CN105811835B - One kind opening winding permanent magnet Synchromous machine drive system and its control method - Google Patents
One kind opening winding permanent magnet Synchromous machine drive system and its control method Download PDFInfo
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- CN105811835B CN105811835B CN201610263707.0A CN201610263707A CN105811835B CN 105811835 B CN105811835 B CN 105811835B CN 201610263707 A CN201610263707 A CN 201610263707A CN 105811835 B CN105811835 B CN 105811835B
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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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- Control Of Motors That Do Not Use Commutators (AREA)
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Abstract
The present invention discloses one kind and opening winding permanent magnet Synchromous machine drive system, nine switch converters of three-phase include 3 phase bridge arms parallel with one another, include the top tube, middle tube, and down tube being linked in sequence per phase bridge arm, upper tube and middle pipe constitute upper three phase power output port, and middle pipe and down tube constitute lower three phase power output port；The DC side parallel of nine switch converters of three-phase connects DC power supply, upper and lower three phase power output port is connected with the both ends for the ABC three-phase windings for opening winding permanent magnet synchronous motor respectively, and any phase winding both ends of winding permanent magnet synchronous motor is made out to connect different bridge arms；The current signal and voltage signal of winding permanent magnet synchronous motor are opened in acquisition respectively, are sent into control module and are realized speed and current double closed loop control, by drive module output pwm signal, realize the control to nine switch converters of three-phase.This system cost is low, good speed adjustment features.Invention additionally discloses a kind of control methods for opening winding permanent magnet Synchromous machine drive system.
Description
Technical field
The invention belongs to electric system and control field, more particularly to one kind open winding permanent magnet Synchromous machine drive system and
Its control method.
Background technology
It is to open the neutral point of conventional three-phase alternating current generator to open winding construction motor, constitutes the winding with dual-port and opens
Formula structure is put, the magnetic circuit and structure of motor do not have any change, open the basic performance that winding construction motor does not change conventional motors,
And the restriction relation after being opened due to neutral point between each phase machine winding of tradition is no longer existed, and each phase winding is independent, can
To improve the reliability of motor body to a certain extent, and two port can be separately connected converter, pass through both ends
The converter of mouth coordinates control, each converter can be made to undertake the power of half, and both ends converter is in identical winding current
Under conditions of ripple, reduce its switching frequency, meet the demand of the converter of heavy-duty motor system well, thus open around
The research of group structure and its control technology becomes the important expansion direction of current alternating current generator research.
It opens winding construction motor and usually forms drive system with twin inverter, twin inverter is connected to out winding electric machine
Two ports, respective power supply power supply, i.e. dual power supply mode can be respectively adopted in twin inverter, pass through and both sides electricity is arranged
The voltage class in source can facilitate the modulation system for realizing three level, four level, five level, effectively inhibit driving motor winding
Current harmonics two side inverters are extended to three level, five level, seven level etc., can be derived more on this basis
More level of type open winding electric machine driving, are greatly enriched out the research contents of winding electric machine.In addition, to reduce driving
The cost of system and the complexity for reducing drive system, can also be by the DC side parallel of twin inverter, i.e. power supply power supply side
Formula, the topological structure can also regard motor three-phase windings as and be separately connected a set of H bridgings parallel operation, can independently be controlled per phase winding
System so that the reliability of drive system greatly improves, and compare single supply power supply mode, and the cost of system, which has, substantially reduces,
But the connection type of common DC bus so that zero sequence access existing for opening inside winding construction motor, therefore its zero-sequence current
Inhibition and the vector modulation technique etc. of twin inverter become research hotspot.
It can be seen that opening winding construction since the characteristic of its dual-port makes it have great flexibility, it is aided with suitable power and becomes
Parallel operation can have excellent driveability.Currently, permanent magnet synchronous motor is as motor driven systems first choice high power density, height
Efficiency, high performance structures type motor, tool can be constituted in conjunction with corresponding power inverter by opening winding construction permanent magnet synchronous motor
The drive system of standby good characteristic, however, the existing twin inverter for being suitble to out winding construction motor and its derivative more level
Inverter topology, although drive control function can be realized well, the converter more than 12 switching devices is opened up
It flutters, considerably increases the cost of drive system, and the complexity of control system is also higher, therefore is same for winding permanent magnet is opened
Motor driven systems are walked, study converter topology structure and its control technology of its simplification as the important of its application field is promoted
Approach.
