CN105811835A - Low-cost open-winding permanent magnet synchronous motor drive system and control method thereof - Google Patents
Low-cost open-winding permanent magnet synchronous motor drive system and control method thereof Download PDFInfo
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- CN105811835A CN105811835A CN201610263707.0A CN201610263707A CN105811835A CN 105811835 A CN105811835 A CN 105811835A CN 201610263707 A CN201610263707 A CN 201610263707A CN 105811835 A CN105811835 A CN 105811835A
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- 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
- H02P27/12—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 pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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Abstract
The invention discloses a low-cost open-winding permanent magnet synchronous motor drive system. A three-phase nine-switch converter comprises three phase bridge arms, which are connected with one another in parallel, wherein each phase bridge arm comprises an upper tube, a middle tube and a lower tube, which are sequentially connected with one another; the upper tubes and the middle tubes form an upper three-phase power output port; the middle tubes and the lower tubes form a lower three-phase power output port; a DC side of the three-phase nine-switch converter is connected with a DC power supply in parallel; the upper three-phase power output port and the lower three-phase power output port are connected with two ends of three phase windings A, B, C of an open-winding permanent magnet synchronous motor respectively; two ends of any phase winding of the open-winding permanent magnet synchronous motor are connected with different bridge arms; a current signal and a voltage signal of the open-winding permanent magnet synchronous motor are collected respectively and transmitted into a control module to achieve rotating speed current double closed-loop control; and a drive module outputs a PWM signal to achieve control on the three-phase nine-switch converter. The system is low in cost and good in speed control performance. The invention further discloses a control method for the low-cost open-winding permanent magnet synchronous motor drive system.
Description
Technical field
The invention belongs to electric system and control field, open winding permanent magnet Synchromous machine drive system and control method thereof particularly to one.
Background technology
nullDriving winding construction motor is the neutral point of conventional three-phase alternating current generator opened，Constitute the winding Open architecture with dual-port，The magnetic circuit of motor and structure do not have any change，Drive winding construction motor and do not change the key property of conventional motors，And the restriction relation between traditional each phase motor winding no longer exists after opening due to neutral point，Each phase winding is independent，The reliability of motor body can be improved to a certain extent，And two port can connect changer respectively，Coordinate to control by the changer of two-port，Each changer can be made to undertake the power of half，And two ends changer is when identical winding current ripple，Reduce its switching frequency，Meet the demand of the changer of heavy-duty motor system well，Therefore the research opening winding construction and control technology thereof becomes the important expansion direction of current alternating current generator research.
Drive winding construction motor and generally form drive system with twin inverter, twin inverter is connected to out two ports of winding electric machine, twin inverter can be respectively adopted respective power supply and power, i.e. dual power supply mode, by arranging the electric pressure of both sides power supply, can conveniently realize three level, four level, the modulation system of five level, effectively suppress the current harmonics of drive motor winding, on this basis, two side inverters are expanded to three level, five level, seven level etc., polytype many level can be derived and open winding electric machine driving, it is greatly enriched out the research contents of winding electric machine.Additionally, for reducing the cost of drive system and reducing the complexity of drive system, can also by the DC side parallel of twin inverter, i.e. power supply power supply mode, this topological structure can also be regarded motor three-phase windings as and connect a set of H bridging parallel operation respectively, every phase winding can independently control, the reliability making drive system is greatly improved, compare single supply power supply mode, the cost of system has had and has significantly reduced, but the connected mode of common DC bus, make out the zero sequence path that winding construction motor internal exists, therefore the suppression of its zero-sequence current and the vector modulation technique etc. of twin inverter become study hotspot.
Visible winding construction of opening makes it have great motility due to the characteristic of its dual-port, is aided with suitable power inverter and can possess excellent driveability.At present, permagnetic synchronous motor is as motor driven systems first-selection high power density, high efficiency, high performance structures type motor, drive winding construction permagnetic synchronous motor and can constitute the drive system possessing good characteristic in conjunction with corresponding power inverter, but, the existing twin inverter being suitable for out winding construction motor and derivative multi-level converter topology structure thereof, although can realizing well driving and controlling function, but it is above the converter topology of 12 switching devices, considerably increase the cost of drive system, and the complexity controlling system is also higher, hence for opening winding permanent magnet Synchromous machine drive system, converter topology structure and the control technology thereof of studying its simplification become the important channel promoting its application.
