通过随机选择载波图案，能够消除绝大多数高频高幅值的PWM谐波，且可以将载波频率和电流采样频率设置为固定值。
技术解决方案
为实现上述目的，本发明采取以下技术方案：
第一方面，本发明提供一种随机PWM控制方法，包括以下步骤：
对逆变器其中一个单相桥臂输出的PWM电压脉冲进行二维傅里叶分析，得到位于某一频率处的PWM谐波分量系数；
基于得到的PWM谐波分量系数，在每一相PWM的连续p个载波周期内对其载波图案随机设置相移角，形成随机载波图案序列，用于控制逆变器输出的PWM电压脉冲。
进一步，所述某一频率处的PWM谐波分量系数Amn和Bmn，表示为：
其中，randi(0,1,…,N–1)表示第(i+1)个从0，1，2…,(N–1)中随机选择的随机数；p是用于进行二维傅里叶分析的载波周期个数；m＝1/p,2/p,3/p,4/p,…；n为整数；Vdc为直流母线电压；fc是载波频率；f0是基波频率；ωc是载波角频率；ω0是基波角频率；VR(y)为参考波表达式；xf和xr是积分上限和积分下限。
进一步，所述基于得到的PWM谐波分量系数，在每一相PWM的连续p个载波周期内对其载波图案随机设置相移角，形成随机载波图案序列，用于控制逆变器输出的PWM电压脉冲，包括：
利用复向量互相抵消原理对PWM谐波分量系数所包含的乘法因子进行分析，基于分析结果确定每一相PWM需满足的载波图案关系；
基于所述关系，对每一相PWM在连续的p个载波周期内载波图案的相移角进行随机设置，形成随机载波图案序列，用于控制逆变器输出的PWM电压脉冲。
进一步，所述每一相PWM需满足的载波图案关系为：在每个载波周期内，均从包含N个基本载波图案的载波图案组中随机选择载波图案，N为大于1的正整数，并在连续的p个载波周期内重复选择p次。
进一步，所述载波图案组中，第w个载波图案记为Pattern(N,α0,w)，其相移角α＝α0+(w–1)·2π/N，初始相移角α0满足0≤α0＜2π/N。
进一步，所述基于所述关系，对每一相PWM在连续的p个载波周期内载波图案的相移角进行随机设置，形成随机载波图案序列，包括：
在p个载波周期的每个载波周期内，利用随机数发生器从取值范围为1,2,3,…,N的N个数中随机选择一个数，进而构成随机数序列；
利用随机数序列从N个基本载波图案中随机选择，形成随机载波图案序列。
第二方面，本发明提供一种随机PWM控制系统，包括：
傅里叶分析模块，用于对逆变器其中一个单相桥臂的输出PWM电压进行二维傅里叶分析，得到与PWM谐波分量系数相关的乘法因子；
随机PWM控制模块，用于基于得到的与PWM谐波分量系数相关的乘法因子，在每一相PWM的连续p个载波周期内对其载波图案随机设置相移角，形成随机载波图案序列，用于控制逆变器输出的PWM电压脉冲。
进一步，所述随机PWM控制模块包括：
相移角关系确定模块，用于利用复向量互相抵消原理对与PWM谐波分量系数相关的乘法因子进行分析，基于分析结果确定每一相PWM在连续的p个载波周期内，载波图案需满足的相移角关系；
脉冲输出模块，用于基于所述相移角关系，对每一相PWM在连续的p个载波周期内载波图案的相移角进行随机设置，形成随机载波图案序列，用于控制逆变器输出的PWM电压脉冲。
第三方面，本发明提供一种存储一个或多个程序的计算机可读存储介质，所述一个或多个程序包括指令，所述指令当由计算设备执行时，使得所述计算设备执行所述方法中的任一方法。
第四方面，本发明提供一种计算设备，包括：一个或多个处理器、存储器及一个或多个程序，其中一个或多个程序存储在所述存储器中并被配置为所述一个或多个处理器执行，所述一个或多个程序包括用于执行所述方法中的任一方法的指令。
有益效果
本发明由于采取以上技术方案，其具有以下优点：
1、本发明通过对PWM的载波图案进行随机设置，可消除绝大多数高频高幅值的PWM谐波，进而有效降低电机的高频振动、高频噪声，并可有效解决PWM驱动系统中的EMI问题；
2、本发明的载波频率和电流采样频率可设置为固定值，因此适用于数字闭环控制系统。
综上所述，本发明只需改变控制算法便可带来极高的应用价值和经济价值，适用于电气 传动、船舶推进及轨道交通等领域。
附图说明
图1是本发明实施例提供的随机PWM控制方法流程图；
图2是本发明实施例中基本载波图案组的示意图；
图3(a)～图3(d)是本发明实施例中单相桥臂的工作过程示意图；
图4是本发明实施例中当调制比为0.7，载波频率为8.0kHz时，传统SVPWM方法的相电压频谱分析图；
图5是本发明实施例中当调制比为0.7，载波频率为8.0kHz，且有3个相移角互差2π/3角度的基本载波图案可供随机选择时，本发明随机SVPWM方法的相电压频谱分析图；
