CN106253723B - A kind of waveform modulated method and device based on space voltage vector - Google Patents
A kind of waveform modulated method and device based on space voltage vector Download PDFInfo
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- CN106253723B CN106253723B CN201610654674.2A CN201610654674A CN106253723B CN 106253723 B CN106253723 B CN 106253723B CN 201610654674 A CN201610654674 A CN 201610654674A CN 106253723 B CN106253723 B CN 106253723B
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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
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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
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
Abstract
The waveform modulated method based on space voltage vector that the invention discloses a kind of, comprising: obtain the frequency f and fundamental wave peak value U1 of reference voltage vector；According to the fundamental wave peak value U1, modulation ratio m is calculated, according to the frequency f, obtains vectors switching number k；Vector sequence and optimization switching angle corresponding when three-phase inverter output harmonic wave current value minimum is obtained by constructing space voltage vector sequence based on the modulation ratio m and the vectors switching number k；The phase angle of reference voltage vector optimization switching angle corresponding with vector each in the vector sequence is compared；Based on comparative result, by controlling switch on and off state and the action time of three-phase inverter switching device, the output voltage waveforms of three-phase inverter are modulated.The present invention improves the ability for inhibiting three-phase inverter output harmonic wave electric current by the output harmonic wave of optimization three-phase inverter, so that optimized synchronization modulation is more accurate.
Description
Technical field
The present invention relates to Vector Modulation field, more specifically, it relates to a kind of waveform tune based on space voltage vector
Method and device processed.
Background technique
For common two-level inverter topology, space voltage vector modulation (SVPWM) is by the six of three-phase inverter
The switching mode of a power switch tube composition and the pulse width modulated wave generated, basic thought is exactly that three-phase inverter is utilized to generate
7 discrete space voltage vectors remove the reference voltage vector for being fitted any needs, to achieve the purpose that output reference voltage.By
In the output voltage of inverter, there are harmonic waves, and with the reduction of carrier wave ratio, the harmonic wave of output can become larger, and the control performance of motor becomes
Difference needs the harmonic wave of output voltage of the method optimization output inverter using synchronous modulation.
Currently, common optimized synchronization modulator approach is based on the smallest optimization side of inverter output harmonic wave current effective value
Method is modeled based on the single-phase bridge arm output voltage waveforms of three-phase inverter, obtains the excellent of every phase output voltage waveforms
Switching angle cannot intuitively obtain the overall work characteristic of three-phase inverter for three-phase inverter, and not account for
Whether line voltage polarity is consistent and whether moves at the same time the factors such as two and more than two bridge arms to three-phase inverter output spy
The influence of property, so based on the optimization switching angle that every phase obtains, the output voltage waveforms of modulated inverter cannot preferably inhibit
The effect of the output harmonic wave electric current of three-phase inverter, optimized synchronization modulation is bad.
Summary of the invention
In view of this, the present invention provides a kind of waveform modulated method based on space voltage vector, improves inhibition three
The ability of phase inverter output harmonic wave electric current, so that optimized synchronization modulation is more accurate.
To achieve the above object, the invention provides the following technical scheme:
A kind of waveform modulated method based on space voltage vector, comprising:
Obtain the frequency f and fundamental wave peak value U of reference voltage vector1；
According to the fundamental wave peak value U1, modulation ratio m is calculated, according to the frequency f, obtains vectors switching number k, the arrow
Amount switching times k is used to indicate the switching number of three-phase inverter switching device；
Based on the modulation ratio m and the vectors switching number k, optimization vector sequence and the optimization vector sequence are obtained
In the corresponding optimization switching angle of each vector, the optimization vector sequence is that three-phase inverter output harmonic wave current value is minimum
When corresponding vector sequence；
By the optimization corresponding with vector each in the optimization vector sequence of the phase angle of the reference voltage vector
Switching angle is compared；
Based on comparative result, by controlling switch on and off state and the action time of three-phase inverter switching device, modulation
The output voltage waveforms of three-phase inverter.
