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CN107453641A - A kind of two level two-phase space vector pulse width modulation devices and its SVPWM methods - Google Patents

A kind of two level two-phase space vector pulse width modulation devices and its SVPWM methods Download PDF

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Publication number
CN107453641A
CN107453641A CN201710763252.3A CN201710763252A CN107453641A CN 107453641 A CN107453641 A CN 107453641A CN 201710763252 A CN201710763252 A CN 201710763252A CN 107453641 A CN107453641 A CN 107453641A
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vector
voltage
components
pulse width
phase
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汪明生
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
    • H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
    • H02M7/44—Conversion of DC power input into AC power output without possibility of reversal by static converters
    • H02M7/48—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/539—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
    • H02M7/5395—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
    • 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
    • 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
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/14—Arrangements for controlling speed or speed and torque
    • H02P8/18—Shaping of pulses, e.g. to reduce torque ripple

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)

Abstract

The invention discloses a kind of two level two-phase space vector pulse width modulation devices and its SVPWM methods, the big influence of current fluctuation for current existing pulsewidth modulation, it is proposed that the small pulse-width modulator of current fluctuation and its method.Two described level two-phase space vector pulse width modulation devices, include four voltage decoupling module, voltage range computing module, vector time computing module, PWM duty cycle computing module modules.

