CN113014172A - Common-mode voltage suppression method and device adopting virtual pulse vibration vector - Google Patents

Common-mode voltage suppression method and device adopting virtual pulse vibration vector Download PDF

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Publication number
CN113014172A
CN113014172A CN202110413825.6A CN202110413825A CN113014172A CN 113014172 A CN113014172 A CN 113014172A CN 202110413825 A CN202110413825 A CN 202110413825A CN 113014172 A CN113014172 A CN 113014172A
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vector
formula
flux linkage
phase
virtual pulse
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CN113014172B (en
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邓惟滔
谢文武
彭鑫
严太山
朱鹏
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Hunan Institute of Science and Technology
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Hunan Institute of Science and Technology
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    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control
    • H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]
    • 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
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • 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
    • H02M1/42—Circuits or arrangements for compensating for or adjusting power factor in converters or inverters
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
    • Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes

Abstract

The invention discloses a common-mode voltage suppression method and device adopting virtual pulse vibration vectors. The virtual pulse vibration vectors are synthesized by using the rotation vectors with opposite rotation directions, a switch table using the virtual pulse vibration vectors is established, the virtual pulse vibration vectors synthesized by the rotation vectors are selected by inquiring the switch table, and the common-mode voltage can be effectively inhibited by using the characteristic that the common-mode voltage of the MC rotation vectors is zero, meanwhile, no hardware equipment is added, the increase of the volume and the weight of a motor system in the prior art is avoided, and the power density of a matrix converter is ensured. And the advantages of independent DTC of motor parameters, simple calculation, good dynamic performance and the like are also kept.

Description

Common-mode voltage suppression method and device adopting virtual pulse vibration vector
Technical Field
The invention relates to the technical field of power converter control of a driving motor, in particular to a matrix converter direct torque control method and device capable of inhibiting common-mode voltage.
Background
The Matrix Converter (MC) feed Permanent Magnet Synchronous Motor (PMSM) system integrates the advantages of high PMSM power density and good speed regulation performance, and the advantages of compact MC structure, small harmonic pollution to a power grid and the like, so that the PMSM system is widely applied to the high-end equipment manufacturing industry. Direct Torque Control (DTC) has the advantages of simple control structure, small influence of motor parameters, good dynamic performance and the like, and has natural advantages when applied to MC with large quantity and various types of state space vectors. The existing MC-DTC strategy usually only uses the effective vector of the MC, or the effective vector is combined with a zero vector, and the rotation vector is not suitable for constructing a switch table, so that the rotation vector is completely abandoned by the DTC. However, the rotation vector has the natural advantage that the common-mode voltage is zero compared to the common-mode voltage of the effective vector and the zero vector being larger, and the abandonment of the rotation vector inevitably causes the problem of the common-mode voltage in the motor system. The common mode voltage not only causes damage to the motor bearing, but also causes negative effects such as misoperation of motor protection measures and generation of electromagnetic interference, and therefore, effective measures must be taken to suppress the damage.
The existing scheme for suppressing the common mode voltage needs to adjust the structure of the matrix converter to a certain extent, for example, a common mode voltage compensator is designed to connect the matrix converter, and the common mode voltage compensator includes an H-bridge circuit, a common mode transformer, an external power supply and an output filter; or the matrix converter is connected with the sine high-frequency transformer, and the aim of inhibiting the common-mode voltage is achieved by a pulse density modulation method. However, this approach increases both the volume and weight of the system, thereby reducing the matrix converter power density.
Disclosure of Invention
The invention provides a common-mode voltage suppression method and device adopting a virtual pulse vibration vector, solves the technical problem that the size and the weight of a motor system are increased in the prior art, and achieves the technical effect of ensuring the power density of a matrix converter.
The invention provides a common-mode voltage suppression method adopting virtual pulse vibration vectors, which comprises the following steps:
synthesizing a virtual pulse oscillation vector by using the rotation vectors with opposite rotation directions to obtain a virtual pulse oscillation vector synthesis table; the virtual pulse vibration vector composition table at least comprises: the corresponding relation between the virtual pulse vibration vector and the rotation vector;
determining the real-time direction of each virtual pulse oscillation vector to obtain a virtual pulse oscillation vector direction table; the virtual pulse vibration vector direction table at least comprises: the corresponding relation between the virtual pulse vibration vector and the phase angle and vector direction of different input voltages;
constructing a matrix converter-direct torque control switch table based on the virtual pulse oscillation vector; the switch table at least comprises: the direction of the vector corresponding to the flux linkage phase angle of different stators, the output quantity of the torque hysteresis comparator and the output quantity of the flux linkage hysteresis comparator;
obtaining a stator flux linkage phase angle, an output quantity of a torque hysteresis comparator, an output quantity of the flux linkage hysteresis comparator and an input voltage phase angle;
inquiring the switch table according to the stator flux linkage phase angle, the output quantity of the torque hysteresis comparator and the output quantity of the flux linkage hysteresis comparator to obtain the direction of a corresponding vector;
inquiring the virtual pulse oscillation vector direction table according to the direction of the vector and the phase angle of the input voltage to obtain a corresponding virtual pulse oscillation vector;
and inquiring the virtual pulse oscillation vector synthesis table according to the virtual pulse oscillation vector to obtain a corresponding rotation vector, and determining the conduction state and the duty ratio of each switching tube of the matrix converter to finish control.
Further, the synthesizing the virtual pulse vibration vector by using the rotation vector with the opposite rotation direction to obtain a virtual pulse vibration vector synthesis table includes:
and synthesizing any forward rotation vector and a reverse rotation vector according to the duty ratio of 50% to obtain a virtual pulse oscillation vector, and obtaining the virtual pulse oscillation vector synthesis table.
Further, the obtaining a stator flux linkage phase angle includes:
obtaining the output three-phase current i of the matrix converterA、iB、iCAnd input three-phase voltage ua、ub、uc；
According to the formula
Figure BDA0003025080440000031
Obtaining the component i of the two-phase static coordinate system of the output currentαAnd iβ；
According to the formula
Figure BDA0003025080440000032
Obtain the output three-phase voltage uA、uB、uC(ii) a In the formula, spq(t) is a bidirectional switching device SpqOf the switching function spq(t) — 1 denotes switch closure, spq(t) — 0 denotes switch off, p ∈ { a, B, C }, q ∈ { a, B, C };
according to the formula
Figure BDA0003025080440000033
Obtaining the component u of the two-phase static coordinate system of the output voltageαAnd uβ；
According to the formula psiα＝∫(uα-Rsiα)dt+ψmcosθrAnd psiβ＝∫(uβ-Rsiβ)dt+ψmsinθrObtaining a stator flux linkage two-phase stationary coordinate system component psiαAnd Ψβ(ii) a In the formula, RsIs the stator resistance, ΨmIs a permanent magnet flux linkage, thetarThe included angle between the permanent magnet flux linkage and the phase A winding of the motor is formed;
according to the formula
Figure BDA0003025080440000034
Obtaining the stator flux linkage phase angle
Figure BDA0003025080440000035
Further, the obtaining an output of the torque hysteresis comparator and an output of the flux hysteresis comparator includes:
obtaining the output of a matrix converterThree-phase current iA、iB、iCAnd input three-phase voltage ua、ub、uc；
According to the formula
Figure BDA0003025080440000036
Obtaining the component i of the two-phase static coordinate system of the output currentαAnd iβ；
According to the formula
Figure BDA0003025080440000037
Obtain the output three-phase voltage uA、uB、uC(ii) a In the formula, spq(t) is a bidirectional switching device SpqOf the switching function spq(t) — 1 denotes switch closure, spq(t) — 0 denotes switch off, p ∈ { a, B, C }, q ∈ { a, B, C };
according to the formula
Figure BDA0003025080440000041
Obtaining the component u of the two-phase static coordinate system of the output voltageαAnd uβ；
According to the formula psiα＝∫(uα-Rsiα)dt+ψmcosθrAnd psiβ＝∫(uβ-Rsiβ)dt+ψmsinθrObtaining a stator flux linkage two-phase stationary coordinate system component psiαAnd Ψβ(ii) a In the formula, RsIs the stator resistance, ΨmIs a permanent magnet flux linkage, thetarThe included angle between the permanent magnet flux linkage and the phase A winding of the motor is formed;
according to the formula
Figure BDA0003025080440000042
Obtaining stator flux linkage amplitude | psis|；
According to the formula
Figure BDA0003025080440000043
Obtaining an electromagnetic torque Te(ii) a In the formula, p is the number of pole pairs of the motor;
according to the formula Δ Te＝Te *-TeObtaining a torque error DeltaTe(ii) a In the formula, Te *Is an electromagnetic torque reference value;
according to the formula delta | ψs|＝|ψs|*-|ψs| get the flux linkage error Δ | ΨsL, |; in the formula, | Ψs|*Is a stator flux linkage amplitude reference value;
according to the expression
Figure BDA0003025080440000044
Obtaining the output quantity C of the torque hysteresis comparatorT(ii) a In the formula, BTIs the upper limit of the torque hysteresis loop, -BTIs the torque hysteresis lower limit;
according to the expression
Figure BDA0003025080440000045
Obtaining the output C of the flux linkage hysteresis comparatorΨ(ii) a In the formula, BΨIs the upper limit of hysteresis of flux linkage, -BΨThe lower limit of hysteresis of flux linkage.
