CN103490700A - Space vector pulse-width modulation test device and DC (Direct Current) bus voltage optimization method - Google Patents
Space vector pulse-width modulation test device and DC (Direct Current) bus voltage optimization method Download PDFInfo
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Abstract
The invention discloses a space vector pulse-width modulation test device. A DC (Direct Current) power supply enters an inverting module through a DC voltage regulation unit, and an AC (Alternating Current) power supply enters a load module; the signal output ends of detection submodules are connected with a control system module; the control system module outputs a generated DC voltage regulation control signal to the DC voltage regulation unit through an isolating driver, and the control system module outputs a generated inverting module control signal to the inverting module through the isolating driver; the signal output end of the inverting module is connected with a permanent magnetism synchronous motor; the control system module outputs a generated load module control signal to the load module; the load module is connected with the permanent magnet synchronous motor. A bus optimization method comprises the following steps: a DC voltage regulation control pulse signal is generated through the control system module under a DC bus optimization modulation strategy; DC bus voltage is controlled to work in an optimal state so as to work in a state with a minimal harmonic current mean square value. The space vector pulse-width modulation test device disclosed by the invention reduces the harmonic distortion and increases the utilization efficiency of electric energy.
Description
Technical field
The present invention relates to the space vector pulse width modulation field, relate in particular to a kind of space vector pulse width modulation experimental rig and DC bus-bar voltage optimization method.
Background technology
Inverter can be converted into DC power supply the variable AC power of frequency and amplitude, due to inverter as shown in Figure 1 have simple in structure, realize the advantages such as convenient, almost become the standard configuration of two level three-phase inverters, be widely used in the occasion of the industrial and agricultural production speed governing such as electric automobile.The space vector pulse width modulation (space vector pulse width modulation, SVPWM) adopted is based on the principle of " volt-second balance ", and the high frequency voltage pulse constantly converted by duty ratio carrys out equivalent command voltage according to time average.
Voltage equivalence based on average meaning, SVPWM has only stipulated the time of basic voltage vectors effect, does not stipulate order and the distribution of its effect, this just provides possibility for the appearance of a large amount of modulation strategies.And in inverter, the principle of the switching characteristic of power switch pipe and pulse width modulation (PWM) has determined that dead band, harmonic wave etc. are inevitable, dead band and harmonic wave have brought the series of problems such as energy loss, torque pulsation, electromagnetic radiation, audible noise.Therefore, the series of optimum technology occurs, except total optimization aim, for different application, distinctive optimization aim has been arranged again, a large amount of modulation strategies therefore occurred.Two zero vectors can be distributed according to arbitrary proportion action time, can be divided into a plurality of time periods to be acted on; The non-zero basic voltage vectors also can be divided into multistage and carry out action time; Order of action can arbitrary arrangement; In " volt-second balance ", switching frequency is free variable, and it can be optimized or randomization.But which kind of strategy is thoroughly deadband eliminating and harmonic wave all, can only reduce its impact.As, discontinuous PWM (DPWM) can reduce switching loss, but may bring harmonic distortion to increase; Random SVPWM can significantly reduce the spectrum peak of collection bunch harmonic wave, and then improves Electro Magnetic Compatibility, but its spread spectrum characteristic may expand to harmonic wave undesirable frequency range, also likely increases harmonic distortion; Optimize SVPWM and can when obtaining less harmonic distortion, improve Electro Magnetic Compatibility, but brought the problem such as controller (as pi controller, i.e. PI controller) parameter change, make control system complicated.
