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CN112311267A - Feedback voltage regulation four-level inverter topology and BLDCM torque ripple suppression method driven by same - Google Patents

Feedback voltage regulation four-level inverter topology and BLDCM torque ripple suppression method driven by same Download PDF

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CN112311267A
CN112311267A CN202011171790.1A CN202011171790A CN112311267A CN 112311267 A CN112311267 A CN 112311267A CN 202011171790 A CN202011171790 A CN 202011171790A CN 112311267 A CN112311267 A CN 112311267A
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voltage
capacitor
reference value
commutation
phase
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CN112311267B (en
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李珍国
王鹏磊
孙启航
金红莲
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Tangshan Xianshi Heavy Industry Co ltd
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Yanshan University
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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
    • H02M7/483—Converters with outputs that each can have more than two voltages levels
    • 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
    • H02M7/5387—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 in a bridge configuration
    • H02M7/53871—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 in a bridge configuration with automatic control of output voltage or current
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

本发明公开了一种回馈调压四电平逆变器拓扑及其驱动的BLDCM转矩脉动抑制方法，涉及无刷直流电机控制技术领域。首先，给出了一种回馈调压四电平逆变器拓扑电路的结构，分析了不同电路导通状态对BLDCM的影响。其次，根据电容电压的参考值及电机运行状态对BLDCM进行不同方式的控制。当电容的参考值为零，换相期间为充分利用母线电压采用增加占空比方式抑制转矩脉动。当电容的参考值非零时，两相导通期间若电容电压的实际值小于参考值通过改变调制方式给电容充电，充电能量全部来自于电机回馈，无需外加电源可提高电机能量的利用率，换相期间串入电容提升母线电压，抑制转矩脉动。所提电路结构简单控制方便，在宽转速范围内都能起到良好的转矩抑制效果。

Figure 202011171790

The invention discloses a feedback voltage regulation four-level inverter topology and a BLDCM torque ripple suppression method driven by the same, and relates to the technical field of brushless direct current motor control. Firstly, the structure of a feedback voltage regulation four-level inverter topology circuit is given, and the influence of different circuit conduction states on BLDCM is analyzed. Secondly, the BLDCM is controlled in different ways according to the reference value of the capacitor voltage and the operating state of the motor. When the reference value of the capacitor is zero, in order to make full use of the bus voltage during the commutation period, the torque ripple is suppressed by increasing the duty cycle. When the reference value of the capacitor is non-zero, if the actual value of the capacitor voltage is less than the reference value during the two-phase conduction period, the capacitor can be charged by changing the modulation method. During the commutation period, a capacitor is connected in series to increase the bus voltage and suppress the torque ripple. The proposed circuit has the advantages of simple structure and convenient control, and can have a good torque restraining effect in a wide speed range.

Figure 202011171790

Description

Feedback voltage regulation four-level inverter topology and BLDCM torque ripple suppression method driven by same
Technical Field
The invention relates to the technical field of brushless direct current motor control, in particular to a feedback voltage regulation four-level inverter topology and a BLDCM torque ripple suppression method driven by the topology.
Background
Brushless direct current motors (BLDCM) are widely used in the fields of automobiles, home appliances, aerospace, medical instruments, etc. due to their advantages of high power density, simple control, small size, easy maintenance, etc. However, the torque ripple problem of the BLDCM severely hinders the development of the BLDCM in the high precision field. The factors that cause the torque ripple of BLDCM are many, such as: motor design, modulation mode, motor commutation, etc., wherein the torque ripple caused by commutation can reach about 50% of the average torque most seriously.
In order to suppress the BLDCM commutation torque ripple, a lot of research is conducted by related scholars, and the common suppression methods mainly include (1), changing the modulation method: and in the phase commutation period, the phase current of the non-commutation phase is kept stable by changing the modulation mode, so that the torque is kept stable. (2) And the bus voltage in the phase commutation period is promoted: during commutation, large torque ripple can be generated due to the limitation of bus voltage, and the bus voltage is improved by adding a preceding-stage converter. (3) And direct torque control: the direct torque control is directly aimed at the electromagnetic torque of the motor and is not influenced by the change of motor parameters in the running process.
Aiming at the current boosting topological structure applied to the BLDCM, the boosting topological structure is mostly Cuk, Buck-Boost, Sepic and other circuit structures, an external power supply is required to be added to a voltage set value required by phase commutation through a boosting mode, the set voltage is accessed during the phase commutation to achieve the effect of improving the bus voltage, and the existing circuit structure is complex, so that the cost of the circuit is increased.
Disclosure of Invention
The invention aims to provide a feedback voltage regulation four-level inverter topology and a torque ripple suppression method of a BLDCM driven by the topology, so as to achieve the torque ripple suppression effect.