Further, the obtaining an input voltage phase angle comprises:
obtaining an input three-phase voltage u of a matrix convertera、ub、uc；
According to the formula
Figure BDA0003025080440000051
Obtaining a two-phase stationary coordinate system component ualphaAnd ubeta；
According to the formula
Figure BDA0003025080440000052
Obtaining the phase angle alpha of the input voltagei(ii) a In the formula, arctan () represents an arctangent trigonometric function.
The invention also provides a common-mode voltage suppression device adopting the virtual pulse vibration vector, which comprises the following components:
the virtual pulse oscillation vector synthesis module is used for synthesizing a virtual pulse oscillation vector by using the rotation vectors with opposite rotation directions to obtain a virtual pulse oscillation vector synthesis table; the virtual pulse vibration vector composition table at least comprises: the corresponding relation between the virtual pulse vibration vector and the rotation vector;
the vector direction table building module is used for determining the real-time direction of each virtual pulse oscillation vector to obtain a virtual pulse oscillation vector direction table; the virtual pulse vibration vector direction table at least comprises: the corresponding relation between the virtual pulse vibration vector and the phase angle and vector direction of different input voltages;
the control switch table building module is used for building a matrix converter-direct torque control switch table based on the virtual pulse vibration vector; the switch table at least comprises: the direction of the vector corresponding to the flux linkage phase angle of different stators, the output quantity of the torque hysteresis comparator and the output quantity of the flux linkage hysteresis comparator;
the data acquisition module is used for acquiring a stator flux linkage phase angle, an output quantity of the torque hysteresis comparator, an output quantity of the flux linkage hysteresis comparator and an input voltage phase angle;
the vector direction acquisition module is used for inquiring the switch table according to the stator flux linkage phase angle, the output quantity of the torque hysteresis comparator and the output quantity of the flux linkage hysteresis comparator to obtain the direction of a corresponding vector;
the virtual pulse oscillation vector acquisition module is used for inquiring the virtual pulse oscillation vector direction table according to the direction of the vector and the phase angle of the input voltage to obtain a corresponding virtual pulse oscillation vector;
and the control module is used for inquiring the virtual pulse oscillation vector synthesis table according to the virtual pulse oscillation vector to obtain a corresponding rotation vector, determining the conduction state and the duty ratio of each switching tube of the matrix converter and finishing control.
Further, the virtual pulse oscillation vector synthesis module is specifically configured to synthesize any one forward rotation vector and one reverse rotation vector at each 50% duty ratio to obtain a virtual pulse oscillation vector, and obtain the virtual pulse oscillation vector synthesis table.
Further, the data acquisition module at least comprises: the first data acquisition unit is used for acquiring the stator flux linkage phase angle;
the first data acquisition unit includes:
a first data acquisition subunit for acquiring output three-phase current i of the matrix converterA、iB、iCAnd input three-phase voltage ua、ub、uc；
A first operation subunit for operating according to a formula
Figure BDA0003025080440000061
Obtaining the component i of the two-phase static coordinate system of the output currentαAnd iβ；
A second operation subunit for operating according to the formula
Figure BDA0003025080440000062
Obtain the output three-phase voltage uA、uB、uC(ii) a In the formula, spq(t) is a bidirectional switching device SpqOf the switching function spq(t) — 1 denotes switch closure, spq(t) — 0 denotes switch off, p ∈ { a, B, C }, q ∈ { a, B, C };
a third operation subunit for calculating according to the formula
Figure BDA0003025080440000063
Obtaining the component u of the two-phase static coordinate system of the output voltageαAnd uβ；
A fourth operation subunit for calculating the formula psiα＝∫(uα-Rsiα)dt+ψmcosθrAnd psiβ＝∫(uβ-Rsiβ)dt+ψmsinθrObtaining a stator flux linkage two-phase stationary coordinate system component psiαAnd Ψβ(ii) a In the formula, RsIs the stator resistance, ΨmIs a permanent magnet flux linkage, thetarThe included angle between the permanent magnet flux linkage and the phase A winding of the motor is formed;
a fifth operation subunit for calculating according to the formula
Figure BDA0003025080440000064
Obtaining the stator flux linkage phase angle
Figure BDA0003025080440000065
Figure BDA0003025080440000066
Further, the data acquisition module at least comprises: the second data acquisition unit is used for acquiring the output quantity of the torque hysteresis comparator and the output quantity of the flux linkage hysteresis comparator;
the second data acquisition unit includes:
a second data acquisition subunit for acquiring output three-phase current i of the matrix converterA、iB、iCAnd input three-phase voltage ua、ub、uc；
A sixth operation subunit for calculating according to the formula
Figure BDA0003025080440000071
Obtaining the component i of the two-phase static coordinate system of the output currentαAnd iβ；
A seventh operation subunit for calculating according to the formula
Figure BDA0003025080440000072
Obtain the output three-phase voltage uA、uB、uC(ii) a In the formula, spq(t) is a bidirectional switching device SpqOf the switching function spq(t) — 1 denotes switch closure, spq(t) — 0 denotes switch off, p ∈ { a, B, C }, q ∈ { a, B, C };
an eighth operational subunit for calculating according to the formula
Figure BDA0003025080440000073
Obtaining the component u of the two-phase static coordinate system of the output voltageαAnd uβ；
A ninth operational subunit for operating according to the formula psiα＝∫(uα-Rsiα)dt+ψmcosθrAnd psiβ＝∫(uβ-Rsiβ)dt+ψmsinθrObtaining a stator flux linkage two-phase stationary coordinate system component psiαAnd Ψβ(ii) a In the formula, RsIs the stator resistance, ΨmIs a permanent magnet flux linkage, thetarThe included angle between the permanent magnet flux linkage and the phase A winding of the motor is formed;
a tenth operation subunit for calculating according to the formula
Figure BDA0003025080440000074
Obtaining stator flux linkage amplitude | psis|；
An eleventh operation subunit for calculating
Figure BDA0003025080440000075
Obtaining an electromagnetic torque Te(ii) a In the formula, p is the number of pole pairs of the motor;
a twelfth operation subunit for calculating the Δ Te＝Te *-TeObtaining a torque error DeltaTe(ii) a In the formula, Te *Is an electromagnetic torque reference value;
a thirteenth operation subunit for calculating the equation Δ | ψs|＝|ψs|*-|ψs| get the flux linkage error Δ | ΨsL, |; in the formula, | Ψs|*Is a stator flux linkage amplitude reference value;
a first analysis subunit for analyzing according to the expression
Figure BDA0003025080440000081
Obtaining the output quantity C of the torque hysteresis comparatorT(ii) a In the formula, BTIs the upper limit of the torque hysteresis loop, -BTIs the torque hysteresis lower limit;
a second analysis subunit for analyzing
Figure BDA0003025080440000082
Obtaining the output quantity C of the flux linkage hysteresis comparatorΨ(ii) a In the formula, BΨIs the upper limit of hysteresis of flux linkage, -BΨIs a magnetic linkageLower limit of hysteresis.