The normal course of operation of inverter is to make regularly 6 power switch pipe conductings, shutoff in definite time, thereby generates the required voltage pulse.Shown in Fig. 1, in inverter, every mutually upper and lower two switching tubes become complementary conducting.Different on off states can form 8 basic voltage vectors, comprise 6 non-zero basic voltage vectors (
) and 2 Zero voltage vectors (
), as shown in Figure 2.In Fig. 2: 1 means the conducting of upper arm switching tube, and 0 means the conducting of underarm switching tube.The regular hexagon that the end points of 6 non-zero basic voltage vectors of take is summit can be divided into 6 sectors as shown in Figure 2.Any one is positioned at the voltage vector of the regular hexagon shown in Fig. 2
, all can by two non-zero basic voltage vectors of sector borders of living in and Zero voltage vector (
) according to time average is synthetic, obtain.In order to reduce on-off times, improve the quality of output voltage, as in sector
middle vector sequence of operation is:
Will
be placed in the two ends of switch periods,
in the middle of being placed in; In some modulation strategies, two zero vectors only select an effect.Discuss at most at present, extensive use, representative or have in the SVPWM strategy of practical value, can be summarized as follows:
(1) traditional SVPWM: two zero vectors
action time
,
equate, all equal zero the vector resultant action time
1/2, and
be uniformly distributed in the cycle
two ends.The waveform of three-phase upper arm switching tube switching pulse is as shown in 2.
(2) discontinuous SVPWM, be called for short DPWM: in Fig. 2 in three-phase upper arm switching pulse the widest pulse of high level within a modulation period, be high level always, or the narrowest pulse of high level is low level within a modulation period always, can guarantee constantly always has a phase switch to be failure to actuate at each.On-off times is about originally 2/3, so switching loss can reduce approximately 1/3 or reduce more.That is to say, under identical switching loss, switching frequency can be brought up to 3/2 times of former pact.
DPWMMIN: do not use zero vector
,
,
;
DPWMMAX: do not use zero vector
,
,
;
DPWM0: in Fig. 2, with
start to divide, every
the Wei Yige district, the alternate selection zero vector
,
.That is, in sector
middle use
, in sector
middle use
;
DPWM1: with
start to divide, every
the Wei Yige district, the alternate selection zero vector
,
;
DPWM2: with
start to divide, every
the Wei Yige district, the alternate selection zero vector
,
.That is, in sector
middle use
, in sector
middle use
;
DPWM3: with
start to divide, every
the Wei Yige district, the alternate selection zero vector
,
;
Other DPWM: free setting starts the angle of dividing.
(3) random SVPWM: switching frequency, pulse locate mode, two one or several factors such as zero vector method of salary distribution action time are carried out randomization.Comprise:
Random switching frequency SVPWM: switching frequency
randomization;
Randomized Pulse Position SVPWM:
in sector, the high level of A phase is in whole switch periods
interior can the movement at random; The high level of B phase can move at random in the scope of A phase high level restriction; The high level of C phase can move at random in the scope of B phase high level restriction; This three-phase can only select a phase, two-phase, three-phase random.Similar in other sectors;
Random zero vector distributes SVPWM: two zero vectors
with
the action time of randomization on ratio;
Mix random SVPWM: above three kinds of random fashions any two or three are mixed.
(4) optimize SVPWM.The factor related to for SVPWM is optimized, and mainly comprises:
The zero vector distribution factor is optimized SVPWM: take the harmonic distortion minimum as target, and right
with
allocation proportion action time be optimized;
Switch periods/frequency optimization SVPWM: take the harmonic distortion minimum as target, the switch period/frequency is optimized.
It is constant or detect in real time passively busbar voltage that above-mentioned SVPWM technology all is based on the inverter busbar voltage, calculated, and then produce 6 tunnel control impuls; Do not considering the command voltage vector aspect the control of busbar voltage
occurrence.In fact, for identical command voltage vector
, under different busbar voltages, the quality of inverter output AC electricity has very large difference.This exploitation for new modulation strategy and the improvement of inverter performance provide wide space.It is the choose reasonable modulation strategy and the basis of the new modulation strategy of research and development that different modulation strategies is tested to contrast, qualitative, quantitative evaluation.But, at present in all disclosed documents, do not see can integrated a large amount of space vector pulse width modulation strategies experimental rig.
Summary of the invention
The purpose of this invention is to provide a kind of space vector pulse width modulation experimental rig and DC bus-bar voltage optimization method, experimental rig can have the experiment of modulation strategy in a large number now; The DC bus-bar voltage optimization method can guarantee the fundamental voltage of output, can reduce again the harmonic distortion of output voltage.
