WO2012127236A2 - Système de commande pour onduleur, et procédé de commande d'un onduleur - Google Patents

Système de commande pour onduleur, et procédé de commande d'un onduleur Download PDF

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Publication number
WO2012127236A2
WO2012127236A2 PCT/GB2012/050631 GB2012050631W WO2012127236A2 WO 2012127236 A2 WO2012127236 A2 WO 2012127236A2 GB 2012050631 W GB2012050631 W GB 2012050631W WO 2012127236 A2 WO2012127236 A2 WO 2012127236A2
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Prior art keywords
inverter
switching
voltage
electrical machine
sequence
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WO2012127236A3 (fr
Inventor
Charles Pollock
Helen Pollock
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Technelec Ltd
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Technelec Ltd
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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
    • H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
    • H02M7/44—Conversion of DC power input into AC power output without possibility of reversal by static converters
    • H02M7/48—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/539—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
    • H02M7/5395—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
    • H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
    • H02M7/44—Conversion of DC power input into AC power output without possibility of reversal by static converters
    • H02M7/48—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/292—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using static converters, e.g. AC to DC
    • 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
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/009—Circuit arrangements for detecting rotor position

Definitions

  • This invention is related to inverters and the operation of inverters, in particular, for control of motors and generators in square wave mode and, more particularly but not limited to, modulating the fundamental component of output voltage over a wide range and incorporating sensorless rotor position and speed estimation for control of synchronous motors and generators.
  • Inverters using pulse width modulation and more particularly current regulated pulse width modulation are now common in the control of variable speed motors and generators. They are particularly beneficial for Field Orientated Control or Vector Control systems because the output voltage is linearly dependent on the modulation depth.
  • CRPWM current regulated pulse width modulation
  • the linear variation of output voltage with modulation depth results in a more stable current control loop.
  • cycling can occur, causing instability in the control loop.
  • instabilities cause errors in field orientated controllers and position estimation schemes dependent on accurate knowledge of output voltage and current.
  • CRPWM inverters often operate with a margin to prevent the controller entering a non-linear region.
  • a control sequence for an inverter for control of an electrical machine with p phase windings where p is two or more wherein the inverter has p switching legs, each switching leg having an output terminal and at least two switching devices for alternate connection of the output terminal of the switching leg to the more positive or less positive supply rails of the inverter supply voltage and an inverter control block in which a complete range of switching sequences can be determined by a single variable parameter, a, the variable parameter providing continuous variation of the fundamental component of the inverter output voltage from zero to a maximum value, the switching sequence for each inverter switching leg having an even integer number of switching transitions per electrical cycle, such that 2p equally spaced points per electrical cycle exist where the state of the switching devices of the inverter are predetermined and independent of the single variable parameter, a.
  • a control system for an inverter for control of an electrical machine having a plurality, p, of phase windings wherein the inverter comprises at least p switching legs, each switching leg comprising an output terminal and at least two switching devices for alternate connection of the output terminal of the switching leg to a more positive or less positive voltage supply rail, and wherein the controller is configured to determine a complete range of switching sequences dependent on a single variable parameter, a, the variable parameter providing continuous variation of a fundamental component of the inverter output voltage from zero to a maximum value, the switching sequence for each inverter switching leg having an even integer number of switching transitions per electrical cycle, such that 2p points per electrical cycle exist where the state of the switching devices of the inverter are predetermined and independent of the single variable parameter, a.
  • the 2p points are equally spaced across the electrical cycle.
  • the inverter has three switching legs and is used to control an electrical machine with three phase windings.
  • the switching sequence of the switching leg over an electrical cycle is defined by the following table.
  • one or more of the 2p points is used to measure a function of current flowing to/from the electrical machine from/to the inverter and to calculate an estimate of the rotor position and/or the rotor speed based on the measured function of the currents at at least one of the points.
  • an inverter for controlling an electrical machine, and comprising a control system as described above.