Invention content
The purpose of the present invention, in the driving for opening winding permanent magnet synchronous motor and the twin inverter topology formation of single supply power supply
On the basis of the basic functional principle of system, one kind is provided and opens winding permanent magnet Synchromous machine drive system and its control method, at
This low, good speed adjustment features.
In order to achieve the above objectives, solution of the invention is：
One kind opening winding permanent magnet Synchromous machine drive system, including opens winding permanent magnet synchronous motor, nine switch change-over of three-phase
Device, controller and DC power supply, wherein nine switch converters of three-phase include parallel with one another first to third bridge arm, per phase bridge
Arm includes the top tube, middle tube, and down tube being linked in sequence, and the upper tube of 3 phase bridge arms and middle pipe collectively form nine switch change-over of three-phase
The upper three phase power output port of device, the middle pipe and down tube of 3 phase bridge arms collectively form the lower three-phase work(of nine switch converters of three-phase
Rate output port；The DC side parallels of 3 phase bridge arms connects DC power supply, and upper and lower three phase power output port respectively with open around
Both ends abc, a ' b ' c ' of the ABC three-phase windings of group permanent magnet synchronous motor are connected, and make out any of winding permanent magnet synchronous motor
Phase winding both ends connect different bridge arms；Controller include control module and the current signal collection module being attached thereto respectively,
Position signal acquisition module and drive module, current signal collection module are used to acquire the electric current for opening winding permanent magnet synchronous motor letter
Number, position signal acquisition module is for acquiring the voltage signal for opening winding permanent magnet synchronous motor, and aforementioned currents, voltage signal are equal
It is sent into control module, realizes speed and current double closed loop control, by drive module output pwm signal, realizes and the switch of three-phase nine is become
The control of parallel operation.
Nine switch converters of above-mentioned three-phase are with the connection type for opening winding permanent magnet synchronous motor：It opens winding permanent magnet and synchronizes electricity
The ends a of machine A phase windings are connected between the upper tube and middle pipe of the first bridge arm, the ends a ' be connected to the second bridge arm middle pipe and down tube it
Between, the ends b of B phase windings are connected between the upper tube and middle pipe of the second bridge arm, and the ends b ' are connected to the middle pipe and down tube of third bridge arm
Between, the ends c of C phase windings are connected between the upper tube and middle pipe of third bridge arm, and the ends c ' are connected to the middle pipe of the first bridge arm under
Between pipe.
Above-mentioned first is all made of the IGBT switches of anti-paralleled diode to all top tube, middle tube, and down tube of third bridge arm.
It is a kind of based on the aforementioned control method for opening winding permanent magnet Synchromous machine drive system, including following content：Acquisition is opened
The rotor position information of winding permanent magnet synchronous motor obtains rotor speed feedback value, and given rotating speed and feedback rotating speed are made
Motor q shaft current given values are obtained after difference after pi regulator；The three-phase windings electric current of winding permanent magnet synchronous motor is opened in acquisition,
D, q axis feedback current are obtained after ABC-dq coordinate transforms in conjunction with rotor position information, electric current loop is given poor with value of feedback work
D, q shaft voltage value are exported by pi regulator afterwards, converts to obtain α, β shaft voltage value by dq- α β, synthesizes rotational voltage vector,
Nine road pwm signals are generated after SVPWM is modulated, control nine switch converters of three-phase driving, which is opened winding permanent magnet synchronous motor and realized, to be turned
Speed, current double closed-loop control.
There are following restriction relations for the upper, middle and lower pipe drive signal of each phase bridge arm in nine switch converters of above-mentioned three-phase：
I upper, middle and lower pipe can not be open-minded simultaneously；
II upper, middle and lower pipe can not simultaneously turn off；
It is open-minded that III upper, middle and lower pipe cannot only have single tube；
IV upper, middle and lower pipe must have two pipes open-minded simultaneously.