图6是本发明实施例中当调制比为0.7，载波频率为8.0kHz，且有6个相移角互差π/3及其整数倍角度的基本载波图案可供随机选择时，本发明随机SVPWM方法的相电压频谱分析图。
本发明的最佳实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例的附图，对本发明实施例的技术方案进行清楚、完整地描述。显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于所描述的本发明的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本发明保护的范围。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。
本发明的一些实施例中，提供一种随机PWM控制方法，该方法通过在每一相PWM的每个载波周期内的载波图案中随机设置相移角，形成随机载波图案序列，可以消除绝大多数高频高幅值的PWM谐波，进而有效降低电机的高频振动、高频噪声，并可有效解决PWM驱动系统中的EMI问题。
与之相对应地，本发明的另一些实施例中，提供一种随机PWM控制系统、设备和存储介质。
实施例1
如图1所示，本实施例提供了一种随机PWM控制方法，其包括以下步骤：
1)对逆变器其中一个单相桥臂输出的PWM电压脉冲进行二维傅里叶分析，得到某一频率处的PWM谐波分量系数；
2)基于得到的PWM谐波分量系数，在每一相PWM的连续p个载波周期内对其载波图案随机设置相移角，形成随机载波图案序列，用于控制逆变器输出的PWM电压脉冲。
优选地，上述步骤1)中，当载波频率为固定值时，可进行二维傅里叶分析。具体地，对逆变器其中一个单相桥臂的输出PWM电压进行二维傅里叶分析，可推导得到位于(mfc+nf0)频率处的PWM谐波分量“Amncos(mωct+nω0t)+Bmnsin(mωct+nω0t)”的系数Amn和Bmn的计算式为：

其中，randi(0,1,…,N–1)表示第(i+1)个从0，1，2…,(N–1)中随机选择的随机数；p是用于进行二维傅里叶分析的载波周期个数；m＝1/p,2/p,3/p,4/p,…；n为整数；Vdc为直流母线电压；fc是载波频率；f0是基波频率；ωc是载波角频率；ω0是基波角频率；VR(y)为参考波表达式，且参考波的形式不受限制；积分上限xf和积分下限xr的表达式为：

优选地，上述步骤2)中，包括以下步骤：
2.1)利用复向量互相抵消原理对PWM谐波分量系数所包含的乘法因子进行分析，基于分析结果确定每一相PWM需满足的载波图案关系；
2.2)利用上述关系，对每一相PWM在连续的p个载波周期内载波图案的相移角进行随机设置，形成随机载波图案序列，用于控制逆变器输出的PWM电压脉冲。
优选地，上述步骤2.1)中，通过对公式(1)进行分析发现，公式(1)内包含一个关键的乘法因子，本实施例将其模定义为：
显然，HDC会影响PWM谐波分量系数，较小的HDC值会衰减高幅值的PWM谐波。
本实施例中，从复向量互相抵消的角度对HDC的表达式进行理解：共有N个等模复向量，且任意两个相邻的复向量之间存在2mπ/N的相位差，本发明的随机PWM控制方法在每个载波周期内对这N个复向量进行随机选择，并在连续的p个载波周期内重复选择p次以获得p个复向量，在复数域中取这p个复向量的平均值，该平均值的模被定义为HDC。
当m＝1,2,3,...,(N–1)时，p个复向量之间的相位差使得它们在叠加的过程中可以相互抵消，而当m＝N时，p个复向量方向一致，无法互相抵消。因此，本发明的随机PWM控制方法可以消除(Nk+v)倍载波频率附近的PWM谐波，而(Nk+N)倍载波频率附近的PWM谐波保持不变，其中k＝0,1,2,3,...和v＝1,2,3,...,(N–1)。
如图2所示，为本实施例中选择的载波图案组，其包括N个载波图案，且任意两个载波图案之间的相移角之差为2π/N或2π/N的整数倍，即第w个载波图案可以记为Pattern(N,α0,w)，其相移角α＝α0+(w–1)·2π/N，初始相移角α0满足0≤α0＜2π/N，N为大于1的正整数。
除上述双边对称三角的相移图案组成的载波图案组外，本发明随机PWM控制方法的载波图案组也可以由其它形状的载波图案的相移图案组成，如单边不对称三角的相移图案组成的载波图案组。
特别地，任意两个载波图案之间的相移角之差也可以不是2π/N或其整数倍，设第w个基本载波图案的相移角为αw，则式(1)应修改为：
其中，randi(1,2,…,N)表示第(i+1)个从1,2,…,N中随机选择的随机数。相应地，式(4) 应当修改为：