In order to achieve the purpose, the invention adopts the following technical scheme:
a feedback voltage regulation four-level inverter topology is provided, and the feedback voltage regulation four-level inverter topology can provide four levels with adjustable levels higher than the level of direct-current bus voltage; the feedback voltage regulation four-level inverter topology comprises: eight IGBT switching tubes, two capacitors and a direct current side diode;
the first IGBT switching tube, the second IGBT switching tube, the third IGBT switching tube, the fourth IGBT switching tube, the fifth IGBT switching tube and the sixth IGBT switching tube in the eight IGBT switching tubes form a three-phase bridge circuit to form A, B, C three-phase bridge arms, each bridge arm comprises two switching tubes, an emitter of an upper tube is connected with a collector of a lower tube, three collectors of the upper tube are connected together to form a positive input end, and three emitters of the lower tube are connected together to form a negative input end;
a collector of the seventh IGBT switching tube is connected with the anode of the input power supply, an emitter of the seventh IGBT switching tube is connected with the cathode of the second capacitor, and the anode of the second capacitor is connected with the anode input end of the three-phase bridge circuit; the collector of the eighth IGBT switch tube is connected with the emitter of the seventh IGBT switch tube, and the emitter of the eighth IGBT switch tube is connected with the negative input end of the three-phase bridge circuit; the positive electrode of the first capacitor is connected with the collector electrode of the seventh IGBT switching tube, and the negative electrode of the first capacitor is connected with the negative electrode input end of the three-phase bridge circuit; and the anode of the direct current side diode is connected with the collector of the seventh IGBT switching tube, and the cathode of the direct current side diode is connected with the anode input end of the three-phase bridge circuit.
Further, the capacity of the second capacitor should satisfy:
Figure BDA0002747514110000021
wherein L is equivalent inductance of BLDCM phase winding, I is BLDCM rated current, and U isdcFor bus voltage, Δ Uc2For the second capacitor C during phase change2The maximum allowed voltage drop;
a BLDCM torque ripple suppression method driven by the feedback voltage regulation four-level inverter topology comprises the following steps:
(1) the rotating speed calculating unit obtains an actual mechanical angular speed omega based on the rotor position theta of the BLDCM;
(2) according to the rotor position theta, sector information S is obtained through a sector judging unit;
(3) according to sector information S and three-phase current value iA、iB、iCJudging the phase current of the turn-off phase and the phase current of the non-commutation phase by a current judging unit;
(4) outputting commutation information S through a commutation judgment unit according to the sector information S and the turn-off phase current1To determine whether the BLDCM is in the commutation period; wherein the commutation information S1A value of 1 indicates commutation information S during commutation1A value of 0 indicates a non-commutation period;
(5) according to a given mechanical angular velocity ω*Obtaining a current reference value i through a speed PI controller according to delta omega obtained by subtracting the actual mechanical angular speed omega*；
(6) Obtaining a counter electromotive force e through a counter electromotive force compensation unit according to the actual mechanical angular velocity omega;
(7) according to the current reference value i*Obtaining U through a current PI controller according to delta i obtained by subtracting actual non-phase-change phase current0Adding the back electromotive force e to obtain a reference voltage U*；
(8) According to the actual mechanical angular velocity omega, the corresponding second capacitor C is obtained through the capacitor voltage reference value calculation unit2Reference value of voltage
Figure BDA0002747514110000031
(9) A second capacitor C2Reference value of voltage
Figure BDA0002747514110000032
And an actual second capacitance C2Voltage UCPerforming difference, and obtaining a charging signal Sc through a hysteresis controller;
(10) according to a reference voltage U*The actual second capacitance C2Voltage UCCommutation information S1And a charging signal ScObtaining a duty ratio D through a duty ratio calculation unit;
(11) according to the duty ratio D of the current time and commutation information S1Sector information S, charging signal ScAnd a second capacitor C2 voltage reference
Figure BDA0002747514110000033
Obtaining driving signals of 8 IGBT switching tubes through a switching tube state look-up table;
(12) and inputting the driving signals of 8 switching tubes into a feedback voltage regulation four-level inverter to drive the brushless direct current motor to operate.
Further, a corresponding second capacitor C is obtained through the capacitor voltage reference value calculating unit2Reference value of voltage
Figure BDA0002747514110000034
The method comprises the following steps: the reference value of the capacitor voltage being obtained off-line
Figure BDA0002747514110000035
And inquiring a database to obtain the input of the capacitance voltage reference value calculating unit as the actual mechanical angular speed omega of the motor, and the output of the capacitance voltage reference value calculating unit is the reference value of the second capacitance voltage at the rotating speed.
Further, the input of the hysteresis controller is the deviation of the reference value and the actual value of the second capacitor voltage, and the output is the required charging signal SCA state of (b), wherein SCThere are three states in total: 1. 0, -1; 1 represents a charged state, 0 represents a normal state, and-1 represents a discharged state.
Further, the method can be used for preparing a novel materialThe ground is a mixture of a plurality of ground,
Figure BDA0002747514110000036
the database acquisition method comprises the following steps: firstly, calculating voltage values required in phase change periods at different rotating speeds, and when the phase change voltage value is smaller than the bus voltage value, using a second capacitor C to calculate the phase change voltage value2The voltage reference value is 0, and when the commutation voltage is greater than the bus voltage, the second capacitor C2The voltage reference value is the difference between the commutation voltage value and the bus voltage value.
Further, the duty ratio D is calculated as follows:
when S is1＝0,SCWhen the value is 0:
Figure BDA0002747514110000037
when S is1＝0,SCWhen the ratio is-1:
Figure BDA0002747514110000041
when in use
Figure BDA0002747514110000042
S1When the value is 1:
Figure BDA0002747514110000043
when in use
Figure BDA0002747514110000044
S1＝0,SCWhen the value is 1:
Figure BDA0002747514110000045
in the formula of U*Is a reference voltage, UdcFor bus voltage, UCIs a second capacitor C2The actual voltage value of.