The detailed process of above-mentioned SVPWM modulation is：
(1) it is based on restriction relation, the switch combination of every phase bridge arm of nine switch converters of three-phase there are 3 kinds, respectively in definition
Guan Guan, middle pipe are opened, down tube opens 0 on off state for bridge arm, and upper tube is opened, middle pipe is closed, down tube opens 1 on off state for bridge arm, on
Guan Kai, middle pipe are opened, down tube closes 2 on off states for bridge arm；
(2) according to 3 kinds of on off states per phase bridge arm, all possible switch combination of nine switch converters of three-phase is obtained
It is 27 kinds, 3 classes is divided into according to the composite type of its switch：
1) upper tube of three-phase bridge arm is opened, the middle pipe of three-phase bridge arm is opened, the down tube of three-phase bridge arm is open-minded, this 3
Under kind of state, opening the shorted on one end power positive end of winding permanent magnet synchronous motor, either the both ends of negative terminal or three-phase windings are distinguished
The positive and negative end of power supply is connected, which is defined as the zero vector of nine switch converters of three-phase；
2) only there are two types of 3 kinds of the combinations of on off state in three-phase bridge arm：0,1 combinations of states, 1,2 states, 0,2 state groups
It closes, wherein under 0,1 combinations of states, the down tube of each bridge arm of nine switch converters of three-phase is open-minded, component type has 001,
010,100,011,101,110 totally 6 kinds, the end a ', b ', c ' short circuit for being equivalent to out winding permanent magnet synchronous motor constitute neutral point simultaneously
Connect power supply negative terminal；1, under 2 combinations of states, a combination thereof type has 112,121,211,122,212,221 totally 6 kinds, and three-phase nine is opened
The upper tube that converter is closed per phase bridge arm is open-minded, and the end a, b, c short circuit for being equivalent to out winding synchronous motor constitutes neutral point and company
Connect power positive end；0, under 2 combinations of states, a combination thereof type has 002,020,200,022,202,220 totally 6 kinds, and three-phase nine switchs
Converter is open-minded per the middle pipe of phase bridge arm, the triangle circuit connection type of three phase electric machine winding；
3) there are three types of totally 6 kinds of Switch State Combination in Power Systems respectively for three-phase bridge arm：012,021,102,120,201,210, wherein
012,120,201 combination, opens two phase winding short circuits of winding permanent magnet synchronous motor, under 021,102,210 combinations, three
Phase machine winding works at the same time；
(3) determine be appropriate to the driving of nine switch converters of three-phase open winding permanent magnet synchronous motor switch combination have 002,
020,200,022,202,220,021,102,210 is 9 kinds total；
(4) according to the on-off mode of nine switch converters of three-phase, the three-phase for acting on out winding permanent magnet synchronous motor is drawn
Voltage vector-diagram on winding, the principle that the residual voltage that foundation synthesized voltage vector generation generates three-phase windings is zero, carries
Go out to generate the voltage vector of residual voltage；
(5) voltage vector that each sector acts on when opening winding permanent magnet synchronous machine drives according to determination, and calculate acquisition
The action time of each neighboring voltage vector in each sector, the pwm signal of the corresponding each pipe for obtaining nine switch converters of three-phase；
(6) dead time is arranged to the middle pipe of nine switch converters of three-phase, duty ratio is that upper tube duty ratio subtracts 2 times
Dead time prevents the straight-through of every phase bridge arm.
