矢量控制系统中优化PWM控制策略的研究
摘要
中文摘要
随着能源、环保等问题的日益突出，电动汽车逐渐成为业内研究的热点，是
二十一世纪较为理想的“绿色”机动车辆。电动汽车是用蓄电池替代传统的汽油
作为车载能源的，然而在现有的技术条件下，蓄电池单位重量储存的能量限制了
电机的动力特性和汽车的续驰里程。研究优化控制策略，提高电机驱动系统的工
作效率是目前解决问题的关键。
本论文针对电动汽车电机矢量控制系统中电源逆变装置的优化控制策略问
题进行研究。在参阅国内外相关文献的基础上，本论文首先分析了传统的电压正
弦 PWM（SPWM）控制技术在电压利用率和调制周期一定情况下功率器件的开
关次数两方面存在的不足，给出了具体的优化措施并进行了仿真验证。其次，本
文详细介绍了近年来应用广泛的空间电压矢量 PWM（SVPWM）控制技术的工
作原理、具体实现方法，分析了其在降低开关损耗方面存在的缺陷，给出了几种
具体的优化措施并进行了仿真比较。在前面工作的基础上，本文从提高电压利用
率和降低开关损耗等方面将常规 SPWM、优化 SPWM、SVPWM、优化 SVPWM
调制技术进行了比较研究，指出了它们之间的区别和联系。理论分析和仿真结果
表明将每相电压正、负半周各60o的不开关扇区对称分布于电流峰值两侧的优化
SVPWM 调制技术是最为理想的控制策略。论文的最后介绍了 SVPWM 及其优化
策略在 TMS320LF2407 DSP 中的实现方法。将 SVPWM 控制策略应用于实际系
统的运行结果证明，采用这种调制技术后，控制器的工作效率得到了显著的提高。
ABSTRACT
Electrical Vehicle (EV) is gradually becoming the focus of research in its field
and is a kind of ideal green vehicle as the problems of energy and environment are
becoming more and more serious in the 21st century. The energy in EV is provided by
storage batteries instead of traditional gasoline, but the dynamic characters of motor
and the driving distance of EV are limited by the capacity of its storage batteries with
current technologies. It’s the key of solving problems to study on optimal control
strategies and to improve the working efficiency of motor driving systems at present.
The aim of this thesis is to do some research on optimal control strategies of
inverters in vector control system of IM (Induction Motor). The deficiencies in
voltage utilities and switching frequencies of power switches (IGBT) at fixed PWM
period of traditional voltage sinusoidal PWM (SPWM) are analyzed in detail at the
first part of this thesis, and some concrete optimized methods are given and simulated
by computer. The working principles and concrete realization methods of Space
Vector PWM (SVPWM), which is used widely recently, are introduced at length. The
deficiencies of SVPWM in decreasing switching losses are analyzed, and some
explicit optimized methods are given and compared by computer simulations. Normal
SPWM, optimized SPWM, SVPWM and optimized SVPWM are compared based on
previous work, and the differences and relations between them are pointed out
detailedly. The optimized SVPWM of distributing the none-switching areas of each
phase of voltage, which is 60o in each half period of sinusoid, to the two sides of
current peaks symmetrically is proved to be the ideal control method by theoretical
analysis and computer simulations. The implementation methods of SVPWM and
optimized SVPWM in DSP of TMS320LF2407 are introduced at the last part of this
thesis. The experimental results in practical systems demonstrate that the efficiency of
the controllers has been dramatically improved after adopting SVPWM strategies.