  • a method for controlling an inverter for control of an electrical machine having a plurality, p, of phase windings wherein the inverter comprises at least p switching legs, each switching leg comprising an output terminal and at least two switching devices for alternate connection of the output terminal of the switching leg to a more positive or less positive voltage supply rail, the method comprising: determining a complete range of switching sequences dependent on a single variable parameter, a, the variable parameter providing continuous variation of a fundamental component of the inverter output voltage from zero to a maximum value, the switching sequence for each inverter switching leg having an even integer number of switching transitions per electrical cycle, such that 2p points per electrical cycle exist where the state of the switching devices of the inverter are predetermined and independent of the single variable parameter, a; and applying the switching sequence to the switching devices of the switching legs.
  • a method for controlling an inverter for control of an electrical machine having a plurality, p, of phase windings wherein the inverter comprises p output terminals switchable between a first state in which a first voltage is applied to the output terminal and a second state in which a second voltage is applied to the output terminal, the method comprising: switching the voltage at the output terminals between the first and second states 2p times during an electrical cycle of an electrical machine, wherein the switching sequence is determined by a first sequence having a period of 2 ⁇ / ⁇ radians modulated by a second sequence to a modulation depth determined by a variable parameter, a, wherein 0 ⁇ a ⁇ ⁇ / ⁇ radians; measuring a function of the current that appears at the output terminals at at least one of 2p times in the electrical cycle, wherein the state of the output terminals is independent of the value of a at the 2p times; determining an updated value of a based on the measured function of the current
  • the measured function of the current is a function of current appearing at the output terminals of the inverter, but need not necessarily be measured at the output terminals. That is, a function of the current may be measured at other locations, such as within the electrical machine. Further, measuring a function of the current may comprise measuring a parameter other than current, for example, measuring a voltage across a resistive element.
  • the 2p points at which the function of the current is measured are equally spaced across the electrical cycle.
  • modulation depth encompasses the variation of a pulse width of a periodic sequence of pulses by a given value. That is, a modulation depth of a may vary the pulse width of a sequence of pulses by a value that is +/- a, or +/- a factor of a.
  • the electrical machine comprises three phase windings and the inverter comprises three output terminals, and the switching sequence of each output terminal is delayed with respect to the previous output terminal by 2 ⁇ /3 radians.
  • the first voltage is more positive than the second voltage, and the switching sequence of a first output terminal is as follows:
  • measuring the function of the current may comprise measuring the current.
  • a computer readable medium comprising computer program code executable to carry out the method described above.
  • an inverter for controlling an electrical machine, and comprising: a control system configured to carry out the method described above.
  • an electrical machine system comprising: an electrical machine; an inverter as described above and configured to control the electrical machine; and a sensorless rotor position and speed estimation system configured to estimate the position and speed of a rotor of the electrical machine based on the magnitude and angle of the voltage at at least one of the output terminals of the inverter and the magnitude and angle of a function of the current at at least one of the output terminals of the inverter.
  • a computer readable medium comprising computer program code including a control sequence for an inverter for control of an electrical machine having a plurality, p, of phase windings, wherein the inverter comprises at least p switching legs, each switching leg comprising an output terminal and at least two switching devices for alternate connection of the output terminal of the switching leg to a more positive or less positive voltage supply rail, and wherein the sequence comprises a complete range of switching sequences determined dependent on a single variable parameter, a, the variable parameter providing continuous variation of a fundamental component of the inverter output voltage from zero to a maximum value, the switching sequence for each inverter switching leg having an even integer number of switching transitions per electrical cycle, such that 2p points per electrical cycle exist where the state of the switching devices of the inverter are predetermined and independent of the single variable parameter, a.
  • Figure 1 shows a circuit diagram of an inverter
  • Figure 2 shows a set of switching voltages when the inverter is operating with low fundamental output voltage
  • Figure 3 shows a set of switching voltages when the inverter is operating with a higher fundamental output voltage
  • Figure 4 shows a set of switching voltages when the inverter is operating with a still higher fundamental output voltage
  • Figure 5 shows a set of switching voltages when the inverter is operating with maximum fundamental output voltage
  • Figure 6 shows the variation in fundamental output voltage and the variation in harmonic voltages when an inverter is operated
  • Figure 7 shows a flow chart for controlling an inverter
  • Figure 8 shows the voltage and current waveforms recorded in an inverter during operation.
  • Figure 1 shows an electrical machine, 1 10, typically with three phase windings.