Preferably, described to be based on the modulation ratio m and vectors switching number k, obtain optimization vector sequence and described
Optimize the corresponding optimization switching angle of each vector in vector sequence, specifically include:
Space is established according to pre-set space voltage vector sequence structure condition based on the vectors switching number k
Voltage vector sequence group；
It is modeled for each space voltage vector sequence in the space voltage vector sequence group, is based on the modulation
Than m, the corresponding optimization switching angle of each vector in each space voltage vector sequence is calculated；
According to the corresponding optimization switching angle of vector each in each space voltage vector sequence, each sky is calculated
Between the corresponding harmonic current of voltage vector sequence；
Obtain corresponding space voltage vector sequence and optimization switching angle when harmonic current value minimum.
Preferably, the output voltage waveforms of three-phase inverter are 1/4 period even symmetry, half-wave odd symmetry and three-phase symmetrical.
Corresponding space voltage vector sequence and optimization switching angle are stored in when preferably, by the harmonic current value minimum
In one storage unit.
Preferably, described according to the fundamental wave peak value U1, modulation ratio m is calculated, specifically:
By the fundamental wave peak value U1Substitute into formula:
M=U1/(2Udc/π)；
Modulation ratio m is calculated, wherein UdcFor three-phase inverter DC voltage.
It is preferably, described to calculate the corresponding harmonic current of each space voltage vector sequence, specifically:
By the corresponding optimization switching angle of vector each in each space voltage vector sequence, A phase is calculated
The corresponding optimization switching angle of output voltage, and the corresponding optimization switching angle of A phase output voltage is substituted into formula:
Obtain the corresponding harmonic voltage U of each space voltage vector sequence A phase output voltagen, by the output harmonic wave electricity
Press UnSubstitute into formula:
The corresponding harmonic current of each space voltage vector sequence A phase output voltage is obtained, wherein UdcFor three-phase inverter
DC voltage, αiFor corresponding i-th of the optimization switching angle of A phase output voltage, N=k-1, L are the equivalent inductance of motor.
A kind of waveform modulated device based on space voltage vector, comprising: the first acquisition module, computing module, second are obtained
Modulus block, comparison module and modulation module；
Described first obtains module, for obtaining the frequency f and fundamental wave peak value U of reference voltage vector1；
The computing module, for according to the fundamental wave peak value U1, modulation ratio m is calculated, according to the frequency f, obtains arrow
Switching times k is measured, the vectors switching number k is used to indicate the switching number of three-phase inverter switching device；
Described second obtains module, for being based on the modulation ratio m and vectors switching number k, obtains optimization vector
The corresponding optimization switching angle of each vector in sequence and the optimization vector sequence, the optimization vector sequence are three contraries
Become vector sequence corresponding when device output harmonic wave current value minimum；
The comparison module, for by each arrow in the phase angle of the reference voltage vector and the optimization vector sequence
Corresponding optimization switching angle is measured to be compared；
The modulation module, for based on comparative result, passing through the switch on and off shape of control three-phase inverter switching device
State and action time modulate the output voltage waveforms of three-phase inverter.
Preferably, described second module is obtained, comprising: setting up submodule, the first computational submodule, the second computational submodule
And acquisition submodule；
The setting up submodule, for being based on the vectors switching number k, according to pre-set space voltage vector sequence
Column structural environment establishes space voltage vector sequence group；
First computational submodule, for for each space voltage vector sequence in the space voltage vector sequence group
Column are modeled, and are based on the modulation ratio m, each vector in each space voltage vector sequence is calculated and respectively corresponds
Optimization switching angle；
Second computational submodule, for being respectively corresponded according to each vector in each space voltage vector sequence
Optimization switching angle, calculate the corresponding harmonic current of each space voltage vector sequence；
The acquisition submodule, corresponding space voltage vector sequence and optimization are opened when for obtaining harmonic current value minimum
Close angle.