The present invention adopts following technical proposals: a kind of space vector pulse width modulation Down Highway voltage optimization method, the control system module output signal is by the isolation drive unit to the direct current voltage reulation unit, and the out-put supply of DC power supply is delivered to inverter by the direct current voltage reulation unit;
Under the load of taking as the leading factor with perception, the expression formula unification of the mean-square value of the three phase harmonic electric current of inverter output is
In formula,
for DC bus-bar voltage;
for modulation ratio;
for switch periods; For the different modulation strategy in the control system module, coefficient
,
,
,
for definite value;
Modulation ratio wherein
be defined as
In formula,
for the command voltage vector of control system module to the output of direct current voltage reulation unit
amplitude;
Convolution (2), can obtain
Formula (3) is optimized, can obtains, when
the time, three phase harmonic electric current mean-square value obtains minimum value, the copper olse minimum; The control system module is optimized the control wave that produces direct current voltage reulation under modulation strategy at DC bus, control DC bus-bar voltage
be operated in optimum state; Wherein for different modulation strategies, coefficient
directly calculate.
The invention also discloses a kind of space vector pulse width modulation experimental rig, comprise the control system module, detection module, inversion module, load blocks and permagnetic synchronous motor, DC power supply enters inversion module by the direct current voltage reulation unit, AC power enters load blocks, wherein said detection module comprises the busbar voltage of measuring DC power output end, the current measurement submodule, the temperature of inversion module and fault detect submodule, the current measurement submodule of permagnetic synchronous motor, rotor position measurement submodule and torque measurement submodule, the signal output part connection control system module of described each detection sub-module, the control system module outputs to the direct current voltage reulation unit by the control signal of the direct current voltage reulation of generation by isolation drive, the control system module outputs to inversion module by the control signal of the inversion module of generation by isolation drive, the signal output part of inversion module connects permagnetic synchronous motor, the control system module outputs to load blocks by the control signal of the load blocks of generation, and load blocks connects permagnetic synchronous motor.
Described control system module comprises computer, CAN card, controller and electrically-erasable memory, and described computer is connected with controller by the CAN card, and controller is connected with the electrically-erasable memory.
Described controller is prefabricated with modulation strategy, and described modulation strategy includes: (1), traditional SVPWM, and two zero vectors are divided equally action time; (2), DPWM0; (3), DPWM1; (4), DPWM2; (5), DPWM3; (6), DPWMMAX; (7), DPWMIN; (8), other DPWM; (9), random switching frequency SVPWM; (10), random zero vector distributes SVPWM; (11), Randomized Pulse Position SVPWM; (12), mix random SVPWM; (13) the zero vector distribution factor is optimized SVPWM; These 13 kinds of strategies all have DC bus-bar voltage optimization and do not optimize two kinds of selections; Except (9), (12) these two kinds of modulation strategies, other 11 kinds of modulation strategies all have switch periods optimization and do not optimize two kinds of selections.
Customized on computers modulation strategy, need the modulation strategy of customization to be made on computers text or the fixing data format of EXCEL file, send in controller by the CAN card, controller is by these data storages and electrically-erasable memory.
Described detection module also includes the noise testing submodule of permanent magnet synchronous motor, and the signal output part of noise testing submodule connects computer, and computer carries out acoustic analysis.
Described load blocks comprises frequency control submodule, load motor and shaft coupling, the signal controlling end of described frequency control submodule connects controller, the signal output part of frequency control submodule connects load motor, the output shaft of load motor connects the output shaft of permanent magnet synchronous motor by shaft coupling, described torque measurement submodule is arranged on the output shaft of permanent magnet synchronous motor.
Described rotor position measurement submodule adopts encoder, and encoder is arranged on the rotor of permanent magnet synchronous motor.
