CN112994579B - Inverter driving signal modulation method, apparatus and computer readable storage medium - Google Patents
Inverter driving signal modulation method, apparatus and computer readable storage medium Download PDFInfo
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- CN112994579B CN112994579B CN202110259183.9A CN202110259183A CN112994579B CN 112994579 B CN112994579 B CN 112994579B CN 202110259183 A CN202110259183 A CN 202110259183A CN 112994579 B CN112994579 B CN 112994579B
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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Abstract
The application discloses an inverter driving signal modulation method, which comprises the following steps: acquiring the duty ratio of the three-phase output of the inverter under the modulation of the space vector pulse width modulation of the target voltage vector in each half carrier period of the triangular carrier; acquiring a sector where the target voltage vector is located according to the phase angle of the target voltage vector; and adjusting the three-phase duty ratio of the target voltage vector according to the sector in which the target voltage vector is located and the duty ratio of the three-phase output of the inverter, and modulating the target voltage vector with a triangular carrier after the duty ratio is adjusted to generate a driving signal of the inverter. The modulation method improves the space vector pulse width modulation, increases or decreases or shifts the duty ratio of the three-phase output of the inverter, reduces the peak-to-peak value of the common-mode voltage without increasing the hardware cost, and prolongs the service life of the motor bearing. And under the low modulation ratio, the zero vector is reserved for synthesizing the target voltage vector, so that carrier frequency subharmonic in motor phase current is smaller, and the running noise is reduced.
Description
Technical Field
The present application relates to the field of motor control, and in particular, to a method and apparatus for modulating an inverter driving signal, and a computer readable storage medium.
Background
In the field of electric automobiles, most of driving motors are three-phase permanent magnet synchronous motors and three-phase asynchronous motors, and are driven by three-phase two-level inverters. As shown in fig. 1a and 1b, the three-phase two-level inverter has 8 possible switching states corresponding to 8 basic vectors SV of the d-q complex plane 0 ～SV 7 ，SV 0 And SV(s) 7 Is coincident with the origin, wherein,the switch representing the upper arm of the inverter in FIG. 1b is in the off state S 1 、S 3 、S 5 Indicating that the switches of the upper leg of the inverter are in a closed state. V in FIG. 1b dc For bus voltage, in order to ensure the three-phase current sine degree of the motor and improve the bus voltage utilization rate, the inverter adopts seven-segment SVPWM modulation.
In the linear modulation region, seven-segment SVPWM (Space Vector Pulse Width Modulation, space vector pulse widthModulation) modulation using all 1 zero vector SV 0 All 0 zero vector SV 7 And two non-zero base vectors, synthesizing a target voltage vector. If the internal three phases of the motor are symmetrical, the inverter outputs a vector SV 7 When the neutral point of the motor winding is grounded, namely the common mode voltage is V dc 2; when the inverter outputs the vector SV 0 At the same time, the common-mode voltage is-V dc 2; when the inverter outputs a non-zero basic voltage vector, the common mode voltage is + -V dc /6. Thus, in one carrier period, the common mode voltage peaks up to V dc . When the amplitude of the shaft voltage exceeds the maximum voltage tolerance of the motor bearing oil film, the oil film breaks down to generate discharge, and the bearing is electrically corroded.
Currently, to reduce the peak-to-peak value or amplitude of common mode voltage and shaft voltage, the prior art can be divided into two types, hardware measures and software measures:
the hardware measure is to connect common mode inductance or magnetic ring in series at the three-phase output end of the inverter, but the common mode inductance and magnetic induction are connected in series or increased, which increases the hardware cost, volume and weight.
The software measures are to use adjacent 4 non-zero basic vectors to synthesize the target voltage vector without using zero vector. The equivalent zero vectors are canceled by two non-zero basic vectors with opposite directions and same action time, so that the amplitude of common-mode voltage and shaft voltage is reduced to 1/3 of that under the modulation of seven-segment SVPWM (Space Vector Pulse Width Modulation ). However, under the condition of low modulation ratio, the carrier frequency subharmonic in motor phase current is obviously increased by adopting non-zero basic vectors with opposite directions and equal action time, so that the motor efficiency is obviously reduced, and the carrier frequency subnoise is sharp; and, calculate 4 nonzero basic vector action times and three-phase equivalent modulation wave, calculate loaded down with trivial details, overmodulation district needs special handling, can't be compatible with seven-segment SVPWM (Space Vector Pulse Width Modulation ) modulation.
Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides a modulation method for an inverter driving signal, which can solve the problems of remarkably reduced motor efficiency and sharp carrier frequency sub-noise caused by obviously increased carrier frequency sub-harmonic in motor phase current under the condition of not increasing hardware cost.
In a first aspect, an embodiment of the present application provides an inverter driving signal modulation method, including: acquiring the duty ratio of the three-phase output of the inverter and the phase angle of the target voltage vector under seven-segment SVPWM (Space Vector Pulse Width Modulation ) modulation in each half carrier period of the triangular carrier; acquiring a sector where a target voltage vector is located according to the phase angle of the target voltage vector; and adjusting the three-phase duty ratio of the target voltage vector to generate an original wave according to the sector where the target voltage vector is located and the duty ratio of the three-phase output of the inverter, and comparing the original wave with a triangular carrier wave to generate a driving signal of the inverter.
The inverter driving signal modulation method of the embodiment of the application has at least the following beneficial effects that the inverter driving signal modulation method of the application improves seven-segment SVPWM (Space Vector Pulse Width Modulation ) modulation, and by increasing or decreasing or shifting the duty ratio of the three-phase output of the inverter, the peak-to-peak value of common-mode voltage is reduced without increasing hardware cost, and the service life of a motor bearing is prolonged. And under the low modulation ratio, the zero vector is reserved for synthesizing the target voltage vector, so that carrier frequency subharmonic in motor phase current is smaller, motor efficiency is improved, and running noise is reduced.
Further, the adjusting the three-phase duty ratio of the target voltage vector to generate an original wave according to the sector in which the target voltage vector is located and the duty ratio of the three-phase output of the inverter includes:
and according to the sector where the target voltage vector is located, increasing or decreasing the duty ratio of each phase of the three-phase output of the inverter by the same adjustment amount simultaneously, so that the duty ratio of a preset phase in the three-phase output of the inverter is constantly 1 or constantly 0, and taking the adjusted duty ratio of the three-phase output of the inverter as the duty ratio of the target voltage vector.
Further, the comparing the original wave with a triangular carrier wave to generate a driving signal of the inverter includes:
amplifying the original wave;
and comparing the amplitude of the amplified original wave with the amplitude of the triangular carrier according to the sector where the target voltage vector is located, and generating on or off signals of power modules with different phases in the inverter according to a comparison result.
Further, the step of obtaining the sector where the target voltage vector is located according to the phase angle of the target voltage vector comprises the steps of;
when the phase angle of the target voltage vector is atWhen the target voltage vector is confirmed to be positioned in the I sector, the adjustment amount is 1-Du, and Du is the duty ratio of the U-phase output of the inverter;
when the phase angle of the target voltage vector is atWhen the target voltage vector is confirmed to be positioned in a II sector, the adjustment quantity is-Dw, and the Dw is the duty ratio of W-phase output of the inverter;
when the phase angle of the target voltage vector is atWhen the target voltage vector is confirmed to be positioned in a III sector, the adjustment quantity is 1-Dv, and the Dv is the duty ratio of the V-phase output of the inverter;
when the phase angle of the target voltage vector is atConfirming that the target voltage vector is located in an IV sector and the adjustment amount is-Du;
when the phase angle of the target voltage vector is atWhen the target voltage vector is confirmed to be positioned in the IV sector, and the adjustment quantity is 1-Dw;
when the phase angle of the target voltage vector is atWhen the target voltage vector is confirmed to be positioned in the V sector, and the adjustment quantity is 1-Dw;
when the phase angle of the target voltage vector is atAnd when the target voltage vector is confirmed to be positioned in the VI th sector, and the adjustment quantity is-Dv.
Further, the generating an original wave according to the target voltage vector after the duty ratio adjustment includes:
acquiring a calculation constant of an original wave;
and acquiring the amplitude of the original wave according to the calculation constant of the original wave and the duty ratio of the three-phase output of the adjusted inverter.
Further, the obtaining the amplitude of the original wave according to the calculation constant of the original wave and the duty ratio of the three-phase output of the adjusted inverter includes:
when the target voltage vector is located in I, VI sector, the U phase of the original wave is D' U Prd, V phase of the original wave is D' V Prd, the W phase of the original wave is (1-D' W )·Prd；
When the target voltage vector is located in the II and III sectors, the U phase of the original wave is (1-D' U ) Prd, V phase of the original wave is D' V Prd, W phase of the original wave is D' W ·Prd；
When the target voltage vector is located in the IV and V sector, the U phase of the original wave is D' U Prd, V phase of the original wave is (1-D' V ) Prd, W phase of the original wave is D' W ·Prd；
The saidPrd is a calculated constant, D' U The U-phase duty ratio, D 'after the adjustment for the target voltage vector' V The V-phase duty ratio, D 'after the adjustment for the target voltage vector' W And the W-phase duty ratio is adjusted for the target voltage vector.