It can be seen via above technical scheme that compared with prior art, the invention discloses one kind to be sweared based on space voltage
The waveform modulated method of amount, comprising: obtain the frequency f and fundamental wave peak value U1 of reference voltage vector；According to the fundamental wave peak value U1,
Modulation ratio m is calculated, according to the frequency f, obtains vectors switching number k, the vectors switching number k is for indicating three-phase inversion
The switching number of device switching device；Based on the modulation ratio m and the vectors switching number k, optimization vector sequence is obtained
And the corresponding optimization switching angle of each vector in the optimization vector sequence, the optimization vector sequence are three-phase inverter
Corresponding vector sequence when output harmonic wave current value minimum；By the phase angle of the reference voltage vector and the optimization vector
The corresponding optimization switching angle of each vector is compared in sequence；Based on comparative result, it is opened by controlling three-phase inverter
Switch on and off state and the action time for closing device, modulate the output voltage waveforms of three-phase inverter.The present invention is empty by construction
Between voltage vector arrangement set, model solution is carried out to each space vector sequence in set, compares to obtain inverter output
Corresponding space voltage vector sequence and switching angle when harmonic current value minimum, and it is corresponding when according to the harmonic current value minimum
Space voltage vector sequence and switching angle, be compared with the phase angle of the reference voltage vector, it is based on comparative result, right
The switch on and off state of three-phase inverter switching device and action time are controlled, and the output for optimizing three-phase inverter is humorous
Wave, improves the ability for inhibiting three-phase inverter output harmonic wave electric current, and the effect of optimized synchronization modulation is more accurate.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of waveform modulated embodiment of the method flow chart based on space voltage vector provided by the invention；
Fig. 2 is another waveform modulated embodiment of the method flow chart based on space voltage vector provided by the invention；
Fig. 3 is a kind of three-phase inverter semi-bridge type inverter space voltage vector figure provided by the invention；
Fig. 4-a is a kind of flow chart for constructing space voltage vector sequence provided by the invention；
Fig. 4-b is the flow chart of another construction space voltage vector sequence provided by the invention；
Fig. 5 is a kind of waveform modulated Installation practice structure chart based on space voltage vector provided by the invention；
Fig. 6 is another waveform modulated Installation practice structure chart based on space voltage vector provided by the invention；
Fig. 7 is one kind provided by the invention by the corresponding optimization switching angle of vector each in space voltage vector sequence
Calculate the relational graph at the optimization switching angle in corresponding A phase output voltage；
Fig. 8 is a kind of system vector sequence optimum results schematic diagram based on m-f plane provided by the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Description and claims of this specification and term " first " in above-mentioned attached drawing, " second " etc. are for distinguishing
Similar object, without being used to describe a particular order or precedence order.It should be understood that the term used in this way is in appropriate feelings
It can be interchanged under condition, this is only to describe the used differentiation in description to the object of same alike result in the embodiment of the present invention
Mode.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Attached drawing 1 is please referred to, is a kind of one embodiment of waveform modulated method based on space voltage vector provided by the invention
Flow chart.
A kind of waveform modulated method based on space voltage vector, as shown in Fig. 1, which comprises
Step 101: obtaining the frequency f and fundamental wave peak value U of reference voltage vector1；
In a step 101, the reference voltage vector is the voltage vector of three-phase inverter desired output, reference voltage
Vector can be set according to demand for control.
Step 102: according to the fundamental wave peak value U1, modulation ratio m is calculated, according to the frequency f, obtains vectors switching number
K, the vectors switching number k are used to indicate the switching number of three-phase inverter switching device；
In a step 102, the modulation ratio m can be defined as three-phase inverter fundamental voltage output of voltage peak value and square wave exports
When voltage fundamental peak value ratio, i.e. m=U1/(2Udc/ π), wherein UdcFor DC voltage；The vectors switching number k can be with
Pass through determination of tabling look-up according to the frequency f of the reference voltage vector.