Summary of the invention
The purpose of the present invention, opening on the basic functional principle basis of drive system of the twin inverter topology formation that winding permanent magnet synchronous motor is powered with single supply, thering is provided a kind of low cost to open winding permanent magnet Synchromous machine drive system and control method thereof, its cost is low, good speed adjustment features.
In order to reach above-mentioned purpose, the solution of the present invention is:
A kind of low cost opens winding permanent magnet Synchromous machine drive system, including driving winding permanent magnet synchronous motor, three-phase nine switch converters, controller and DC source, wherein, three-phase nine switch converters comprises parallel with one another first to the 3rd brachium pontis, every phase brachium pontis all comprises the top tube, middle tube, and down tube being linked in sequence, and 3 phase brachium pontis upper pipe and middle pipe collectively form the upper three phase power output port of three-phase nine switch converters, the middle pipe of 3 phase brachium pontis and lower pipe collectively form the lower three phase power output port of three-phase nine switch converters；The DC side parallel of 3 phase brachium pontis connects DC source, and upper and lower three phase power output port is connected with the two ends abc of the ABC three-phase windings driving winding permanent magnet synchronous motor, a ' b ' c ' respectively, and arbitrary phase winding two ends of winding permanent magnet synchronous motor are made out to connect different brachium pontis；Controller includes controlling module and the current signal collection module being attached thereto respectively, position signal acquisition module and driving module, current signal collection module is for gathering out the current signal of winding permanent magnet synchronous motor, position signal acquisition module is for gathering out the voltage signal of winding permanent magnet synchronous motor, and aforementioned currents, voltage signal all send into control module, realize speed and current double closed loop control, by driving module output pwm signal, it is achieved the control to three-phase nine switch converters.
Above-mentioned three-phase nine switch converters and open the connected mode of winding permanent magnet synchronous motor and be: a end opening winding permanent magnet synchronous motor A phase winding is connected between the upper pipe of the first brachium pontis and middle pipe, a ' end is connected between the middle pipe of the second brachium pontis and lower pipe, the b end of B phase winding is connected between the upper pipe of the second brachium pontis and middle pipe, b ' end is connected between the middle pipe of the 3rd brachium pontis and lower pipe, the c end of C phase winding is connected between upper pipe and the middle pipe of the 3rd brachium pontis, and c ' end is connected between the middle pipe of the first brachium pontis and lower pipe.
All top tube, middle tube, and down tube of above-mentioned first to the 3rd brachium pontis all adopt the IGBT of anti-paralleled diode to switch.
A kind of control method opening winding permanent magnet Synchromous machine drive system based on aforementioned low cost, including following content: gather the rotor position information driving winding permanent magnet synchronous motor, obtain rotor speed feedback value, given rotating speed is made after the recovery with feedback rotating speed after pi regulator, obtains motor q shaft current set-point；Gather the three-phase windings electric current driving winding permanent magnet synchronous motor, after ABC-dq coordinate transform, d, q axle feedback current is obtained in conjunction with rotor position information, electric current loop gives and value of feedback is made after the recovery and exported d, q shaft voltage value through pi regulator, α, β shaft voltage value is obtained by dq-α β conversion, synthesis rotational voltage vector, producing nine road pwm signals after SVPWM modulates, control three-phase nine switch converters driving is driven winding permanent magnet synchronous motor and is realized rotating speed, current double closed-loop control.
