CN111900900B - Multi-module motor, vibration and common-mode current suppression PWM (pulse-width modulation) method and system - Google Patents

Multi-module motor, vibration and common-mode current suppression PWM (pulse-width modulation) method and system Download PDF

Info

Publication number
CN111900900B
CN111900900B CN202010681849.5A CN202010681849A CN111900900B CN 111900900 B CN111900900 B CN 111900900B CN 202010681849 A CN202010681849 A CN 202010681849A CN 111900900 B CN111900900 B CN 111900900B
Authority
CN
China
Prior art keywords
phase
pwm
complementary unit
sets
windings
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010681849.5A
Other languages
Chinese (zh)
Other versions
CN111900900A (en
Inventor
刘自程
刘康
蒋栋
何忠祥
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
712nd Research Institute Of China Shipbuilding Industry Corp
Huazhong University of Science and Technology
Original Assignee
712nd Research Institute Of China Shipbuilding Industry Corp
Huazhong University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 712nd Research Institute Of China Shipbuilding Industry Corp, Huazhong University of Science and Technology filed Critical 712nd Research Institute Of China Shipbuilding Industry Corp
Priority to CN202010681849.5A priority Critical patent/CN111900900B/en
Publication of CN111900900A publication Critical patent/CN111900900A/en
Application granted granted Critical
Publication of CN111900900B publication Critical patent/CN111900900B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • 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
    • H02P6/28—Arrangements for controlling 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a multi-module motor, a PWM (pulse-width modulation) method and a PWM system for restraining vibration and common-mode current, wherein a motor stator consists of an even number of sets of Y-shaped connected three-phase windings, the back electromotive force of the two sets of windings in complementary units has an electrical angle difference of 180 degrees, and the back electromotive force between each complementary unit is the same. The method comprises the steps that a classical inner and outer ring control framework is adopted, a current instruction value is obtained through rotating speed closed loop, and a modulation wave is obtained through current closed loop; determining the carrier phase of each complementary unit, and modifying the PWM (pulse-width modulation) action in the complementary unit to ensure that the PWM of the corresponding phases of two sets of windings in the complementary unit is always reversed; and comparing the modulated wave with the carrier wave, outputting a PWM wave according to the modified modulation action, outputting the PWM wave to a three-phase voltage source inverter, and driving the whole motor. The control scheme provided by the invention fully utilizes the degree of freedom, gives consideration to the performance to the greatest extent, does not increase extra equipment, reduces the vibration noise of the motor at the switching frequency, and can effectively reduce the common-mode current of a motor control system.