Further, the switching tube state lookup table is as follows:
Figure BDA0002747514110000046
note: d0＝1-D
Wherein, 8 bits in each sector sequentially represent the switching tube states of the first IGBT switching tube to the eighth IGBT switching tube, 1 represents conduction, 0 represents turn-off, and D represents chopping with a duty ratio D; second capacitor C2Reference value of voltage
Figure BDA0002747514110000047
Is + represents a second capacitance C2Reference value of voltage
Figure BDA0002747514110000048
Greater than 0, 0 representing a second capacitance C2Reference value of voltage
Figure BDA0002747514110000049
Equal to 0,/represents
Figure BDA00027475141100000410
The selection of the switching tube query table is not influenced; commutation information S 10 indicates that the current time is in a non-commutation period, and 1 indicates that the current time is in a commutation period; charging signal SC1 indicates that charging is required at the present time, -1 indicates that discharging is required at the present time, 0 indicates that charging and discharging are not required at the present time,/indicates the charging signal SCThe selection of the look-up table of the switching tube is not influenced.
Further, analyzing the conduction states of the switching tubes in different circuit modes in the switching tube state lookup table includes: for the sake of example, the rotor is located in the first sector, i.e. AB conducting, and the other sectors can be analyzed by analogy. When the second capacitor C2Reference value of voltage
Figure BDA00027475141100000411
Is + commutation information S1Is 0, charging signal SCWhen the value is 1, the current motor works in a non-commutation period, and the regenerative braking mode is required to be used for supplying the second capacitor C2The charging is carried out to inhibit torque ripple by utilizing a bus voltage to be increased during phase change, for this reason, a 1-star combination control motor is utilized, under the state, a first IGBT switch tube and a fourth IGBT switch tube are synchronously modulated, a driving signal of an eighth IGBT switch tube is opposite to the driving signal of the first IGBT switch tube and the fourth IGBT switch tube, so that the switch tube is in a conduction state of D00D000D0；S1The information is 0, SCWhen the signal is 0, the second capacitor C indicates that the motor works in the non-commutation period at the same time2Charging and discharging are not needed, and therefore the motor is controlled by the combination of 1 and 0, so that the conduction state of the switching tube is D0010000; commutation information S1Is 0, charging signal SCWhen the value is-1, the second capacitor C is used for indicating that the motor works in the non-commutation period at the same time2Discharging to prevent the capacitor voltage from being higher than a set value at the corresponding rotating speed, and controlling the motor by using the combination of 2 and 0, so that the conduction state of the switching tube is D0010010010; when the second capacitor C2Reference value of voltage
Figure BDA0002747514110000051
Is 0, commutation information S1When the current motor works in the phase commutation period, the voltage required by the phase commutation is not higher than the voltage of a direct current bus, therefore, the duty ratio is increased to inhibit the torque ripple in the phase commutation period, and the required duty ratio is 2 times of that in the combined control mode of 1 and 0, so that the conduction state of a switching tube is D0010000; when the second capacitor C2Reference value of voltage
Figure BDA0002747514110000052
Is + commutation information S1When the current motor works in the phase change period, the torque pulsation in the phase change period is restrained by adopting a bus voltage raising mode, and at the moment, the circuit is always in a +2 state, so that the conduction state of the switch tube is 10010010.
The invention has the advantages and positive effects that:
feedback voltage regulation four-level inverter adopted by inventionCompared with the existing topology using BLDCM, the topology circuit has the advantages of simple circuit structure, low cost, convenient control and the like, and the circuit can realize the purpose of feeding the second capacitor C by utilizing the self feedback of the motor2In the charging process, the energy utilization rate of the motor is improved without an external power supply, and a good torque ripple suppression effect can be achieved within a wide rotating speed range.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic circuit diagram of a feedback voltage regulation four-level inverter according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a current flow path under the "1" state of the circuit in the embodiment of the present invention;
FIG. 3 is a schematic diagram of a current flow path under the "0" state of the circuit according to the embodiment of the present invention;
fig. 4 is a schematic diagram of a current flow path under the circuit state "-1 ″" in the embodiment of the present invention;
FIG. 5 is a schematic diagram of a current flow path under circuit state "2" in an embodiment of the present invention;
FIG. 6 is a schematic diagram of a current flow path under the circuit state "-2" in the embodiment of the present invention;
FIG. 7 is a control block diagram of BLDCM torque ripple suppression driven by a feedback voltage regulation four-level inverter topology in an embodiment of the present invention;
FIG. 8 shows the reference value of the capacitor voltage at different rotation speeds according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, a feedback regulated four level inverter topology circuit in an embodiment of the present invention is shown. The four-level inverter topology mainly comprises: eight IGBT switching tubes (VT1-VT8) and two capacitors (C)1、C2) And a dc side diode (VD 9);
the three-phase bridge type three-phase power supply comprises eight IGBT switching tubes, a first IGBT switching tube, a second IGBT switching tube, a third IGBT switching tube, a fourth IGBT switching tube, a fifth IGBT switching tube and a sixth IGBT switching tube (VT1-VT6) form a three-phase bridge circuit to form A, B, C three-phase bridge arms, each bridge arm comprises two switching tubes, an emitter of an upper tube is connected with a collector of a lower tube, three collectors of the upper tube are connected together to form a positive input end, and three emitters of the lower tube are connected together to form a negative input end;
the collector of the seventh IGBT switch tube is connected with the anode of the input power supply, and the emitter of the seventh IGBT switch tube is connected with the second capacitor C2Is connected to the negative pole of a second capacitor C2Positive electrode of (2) and (3)The positive input ends of the phase bridge circuits are connected; the collector of the eighth IGBT switch tube is connected with the emitter of the seventh IGBT switch tube, and the emitter of the eighth IGBT switch tube is connected with the negative input end of the three-phase bridge circuit;
a first capacitor C1The positive electrode of the first capacitor C is connected with the collector electrode of a seventh IGBT switching tube1The negative electrode of the three-phase bridge circuit is connected with the negative electrode input end of the three-phase bridge circuit; and the anode of the direct current side diode is connected with the collector of the seventh IGBT switching tube, and the cathode of the direct current side diode is connected with the anode input end of the three-phase bridge circuit.