Further, the data acquisition module at least comprises: a third data acquisition unit for acquiring the phase angle of the input voltage;
the third data acquisition unit includes:
a third data acquisition subunit for acquiring the input three-phase voltage u of the matrix convertera、ub、uc；
A fourteenth operation subunit for calculating according to the formula
Figure BDA0003025080440000083
Obtaining a two-phase stationary coordinate system component ualphaAnd ubeta；
A fifteenth operation subunit for performing operations according to the formula
Figure BDA0003025080440000084
Obtaining the phase angle alpha of the input voltagei(ii) a In the formula, arctan () represents an arctangent trigonometric function.
One or more technical schemes provided by the invention at least have the following technical effects or advantages:
synthesizing a virtual pulse oscillation vector by using a rotation vector with an opposite rotation direction to obtain a virtual pulse oscillation vector synthesis table; then determining the real-time direction of each virtual pulse oscillation vector to obtain a virtual pulse oscillation vector direction table; constructing a matrix converter-direct torque control switch table based on the virtual pulse oscillation vector; then, inquiring a switch table according to the obtained stator flux linkage phase angle, the output quantity of the torque hysteresis comparator and the output quantity of the flux linkage hysteresis comparator to obtain the direction of a corresponding vector; then, inquiring a virtual pulse oscillation vector direction table according to the direction of the vector and the phase angle of the input voltage to obtain a corresponding virtual pulse oscillation vector; and finally, inquiring the virtual pulse oscillation vector synthesis table according to the virtual pulse oscillation vector to obtain a corresponding rotation vector, and determining the conduction state and the duty ratio of each switching tube of the matrix converter to finish control. By utilizing the characteristic that the common-mode voltage of the rotating vector is zero, the common-mode voltage can be effectively inhibited, meanwhile, no hardware equipment is added, the technical problem that the size and the weight of a motor system are increased in the prior art is solved, and the technical effect of ensuring the power density of the matrix converter is realized.
Drawings
Fig. 1 is a flowchart of a common mode voltage suppression method using virtual pulse vibration vectors according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating the magnitude of each virtual pulse vibration vector with the phase angle α of the input voltage according to an embodiment of the present inventioniThe variation curve of (d);
FIG. 3 is a schematic diagram of an embodiment of the present invention;
FIG. 4 is a schematic diagram of a matrix converter used in the embodiment of the present invention;
FIG. 5 is a schematic diagram of a torque hysteresis comparator in an embodiment of the present invention;
FIG. 6 is a schematic diagram of a flux linkage hysteresis comparator in an embodiment of the present invention;
FIG. 7 is a table showing the correspondence between MC rotation vectors and conducting switch devices in the embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating an embodiment of the present invention;
FIG. 9 is a diagram of a common mode voltage waveform of a conventional control method under a motor rotation speed of 200 r/min;
FIG. 10 is a common mode voltage waveform diagram of the suppressing method according to the embodiment of the present invention under the condition of a motor rotation speed of 200 r/min;
FIG. 11 is a diagram showing waveforms of electromagnetic torque, rotational speed and A-phase current of the motor in the conventional control method under the condition that the rotational speed of the motor is stepped from 500r/min to-500 r/min and then stepped to 500r/min after 1 s;
FIG. 12 is a waveform diagram of the electromagnetic torque, the rotational speed and the motor A-phase current of the suppression method according to the embodiment of the present invention under the condition that the rotational speed of the motor is stepped from 500r/min to-500 r/min and then stepped to 500r/min after 1 s;
fig. 13 is a block diagram of a common mode voltage suppressing apparatus using virtual pulse vector according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a common-mode voltage suppression method and device adopting a virtual pulse vibration vector, solves the technical problem that the size and the weight of a motor system are increased in the prior art, and achieves the technical effect of ensuring the power density of a matrix converter.
In order to solve the above problems, the technical solution in the embodiments of the present invention has the following general idea:
the virtual pulse vibration vectors are synthesized by using the rotation vectors with opposite rotation directions, a switch table using the virtual pulse vibration vectors is established, the virtual pulse vibration vectors synthesized by the rotation vectors are selected by inquiring the switch table, and the common-mode voltage can be effectively inhibited by using the characteristic that the common-mode voltage of the MC rotation vectors is zero, meanwhile, no hardware equipment is added, the increase of the volume and the weight of a motor system in the prior art is avoided, and the power density of a matrix converter is ensured. And the advantages of independent DTC of motor parameters, simple calculation, good dynamic performance and the like are also kept.
For better understanding of the above technical solutions, the following detailed descriptions will be provided in conjunction with the drawings and the detailed description of the embodiments.
Referring to fig. 1, a common-mode voltage suppression method using a virtual pulse vector according to an embodiment of the present invention includes:
step S110: synthesizing a virtual pulse oscillation vector by using the rotation vectors with opposite rotation directions to obtain a virtual pulse oscillation vector synthesis table; the virtual pulse vibration vector composition table at least comprises: the corresponding relation between the virtual pulse vibration vector and the rotation vector;
specifically describing the step, synthesizing the virtual pulse oscillation vector by using the rotation vector with the opposite rotation direction to obtain a virtual pulse oscillation vector synthesis table, including:
and synthesizing any forward rotation vector and a reverse rotation vector according to the duty ratio of 50% to obtain a virtual pulse oscillation vector, and obtaining a virtual pulse oscillation vector synthesis table.
Specifically, of the 6 rotation vectors of the Matrix Converter (MC), the rotation directions of the +10, +11, +12 vectors are the same as the rotation direction of the input voltage vector, and are therefore referred to as forward rotation vectors; the rotation directions of the three vectors-10, -11, -12 are opposite to the rotation direction of the input voltage vector, and are called reverse rotation vectors; the magnitude and phase angle of each rotation vector are shown in the following table:
Figure BDA0003025080440000101
Figure BDA0003025080440000111
synthesizing any forward rotation vector and a reverse rotation vector according to each 50% duty ratio to obtain a virtual pulse oscillation vector; taking two rotation vectors of +10 and-10 as examples, the virtual pulse vibration vector synthesized by the two rotation vectors is denoted as P1(ii) a The +10 and-10 rotation vectors are represented in complex form as:
Figure BDA0003025080440000112
Figure BDA0003025080440000113
in the formula, VimAnd alphaiThe magnitude and phase angle, respectively, of the input voltage vector, then P1Is expressed as
Figure BDA0003025080440000114
As can be seen, the resulting virtual pulse vibration vector P1Is always 0 and has a magnitude of VimcosαiChanging according to a sinusoidal law, whereby P1The direction of (a) is always on the same straight line, and the actual phase angle may be 0 or pi;
in the same way, other virtual pulse vibration vectors can be synthesized to obtain 9 virtual pulse vibration vectors P1-P9Their amplitude and phase angle are shown in the following table:
Figure BDA0003025080440000115
Figure BDA0003025080440000121
as can be seen from the above table, P1、P4、P7Amplitude of (d) and (u)aAre of the same amplitude, P2、P5、P8Amplitude of (d) and (u)bAre of the same amplitude, P3、P6、P9Amplitude of (d) and (u)cAre the same, thereby making P1-P9The amplitude of (a) is plotted against the phase angle of the input voltage, as shown in fig. 2;
note V1-V6Respectively in six directions of 0, pi/3, 2 pi/3, pi, 4 pi/3 and 5 pi/3, then | P in figure 21|、|P2|、|P3When the value of | is positive, the representative vector is at V1Direction, value being negative, representing vector at V4Direction; i P4|、|P5|、|P6When the value of | is positive, the representative vector is at V5Direction, value being negative, representing vector at V2Direction; i P7|、|P8|、|P9When the value of | is positive, the representative vector is at V3Direction, value being negative, representing vector at V6And (4) direction.