随着能源、环保等问题的日益突出，电动汽车逐渐成为业内研究的热点，是
二十一世纪较为理想的“绿色”机动车辆。电动汽车是用蓄电池替代传统的汽油
作为车载能源的，然而在现有的技术条件下，蓄电池单位重量储存的能量限制了
电机的动力特性和汽车的续驰里程。研究优化控制策略，提高电机驱动系统的工
作效率是目前解决问题的关键。
本论文针对电动汽车电机矢量控制系统中电源逆变装置的优化控制策略问
题进行研究。在参阅国内外相关文献的基础上，本论文首先分析了传统的电压正
弦 PWM（SPWM）控制技术在电压利用率和调制周期一定情况下功率器件的开
关次数两方面存在的不足，给出了具体的优化措施并进行了仿真验证。其次，本
文详细介绍了近年来应用广泛的空间电压矢量 PWM（SVPWM）控制技术的工
作原理、具体实现方法，分析了其在降低开关损耗方面存在的缺陷，给出了几种
具体的优化措施并进行了仿真比较。在前面工作的基础上，本文从提高电压利用
率和降低开关损耗等方面将常规 SPWM、优化 SPWM、SVPWM、优化 SVPWM
调制技术进行了比较研究，指出了它们之间的区别和联系。理论分析和仿真结果
表明将每相电压正、负半周各60o的不开关扇区对称分布于电流峰值两侧的优化
SVPWM 调制技术是最为理想的控制策略。论文的最后介绍了 SVPWM 及其优化
策略在 TMS320LF2407 DSP 中的实现方法。将 SVPWM 控制策略应用于实际系
统的运行结果证明，采用这种调制技术后，控制器的工作效率得到了显著的提高。
ABSTRACT
Electrical Vehicle (EV) is gradually becoming the focus of research in its field
and is a kind of ideal green vehicle as the problems of energy and environment are
becoming more and more serious in the 21st century. The energy in EV is provided by
storage batteries instead of traditional gasoline, but the dynamic characters of motor
and the driving distance of EV are limited by the capacity of its storage batteries with
current technologies. It’s the key of solving problems to study on optimal control
strategies and to improve the working efficiency of motor driving systems at present.
The aim of this thesis is to do some research on optimal control strategies of
inverters in vector control system of IM (Induction Motor). The deficiencies in
voltage utilities and switching frequencies of power switches (IGBT) at fixed PWM
period of traditional voltage sinusoidal PWM (SPWM) are analyzed in detail at the
first part of this thesis, and some concrete optimized methods are given and simulated
by computer. The working principles and concrete realization methods of Space
Vector PWM (SVPWM), which is used widely recently, are introduced at length. The
deficiencies of SVPWM in decreasing switching losses are analyzed, and some
explicit optimized methods are given and compared by computer simulations. Normal
SPWM, optimized SPWM, SVPWM and optimized SVPWM are compared based on
previous work, and the differences and relations between them are pointed out
detailedly. The optimized SVPWM of distributing the none-switching areas of each
phase of voltage, which is 60o in each half period of sinusoid, to the two sides of
current peaks symmetrically is proved to be the ideal control method by theoretical
analysis and computer simulations. The implementation methods of SVPWM and
optimized SVPWM in DSP of TMS320LF2407 are introduced at the last part of this
thesis. The experimental results in practical systems demonstrate that the efficiency of
the controllers has been dramatically improved after adopting SVPWM strategies.