Description

A kind of two level two-phase space vector pulse width modulation devices and its SVPWM methods
Technical field
It is empty with two level two-phases into exchange, more particularly to a kind of two-phase stepping motor even load the present invention relates to DC inversion Between vector pulse-width modulator and its SVPWM methods.
Background technology
Direct current becomes the two-phase inverter of exchange, and relatively common in existing market application is exactly stepper motor field, performance Middle and low-end market is required to meet, demand is very big.Include in the market for the pulse width modulating technology of stepper motor PWM copped waves, Unipolar SPWM, bipolar SPWM.In three-phase inverter field, in either theoretical or practical application, SVPWM Control technology accounts for main flow completely, is a highly developed technology, but at present in two-phase inverter field, due to Missing theoretical SVPWM, can not be applied to and go in practice.
PWM chop control technologies, it is more applying in the market, such as the field such as Switching Power Supply, stepper motor. But still there are problems that, have larger electromagnetic noise, very high plus required PWM frequency, this can increase MOS Pipe on-off times, reduce the service life of mos pipes；And it is high for circuit design requirements, higher is required to circuit anti-interference, Easily cause high frequency, burn out driving element, higher is required to element function, so starting gradually by SPWM control technologies institute Substitution.
Equally there are fatal defects in Unipolar SPWM modulation system, and when motor high speed, it is stable that electric current is unable to reach target State, electric current is too fast with velocity attenuation, causes stepper motor not exported with high-torque during high speed at a high speed.And in current over-zero When point, occur that pulse width is too small, and metal-oxide-semiconductor can not turn on, cause zero crossing current distortion.
Bipolar SPWM then solves unipolar problem, can reach target stable state with driving current, solve step Speed modulation range is narrow when stepper motor Unipolar SPWM controls, torque is small and zero current distortion problem, so the technology is in step Stepper motor field be at present it is most widely used, it is ripe.Receive an acclaim even so, but still some shortcomings be present：Electricity Flow liner ripple is big, and this can influence the stationarity of motor operation, and electromagnetic noise is big, and output torque fluctuation is big, and subdivision accuracy reduction etc. lacks Point.
The content of the invention
For the above mentioned problem of prior art, object of the present invention is to provide a kind of phase space vector arteries and veins of two level two Width modulator and its SVPWM methods are rushed, to solve the larger problem of inverter current ripple that two-phase direct current becomes exchange.
Realizing the technical scheme of above-mentioned purpose is：
A kind of two level two-phase space vector pulse width modulation devices, including：
Voltage decoupling module, is decoupled using parametric equation, by usαWith usβCarry out separating treatment, wherein usαAnd usβFor The magnitude of voltage of two-phase；
Voltage range computing module, using look-up table, calculate u in two-phase static coordinatesIn corresponding and voltage space Section position, i.e. sector number sus；
Vector time computing module, according to the α components under voltage-second balance formula, zero vector insertion, two-phase static coordinate usαWith β components usβObtain vector time；
PWM duty cycle computing module, according to vector time and sector number, PWM duty cycle value is obtained using look-up table.
The decoupling comprises the following steps：
1), the u in two-phase static coordinate systemsEqual to α components usαWith β components usβVector, i.e., usAlso it is rotational voltage for the resultant voltage of two-phase voltage；
2), α components usαWith β components usβThe angle of vector be fixed asWhat is represented is a circle, obtains us 2= usα 2+usβ 2；
3), represent round using parametric equation, obtainWithWhereinFor us and x The angle of the positive axis of axle.
Look-up table in the voltage range computing module is：
Sector number sus Resultant vector usThe sufficient and necessary condition of place sector
Ⅰ usα>=0, and usβ≥0
Ⅱ usα<0, and usβ≥0
Ⅲ usα<0, and usβ<0
Ⅳ usα>=0, and usβ<0
According to the α components u under two-phase static coordinatesαWith β components usβPolarity, judge resultant vector usThe sector number at place sus。
The voltage-second balance formula is：
Wherein, udcFor the busbar voltage of inverter, TsFor inverter radio-cycle, t1For usαAction time, t2For usβWork Use the time.
The zero vector insertion comprises the following steps：
1), the zero vector time that vector time computing module calculates, obtains tα0For usαZero voltage vector, tβ0For usβ Zero voltage vector；
2), by tα0And tβ04 parts are divided into respectively, i.e., are respectively per portion
3), willWithIt is inserted respectively into a radio-cycle TsUnder usαAnd usβAction time head and the tail and in Between.
Look-up table in the PWM duty cycle computing module is：
According to the vector time of calculating and sector number sus, judge inverter PWM duty cycle.
A kind of SVPWM methods of the space vector pulse width modulation device of two level two-phase, comprise the following steps：
1), the u in two-phase static coordinate systemsEqual to α components usαWith β components usβVector, i.e.,
2), α components usαWith β components usβThe angle of vector be fixed asWhat is represented is a circle, obtains us 2= usα 2+usβ 2。
3), represent round using parametric equation, obtainWithWhereinScope For [0,2 π),Value obtained by carrying out continuous cycle accumulor in the range of it, control accuracy is by the increment size that counts every timeSize determine.usValue according to the requirement of load, set to obtain by external switch, its value size is necessarily less than bus electricity Press udcValue.
4) u, is worked assα≥0∪usβWhen >=0, sus=1；Work as usαThe ∪ u of ＜ 0sβWhen >=0, sus=2；Work as usαThe ∪ u of ＜ 0sβDuring ＜ 0, sus=3；Otherwise sus=4.
5), according to voltage-second balance formula：
Wherein, udcFor the busbar voltage of inverter, TsFor inverter radio-cycle, t1For usαAction time, t2For usβWork Use the time.TsThe general periodic quantity that carrier frequency 10KHz~30KHz is set.
6), due to usValue size is necessarily less than udcValue, passes through t1And t2Calculation formula, obtain t1≤TsAnd t2≤Ts, it is necessary to Zero voltage vector control is added, is obtained
7), by t in step 5)1And t2Formula, being updated to step 6) can be calculated
8), by tα0And tβ04 parts are divided into respectively, i.e., are respectively per portionWithAnd willWithInsert respectively Enter to a radio-cycle TsUnder usαAnd usβAction time head and the tail and centre, can calculate inverter PWM control Action time：