The feedback voltage regulation four-level inverter topology circuit comprises 5 circuit states which are respectively expressed as '1', '0', '1', '2'. Wherein the voltage applied to the three-phase inverter in the '1' state is the DC bus voltage Udc(ii) a In the '0' state, the circuit freewheels through a freewheeling diode of a bridge arm, and the voltage applied to the three-phase inverter is 0 at the moment; the state of "-1" is a feedback state, and can be realized for the second capacitor C2Charging, in which the voltage applied to the three-phase inverter is-UC2(ii) a Bus voltage and capacitance C under '2' state2The power is supplied to the motor together, and the voltage applied to the three-phase inverter is (U)dc+Uc2) This state can be used to boost the bus voltage; all the switch tubes are turned off in the state of < -2 >, and the voltage applied to the three-phase inverter is- (U)dc+Uc2) In this state, the phase current can be rapidly decreased.
As shown in fig. 2, which is a schematic diagram of a current flow path in a circuit state "1", the positive electrode of the dc bus voltage sequentially passes through the dc-side diode and the switching tube of the on-phase of the upper arm to reach the positive on-phase of the motor, and is connected to the negative electrode of the dc bus voltage through the on-phase switching tube of the lower arm.
As shown in fig. 3, which is a schematic diagram of a current flow path in a circuit state of "0", a negative electrode of the anti-parallel diode of the lower arm switch tube corresponding to the upper arm conducting phase is connected to the forward conducting phase of the motor, and is connected to a positive electrode of the anti-parallel diode through the conducting phase switch tube of the lower arm.
As shown in FIG. 4The negative pole of the anti-parallel diode of the lower bridge arm switching tube corresponding to the upper bridge arm conduction phase is connected to the positive conduction phase of the motor, and is connected to the second capacitor C through the anti-parallel diode of the upper bridge arm of the negative conduction phase2Positive electrode of (1), second capacitor C2The negative electrode of the diode is connected to the positive electrode of the anti-parallel diode of the lower bridge arm switching tube corresponding to the conduction of the upper bridge arm through an eighth IGBT switching tube.
As shown in fig. 5, which is a schematic diagram of a current flow path in the circuit state "2", the positive electrode of the dc bus voltage sequentially passes through the seventh IGBT switch tube and the second capacitor C2And the switching tube of the conducting phase of the upper bridge arm reaches the positive conducting phase of the motor and is connected to the negative pole of the direct-current bus voltage through the conducting phase switching tube of the lower bridge arm.
As shown in fig. 6, which is a schematic diagram of a current flow path in a circuit state of "-2", a cathode of the anti-parallel diode of the switching tube of the lower bridge arm is connected to the positive conducting phase of the motor, and the anti-parallel diode of the upper bridge arm is connected to the second capacitor C through the negative conducting phase2The seventh IGBT switching tube is connected with the first capacitor C1Positive electrode, first capacitor C1The negative pole is connected with the positive pole of the anti-parallel diode of the lower bridge arm switching tube.
Further, the bus voltage and the second capacitor C2The voltage drop of the capacitor is inevitably caused during the period of supplying the motor together, and the allowable capacitor C is considered2Amplitude of voltage sag and second capacitance C during non-commutation2The following performance of the voltage variation with the rotation speed is given by taking AB-AC phase change as an example, and the second capacitor C is assumed to be used in the process2Maximum allowable voltage drop Δ Uc2The required capacitance is designed as follows:
neglecting the change of the counter potential of the motor during commutation, namely: e.g. of the typeA＝-eB＝-eCWhere E is the maximum value of the back-emf. Three-phase current satisfies iA+iB+i C0; the voltage equation during the AB-AC commutation period, not counting the effect of resistance, is:
Figure BDA0002747514110000081
wherein L is equivalent inductance of BLDCM phase winding, R is BLDCM phase resistance, and U is equivalent inductance of BLDCM phase windingdcFor bus voltage, UCIs a second capacitor C2Actual voltage value, UNFor the neutral point of the brushless DC motor to the negative pole of the DC bus, iA、iB、iCFor each phase current, eA、eB、eCAre the opposite potentials of the motor.
The A-phase voltage can be obtained by the formula (1) and the phase-changing circuit:
Figure BDA0002747514110000082
when the motor stably runs:
Udc+UC＝4E (3)
from the capacitive characteristics:
Figure BDA0002747514110000083
ideal commutation time of BLDCM:
Figure BDA0002747514110000091
wherein I is the rated current of BLDCM.
Considering UcThe minimum reference value is zero, and the capacitance obtained by the equations (3), (4) and (5) should satisfy:
Figure BDA0002747514110000092
compared with the existing topology applied to the BLDCM, the feedback voltage regulation four-level inverter topology circuit adopted in the embodiment of the invention has the advantages of simple circuit structure, low cost, convenience in control and the like.
Referring to fig. 7, it shows a control block diagram of BLDCM torque ripple suppression driven by the feedback voltage regulation four-level inverter topology in the embodiment of the present invention, which relates to a speed PI controller, a current PI controller, a back electromotive force compensation unit, a capacitance voltage reference value calculation unit, a duty ratio calculation unit, a commutation judgment, a current judgment unit, a sector judgment unit, a rotation speed calculation unit, a switching tube state lookup table, a four-level inverter, and a BLDCM in the process of performing torque ripple suppression. The torque ripple suppression method includes the steps of:
(1) the rotating speed calculating unit obtains an actual mechanical angular speed omega based on the rotor position theta of the BLDCM; the rotor position θ may be obtained by a position sensor.