引文
参考文献
[1] 夏超英. 交直流传动系统的自适应控制. 北京：机械工业出版社，1998
[2] 陈伯时. 电力拖动自动控制系统（第二版）. 北京：机械工业出版社，1992
[3] 李永东. 交流电机数字控制系统. 北京：机械工业出版社，2002
[4] 谭新元. 牵引逆变器 SHEPWM 控制技术的研究. 电力电子技术暨电力谐波
问题研讨会论文集，Mar. 2000
[5] 赵栋利. 电动汽车电机驱动系统效率最优控制研究；[硕士学位论文]，天津；
天津大学，2002
[6] 陈国呈. PWM 变频调速及软开关电力变换技术. 北京：机械工业出版社，2001
[7] 熊健，康勇，陈坚 等. 电压空间矢量调制与常规 SPWM 的比较研究. 电力
电子技术, No.1, 1999: 25~28
[8] Kaura V. & Blasko V. Operation of a Voltage Source Converter at Increased
Utility Voltage. IEEE Trans. on Power Electronics, Vol. 12, No. 1, Jan. 1997:
132~137
[9] 刘志晖，张青，陈坚. 一种新颖的三相SPWM技术. 电力电子技术，No. 2, 1997:
1~5
[10] 詹宜巨，陈清泉. 电动车技术发展及前景展望. 电气传动，No. 5，1997：40~44
[11] 宋凌峰，程树康. 电动车电驱动技术综述. 电工技术，No. 4, 1999: 3~6
[12] Chandan Kumar Chakrabarty. Minh C-Tao. Fast Search Controllers for
Efficiency Maximization of Induction Motor Drives Based on DC Link Power
Measurement. PCC-Osaka, 2002: 402~408
[13] Chan, C. C. An Overview of Electric Vehicle Technology. Proceedings of the
IEEE, Vol. 81, Issue 9, Sept. 1993:1202 ~1213
[14] Bose S. R. New Sinusoidal Pulsewidth Modulated Inverter. Proc. Iee，1975：
122~123
[15] Bose S. R. & Midoun A. Suboptimal Switching Strategies for
Microprocessor-controlled PWM Inverter Drives. Proc. IEE, 1985:132~135
[16] Kazmierkowski M.P.; Dzieniakowski M.A.; Sulkowski W. Novel Space Vector
Based Current Controllers for PWM-Inverters. Power Electronics, IEEE
Transactions on, Vol. 6 Issue 1, 1991: 158 –166
[17] Buso S.; Fasolo S.; Malesani L.; Mattavelli P. A Dead-Beat Adaptive Hysteresis
Current Control. Industry Applications, IEEE Transactions on,Vol. 36 Issue 4,
2000: 1174 ~1180
[18] Handley P.G. & Boys J.T. Practical Real-Time PWM Modulations: an
Assessment. IEE Proceedings B, Vol. 139 Issue 2, 1992: 96 ~102
[19] Blasko, V. Analysis of a Hybrid PWM Based On Modified Space-Vector And
Triangle-Comparison Methods. IEEE Transactions on IA, Vol. 33 Issue 3, 1997:
65
参考文献
756 ~764
[20] H. W. Vander Broek; H. C. Skudely; G. V. Stranke. Analysis And Realization of
A Pulse Width Modulator Based on Voltage Space Vector. IEEE Transactions on
Industry Applications, Vol. 24, No. 1, 1988
[21] Kheraluwala M & DMD. Delta Modulation Strategies For Resonant Link
Inverters. IEEE PESC’ 87 Conf. , 1987
[22] Hotz J. & Stadtfeld S. A Predictive Controller For The Stator Current Vector of
AC Machine Fed From A Switched Voltage Source. IPEC Conf. Rec. 1983
[23] Hamasaki S. & Kawamura A. Improvement of Current Regulation of
Line-Current-Detection-Type Active Filter Based on Deadbeat Control. IEEE
Trans. on IA, Vol. 39, Issue 2, 2003: 536~541
[24] Hardan F.; Zhang L.; Shepherd W. Adaptive Current Regulation Using Extended
Kalman Filter For Vector-Controlled Induction Machine Drive. Power Electronics
Specialists Conference, PESC '95 Rec. 26th Annual IEEE, Vol: 1, 1995:457 ~463
[25] 谢勤岚，陈红. PWM逆变器中IGBT的损耗计算. 中南民族大学学报(自然科
学版)，Vol. 22, No. 1, 2003: 39 ~41
[26] 张桂斌，徐政. 最小开关损耗VSVPWM技术的研究与仿真. 电工技术学报，
Vol. 16, No. 2, 2001: 34 ~40
[27] 李华德，白晶，李志民等. 交流调速控制系统. 北京：电子工业出版社，2003
[28] 吴守箴，臧英杰等. 电气传动的脉宽调制控制技术（第二版）. 北京：机械
工业出版社，2003
[29] Buja G. S. & Indri G. B. Optimal Pulsewidth Modulation for Feeding AC Motors.