  • the electrical machine can be controlled as a motor or a generator using an inverter, 1 1 1 .
  • the inverter for a three phase machine has six switching devices 121 , 122 123, 124, 125, and 126. In Figure 1 , these devices are shown as MOSFETs but may be IGBTs or other electronic switching devices.
  • the inverter operates from a dc supply, 127, usually with some capacitance, 128.
  • the dc supply may be a battery system in the case of small electrical appliances or in larger inverters the dc supply, 127, will be provided by rectification of a single phase or three phase ac supply.
  • the dc supply, 127 needs to absorb energy either by storing energy in capacitors or batteries or by conversion back to ac to deliver power back to an ac supply system.
  • the supply block 127 would incorporate a further DC to AC inverter for reversible power flow to and from the ac supply system.
  • the six switching devices in the inverter have circuits 101 , 102, 103, 104, 105, 106, to charge and discharge the gates of the switching devices thus allowing the switching devices to be controlled into conducting and non-conducting states from a control system, 130.
  • the output terminal of each inverter leg can be connected alternately to the positive supply rail of the inverter dc supply or to the less positive or zero supply rail of the inverter dc supply.
  • the control system, 130 determines the switching state of the switching devices to apply the optimum voltage and current to the machine, thus controlling the torque and/or speed close to a required value. Furthermore the switching sequence is designed to operate with a sensorless position and speed estimator to enable the inverter excitation to maintain synchronism with a synchronous electrical machine.
  • a special feature of the control system 130 is that it allows variation of the fundamental component of inverter output voltage over a complete range and does not require complex adjustment of the sampling points used to estimate rotor position. The sampling points can occur at known or fixed angular increments over the complete range of output voltage making it suitable for implementation in a low cost microcontroller or application specific integrated circuit.
  • the control system, 130 may have a means, 129, to monitor the current or a function of the current in the phase windings of the machine.
  • the phase currents may be measured directly or the phase currents can be monitored by appropriately timed sampling of the currents through particular switching devices when the switching devices are in known switching states. For example, sampling the current through switching devices 122, 124 and 126 when those devices are conducting (or the diode in parallel with the devices is conducting) can be implemented by measuring the voltage across a resistor in series with the switching device and is a direct function of the current in the corresponding phase winding of the machine.
  • the electrical machine, 1 10, may be a three phase asynchronous or synchronous machine.
  • This methods and apparatuses described herein are particularly suited to control of synchronous machines such as permanent magnet synchronous machines and synchronous reluctance machines. It can also be applied to flux switching machines such as disclosed in PCT/GB2009/001921 or in "Switching Flux permanent magnet poly-phased synchronous machines" in Proc. Eur. Conf. Power Electronics Appl. 1997, vol. 3 pp 903-908. In all these machines there is a need to maximise the utilisation of the dc supply voltage of the inverter, particularly when operating at higher speeds. Furthermore these synchronous machine types need to have knowledge of rotor position to operate the inverter and maintain the stator excitation in synchronism with the rotor position. The methods and apparatuses described herein can be applied to synchronous machines and stepping motors with two or more phase windings with the requirement that there is a at least the corresponding number of inverter switching legs in the inverter.
  • the PWM duty ratio reaches saturation when the modulation index reaches one.
  • the fundamental component of the output voltage between any two switching legs of the inverter is limited to 61 % of the dc supply voltage.
  • Increasing the PWM modulation index over one delivers further increases in the fundamental output voltage but is known to introduce non-linearity of the gain of the current control loops. For this reason, current regulated PWM inverters are operated below the maximum modulation index of one.
  • the controller 130 allows a smooth transition from PWM to synchronised modulation of output voltage. Further increases in output voltage are then possible up to the maximum rms output voltage (line to line) of V dc where V dc is the dc supply voltage, 127.
  • the method of operation of the controller 130 incorporates control of the electrical machine without mechanical sensors. This is achieved across the whole range of output voltage without any compromise due to the choice of sampling points. Furthermore, operation of a controller for an inverter can be achieved without any additional switching transitions to measure machine currents or functions of machine currents. All measurements for sensorless rotor feedback are obtained as part of the normal switching sequence thus ensuring step-less control of the output voltage.