Dynamically adjust the size of busbar voltage in DC bus-bar voltage optimization method provided by the invention according to the command voltage vector, make it work in the state of harmonic current mean-square value minimum, the harmonic reduction distortion, the utilization ratio of raising electric energy, have the unrivaled advantage of other modulation strategies.This optimization method combines with SVPWM and has produced a large amount of new modulation strategies, and these modulation strategy performance differences are very large, and best separately application scenario is arranged, need to the research of carrying out qualitative, quantitative to these modulation strategies by test method.
The present invention also provides a kind of space vector pulse width modulation strategy experimental rig, can carry out the experimental study of more than 40 preset kind modulation strategies, and multiple strategy can be combined, realized the system integration, facilitated the experiment comparative study of Electric Machine Control algorithm and modulation strategy.Can also carry out the customization of modulation strategy, convenient especially.Its middle controller has adopted fpga chip, take full advantage of the circuit customization and executed in parallel characteristic of FPGA, improved the speed that software is carried out of controlling, also reduced the number of hardware system chip simultaneously, improve reliability and the flexibility of system, facilitated system update.
Because the inversion system based on space vector pulse width modulation produces very strong electromagnetic interference, need to transmit a large amount of information in the process of controlling parameter detecting, it is that computer is communicated by letter with controller that the present invention adopts the CAN bus, has very strong anti-interference and large data throughput capabilities.
The accompanying drawing explanation
The schematic diagram that Fig. 1 is two level three-phase inverters;
Fig. 2 is basic voltage vectors and synthetic method schematic diagram;
Fig. 3 is structure drawing of device of the present invention.
Embodiment
As shown in Figure 3, the invention discloses a kind of space vector pulse width modulation experimental rig, comprise control system module 1, detection module 2, inversion module 3, load blocks 4 and permagnetic synchronous motor 5, DC power supply enters inverter 33 by direct current voltage reulation unit 32, AC power enters load blocks 4, wherein said detection module 2 comprises busbar voltage, current measurement submodule 21, the temperature of inversion module and fault detect submodule 22, the current measurement submodule 23 of permagnetic synchronous motor, rotor position measurement submodule 24 and torque measurement submodule 25, the noise testing submodule 26 of permanent magnet synchronous motor, the signal output part connection control system module 1 of described each detection sub-module, control system module 1 outputs to direct current voltage reulation unit 32 by the control signal of the direct current voltage reulation of generation by isolation drive 31, control system module 1 outputs to inverter 33 by the control signal of the inversion module of generation by isolation drive 34, control inverter 33 produces the three-phase alternating voltage pulse, inverter 33 drives permanent magnet synchronous motor 5, control system module 1 outputs to load blocks 4 by the control signal of the load blocks of generation, and load blocks 4 connects permagnetic synchronous motor 5.
Wherein said control system module 1 comprises computer 11, CAN card 12, controller 13 and electrically-erasable memory 14, and described computer 1 is connected with controller 13 by CAN card 12, and controller 13 is connected with electrically-erasable memory 14.
Described load blocks 4 comprises frequency control submodule 41, load motor 42 and shaft coupling 43, the signal controlling end of described frequency control submodule 41 connects controller 13, the signal output part of frequency control submodule 41 connects load motor 42, and the output shaft of load motor 42 connects the output shaft of permanent magnet synchronous motor 5 by shaft coupling 43.Permanent magnet synchronous motor 5 is control objects of control system module, and load blocks 4 accepts the control signals such as the speed, moment of torsion of robot control system(RCS) molding piece, produces corresponding rotating speed, moment of torsion output, the load of serving as permanent magnet synchronous motor 5.Described torque measurement submodule 25 is arranged on the output shaft of permanent magnet synchronous motor 5.Described rotor position measurement submodule 24 adopts encoder, and encoder is arranged on the rotor of permanent magnet synchronous motor 5.