IEEE Trans. on IA, 1977, IA-13 (1)
[30] Zach F. C. Efficiency Optimal Control for AC Drives with PWM Inverters. IEEE
Trans. on IA, 1985, IA-21 (4)
[31] 谭新元. PWM 控制方案的比较与评估. 电力电子技术暨电力谐波问题研讨
会论文集，Mar. 2000
[32] Trzynadlowski A.M.; Blaabjerg F.; Pedersen J. K.; Kirlin R. L.; Legowski S.;
Random Pulse Width Modulation Techniques for Converter Fed Drive Systems-a
Review. IEEE Industry Applications Society Annual Meeting, 1993:1136~1143
[33] Agelidis V.G. & Vincenti D. Optimum Non-Deterministic Pulse-Width
Modulation for Three-Phase Inverters. IEEE IECON Conf. Rec. , 1993: 1234
~1239
[34] General Consideration for IGBT and Intelligent Power Modules. Mitsubishi
Power Devices. Mar. 2001
[35] Blasko V. Analysis of a Hybrid PWM Based on Modified Space-Vector and
Triangle-Comparison Methods. IEEE Transactions on IA, Vol: 33, Issue 3, 1997:
756 -764
[36] Jian Sun; Beineke S.; Grotstollen H.; Optimal PWM Based on Real-Time
Solution of Harmonic Elimination Equations. IEEE Transactions on Power
Electronics,Vol: 11, Issue 4, 1996: 612 ~ 621
66
参考文献
[37] Poh Chiang Loh; Holmes D.G.; Flux Modulation for Multilevel Inverters. IEEE
Transactions on IA, Vol: 38, Issue 5, 2002:1389 ~1399
[38] Mondal S. K.; Pinto J.O.P.; Bose B.K.; A Neural-Network-Based Space-Vector
PWM Controller for A Three-Level Voltage-Fed Inverter Induction Motor Drive.
IEEE Transactions on IA, Vol: 38, Issue 3, 2002: 660~669
[39] Mondal S.K.; Bose B.K.; Oleschuk V.; Pinto J.O.P.; Space Vector Pulse Width
Modulation of Three-Level Inverter Extending Operation into Overmodulation
Region. IEEE Transactions on Power Electronics, Vol: 18, Issue 2, 2003: 604~
611
[40] Profumo F.; Boglietti A.; Griva G.; Pastorelli M.; Space Vector And Sinusoidal
PWM Techniques Comparison Keeping In Account The Secondary Effects.
AFRICON '92 Proceedings, 1992: 394~399
[41] Morimoto M.; Sato S.; Sumito K.; Oshitani K.; Single-Chip Microcomputer
Control of The Inverter by The Magnetic Flux Control PWM Method. IEEE
Transactions on Industrial Electronics, Vol: 36, Issue 1, 1989: 42 ~47
[42] Trzynadlowski A.M.; Legowski S.; Minimum-Loss Vector PWM Strategy for
Three-Phase Inverters. IEEE Transactions on Power Electronics, Vol: 9, Issue
1, 1994: 26~34
[43] Trzynadlowski A.M.; Kirlin R.L.; Legowski S.F.; Space Vector PWM Technique
With Minimum Switching Losses And A Variable Pulse Rate. IEEE Transactions
on Industrial Electronics, Vol: 44, Issue 2, 1997:173~181
[44] 程善美等. 空间矢量PWM逆变器的仿真. 微电机，Vol. 35, No. 4, 2002: 30
~33
[45] Jian Sun; Grotstollen H.; Optimized Space Vector Modulation And
Regular-Sampled PWM: a Reexamination. IEEE Thirty-First IAS Annual
Meeting, IAS '96., Conf. Rec. Volume:2 , 1996: 956~963
[46] 舒州，沈安文. 基于DSP的空间矢量控制的交流调速系统. 华中科技大学学