Description

Multi-module motor, vibration and common-mode current suppression PWM (pulse-width modulation) method and system
Technical Field
The invention belongs to the field of electric transmission systems, and particularly relates to a multi-module motor, a vibration and common-mode current suppression PWM (pulse-width modulation) method and a system.
Background
With the wide application of motor driving systems, the demand of people for speed-regulating transmission power is continuously increased, especially in the application occasions of metallurgy steel rolling, mine hoisting, locomotive traction, ship propulsion and the like. Generally, the capacity is improved by driving a multi-phase motor or a multi-module motor in parallel by adopting the parallel connection of inverters instead of adopting the parallel connection of switching devices, so that the reliability of the system is also improved.
In fact, multi-module motors have long emerged, and due to the convenience of modularity, PWM modulation has been provided with more degrees of freedom, thereby enabling more problems to be solved. For high power motors, two of the most urgent problems to be solved are the vibration noise problem and the common mode current problem causing bearing damage. In recent decades, carrier phase shift technology is increasingly widely used in parallel topology, which essentially uses the shift of PWM pulse in time to realize the offset of current ripple, thereby suppressing the high frequency component of current. The current is a source of electromagnetic force generated by the motor, and vibration noise is suppressed to some extent. The problem of common-mode current of the motor is researched, the most main source of the common-mode current is the common-mode voltage of a voltage source inverter, and from the modulation perspective, because the number of bridge arms of a traditional three-phase inverter is odd, the instantaneously output common-mode voltages cannot be completely complementary, and therefore complete elimination of the common-mode voltage cannot be realized. The parallel inverter becomes a new idea, and there are more ways to realize the cancellation of the common mode voltage without adding an additional filter.
Chinese patent CN110460295A discloses a method for suppressing current harmonics of dc bus capacitor by phase shift processing, which uses carrier phase shift method to perform phase shift processing on four PWM signals of a four-unit permanent magnet synchronous motor, aiming at improving the current harmonics of the dc bus filter capacitor in the system, and wasting the degree of freedom of two units for vibration suppression. Chinese patent CN109873554A discloses a method for eliminating PWM noise of a strong coupling multi-branch permanent magnet synchronous motor, which also adopts a carrier phase shifting method to eliminate electromagnetic vibration of the motor with odd PWM frequency, thereby reducing the noise of the motor PWM frequency. But it is directed to a permanent magnet synchronous motor with strong magnetic circuit coupling, and an additional coupling inductor is needed to suppress the circulating current between different modules.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a multi-module motor, a vibration and common-mode current suppression PWM (pulse-width modulation) modulation method and a vibration and common-mode current suppression PWM modulation system, which aim to solve the problem that the high-frequency vibration noise is controlled and suppressed by the conventional multi-module motor that additional coupling inductance is needed, and on the basis, the freedom degree of the multi-module motor is comprehensively considered, and the common-mode current of the motor is suppressed and the damage to a bearing is reduced by adopting a winding reverse connection and complementary PWM method.
To achieve the above object, according to an aspect of the present invention, there is provided a multi-module motor, a stator of which is composed of an even number of sets of three-phase windings connected in a Y-shape, each set of windings having a uniform impedance, and neutral points not connected to each other, herein expressed as 2N sets of three-phase windings, N being a positive integer greater than 2. The magnetic circuit coupling between each set of windings is very little, and the increase of winding current ripple caused by circulation after carrier phase shifting is avoided, so that coupling inductance is not needed. In the invention, each two sets of windings are called as a complementary unit, the two sets of windings in the complementary unit are reversely connected through the windings, so that the back electromotive force is different by 180 degrees in electrical angle, and the back electromotive force between each complementary unit is completely consistent.
According to another aspect of the present invention, a PWM modulation method for suppressing vibration and common mode current of the multi-module motor is provided, which specifically includes the following steps:
step 1: a classical inner and outer ring control frame is adopted, the rotating speed of a motor is used as feedback quantity, the feedback quantity is compared with an instruction value in a controller, the feedback quantity enters a rotating speed regulator, and a current instruction value is output, so that the rotating speed closed loop is formed.
Step 2: the current of each set of three-phase winding is sampled as feedback quantity, at least two phases of the three-phase winding are sampled, and the other phase of the three-phase winding is obtained through calculation. Two sets of winding currents in the complementary unit need to be subtracted in corresponding phases due to the reverse direction, and can be compared with the current instruction value to enter the current regulator and output a modulation wave, the current closed loop is formed, and at most N sets of current closed loops exist in 2N sets of windings. The subtraction of the current can be operated in the controller, or the difference can be directly obtained on the corresponding phase line connection method through the same sensor.
And step 3: the phase of the carrier wave of each complementary unit is determined, the carrier wave can be a triangular carrier wave or a sawtooth carrier wave, and the phase is determined by setting an internal register of the controller. If there are N complementary units in total and the phase shift angle of the 1 st complementary unit is considered to be 0, then the phase shift angle for the nth complementary unit should be (N-1) 180/N.
And 4, step 4: and modifying PWM modulation action in the complementary unit to enable the PWM of the corresponding phases of the two sets of windings in the complementary unit to be always reversed, wherein the reverse action can be obtained by setting a register in the controller or can be realized by hardware.
And 5: and (3) comparing the modulated wave in the step (2) with the carrier wave set in the step (3), and outputting the PWM wave according to the modulation action in the step (4), wherein the whole process needs to ensure the synchronism of PWM output.