Step S120: determining the real-time direction of each virtual pulse oscillation vector to obtain a virtual pulse oscillation vector direction table; the virtual pulse vibration vector direction table at least comprises: the corresponding relation between the virtual pulse vibration vector and the phase angle and vector direction of different input voltages;
in particular, since there are two cases for the actual direction of each virtual pulsating vector, depending on αiTherefore, the reference of alpha is requirediDetermines the direction of each virtual pulse oscillation vector. According to FIG. 2, for different αiThe value range includes the following six cases:
case 1: when alpha isiWhen e is (0, pi/3), P1、P4、P7Are respectively located at V1、V5、V3Direction, P3、P6、P9Are respectively located at V4、V2、V6Direction, and P2、P5、P8Is uncertain in direction, so V1-V6The vectors existing in each direction are respectively P1、P6、P7、P3、P4、P9；
Case 2: when alpha isiE is (pi/3, 2 pi/3), P2、P5、P8Are respectively located at V1、V5、V3Direction, P3、P6、P9Are respectively located at V4、V2、V6Direction, and P1、P4、P7Is uncertain in direction, so V1-V6The vectors existing in each direction are respectively P2、P6、P8、P3、P5、P9；
Case 3: when alpha isiE is (2 pi/3, 3), P2、P5、P8Are respectively located at V1、V5、V3Direction, P1、P4、P7Are respectively located at V4、V2、V6Direction, and P3、P6、P9Is uncertain in direction, so V1-V6The vectors existing in each direction are respectively P2、P4、P8、P1、P5、P7；
Case 4: when alpha isiWhen e is (pi, 4 pi/3), P3、P6、P9Are respectively located at V1、V5、V3Direction, P1、P4、P7Are respectively located at V4、V2、V6Direction, and P2、P5、P8Is uncertain in direction, so V1-V6The vectors existing in each direction are respectively P3、P4、P9、P1、P6、P7；
Case 5: when alpha isiE is (4 pi/3, 5 pi/3), P3、P6、P9Are respectively located at V1、V5、V3Direction, P2、P5、P8Are respectively located at V4、V2、V6Direction, and P1、P4、P7Is uncertain in direction, so V1-V6The vectors existing in each direction are respectively P3、P5、P9、P2、P6、P8；
Case 6: when alpha isiE is (5 pi/3, 2 pi), P1、P4、P7Are respectively located at V1、V5、V3Direction, P2、P5、P8Are respectively located at V4、V2、V6Direction, and P3、P6、P9Is uncertain in direction, so V1-V6The vectors existing in each direction are respectively P1、P5、P7、P2、P4、P8；
In case 1 to case 6, α can be obtainediThe direction of each virtual pulse oscillation vector in any value range is shown in the following table:
Figure BDA0003025080440000131
step S130: constructing a matrix converter-direct torque control switch table based on the virtual pulse oscillation vector; the switch table at least comprises: the direction of the vector corresponding to the flux linkage phase angle of different stators, the output quantity of the torque hysteresis comparator and the output quantity of the flux linkage hysteresis comparator;
in particular, due to V at any time1-V6A virtual pulse vibration vector exists in each direction, so that the MC-DTC switch table based on the virtual pulse vibration vector can be constructed by adopting the construction scheme of the DTC switch table of the traditional two-level inverter;
the complete MC-DTC switch table is formed by cascading a front-stage table and a rear-stage table, wherein the rear-stage table is a virtual pulse vibration vector direction table, the front-stage table is a traditional two-level inverter DTC switch table, and the following tables show that:
Figure BDA0003025080440000141
in the above table, θΨsIs the stator flux linkage phase angle, Ψs+ and Te+ denotes increasing flux linkage and increasing torque, Ψs-and TeRespectively representing a reduction of flux linkage and a reduction of torque.
Step S140: obtaining a stator flux linkage phase angle, an output quantity of a torque hysteresis comparator, an output quantity of the flux linkage hysteresis comparator and an input voltage phase angle;
specifically, obtaining a stator flux linkage phase angle comprises:
obtaining the output three-phase current i of the matrix converterA、iB、iCAnd input three-phase voltage ua、ub、uc；
According to the formula
Figure BDA0003025080440000142
Obtaining the component i of the two-phase static coordinate system of the output currentαAnd iβ；
According to the formula
Figure BDA0003025080440000143
Obtain the output three-phase voltage uA、uB、uC(ii) a In the formula, spq(t) is a bidirectional switching device SpqOf the switching function spq(t) — 1 denotes switch closure, spq(t) — 0 denotes switch off, p ∈ { a, B, C }, q ∈ { a, B, C };
according to the formula
Figure BDA0003025080440000144
Obtaining the component u of the two-phase static coordinate system of the output voltageαAnd uβ；
According to the formula psiα＝∫(uα-Rsiα)dt+ψmcosθrAnd psiβ＝∫(uβ-Rsiβ)dt+ψmsinθrObtaining a stator flux linkage two-phase stationary coordinate system component psiαAnd Ψβ(ii) a In the formula, RsIs the stator resistance, ΨmIs a permanent magnet flux linkage, thetarThe included angle between the permanent magnet flux linkage and the phase A winding of the motor is formed;
according to the formula
Figure BDA0003025080440000151
Obtaining stator flux linkage phase angle thetaΨs。
Obtaining the output quantity of the torque hysteresis comparator and the output quantity of the flux linkage hysteresis comparator, and the method comprises the following steps:
obtaining the output three-phase current i of the matrix converterA、iB、iCAnd input three-phase voltage ua、ub、uc；
According to the formula
Figure BDA0003025080440000152
Obtaining the component i of the two-phase static coordinate system of the output currentαAnd iβ；
According to the formula
Figure BDA0003025080440000153
Obtain the output three-phase voltage uA、uB、uC(ii) a In the formula, spq(t) is a bidirectional switching device SpqOf the switching function spq(t) — 1 denotes switch closure, spq(t) — 0 denotes switch off, p ∈ { a, B, C }, q ∈ { a, B, C };
according to the formula
Figure BDA0003025080440000154
Obtaining the component u of the two-phase static coordinate system of the output voltageαAnd uβ；
According to the formula psiα＝∫(uα-Rsiα)dt+ψmcosθrAnd psiβ＝∫(uβ-Rsiβ)dt+ψmsinθrObtaining a stator flux linkage two-phase stationary coordinate system component psiαAnd Ψβ(ii) a In the formula, RsIs the stator resistance, ΨmIs a permanent magnet flux linkage, thetarThe included angle between the permanent magnet flux linkage and the phase A winding of the motor is formed;
according to the formula
Figure BDA0003025080440000155
Obtaining stator flux linkage amplitude | psis|；
According to the formula
Figure BDA0003025080440000156
Obtaining an electromagnetic torque Te(ii) a In the formula, p is the number of pole pairs of the motor;
according to the formula Δ Te＝Te *-TeObtaining a torque error DeltaTe(ii) a In the formula, Te *Is an electromagnetic torque reference value;
according to the formula delta | ψs|＝|ψs|*-|ψs| get the flux linkage error Δ | ΨsL, |; in the formula, | ΨsI is a stator flux linkage amplitude reference value;
according to the expression
Figure BDA0003025080440000161
Obtaining the output quantity C of the torque hysteresis comparatorT(ii) a In the formula, BTIs the upper limit of the torque hysteresis loop, -BTIs the torque hysteresis lower limit;
according to the expression
Figure BDA0003025080440000162
Obtaining the output C of the flux linkage hysteresis comparatorΨ(ii) a In the formula, BΨIs the upper limit of hysteresis of flux linkage, -BΨThe lower limit of hysteresis of flux linkage.