Described detection module is used for the feedback signal that detected state signal and motor closed-loop control need, wherein busbar voltage, current measurement submodule 21 detect DC bus current and voltage, when it is sent into to control system module 1 for SVPWM optimized algorithm and spectrum analysis; The temperature of inversion module and fault detect submodule 22 are for detection of information such as the temperature of power switch pipe, faults, with the protection test device; The current measurement submodule 23 of permagnetic synchronous motor, rotor position measurement submodule 24 and torque measurement submodule 25, the three-phase current that detects respectively permanent magnet synchronous motor 5, rotor-position, output torque, used when it is sent into to control system module 1 power supply machine control algolithm and spectrum analysis.Under different modulation strategies, the property differences such as duty ratio of the three-phase high frequency voltage pulse signal of inverter output are very large, this just causes the greatest differences of permanent magnet synchronous motor 5 output electromagnetic torques, audible noise etc., therefore noise testing submodule 26 provided by the invention directly sends the noise signal of measurement to computer 11, computer 11 recording noise signals, carry out acoustic analysis, and show in real time on display, also can be stored in hard disk, in order to carry out comparative study between the different modulating strategy, when estimating, uses qualitative, quantitative.The measurement of detection module is divided into measuring at a high speed with low speed measures, and is respectively once sampling within a modulation period and reaches many times.What operate in that closed loop control algorithm in controller needs is fed back to the low speed measuring-signal: three-phase current, rotor-position, DC bus-bar voltage, motor output torque in modulation period, these signals only need to once sampling get final product within a modulation period, and this part measurement data is directly sent in controller 13; And computer 11 is carrying out when different modulating strategy microcosmic relatively reaches spectrum analysis needing the high speed measuring-signal, three-phase current, DC bus-bar voltage and electric current only within a modulation period once sampling be far from being enough, need sampling many times, in order to reduce the load of CAN bus communication, this part detects data and directly send in computer 11.
Controller 13 receives the information such as parameter from computer 11 arranges, and part is needed to the information of preserving, as the parameter of proportional integral (PI) controller parameter, permanent magnet synchronous motor 5, customization modulation strategy etc., be stored in electrically-erasable memory 14, in the process of to be controlled and modulation algorithm operation, read these information from electrically-erasable memory 14; 4 kinds of control algolithms that controller 13 is set according to computer 11: torque control, speed control, Position Control, d, q shaft current are controlled, and automatically select closed loop control algorithm corresponding to operation; The information of the random number needed in the PI controller needed in control algolithm, permanent magnet synchronous motor 5, switch periods optimization table, random SVPWM, busbar voltage Optimal Parameters etc. is directly set by computer 11, or directly from electrically-erasable memory 14, reads; Closed-loop control system needs the information of Real-time Feedback, directly from voltage and current measurement submodule 21, current measurement submodule 23, rotor position measurement submodule 24, torque measurement submodule 25, obtains; Controller 13 in each switch periods (modulation period) by CAN card 12, with the CAN bus by Real-time Collection to the information such as three-phase current, rotor-position, output torque, d axle and q axle actual current, inverter temperature and fault, DC bus-bar voltage of permagnetic synchronous motor 5 send computer 11 to; To generate the target voltage vector in the closed loop control algorithm of controller 13, modulation strategy and the needed 6 way switch pulse control signals of corresponding parameter generating isolation drive submodule 34 and the needed switching pulse control signal of isolation drive 31 set according to computer 11; Inverter submodule 33 temperature and the fault message of 22 outputs of controller 13 Real-time Obtaining temperature and fault detect submodule, abnormal if inverter occurs, stopping alarm, and show on the display of computer 11.
Space vector pulse width modulation experimental rig provided by the invention, all control operations are all carried out on computer 11, easy to operate, and the real-time control information of the visual demonstration of energy, and can on a table apparatus, carry out a large amount of modulation strategy experimental studies, and this device has very strong anti-interference and extendibility.The control software of computer 11 is write by visual high-level programming language, to the communication of CAN card 12, is that function by calling dynamic link library (DLL) is realized.Control software by computer 11, can complete the selection of modulation strategy, control method etc. and the setting of relevant parameter, and the three-phase electricity flow valuve, output torque, bus voltage value that show in real time permanent magnet synchronous motor 5 and electric current, noise etc. reach the spectrum information of a tittle, and these results can be printed, preserve, and carry out playback in needs.