Step 6: and outputting the output 12N paths of PWM to 2N three-phase voltage source inverters sharing a direct current bus to drive the whole motor.
According to another aspect of the present invention, there is provided a PWM modulation system for a motor with vibration and common mode current suppression, comprising:
a rotation speed closed-loop module for adopting a classical inner and outer loop control frame, comparing the rotation speed of the multi-module motor as a feedback quantity with an instruction value, entering a rotation speed regulator and outputting a current instruction value Iref；
The current closed-loop module is used for sampling the current of each set of three-phase winding as feedback quantity, sampling at least two phases of the three-phase winding, calculating the other phase of the three-phase winding, subtracting the two sets of winding currents in the complementary unit at the corresponding phase, and calculating a current instruction value IrefComparing, inputting into current regulator, and outputting modulated wave UrefThis is a current closed loop;
the carrier phase determining module is used for determining the carrier phase theta of each complementary unit;
the PWM reverse module is used for modifying PWM modulation action in the complementary unit so that PWM of two sets of windings in the complementary unit corresponding to each phase is always reversed;
the PWM output module is used for comparing the modulation wave with the carrier wave and outputting 12N paths of PWM waves;
and the PWM driving module is used for outputting 12N paths of output PWM waves to 2N three-phase voltage source inverters sharing the direct-current bus so as to drive the whole multi-module motor.
The control scheme based on the multi-module motor provided by the invention fully utilizes the degree of freedom, gives consideration to the performance to the greatest extent, does not increase extra equipment, reduces the vibration noise of the motor at the switching frequency, and can effectively reduce the common-mode current of a motor control system.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. according to the PWM method based on the multi-module motor vibration and common-mode current suppression, provided by the invention, through a carrier phase shift principle, the phase difference exists between the electromagnetic forces generated by the modules of the motor, and the torque ripple of the motor is effectively reduced after the torque is synthesized, so that the vibration noise of the motor at the switching frequency can be reduced.
2. According to the PWM modulation method based on the multi-module motor vibration and common-mode current suppression, the common-mode voltage generated by the voltage source inverter is always complementary to each complementary unit of the motor through the complementary PWM method, so that the common-mode current can be effectively suppressed from the source, and the damage to a motor bearing and insulation is reduced.
3. According to the PWM modulation method based on the multi-module motor vibration and common-mode current suppression, magnetic path coupling among windings inside the motor is reduced, so that high-frequency circulation among the windings is not increased when parallel inverters are adopted for carrying out relevant PWM modulation, winding current ripples are not increased, coupling inductance is not needed for suppression, and the overall power density is high.
Drawings
FIG. 1 is a phase back EMF star vector diagram for a four-module motor winding provided by the present invention;
FIG. 2 is a control block diagram of a PWM modulation method based on multi-module motor vibration and common-mode current suppression provided by the invention;
FIG. 3 is a schematic diagram of the carrier phase shift principle in the PWM modulation method provided by the present invention;
FIG. 4 is a schematic diagram of the vector composition principle of the high-frequency electromagnetic force after the carrier phase shift in the PWM modulation method provided by the present invention;
FIG. 5 is a schematic diagram of the position of the complementary zero common mode modulation in the space vector plane in the PWM modulation method provided by the present invention;
FIG. 6 is a schematic diagram of output voltages of four groups of inverters corresponding to each other in the PWM modulation method provided by the present invention;
FIG. 7 is a comparison graph of the experimental results of the suppression effect of the common mode voltage in the embodiment of the PWM method provided by the present invention;
FIG. 8 is a comparison graph of the experimental results of the suppression effect of the common mode current in the embodiment of the PWM method provided by the present invention;
FIG. 9 is a comparison graph of phase relationship simulation results of torque ripple in an embodiment of a PWM modulation method provided by the present invention;
fig. 10(a) and (b) are graphs comparing frequency domain experimental results of vibration acceleration of the surface of the motor housing in the embodiment of the PWM modulation method according to the present invention with the control group and the experimental group, respectively.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a multi-module motor, wherein a stator of the multi-module motor consists of an even number of sets of Y-shaped connected three-phase windings, each set of windings has consistent impedance, neutral points are not mutually connected, the impedance is represented as 2N sets of three-phase windings, and N is a positive integer greater than 2. The magnetic circuit coupling between each set of windings is very little, and the increase of winding current ripple caused by circulation after carrier phase shifting is avoided, so that coupling inductance is not needed.
Structurally, each set of three-phase winding is a basic unit and is relatively independent in control, but in order to achieve both vibration suppression and common-mode current suppression, each two sets of windings are called a complementary unit, and the two sets of windings in the complementary unit are connected in a reversed mode through the windings so that the back electromotive force is different by 180 degrees in electrical angle. While the back emf etc. is exactly the same between each complementary cell.
In this embodiment, N is 2, as shown in fig. 1. According to the grouping method of the complementary units, A in the figure1B1C1Three-phase winding and A2B2C2The three-phase windings belong to complementary units, A3B3C3Three-phase winding and A4B4C4The three-phase winding also belongs to complementary elements whose back emf differs in phase by 180 °, while the two complementary elements are identical.
The four sets of windings are connected in a Y shape, the neutral points of the four sets of windings are not connected, the output ports of the four sets of windings are respectively connected to four independent three-phase inverters, the four inverters share a direct current bus, the control ends of the four inverters are integrated on the same DSP chip, in the example, a TMS320F28377D chip is used and supports floating point operation, maximum 24-path ADC sampling and 24-path PWM signal output. If a motor with more modules is encountered, the development of the PWM signal can be realized by some auxiliary logic circuits.