Obtaining an input voltage phase angle comprising:
obtaining an input three-phase voltage u of a matrix convertera、ub、uc；
According to the formula
Figure BDA0003025080440000163
Obtaining a two-phase stationary coordinate system component ualphaAnd ubeta；
According to the formula
Figure BDA0003025080440000164
Obtaining the phase angle alpha of the input voltagei(ii) a In the formula, arctan () represents an arctangent trigonometric function.
Step S150: inquiring a switch table according to a stator flux linkage phase angle, the output quantity of a torque hysteresis comparator and the output quantity of the flux linkage hysteresis comparator to obtain the direction of a corresponding vector, namely inquiring a conventional two-level inverter DTC switch table according to the control requirements of a DTC on the torque and the flux linkage, and inquiring the DTC switch table from V1-V6The direction of the desired voltage vector is selected.
Step S160: and inquiring a virtual pulse oscillation vector direction table according to the direction of the vector and the phase angle of the input voltage to obtain a corresponding virtual pulse oscillation vector, namely selecting the virtual pulse oscillation vector positioned in the direction.
Step S170: and inquiring the virtual pulse oscillation vector synthesis table according to the virtual pulse oscillation vector to obtain a corresponding rotation vector, and determining the conduction state and the duty ratio of each switching tube of the matrix converter to finish control.
Specifically, the conducting state of each switching tube of the matrix converter can be determined through the preset corresponding relation between each rotation vector and the conducting state of each switching tube of the matrix converter. And then, a current conversion control circuit is utilized to realize safe current conversion, so that a motor system is driven to operate, and the control is completed.
The table lookup process is illustrated: suppose stator flux linkage phase angle θΨsIs in the range of (-pi/6, pi/6), and if the output requirement of the hysteresis comparator is to reduce the flux linkage and increase the torque, the vector direction is V obtained by inquiring the DTC switching table of the two-level inverter3(ii) a Suppose an input voltage phase angle alphaiE (0, pi/3), obtaining a virtual pulse vibration vector P by inquiring the virtual pulse vibration vector direction table7；P7Composed of +12 and-11, so that the rotation vectors +12 and +11 are applied at each 50% duty cycle in the next control period-11。
The embodiments of the present invention will be described in further detail below with reference to specific examples and the accompanying drawings. Fig. 3 is a schematic diagram of an embodiment of the suppression method according to the present invention, and the suppression method according to the embodiment of the present invention includes the following steps:
(1) calculating the vector phase angle alpha of the input voltageiMagnitude of stator flux linkage | ΨsI, stator flux linkage phase angle thetaΨsElectromagnetic torque Te。
(1.1) calculating the vector phase angle alpha of the input voltagei. Detecting input three-phase voltage u of matrix convertera、ub、ucIt is converted into a two-phase stationary coordinate system component ualphaAnd ubetaCalculating the vector phase angle alpha of the input voltagei. The formula is as follows:
Figure BDA0003025080440000171
Figure BDA0003025080440000172
in the formula, arctan () represents an arctangent trigonometric function.
(1.2) calculating the two-phase static coordinate system component i of the output currentαAnd iβ. Detecting the output three-phase current i of a matrix converterA、iB、iCIt is converted into a two-phase stationary coordinate system component iαAnd iβ. The formula is as follows:
Figure BDA0003025080440000173
(1.3) calculating the two-phase static coordinate system component u of the output voltageαAnd uβ. Detecting input three-phase voltage u of matrix convertera、ub、ucThe three-phase voltage u is calculated and output by a matrix converter transmission matrixA、uB、uCIt is converted into a two-phase stationary coordinate system component uαAnd uβ. The formula is as follows:
Figure BDA0003025080440000181
in the formula, spq(t) is the bidirectional switching device S shown in FIG. 4pqOf the switching function spq(t) — 1 denotes switch closure, spq(t) — 0 denotes switch off, p ∈ { a, B, C }, q ∈ { a, B, C }.
Figure BDA0003025080440000182
(1.4) calculating a stator flux linkage two-phase stationary coordinate system component psiαAnd Ψβ. The formula is as follows:
ψα＝∫(uα-Rsiα)dt+ψmcosθr
ψβ＝∫(uβ-Rsiβ)dt+ψmsinθr
in the formula, RsIs the stator resistance, ΨmIs a permanent magnet flux linkage, thetarThe included angle between the permanent magnet flux linkage and the phase A winding of the motor is formed.
(1.5) calculating stator flux linkage amplitude | ΨsI and stator flux linkage phase angle thetaΨs. The formula is as follows:
Figure BDA0003025080440000183
Figure BDA0003025080440000184
(1.6) calculating the electromagnetic Torque Te. The formula is as follows:
Figure BDA0003025080440000185
in the formula, p is the number of pole pairs of the motor.
(2) Obtaining the output quantity C of the torque hysteresis comparatorTOutput C of the flux-linkage hysteresis comparatorΨ。CTThe values +1 and-1 represent increasing and decreasing torque, i.e. Te+、Te-；CΨThe values of +1 and-1 represent increasing flux linkage and decreasing flux linkage respectively, namely psis+、Ψs-. The principles of the torque hysteresis comparator and flux hysteresis comparator are shown in fig. 5 and 6. In the figure, BTIs the upper limit of the torque hysteresis loop, -BTThe lower limit of the torque hysteresis represents the width of a torque loop, and generally 0.5 to 5 percent of rated torque is taken; b isΨIs the upper limit of hysteresis of flux linkage, -BΨThe lower limit of flux linkage hysteresis represents the width of the flux linkage, and is generally 0.1 to 2 percent times of the flux linkage of the permanent magnet. In the figure,. DELTA.Te、Δ|ΨsI is a torque error and a flux linkage error respectively, and the calculation formula is as follows:
ΔTe＝Te *-Te
Δ|ψs|＝|ψs|*-|ψs|
in the formula, Te *And | Ψs|*An electromagnetic torque reference value and a stator flux linkage amplitude reference value.
(3) According to the output C of the hysteresis comparatorT、CΨAnd stator flux linkage phase angle thetaΨsLooking up the MC-DTC switch table to obtain the direction of the vector, i.e. V1-V6One of them.
(4) According to the obtained vector direction and input voltage phase angle alphaiLooking up the virtual pulse vibration vector direction table to obtain the virtual pulse vibration vector, i.e. P1-P9One of them.
(5) And determining a required rotation vector according to the definition of the virtual pulse oscillation vector, thereby determining the conduction state and the duty ratio of each switching tube of the MC. And the commutation control circuit is utilized to realize safe commutation and drive the motor system to operate. The conducting switch tube corresponding to the MC rotation vector is shown in FIG. 7.