After adopting the above scheme, the present invention opens winding electric machine drive system compared to more traditional twin inverter, and three-phase nine is opened
It closes converter and opening winding electric machine, there is good matching, the dual output port that traditional nine switch converters drive to have preferable
Independent control characteristic, i.e., power output port can both export the three-phase alternating current of identical frequency up and down, can also export not
The electric energy of same frequency form gives two motors or different load supplyings, therefore the pwm signal generation side of its switching tube respectively
Formula is more special, and usually power port is respectively adopted different modulating waves and intersects with same carrier wave and intercepts and captures to obtain upper, lower tube up and down
Copped wave pwm signal, corresponding middle pipe drive signal are the exclusive or value of upper down tube drive signal, avoid the production of bridge arm direct pass phenomenon
It is raw, and the modulating wave of power output port also needs to meet the requirement that cannot be overlapped up and down, to realize that output port is independently controlled
The function of system.And in this system, the port of output power up and down of nine switch converters of three-phase is separately connected out winding permanent magnet synchronization
The independent control of two more traditional motors is compared in two ports of motor, opens between two ports of winding construction motor and exists
More stringent restriction relation.Rotor position information, the winding of winding permanent magnet synchronous motor are opened in acquisition by the control method
Current signal is sent into controller, constitutes speed outer shroud and current inner loop driving control system, is closed in the compact code converter of four bridge legs
At 27 kinds of voltage vectors in reject and generate the component of residual voltage and inhibit to open zero-sequence current in winding electric machine, and realize transformation
The SVPWM of device is modulated.Compared to more traditional double three-phase inverters topology for opening the use of winding electric machine drive system, power inverter
Cost can cut down 25%, but have preferable speed adjusting performance.
Description of the drawings
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 nine switch converters resultant voltage three dimensional vector diagram of three-phase；
Fig. 4 is voltage vector synthesis schematic diagram；
Fig. 5 is the SVPWM signal schematic representations of nine switch converters of three-phase.
Specific implementation mode
Below with reference to attached drawing, technical scheme of the present invention and advantageous effect are described in detail.
As shown in Figure 1, the present invention, which provides one kind, opening winding permanent magnet Synchromous machine drive system, including open winding permanent magnet synchronization
Motor, nine switch converters of three-phase, controller and DC power supply, wherein controller includes control module and is attached thereto respectively
Current signal collection module, position signal acquisition module and drive module, introduce separately below.
Nine switch converters of the three-phase include 3 phase bridge arms parallel with one another, include to be linked in sequence per phase bridge arm
Top tube, middle tube, and down tube, and the upper tube of 3 phase bridge arms and middle pipe collectively form the upper three phase power output of nine switch converters of three-phase
Port, the middle pipe and down tube of 3 phase bridge arms collectively form the lower three phase power output port of nine switch converters of three-phase, wherein the
One bridge arm includes upper tube S1u, middle pipe S1mWith down tube S1d, the second bridge arm includes upper tube S2u, middle pipe S2mWith down tube S2d, third bridge arm
Including upper tube S3u, middle pipe S3mWith down tube S3d, all top tube, middle tube, and down tube be all made of anti-paralleled diode IGBT switch.Three
The DC side parallel connection DC power supply U of 3 phase bridge arms in nine switch converters of phasedc, and upper and lower three phase power output port difference
It is connected with the both ends abc for the ABC three-phase windings for opening winding permanent magnet synchronous motor, a ' b ' c ', and makes out winding permanent magnet synchronous motor
Any phase winding both ends connect different bridge arms, even the ends a of A phases connect the first bridge arm, then the ends a ' can only connect the second bridge
Arm or third bridge arm, such as in the present embodiment, the ends a of A phase windings are connected to the S of the first bridge arm1uAnd S1mBetween, other end a '
End is connected to the S of the second bridge arm2mAnd S2dBetween, the ends b of B phase windings are connected to the S of the second bridge arm2uAnd S2mBetween, the connection of the ends b '
In the S of third bridge arm3mAnd S3dBetween, the ends c of C phase windings are connected to the S of third bridge arm3uAnd S3mBetween, the ends c ' are connected to first
The S of bridge arm1mAnd S1dBetween.
Current signal collection module is for acquiring the current signal for opening winding permanent magnet synchronous motor, position signal acquisition module
For acquiring the voltage signal for opening winding permanent magnet synchronous motor, and aforementioned currents, voltage signal are sent into control module (this implementation
DSP is used in example), it realizes speed and current double closed loop control, nine road pwm signals is exported by drive module, respectively drive 9 IGBT
Switch, is converted to three-phase alternating current electric drive by DC power supply and opens winding permanent magnet synchronous motor.