In above-mentioned three-phase nine switch converters, the upper, middle and lower pipe of each phase brachium pontis drives signal to there is following restriction relation:
I. upper, middle and lower pipe can not be simultaneously open-minded；
II. upper, middle and lower pipe can not simultaneously turn off；
III. it is open-minded that upper, middle and lower pipe can not only have single tube；
IV. upper, middle and lower pipe must have two pipes simultaneously open-minded.
The detailed process of above-mentioned SVPWM modulation is:
(1) based on restriction relation, the switch combination of every phase brachium pontis of three-phase nine switch converters has 3 kinds, define upper Guan Guan respectively, middle pipe is opened, 0 on off state of lower Guan Kaiwei brachium pontis, upper pipe is opened, 1 on off state of middle Guan Guan, lower Guan Kaiwei brachium pontis, and upper pipe is opened, middle pipe is opened, 2 on off states of lower Guan Guanwei brachium pontis；
(2) 3 kinds of on off states according to every phase brachium pontis, it is thus achieved that all possible switch combination of three-phase nine switch converters is 27 kinds, is divided into 3 classes according to the composite type of its switch:
1) the upper pipe of three-phase brachium pontis is all opened, the middle pipe of three-phase brachium pontis is all opened, the lower pipe of three-phase brachium pontis is all open-minded, under this three state, open shorted on one end power positive end or the negative terminal of winding permanent magnet synchronous motor, or the two ends of three-phase windings connect the positive and negative end of power supply respectively, these three kinds of states are defined as the zero vector of three-phase nine switch converters；
2) three-phase brachium pontis only has the combination 3 kinds of two kinds of on off states: 0,1 combinations of states, 1,2 state, 0,2 combinations of states, wherein under 0,1 combinations of states, the lower pipe of each brachium pontis of three-phase nine switch converters is all open-minded, its component type has 001,010,100,011,101,110 totally 6 kinds, is equivalent to out a ' of winding permanent magnet synchronous motor, b ', c ' hold short circuit constitute neutral point and connect power supply negative terminal；1, under 2 combinations of states, its composite type has 112,121,211,122,212,221 totally 6 kinds, and the upper pipe of three-phase nine switch converters every phase brachium pontis is all open-minded, and a, b, c end short circuit being equivalent to out winding synchronous motor constitutes neutral point and connects power positive end；0, under 2 combinations of states, its composite type has 002,020,200,022,202,220 totally 6 kinds, and the middle pipe of three-phase nine switch converters every phase brachium pontis is all open-minded, three phase electric machine winding triangle loop connected mode；
3) three-phase brachium pontis has three kinds of Switch State Combination in Power Systems totally 6 kinds respectively: 012,021,102,120,201,210, wherein 012,120,201 compound mode, opening two phase winding short circuits of winding permanent magnet synchronous motor, under 021,102,210 compound modes, three phase electric machine winding works simultaneously；
(3) determine that being appropriate to three-phase nine switch converters drives the switch combination driving winding permanent magnet synchronous motor to have 002,020,200,022,202,220,021,102,210 total 9 kinds；
(4) on-off mode according to three-phase nine switch converters, draw the voltage vector-diagram acting on out on the three-phase windings of winding permanent magnet synchronous motor, the principle that residual voltage is zero that three-phase windings is produced is produced, it is proposed to produce the voltage vector of residual voltage according to synthesized voltage vector；
(5) voltage vector acted on according to each sector when determining out winding permanent magnet synchronous machine drives, and calculate the action time obtaining each neighboring voltage vector in each sector, the pwm signal of the corresponding each pipe obtaining three-phase nine switch converters；
(6) the middle pipe of three-phase nine switch converters being arranged Dead Time, its dutycycle is the Dead Time that upper pipe dutycycle deducts 2 times, it is prevented that leading directly to of every phase brachium pontis.