Step 103: being based on the modulation ratio m and vectors switching number k, obtain optimization vector sequence and the optimization
The corresponding optimization switching angle of each vector in vector sequence, the optimization vector sequence are three-phase inverter output harmonic wave electricity
Corresponding vector sequence when flow valuve minimum；
Step 104: the phase angle of the reference voltage vector and each vector in the optimization vector sequence is right respectively
The optimization switching angle answered is compared；
Step 105: based on comparative result, when by controlling the switch on and off state of three-phase inverter switching device and act on
Between, modulate the output voltage waveforms of three-phase inverter.
The present invention models each space vector sequence in set by construction space voltage vector arrangement set
It solves, compares to obtain corresponding space vector sequence and switching angle when inverter output harmonic wave current value minimum, pass through this side
The available more accurately vector sequence of formula improves the ability for inhibiting three-phase inverter output harmonic wave electric current, so that optimization
The better effect of synchronous modulation.
It please refers to shown in attached drawing 2, is a kind of the another of waveform modulated method based on space voltage vector provided by the invention
One embodiment flow chart.
As shown in Fig. 2, described be based on the modulation ratio m and vectors switching number k, optimization vector sequence and institute are obtained
The corresponding optimization switching angle of each vector in optimization vector sequence is stated, is specifically included:
Step 201: it is based on the vectors switching number k, according to pre-set space voltage vector sequence structure condition,
Establish space voltage vector sequence group；
In step 201, the vectors switching number k is used to indicate the switching time of three-phase inverter switching device
Number, can obtain according to the frequency f of the reference voltage；
The pre-set space voltage vector sequence structure condition, specific setting process are as follows:
To make the synchronism output waveform of three-phase inverter meet 1/4 period even symmetry, half-wave odd symmetry and three-phase symmetrical, and
The PWM line voltage polarity of wave for meeting output simultaneously is consistent, and same switching moment only allows to switch the constraint of bridge arm switch
Condition, as shown in figure 3, using 8 switch states of two level half-bridge formula inverter of three-phase, whereinWithEntire space vector plane is divided into 6 radians of π/3 using 6 non-zero vectors as boundary by referred to as zero vector
Sector, and the vector arrangement of each sector meets condition shown in table 1.
The corresponding vector of beginning boundary that each sector can wherein be defined is referred to as x, terminates the corresponding vector in boundary and claims
Be y, it is only necessary to act bridge arm switch and can be switched to the zero vector of x and be referred to as zx, it is only necessary to it acts a bridge arm and opens
The zero vector that pass can be switched to y is referred to as zy, wherein x and y, zxAnd zyRespectively as a pair of of compliments.
Table 1 meets symmetrical space vector arrangement and requires
| θ=n* π/3- Φ | θ=n* π/3+ Φ |
| zx | zy |
| zy | zx |
| x | y |
| y | x |
Wherein, (n=1,2 ... 6), respectively correspond the center of sector VI, I ... V, the value range of Φ for π/3 θ=n*
For [0, π/6].In former and later two half sectors divided equally using sector centers as axis, it should be selected at the position equal apart from sector centers
Select complementary vector.For Section VI sector as shown in Figure 3, at θ=π/3- Φ, x, then at θ=π/3+ Φ, Ying Xuan are selected
Select y.
It arranges according to vector shown in table 1, can determine the start vector of construction space voltage vector sequence, terminate arrow
Amount and two groups of basic vectors, vector based on the determination can be to the intermediate vector between start vector and end vector
Sequence is constructed.