After the related hardware devices are prepared, the PWM modulation algorithm proposed by the present invention can be implemented according to the following steps:
step 1: the overall framework of fig. 2 is for hardware connections and algorithm implementation. The rotating speed of the motor is used as a feedback quantity, the feedback quantity is compared with a command value in the controller, the rotating speed PI regulator is entered, and a current command value is output, wherein the command value also represents the expected output torque, and the current command value is a unique rotating speed closed loop.
Step 2: and (4) sampling the AB two-phase current in each set of three-phase winding, and calculating the C phase. For the first complementary cell, sample A1B1、A2B2In the current controller of (2) performing subtraction in the sensorUsing A on the premise that the reference directions of the devices are the same1Current of phase minus A2The resulting value of the phase current is fed back as phase a current for the 1 st complementary element. The same is applied to BC phase, and feedback is performed after subtraction.
And step 3: in the embodiment, vector control is adopted, and during control, the 1 st complementary unit feeds back three-phase current to be subjected to clark-park coordinate transformation, the current command value in the step 1 is taken as a q-axis current command value, and the d-axis current command value is 0. And PI regulation is carried out on the dq-axis current, and the whole current is used as a current closed loop of the 1 st group of complementary units. And the output after inverse transformation is the modulated wave of the complementary unit of the 1 st group.
And 4, step 4: and repeating the actions of the steps 2 and 3 for the 2 nd complementary unit.
And 5: the phase of the carrier wave of each complementary unit is determined, the carrier wave can be a triangular carrier wave or a sawtooth carrier wave, and the phase is determined by setting an internal register of the controller. In the embodiment, there are 2 complementary units, and the phase shift angle of the 1 st complementary unit is regarded as 0 °, then the phase shift angle of the 2 nd complementary unit should be 90 °, that is, the phase shift angle in fig. 3 is 90 °, at this time, the amplitude of the frequency-doubled electromagnetic force corresponding to the frequency-doubled current ripple with the largest current harmonic component is the largest, and its contribution to the torque is as shown in fig. 4, and the phase difference between the frequency-doubled electromagnetic forces is 180 °, so the electromagnetic force vectors are synthesized to be 0.
Step 6: and modifying the PWM action in the complementary unit to ensure that two sets of windings in the complementary unit share the same modulation wave, but the corresponding phase PWM is always reversed, and the reverse action can be obtained by setting a register in the controller or can be realized by hardware. For example, a DSP control chip is used, and only the PWM action registers need to be set to flip up and flip down, respectively, or a logic chip is directly used for inversion. Finally, on the space vector plane, the voltage vectors of the two sets of inverter outputs inside the complementary unit are always in the opposite direction, as shown in fig. 5.
And 7: and (3) comparing the modulated wave in the step (3) with the carrier wave set in the step (5), and outputting the PWM wave according to the modulation action in the step (6), wherein the whole process needs to ensure the synchronism of PWM output.
And 8: and outputting the output 12N paths of PWM to 2N sets of three-phase voltage source inverters sharing a direct current bus to drive the whole motor.
Generally speaking, the control method of a multi-module motor is almost different from the traditional three-phase motor, and the differences are mainly reflected in the design of current loops and how to generate PWM waves, generally speaking, four sets of windings need to be controlled by four independent current loops, but in order to realize the suppression of common-mode current, a part of degrees of freedom must be abandoned, so that the voltages between the two sets of windings are completely complementary. Therefore, only two independent current loops are needed to simultaneously realize the suppression of the torque ripple and the suppression of the common-mode current. For PWM, only phase and polarity adjustments are actually made, which has no negative effect on the control effect, but can significantly suppress the vibration noise and common mode current of the motor. It should be noted that when N is greater than 2, the hardware only needs to be prepared according to the requirement, and steps 2, 3 and 4 are repeated several times.
For this embodiment, the final corresponding PWM output condition is shown in fig. 6, and can be simply summarized as "reverse within group, phase shift between groups".
Regarding the performance of the present invention in terms of motor vibration suppression, related simulations and experiments were also performed according to this example, and here, a system (abbreviated as RWPWM-FS90) in which windings included in the present invention are connected in reverse and phase-shifted by 90 ° was used as an experimental group, and a conventional SVPWM non-phase-shifted system (abbreviated as SVPWM-noFS) with the same power level was used as a control group. The main parameters of the examples are specified in the following table:
TABLE 1
Parameter(s) Numerical value Unit of
Operating power 2.4 kW
Operating current 8 A
Operating speed 1800 rpm
Bus voltage 300 V
Switching frequency 10 kHz
FIG. 7 is a comparison of the results of two sets of experiments on common mode voltage. By disconnecting the motor rack from the ground, the instantaneous voltage difference between the motor shell and the ground wire is measured, and the magnitude of the common-mode voltage can be reflected. It can be seen that the scheme provided by the invention can effectively suppress the common mode voltage. Fig. 8 is a comparison of the two groups of experimental results on the common-mode current, and the inhibition effect on the common-mode current is also very significant, and is at least 50% inhibited.
Fig. 9 is a comparison of two sets of simulation results on torque ripple, and it can be found that there is an obvious phase relationship between torque high-frequency ripples (mainly, switching frequency doubling) before and after phase shifting, and the effect of using 90 ° phase shifting is to make the two just 180 ° out of phase in phase.
Fig. 10(a) and fig. 10(b) are a comparison of two sets of experimental results of vibration acceleration on the surface of the motor, and it can be seen that, by using the modulation algorithm provided by the present invention, the vibration of twice the switching frequency can be suppressed by about 50%.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (6)