The embodiment of the invention provides a matrix converter direct torque control method, which is implemented as shown in fig. 8, and experiments prove that the matrix converter direct torque control method provided by the embodiment of the invention is carried out on a 1.6kW prototype, the dynamic and static performances of a motor system are good, and the common-mode voltage is effectively inhibited.
The MC-DTC control method and the common-mode voltage waveform in the steady state of the traditional MC-DTC provided by the embodiment of the invention are shown in figures 9 and 10. The test condition is that the rotating speed of the motor is 200 r/min. As can be seen from the comparison of waveforms in the figure, the suppression method provided by the embodiment of the invention can effectively suppress the common mode voltage.
The transient comparison test waveforms of the MC-DTC control method and the traditional MC-DTC provided by the embodiment of the invention are shown in figures 11 and 12. The test conditions are that the rotating speed of the motor is stepped from 500r/min to-500 r/min, and then stepped to 500r/min after 1 s. As can be seen from the figure, the suppression method provided by the embodiment of the present invention inherits the characteristic of fast dynamic response of the conventional DTC method.
Referring to fig. 13, the common mode voltage suppression device using virtual pulse vibration vectors according to the embodiment of the present invention includes:
a virtual pulse oscillation vector synthesis module 100, configured to synthesize a virtual pulse oscillation vector using rotation vectors in opposite rotation directions to obtain a virtual pulse oscillation vector synthesis table; the virtual pulse vibration vector composition table at least comprises: the corresponding relation between the virtual pulse vibration vector and the rotation vector;
specifically, the virtual pulse oscillation vector synthesis module 100 is specifically configured to synthesize any one forward rotation vector and one reverse rotation vector at each 50% duty ratio to obtain one virtual pulse oscillation vector, so as to obtain a virtual pulse oscillation vector synthesis table.
The vector direction table building module 200 is configured to determine a real-time direction of each virtual pulse oscillation vector to obtain a virtual pulse oscillation vector direction table; the virtual pulse vibration vector direction table at least comprises: the corresponding relation between the virtual pulse vibration vector and the phase angle and vector direction of different input voltages;
the control switch table building module 300 is used for building a matrix converter-direct torque control switch table based on the virtual pulse vibration vector; the switch table at least comprises: the output quantity and flux linkage hysteresis ratio of the comparator with different stator flux linkage phase angles and torque hysteresisThe vector direction corresponding to the output quantity of the comparator; in particular, due to V at any time1-V6A virtual pulse vibration vector exists in each direction, so that the MC-DTC switch table based on the virtual pulse vibration vector can be constructed by adopting the construction scheme of the DTC switch table of the traditional two-level inverter; the complete MC-DTC switch table is formed by cascading a front-stage table and a rear-stage table, wherein the rear-stage table is a virtual pulse vibration vector direction table, and the front-stage table is a traditional two-level inverter DTC switch table.
The data acquisition module 400 is configured to obtain a stator flux linkage phase angle, an output quantity of the torque hysteresis comparator, an output quantity of the flux linkage hysteresis comparator, and an input voltage phase angle;
specifically, the data obtaining module 400 at least includes: the first data acquisition unit is used for acquiring a stator flux linkage phase angle;
a first data acquisition unit comprising:
a first data acquisition subunit for acquiring output three-phase current i of the matrix converterA、iB、iCAnd input three-phase voltage ua、ub、uc；
A first operation subunit for operating according to a formula
Figure BDA0003025080440000201
Obtaining the component i of the two-phase static coordinate system of the output currentαAnd iβ；
A second operation subunit for operating according to the formula
Figure BDA0003025080440000211
Obtain the output three-phase voltage uA、uB、uC(ii) a In the formula, spq(t) is a bidirectional switching device SpqOf the switching function spq(t) — 1 denotes switch closure, spq(t) — 0 denotes switch off, p ∈ { a, B, C }, q ∈ { a, B, C };
a third operation subunit for calculating according to the formula
Figure BDA0003025080440000212
Obtaining the component u of the two-phase static coordinate system of the output voltageαAnd uβ；
A fourth operation subunit for calculating the formula psiα＝∫(uα-Rsiα)dt+ψmcosθrAnd psiβ＝∫(uβ-Rsiβ)dt+ψmsinθrObtaining a stator flux linkage two-phase stationary coordinate system component psiαAnd Ψβ(ii) a In the formula, RsIs the stator resistance, ΨmIs a permanent magnet flux linkage, thetarThe included angle between the permanent magnet flux linkage and the phase A winding of the motor is formed;
a fifth operation subunit for calculating according to the formula
Figure BDA0003025080440000213
Obtaining stator flux linkage phase angle thetaΨs。
The data acquisition module 400 further includes: the second data acquisition unit is used for acquiring the output quantity of the torque hysteresis comparator and the output quantity of the flux linkage hysteresis comparator;
a second data acquisition unit comprising:
a second data acquisition subunit for acquiring output three-phase current i of the matrix converterA、iB、iCAnd input three-phase voltage ua、ub、uc；
A sixth operation subunit for calculating according to the formula
Figure BDA0003025080440000214
Obtaining the component i of the two-phase static coordinate system of the output currentαAnd iβ；
A seventh operation subunit for calculating according to the formula
Figure BDA0003025080440000215
Obtain the output three-phase voltage uA、uB、uC(ii) a In the formula, spq(t) is a bidirectional switching device SpqOf the switching function spq(t) — 1 denotes switch closure, spq(t) represents 0The switch is turned off, p belongs to { A, B, C }, and q belongs to { a, B, C };
an eighth operational subunit for calculating according to the formula
Figure BDA0003025080440000221
Obtaining the component u of the two-phase static coordinate system of the output voltageαAnd uβ；
A ninth operational subunit for operating according to the formula psiα＝∫(uα-Rsiα)dt+ψmcosθrAnd psiβ＝∫(uβ-Rsiβ)dt+ψmsinθrObtaining a stator flux linkage two-phase stationary coordinate system component psiαAnd Ψβ(ii) a In the formula, RsIs the stator resistance, ΨmIs a permanent magnet flux linkage, thetarThe included angle between the permanent magnet flux linkage and the phase A winding of the motor is formed;
a tenth operation subunit for calculating according to the formula
Figure BDA0003025080440000222
Obtaining stator flux linkage amplitude | psis|；
An eleventh operation subunit for calculating
Figure BDA0003025080440000223
Obtaining an electromagnetic torque Te(ii) a In the formula, p is the number of pole pairs of the motor;
a twelfth operation subunit for calculating the Δ Te＝Te *-TeObtaining a torque error DeltaTe(ii) a In the formula, Te *Is an electromagnetic torque reference value;
a thirteenth operation subunit for calculating the equation Δ | ψs|＝|ψs|*-|ψs| get the flux linkage error Δ | ΨsL, |; in the formula, | Ψs|*Is a stator flux linkage amplitude reference value;
a first analysis subunit for analyzing according to the expression
Figure BDA0003025080440000224
Obtaining the output quantity C of the torque hysteresis comparatorT(ii) a In the formula, BTIs the upper limit of the torque hysteresis loop, -BTIs the torque hysteresis lower limit;
a second analysis subunit for analyzing
Figure BDA0003025080440000225
Obtaining the output C of the flux linkage hysteresis comparatorΨ(ii) a In the formula, BΨIs the upper limit of hysteresis of flux linkage, -BΨThe lower limit of hysteresis of flux linkage.
The data acquisition module 400 may include: a third data acquisition unit for acquiring an input voltage phase angle;
a third data acquisition unit comprising:
a third data acquisition subunit for acquiring the input three-phase voltage u of the matrix convertera、ub、uc；
A fourteenth operation subunit for calculating according to the formula
Figure BDA0003025080440000231
Obtaining a two-phase stationary coordinate system component ualphaAnd ubeta；
A fifteenth operation subunit for performing operations according to the formula
Figure BDA0003025080440000232
Obtaining the phase angle alpha of the input voltagei(ii) a In the formula, arctan () represents an arctangent trigonometric function.