不同载波图案对应的复向量之间的相位差依然可以实现HDC和高频高幅值PWM谐波的削弱，其具体削弱程度可从复向量图中根据HDC的计算结果得到。
优选地，上述步骤2.2)中，对每一相PWM在连续的p个载波周期内载波图案的相移角进行随机设置时，包括：利用随机数发生器产生随机数序列，在p个载波周期的每个载波周期内，利用随机数发生器从取值范围为1,2,3,…,N的N个数中随机选择一个数，进而构成随机数序列；利用随机数序列从N个基本载波图案中随机选择，形成随机载波图案序列。
优选地，本发明随机PWM控制方法也可以与随机载波频率策略相结合，以进一步消除剩余的PWM谐波。
实施例2
图3(a)～图3(d)为单相桥臂的工作过程示意图，其中，Ts为载波周期。在图3(a)中，随机数发生器可提供取值范围为1,2,3,…,N的随机数；在图3(b)中，随机数序列决定了相应的基本载波图案的序列；在图3(c)中，基本载波图案序列决定了二维傅里叶分析单元的序列，这可用于进行二维傅里叶分析；图3(d)为基本载波图案序列决定的输出PWM电压脉冲示意图。其中，二维傅里叶分析单元中的参考波以常规七段式SVPWM的参考波为示例。事实上，本发明的随机PWM控制方法并不受参考波形式的限制，其它形式的参考波依然可以结合本发明的随机载波图案策略。
当调制比为0.7，载波频率fc为8.0kHz时，常规SVPWM方法的相电压频谱分析如图4所示，本发明的随机SVPWM方法在N＝3时的相电压频谱分析如图5所示，本发明的随机SVPWM方法在N＝6时的相电压频谱分析如图6所示。由图4、图5和图6可知，本发明的随机PWM控制方法可以消除(Nk+v)倍载波频率附近的PWM谐波，而(Nk+N)倍载波频率附近的PWM谐波保持不变，其中k＝0,1,2,3,...和v＝1,2,3,...,(N–1)。
实施例3
上述实施例1提供了一种随机PWM控制方法，与之相对应地，本实施例提供一种随机PWM控制系统。本实施例提供的系统可以实施实施例1的随机PWM控制方法，该系统可以通过软件、硬件或软硬结合的方式来实现。例如，该系统可以包括集成的或分开的功能模块或功能单元来执行实施例1各方法中的对应步骤。由于本实施例的系统基本相似于方法实施例，所以本实施例描述过程比较简单，相关之处可以参见实施例1的部分说明即可，本实施例提供的系统的实施例仅仅是示意性的。
本实施例提供的一种随机PWM控制系统，包括：
傅里叶分析模块，用于对逆变器其中一个单相桥臂输出的PWM电压脉冲进行二维傅里叶分析，得到位于某一频率处的PWM谐波分量系数；
随机PWM控制模块，用于基于得到的PWM谐波分量系数，在每一相PWM的连续p个载波周期内对其载波图案随机设置相移角，形成随机载波图案序列，控制逆变器输出的PWM电压脉冲。
优选地，随机PWM控制模块，包括：
相移角确定模块，用于利用复向量互相抵消原理对PWM谐波分量系数所包含的乘法因子进行分析，基于分析结果确定确定每一相PWM需满足的载波图案关系；
脉冲输出模块，用于利用上述关系，对每一相PWM在连续的p个载波周期内载波图案的相移角进行随机设置，形成随机载波图案序列，控制逆变器输出的PWM电压脉冲。
实施例4
本实施例提供一种与本实施例1所提供的随机PWM控制方法对应的处理设备，处理设备可以是用于客户端的处理设备，例如手机、笔记本电脑、平板电脑、台式机电脑等，以执行实施例1的方法。
所述处理设备包括处理器、存储器、通信接口和总线，处理器、存储器和通信接口通过总线连接，以完成相互间的通信。存储器中存储有可在所述处理器上运行的计算机程序，所述处理器运行所述计算机程序时执行本实施例1所提供的随机PWM控制方法。
在一些实施例中，存储器可以是高速随机存取存储器(RAM：Random Access Memory)，也可能还包括非不稳定的存储器(non-volatile memory)，例如至少一个磁盘存储器。
在另一些实施例中，处理器可以为中央处理器(CPU)、数字信号处理器(DSP)等各种类型通用处理器，在此不做限定。
实施例5
本实施例1的随机PWM控制方法可被具体实现为一种计算机程序产品，计算机程序产品可以包括计算机可读存储介质，其上载有用于执行本实施例1所述的随机PWM控制方法的计算机可读程序指令。
计算机可读存储介质可以是保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是但不限于电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意组合。