Coordinate shown in Fig. 2, is based on the above drive system, the present invention also provides one kind opening winding permanent magnet synchronous machine drives system
The control method of system, including following content：The rotor position of winding permanent magnet synchronous motor is opened using the acquisition of position signal acquisition module
Confidence ceases θ, rotor speed feedback value ω is obtained by differentiation element, by given rotating speed ω*It is passed through after making difference with feedback rotating speed
Motor q shaft current given values i is obtained after crossing pi regulatorq *；Winding permanent magnet, which is opened, using current signal collection module acquisition synchronizes electricity
The three-phase windings electric current i of machineA,B,C, d, q axis feedback current i are obtained after ABC-dq coordinate transforms in conjunction with rotor position informationd、
iq, by the i that electric current loop is givenq *With id *=0 exports with after value of feedback work difference by pi regulator respectively, increases coupled component and obtains
D, q shaft voltages value Ud、Uq, convert to obtain α, β shaft voltage value U by dq- α βα、Uβ, rotational voltage vector is synthesized, through SVPWM tune
Nine road pwm signals are generated after system, respectively drive each IGBT of nine switch converters of three-phase, and control nine switch converters of three-phase drive
Dynamic winding permanent magnet synchronous motor of opening realizes rotating speed, current double closed-loop control.
The key technology that the present invention realizes is nine switch converters of three-phase and opens the coordination control of winding permanent magnet synchronous motor
It makes, i.e., the specific implementation process of SVPWM modulation techniques is in above-mentioned control system：
(1) the switch number for being directed to every phase bridge arm of nine switch converters of three-phase is 3, i.e., per the possibility switch combination of phase bridge arm
Have 23=8 kinds, but the both ends winding for opening winding permanent magnet synchronous motor is combined to be separately connected the upper and lower of nine switch converters of three-phase
Three phase power output port, therefore there is following stringent restriction relation in the upper, middle and lower pipe drive signal of each phase bridge arm：
I upper, middle and lower pipe can not be open-minded simultaneously, otherwise the bridgc arm short of converter；
II upper, middle and lower pipe can not simultaneously turn off, and otherwise open the two-phase winding overhang open circuit of winding permanent magnet synchronous motor；
III upper, middle and lower pipe cannot only have that single tube is open-minded, and the phase winding short circuit for otherwise opening winding permanent magnet synchronous motor is opened
Road；
IV upper, middle and lower pipe must have two pipes open-minded simultaneously, and the end of winding permanent magnet synchronous motor three-phase windings is opened with guarantee
Portion connects power positive end or negative terminal.
Based on constraints above relationship, the switch combination per phase bridge arm only has 3 kinds, and be respectively defined as it is as shown in table 11,2,
3, bridge arm on off state 0：The upper tube of p phase bridge arms is closed, middle pipe is opened, down tube is opened；Bridge arm on off state 1：The upper tube of p phase bridge arms opens,
Middle pipe is closed, down tube is opened；Bridge arm on off state 2：The upper tube of p phase bridge arms is opened, middle pipe is opened, down tube is closed, p=1, and 2,3.I.e. each bridge arm
All there must be two pipes opening state simultaneously.
The p phase bridge arm switch combinations of 1 three-phase of table, nine switch converters
| Bridge arm 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 bridge arm, nine switch converters of three-phase can be calculated, and there are 33=27 kinds are opened
Assembled state is closed, can be incorporated into as three categories according to the switch combination type of every phase bridge arm, as shown in table 2, respectively：1) three-phase
Only a kind of on off state；2) three-phase bridge arm only has two kinds of on off states；3) there are three types of on off state, correspondence analysis for three-phase bridge arm
Its synthesized voltage vector.Specially：
1) in three-phase bridge arm, down tube open 000, three-phase bridge arm upper, lower tube open 111, three-phase bridge arm it is upper,
Middle pipe opens 222, totally three kinds of switch combination states, under the on off state of these three bridge arms, opens winding permanent magnet synchronous motor
Shorted on one end power positive end either the both ends of negative terminal or three-phase windings are separately connected the positive and negative end of power supply, by this three kinds switch
Combinations of states is defined as the zero vector of nine switch converters of three-phase；
2) only there are two types of 3 kinds of the composite type of on off state in three-phase bridge arm, i.e., only 0,1 combinations of states, 1,2 states or
0,2 combinations of states type adds up to 18 kinds of bridge arm switch combination states, wherein under 0,1 combinations of states, nine switch converters of three-phase
The down tube of each bridge arm is open-minded, and component type has 001,010,100,011,101,110 totally 6 kinds of switch combination states, etc.