Wherein said modulation strategy includes: (1), traditional SVPWM, and two zero vectors are divided equally action time; (2), DPWM0; (3), DPWM1; (4), DPWM2; (5), DPWM3; (6), DPWMMAX; (7), DPWMIN; (8), other DPWM; (9), random switching frequency SVPWM; (10), random zero vector distributes SVPWM; (11), Randomized Pulse Position SVPWM; (12), mix random SVPWM; (13) the zero vector distribution factor is optimized SVPWM; These 13 kinds of strategies all have DC bus-bar voltage optimization and do not optimize two kinds of selections; Except these two kinds of (9), (12), other 11 kinds of strategies all have switch periods optimization and do not optimize two kinds of selections.This experimental rig also provides the customization function of modulation strategy, its method is: by the data such as distribution form of the type of action of vector, cycle parameter, optimization method, stochastic variable on computer 11, be made as text or the fixing data format of Excel file, by CAN card 12, send in controller 13, under the control of controller 13 by these Parameter storages in electrically-erasable memory 14.
According to modulation strategy setup parameter on computer 11 of selecting, the parameter that the different modulating strategy need to be set is as follows:
A. traditional SVPWM, DPWM0, DPWM1, DPWM2, DPWM3, DPWMMAX, DPWMIN: switch periods (modulation period);
B. other DPWM: switch periods, angle;
C. random switching frequency SVPWM: the scope of switch periods/frequency, probability distribution rule;
D. random zero vector distributes SVPWM: the probability distribution rule of switch periods, 1 random parameter;
E. Randomized Pulse Position SVPWM: switch periods, the probability distribution rule of 1,2 or 3 random parameter;
F. mixed pulses SVPWM: the selection of hybrid mode, corresponding to the parameter of different hybrid modes;
G. the zero vector distribution factor is optimized SVPWM: switch periods.
Except the parameter of setting modulation strategy, also need on computer 11, set PI controller parameter, permanent magnet synchronous motor 5 parameters;
Set Electric Machine Control mode and command object value: experimental rig can be realized 4 kinds of controls: torque is controlled, and speed is controlled, Position Control, d, q shaft current are controlled, and need the command parameter of setting to be respectively: command torque, command speed, command position, d, q axle command current;
Select control mode under vector control: experimental rig can be realized 2 kinds of modes: breakdown torque mode, d shaft current perseverance are 0 mode;
The transmission of setup parameter and detected parameters: by CAN card 12, by the CAN bus, send the parameter of setting to controller 13, the information such as the electric current that controller 13 obtains detection within each modulation period, rotating speed, torque send computer 11 to; Computer 11 can be realized real-time demonstration/spectrum analysis and qualitative, the quantitative assessment of actual speed, electric current, voltage, torque, noise.
The control of controller based on FPGA 13 operation control algolithms and various detection sequential etc., the function of its realization as described below:
(1) the closed-loop vector control algolithm of operation permanent magnet synchronous motor 5; Torque control, speed control, Position Control, d, q shaft current are controlled, and to the selection of control mode under vector control, preset 2 kinds of modes: breakdown torque mode and d shaft current perseverance are 0 mode;
(2) according to the modulation strategy of selecting by computer 11 and the parameter of setting, produce the 6 road control waves that under SVPWM, inverter needs;
(3) produce the control wave of direct current voltage reulation under the DC bus optimisation strategy, control DC bus-bar voltage and be operated in optimum state;
(4) sequencing control of the testing circuits such as inverter 33 temperature and fault, electric current, voltage, moment of torsion, rotating speed;
(5) PI controller setup parameter, preservation and the modification of customization modulation strategy parameter in electricity erasable memorizer 14;
(6) control of load permanent magnet synchronous motor 5.