A vector direction obtaining module 500, configured to query the switch table according to the stator flux phase angle, the output of the torque hysteresis comparator, and the output of the flux hysteresis comparator to obtain the direction of the corresponding vector, that is, query the DTC switch table of the conventional two-level inverter according to the control requirement of the DTC on the torque and flux, and obtain the direction of the corresponding vector from V1-V6The direction of the desired voltage vector is selected.
The virtual pulse oscillation vector obtaining module 600 is configured to query a virtual pulse oscillation vector direction table according to a direction of the vector and an input voltage phase angle to obtain a corresponding virtual pulse oscillation vector, that is, select a virtual pulse oscillation vector located in the direction.
And the control module 700 is configured to query the virtual pulse oscillation vector synthesis table according to the virtual pulse oscillation vector, obtain a corresponding rotation vector, determine a conduction state and a duty ratio of each switching tube of the matrix converter, and complete control. Specifically, the conducting state of each switching tube of the matrix converter can be determined through the preset corresponding relation between each rotation vector and the conducting state of each switching tube of the matrix converter. And then, a current conversion control circuit is utilized to realize safe current conversion, so that a motor system is driven to operate, and the control is completed.
Technical effects
The embodiment of the invention particularly relates to a method for improving the performance of a matrix converter-permanent magnet synchronous motor driving system adopting direct torque control. In the embodiment of the invention, two MC rotation vectors with opposite rotation directions are subjected to vector synthesis according to the duty ratio of 50% respectively, and the obtained virtual vector has the characteristic of pulse oscillation on a fixed straight line. Compared with the prior art, the embodiment of the invention can effectively suppress the common-mode voltage and ensure the power density of the matrix converter. And the advantages of independent DTC of motor parameters, simple calculation, good dynamic performance and the like are also kept.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A common mode voltage suppression method adopting virtual pulse vibration vectors is characterized by comprising the following steps:
synthesizing a virtual pulse oscillation vector by using the rotation vectors with opposite rotation directions to obtain a virtual pulse oscillation vector synthesis table; the virtual pulse vibration vector composition table at least comprises: the corresponding relation between the virtual pulse vibration vector and the rotation vector;
determining the real-time direction of each virtual pulse oscillation vector to obtain a virtual pulse oscillation vector direction table; the virtual pulse vibration vector direction table at least comprises: the corresponding relation between the virtual pulse vibration vector and the phase angle and vector direction of different input voltages;
constructing a matrix converter-direct torque control switch table based on the virtual pulse oscillation vector; the switch table at least comprises: the direction of the vector corresponding to the flux linkage phase angle of different stators, the output quantity of the torque hysteresis comparator and the output quantity of the flux linkage hysteresis comparator;
obtaining a stator flux linkage phase angle, an output quantity of a torque hysteresis comparator, an output quantity of the flux linkage hysteresis comparator and an input voltage phase angle;
inquiring the switch table according to the stator flux linkage phase angle, the output quantity of the torque hysteresis comparator and the output quantity of the flux linkage hysteresis comparator to obtain the direction of a corresponding vector;
inquiring the virtual pulse oscillation vector direction table according to the direction of the vector and the phase angle of the input voltage to obtain a corresponding virtual pulse oscillation vector;
and inquiring the virtual pulse oscillation vector synthesis table according to the virtual pulse oscillation vector to obtain a corresponding rotation vector, and determining the conduction state and the duty ratio of each switching tube of the matrix converter to finish control.
2. The method of claim 1, wherein the synthesizing the virtual pulse vibration vector using the rotation vectors with opposite rotation directions to obtain a virtual pulse vibration vector synthesis table comprises:
and synthesizing any forward rotation vector and a reverse rotation vector according to the duty ratio of 50% to obtain a virtual pulse oscillation vector, and obtaining the virtual pulse oscillation vector synthesis table.
3. The method of claim 1, wherein the obtaining a stator flux linkage phase angle comprises:
obtaining the output three-phase current i of the matrix converterA、iB、iCAnd input three-phase voltage ua、ub、uc；
According to the formula
Figure FDA0003025080430000021
Obtaining the component i of the two-phase static coordinate system of the output currentαAnd iβ；
According to the formula
Figure FDA0003025080430000022
Obtain the output three-phase voltage uA、uB、uC(ii) a In the formula, spq(t) is a bidirectional switching device SpqOf the switching function spq(t) — 1 denotes switch closure, spq(t) — 0 denotes switch off, p ∈ { a, B, C }, q ∈ { a, B, C };
according to the formula
Figure FDA0003025080430000023
Obtaining the component u of the two-phase static coordinate system of the output voltageαAnd uβ；
According to the formula psiα＝∫(uα-Rsiα)dt+ψmcosθrAnd psiβ＝∫(uβ-Rsiβ)dt+ψmsinθrObtaining a stator flux linkage two-phase stationary coordinate system component psiαAnd Ψβ(ii) a In the formula, RsIs the stator resistance, ΨmIs a permanent magnet flux linkage, thetarThe included angle between the permanent magnet flux linkage and the phase A winding of the motor is formed;
according to the formula
Figure FDA0003025080430000024
Obtaining the stator flux linkage phase angle thetaΨs。
4. The method of claim 1, wherein obtaining the output of the torque hysteresis comparator and the output of the flux hysteresis comparator comprises:
obtaining the output three-phase current i of the matrix converterA、iB、iCAnd input three-phase voltage ua、ub、uc；
According to the formula
Figure FDA0003025080430000025
Obtaining the component i of the two-phase static coordinate system of the output currentαAnd iβ；
According to the formula
Figure FDA0003025080430000026
Obtain the output three-phase voltage uA、uB、uC(ii) a In the formula, spq(t) is a bidirectional switching device SpqOf the switching function spq(t) — 1 denotes switch closure, spq(t) — 0 denotes switch off, p ∈ { a, B, C }, q ∈ { a, B, C };
according to the formula
Figure FDA0003025080430000031
Obtaining the component u of the two-phase static coordinate system of the output voltageαAnd uβ；
According to the formula psiα＝∫(uα-Rsiα)dt+ψmcosθrAnd psiβ＝∫(uβ-Rsiβ)dt+ψmsinθrObtaining a stator flux linkage two-phase stationary coordinate system component psiαAnd Ψβ(ii) a In the formula, RsIs the stator resistance, ΨmIs a permanent magnet flux linkage, thetarThe included angle between the permanent magnet flux linkage and the phase A winding of the motor is formed;
according to the formula
Figure FDA0003025080430000032
Obtaining stator flux linkage amplitude | psis|；
According to the formula
Figure FDA0003025080430000033
Obtaining an electromagnetic torque Te(ii) a In the formula, p is the number of pole pairs of the motor;
according to the formula Δ Te＝Te *-TeObtaining a torque error DeltaTe(ii) a In the formula, Te *Is an electromagnetic torque reference value;
according to the formula delta | ψs|＝|ψs|*-|ψs| get the flux linkage error Δ | ΨsL, |; in the formula, | Ψs|*Is a stator flux linkage amplitude reference value;
according to the expression
Figure FDA0003025080430000034
Obtaining the output quantity C of the torque hysteresis comparatorT(ii) a In the formula, BTIs the upper limit of the torque hysteresis loop, -BTIs the torque hysteresis lower limit;
according to the expression
Figure FDA0003025080430000035
Obtaining the output C of the flux linkage hysteresis comparatorΨ(ii) a In the formula, BΨIs the upper limit of hysteresis of flux linkage, -BΨThe lower limit of hysteresis of flux linkage.