Further, comparing the amplitude of the amplified original wave with the amplitude of the triangular carrier, and generating on or off signals of power modules of different phases in the inverter according to a comparison result, wherein the on or off signals comprise:
when the target voltage vector is located in a I, VI sector and the amplitude of the U phase of the original wave is larger than that of the triangular carrier wave, generating a driving signal for turning off a U phase upper bridge power module of the inverter;
when the target voltage vector is located in a I, VI sector and the amplitude of the V phase of the original wave is larger than that of the triangular carrier wave, generating a driving signal for turning off a V phase upper bridge power module of the inverter;
when the target voltage vector is located in a I, VI sector and the amplitude of the W phase of the original wave is larger than that of the triangular carrier wave, generating a driving signal for conducting a W phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the II sector and the III sector and the amplitude of the U phase of the original wave is larger than that of the triangular carrier wave, a driving signal for conducting the U phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the II sector and the III sector and the amplitude of the V phase of the original wave is larger than that of the triangular carrier wave, a driving signal for turning off a V phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the II sector and the III sector and the amplitude of the W phase of the original wave is larger than that of the triangular carrier wave, a driving signal for turning off a W phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the IV sector and the V sector and the amplitude of the U phase of the original wave is larger than that of the triangular carrier wave, a driving signal for turning off a U phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the IV sector and the V sector and the amplitude of the V phase of the original wave is larger than that of the triangular carrier wave, a driving signal for conducting a V-phase upper bridge power module of the inverter is generated;
and when the target voltage vector is positioned in the IV sector and the V sector and the amplitude of the W phase of the original wave is larger than that of the triangular carrier wave, generating a driving signal for turning off the W phase upper bridge power module of the inverter.
Further, comparing the amplitude of the amplified original wave with the amplitude of the triangular carrier, and generating on or off signals of power modules of different phases in the inverter according to a comparison result, wherein the on or off signals comprise:
when the target voltage vector is located in a I, VI sector and the amplitude of the U phase of the original wave is smaller than that of the triangular carrier wave, a driving signal for conducting a U phase upper bridge power module of the inverter is generated;
when the target voltage vector is located in a I, VI sector and the amplitude of the V phase of the original wave is smaller than that of the triangular carrier wave, generating a driving signal for conducting a V phase upper bridge power module of the inverter;
when the target voltage vector is located in a I, VI sector and the amplitude of the W phase of the original wave is smaller than that of the triangular carrier wave, generating a driving signal for turning off a W phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the II sector and the III sector and the amplitude of the U phase of the original wave is smaller than that of the triangular carrier wave, a driving signal for turning off a U phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the II sector and the III sector and the amplitude of the V phase of the original wave is smaller than that of the triangular carrier wave, a driving signal for conducting a V phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the II sector and the III sector and the amplitude of the W phase of the original wave is smaller than that of the triangular carrier wave, a driving signal for conducting a W phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the IV sector and the V sector and the amplitude of the U phase of the original wave is smaller than the amplitude of the triangular carrier wave, a driving signal for conducting the U phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the IV sector and the V sector and the amplitude of the V phase of the original wave is smaller than that of the triangular carrier wave, a driving signal for turning off a V phase upper bridge power module of the inverter is generated;
and when the target voltage vector is positioned in the IV sector and the V sector and the amplitude of the W phase of the original wave is smaller than that of the triangular carrier wave, generating a driving signal for conducting the W phase upper bridge power module of the inverter.
In a second aspect, an embodiment of the present application provides an inverter drive signal modulation apparatus including: a digital controller and a memory communicatively connected to the digital controller; wherein the memory stores instructions executable by the digital controller to enable the digital controller to perform the inverter drive signal modulation method as described above.
In a third aspect, an embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the inverter drive signal modulation method as described above.