(2) Sector information S is obtained by a sector determination unit based on the rotor position θ.
(3) According to sector information S and three-phase current value iA、iB、iCAnd judging the phase-off current and the phase current of the non-commutation phase by the current judging unit.
(4) According to the sector information S and the phase current of the turn-off phase, the phase change information S is judged and output through phase change1To determine whether the BLDCM is in the commutation period; wherein the commutation information S1A value of 1 indicates commutation information S during commutation1A value of 0 indicates a non-commutation period.
(5) According to a given mechanical angular velocity ω*Obtaining a current reference value i through a speed PI controller according to delta omega obtained by subtracting the actual mechanical angular speed omega*。
(6) The counter-electromotive force e is obtained by the counter-electromotive force compensation unit according to the actual mechanical angular velocity ω.
(7) According to the current reference value i*Obtaining U through a current PI controller according to delta i obtained by subtracting the actual non-phase-change phase current i0Adding the back electromotive force e to obtain a reference voltage U*。
(8) According to the actual mechanical angular velocity omega, the corresponding second capacitor C is obtained through the capacitor voltage reference value calculation unit2Reference value of voltage
Figure BDA0002747514110000093
Further, as shown in FIG. 8, it is the second capacitor C at different rotation speeds2Voltage reference values, which are obtained off-line, i.e.
Figure BDA0002747514110000101
The database is obtained by the following method: firstly, calculating voltage values required in phase change periods at different rotating speeds, and when the phase change voltage value is smaller than the bus voltage value, using a second capacitor C to calculate the phase change voltage value2The voltage reference value is 0, and when the commutation voltage is greater than the bus voltage, the second capacitor C2The voltage reference value is the difference between the commutation voltage value and the bus voltage value.
(9) A second capacitor C2Reference value of voltage
Figure BDA0002747514110000102
And an actual second capacitance C2Voltage UCPerforming difference, and obtaining a charging signal Sc through a hysteresis controller;
the input of the hysteresis controller is a second capacitor C2The deviation of the reference value and the actual value of the voltage is output as a required charging signal SCState of charge signal SCThere are three states in total: 1. 0, -1; 1 indicates that the capacitor is charged, 0 indicates that the capacitor is neither charged nor discharged, and-1 indicates that the capacitor is discharged.
(10) According to a reference voltage U*The actual second capacitance C2Voltage UCCommutation information S1And a charging signal ScAnd obtaining the duty ratio D through a duty ratio calculation unit.
(11) According to the duty ratio D of the current time and commutation information S1Sector information S, charging signal ScAnd a second capacitor C2Reference value of voltage
Figure BDA0002747514110000103
The driving signals of 8 IGBT switching tubes are obtained through a switching tube state lookup table, and the switching tube state lookup table is shown in table 1.
TABLE 1
Figure BDA0002747514110000104
Note: d0＝1-D
Wherein, 8 bits in each sector sequentially represent the switching tube states of the first IGBT switching tube to the eighth IGBT switching tube, 1 represents conduction, 0 represents turn-off, and D represents chopping with a duty ratio D; second capacitor C2Reference value of voltage
Figure BDA0002747514110000105
Is + represents a second capacitance C2Reference value of voltage
Figure BDA0002747514110000106
Greater than 0, 0 representing a second capacitance C2Reference value of voltage
Figure BDA0002747514110000107
Equal to 0,/denotes a second capacitance C2Reference value of voltage
Figure BDA0002747514110000108
The selection of the switching tube query table is not influenced; commutation information S 10 indicates that the current time is in a non-commutation period, and 1 indicates that the current time is in a commutation period; charging signal SC1 indicates that charging is required at the present time, -1 indicates that discharging is required at the present time, 0 indicates that charging and discharging are not required at the present time,/indicates the charging signal SCThe selection of the switching tube query table is not influenced;
further, analyzing the conduction states of the switching tubes in different circuit modes in the switching tube state lookup table includes: for the sake of example, the rotor is located in the first sector, i.e. AB conducting, and the other sectors can be analyzed by analogy. When the second capacitor C2Reference value of voltage
Figure BDA0002747514110000111
Is + commutation information S1Is 0, charging signal SCA value of 1 indicates that the current motor is operating during a non-commutation period, while the regenerative braking mode is required for the second motorCapacitor C2The charging is carried out to inhibit torque ripple by utilizing a bus voltage to be increased during phase change, for this reason, a 1-star combination control motor is utilized, under the state, a first IGBT switch tube and a fourth IGBT switch tube are synchronously modulated, a driving signal of an eighth IGBT switch tube is opposite to the driving signal of the first IGBT switch tube and the fourth IGBT switch tube, so that the switch tube is in a conduction state of D00D000D0；S1The information is 0, SCWhen the signal is 0, the second capacitor C indicates that the motor works in the non-commutation period at the same time2Charging and discharging are not needed, and therefore the motor is controlled by the combination of 1 and 0, so that the conduction state of the switching tube is D0010000; commutation information S1Is 0, charging signal SCWhen the value is-1, the second capacitor C is used for indicating that the motor works in the non-commutation period at the same time2Discharging to prevent the capacitor voltage from being higher than a set value at the corresponding rotating speed, and controlling the motor by using the combination of 2 and 0, so that the conduction state of the switching tube is D0010010010; when the second capacitor C2Reference value of voltage
Figure BDA0002747514110000112
Is 0, commutation information S1When the current motor works in the phase commutation period, the voltage required by the phase commutation is not higher than the voltage of a direct current bus, therefore, the duty ratio is increased to inhibit the torque ripple in the phase commutation period, and the required duty ratio is 2 times of that in the combined control mode of 1 and 0, so that the conduction state of a switching tube is D0010000; when the second capacitor C2Reference value of voltage
Figure BDA0002747514110000113
Is + commutation information S1When the current motor works in the phase change period, the torque pulsation in the phase change period is restrained by adopting a bus voltage raising mode, and at the moment, the circuit is always in a +2 state, so that the conduction state of the switch tube is 10010010.