Since in each sector, using center as boundary, the vector arrangement in half sector of the radian of former and later two π/6 meets mirror image
Symmetrical and sector is symmetrical, so the later half sector of a certain sector need to only be selected to be studied.According to mirror symmetry principle and
Only allow to switch the constraint of a switch simultaneously, the start vector of later half sector can only be x or y；Only allow to cut simultaneously to meet
A switch and the polarity principle of correspondence are changed, the end point of the boundary of sector i.e. later half sector can only select zx、zyOr in y
One；Simultaneously according to zxAnd zyFeature of two zero vectors in vector arrangement, can define two basic vector groups, and first group
For zyY, xy and xzxXy, second group is zxX, yx and yzyYx, in the later half sector of a certain sector, to start vector and end
Intermediate vector sequence between vector, any possible arrangement mode can be by the base in one of basic vector group
This vector is obtained by different permutation and combination, only two basic vectors end to end of the sequence need to combine start vector and
The selection for terminating vector is handled.
It is described to establish space voltage vector sequence group, it specifically includes: 1. based on the vectors switching number k, selecting one
It studies the later half sector of sector；2. selecting x or y that two classes is divided to handle according to start vector；3. to the start vector of each determination, then
Z is selected according to vector is terminatedx、zyOr y points of 3 classes processing, in this way, needing to be divided into 6 in conjunction with the selection of start vector and end vector
Kind situation processing；4. utilize above-mentioned two groups of basic vectors, respectively at above-mentioned 6 kinds, to start vector and terminate vector it
Between intermediate vector sequence constructed, obtain two groups of space vector sequences；5. to weight in two groups of obtained space vector sequences
Multiple vector sequence is deleted, and the set of all vector sequences for meeting constraint condition is obtained.
Here to utilize first group of basic vector zyY, xy and xzxStructure is elaborated for xy construction space vector sequence
The method for making space vector sequence.Fig. 4-a and Fig. 4-b give the flow chart of its construction process, select x or y by start vector,
It is divided to two classes to handle.
Fig. 4-a is the construction process for the vector sequence that start vector is y, and basic ideas are according to the possibility for terminating vector
Selection is divided into 3 group processing: 1. terminating vector selection zy, -2 vectors of middle k can be by zyY, xy and xzxXy permutation and combination
It generates, if k < 2 or k is odd number, then without solution；2. to the vector to be ended up with y, since three basic vectors are all ended up with y, so
It will terminate vector y to be merged into intermediate vector sequence, then intermediate vector sequence should include k-1 vector, if k≤1 or k are even
Number, then without solution；3. to zxThe vector of ending, in two kinds of situation, such as with xzxEnding, then needing to generate one in centre includes k-
The sequence of 3 vectors, if k < 3 or k is even number, no solution；Such as with xzxxzxEnding, then needing to generate one in centre includes k-5
The sequence of a vector, if k < 5 or k is even number, then without solution.
For the vector sequence originated with x, in conjunction with basic vector, start vector needs to be extended for xy and xzxTwo kinds of feelings of xy
Condition is handled, the construction process all fours for the vector sequence that the basic ideas and start vector for constructing vector sequence are y.
Fig. 4-b only gives detailed configuration process when start vector is xy.
It in a similar way, can be with second group of basic vector zxX, yx and yzyYx constructs another group of space vector sequence
Column.By in this two groups of space vector sequences, duplicate sequence removal is to get the vector sequence collection arrived under vectors switching number k value
It closes.
By above-mentioned building method, the available k that works as is 1,2,3 ... when 6, the corresponding vector sequence set of institute, such as
Shown in table 2, wherein being the number of the sequence in each vector sequence unquote, number illustrates the corresponding divider ratio of the sequence,
It is the A class arrangement mode in 7 frequency dividings as 7-A represents the sequence.
The vector sequence set of 2 k≤6 of table constructs result
Step 202: being modeled, be based on for each space voltage vector sequence in the space voltage vector sequence group
The corresponding optimization switching angle of each vector in each space voltage vector sequence is calculated in the modulation ratio m；
In step 202, for the k value of given vectors switching number, the vector sequence set under the k value is constructed
Afterwards, it to each vector sequence in set, establishes mathematical model as shown in Equation 1 and optimizes, obtain each vector sequence
Arrange corresponding locally optimal solution.