Wherein, tA1And tA2For the α components u under static coordinatesαAction time in a carrier cycle, tB1And tB2For static state β components u under coordinatesβAction time in a carrier cycle.
9), according to the calculation formula obtained in step 8), by TSCarrier cycle replaces with PWM cycle register value, can be with The dutycycle for calculating the PWM of inverter is：
Wherein, τpwmTo set PWM cycle register value, τA1And τA2For the α components u under static coordinatesαPWM duty cycle, τB1 And τB2For the β components u under static coordinatesβPWM duty cycle.
10), according to the sector number s obtained in step 4)usJudge：Work as susWhen=1, TA=τA2,TB= τB2,Work as susWhen=2, TA=τA1,TB=τB2,Work as susWhen=3, TA=τA1,TB=τB1,Otherwise TA=τA2,TB=τB1,
Beneficial effects of the present invention：In force, by the way that the Zero voltage vector time to be uniformly inserted into a switch week The both sides of phase and the mode of centre, rise one times to improve respective frequency, the formula derived according to current ripples：Due to one times of frequency upgrading, current ripples are reduced to original half.In stepper motor field, current ripples Reduction, reduce the fluctuation of output torque, improve subdivision accuracy, reduce electromagnetic noise, motor operation is more steady, Yi Jiyu The relevant magnetic loss of motor ripple current is reduced.
Brief description of the drawings
Fig. 1 is the schematic diagram of two level two-phase space vector pulse width modulation device topological structures；
Fig. 2 is the fundamental space voltage vector schematic diagram of the present invention；
Fig. 3 is influence schematic diagram of the Zero voltage vector inserted mode of the present invention to current ripples.
Embodiment
Below in conjunction with the accompanying drawing of the present invention, the technical scheme in the embodiment of the present invention is clearly described.
The present invention realizes that a kind of space vector pulse of two level two-phase is wide using Fig. 1 topological structures in brief description of the drawings Spend modulator.
The voltage decoupling module 1, is decoupled using parametric equation, by usαWith usβCarry out separating treatment, specific method It is as follows：
1), the u in two-phase static coordinate systemsEqual to α components usαWith β components usβVector, i.e.,
2), α components usαWith β components usβThe angle of vector be fixed asWhat is represented is a circle, obtains us 2= usα 2+usβ 2；
3), represent round using parametric equation, obtainWithWhereinFor us and x-axis Positive axis angle.
The voltage range computing module 2, can be seen that from Fig. 2 in brief description of the drawings can be according to two-phase static coordinate Under α components usαWith β components uSβPolarity, judge resultant vector usThe sector number s at placeus, can be inquired about by form, table Lattice are：
In the vector time computing module 3, according under voltage-second balance formula, zero vector insertion, two-phase static coordinate α components usαWith β components usβCalculate vector time tA1、tA2、tB1And tB2；The voltage-second balance formula is：
Wherein, udcFor the busbar voltage of inverter, TsFor inverter radio-cycle, t1For usαAction time, t2For usβWork Use the time.
The zero vector insertion method is as follows：
1), the zero vector time that vector time computing module calculates, obtains tα0For usαZero voltage vector, tβ0For usβ Zero voltage vector；
2), by tα0And tβ0Equal portions are 4 parts respectively, i.e., are respectively per portion
3), willWithIt is inserted respectively into a radio-cycle TsUnder usαAnd usβAction time head and the tail and in Between.
PWM duty cycle computing module, according to vector time and sector number, PWM duty cycle value is obtained using look-up table.Wherein Look-up table method is as shown in the table：
According to the vector time of calculating and sector number sus, judge inverter PWM duty cycle.
In addition, SVPWM methods comprise the following steps that described in the present embodiment：
1), the u in two-phase static coordinate systemsEqual to α components usαWith β components usβVector, i.e.,
2), α components usαWith β components usβThe angle of vector be fixed asWhat is represented is a circle, obtains us 2= usα 2+usβ 2；
3), represent round using parametric equation, obtainWithWhereinFor us and x The angle of the positive axis of axle.Scope for [0,2 π),Value obtained by carrying out continuous cycle accumulor in the range of it, Control accuracy is by the increment size that counts every timeSize determine.usValue according to the requirement of load, set by external switch Arrive, its value size is necessarily less than udcValue.
4) u, is worked assα≥0∪usβWhen >=0, sus=1；Work as usαThe ∪ u of ＜ 0sβWhen >=0, sus=2；Work as usαThe ∪ u of ＜ 0sβDuring ＜ 0, sus=3；Otherwise sus=4.
5), according to voltage-second balance formula：
Wherein, udcFor the busbar voltage of inverter, TsFor inverter radio-cycle, t1For usαAction time, t2For usβ Action time.TsThe general periodic quantity that carrier frequency 10KHz~30KHz is set.
6), due to usValue size is necessarily less than udcValue, by formula (1), obtains t1≤TsAnd t2≤Ts, it is necessary to add zero Voltage vector controls, and obtains：
7), formula (1) is updated in formula (2), can be calculated
8), in order to reduce SVPWM switching value, Zero voltage vector action time equal portions are inserted into opening for switch periods Head, ending and centre.Can calculate the action time that inverter PWM is controlled is：
Wherein, tA1And tA2For the α components u under static coordinatesαAction time in a carrier cycle, tB1And tB2For β components u under static coordinateSβAction time in a carrier cycle.
From Fig. 3 contrasts in brief description of the drawings as can be seen that after insertion Zero voltage vector, frequency doubles, current fluctuation Reduce half.Ripple current size can also be obtained by current ripples formula, equation is：
According to equation, it can be seen that after Zero voltage vector is inserted, Δ t can shorten, then curent change will diminish.
9), the action time calculated according to formula (3), PWM dutyfactor value is converted into, conversion formula is：
Wherein, the result that t calculates for formula (3), τpwmPWM cycle register value and τ are set for that will calculate PWM duty cycle,
According to formula (3) and formula (4), the dutycycle formula that can obtain inverter PWM is：
Wherein, τpwmTo set PWM cycle register value, τA1And τA2For the α components u under static coordinatesαPWM duties Than τB1And τB2For the β components u under static coordinatesβPWM duty cycle.
10), according to the sector number s obtained in step 4)usJudge：Work as susWhen=1, TA=τA2,TB= τB2,Work as susWhen=2, TA=τA1,TB=τB2,Work as susWhen=3, TA=τA1,TB=τB1,Otherwise TA=τA2,TB=τB1,Obtain PWM dutycycle Value.