Further, the duty ratio D is calculated as follows:
when S is1＝0,SCWhen the value is 0: taking AB conduction as an example, the upper bridge arm of the A phase is modulated by a duty ratio D before phase conversion, the lower bridge arm of the B phase is constant-flux, and the phase is fixed at A, BThe voltage of the sub-winding end point relative to the negative pole of the bus is DU dc0, phase current iA＝-iBCounter-potential e ═ IA＝-eBThe voltage equation for the winding is:
Figure BDA0002747514110000114
as can be seen from the formula (7), DUdc＝U*And when the motor operates stably, the duty ratio D meets the following requirements:
Figure BDA0002747514110000115
when S is1＝0,SCWhen the ratio is-1: taking AB conduction as an example, the upper bridge arm of the A phase is modulated by a duty ratio D before phase conversion, the lower bridge arm of the B phase is constant-current, and the voltage of the stator winding end point of the A, B phase relative to the negative pole of the bus is respectively D (U)dc+Uc) 0, phase current iA＝-iBCounter-potential e ═ IA＝-eBThe voltage equation for the winding is:
Figure BDA0002747514110000121
d (U) is shown by formula (9)dc+Uc)＝U*And D meets the following requirements when the motor operates stably:
Figure BDA0002747514110000122
when in use
Figure BDA0002747514110000123
S1When the value is 1: namely, the voltage value required in the phase change period is smaller than the DC bus voltage, and in order to fully utilize the torque of the BLDCM stabilized by the duty ratio increasing mode in the phase change period of the DC bus voltage, the duty ratio in the phase change period is S1＝0,SCTwice the duty cycle during the 0 periodNamely:
Figure BDA0002747514110000124
when in use
Figure BDA0002747514110000125
S1＝0,SCWhen the value is 1: furthermore, during the two-phase conduction period, taking AB conduction as an example, the other intervals can be analyzed by analogy. A. The voltage of the end point of the B-phase stator winding relative to the negative pole of the bus is DUdc、(1-D)UCPhase current iA＝-iBCounter-potential e ═ IA＝-eBThe voltage equation for the winding is:
Figure BDA0002747514110000126
to make the capacitance C2The phase current during charging is equal to the phase current in the normal on mode, and the BLDCM should have the same line voltage in both states, i.e.:
U*＝DUdc-(1-D)UC (13)
d satisfies when the motor stably operates:
Figure BDA0002747514110000127
(12) and (3) inputting driving signals of 8 switching tubes into a four-level inverter topology circuit to drive the BLDCM to operate.
The feedback voltage regulation four-level inverter topology circuit adopted in the embodiment of the invention can realize the purpose of feeding the second capacitor C by utilizing the self feedback of the motor2In the charging process, the energy utilization rate of the motor is improved without an external power supply, and a good torque ripple suppression effect can be achieved within a wide rotating speed range.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (8)

1.一种回馈调压四电平逆变器拓扑，其特征在于，所述回馈调压四电平逆变器拓扑能够提供含大小可调且高于直流母线电压的电平在内的四个电平；所述回馈调压四电平逆变器拓扑包括：八个IGBT开关管、两个电容和一个直流侧二极管；1. A feedback voltage-regulated four-level inverter topology, characterized in that, the feedback voltage-regulated four-level inverter topology can provide four voltages including a level adjustable in size and higher than the DC bus voltage. The said feedback voltage regulation four-level inverter topology includes: eight IGBT switch tubes, two capacitors and one DC side diode; 其中，所述八个IGBT开关管中第一IGBT开关管、第二IGBT开关管、第三IGBT开关管、第四IGBT开关管、第五IGBT开关管和第六IGBT开关管构成三相桥式电路，形成A、B、C三相桥臂，每个桥臂包含两个开关管，上管发射极与下管集电极相连，上管的三个集电极连接在一起组成正极输入端，下管的三个发射极连接在一起组成负极输入端；Among the eight IGBT switch tubes, the first IGBT switch tube, the second IGBT switch tube, the third IGBT switch tube, the fourth IGBT switch tube, the fifth IGBT switch tube and the sixth IGBT switch tube form a three-phase bridge type The circuit forms A, B, C three-phase bridge arms, each bridge arm contains two switch tubes, the emitter of the upper tube is connected to the collector of the lower tube, and the three collectors of the upper tube are connected together to form the positive input terminal, and the lower tube is connected to the collector. The three emitters of the tube are connected together to form the negative input terminal; 第七IGBT开关管的集电极与输入电源的正极相连接，第七IGBT开关管的发射极与第二电容的负极相连接，第二电容的正极与三相桥式电路的正极输入端相连接；第八IGBT开关管的集电极与第七IGBT开关管的发射极相连接，第八IGBT开关管的发射极与三相桥式电路的负极输入端相连接；第一电容的正极与第七IGBT开关管的集电极相连，第一电容的负极与三相桥式电路的负极输入端相连接；直流侧二极管的阳极与第七IGBT开关管的集电极相连接，直流侧二极管的阴极与三相桥式电路的正极输入端相连接。