Drawings
FIG. 1a is a schematic diagram of the distribution of the base vectors of a three-phase two-level inverter in the d-q complex plane;
FIG. 1b is the non-zero base vector SV of FIG. 1a 3 A state diagram corresponding to the three-phase two-level inverter switch;
FIG. 2 is an equivalent circuit diagram of a common mode voltage induced shaft voltage;
FIG. 3 is a flowchart of an embodiment of a method for modulating an inverter driving signal according to an embodiment of the present application;
FIG. 4 is a schematic diagram of sector division under the modulation method of the inverter driving signal according to the embodiment of the present application;
FIG. 5a is a schematic diagram of exemplary waveforms of the output voltages of each sector when the magnitude of the target voltage vector is small in an embodiment of the present application;
FIG. 5b is a schematic diagram of exemplary waveforms of the output voltages of each sector when the magnitude of the target voltage vector is large in an embodiment of the present application;
fig. 6 is a schematic diagram showing the comparison of the actual measurement effect of the inverter driving signal modulation method (right side) and seven-segment SVPWM modulation method (left side) according to the present application.
Detailed Description
The conception and the technical effects produced by the present application will be clearly and completely described in conjunction with the embodiments below to fully understand the objects, features and effects of the present application. It is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present application based on the embodiments of the present application.
In the inverter, a high-frequency large-amplitude common-mode voltage can induce shaft voltage on the rotating shaft in equal proportion through internal parameters of the motor. The equivalent circuit of the common mode voltage induced voltage is shown in FIG. 2, where u com Is common-mode voltage u b For axis voltage, C wy For winding to rotor capacitance, C wf For the capacitance of the winding to the casing, C rf For rotor-to-casing capacitance, C b Is oil film equivalent capacitance, R b As oil film equivalent resistance, in the modulation process, the common mode voltage output by the inverter is:
wherein u is U Is the relative ground voltage of the inverter U, U V Is the voltage of the inverter V relative to the ground, u W Is the voltage of the inverter W relative to the ground, u com Is the common mode voltage.
The embodiment of the application provides an inverter driving signal modulation method, which is improved in the existing seven-segment SVPWM modulation mode, and can reduce the peak-to-peak value of common-mode voltage, and the specific steps refer to FIG. 3.
Step S1, acquiring the duty ratio of the three-phase output of the inverter and the phase angle of the target voltage vector under the modulation of seven-segment SVPWM (Space Vector Pulse Width Modulation ) in each half carrier period of the triangular carrier.
The basic principle of seven-segment SVPWM modulation (Space Vector Pulse Width Modulation ) is the average equivalent principle of vector synthesis, and the embodiment of the application adopts triangular carrier waves for modulation, and the duty ratio of three-phase output of an inverter under seven-segment SVPWM modulation is obtained every half carrier wave period: u phase duty cycle D U Duty ratio D of V phase V Duty ratio D of W phase W Simultaneously acquiring phase angle theta of target voltage vector under two-phase static coordinate system 0 The target voltage vector is synthesized by seven-segment SVPWM modulation.
The embodiment of the application divides the phase angle average of the target voltage vector into 6 areas, and the specific division situation is shown in fig. 4 and table 1.
Table 1:
in fig. 4, other three-dimensional coordinates such as (1, 0) indicate the state of the upper arm switch in the three-phase arm of the inverter, 1 indicates that the switch is in the closed state, and 0 indicates that the switch is in the off state. As can be seen from FIG. 4 and Table 1, the present application has a phase angle ofIs defined as sector I, phase angle is +.>Is defined as sector II, phase angle is +.>Is defined as sector III, phase angle is +.>Is defined as IV sector, phase angle is +.>Is defined as the V sector, phase angle is +.>Is defined as sector VI.
And S2, acquiring a sector where the target voltage vector is located according to the phase angle of the target voltage vector. Specifically, the sector in which the target voltage vector is located is determined according to the value of the phase angle of the target voltage vector obtained in step S1, such as the phase angle θ of the target voltage vector 0 When the voltage vector is 45 °, the target voltage vector is found to be in the II sector by comparing the divided areas.
And S3, adjusting the three-phase duty ratio of the target voltage vector to generate an original wave according to the sector where the target voltage vector is located and the duty ratio of the three-phase output of the inverter, and comparing the original wave with the triangular carrier wave to generate a driving signal of the inverter.
Specifically, according to the sector where the target voltage vector is located, the duty ratio of each phase of the three-phase output of the inverter is increased or decreased by the same adjustment amount at the same time, so that the duty ratio of a preset phase in the three-phase output of the inverter is constant 1 or constant 0, and the adjusted duty ratio of the three-phase output of the inverter is taken as the duty ratio of the target voltage vector.
The adjustment amount of the duty ratio of the three-phase output of the inverter is determined according to the sector where the target voltage vector is located, as shown in table 2.