报(自然科学版)，Vol. 30, No. 12, 2002: 53 ~55
[47] 王妍，杜军红，陈永校. 基于DSP的空间电压矢量法PWM的研究. 电机与控
制学报，Vol. 4, No. 2, 2000: 98 ~105
[48] 林平，吕晓东. SVPWM调制法中零矢量优化分配技术的研究. 电气自动化，
Vol. 4, 2002: 19 ~22
[49] Xiaowei Zhang; Yongdong Li; Wensen Wang; A Novel Implementation of
SVPWM Algorithm And Its Application To Three-Phase Power Converter. The
Third International Power Electronics and Motion Control Conference, Vol:
3, 2000:1104~1107
[50] 刘和平 等. TMS320LF240x DSP 结构、原理及应用. 北京：北京航空航天
大学出版社，2002
[51] 姚俊，马松辉等. SIMULINK 建模与仿真. 西安：西安电子科技大学出版社，
2002
[52] 陈坚. 电力电子变换和控制技术. 北京：高等教育出版社，2002
[1] 夏超英. 交直流传动系统的自适应控制. 北京：机械工业出版社，1998
[2] 陈伯时. 电力拖动自动控制系统（第二版）. 北京：机械工业出版社，1992
[3] 李永东. 交流电机数字控制系统. 北京：机械工业出版社，2002
[4] 谭新元. 牵引逆变器 SHEPWM 控制技术的研究. 电力电子技术暨电力谐波
问题研讨会论文集，Mar. 2000
[5] 赵栋利. 电动汽车电机驱动系统效率最优控制研究；[硕士学位论文]，天津；
天津大学，2002
[6] 陈国呈. PWM 变频调速及软开关电力变换技术. 北京：机械工业出版社，2001
[7] 熊健，康勇，陈坚 等. 电压空间矢量调制与常规 SPWM 的比较研究. 电力
电子技术, No.1, 1999: 25~28
[8] Kaura V. & Blasko V. Operation of a Voltage Source Converter at Increased
Utility Voltage. IEEE Trans. on Power Electronics, Vol. 12, No. 1, Jan. 1997:
132~137
[9] 刘志晖，张青，陈坚. 一种新颖的三相SPWM技术. 电力电子技术，No. 2, 1997:
1~5
[10] 詹宜巨，陈清泉. 电动车技术发展及前景展望. 电气传动，No. 5，1997：40~44
[11] 宋凌峰，程树康. 电动车电驱动技术综述. 电工技术，No. 4, 1999: 3~6
[12] Chandan Kumar Chakrabarty. Minh C-Tao. Fast Search Controllers for
Efficiency Maximization of Induction Motor Drives Based on DC Link Power
Measurement. PCC-Osaka, 2002: 402~408
[13] Chan, C. C. An Overview of Electric Vehicle Technology. Proceedings of the
IEEE, Vol. 81, Issue 9, Sept. 1993:1202 ~1213
[14] Bose S. R. New Sinusoidal Pulsewidth Modulated Inverter. Proc. Iee，1975：
122~123
[15] Bose S. R. & Midoun A. Suboptimal Switching Strategies for
Microprocessor-controlled PWM Inverter Drives. Proc. IEE, 1985:132~135
[16] Kazmierkowski M.P.; Dzieniakowski M.A.; Sulkowski W. Novel Space Vector
Based Current Controllers for PWM-Inverters. Power Electronics, IEEE
Transactions on, Vol. 6 Issue 1, 1991: 158 –166
[17] Buso S.; Fasolo S.; Malesani L.; Mattavelli P. A Dead-Beat Adaptive Hysteresis
Current Control. Industry Applications, IEEE Transactions on,Vol. 36 Issue 4,
2000: 1174 ~1180
[18] Handley P.G. & Boys J.T. Practical Real-Time PWM Modulations: an
Assessment. IEE Proceedings B, Vol. 139 Issue 2, 1992: 96 ~102
[19] Blasko, V. Analysis of a Hybrid PWM Based On Modified Space-Vector And
Triangle-Comparison Methods. IEEE Transactions on IA, Vol. 33 Issue 3, 1997:
65
参考文献
756 ~764
[20] H. W. Vander Broek; H. C. Skudely; G. V. Stranke. Analysis And Realization of
A Pulse Width Modulator Based on Voltage Space Vector. IEEE Transactions on
Industry Applications, Vol. 24, No. 1, 1988
[21] Kheraluwala M & DMD. Delta Modulation Strategies For Resonant Link
Inverters. IEEE PESC’ 87 Conf. , 1987