nullAfter adopting such scheme，What the present invention compared traditional double inverter opens winding electric machine drive system，Three-phase nine switch converters has good matching with opening winding electric machine，The double output ends mouthpiece that tradition nine switch converters drives has good independent control characteristic，Namely upper and lower power take-off mouth both can export the three-phase alternating current of same frequency，The electric energy of different frequency form can also be exported，Give two motors or different load supplyings respectively，Therefore the pwm signal producing method of its switching tube is comparatively special，Generally up and down power port is respectively adopted different modulating waves and intersects with same carrier wave and intercept and capture、The copped wave pwm signal of lower pipe，In correspondence, pipe drives signal to be that pipe drives the XOR value of signal up and down，Avoid the generation of bridge arm direct pass phenomenon，And the modulating wave of power take-off mouth also needs to satisfied requirement that can not be overlapping up and down，To realize the function that output port independently controls.And in native system, the port of output up and down of three-phase nine switch converters connects out two ports of winding permanent magnet synchronous motor respectively, compare traditional two motor independence control, open and there is more strict restriction relation between two ports of winding construction motor.Described control method drives the rotor position information of winding permanent magnet synchronous motor, winding current signal send gathering into controller, constitute speed outer shroud and current inner loop driving control system, 27 kinds of voltage vectors of four bridge legs compact changer synthesis are rejected the zero-sequence current that the component producing residual voltage suppresses to open in winding electric machine, and realizes the SVPWM modulation of changer.Tradition of comparing opens double; two three-phase inverters topology that winding electric machine drive system adopts, and its power inverter cost can cut down 25%, but possesses good speed adjusting performance.
Accompanying drawing explanation
Fig. 1 is the structure chart of drive system of the present invention；
Fig. 2 is the control block diagram of control method of the present invention；
Fig. 3 is three-phase nine switch converters resultant voltage three dimensional vector diagram；
Fig. 4 is voltage vector synthesis schematic diagram；
Fig. 5 is the SVPWM signal schematic representation of three-phase nine switch converters.
Detailed description of the invention
Below with reference to accompanying drawing, technical scheme and beneficial effect are described in detail.
As shown in Figure 1, the present invention provides a kind of low cost to open winding permanent magnet Synchromous machine drive system, including driving winding permanent magnet synchronous motor, three-phase nine switch converters, controller and DC source, wherein, controller includes controlling module and the current signal collection module being attached thereto respectively, position signal acquisition module and driving module, introduces separately below.
Described three-phase nine switch converters includes 3 phase brachium pontis parallel with one another, every phase brachium pontis all comprises the top tube, middle tube, and down tube being linked in sequence, and 3 phase brachium pontis upper pipe and middle pipe collectively form the upper three phase power output port of three-phase nine switch converters, the middle pipe of 3 phase brachium pontis and lower pipe collectively form the lower three phase power output port of three-phase nine switch converters, wherein, the first brachium pontis comprises pipe S1u, middle pipe S1mWith lower pipe S1d, the second brachium pontis comprises pipe S2u, middle pipe S2mWith lower pipe S2d, the 3rd brachium pontis comprises pipe S3u, middle pipe S3mWith lower pipe S3d, all top tube, middle tube, and down tube all adopt the IGBT of anti-paralleled diode to switch.In three-phase nine switch converters, the DC side parallel of 3 phase brachium pontis connects DC source UdcAnd upper and lower three phase power output port is connected with the two ends abc of the ABC three-phase windings driving winding permanent magnet synchronous motor, a ' b ' c ' respectively, and make out arbitrary phase winding two ends of winding permanent magnet synchronous motor connect different brachium pontis, even a end of A phase connects the first brachium pontis, then a ' end can only connect the second brachium pontis or the 3rd brachium pontis, as in the present embodiment, a end of A phase winding is connected to the S of the first brachium pontis1uAnd S1mBetween, other end a ' end is connected to the S of the second brachium pontis2mAnd S2dBetween, the b end of B phase winding is connected to the S of the second brachium pontis2uAnd S2mBetween, b ' end is connected to the S of the 3rd brachium pontis3mAnd S3dBetween, the c end of C phase winding is connected to the S of the 3rd brachium pontis3uAnd S3mBetween, c ' end is connected to the S of the first brachium pontis1mAnd S1dBetween.
Current signal collection module is for gathering out the current signal of winding permanent magnet synchronous motor, position signal acquisition module is for gathering out the voltage signal of winding permanent magnet synchronous motor, and aforementioned currents, voltage signal all send into control module (in the present embodiment adopt DSP), realize speed and current double closed loop control, nine road pwm signals are exported by driving module, drive 9 IGBT switches respectively, DC source is converted to three-phase alternating current electric drive and drives winding permanent magnet synchronous motor.