Table 2:
| sector area | Three-phase duty cycle adjustment amount Δd | Sector area | Three-phase duty cycle adjustment amount Δd |
| I | 1-D U | IV | -D U |
| II | -D W | V | 1-D W |
| III | 1-D V | VI | -D V |
As can be seen from table 2, when the target voltage vector is located in the I sector, the adjustment amount is 1-Du, and Du is the duty ratio of the U-phase output of the inverter; when the target voltage vector is positioned in the II sector, the adjustment quantity of the target voltage vector is-Dw, and Dw is the duty ratio of the W-phase output of the inverter; when the target voltage vector is positioned in the III sector, the adjustment quantity is 1-Dv, and Dv is the duty ratio of the V-phase output of the inverter; when the target voltage vector is located in the IV sector, the adjustment amount is-Du; when the target voltage vector is positioned in the V sector, the adjustment quantity is 1-Dw; when the target voltage vector is located in the VI-th sector, the adjustment amount is-Dv.
Substituting the corresponding adjustment amount into the formula (2) according to the sector of the target voltage vector, and increasing and decreasing each phase of the three-phase output of the inverter by equal amount, wherein the adjustment amount is specifically shown as the formula (2):
wherein Δd is the adjustment amount of the duty ratio of the three-phase output of the inverter; d ' U is the U-phase duty cycle after target voltage vector adjustment, D ' V is the V-phase duty cycle after target voltage vector adjustment, and D ' W is the W-phase duty cycle after target voltage vector adjustment.
For example, the phase angle θ of the target voltage vector 0 45 DEG, the target voltage vector is in sector II, and the adjustment quantity DeltaD of the three-phase output of the inverter can be set as-Dw according to the above, and DeltaD= -D W Substituting formula (2) can obtain the duty ratio of each phase of three-phase output of the inverter after adjustment as follows:
as can be seen from the formula (3), when the target voltage vector is in the II sector, the W phase is taken as the preset phase in the three-phase output of the inverter, and the duty ratio of the W phase is reduced by the adjustment amount-Dw and then is 0. As shown in fig. 5a and 5b, in the II sector of the drawing, the duty ratio of the W phase is constant at 0.
Step S31, generating an original wave according to the target voltage vector after the duty ratio is adjusted.
The original wave is obtained after the duty ratio is adjusted, and the value of the embodiment obtains the original wave according to the following steps: the maximum value of the triangular carrier counter is obtained, wherein the triangular carrier counter counts the clock cycles in half the carrier cycle, and the clock cycles of the clock chip are fixed, so that the maximum value of the triangular carrier counter is set as a calculation constant Prd and is a fixed value in the embodiment. And then calculating the amplitude of the original wave according to the maximum value of the triangular carrier wave counter and the duty ratio of the three-phase output of the adjusted inverter.
Specifically, the calculation formula of the amplitude of the original wave is determined according to the sector in which the target voltage vector is located, and the amplitude of each phase of the original wave is calculated according to the formula in table 3, table 3 is as follows.
Table 3:
| sector area | U-phase amplitude | V-phase amplitude | W-phase amplitude |
| I、VI | D' U ·Prd | D' V ·Prd | (1-D' W )·Prd |
| II、III | (1-D' U )·Prd | D' V ·Prd | D' W ·Prd |
| IV、V | D' U ·Prd | (1-D' V )·Prd | D' W ·Prd |
Wherein when the target voltage vector is located in the I, VI th sector, the U-phase amplitude of the original wave is D' U Prd, V-phase amplitude of the original wave is D' V Prd, W-phase amplitude of the original wave is (1-D' W ) Prd; when the target voltage vector is located in the II and III sectors, the U-phase amplitude of the original wave is (1-D' U ) Prd, V-phase amplitude of the original wave is D' V Prd, W-phase amplitude of the original wave is D' W Prd; when the target voltage vector is located in the IV and V sector, the U-phase amplitude of the original wave is D' U Prd, V-phase amplitude of the original wave is (1-D' V ) Prd, W-phase amplitude of the original wave is D' W Prd. Prd is a calculation constant in this embodiment, and can be set according to the requirement of the user; d'. U U-phase duty ratio, D 'adjusted for target voltage vector' V V-phase duty ratio, D 'adjusted for target voltage vector' W And the W-phase duty ratio is adjusted for the target voltage vector.
And S32, comparing the amplitude of the amplified original wave with the amplitude of the triangular carrier according to the sector where the target voltage vector is located, and generating on or off signals of power modules with different phases in the inverter according to the comparison result. In the present embodiment, a high-level drive signal (digital representation is 1) can turn on the power module in the inverter; a low level drive signal (digital representation 0) can turn off the power modules in the inverter.