It, can according to the relationship of vector sequence yxy corresponding vector arrangement and A phase output voltage waveforms such as k=3
To establish following mathematical model:
In formula, θ1And θ2The angle of first vector y and second vector x are respectively represented, m is the modulation ratio.
Wherein θ1And θ2It is obtained by off-line calculation, the optimization switching angle that off-line calculation obtains can be using the side of data fitting
Formula is programmed realization, such as the optimization switching angle θ of formula 2 and the corresponding 5-C vector sequence of formula 31And θ25 order polynomials fitting,
The value range of modulation ratio m is 0.08~0.96, helps to realize continuously adjusting for system.
Model solution is carried out based on the output voltage waveforms of single-phase bridge arm compared with the existing technology, the present invention will be to excellent
The angular configurations range shorter at Switching angle optimizes solution room to (0, π/6).It in the same manner, can be to any
Each sequence in vector sequence set under given k value carries out model solution.
To each vector sequence solving optimization switching angle, the optimization function angle of k vector, makes to export fundamental wave in order to obtain
Voltage is equal to given value, and harmonic current virtual value is minimum, and wherein the sum of angle of k vector is π/6.
Step 203: according to the corresponding optimization switching angle of vector each in each space voltage vector sequence, meter
Calculate the corresponding harmonic current of each space voltage vector sequence；
It in step 203, will be at same modulation ratio m, corresponding to each space voltage vector sequence for being calculated
Optimization switching angle, substitute into the formula of calculating harmonic current as shown in Equation 1 respectively, each space voltage vector sequence be calculated
Corresponding harmonic current.
Step 204: obtaining corresponding space voltage vector sequence and optimization switching angle when harmonic current value minimum.
In the present embodiment, the method for construction space voltage vector arrangement set proposed by the present invention, strong operability, and
It is easily applied to higher divider ratio, while regarding three-phase inverter as an entirety, is to become with the angle of each vector
Founding mathematical models are measured, by system-level optimization, more preferably current harmonics elimination ability can be obtained within the scope of complete modulation；And
The solution range shorter of switching angle is optimized into solution room to 0~π/6 based on the optimization method of space voltage vector.
Specifically, the output voltage waveforms of three-phase inverter are 1/4 period even symmetry, half-wave odd symmetry and three-phase symmetrical.
Specifically, can be by the harmonic current value minimum when corresponding space voltage vector sequence and optimization switching angle deposit
Storage is in a storage unit.
Specifically, described according to the fundamental wave peak value U1, modulation ratio m is calculated, it can be with are as follows:
By the fundamental wave peak value U1Substitute into formula:
M=U1/(2Udc/π)；
Modulation ratio m is calculated, wherein UdcFor three-phase inverter DC voltage.
It, can be with specifically, described calculate the corresponding harmonic current of each space voltage vector sequence are as follows:
By the corresponding optimization switching angle of vector each in each space voltage vector sequence, A phase is calculated
The corresponding optimization switching angle of output voltage, and the corresponding optimization switching angle of A phase output voltage is substituted into formula:
Obtain the corresponding harmonic voltage U of each space voltage vector sequence A phase output voltagen, by the output harmonic wave electricity
Press UnSubstitute into formula:
The corresponding harmonic current of each space voltage vector sequence A phase output voltage is obtained, wherein UdcFor three-phase inverter
DC voltage, αiFor corresponding i-th of the optimization switching angle of A phase output voltage, N=k-1, L are the equivalent inductance of motor.
As shown in fig. 7, for vector sequence yxy, giving and being opened by the corresponding optimization of each vector of yxy with k=3
Close angle θ1、θ2With π/6- θ1-θ2, the process at the optimization switching angle in corresponding A phase output voltage is calculated, wherein α1=θ1, α2
=θ1+θ2, α1、α2Respectively represent the 1st and the 2nd optimization switching angle in A phase output voltage waveforms.
