CN104079227A - Motor system with common-mode interference reduction capacity - Google Patents
Motor system with common-mode interference reduction capacity Download PDFInfo
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- CN104079227A CN104079227A CN201410337927.4A CN201410337927A CN104079227A CN 104079227 A CN104079227 A CN 104079227A CN 201410337927 A CN201410337927 A CN 201410337927A CN 104079227 A CN104079227 A CN 104079227A
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Abstract
The invention discloses a motor system with the common-mode interference reduction capacity. The motor system comprises a motor, a direct-current power supply, a bridge type inverter, a controller and one to two chopping switches. Two chopping switches can be simultaneously controlled by the motor system, the maximum value and the minimum value of common-mode voltage of the motor can be reduced, changes of the common-mode voltage can be reduced to the maximum extent, and the electromagnetic compatibility of the system is improved. When only one chopping switch tube is selectively controlled, the maximum value or the minimum value of the common-mode voltage of the motor can also be reduced, and thus cost can be reduced on the premise that the common-mode interference of the motor is reduced. The control strategy can be implemented just by conducting simple modification on a common motor driving system so that the motor system can be fast applied easily, the common-mode interference problem is fast solved, and the electromagnetic compatibility of the system is improved. Therefore, the motor system is easy and convenient to implement and high in practicality.
Description
Technical field
The invention belongs to technical field of motors, be specifically related to a kind of electric system that reduces common mode disturbances ability that has.
Background technology
At present, known electric machine controller is in order to flexible and changeable the motor operating state of controlling, it is generally made up of rectification and inversion two parts, in conjunction with pulse-width modulation (Pulse Width Modulation, be called for short PWM) technology, can realize motor stable operation in the wider range of speeds.Pulse modulation technology acts on Converting Unit, by the break-make to direct voltage, realizes the flexible control to motor.Because pulse modulation technology is in the superiority aspect Electric Machine Control, progressively replace in recent years the application of the speed regulating method such as pressure regulation, pole-changing in Motor Control Field.
Although existing pulse modulation technology control performance is good, but its high-frequency switch feature, can cause motor driven systems to produce high frequency common mode and disturb, and then cause the negative effect such as overvoltage, shaft voltage, shaft current of motor side, thereby can cause motor to damage and environment pollution with electromagnet.
Taking three-phase as example, Figure 1 shows that the voltage vector-diagram of space voltage vector control algolithm, with six space voltage vectors and two zero voltage space vectors, motor is controlled, eight states turning on and off of six switching tubes of corresponding inverter respectively, and motor operation course has been divided into six different sectors (in figure 1. to 6.).In motor driven systems based on space voltage vector control algolithm, six switching tubes of inverter circuit can, according to sector, motor place, be selected different on off states, motor is applied to effective space vector of voltage.
But, exactly because the running of motor need to switch back and forth in these eight states, cause the saltus step of motor common-mode voltage, and then caused the common mode disturbances of motor driven systems.Suppose that DC bus powered voltage is, according to the difference of inverter switching states, motor common-mode voltage value can between change.The common-mode voltage of this alternation has caused the common mode disturbances of electric system.
Summary of the invention
For the existing above-mentioned technical problem of prior art, the invention discloses a kind of electric system that reduces common mode disturbances ability that has, common mode disturbances and the structural design that can reduce motor are simple.
There is an electric system that reduces common mode disturbances ability, comprise motor, DC power supply, bridge-type inverter, controller and 1～2 chopping switch; The connection corresponding to the stator winding of motor of described bridge-type inverter AC, described controller is used to bridge-type inverter and chopping switch that driving signal is provided;
If chopping switch is one, the positive pole of DC power supply is connected with the anode of bridge-type inverter by chopping switch, and the negative pole of DC power supply is directly connected with the negative terminal of bridge-type inverter; Or the positive pole of DC power supply is directly connected with the anode of bridge-type inverter, the negative pole of DC power supply is connected with the negative terminal of bridge-type inverter by chopping switch;
If chopping switch is two, the positive and negative polarities of the DC power supply corresponding connection in positive and negative two ends with inverter by a chopping switch respectively.
Described DC power supply is independently direct voltage source or the direct current output of prime AC power after rectification.
Described chopping switch adopts the switching tube with anti-paralleled diode.