Effect is to open the end a ', b ', c ' short circuit composition neutral point of winding permanent magnet synchronous motor and connect power supply negative terminal, and discomfort runs winding jointly forever
Magnetic-synchro drive and control of electric machine；1, under 2 combinations of states, a combination thereof type have 112,121,211,122,212,221 totally 6 kinds switch
The upper tube of assembled state, each bridge arm of nine switch converters of three-phase is open-minded, be equivalent to out winding permanent magnet synchronous motor a,
B, the ends c short circuit constitutes neutral point and connects power positive end, is also not suitable for out the control of winding permanent magnet synchronous machine drives；0,2 state
Under combination, a combination thereof type has 002,020,200,022,202,220 totally 6 kinds of assembled states, nine switch converters of three-phase it is every
The middle pipe of a bridge arm is open-minded, the triangle circuit connection type of three phase electric machine winding；
3) three-phase bridge arm is respectively there are three types of totally 6 kinds of Switch State Combination in Power Systems type, respectively 012,021,102,120,201,
210, wherein 012,120,201 combinations, open two phase winding short circuits of winding permanent magnet synchronous motor, discomfort runs winding permanent magnet jointly
Synchronous to drive, under 021,102,210 combinations, three phase electric machine winding works at the same time.
It specifically refers to shown in table 2.
Each bridge arm switch combination type of 2 three-phase of table, nine switch converters
(3) winding permanent magnet synchronous motor is opened according to each bridge arm switch combination state of nine switch converters of above-mentioned three-phase and correspondence
The synthesized voltage vector of each phase winding is drawn the three-phase nine for acting on out winding permanent magnet synchronous motor winding as shown in Figure 3 and is opened
Close converter resultant voltage three dimensional vector diagram；
(4) in this drive system, opening winding permanent magnet synchronous motor, there are zero sequence circuits, and opening winding permanent magnet for inhibition synchronizes electricity
The zero sequence voltage component that synthesized voltage vector generates in machine reduces the zero-sequence current generated in motor three-phase windings to electric efficiency
Influence, generate the principle that the residual voltage generated to three-phase windings is zero according to synthesized voltage vector, propose not generate zero sequence
The voltage vector of voltage.Do not generate zero sequence voltage component in selection synthesized voltage vector and have 002,020,200,022,202,220,
000,111,222, it is respectively defined as V1, V2, V4, V3, V5, V6, V0, V7, V8, the wherein vector length of V1~V6 isThe sector for setting as shown in Figure 4 1~6, to the given voltage vector V in sector 1refIt can be closed by V4, V6
It is at, action time for calculating each voltage vector：
Wherein, T4For the time that vector V4 is acted in a switch periods, T6Make in a switch periods for vector V6
Time, T are switch periods, T0For the time of zero vector effect.
(5) according to V4, V6 action time being calculated, the upper tube S in nine switch converters of three-phase is obtainedpuAnd down tube
SpdDuty ratio, the drive signal of upper, lower tube is complementary, but there are 3 zero vectors V0, V7, V8 in this drive system, for simplification
Modulation algorithm is used as zero vector in this drive system using V0, V8, realizes the synthesis that SVPWM drives, but bridge arm prevents from leading directly to
The dead time be different from conventional three-phase bridge converter, utilize nine switch converters of three-phase middle pipe be arranged dead zone, Ke Yiyou
Effect prevents the bridge arm direct pass of converter.Under the effect of above-mentioned V1~V6 voltage vectors, the upper tube S of converter bridge armpuWith middle pipe Spm
Control logic it is identical, interrupt driving duty cycle signals in be inserted into dead zone td, switch time corresponds to T4-2tdOr
T6-2td, thus to obtain each switching tube SVPWM signals as shown in figure 5, wherein down tube S1d、S2d、S3dDuty ratio and upper tube
S1u、S2u、S3uIt is complementary, you can to realize the SVPWM modulation functions of nine switch converters of three-phase.