The invention also discloses a kind of space vector pulse width modulation Down Highway voltage optimization method, include control system module, isolation drive unit and direct current voltage reulation unit, described control system module output signal is by the isolation drive unit to the direct current voltage reulation unit, and the out-put supply of DC power supply is delivered to inverter by the direct current voltage reulation unit;
Under the load of taking as the leading factor with perception, the expression formula unification of the mean-square value of the three phase harmonic electric current of inverter output is
In formula,
for DC bus-bar voltage;
for modulation ratio;
for switch periods; For the different modulation strategy in the control system module, coefficient
,
,
,
for definite value, be common practise, for example can consult relevant document and obtain, as D. Grahame Golmes (Australia), Thomas A. Lipo (U.S.) work, Zhou Keliang translates., " the converters PWM know-why with put into practice " of publishing in February, 2010 etc. found coefficient
,
,
,
value;
Modulation ratio wherein
be defined as
In formula,
for the command voltage vector of control system module to the output of direct current voltage reulation unit
amplitude;
Convolution (2), can obtain
Formula (3) is optimized, can obtains, when
the time, three phase harmonic electric current mean-square value obtains minimum value, the copper olse minimum; The control system module is optimized the control wave that produces direct current voltage reulation under modulation strategy at DC bus, control DC bus-bar voltage
be operated in optimum state; Wherein for different modulation strategies, coefficient
directly calculate.
For example, concerning conventional SVPWM (two zero vector mean allocation action time),
Plant modulation strategy, coefficient to preset more than 40
directly calculate presetly to advance in electrically-erasable memory 14; Modulation strategy to customization sets this coefficient on computer 11, sends controller 13 to by CAN card 12, and is stored in electrically-erasable memory 14.The SVPWM strategy that controller 13 is set according to computer 11 reads corresponding coefficient value, according to by dynamically changing the duty ratio of direct current voltage reulation unit 32 control waves, makes the busbar voltage of inverter submodule 33 constantly work in optimum state.
It should be noted that above-mentioned specific embodiment is only exemplary, under above-mentioned instruction of the present invention, those skilled in the art can carry out various improvement and distortion (for example, by electrically-erasable memory E on the basis of above-described embodiment
2pROM becomes the Flash memory; direct current voltage reulation unit 32 is become to the controlled rectification submodule; or permanent magnet synchronous motor 5 is become to the motor of other types; or load blocks 4 is become to the magnetic powders brake module; computer 11 is become to embedded control system etc.), and these improvement or distortion all drop in protection scope of the present invention.It will be understood by those skilled in the art that top specific descriptions are just in order to explain purpose of the present invention, not for limiting the present invention.Protection scope of the present invention is limited by claim and equivalent thereof.
Claims (8)
1. DC bus-bar voltage optimization method under a space vector pulse width modulation, it is characterized in that: the control system module output signal is by the isolation drive unit to the direct current voltage reulation unit, and the out-put supply of DC power supply is delivered to inverter by the direct current voltage reulation unit;
Under the load of taking as the leading factor with perception, the expression formula unification of the mean-square value of the three phase harmonic electric current of inverter output is
In formula,
for DC bus-bar voltage;
for modulation ratio;
for switch periods; For the different modulation strategy in the control system module, coefficient
,
,
,
for definite value;
Modulation ratio wherein
be defined as
(2)
In formula,
amplitude for the command voltage vector;
Convolution (2), can obtain
(3)
Formula (3) is optimized, can obtains, when
the time, three phase harmonic electric current mean-square value obtains minimum value, the copper olse minimum; The control system module is optimized the control wave that produces direct current voltage reulation under modulation strategy at DC bus, control DC bus-bar voltage
be operated in optimum state; Wherein for different modulation strategies, coefficient
directly calculate.