Described switching tube is MOSFET (metal-oxide layer semiconductcor field effect transistor), IGBT (insulated gate bipolar transistor), IGCT (integrated gate commutated thyristor), IEGT (electron injection enhancement gate transistor), GTO (turn-off thyristor), triode or thyristor etc.
Described diode is Schottky diode, fast recovery diode, silicone tube or silicon carbide diode etc.
Under the control of controller, only, in the time that the switching tube (being to manage on switching tube) of all upper brachium pontis in bridge-type inverter is all closed, the chopping switch being connected with DC power anode just turn-offs, and this chopping switch of other situations is closure all; Only, in the time that the switching tube (being to manage under switching tube) of all lower brachium pontis in bridge-type inverter is all closed, the chopping switch being connected with DC power cathode just turn-offs, and this chopping switch of other situations is closure all.
Described motor and bridge-type inverter can be single-phase, two-phase, three-phase or heterogeneous.
The present invention, by setting up chopping switch at inverter direct-flow side, has reduced common mode disturbances problem common when motor moves, and its useful technique effect is as follows:
(1) the present invention controls two chopping switch simultaneously, can reduce maximum and the minimum value of motor common-mode voltage, farthest reduces the variation of common-mode voltage, improves the Electro Magnetic Compatibility of system.
(2) when the present invention only selects to control any one chopping switching tube, can reduce maximum or the minimum value of motor common-mode voltage, reduce under the prerequisite of motor common mode disturbances like this, simultaneously can reduced cost.
(3) control strategy of the present invention only need to carry out simple amendment and can realize on conventional motor driven systems, and this is conducive to the quick application of electric system, solves rapidly the common mode disturbances problem existing, the Electro Magnetic Compatibility of raising system, therefore, implementation method is easy, practical.
Brief description of the drawings
Fig. 1 is the space voltage vector figure (taking three-phase as example) of Electric Machine Control.
Fig. 2 is the structural representation (taking three-phase as example) of electric system of the present invention.
Fig. 3 is the common-mode voltage waveform schematic diagram of conventional electric system.
Fig. 4 (a) is the break-make schematic diagram of chopping switch when pipe all-pass under switching tube under the first control strategy.
Fig. 4 (b) is the break-make schematic diagram of chopping switch when pipe all-pass on switching tube under the first control strategy.
Fig. 4 (c) is the common-mode voltage waveform schematic diagram of motor under the first control strategy.
Fig. 5 (a) is the break-make schematic diagram of chopping switch when pipe all-pass on switching tube under the second control strategy.
Fig. 5 (b) is the common-mode voltage waveform schematic diagram of motor under the second control strategy.
Fig. 6 (a) is the break-make schematic diagram of chopping switch when pipe all-pass under switching tube under the 3rd control strategy.
Fig. 6 (b) is the common-mode voltage waveform schematic diagram of motor under the 3rd control strategy.
Embodiment
In order more specifically to describe the present invention, below in conjunction with the drawings and the specific embodiments, technical scheme of the present invention is elaborated.
Be illustrated in figure 2 motor driven systems, comprise DC power supply, the first chopping switch, the second chopping switch, inverter, motor and controller.Wherein, chopping switch and inverter HF switch pipe can be MOSFET, IGBT, IGCT, IEGT, triode, GTO, thyristor etc.If switching tube self is not gathered the diode of reverse parallel connection, add the diode of reverse parallel connection, diode can be Schottky diode, fast recovery diode, silicone tube, silicon carbide diode etc.
Present embodiment is taking three phase electric machine system as example, but is not limited to three phase electric machine system.DC power supply can be transformed from AC power by rectification and filter circuit, also can be from DC suppling equipment.This DC power supply positive and negative terminal all connected a chopping switch S7 and S8, for being connected and shutoff of late-class circuit (inverter) and prime DC power supply.The inverter that after chopping switch, access is made up of 6 switching tubes (S1～S6), for DC power supply is reverse into AC power, controls alternating current machine operation.Each switching tube is taking the IGBT with anti-paralleled diode as example herein, but is not limited to IGBT.The control strategy of whole motor driven systems is completed by controller, and by the collection to electric machine operating characteristic, output 8 roads drive signal, for driving switch pipe S1～S8.