The system-level Optimization Steps of optimized synchronization SVPWM for given system are described below, to any system, first
Step, according to the relationship between system output frequency and inverter switching frequency, determines k value range, constructs correspondence to each k value
Vector sequence set, single sequence optimisation solution is carried out to sequence each in set respectively, obtains locally optimal solution；Second
Step carries out global optimization solution to each given k value；Third step considers the switching frequency, output frequency, output of inverter
The factors such as voltage rating and burst pulse action time, to vector sequence system on modulation ratio m and output frequency f two-dimensional directional
Irrespective of size optimum choice.
As shown in figure 8, giving one using permanent-magnet synchronizing traction motor as load, highest switching frequency as 500Hz's
Three-phase inverter system optimization result.Wherein, the region that thick oblique line streaks, as whole system output frequency are selected from low to high
The modulating mode selected: asynchronous modulation → 11-F → 9-E → 7-D → 5-C → 3-B → 3-A → square wave, in 150Hz, although just opening
Three frequency division should be also selected for the frequency utilization of pass, but since the output voltage of needs actually has reached rated value, be opened from this point
Beginning system enters Square operation.In figure in dashed box, give whole excellent with 3 to 11 frequency dividings of total optimization vector sequence description
Change result.
Corresponding to a kind of waveform modulated method based on space voltage vector provided by the invention, the present invention also provides one
Waveform modulated device of the kind based on space voltage vector.Attached drawing 5 is referred to, is provided by the invention a kind of based on space voltage arrow
The waveform modulated Installation practice structural schematic diagram of amount.
A kind of waveform modulated device based on space voltage vector, comprising: the first acquisition module, computing module, second are obtained
Modulus block, comparison module and modulation module；
Described first obtains module, for obtaining the frequency f and fundamental wave peak value U of reference voltage vector1；
The computing module, for according to the fundamental wave peak value U1, modulation ratio m is calculated, according to the frequency f, obtains arrow
Switching times k is measured, the vectors switching number k is used to indicate the switching number of three-phase inverter switching device；
Described second obtains module, for being based on the modulation ratio m and vectors switching number k, obtains optimization vector
The corresponding optimization switching angle of each vector in sequence and the optimization vector sequence, the optimization vector sequence are three contraries
Become vector sequence corresponding when device output harmonic wave current value minimum；
The comparison module, for by each arrow in the phase angle of the reference voltage vector and the optimization vector sequence
Corresponding optimization switching angle is measured to be compared；
The modulation module, for based on comparative result, passing through the switch on and off shape of control three-phase inverter switching device
State and action time modulate the output voltage waveforms of three-phase inverter.
As shown in fig. 6, described second obtains module, comprising: establishes submodule in another embodiment provided by the invention
Block, the first computational submodule, the second computational submodule and acquisition submodule；
The setting up submodule, for being based on the vectors switching number k, according to pre-set space voltage vector sequence
Column structural environment establishes space voltage vector sequence group；
First computational submodule, for for each space voltage vector sequence in the space voltage vector sequence group
Column are modeled, and are based on the modulation ratio m, each vector in each space voltage vector sequence is calculated and respectively corresponds
Optimization switching angle；
Second computational submodule, for being respectively corresponded according to each vector in each space voltage vector sequence
Optimization switching angle, calculate the corresponding harmonic current of each space voltage vector sequence；
The acquisition submodule, corresponding space voltage vector sequence and optimization are opened when for obtaining harmonic current value minimum
Close angle.
The present invention is through the above technical solutions, with each basic vector in the space voltage vector sequence in a cycle
Sequence of operation and angle are that amount to be optimized carries out model solution, and this method optimizes solution room, convergence greatly improved
A possibility that globally optimal solution, at the same consider line voltage polarity it is whether consistent and whether move at the same time two and two with
Influence of the factors such as upper bridge arm to three-phase inverter output characteristics can observe the working characteristics of three-phase inverter on the whole.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
In addition it should be noted that, the apparatus embodiments described above are merely exemplary, wherein described as separation
The unit of part description may or may not be physically separated, component shown as a unit can be or
It can not be physical unit, it can it is in one place, or may be distributed over multiple network units.It can basis
Some or all of the units may be selected to achieve the purpose of the solution of this embodiment for actual needs.In addition, the present invention provides
Installation practice attached drawing in, the connection relationship between unit indicate between them have communication connection, specifically can be implemented as
One or more communication bus or signal wire.Those of ordinary skill in the art are without creative efforts
To understand and implement.