上述实施方式仅用于说明本发明，N的值、基本载波图案的形状、基本载波图案的相移角、选定基本载波图案的数量和参考波的形式等都是可以有所变化的，载波频率既可以是固定值也可以是变化值，凡是对本发明技术方案进行修改或者等同替换，而不脱离本发明技术方案的精神和范围，均应涵盖在本发明的保护范围中。
最后应当说明的是：以上实施例仅用以说明本发明的技术方案而非对其限制，尽管参照上述实施例对本发明进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本发明的具体实施方式进行修改或者等同替换，而未脱离本发明精神和范围的任何修改或者等同替换，其均应涵盖在本发明的权利要求保护范围之内。

Claims (10)

  1. 一种随机PWM控制方法，其特征在于，包括以下步骤：
    对逆变器其中一个单相桥臂的输出PWM电压进行二维傅里叶分析，得到位于某一频率处的PWM谐波分量系数；
    基于得到的PWM谐波分量系数，在每一相PWM的连续p个载波周期内对其载波图案随机设置相移角，形成随机载波图案序列，用于控制逆变器输出的PWM电压脉冲。
  2. 如权利要求1所述的一种随机PWM控制方法，其特征在于，所述某一频率处的PWM谐波分量系数Amn和Bmn，表示为：
    其中，randi(0,1,…,N–1)表示第(i+1)个从0，1，2…,(N–1)中随机选择的随机数；p是用于进行二维傅里叶分析的载波周期个数；m＝1/p,2/p,3/p,4/p,…；n为整数；Vdc为直流母线电压；fc是载波频率；f0是基波频率；ωc是载波角频率；ω0是基波角频率；VR(y)为参考波表达式；xf和xr是积分上限和积分下限。
  3. 如权利要求1所述的一种随机PWM控制方法，其特征在于，所述基于得到的PWM谐波分量系数，在每一相PWM的连续p个载波周期内对其载波图案随机设置相移角，形成随机载波图案序列，用于控制逆变器输出的PWM电压脉冲，包括：
    利用复向量互相抵消原理对PWM谐波分量系数所包含的乘法因子进行分析，基于分析结果确定每一相PWM需满足的载波图案关系；
    基于所述关系，对每一相PWM在连续的p个载波周期内载波图案的相移角进行随机设置，形成随机载波图案序列，用于控制逆变器输出的PWM电压脉冲。
  4. 如权利要求3所述的一种随机PWM控制方法，其特征在于，所述每一相PWM需满足的载波图案关系为：在每个载波周期内，均从包含N个基本载波图案的载波图案组中随机选择载波图案，N为大于1的正整数，并在连续的p个载波周期内重复选择p次。
  5. 如权利要求4所述的一种随机PWM控制方法，其特征在于，所述载波图案组中，第w个载波图案记为Pattern(N,α0,w)，其相移角α＝α0+(w–1)·2π/N，初始相移角α0满足0≤α0＜2π/N。
  6. 如权利要求3所述的一种随机PWM控制方法，其特征在于，所述基于所述关系，对每一相PWM在连续的p个载波周期内载波图案的相移角进行随机设置，形成随机载波图案序列，包括：
    在p个载波周期的每个载波周期内，利用随机数发生器从取值范围为1,2,3,…,N的N个数中随机选择一个数，进而构成随机数序列；
    利用随机数序列从N个基本载波图案中随机选择，形成随机载波图案序列。
  7. 一种随机PWM控制系统，其特征在于，包括：
    傅里叶分析模块，用于对逆变器其中一个单相桥臂输出的PWM电压脉冲进行二维傅里叶分析，得到位于某一频率处的PWM谐波分量系数；
    随机PWM控制模块，用于基于得到的PWM谐波分量系数，在每一相PWM的连续p个载波周期内对其载波图案随机设置相移角，形成随机载波图案序列，用于控制逆变器输出的PWM电压脉冲。
  8. 如权利要求7所述的一种随机PWM控制系统，其特征在于，所述随机PWM控制模块包括：
    相移角关系确定模块，用于利用复向量互相抵消原理对PWM谐波分量系数所包含的乘法因 子进行分析，基于分析结果确定每一相PWM需满足的载波图案关系；
    脉冲输出模块，用于基于所述关系，对每一相PWM在连续的p个载波周期内载波图案的相移角进行随机设置，形成随机载波图案序列，用于控制逆变器输出的PWM电压脉冲。
  9. 一种存储一个或多个程序的计算机可读存储介质，其特征在于，所述一个或多个程序包括指令，所述指令当由计算设备执行时，使得所述计算设备执行如权利要求1至6所述方法中的任一方法。
  10. 一种计算设备，其特征在于，包括：一个或多个处理器、存储器及一个或多个程序，其中一个或多个程序存储在所述存储器中并被配置为所述一个或多个处理器执行，所述一个或多个程序包括用于执行如权利要求1至6所述方法中的任一方法的指令。
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