As shown in Figure 1, in motor control strategy, common space voltage vector control algolithm has 8 kinds of space voltage vector V0～V7, wherein V0 and V7 are zero voltage space vectors, V7 is high potential Zero voltage vector (i.e. pipe conducting on all switching tubes), and V0 is electronegative potential Zero voltage vector (i.e. pipe conducting under all switching tubes).Although zero voltage space vector is not effective voltage vector to motor, can not produce effective torque, can optimize Electric Machine Control.
As shown in Figure 3, conventional motor driven systems can make motor produce the alternation common-mode voltage of amplitude, and Fig. 3 is the waveform schematic diagram of conventional motor common-mode voltage, and common-mode voltage can be calculated by following formula:
Wherein: u
cMfor motor winding neutral point C is to the voltage of DC bus clamp mid point M, u
uMfor motor U holds the voltage of DC bus clamp mid point M, u
vMfor motor V holds the voltage of DC bus clamp mid point M, u
wMfor motor W holds the voltage of DC bus clamp mid point M.
As can be seen from Figure 3, do not do in the situation of any corrective measure, the common-mode voltage peak-to-peak value of motor can reach the size of d-c bus voltage value.In the time adopting high DC bus-bar voltage, can produce strong common mode disturbances, cause serious negative effect.
In order to make the even running of alternating current function, the voltage vector of motor should be controlled at running reposefully in the space vector of voltage figure shown in Fig. 1.For example, the electric moter voltage vector position applying when needs 1. time, just can utilize space voltage vector V1, V2 and Zero voltage vector V0, V7 in sector, and composition seven segmentation control algolithms realize the voltage vector of expectation.In sector 1. in running, due to different on off states, motor common-mode voltage can to, then arrive, finally reach maximum.In like manner, in the time that motor moves in other sectors, common-mode voltage equally can be from changing to.Therefore,, in the time that motor normally moves, on off state constantly, in the lower switching of these 8 kinds of states (taking three-phase as example), has formed common-mode voltage waveform as shown in Figure 3.
When zero voltage space vector is done the used time, three input short circuits of motor, the electric current on DC bus is zero, is equivalent to DC power supply and Converting Unit and is do not have associated.If now DC power supply and inverter are disconnected, on the normal operation of motor without any impact.Utilize this characteristic, the present invention does the used time at zero voltage space vector, and DC power supply and inverter are disconnected, and weakens motor common-mode voltage and follows on off state variation and change, to reduce the common mode disturbances of motor.
Embodiment mono-
The circuit topological structure of the present embodiment as shown in Figure 2, taking three-phase as example, a switching tube of each series connection (chopping switch being connected with positive pole is S7, and the chopping switch being connected with negative pole is S8) on direct voltage positive and negative terminal; The full bridge inverter that after chopping switch S7 and S8, access is made up of 6 switching tubes, wherein, S1, S4 form the upper underarm of the first brachium pontis, and S3, S6 form the upper underarm of the second brachium pontis, the upper underarm of S5, S2 composition the 3rd brachium pontis.
When zero voltage space vector is done the used time, the common-mode voltage of motor is.If the in the situation that of zero voltage space vector effect, disconnect the connection of DC power supply and inverter simultaneously, motor power now can be in high-impedance state so, and the current potential of motor is determined by oneself factor completely, thereby the common-mode voltage amplitude that can not reach.
The control strategy that present embodiment adopts is as follows:
When under inverter when pipe all-pass, zero voltage space vector V0 does the used time, chopping switch S7 conducting, and chopping switch S8 turn-offs.As shown in Fig. 4 (a), when S1, S3, S5 switching tube all disconnect, when S4, S6, the whole conducting of S2 switching tube, chopping switch S7 conducting, chopping switch S8 turn-offs.
When on inverter when pipe all-pass, zero voltage space vector V7 does the used time, chopping switch S8 conducting, and chopping switch S7 turn-offs.As shown in Fig. 4 (b), when S1, S3, the whole conductings of S5 switching tube, when S4, S6, S2 switching tube all disconnect, chopping switch S8 conducting, chopping switch S7 turn-offs.
In the time of other on off states, non-zero voltage space vector is done the used time, all conductings of chopping switch S7 and S8.
Above-mentioned logic control has utilized the impact of chopping switch on common-mode voltage, has reached the object that reduces common-mode voltage.As shown in Fig. 4 (a), when zero voltage space vector, V0 does the used time, disconnects chopping switch S8, makes motor in high-impedance state, can prevent that motor common-mode voltage from reaching; In like manner, as shown in Fig. 4 (b), when zero voltage space vector, V7 does the used time, disconnects chopping switch S7, can prevent that motor common-mode voltage from reaching.