Coordinate shown in Fig. 2, based on above drive system, the present invention also provides for a kind of low cost and opens the control method of winding permanent magnet Synchromous machine drive system, including following content: utilize position signal acquisition module collection to open the rotor position information θ of winding permanent magnet synchronous motor, rotor speed feedback value ω is obtained, by given rotating speed ω through differentiation element*Make after the recovery with feedback rotating speed after pi regulator, obtain motor q shaft current set-point iq *；Current signal collection module collection is utilized to open the three-phase windings electric current i of winding permanent magnet synchronous motorA,B,C, after ABC-dq coordinate transform, obtain d, q axle feedback current i in conjunction with rotor position informationd、iq, the i given by electric current loopq *With id *=0 makes after the recovery respectively with value of feedback exports through pi regulator, increases coupled component and obtains d, q shaft voltage value Ud、Uq, obtain α, β shaft voltage value U by dq-α β conversionα、Uβ, synthesizing rotational voltage vector, after SVPWM modulates, produce nine road pwm signals, winding permanent magnet synchronous motor realizes rotating speed, current double closed-loop controls to drive each IGBT of three-phase nine switch converters, control three-phase nine switch converters driving to open respectively.
The key technology that the present invention realizes is in that three-phase nine switch converters and the coordination driving winding permanent magnet synchronous motor controls, and namely in above-mentioned control system, the process that implements of SVPWM modulation technique is:
(1) the switch number for every phase brachium pontis of three-phase nine switch converters is 3, and namely the possible switch combination of every phase brachium pontis has 23=8 kinds, but combine the two ends winding driving winding permanent magnet synchronous motor and connect the upper and lower three phase power output port of three-phase nine switch converters respectively, and therefore the upper, middle and lower pipe of each phase brachium pontis drives signal to there is restriction relation strict as follows:
I. upper, middle and lower pipe can not be simultaneously open-minded, otherwise the bridgc arm short of changer；
II. upper, middle and lower pipe can not simultaneously turn off, and otherwise opens the biphase winding overhang open circuit of winding permanent magnet synchronous motor；
III. it is open-minded that upper, middle and lower pipe can not only have single tube, otherwise opens a phase winding short circuit open circuit of winding permanent magnet synchronous motor；
IV. upper, middle and lower pipe must have two pipes simultaneously open-minded, to ensure that the end opening winding permanent magnet synchronous motor three-phase windings connects power positive end or negative terminal.
Based on constraints above relation, the switch combination of every phase brachium pontis only has 3 kinds, and is respectively defined as shown in table 11,2,3, and the upper Guan Guan of brachium pontis on off state 0:p phase brachium pontis, middle pipe is opened, lower pipe is opened；The upper pipe of brachium pontis on off state 1:p phase brachium pontis is opened, middle Guan Guan, lower pipe are opened；The upper pipe of brachium pontis on off state 2:p phase brachium pontis is opened, middle pipe is opened, lower pipe closes, and p=1,2,3.Namely must there is two pipes opening state simultaneously in each brachium pontis.