In the embodiment of the application, taking an upper bridge power module of each phase of the inverter as an example, when the amplitude of the original wave is greater than that of the triangular carrier, the specific modulation process is shown in table 4.
Table 4:
| sector area | U-phase upper bridge | V-phase upper bridge | W-phase upper bridge |
| I、VI | Shut off | Shut off | Conduction |
| II、III | Conduction | Shut off | Shut off |
| IV、V | Shut off | Conduction | Shut off |
Specifically, when the target voltage vector is located in the I, VI sector and the amplitude of the U phase of the original wave is larger than that of the triangular carrier wave, a driving signal for switching off the U phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in a I, VI sector and the amplitude of the V phase of the original wave is larger than that of the triangular carrier wave, generating a driving signal for turning off a V phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the I, VI sector and the amplitude of the W phase of the original wave is larger than that of the triangular carrier wave, generating a driving signal for conducting the W phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the II sector and the III sector and the amplitude of the U phase of the original wave is larger than that of the triangular carrier wave, generating a driving signal for conducting the U phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the II sector and the III sector and the amplitude of the V phase of the original wave is larger than that of the triangular carrier wave, generating a driving signal for turning off the V phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the II sector and the III sector and the amplitude of the W phase of the original wave is larger than that of the triangular carrier wave, a driving signal for switching off the W phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the IV sector and the V sector and the amplitude of the U phase of the original wave is larger than that of the triangular carrier wave, a driving signal for turning off the U phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the IV sector and the V sector and the amplitude of the V phase of the original wave is larger than that of the triangular carrier wave, a driving signal for conducting the V phase upper bridge power module of the inverter is generated;
and when the target voltage vector is positioned in the IV sector and the V sector and the amplitude of the W phase of the original wave is larger than that of the triangular carrier wave, generating a driving signal for switching off the W-phase upper bridge power module of the inverter.
When the amplitude of the original wave is smaller than that of the triangular carrier, the specific modulation procedure is shown in table 5.
Table 5:
| sector area | U-phase upper bridge | V-phase upper bridge | W-phase upper bridge |
| I、VI | Conduction | Conduction | Shut off |
| II、III | Shut off | Conduction | Conduction |
| IV、V | Conduction | Shut off | Conduction |
Specifically, when the target voltage vector is located in the I, VI sector and the amplitude of the U phase of the original wave is smaller than that of the triangular carrier wave, a driving signal for conducting the U phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the I, VI sector and the amplitude of the V phase of the original wave is smaller than that of the triangular carrier wave, generating a driving signal for conducting the V phase upper bridge power module of the inverter;
when the target voltage vector is positioned in a I, VI sector and the amplitude of the W phase of the original wave is smaller than that of the triangular carrier wave, generating a driving signal for turning off a W phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the II sector and the III sector and the amplitude of the U phase of the original wave is smaller than that of the triangular carrier wave, a driving signal for switching off the U phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the II sector and the III sector and the amplitude of the V phase of the original wave is smaller than that of the triangular carrier wave, a driving signal for conducting the V phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the II sector and the III sector and the amplitude of the W phase of the original wave is smaller than that of the triangular carrier wave, a driving signal for conducting the W phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the IV sector and the V sector and the amplitude of the U phase of the original wave is smaller than that of the triangular carrier wave, a driving signal for conducting the U phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the IV sector and the V sector and the amplitude of the V phase of the original wave is smaller than that of the triangular carrier wave, generating a driving signal for switching off the V phase upper bridge power module of the inverter;
when the target voltage vector is located in the IV sector and the V sector and the amplitude of the W phase of the original wave is smaller than that of the triangular carrier wave, a driving signal for conducting the W-phase upper bridge power module of the inverter is generated.
The three-phase output of the inverter is processed by the inverter driving signal modulation method of the present application, and the output driving signal is shown in fig. 5a and 5 b. FIG. 5a is a typical waveform diagram of the output voltage at each sector when the magnitude of the target voltage vector is small; fig. 5b is a typical waveform diagram of the output voltage at each sector when the magnitude of the target voltage vector is large.
Fig. 6 is a schematic diagram showing a comparison of actual measurement of an inverter driving signal modulation method and a seven-segment SVPWM modulation method according to the present application, in which Iu is a U-phase current in the inverter, vu is a voltage to ground of a U-phase output versus dc bus, and Vcom is a common mode voltage. The left side of fig. 6 is a waveform diagram of seven-segment SVPWM modulation, and the right side of fig. 6 is a waveform diagram of an inverter driving signal modulation method of the present application, and it can be seen that the peak-to-peak value of the common-mode voltage is reduced to one third of that of seven-segment SVPWM modulation.