  • controller 130 The operation of the controller 130 will be described with reference to the switching waveforms in Figures 2 - 5.
  • Figure 2 (a) is representative of the inverter switching voltage, V a , seen at the connection point between a pair of switching devices such as 121 and 122. This is the inverter output terminal connected to a first terminal of the electrical machine 1 10.
  • a voltage of 1 indicates an inverter switching state when switching device 121 (or 123 or 125) is conducting and switching device 122 (or 124 or 126) is not conducting.
  • a voltage of 1 is representative of a time when the respective inverter switching leg applies the dc supply voltage to the respective output terminal of the inverter.
  • the waveform in Figure2(a) shows that there are six switching transitions in each electrical cycle of the pair of switching devices in each leg of the inverter. An electrical cycle is represented by the period 2 ⁇ in the plot in Figure 2(a). The six switching transitions occur at the angles listed in Table 1.
  • Figure 2(b) shows the switching transitions associated with the inverter leg comprising switching devices 123 and 124, responsible for the production of inverter voltage V b .
  • this inverter leg is attached to a second terminal of the electrical machine and the
  • the output voltage of the inverter is measured across two terminals of the inverter since that represents the voltage applied across two terminals of the machine (often referred as line to line voltage).
  • the waveform shown in Figure 2 (c) represents the difference V ab between V a ( Figure 2 (a)) and V b ( Figure 2 (b)) where V a is the terminal voltage of the first inverter leg (121 , 122) and V b is the terminal voltage of the second inverter leg (123, 124).
  • Figure 2(c) shows that V ab has twelve switching transitions as summarised in Table 3.
  • Figure 5 (a, b, c) represents the special case which occurs when a reaches 3 .
  • transitions 201 , 202 and 203 merge to create a single transition 207 of 0 ⁇ 1 and similarly transitions 204, 205 and 206 merge to create a single transition, 208 of 1 ⁇ 0.
  • the voltage at the first switching leg output terminal is now a square wave with duty ratio 50%.
  • V b in Figure 5(b) is a square wave with 50% duty ratio and two transitions 217 and 218.
  • the inverter line voltage shown in Figure 5(c) therefore has four transitions as summarised by Table 5.
  • the condition represented by Figure 5 is known from the prior art as a six step inverter output voltage with 180° conduction intervals. However, in the switching it is possible to vary the inverter output voltage over a complete range of a from 0 to J to create a continuous variation in fundamental output voltage up to this maximum voltage. It is the smooth variation in output voltage by variation of the single control parameter a which differentiates this inverter controller from the prior art and allows an electrical machine to be controlled with a continuous variation in inverter voltage with capability to overlap with the maximum output voltage of a sinusoidal PWM scheme.
  • the rms value of the output voltage is then constant at 0.816 V dc as a increases further from 6 to 3 , though the fundamental component continues to increase.
  • Operation of the motor controller with these switching transitions controlled by the single control parameter, a can be used with a sensorless control scheme to maintain synchronism between the inverter switching and the rotor position.
  • the points at which the states of the inverter switches are identical for all values of a, as a varies from 0 to ⁇ /3 need not be equally spaced. In other exemplary methods and apparatuses, the points may be unequally spaced and the state of the switches may still be independent of a.
  • the calculation of the rotor position can follow the procedure described in Figure 7.
  • the controller can then operate to ensure that the frequency and magnitude of the voltage applied to the motor ensures that the current remains at the correct phase displacement and magnitude with respect to the motor EMF for optimum operation.
  • inverter phase currents machine phase currents
  • the inverter switching strategy disclosed herein can be used in conjunction with a sensorless position estimating scheme such as disclosed in PCT/EP2009/065281 where knowledge of the magnitude and angle of the effective inverter voltage is used with the magnitude and angle of the current vector to calculate the position of the EMF vector and hence update the position and speed estimates of the rotor.
  • Path 502 uses the estimate of rotor position to update the time estimate for the duration of the next 3 , angular interval.
  • Path 501 uses the estimate of rotor speed to calculate a speed error.
  • the speed error can be used in a speed control loop to update the value of the control parameter, a, to minimise the speed error. If the machine is underspeed, increasing a, increases the inverter output voltage and decreases the speed error.