The p phase brachium pontis switch combination of table 1 three-phase nine switch converters
| Brachium pontis on off state | Spu | Spm | Spd |
| 0 | 0 | 1 | 1 |
| 1 | 1 | 0 | 1 |
| 2 | 1 | 1 | 0 |
(2) by 3 kinds of on off states of every phase brachium pontis, it is possible to calculate and obtain three-phase nine switch converters existence 33=27 kinds of switch combination states, can incorporate into as three major types according to the switch combination type of every phase brachium pontis, as shown in table 2, be respectively as follows: 1) three-phase only has a kind of on off state；2) three-phase brachium pontis only has two kinds of on off states；3) three-phase brachium pontis has three kinds of on off states, its synthesized voltage vector of correspondence analysis.Particularly as follows:
1) in three-phase brachium pontis, lower pipe all opens 000, the upper, lower tube of three-phase brachium pontis all opens 111, the pipe upper, middle of three-phase brachium pontis all opens 222, totally three kinds of switch combination states, under the on off state of these three brachium pontis, open shorted on one end power positive end or the negative terminal of winding permanent magnet synchronous motor, or the two ends of three-phase windings connect the positive and negative end of power supply respectively, these three kinds of Switch State Combination in Power Systems are defined as the zero vector of three-phase nine switch converters；
2) three-phase brachium pontis only has the composite type 3 kinds of two kinds of on off states, namely 0,1 combinations of states is only had, 1,2 states or 0,2 combinations of states types, add up to 18 kinds of brachium pontis switch combination states, wherein under 0,1 combinations of states, the lower pipe of each brachium pontis of three-phase nine switch converters is all open-minded, its component type has 001,010,100,011,101,110 totally 6 kinds of switch combination states, be equivalent to out a ' of winding permanent magnet synchronous motor, b ', c ' hold short circuit constitute neutral point and connect power supply negative terminal, and discomfort is run winding permanent magnet synchronous machine drives jointly and controlled；1, under 2 combinations of states, its composite type has 112,121,211,122,212,221 totally 6 kinds of switch combination states, the upper pipe of each brachium pontis of three-phase nine switch converters is all open-minded, a, b, c end short circuit being equivalent to out winding permanent magnet synchronous motor constitutes neutral point and connects power positive end, is also not suitable for out winding permanent magnet synchronous machine drives and controls；0, under 2 combinations of states, its composite type has 002,020,200,022,202,220 totally 6 kinds of assembled state, and the middle pipe of each brachium pontis of three-phase nine switch converters is all open-minded, three phase electric machine winding triangle loop connected mode；
3) three-phase brachium pontis has three kinds of Switch State Combination in Power Systems types totally 6 kinds respectively, respectively 012,021,102,120,201,210, wherein 012,120,201 compound mode, open two phase winding short circuits of winding permanent magnet synchronous motor, discomfort is run winding permanent magnet jointly and is synchronized to drive, 021, under 102,210 compound modes, three phase electric machine winding works simultaneously.
Specifically it is referred to shown in table 2.
Each brachium pontis switch combination type of table 2 three-phase nine switch converters
(3) according to above-mentioned three-phase nine switch converters each brachium pontis switch combination state and the corresponding synthesized voltage vector opening each phase winding of winding permanent magnet synchronous motor, the three-phase nine switch converters resultant voltage three dimensional vector diagram acting on out winding permanent magnet synchronous motor winding as shown in Figure 3 is drawn；
(4) in this drive system, drive winding permanent magnet synchronous motor and there is zero sequence loop, for suppressing to open the zero sequence voltage component that in winding permanent magnet synchronous motor, synthesized voltage vector produces, reduce the zero-sequence current produced in the motor three-phase windings impact on electric efficiency, the principle that residual voltage is zero that three-phase windings is produced is produced, it is proposed to do not produce the voltage vector of residual voltage according to synthesized voltage vector.Selecting not produce zero sequence voltage component in synthesized voltage vector and have 002,020,200,022,202,220,000,111,222, be respectively defined as V1, V2, V4, V3, V5, V6, V0, V7, V8, wherein the vector length of V1～V6 isSet the sector of as shown in Figure 4 1～6, to the given voltage vector V being in sector 1refCan being synthesized by V4, V6, the action time calculating each voltage vector is:
Wherein, T4For the vector V4 time acted in a switch periods, T6For the vector V6 time acted in a switch periods, T is switch periods, T0Time for zero vector effect.