The inverter driving signal modulation method improves seven-segment SVPWM modulation, increases or decreases or shifts the duty ratio of the three-phase output of the inverter, reduces the peak value and the peak value of common-mode voltage without increasing hardware cost, and prolongs the service life of the motor bearing. And under the low modulation ratio, the zero vector is reserved for synthesizing the target voltage vector, so that carrier frequency subharmonic in motor phase current is smaller, the motor efficiency is improved, and the running noise is reduced.
One embodiment of the present application provides a driving signal modulation system of an inverter, including: a digital controller and a memory communicatively coupled to the digital controller. Wherein the memory stores instructions executable by the digital controller to enable the digital controller to perform the inverter drive signal modulation method as described above.
The driving signal modulation system of the inverter in this embodiment and the method for modulating the driving signal of the inverter in the corresponding embodiments of fig. 3 to 4 belong to the same concept, the specific implementation process is detailed in the corresponding method embodiment, and the technical features in the method embodiment are correspondingly applicable in the device embodiment, and are not repeated here.
One embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the inverter drive signal modulation method as described above.
The computer readable storage medium in this embodiment belongs to the same concept as the inverter driving signal modulation method in the corresponding embodiments in fig. 3-4, the specific implementation process is detailed in the corresponding method embodiment, and the technical features in the method embodiment are correspondingly applicable in the device embodiment, which is not repeated here.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed method, system or apparatus for modulating an inverter driving signal may be implemented in other manners. For example, the inverter drive signal modulation system embodiments described above are merely illustrative.
In addition, each functional unit in the embodiments of the present application may be integrated in one processor, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or interface switching device, recording medium, USB flash disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), electrical carrier wave signals, telecommunications signals, and software distribution media, among others, capable of carrying the computer program code. It should be noted that the computer readable medium may include content that is subject to appropriate increases and decreases as required by jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is not included as electrical carrier signals and telecommunication signals.
The embodiments of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present application. Furthermore, embodiments of the application and features of the embodiments may be combined with each other without conflict.
Claims (9)
1. An inverter driving signal modulation method, comprising the steps of:
acquiring the duty ratio of the three-phase output of the inverter and the phase angle of the target voltage vector under the modulation of space vector pulse width modulation in each half carrier period of the triangular carrier;
acquiring a sector where a target voltage vector is located according to the phase angle of the target voltage vector;
according to the sector where the target voltage vector is located and the duty ratio of the three-phase output of the inverter, the three-phase duty ratio of the target voltage vector is adjusted, an original wave is generated, and the original wave is compared with a triangular carrier wave to generate a driving signal of the inverter;
the step of adjusting the three-phase duty ratio of the target voltage vector to generate an original wave according to the sector where the target voltage vector is located and the duty ratio of the three-phase output of the inverter comprises the following steps:
and according to the sector where the target voltage vector is located, increasing or decreasing the duty ratio of each phase of the three-phase output of the inverter by the same adjustment amount simultaneously, so that the duty ratio of a preset phase in the three-phase output of the inverter is constantly 1 or constantly 0, and taking the adjusted duty ratio of the three-phase output of the inverter as the duty ratio of the target voltage vector.
2. The method of claim 1, wherein the comparing the raw wave with a triangular carrier wave to generate a drive signal for the inverter comprises:
amplifying the original wave;
and comparing the amplitude of the amplified original wave with the amplitude of the triangular carrier according to the sector where the target voltage vector is located, and generating on or off signals of power modules with different phases in the inverter according to a comparison result.
3. The method according to claim 2, wherein the obtaining the sector in which the target voltage vector is located according to the phase angle of the target voltage vector includes;
when the phase angle of the target voltage vector is atWhen the target voltage vector is confirmed to be positioned in the I sector, the adjustment amount is 1-Du, and Du is the duty ratio of the U-phase output of the inverter;
when the phase angle of the target voltage vector is atWhen the target voltage vector is confirmed to be positioned in a II sector, the adjustment quantity is-Dw, and the Dw is the duty ratio of W-phase output of the inverter;
when the phase angle of the target voltage vector is atWhen the target voltage vector is confirmed to be positioned in a III sector, the adjustment quantity is 1-Dv, and the Dv is the duty ratio of the V-phase output of the inverter;
when the phase angle of the target voltage vector is atConfirming that the target voltage vector is located in an IV sector and the adjustment amount is-Du;
when the phase angle of the target voltage vector is atWhen the target voltage vector is confirmed to be positioned in the IV sector, and the adjustment quantity is 1-Dw;
when the phase angle of the target voltage vector is atWhen the target voltage vector is confirmed to be positioned in the V sector, and the adjustment quantity is 1-Dw;
when the phase angle of the target voltage vector is atAnd when the target voltage vector is confirmed to be positioned in the VI th sector, and the adjustment quantity is-Dv.