1. A PWM modulation method for vibration and common mode current suppression of a multi-module motor is characterized in that a stator of the multi-module motor is composed of 2N sets of Y-shaped connected three-phase windings, N is a positive integer larger than 2, each two sets of windings are used as a complementary unit, the two sets of windings in the complementary unit are reversely connected through the windings to enable back electromotive force to have an electrical angle difference of 180 degrees, and the back electromotive force between each complementary unit is completely consistent; the 2N sets of Y-shaped connected three-phase windings are mutually independent in space, the winding impedance is consistent, and the neutral points are not connected; the method is characterized by comprising the following steps:
step 1: the rotation speed of the multi-module motor is used as feedback quantity to be compared with a command value, the feedback quantity enters a rotation speed regulator, and a current command value I is outputrefThis is a rotational speed closed loop;
step 2: sampling the current of each set of three-phase winding as feedback quantity, sampling at least two phases of the three-phase winding, calculating the other phase of the three-phase winding, subtracting the two sets of winding currents in the complementary unit at the corresponding phase, and obtaining a numerical value and a current instruction value I by subtractingrefComparing, inputting into current regulator, and outputting modulated wave UrefThis is a current closed loop;
and step 3: determining a carrier phase θ of each complementary element;
and 4, step 4: modifying PWM modulation action in the complementary unit to enable PWM of two sets of windings in the complementary unit to be always reversed;
and 5: comparing the modulated wave in the step 2 with the carrier wave determined in the step 3, and outputting 12N paths of PWM waves according to the modulation action in the step 4;
step 6: and outputting the output 12N paths of PWM waves to 2N three-phase voltage source inverters sharing a direct current bus to drive the whole multi-module motor.
2. The PWM modulation method according to claim 1, wherein the carrier phase θ is related to the number of complementary units, and if there are N complementary units and the phase shift angle of the 1 st complementary unit is 0 °, the phase shift angle should be (N-1)180 °/N for the nth complementary unit.
3. The PWM modulation method according to claim 1, wherein in step 4, the PWM modulation operation inside the complementary unit is modified, and implemented by hardware, so that voltage vectors output by two sets of inverters inside the complementary unit are always reversed on a space vector plane, and two sets of windings inside the complementary unit are always reversed with respect to the corresponding phase PWM.
4. A PWM modulation system for vibration and common mode current suppression of a multi-module motor is characterized in that a stator of the multi-module motor is composed of 2N sets of Y-shaped connected three-phase windings, N is a positive integer larger than 2, each two sets of windings are used as a complementary unit, the two sets of windings in the complementary unit are reversely connected through the windings to enable back electromotive force to have an electrical angle difference of 180 degrees, and the back electromotive force between each complementary unit is completely consistent; the 2N sets of Y-shaped connected three-phase windings are mutually independent in space, the winding impedance is consistent, and the neutral points are not connected; it is characterized by comprising:
the rotating speed closed-loop module compares the rotating speed of the multi-module motor serving as a feedback quantity with a command value, enters the rotating speed regulator and outputs a current command value Iref；
The current closed-loop module is used for sampling the current of each set of three-phase winding as feedback quantity, sampling at least two phases of the three-phase winding, calculating the other phase of the three-phase winding, subtracting the two sets of winding currents in the complementary unit at the corresponding phase, and obtaining a numerical value and a current instruction value I by subtractingrefComparing, inputting into current regulator, and outputting modulated wave UrefThis is a current closed loop;
the carrier phase determining module is used for determining the carrier phase theta of each complementary unit;
the PWM reverse module is used for modifying PWM modulation action in the complementary unit so that PWM of two sets of windings in the complementary unit corresponding to each phase is always reversed;
the PWM output module is used for comparing the modulation wave with the carrier wave and outputting 12N paths of PWM waves;
and the PWM driving module is used for outputting 12N paths of output PWM waves to 2N three-phase voltage source inverters sharing the direct-current bus so as to drive the whole multi-module motor.
5. The PWM modulation system according to claim 4, wherein the carrier phase θ is related to the number of complementary units, and if there are N complementary units and the phase shift angle of the 1 st complementary unit is 0 °, the phase shift angle for the nth complementary unit should be (N-1)180 °/N.
6. The PWM modulation system according to claim 4, wherein the PWM inverting module is implemented by hardware, so that voltage vectors output by two sets of inverters in the complementary unit are always inverted on a space vector plane, and two sets of windings in the complementary unit are always inverted with respect to the corresponding phase PWM.
CN202010681849.5A 2020-07-15 2020-07-15 Multi-module motor, vibration and common-mode current suppression PWM (pulse-width modulation) method and system Active CN111900900B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010681849.5A CN111900900B (en) 2020-07-15 2020-07-15 Multi-module motor, vibration and common-mode current suppression PWM (pulse-width modulation) method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010681849.5A CN111900900B (en) 2020-07-15 2020-07-15 Multi-module motor, vibration and common-mode current suppression PWM (pulse-width modulation) method and system