(5) according to calculated V4, V6 action time, it is thus achieved that the upper pipe S in three-phase nine switch converterspuWith lower pipe SpdDutycycle, the driving signal of upper, lower tube is complementary, but this drive system exists 3 zero vectors V0, V7, V8, for simplifying modulation algorithm, this drive system adopts V0, V8 as zero vector, it is achieved the synthesis that SVPWM drives, but brachium pontis prevents the dead time led directly to be different from conventional three-phase bridge converter, the middle pipe utilizing three-phase nine switch converters arranges dead band, it is possible to effectively prevent the bridge arm direct pass of changer.Under above-mentioned V1～V6 voltage vector effect, the upper pipe S of changer brachium pontispuWith middle pipe SpmControl logic identical, interrupt drive duty cycle signals in insert dead band td, its switch time corresponds to T4-2tdOr T6-2td, it is derived from the SVPWM signal of each switching tube as it is shown in figure 5, wherein descend pipe S1d、S2d、S3dDutycycle and upper pipe S1u、S2u、S3uComplementation, can realize the SVPWM modulation function of three-phase nine switch converters.
Above example is only the technological thought that the present invention is described, it is impossible to limits protection scope of the present invention, every technological thought proposed according to the present invention, any change done on technical scheme basis with this, each falls within scope.
Claims (6)
1. a low cost opens winding permanent magnet Synchromous machine drive system, it is characterized in that: include out winding permanent magnet synchronous motor, three-phase nine switch converters, controller and DC source, wherein, three-phase nine switch converters comprises parallel with one another first to the 3rd brachium pontis, every phase brachium pontis all comprises the top tube, middle tube, and down tube being linked in sequence, and 3 phase brachium pontis upper pipe and middle pipe collectively form the upper three phase power output port of three-phase nine switch converters, the middle pipe of 3 phase brachium pontis and lower pipe collectively form the lower three phase power output port of three-phase nine switch converters；The DC side parallel of 3 phase brachium pontis connects DC source, and upper and lower three phase power output port is connected with the two ends abc of the ABC three-phase windings driving winding permanent magnet synchronous motor, a ' b ' c ' respectively, and arbitrary phase winding two ends of winding permanent magnet synchronous motor are made out to connect different brachium pontis；Controller includes controlling module and the current signal collection module being attached thereto respectively, position signal acquisition module and driving module, current signal collection module is for gathering out the current signal of winding permanent magnet synchronous motor, position signal acquisition module is for gathering out the voltage signal of winding permanent magnet synchronous motor, and aforementioned currents, voltage signal all send into control module, realize speed and current double closed loop control, by driving module output pwm signal, it is achieved the control to three-phase nine switch converters.
2. a kind of low cost as claimed in claim 1 opens winding permanent magnet Synchromous machine drive system, it is characterized in that: described three-phase nine switch converters and open the connected mode of winding permanent magnet synchronous motor and be: a end opening winding permanent magnet synchronous motor A phase winding is connected between the upper pipe of the first brachium pontis and middle pipe, a ' end is connected between the middle pipe of the second brachium pontis and lower pipe, the b end of B phase winding is connected between the upper pipe of the second brachium pontis and middle pipe, b ' end is connected between the middle pipe of the 3rd brachium pontis and lower pipe, the c end of C phase winding is connected between upper pipe and the middle pipe of the 3rd brachium pontis, c ' end is connected between the middle pipe of the first brachium pontis and lower pipe.
3. a kind of low cost as claimed in claim 1 opens winding permanent magnet Synchromous machine drive system, it is characterised in that: all top tube, middle tube, and down tube of described first to the 3rd brachium pontis all adopt the IGBT of anti-paralleled diode to switch.
4. the control method opening winding permanent magnet Synchromous machine drive system based on low cost as claimed in claim 1, it is characterized in that including following content: gather the rotor position information driving winding permanent magnet synchronous motor, obtain rotor speed feedback value, given rotating speed is made after the recovery with feedback rotating speed after pi regulator, obtains motor q shaft current set-point；Gather the three-phase windings electric current driving winding permanent magnet synchronous motor, after ABC-dq coordinate transform, d, q axle feedback current is obtained in conjunction with rotor position information, electric current loop gives and value of feedback is made after the recovery and exported d, q shaft voltage value through pi regulator, α, β shaft voltage value is obtained by dq-α β conversion, synthesis rotational voltage vector, producing nine road pwm signals after SVPWM modulates, control three-phase nine switch converters driving is driven winding permanent magnet synchronous motor and is realized rotating speed, current double closed-loop control.