Claims (7)

  1. A kind of 1. two level two-phase space vector pulse width modulation devices, it is characterised in that including：
    Voltage decoupling module (1), is decoupled using parametric equation, by usαWith usβCarry out separating treatment, wherein usαAnd usβFor two The magnitude of voltage of phase；
    Voltage range computing module (2), using look-up table, calculate u in two-phase static coordinatesThe corresponding area with voltage space Between position, i.e. sector number sus；
    Vector time computing module (3), according to the α components u under voltage-second balance formula, zero vector insertion, two-phase static coordinatesα With β components usβObtain vector time；
    PWM duty cycle computing module (4), according to vector time and sector number, PWM duty cycle value is obtained using look-up table.
  2. 2. a kind of two level two-phase space vector pulse width modulation device according to claim 1, it is characterised in that described Decoupling comprises the following steps：
    1), the u in two-phase static coordinate systemsEqual to α components usαWith β components usβVector, i.e.,usFor The resultant voltage of two-phase voltage, also it is rotational voltage；
    2), α components usαWith β components usβThe angle of vector be fixed asWhat is represented is a circle, obtains us 2=usα 2+ usβ 2；
    3), represent round using parametric equation, obtainWithWhereinFor us and x-axis The angle of positive axis.
  3. 3. a kind of two level two-phase space vector pulse width modulation device according to claim 1, it is characterised in that described The look-up table that voltage range computing module (2) is used is：
    Sector number sus Resultant vector usThe sufficient and necessary condition of place sector Ⅰ usα>=0, and usβ≥0 Ⅱ usα<0, and usβ≥0 Ⅲ usα<0, and usβ<0 Ⅳ usα>=0, and usβ<0
    According to the α components u under two-phase static coordinatesαWith β components usβPolarity, judge resultant vector usThe sector number s at placeus。
  4. 4. a kind of two level two-phase space vector pulse width modulation device according to claim 1, it is characterised in that described Voltage-second balance formula is：
    Wherein, udcFor the busbar voltage of inverter, TsFor inverter radio-cycle, t1For usαAction time, t2For usβWork Use the time.
  5. 5. a kind of two level two-phase space vector pulse width modulation device according to claim 1, it is characterised in that described Zero vector insertion comprises the following steps：
    1), the zero vector time that vector time computing module calculates, obtains tα0For usαZero voltage vector, tβ0For usβZero Voltage vector；
    2), by tα0And tβ04 parts are divided into respectively, i.e., are respectively per portion
    3), willWithIt is inserted respectively into a radio-cycle TsUnder usαAnd usβAction time head and the tail and centre.
  6. 6. a kind of two level two-phase space vector pulse width modulation device according to claim 1, it is characterised in that described The look-up table that PWM duty cycle computing module (4) is used is：
    According to the vector time of calculating and sector number sus, judge inverter PWM duty cycle.
  7. A kind of 7. SVPWM methods of two level two-phase space vector pulse width modulation device, it is characterised in that including following step Suddenly：
    1), according to the decoupling step 1 of voltage decoupling module in claim 2), 2) and 3), obtain usαAnd usβ；
    2), the u that will be obtainedsαAnd usβ, sector number s is obtained by the look-up table in voltage range computing moduleus；
    3) t, is calculated according to claim 41And t2, and meet t1≤TsAnd t2≤Ts, it is necessary to add Zero voltage vector control, obtain Arrive
    4), according to the t in claim 41And t2Formula, being updated to step 1) can be calculated
    5), according to the step 1) in claim 5,2) and 3), the action time of inverter PWM controls can be calculated：
    Wherein, tA1And tA2For the α components u under static coordinatesαAction time in a carrier cycle, tB1And tB2For static state β components u under coordinatesβAction time in a carrier cycle；
    6), according to the calculation formula obtained in step 5), by TSCarrier cycle replaces with PWM cycle register value, can calculate Inverter PWM dutycycle is：
    Wherein, τpwmTo set PWM cycle register value, τA1And τA2For the α components u under static coordinatesαPWM duty cycle, τB1 And τB2For the β components u under static coordinatesβPWM duty cycle；
    7), according to the s obtained in step 2)usWith the τ obtained in step 6)A1、τA2、τB1And τB2By PWM duty cycle computing module In look-up table, obtain inverter PWM duty cycle.
CN201710763252.3A 2017-08-30 2017-08-30 A kind of two level two-phase space vector pulse width modulation devices and its SVPWM methods Pending CN107453641A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110365237A (en) * 2018-03-26 2019-10-22 中车株洲电力机车研究所有限公司 A kind of multiple module paralleling SVPWM control method, device, system and equipment
CN110971161A (en) * 2019-12-03 2020-04-07 西安工程大学 A Two-Phase SVPWM Method for Dual H-Bridge Inverters
CN113270996A (en) * 2021-04-07 2021-08-17 中国第一汽车股份有限公司 PWM modulation method for restraining narrow pulse