2. a space vector pulse width modulation experimental rig, it is characterized in that: comprise the control system module, detection module, inversion module, load blocks and permagnetic synchronous motor, DC power supply enters inversion module by the direct current voltage reulation unit, AC power enters load blocks, wherein said detection module comprises the busbar voltage of measuring DC power output end, the current measurement submodule, the temperature of inversion module and fault detect submodule, the current measurement submodule of permagnetic synchronous motor, rotor position measurement submodule and torque measurement submodule, the signal output part connection control system module of described each detection sub-module, the control system module outputs to the direct current voltage reulation unit by the control signal of the direct current voltage reulation of generation by isolation drive, the control system module outputs to inversion module by the control signal of the inversion module of generation by isolation drive, the signal output part of inversion module connects permagnetic synchronous motor, the control system module outputs to load blocks by the control signal of the load blocks of generation, and load blocks connects permagnetic synchronous motor.
3. space vector pulse width modulation experimental rig according to claim 2, it is characterized in that: described control system module comprises computer, CAN card, controller and electrically-erasable memory, described computer is connected with controller by the CAN card, and controller is connected with the electrically-erasable memory.
4. space vector pulse width modulation experimental rig according to claim 3, it is characterized in that: described controller is prefabricated with modulation strategy, and described modulation strategy includes: (1), traditional SVPWM, two zero vectors are divided equally action time; (2), DPWM0; (3), DPWM1; (4), DPWM2; (5), DPWM3; (6), DPWMMAX; (7), DPWMIN; (8), other DPWM; (9), random switching frequency SVPWM; (10), random zero vector distributes SVPWM; (11), Randomized Pulse Position SVPWM; (12), mix random SVPWM; (13) the zero vector distribution factor is optimized SVPWM; These 13 kinds of strategies all have DC bus-bar voltage optimization and do not optimize two kinds of selections; Except (9), (12) these two kinds of modulation strategies, other 11 kinds of modulation strategies all have switch periods optimization and do not optimize two kinds of selections.
5. space vector pulse width modulation experimental rig according to claim 4, it is characterized in that: customized on computers modulation strategy, need the modulation strategy of customization to be made on computers text or the fixing data format of EXCEL file, by the CAN card, send in controller, controller is by these data storages and electrically-erasable memory.
6. according to claim 2 or 3 or 4 or 5 described space vector pulse width modulation experimental rigs, it is characterized in that: described detection module also includes the noise testing submodule of permanent magnet synchronous motor, the signal output part of noise testing submodule connects computer, and computer carries out acoustic analysis.
7. space vector pulse width modulation experimental rig according to claim 6, it is characterized in that: described load blocks comprises frequency control submodule, load motor and shaft coupling, the signal controlling end of described frequency control submodule connects controller, the signal output part of frequency control submodule connects load motor, the output shaft of load motor connects the output shaft of permanent magnet synchronous motor by shaft coupling, described torque measurement submodule is arranged on the output shaft of permanent magnet synchronous motor.
8. space vector pulse width modulation experimental rig according to claim 7 is characterized in that: described rotor position measurement submodule adopts encoder, and encoder is arranged on the rotor of permanent magnet synchronous motor.
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| CN112671310A (en) * | 2020-12-09 | 2021-04-16 | 蔚然（南京）动力科技有限公司 | Motor control method and power integration unit |
| CN114389515A (en) * | 2022-03-24 | 2022-04-22 | 佛山仙湖实验室 | Method, system, equipment and medium for suppressing harmonic current of permanent magnet synchronous motor |
| CN114389515B (en) * | 2022-03-24 | 2022-07-05 | 佛山仙湖实验室 | Method, system, equipment and medium for suppressing harmonic current of permanent magnet synchronous motor |
| CN115276449A (en) * | 2022-08-23 | 2022-11-01 | 华北电力大学 | Variable-period optimal space vector modulation (SVPWM) method in full modulation ratio range |
| CN115276449B (en) * | 2022-08-23 | 2024-07-30 | 华北电力大学 | Variable period optimal space vector modulation (SVPWM) method of full modulation ratio range |
| CN115955158A (en) * | 2023-03-15 | 2023-04-11 | 东南大学 | Active noise reduction method for inverter dead zone regulation type three-phase synchronous motor |
| CN116232100A (en) * | 2023-03-17 | 2023-06-06 | 江苏吉泰科电气有限责任公司 | Pulse width modulation method and system for reducing heating imbalance of switching device |
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