In the time that motor driven systems drives according to this control strategy, will produce the motor common-mode voltage as shown in Fig. 4 (c).From Fig. 4 (c), present embodiment has all reduced the maximum of motor common-mode voltage and minimum value.Common-mode voltage shown in comparison diagram 3, under the constant prerequisite of DC bus-bar voltage, the common-mode voltage peak-to-peak value of present embodiment is reduced into original 1/3.Therefore utilize the control strategy of present embodiment, can farthest reduce the amplitude of variation of motor common-mode voltage, and then farthest reduce the common mode disturbances of motor.
Embodiment bis-
Present embodiment only selects the chopping switch S7 at high pressure place to control, the conducting all the time of another chopping switch, and, in order to reduce costs, simplify control, can save this chopping switch, and DC power cathode is directly connected with inverter negative terminal.
Equally taking three-phase as example, the switching tube of connecting on direct voltage anode (chopping switch is S7); The full bridge inverter that after chopping switch S7, access is made up of 6 switching tubes, wherein, S1, S4 form the upper underarm of the first brachium pontis, and S3, S6 form the upper underarm of the second brachium pontis, the upper underarm of S5, S2 composition the 3rd brachium pontis.
When zero voltage space vector, V7 does the used time, and the common-mode voltage of motor is.If the in the situation that of zero voltage space vector V7 effect, disconnection is simultaneously connected with DC power supply, and motor now can be in high-impedance state so, and the current potential of motor is determined by oneself factor completely, and the common-mode voltage amplitude that can not reach.
The control strategy that present embodiment adopts is as follows:
When on inverter when pipe all-pass, zero voltage space vector V7 does the used time, and chopping switch S7 turn-offs.As shown in Fig. 5 (a), when S1, S3, the whole conductings of S5 switching tube, when S4, S6, S2 switching tube all disconnect, chopping switch S7 turn-offs.
In the time of other on off states, zero voltage space vector V0 or non-zero voltage space vector are done the used time, chopping switch S7 conducting always.
Above-mentioned logic control has utilized the impact of chopping switch on common-mode voltage, has reached the object that reduces common-mode voltage.As shown in Fig. 5 (a), when zero voltage space vector, V7 does the used time, disconnects chopping switch S7, can prevent that motor common-mode voltage from reaching.
In the time that motor driven systems drives according to this control strategy, will produce the motor common-mode voltage as shown in Fig. 5 (b).From Fig. 5 (b), present embodiment reduces the maximum of motor common-mode voltage.Common-mode voltage shown in comparison diagram 3, under the constant prerequisite of DC bus-bar voltage, the common-mode voltage peak-to-peak value of present embodiment is reduced into original 2/3.Utilize the control strategy of present embodiment, can reduce the maximum of motor common-mode voltage, and then reduce the common mode disturbances of motor; Only added a chopping switch, comparing embodiment mono-can reduce costs simultaneously.
Embodiment tri-
Present embodiment only selects the chopping switch S8 at low pressure place to control, the conducting all the time of another chopping switch, and, in order to reduce costs, simplify control, can save this chopping switch, and DC power anode is directly connected with inverter anode.
Equally taking three-phase as example, the switching tube of connecting on direct voltage negative terminal (chopping switch is S8); The full bridge inverter that after chopping switch S8, access is made up of 6 switching tubes, wherein, S1, S4 form the upper underarm of the first brachium pontis, and S3, S6 form the upper underarm of the second brachium pontis, the upper underarm of S5, S2 composition the 3rd brachium pontis.
When zero voltage space vector, V0 does the used time, and the common-mode voltage of motor is.If the in the situation that of zero voltage space vector V0 effect, disconnection is simultaneously connected with DC power supply, and motor now can be in high-impedance state so, and the current potential of motor is determined by oneself factor completely, and the common-mode voltage amplitude that can not reach.
The control strategy that present embodiment adopts is as follows:
When under inverter when pipe all-pass, zero voltage space vector V0 does the used time, and chopping switch S8 turn-offs.As shown in Fig. 6 (a), when S1, S3, the whole conductings of S5 switching tube, when S4, S6, S2 switching tube all disconnect, chopping switch S8 turn-offs.