Above example is merely illustrative of the invention's technical idea, and protection scope of the present invention cannot be limited with this, every
According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within the scope of the present invention
Within.
Claims (3)
1. one kind opening winding permanent magnet Synchromous machine drive system, it is characterised in that：Including opening winding permanent magnet synchronous motor, three-phase nine
Switch converters, controller and DC power supply, wherein nine switch converters of three-phase include parallel with one another first to third bridge
Arm includes the top tube, middle tube, and down tube being linked in sequence per phase bridge arm, and the upper tube of 3 phase bridge arms and middle pipe collectively form three-phase
The upper three phase power output port of nine switch converters, the middle pipe and down tube of 3 phase bridge arms collectively form nine switch converters of three-phase
Lower three phase power output port；The DC side parallel connection DC power supply of 3 phase bridge arms, and upper and lower three phase power output port
It is connected respectively with the both ends abc for the ABC three-phase windings for opening winding permanent magnet synchronous motor, a ' b ' c ', and winding permanent magnet is made out to synchronize
Any phase winding both ends of motor connect different bridge arms；Controller includes control module and the current signal being attached thereto respectively
Acquisition module, position signal acquisition module and drive module, current signal collection module open winding permanent magnet for acquisition and synchronize electricity
The current signal of machine, position signal acquisition module for acquiring the voltage signal for opening winding permanent magnet synchronous motor, and aforementioned currents,
Voltage signal is sent into control module, realizes speed and current double closed loop control, by drive module output pwm signal, realizes to three
The control of nine switch converters of phase；
Nine switch converters of the three-phase are with the connection type for opening winding permanent magnet synchronous motor：Open winding permanent magnet synchronous motor A
The ends a of phase winding are connected between the upper tube and middle pipe of the first bridge arm, and the ends a ' are connected between the middle pipe and down tube of the second bridge arm,
The ends b of B phase windings are connected between the upper tube and middle pipe of the second bridge arm, the ends b ' be connected to third bridge arm middle pipe and down tube it
Between, the ends c of C phase windings are connected between the upper tube and middle pipe of third bridge arm, and the ends c ' are connected to the middle pipe and down tube of the first bridge arm
Between.
2. one kind as described in claim 1 opens winding permanent magnet Synchromous machine drive system, it is characterised in that：Described first to
All top tube, middle tube, and down tube of three bridge arms are all made of the IGBT switches of anti-paralleled diode.
3. a kind of based on the control method for opening winding permanent magnet Synchromous machine drive system as described in claim 1, feature exists
In including following content：The rotor position information of winding permanent magnet synchronous motor is opened in acquisition, obtains rotor speed feedback value, will
Given rotating speed obtains motor q shaft current given values after making difference with feedback rotating speed after pi regulator；It is same that winding permanent magnet is opened in acquisition
The three-phase windings electric current for walking motor, d, q axis feedback current are obtained in conjunction with rotor position information after ABC-dq coordinate transforms, electricity
By pi regulator output d, q shaft voltage value after the given work difference with value of feedback of stream ring, convert to obtain α, β shaft voltage by dq- α β
Value synthesizes rotational voltage vector, generates nine road pwm signals after SVPWM is modulated, control nine switch converters of three-phase driving open around
Group permanent magnet synchronous motor realizes rotating speed, current double closed-loop control；
There are following restriction relations for the upper, middle and lower pipe drive signal of each phase bridge arm in nine switch converters of the three-phase：
I upper, middle and lower pipe can not be open-minded simultaneously；
II upper, middle and lower pipe can not simultaneously turn off；
It is open-minded that III upper, middle and lower pipe cannot only have single tube；
IV upper, middle and lower pipe must have two pipes open-minded simultaneously；
The detailed process of SVPWM modulation is：
(1) be based on restriction relation, the switch combination of every phase bridge arm of nine switch converters of three-phase has 3 kinds, define respectively upper tube pass,