5. The method of claim 1, wherein said obtaining an input voltage phase angle comprises:
obtaining an input three-phase voltage u of a matrix convertera、ub、uc；
According to the formula
Figure FDA0003025080430000041
Obtaining a two-phase stationary coordinate system component ualphaAnd ubeta；
According to the formula
Figure FDA0003025080430000042
Obtained byThe phase angle of the input voltage alphai(ii) a In the formula, arctan () represents an arctangent trigonometric function.
6. A common mode voltage rejection device using virtual pulsating vectors, comprising:
the virtual pulse oscillation vector synthesis module is used for synthesizing a virtual pulse oscillation vector by using the rotation vectors with opposite rotation directions to obtain a virtual pulse oscillation vector synthesis table; the virtual pulse vibration vector composition table at least comprises: the corresponding relation between the virtual pulse vibration vector and the rotation vector;
the vector direction table building module is used for determining the real-time direction of each virtual pulse oscillation vector to obtain a virtual pulse oscillation vector direction table; the virtual pulse vibration vector direction table at least comprises: the corresponding relation between the virtual pulse vibration vector and the phase angle and vector direction of different input voltages;
the control switch table building module is used for building a matrix converter-direct torque control switch table based on the virtual pulse vibration vector; the switch table at least comprises: the direction of the vector corresponding to the flux linkage phase angle of different stators, the output quantity of the torque hysteresis comparator and the output quantity of the flux linkage hysteresis comparator;
the data acquisition module is used for acquiring a stator flux linkage phase angle, an output quantity of the torque hysteresis comparator, an output quantity of the flux linkage hysteresis comparator and an input voltage phase angle;
the vector direction acquisition module is used for inquiring the switch table according to the stator flux linkage phase angle, the output quantity of the torque hysteresis comparator and the output quantity of the flux linkage hysteresis comparator to obtain the direction of a corresponding vector;
the virtual pulse oscillation vector acquisition module is used for inquiring the virtual pulse oscillation vector direction table according to the direction of the vector and the phase angle of the input voltage to obtain a corresponding virtual pulse oscillation vector;
and the control module is used for inquiring the virtual pulse oscillation vector synthesis table according to the virtual pulse oscillation vector to obtain a corresponding rotation vector, determining the conduction state and the duty ratio of each switching tube of the matrix converter and finishing control.
7. The apparatus of claim 6, wherein the virtual pulse vibration vector synthesis module is specifically configured to synthesize any one of the forward rotation vectors and one of the reverse rotation vectors at each 50% duty cycle to obtain one virtual pulse vibration vector, and obtain the virtual pulse vibration vector synthesis table.
8. The apparatus of claim 6, wherein the data acquisition module comprises at least: the first data acquisition unit is used for acquiring the stator flux linkage phase angle;
the first data acquisition unit includes:
a first data acquisition subunit for acquiring output three-phase current i of the matrix converterA、iB、iCAnd input three-phase voltage ua、ub、uc；
A first operation subunit for operating according to a formula
Figure FDA0003025080430000051
Obtaining the component i of the two-phase static coordinate system of the output currentαAnd iβ；
A second operation subunit for operating according to the formula
Figure FDA0003025080430000052
Obtain the output three-phase voltage uA、uB、uC(ii) a In the formula, spq(t) is a bidirectional switching device SpqOf the switching function spq(t) — 1 denotes switch closure, spq(t) — 0 denotes switch off, p ∈ { a, B, C }, q ∈ { a, B, C };
a third operation subunit for calculating according to the formula
Figure FDA0003025080430000053
Obtaining the component u of the two-phase static coordinate system of the output voltageαAnd uβ；
A fourth operation subunit for calculating the formula psiα＝∫(uα-Rsiα)dt+ψmcosθrAnd psiβ＝∫(uβ-Rsiβ)dt+ψmsinθrObtaining a stator flux linkage two-phase stationary coordinate system component psiαAnd Ψβ(ii) a In the formula, RsIs the stator resistance, ΨmIs a permanent magnet flux linkage, thetarThe included angle between the permanent magnet flux linkage and the phase A winding of the motor is formed;
a fifth operation subunit for calculating according to the formula
Figure FDA0003025080430000054
Obtaining the stator flux linkage phase angle thetaΨs。
9. The apparatus of claim 6, wherein the data acquisition module comprises at least: the second data acquisition unit is used for acquiring the output quantity of the torque hysteresis comparator and the output quantity of the flux linkage hysteresis comparator;
the second data acquisition unit includes:
a second data acquisition subunit for acquiring output three-phase current i of the matrix converterA、iB、iCAnd input three-phase voltage ua、ub、uc；
A sixth operation subunit for calculating according to the formula
Figure FDA0003025080430000061
Obtaining the component i of the two-phase static coordinate system of the output currentαAnd iβ；
A seventh operation subunit for calculating according to the formula
Figure FDA0003025080430000062
Obtain the output three-phase voltage uA、uB、uC(ii) a In the formula, spq(t) is a bidirectional switching device SpqOf the switching function spq(t) — 1 denotes switch closure, spq(t) — 0 denotes switch off, p ∈ { a, B, C }, q ∈ { a, B, C };
an eighth operational subunit for calculating according to the formula
Figure FDA0003025080430000063
Obtaining the component u of the two-phase static coordinate system of the output voltageαAnd uβ；
A ninth operational subunit for operating according to the formula psiα＝∫(uα-Rsiα)dt+ψmcosθrAnd psiβ＝∫(uβ-Rsiβ)dt+ψmsinθrObtaining a stator flux linkage two-phase stationary coordinate system component psiαAnd Ψβ(ii) a In the formula, RsIs the stator resistance, ΨmIs a permanent magnet flux linkage, thetarThe included angle between the permanent magnet flux linkage and the phase A winding of the motor is formed;
a tenth operation subunit for calculating according to the formula
Figure FDA0003025080430000064
Obtaining stator flux linkage amplitude | psis|；
An eleventh operation subunit for calculating
Figure FDA0003025080430000065
Obtaining an electromagnetic torque Te(ii) a In the formula, p is the number of pole pairs of the motor;
a twelfth operation subunit for calculating the Δ Te＝Te *-TeObtaining a torque error DeltaTe(ii) a In the formula, Te *Is an electromagnetic torque reference value;
a thirteenth operation subunit for calculating the equation Δ | ψs|＝|ψs|*-|ψs| get the flux linkage error Δ | ΨsL, |; in the formula, | Ψs|*Is a stator flux linkage amplitude reference value;
a first analysis subunit for analyzing according to the expression
Figure FDA0003025080430000071
To obtainOutput quantity C of the torque hysteresis comparatorT(ii) a In the formula, BTIs the upper limit of the torque hysteresis loop, -BTIs the torque hysteresis lower limit;
a second analysis subunit for analyzing
Figure FDA0003025080430000072
Obtaining the output quantity C of the flux linkage hysteresis comparatorΨ(ii) a In the formula, BΨIs the upper limit of hysteresis of flux linkage, -BΨThe lower limit of hysteresis of flux linkage.
10. The apparatus of claim 6, wherein the data acquisition module comprises at least: a third data acquisition unit for acquiring the phase angle of the input voltage;
the third data acquisition unit includes:
a third data acquisition subunit for acquiring the input three-phase voltage u of the matrix convertera、ub、uc；
A fourteenth operation subunit for calculating according to the formula
Figure FDA0003025080430000073
Obtaining a two-phase stationary coordinate system component ualphaAnd ubeta；
A fifteenth operation subunit for performing operations according to the formula
Figure FDA0003025080430000074
Obtaining the phase angle alpha of the input voltagei(ii) a In the formula, arctan () represents an arctangent trigonometric function.
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