4. A method according to claim 3, wherein generating the original wave from the duty cycle adjusted target voltage vector comprises:
acquiring a calculation constant of an original wave;
and acquiring the amplitude of the original wave according to the calculation constant of the original wave and the duty ratio of the three-phase output of the adjusted inverter.
5. The method of claim 4, wherein the obtaining the amplitude of the original wave from the calculated constant of the original wave and the duty cycle of the adjusted three-phase output of the inverter comprises:
when the target voltage vector is located in I, VI sector, the U phase of the original wave is D' U Prd, V phase of the original wave is D' V Prd, the W phase of the original wave is (1-D' W )·Prd；
When the target voltage vector is located in the II and III sectors, the U phase of the original wave is (1-D' U ) Prd, V phase of the original wave is D' V Prd, W phase of the original wave is D' W ·Prd；
When the target voltage vector is located in the IV and V sector, the U phase of the original wave is D' U Prd, V phase of the original wave is (1-D' V ) Prd, W phase of the original wave is D' W ·Prd；
The Prd is a calculation constant, the D' U U-phase occupation adjusted for the target voltage vectorSpace ratio, D' V The V-phase duty ratio, D 'after the adjustment for the target voltage vector' W And the W-phase duty ratio is adjusted for the target voltage vector.
6. The method according to claim 5, wherein comparing the amplitude of the amplified original wave with the amplitude of the triangular carrier, when the amplitude of the amplified original wave is greater than the amplitude of the triangular carrier, comprises:
when the target voltage vector is positioned in a I, VI sector, generating a driving signal for turning off a U-phase upper bridge power module of the inverter;
when the target voltage vector is positioned in a I, VI sector, generating a driving signal for turning off a V-phase upper bridge power module of the inverter;
when the target voltage vector is positioned in a I, VI sector, generating a driving signal for conducting a W-phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the II sector and the III sector, generating a driving signal for conducting a U-phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the II sector and the III sector, generating a driving signal for turning off a V-phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the II sector and the III sector, generating a driving signal for turning off a W-phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the IV sector and the V sector, generating a driving signal for turning off a U-phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the IV sector and the V sector, generating a driving signal for conducting a V-phase upper bridge power module of the inverter;
and when the target voltage vector is positioned in the IV sector and the V sector, generating a driving signal for switching off the W-phase upper bridge power module of the inverter.
7. The method according to claim 5, wherein comparing the amplitude of the amplified original wave with the amplitude of the triangular carrier, when the amplitude of the amplified original wave is smaller than the amplitude of the triangular carrier, comprises:
when the target voltage vector is positioned in a I, VI sector, generating a driving signal for conducting a U-phase upper bridge power module of the inverter;
when the target voltage vector is positioned in a I, VI sector, generating a driving signal for conducting a V-phase upper bridge power module of the inverter;
when the target voltage vector is positioned in a I, VI sector, generating a driving signal for turning off a W-phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the II sector and the III sector, generating a driving signal for turning off a U-phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the II sector and the III sector, generating a driving signal for conducting a V-phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the II sector and the III sector, generating a driving signal for conducting a W-phase upper bridge power module of the inverter;
when the target voltage vector is positioned in the IV sector and the V sector, a driving signal for conducting a U-phase upper bridge power module of the inverter is generated;
when the target voltage vector is positioned in the IV sector and the V sector, generating a driving signal for turning off a V-phase upper bridge power module of the inverter;
and when the target voltage vector is positioned in the IV sector and the V sector, generating a driving signal for conducting the W-phase upper bridge power module of the inverter.
8. An inverter drive signal modulation apparatus, characterized by comprising: a digital controller and a memory communicatively connected to the digital controller; wherein the memory stores instructions executable by the digital controller to enable the digital controller to perform the inverter drive signal modulation method according to any one of claims 1 to 7.
9. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform the inverter drive signal modulation method according to any one of claims 1 to 7.
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