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CN103715956A (en) * 2013-12-16 2014-04-09 华南理工大学 Two-level three-phase space vector pulse-width modulation device and SVPWM optimization method thereof
CN103986361A (en) * 2014-05-04 2014-08-13 清华大学 A Space Vector Pulse Width Modulation Method for Two-level Converter
CN104270060A (en) * 2014-10-13 2015-01-07 淮阴师范学院 Coordinate component SVPWM control method for variable frequency speed regulation of three-phase asynchronous motor
CN106602914A (en) * 2017-02-21 2017-04-26 国网江苏省电力公司检修分公司 Modular multilevel converter control simplification method based on two-level SVPWM method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103715956A (en) * 2013-12-16 2014-04-09 华南理工大学 Two-level three-phase space vector pulse-width modulation device and SVPWM optimization method thereof
CN103986361A (en) * 2014-05-04 2014-08-13 清华大学 A Space Vector Pulse Width Modulation Method for Two-level Converter
CN104270060A (en) * 2014-10-13 2015-01-07 淮阴师范学院 Coordinate component SVPWM control method for variable frequency speed regulation of three-phase asynchronous motor
CN106602914A (en) * 2017-02-21 2017-04-26 国网江苏省电力公司检修分公司 Modular multilevel converter control simplification method based on two-level SVPWM method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110365237A (en) * 2018-03-26 2019-10-22 中车株洲电力机车研究所有限公司 A kind of multiple module paralleling SVPWM control method, device, system and equipment
CN110365237B (en) * 2018-03-26 2021-05-14 中车株洲电力机车研究所有限公司 Multi-module parallel SVPWM control method, device, system and equipment
CN110971161A (en) * 2019-12-03 2020-04-07 西安工程大学 A Two-Phase SVPWM Method for Dual H-Bridge Inverters
CN113270996A (en) * 2021-04-07 2021-08-17 中国第一汽车股份有限公司 PWM modulation method for restraining narrow pulse
CN113270996B (en) * 2021-04-07 2022-11-11 中国第一汽车股份有限公司 PWM modulation method for restraining narrow pulse

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