The collector of the seventh IGBT switch tube is connected to the positive pole of the input power supply, the emitter of the seventh IGBT switch tube is connected to the negative pole of the second capacitor, and the positive pole of the second capacitor is connected to the positive input end of the three-phase bridge circuit The collector of the eighth IGBT switch tube is connected to the emitter of the seventh IGBT switch tube, and the emitter of the eighth IGBT switch tube is connected to the negative input terminal of the three-phase bridge circuit; the positive pole of the first capacitor is connected to the seventh The collector of the IGBT switch tube is connected, the negative pole of the first capacitor is connected to the negative input terminal of the three-phase bridge circuit; the anode of the DC side diode is connected to the collector of the seventh IGBT switch tube, and the cathode of the DC side diode is connected to the three-phase bridge circuit. The positive input terminals of the phase bridge circuit are connected to each other. 2.根据权利要求1所述的回馈调压四电平逆变器拓扑，其特征在于，第二电容的容量应满足：2. The feedback voltage regulation four-level inverter topology according to claim 1, wherein the capacity of the second capacitor should satisfy:
Figure FDA0002747514100000011
Figure FDA0002747514100000011
 式中，L为BLDCM相绕组的等效电感，I为BLDCM额定电流，Udc为母线电压，ΔUc2为换相期间第二电容C2允许的电压跌落最大值。where L is the equivalent inductance of the BLDCM phase winding, I is the rated current of the BLDCM, U dc is the bus voltage, and ΔU c2 is the maximum voltage drop allowed by the second capacitor C 2 during commutation. 3.一种权利要求1或2所述的回馈调压四电平逆变器拓扑驱动的BLDCM转矩脉动抑制方法，其特征在于，所述方法包括：3. The BLDCM torque ripple suppression method driven by the feedback voltage regulation four-level inverter topology according to claim 1 or 2, wherein the method comprises: (1)转速计算单元基于BLDCM的转子位置θ，得到实际机械角速度ω；(1) The rotational speed calculation unit obtains the actual mechanical angular velocity ω based on the rotor position θ of the BLDCM; (2)根据转子位置θ，通过扇区判断单元得到扇区信息S；(2) According to the rotor position θ, the sector information S is obtained through the sector determination unit; (3)根据扇区信息S及三相电流值iA、iB、iC，通过电流判断单元判断出关断相相电流和非换相相电流；(3) According to the sector information S and the three-phase current values i A , i B , i C , determine the off-phase current and the non-commutated phase current through the current judgment unit; (4)根据扇区信息S及关断相相电流，通过换相判断单元输出换相信息S1，以判断BLDCM是否处于换相期间；其中，换相信息S1为1表示处于换相期间，换相信息S1为0表示处于非换相期间；(4) According to the sector information S and the off-phase phase current, the commutation judgment unit outputs the commutation information S 1 to judge whether the BLDCM is in the commutation period; wherein, the commutation information S 1 is 1, indicating that it is in the commutation period , the commutation information S 1 is 0, indicating that it is in the non-commutation period; (5)根据给定机械角速度ω*与实际机械角速度ω相减得到的Δω，通过速度PI控制器得到电流参考值i*；(5) According to the Δω obtained by subtracting the given mechanical angular velocity ω * and the actual mechanical angular velocity ω, the current reference value i * is obtained through the speed PI controller; (6)根据实际机械角速度ω，通过反电势补偿单元得到反电势e；(6) According to the actual mechanical angular velocity ω, obtain the back EMF e through the back EMF compensation unit; (7)根据电流参考值i*与实际非换相相电流相减得到的Δi，通过电流PI控制器得到U0再与反电势e相加得到参考电压U*；(7) According to the Δi obtained by subtracting the current reference value i * and the actual non-commutation current, obtain U 0 through the current PI controller and add the back EMF e to obtain the reference voltage U * ; (8)根据实际机械角速度ω，通过电容电压参考值计算单元得到相应的第二电容C2电压参考值
Figure FDA0002747514100000021
(8) According to the actual mechanical angular velocity ω, obtain the corresponding voltage reference value of the second capacitor C 2 through the capacitor voltage reference value calculation unit
Figure FDA0002747514100000021
 (9)将第二电容C2电压参考值
Figure FDA0002747514100000022
与实际第二电容C2电压UC做差，经过滞环控制器得到充电信号Sc；(9) Set the voltage reference value of the second capacitor C 2
Figure FDA0002747514100000022
Make a difference with the actual second capacitor C 2 voltage U C , and obtain the charging signal Sc through the hysteresis controller; (10)根据参考电压U*、实际第二电容C2电压UC、换相信息S1及充电信号Sc，通过占空比计算单元得到占空比D；(10) According to the reference voltage U * , the actual voltage U C of the second capacitor C 2 , the commutation information S 1 and the charging signal S c , obtain the duty ratio D through the duty ratio calculation unit; (11)根据当前时刻占空比D、换相信息S1、扇区信息S、充电信号Sc以及第二电容C2电压参考值
Figure FDA0002747514100000023
经开关管状态查询表得到8个IGBT开关管的驱动信号；(11) According to the duty ratio D at the current moment, the commutation information S 1 , the sector information S, the charging signal S c and the voltage reference value of the second capacitor C2
Figure FDA0002747514100000023
The drive signals of 8 IGBT switches are obtained through the switch state look-up table; (12)将8个开关管的驱动信号输入到回馈调压四电平逆变器，驱动无刷直流电机运行。(12) Input the driving signals of the 8 switch tubes into the feedback voltage regulating four-level inverter to drive the brushless DC motor to run. 4.根据权利要求3所述的方法，其特征在于，通过电容电压参考值计算单元得到相应的第二电容C2电压参考值
Figure FDA0002747514100000024
包括：电容电压参考值通过离线获得的
Figure FDA0002747514100000025
数据库查询得到，电容电压参考值计算单元的输入为电机实际的机械角速度ω，输出为该转速下第二电容电压的参考值。4 . The method according to claim 3 , wherein the corresponding second capacitor C 2 voltage reference value is obtained through the capacitor voltage reference value calculation unit. 5 .