In conclusion the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to upper
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to upper
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (5)
1. a kind of waveform modulated method based on space voltage vector characterized by comprising
Obtain the frequency f of reference voltage vector and the fundamental wave peak value U of the reference voltage vector1；
According to the fundamental wave peak value U1, modulation ratio m is calculated, according to the frequency f, obtains vectors switching number k, the vector is cut
Number k is changed for indicating the switching number of three-phase inverter switching device；
Space voltage is established according to pre-set space voltage vector sequence structure condition based on the vectors switching number k
Vector sequence group；
It is modeled for each space voltage vector sequence in the space voltage vector sequence group, is based on the modulation ratio m,
The corresponding optimization switching angle of each vector in each space voltage vector sequence is calculated；
According to the corresponding optimization switching angle of vector each in each space voltage vector sequence, each space electricity is calculated
Press the corresponding harmonic current of vector sequence；
Obtain corresponding space voltage vector sequence and optimization switching angle when harmonic current value minimum；
When by the phase angle of the reference voltage vector with the harmonic current value minimum in corresponding space voltage vector sequence
The corresponding optimization switching angle of each vector is compared；
Based on comparative result, by controlling switch on and off state and the action time of three-phase inverter switching device, three-phase is modulated
The output voltage waveforms of inverter.
2. the method according to claim 1, wherein the output voltage waveforms of three-phase inverter are that 1/4 period is even
Symmetrically, half-wave odd symmetry and three-phase symmetrical.
3. the method according to claim 1, wherein corresponding space voltage when by the harmonic current value minimum
Vector sequence and optimization switching angle are stored in a storage unit.
4. the method according to claim 1, wherein described according to the fundamental wave peak value U1, calculate modulation ratio m, tool
Body are as follows:
By the fundamental wave peak value U1Substitute into formula:
M=U1/(2Udc/π)；
Modulation ratio m is calculated, wherein UdcFor three-phase inverter DC voltage.
5. a kind of waveform modulated device based on space voltage vector characterized by comprising first obtains module, calculates mould
Block, second obtain module, comparison module and modulation module；
Described first obtains module, for obtaining the frequency f of reference voltage vector and the fundamental wave peak value of the reference voltage vector
U1；
The computing module, for according to the fundamental wave peak value U1, modulation ratio m is calculated, according to the frequency f, obtains vectors switching
Number k, the vectors switching number k are used to indicate the switching number of three-phase inverter switching device；
Described second obtains module, including setting up submodule, the first computational submodule, the second computational submodule and acquisition submodule
Block, wherein
The setting up submodule, for being based on the vectors switching number k, according to pre-set space voltage vector sequence structure
Condition is made, space voltage vector sequence group is established；
First computational submodule, for for each space voltage vector sequence in the space voltage vector sequence group into
Row modeling, is based on the modulation ratio m, it is corresponding excellent that each vector in each space voltage vector sequence is calculated
Switching angle；
Second computational submodule, for corresponding excellent according to each vector in each space voltage vector sequence
Switching angle calculates the corresponding harmonic current of each space voltage vector sequence；
The acquisition submodule, corresponding space voltage vector sequence and optimization switch when for obtaining harmonic current value minimum
Angle；
The comparison module, corresponding sky when for by the phase angle of the reference voltage vector with the harmonic current value minimum
Between in voltage vector sequence the corresponding optimization switching angle of each vector be compared；
The modulation module, for based on comparative result, by control three-phase inverter switching device switch on and off state and
Action time modulates the output voltage waveforms of three-phase inverter.
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