[22] Hotz J. & Stadtfeld S. A Predictive Controller For The Stator Current Vector of
AC Machine Fed From A Switched Voltage Source. IPEC Conf. Rec. 1983
[23] Hamasaki S. & Kawamura A. Improvement of Current Regulation of
Line-Current-Detection-Type Active Filter Based on Deadbeat Control. IEEE
Trans. on IA, Vol. 39, Issue 2, 2003: 536~541
[24] Hardan F.; Zhang L.; Shepherd W. Adaptive Current Regulation Using Extended
Kalman Filter For Vector-Controlled Induction Machine Drive. Power Electronics
Specialists Conference, PESC '95 Rec. 26th Annual IEEE, Vol: 1, 1995:457 ~463
[25] 谢勤岚，陈红. PWM逆变器中IGBT的损耗计算. 中南民族大学学报(自然科
学版)，Vol. 22, No. 1, 2003: 39 ~41
[26] 张桂斌，徐政. 最小开关损耗VSVPWM技术的研究与仿真. 电工技术学报，
Vol. 16, No. 2, 2001: 34 ~40
[27] 李华德，白晶，李志民等. 交流调速控制系统. 北京：电子工业出版社，2003
[28] 吴守箴，臧英杰等. 电气传动的脉宽调制控制技术（第二版）. 北京：机械
工业出版社，2003
[29] Buja G. S. & Indri G. B. Optimal Pulsewidth Modulation for Feeding AC Motors.
IEEE Trans. on IA, 1977, IA-13 (1)
[30] Zach F. C. Efficiency Optimal Control for AC Drives with PWM Inverters. IEEE
Trans. on IA, 1985, IA-21 (4)
[31] 谭新元. PWM 控制方案的比较与评估. 电力电子技术暨电力谐波问题研讨
会论文集，Mar. 2000
[32] Trzynadlowski A.M.; Blaabjerg F.; Pedersen J. K.; Kirlin R. L.; Legowski S.;
Random Pulse Width Modulation Techniques for Converter Fed Drive Systems-a
Review. IEEE Industry Applications Society Annual Meeting, 1993:1136~1143
[33] Agelidis V.G. & Vincenti D. Optimum Non-Deterministic Pulse-Width
Modulation for Three-Phase Inverters. IEEE IECON Conf. Rec. , 1993: 1234
~1239
[34] General Consideration for IGBT and Intelligent Power Modules. Mitsubishi
Power Devices. Mar. 2001
[35] Blasko V. Analysis of a Hybrid PWM Based on Modified Space-Vector and
Triangle-Comparison Methods. IEEE Transactions on IA, Vol: 33, Issue 3, 1997:
756 -764
[36] Jian Sun; Beineke S.; Grotstollen H.; Optimal PWM Based on Real-Time
Solution of Harmonic Elimination Equations. IEEE Transactions on Power
Electronics,Vol: 11, Issue 4, 1996: 612 ~ 621
66
参考文献
[37] Poh Chiang Loh; Holmes D.G.; Flux Modulation for Multilevel Inverters. IEEE
Transactions on IA, Vol: 38, Issue 5, 2002:1389 ~1399
[38] Mondal S. K.; Pinto J.O.P.; Bose B.K.; A Neural-Network-Based Space-Vector
PWM Controller for A Three-Level Voltage-Fed Inverter Induction Motor Drive.
IEEE Transactions on IA, Vol: 38, Issue 3, 2002: 660~669
[39] Mondal S.K.; Bose B.K.; Oleschuk V.; Pinto J.O.P.; Space Vector Pulse Width
Modulation of Three-Level Inverter Extending Operation into Overmodulation
Region. IEEE Transactions on Power Electronics, Vol: 18, Issue 2, 2003: 604~
611
[40] Profumo F.; Boglietti A.; Griva G.; Pastorelli M.; Space Vector And Sinusoidal
PWM Techniques Comparison Keeping In Account The Secondary Effects.
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