Figure FDA0002747514100000024
Include: Capacitor voltage reference value obtained offline
Figure FDA0002747514100000025
The database query shows that the input of the capacitor voltage reference value calculation unit is the actual mechanical angular velocity ω of the motor, and the output is the reference value of the second capacitor voltage at the rotational speed. 5.根据权利要求3所述的方法，其特征在于，所述滞环控制器输入为第二电容电压参考值与实际值的偏差，输出为所需的充电信号SC的状态，其中，SC共三种状态即：1、0、-1；1表示充电状态，0表示正常状态，-1表示放电状态。5 . The method according to claim 3 , wherein the input of the hysteresis controller is the deviation between the reference value of the second capacitor voltage and the actual value, and the output is the required state of the charging signal S C , wherein S 5 . C has three states: 1, 0, -1; 1 represents the charging state, 0 represents the normal state, and -1 represents the discharging state. 6.根据权利要求3所述的方法，其特征在于，
Figure FDA0002747514100000026
数据库的获取方法如下：首先计算不同转速下换相期间所需要的电压值，当换相电压值小于母线电压值时第二电容C2电压参考值为0，当换相电压大于母线电压时，第二电容C2电压参考值为换相电压值与母线电压值的差。6. The method of claim 3, wherein
Figure FDA0002747514100000026
The acquisition method of the database is as follows: firstly calculate the voltage value required during the commutation period under different rotational speeds, when the commutation voltage value is less than the bus voltage value, the voltage reference value of the second capacitor C2 is 0, when the commutation voltage is greater than the bus voltage value, The voltage reference value of the second capacitor C2 is the difference between the commutation voltage value and the bus voltage value. 7.根据权利要求3所述的方法，其特征在于，所述占空比D的计算方法如下：7. The method according to claim 3, wherein the calculation method of the duty ratio D is as follows: 当S1＝0,SC＝0时：When S 1 =0, S C =0:
Figure FDA0002747514100000031
Figure FDA0002747514100000031
 当S1＝0,SC＝-1时：When S 1 =0, S C =-1:
Figure FDA0002747514100000032
Figure FDA0002747514100000032
 当
Figure FDA0002747514100000033
S1＝1时：when
Figure FDA0002747514100000033
When S 1 =1:
Figure FDA0002747514100000034
Figure FDA0002747514100000034
 当
Figure FDA0002747514100000035
S1＝0,SC＝1时：when
Figure FDA0002747514100000035
When S 1 =0, S C =1:
Figure FDA0002747514100000036
Figure FDA0002747514100000036
 式中，U*为参考电压，Udc为母线电压,UC为第二电容C2的实际电压值。In the formula, U * is the reference voltage, U dc is the bus voltage, and U C is the actual voltage value of the second capacitor C 2 . 8.根据权利要求3所述的方法，其特征在于，所述开关管状态查询表如下：8. The method according to claim 3, wherein the switch tube state look-up table is as follows:
Figure FDA0002747514100000037
Figure FDA0002747514100000037
 注：D0＝1-DNote: D 0 =1-D 其中，每个扇区中的8位依次表示第一IGBT开关管～第八IGBT开关管的开关管状态，1表示导通，0表示关断，D表示以占空比D进行斩波；第二电容C2电压参考值
Figure FDA0002747514100000038
的+表示第二电容C2电压参考值
Figure FDA00027475141000000311
大于0，0表示第二电容C2电压参考值
Figure FDA0002747514100000039
等于0，/表示第二电容C2电压参考值
Figure FDA00027475141000000310
不影响开关管查询表的选择；换相信息S1的0表示当前时刻处于非换相期间，1表示当前时刻处于换相期间；充电信号SC的1表示当前时刻需要充电，-1表示当前时刻需要放电，0表示当前时刻无需充放电，/表示充电信号SC不影响开关管查询表的选择。Among them, the 8 bits in each sector represent the switch states of the first IGBT switch tube to the eighth IGBT switch tube in turn, 1 means on, 0 means off, and D means chopping with a duty cycle D; Two capacitor C 2 voltage reference value
Figure FDA0002747514100000038
The + indicates the voltage reference value of the second capacitor C2
Figure FDA00027475141000000311
Greater than 0, 0 indicates the voltage reference value of the second capacitor C2
Figure FDA0002747514100000039
equal to 0, / indicates the voltage reference value of the second capacitor C2
Figure FDA00027475141000000310
It does not affect the selection of the switch tube lookup table; 0 of the commutation information S1 indicates that the current moment is in the non-commutation period, 1 indicates that the current moment is in the commutation period; 1 of the charging signal S C indicates that charging is required at the current moment, and -1 indicates that the current moment is in the commutation period. It needs to be discharged at all times, 0 means no need to charge and discharge at the current moment, / means that the charging signal S C does not affect the selection of the switch tube look-up table.
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