5. a kind of low cost as claimed in claim 4 opens the control method of winding permanent magnet Synchromous machine drive system, it is characterised in that: in described three-phase nine switch converters, the upper, middle and lower pipe of each phase brachium pontis drives signal to there is following restriction relation:
I. upper, middle and lower pipe can not be simultaneously open-minded；
II. upper, middle and lower pipe can not simultaneously turn off；
III. it is open-minded that upper, middle and lower pipe can not only have single tube；
IV. upper, middle and lower pipe must have two pipes simultaneously open-minded.
6. a kind of low cost as claimed in claim 5 opens the control method of winding permanent magnet Synchromous machine drive system, it is characterised in that: the detailed process of described SVPWM modulation is:
(1) based on restriction relation, the switch combination of every phase brachium pontis of three-phase nine switch converters has 3 kinds, define upper Guan Guan respectively, middle pipe is opened, 0 on off state of lower Guan Kaiwei brachium pontis, upper pipe is opened, 1 on off state of middle Guan Guan, lower Guan Kaiwei brachium pontis, and upper pipe is opened, middle pipe is opened, 2 on off states of lower Guan Guanwei brachium pontis；
(2) 3 kinds of on off states according to every phase brachium pontis, it is thus achieved that all possible switch combination of three-phase nine switch converters is 27 kinds, is divided into 3 classes according to the composite type of its switch:
1) the upper pipe of three-phase brachium pontis is all opened, the middle pipe of three-phase brachium pontis is all opened, the lower pipe of three-phase brachium pontis is all open-minded, under this three state, open shorted on one end power positive end or the negative terminal of winding permanent magnet synchronous motor, or the two ends of three-phase windings connect the positive and negative end of power supply respectively, these three kinds of states are defined as the zero vector of three-phase nine switch converters；
2) three-phase brachium pontis only has the combination 3 kinds of two kinds of on off states: 0,1 combinations of states, 1,2 state, 0,2 combinations of states, wherein under 0,1 combinations of states, the lower pipe of each brachium pontis of three-phase nine switch converters is all open-minded, its component type has 001,010,100,011,101,110 totally 6 kinds, is equivalent to out a ' of winding permanent magnet synchronous motor, b ', c ' hold short circuit constitute neutral point and connect power supply negative terminal；1, under 2 combinations of states, its composite type has 112,121,211,122,212,221 totally 6 kinds, and the upper pipe of three-phase nine switch converters every phase brachium pontis is all open-minded, and a, b, c end short circuit being equivalent to out winding synchronous motor constitutes neutral point and connects power positive end；0, under 2 combinations of states, its composite type has 002,020,200,022,202,220 totally 6 kinds, and the middle pipe of three-phase nine switch converters every phase brachium pontis is all open-minded, three phase electric machine winding triangle loop connected mode；
3) three-phase brachium pontis has three kinds of Switch State Combination in Power Systems totally 6 kinds respectively: 012,021,102,120,201,210, wherein 012,120,201 compound mode, opening two phase winding short circuits of winding permanent magnet synchronous motor, under 021,102,210 compound modes, three phase electric machine winding works simultaneously；
(3) determine that being appropriate to three-phase nine switch converters drives the switch combination driving winding permanent magnet synchronous motor to have 002,020,200,022,202,220,021,102,210 total 9 kinds；
(4) on-off mode according to three-phase nine switch converters, draw the voltage vector-diagram acting on out on the three-phase windings of winding permanent magnet synchronous motor, the principle that residual voltage is zero that three-phase windings is produced is produced, it is proposed to produce the voltage vector of residual voltage according to synthesized voltage vector；
(5) voltage vector acted on according to each sector when determining out winding permanent magnet synchronous machine drives, and calculate the action time obtaining each neighboring voltage vector in each sector, the pwm signal of the corresponding each pipe obtaining three-phase nine switch converters；
(6) the middle pipe of three-phase nine switch converters being arranged Dead Time, its dutycycle is the Dead Time that upper pipe dutycycle deducts 2 times, it is prevented that leading directly to of every phase brachium pontis.
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