Middle pipe is opened, down tube opens 0 on off state for bridge arm, and upper tube is opened, middle pipe is closed, down tube opens 1 on off state for bridge arm, upper tube opens,
Middle pipe is opened, down tube closes 2 on off states for bridge arm；
(2) according to 3 kinds of on off states per phase bridge arm, all possible switch combination for obtaining nine switch converters of three-phase is 27
Kind, 3 classes are divided into according to the composite type of its switch：
1) upper tube of three-phase bridge arm is opened, the middle pipe of three-phase bridge arm is opened, the down tube of three-phase bridge arm is open-minded, 3 kinds of shapes
Under state, opening the shorted on one end power positive end of winding permanent magnet synchronous motor, either the both ends of negative terminal or three-phase windings are separately connected
The positive and negative end of power supply, three kinds of states are defined as the zero vector of nine switch converters of three-phase；
2) only there are two types of 3 kinds of the combinations of on off state in three-phase bridge arm：0,1 combinations of states, 1,2 states, 0,2 combinations of states,
In under 0,1 combinations of states, the down tube of each bridge arm of nine switch converters of three-phase is open-minded, component type has 001,010,
100,011,101,110 totally 6 kinds, the end a ', b ', c ' short circuit for being equivalent to out winding permanent magnet synchronous motor constitute neutral point and connect
Power supply negative terminal；1, under 2 combinations of states, a combination thereof type has 112,121,211,122,212,221 totally 6 kinds, and the switch of three-phase nine becomes
Parallel operation is open-minded per the upper tube of phase bridge arm, and the end a, b, c short circuit for being equivalent to out winding synchronous motor constitutes neutral point and connects electricity
Source anode；0, under 2 combinations of states, a combination thereof type has 002,020,200,022,202,220 totally 6 kinds, nine switch change-over of three-phase
Device is open-minded per the middle pipe of phase bridge arm, the triangle circuit connection type of three phase electric machine winding；
3) there are three types of totally 6 kinds of Switch State Combination in Power Systems respectively for three-phase bridge arm：012,021,102,120,201,210, wherein 012,
120,201 combination, opens two phase winding short circuits of winding permanent magnet synchronous motor, under 021,102,210 combinations, three-phase electricity
Machine winding works at the same time；
(3) determine be appropriate to the driving of nine switch converters of three-phase open winding permanent magnet synchronous motor switch combination have 002,020,
200,022,202,220,021,102,210 is 9 kinds total；
(4) according to the on-off mode of nine switch converters of three-phase, the three-phase windings for acting on out winding permanent magnet synchronous motor are drawn
On voltage vector-diagram, generate the principle that the residual voltage generated to three-phase windings is zero according to synthesized voltage vector, propose to produce
The voltage vector of raw residual voltage；
(5) voltage vector that each sector acts on when opening winding permanent magnet synchronous machine drives according to determination, and it is each to calculate acquisition
The action time of each neighboring voltage vector in sector, the pwm signal of the corresponding each pipe for obtaining nine switch converters of three-phase；
(6) dead time is arranged to the middle pipe of nine switch converters of three-phase, duty ratio is the dead zone that upper tube duty ratio subtracts 2 times
Time prevents the straight-through of every phase bridge arm.
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| CN108199625B (en) * | 2018-01-19 | 2021-08-20 | 长安大学 | Three-phase nine-switch open winding permanent magnet brushless direct current motor control system and method |
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| CN108258976B (en) * | 2018-01-19 | 2019-07-05 | 华中科技大学 | One kind opening winding electric machine driver topology and its modulator approach |
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| CN109713928B (en) * | 2018-12-30 | 2020-08-11 | 东北电力大学 | SVPWM modulation method for four-bridge-arm dual-output inverter under unbalanced load |
| CN111342722B (en) * | 2020-04-06 | 2022-02-15 | 华中科技大学 | Nine-switch driving system for magnetic field modulation switched reluctance motor and control method |
| CN112034386B (en) * | 2020-08-05 | 2023-10-10 | 苏州汇川联合动力***股份有限公司 | Method, apparatus and computer readable storage medium for identifying motor system anomalies |
| CN113131804B (en) * | 2021-04-21 | 2022-07-26 | 郑州大学 | Three-switch converter topology and control strategy for switched reluctance motor |
| TWI766768B (en) * | 2021-07-21 | 2022-06-01 | 茂達電子股份有限公司 | Motor controlling circuit |
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