Publications (2)

Publication Number Publication Date
CN111900900A CN111900900A (en) 2020-11-06
CN111900900B true CN111900900B (en) 2021-10-08

Family

ID=73192849

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010681849.5A Active CN111900900B (en) 2020-07-15 2020-07-15 Multi-module motor, vibration and common-mode current suppression PWM (pulse-width modulation) method and system

Country Status (1)

Country Link
CN (1) CN111900900B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112468051B (en) * 2020-11-13 2022-06-03 中国人民解放军海军工程大学 Multiphase permanent magnet motor high-frequency vibration rapid analysis method and suppression strategy thereof
CN112468023A (en) * 2020-12-09 2021-03-09 华中科技大学 Leakage current suppression method for multi-motor driving system

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101902199A (en) * 2009-05-28 2010-12-01 通用汽车环球科技运作公司 Utilize the electrical system and the relevant method of operation of carrier phase shift signal
CN107994800A (en) * 2017-12-14 2018-05-04 北京交通大学 Sawtooth carrier wave PWM modulation SC-SPWM methods with common-mode voltage rejection ability
CN109905065A (en) * 2019-04-18 2019-06-18 哈尔滨工业大学 A method of eliminating the double branch motor odd-multiple PWM frequency noises of close coupling
JP2020043661A (en) * 2018-09-10 2020-03-19 富士電機株式会社 Multi-winding ac motor driver