  • the simplicity of the control of a machine as herein disclosed is how this parameter can vary the inverter output while the position and speed estimating loop can operate independently locked and synchronised to six equally spaced angular sample points.
  • path 501 could instead monitor and control the machine current vector, the error in the current compared to a target value being used to increase or decrease the control parameter, a. In this way a can be used to limit the current in a machine at lower speeds.
  • Prior art six step inverter control schemes with 120 ° or 180 ° conduction could not offer the continuous variation of output voltage while maintaining predetermined points for EMF estimation.
  • the required value for the control parameter, a, and the value of the time corresponding to the next 3 , angular interval are used to update the switching sequence of the inverter to continue operation of the machine. Since the control scheme disclosed herein can control the inverter voltage over a wide range it is possible to integrate this controller with prior art PWM schemes with no step in the available voltage. Such transitions can therefore occur without any disturbance to the machine under control.
  • inverter voltage control and the fact that the angle of the inverter excitation can be varied independently of the estimated EMF angle means that an inverter controlled as herein disclosed can operate in field weakening range with the voltage vector advancing ahead to the machine EMF vector. Furthermore the inverter can further adjust the phase angle to operate the machine as a generator and control the generated voltage and current with the control parameter, a.
  • Figure 8 shows examples of oscilloscope plots recorded during operation of an inverter .
  • the waveforms show the machine operating at a fixed rotational speed.
  • the inverter frequency is therefore constant but the load on the motor was adjusted to require three different values of the control parameter, a, to deliver the increased current required to deliver the higher torque.
  • Figure 8(a) is a lightly loaded condition
  • Figure 8(b) is a medium load
  • Figure 8(c) the load is close to maximum and the control parameter, a, is approaching 3 " .
  • Ch1 (601 ) shows the current in phase A of the electrical machine connected to the inverter
  • Ch2 (602) is the controlling voltage to inverter leg B
  • Ch3 (603) is the controlling voltage to inverter leg A
  • Ch4 (604)is the line to line inverter voltage, V ab .
  • the control sequence for the inverter switching has been described with respect to a three phase machine where the phase difference between the switching legs of the inverter was one third of the electrical cycle.
  • the methods and apparatuses described herein can be applied to motors with p phases, where p is two or more, with the phase difference between switching legs being 1/p of the electrical cycle and suitable fixed sample points for the measurement of current or a function of current and the calculation of rotor position being separated by 1/(2p) of the electrical cycle.
  • a five phase machine would have ten equally spaced points in the switching sequence where rotor position can be estimated at known switching states.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

La présente invention concerne un onduleur destiné à la commande d'une machine électrique dotée d'enroulements de phase p. Cet onduleur emploie une séquence de commande pour la commande de la tension de sortie d'onduleur. Un bloc de commande d'onduleur délivre toute une gamme de séquences de commutation déterminées par un paramètre variable unique, α. Ce paramètre variable fournit une variation continue de la composante fondamentale de la tension de sortie d'onduleur entre zéro et une valeur maximale. La séquence de commutation pour chaque dérivation de commutation d'onduleur comporte un nombre pair entier de transitions de commutation par cycle électrique, de telle sorte qu'il existe 2p points par cycle électrique lorsque l'état des dispositifs de commutation de l'onduleur sont prédéterminés et indépendants du paramètre variable unique, α.
PCT/GB2012/050631 2011-03-22 2012-03-22 Système de commande pour onduleur, et procédé de commande d'un onduleur Ceased WO2012127236A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1104815.4A GB2489256A (en) 2011-03-22 2011-03-22 Sensorless modulating square-wave inverter for electrical machine
GB1104815.4 2011-03-22

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WO2012127236A2 true WO2012127236A2 (fr) 2012-09-27
WO2012127236A3 WO2012127236A3 (fr) 2013-06-13

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US10135377B2 (en) * 2016-06-14 2018-11-20 Arm Ltd. Method and apparatus for operating an electric motor
CN119154414B (zh) * 2024-11-21 2025-04-04 浙江大学 基于神经网络预测器的逆变器控制方法、装置及系统

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