In the time of other on off states, zero voltage space vector V7 or non-zero voltage space vector are done the used time, chopping switch S8 conducting always.
Above-mentioned logic control has utilized the impact of chopping switch on common-mode voltage, has reached the object that reduces common-mode voltage.As shown in Fig. 6 (a), when zero voltage space vector, V0 does the used time, disconnects chopping switch S8, can prevent that motor common-mode voltage from reaching.
In the time that motor driven systems drives according to this control strategy, will produce the motor common-mode voltage as shown in Fig. 6 (b).From Fig. 6 (b), present embodiment reduces the minimum value of motor common-mode voltage.Common-mode voltage shown in comparison diagram 3, under the constant prerequisite of DC bus-bar voltage, the common-mode voltage peak-to-peak value of present embodiment is reduced into original 2/3.Utilize the control strategy of present embodiment, can reduce the minimum value of motor common-mode voltage, and then reduce the common mode disturbances of motor; Only added a chopping switch, comparing embodiment mono-can reduce costs simultaneously.
Claims (6)
1. there is an electric system that reduces common mode disturbances ability, it is characterized in that: comprise motor, DC power supply, bridge-type inverter, controller and 1～2 chopping switch; The connection corresponding to the stator winding of motor of described bridge-type inverter AC, described controller is used to bridge-type inverter and chopping switch that driving signal is provided;
If chopping switch is one, the positive pole of DC power supply is connected with the anode of bridge-type inverter by chopping switch, and the negative pole of DC power supply is directly connected with the negative terminal of bridge-type inverter; Or the positive pole of DC power supply is directly connected with the anode of bridge-type inverter, the negative pole of DC power supply is connected with the negative terminal of bridge-type inverter by chopping switch;
If chopping switch is two, the positive and negative polarities of the DC power supply corresponding connection in positive and negative two ends with inverter by a chopping switch respectively.
2. electric system according to claim 1, is characterized in that: described DC power supply is independently direct voltage source or the direct current output of prime AC power after rectification.
3. electric system according to claim 1, is characterized in that: described chopping switch adopts the switching tube with anti-paralleled diode.
4. electric system according to claim 3, is characterized in that: described switching tube is MOSFET, IGBT, IGCT, IEGT, GTO, triode or thyristor.
5. electric system according to claim 3, is characterized in that: described diode is Schottky diode, fast recovery diode, silicone tube or silicon carbide diode.
6. electric system according to claim 1, it is characterized in that: under the control of controller, only, in the time that the switching tube of all upper brachium pontis in bridge-type inverter is all closed, the chopping switch being connected with DC power anode just turn-offs, and this chopping switch of other situations is closure all; Only, in the time that the switching tube of all lower brachium pontis in bridge-type inverter is all closed, the chopping switch being connected with DC power cathode just turn-offs, and this chopping switch of other situations is closure all.
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| CN104467594A (en) * | 2014-12-01 | 2015-03-25 | 沈阳工业大学 | SVPWM modulation method applied to motor driving system |
| CN107070361A (en) * | 2017-03-30 | 2017-08-18 | 沈阳工业大学 | It is a kind of to reduce the SVPWM control method of six-phase motor common-mode voltage |
| CN107666261A (en) * | 2017-10-27 | 2018-02-06 | 沈阳工业大学 | A kind of double threephase motor SVPWM control methods of low common-mode voltage |
| EP3361618A1 (en) * | 2017-02-14 | 2018-08-15 | ebm-papst Mulfingen GmbH & Co. KG | Five switch topology |
| CN112104253A (en) * | 2020-09-10 | 2020-12-18 | 南京航空航天大学 | High-conversion-efficiency DC-AC inverter and inversion method |
| CN113014169A (en) * | 2021-03-04 | 2021-06-22 | 中国矿业大学 | Mine electric locomotive common-mode voltage prediction control method based on voltage vector |
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| CN112104253A (en) * | 2020-09-10 | 2020-12-18 | 南京航空航天大学 | High-conversion-efficiency DC-AC inverter and inversion method |
| CN113014169A (en) * | 2021-03-04 | 2021-06-22 | 中国矿业大学 | Mine electric locomotive common-mode voltage prediction control method based on voltage vector |
| CN113014169B (en) * | 2021-03-04 | 2023-04-07 | 中国矿业大学 | Mine electric locomotive common-mode voltage prediction control method based on voltage vector |
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