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101902199A (en) * 2009-05-28 2010-12-01 通用汽车环球科技运作公司 Utilize the electrical system and the relevant method of operation of carrier phase shift signal
CN107994800A (en) * 2017-12-14 2018-05-04 北京交通大学 Sawtooth carrier wave PWM modulation SC-SPWM methods with common-mode voltage rejection ability
JP2020043661A (en) * 2018-09-10 2020-03-19 富士電機株式会社 Multi-winding ac motor driver
CN109905065A (en) * 2019-04-18 2019-06-18 哈尔滨工业大学 A method of eliminating the double branch motor odd-multiple PWM frequency noises of close coupling

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
Carrier based PWM methods for CMV elimination in open-end winding induction motor drive;Narendra Kumar G. et al.;《2018 IEEE 12th International Conference on Compatibility, Power Electronics and Power Engineering (CPE-POWERENG 2018)》;20180607;第1-6页 *
采用载波移相技术永磁电机高频振动抑制研究;袁飞雄;《电机与控制学报》;20140731;第18卷(第7期);第12-17页 *

Also Published As

Publication number Publication date
CN111900900A (en) 2020-11-06

Similar Documents

Publication Publication Date Title
Liu et al. A review of drive techniques for multiphase machines
Wang et al. Remedial strategies of T-NPC three-level asymmetric six-phase PMSM drives based on SVM-DTC
CN108418489B (en) Vector control method for winding open type permanent magnet synchronous motor for inhibiting zero sequence current
CN108988718B (en) Method for suppressing zero sequence current and common mode voltage
CN105827176B (en) Double Y are inhibited to move the space vector modulating method of 30 degree of six-phase motor common-mode voltages
CN111900900B (en) Multi-module motor, vibration and common-mode current suppression PWM (pulse-width modulation) method and system
Chikondra et al. An improved dtc technique for three-level npc vsi fed five-phase induction motor drive to eliminate common mode voltage
CN107947682B (en) Common mode noise suppression method based on three-phase alternating current motor driving system
Lee et al. Advanced DPWM method for switching loss reduction in isolated DC type dual inverter with open-end winding IPMSM
Jiang et al. Four-module three-phase PMSM drive for suppressing vibration and common-mode current
Li et al. Restraint of common-mode voltage for PMSM-inverter systems with current ripple constraint based on voltage-vector MPC
Li et al. Zero-sequence current suppressing strategy for dual three-phase permanent magnet synchronous machines connected with single neutral point
Khlifi Behavior of a dual stator induction machine fed by neutral point clamped multilevel inverter
Itoh et al. Investigation of a two-stage boost converter using the neutral point of a motor
Deng et al. An Enhanced Virtual Vector-Based Model Predictive Control for PMSM Drives to Reduce Common-Mode Voltage Considering Dead Time Effect
CN116505834A (en) Method, system and storage medium for eliminating common-mode voltage of asymmetric six-phase alternating-current motor
CN115411964A (en) Marine microgrid inverter, modulation strategy and control method
CN115913038A (en) Model prediction control method for double three-phase permanent magnet synchronous motor
Vaezi et al. A new space vector modulation technique for reducing switching losses in induction motor DTC-SVM scheme
Niu et al. Model predictive control with common-mode voltage minimization for a three-level NPC inverter PMLSM drive system
Wang et al. Space vector modulation based on lookup table for a dual-inverter-fed open-end winding PMSM drive
Xu et al. Paralleled Inverters to Drive Double Dual-Three-Phase Induction Motors with Common-Mode Voltage Mitigation for Traction Application
Devabhaktuni Reduction of Stator Flux Ripple and Current Harmonic Distortion using Constant Switching Flux Controller-based DTC of Five-Phase Induction Motor
Xu et al. Predictive current control method for the T-type three-level inverters fed dual three-phase PMSM drives with reduced current harmonics
Kim et al. Torque ripple reduction method with enhanced efficiency of Multi-phase BLDC motor drive systems under open fault conditions

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant