提高机车牵引电机动态性能的同步SHEPWM调制方法
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摘要
为了提高电力机车牵引电机控制及调制方法下的动态性能。提出了一种同步SHEPWM调制方法下提高动态性能的新方法,该方法将提前计算好开关角存储在控制器中,随着调制度的增加开关角改变,新的开关角是通过多段、微距线性插值的方式得到的,这样得到的开关角度更加精确。同时,基波频率变化时载波频率也随着变化,保证载波比为6的倍数,采用15分频的方式来得到载波频率,能保证稳态下SHEPWM脉冲正负半波对称和1/4周期对称。提出的由SHEPWM 7切换至SHEPWM 5、SHEPWM 3,然后由SHEPWM 1到方波的调制方式,可以增加系统的切换性能。在电机小功率平台上进行了实验,实验结果表明了该方法的可行性、整个动态过程效果明显、各调制方式之间切换平滑、能够自然过渡到6脉波模式。该方法可以作为机车牵引调制策略。
In order to improve the performance of motor in traction application, we propose a method using synchronous SHEPWM modulation. The switching angles is stored in the chips. When the modulation index changes, the switching angles, which are got by micro-distance linear interpolation way, will change too. Therefore, the switching angles are more precise. Meanwhile, when the carrier frequency changes, the fundamental frequency will also change so as to ensure that the carrier frequency is 6 times the fundamental frequency. The carrier frequency got from the way of 15-division can guarantee the symmetry between positive half-wave, negative half-wave, and 1/4 cycle. The proposed changing way from SHEPWM(7) to SHEPWM(5), SHEPWM(3), SHEPWM(1) to a six-step mode can improve the performance of changing. The experimental results demonstrate the feasibility of this method, the entire dynamic performance is obvious,smooth switching between modulation schemes can transit to the six-step mode automatically. The method can be used as traction modulation strategy.
In order to improve the performance of motor in traction application, we propose a method using synchronous SHEPWM modulation. The switching angles is stored in the chips. When the modulation index changes, the switching angles, which are got by micro-distance linear interpolation way, will change too. Therefore, the switching angles are more precise. Meanwhile, when the carrier frequency changes, the fundamental frequency will also change so as to ensure that the carrier frequency is 6 times the fundamental frequency. The carrier frequency got from the way of 15-division can guarantee the symmetry between positive half-wave, negative half-wave, and 1/4 cycle. The proposed changing way from SHEPWM(7) to SHEPWM(5), SHEPWM(3), SHEPWM(1) to a six-step mode can improve the performance of changing. The experimental results demonstrate the feasibility of this method, the entire dynamic performance is obvious,smooth switching between modulation schemes can transit to the six-step mode automatically. The method can be used as traction modulation strategy.
引文
[1]SAHOO S K,BHATTACHARYA T,ARAVIND M.A synchronized sinusoidal PWM based rotor flux oriented controlled induction motor drive for traction application,2013[C]∥Twenty-Eighth Annual IEEEApplied Power Electronics Conference and Exposition(APEC)2013.Long Beach,CA,USA:IEEE,2013.
[2]RAMARATHNAM S,MOHAMMED A.K,BILGIN B.A review of structural and thermal analysis of traction motors[J].IEEE Transactions on Transportation Electrification,2015,1(3):255-265.
[3]SAHOO S K,BHATTACHARYA T.Rotor flux-oriented control of induction motor with synchronized sinusoidal PWM for traction application[J].IEEE Transactions on Power Electronics,2016,31(6):4429-4439.
[4]TAN X Y.Advanced SHEPWM technique for AC traction drives[J].Proceedings-Chinese Society of Electrical Engineering,2001,21(9):47-52.
[5]ZABALETA M,BURGUETE E,MADARIAGA D,et al.Grid filter design of a multimegawatt medium-voltage converter for offshore wind turbine using SHEPWM modulation[J].IEEE Transactions on Power Electronics,2016,31(3):1993-2001.
[6]YANG K H,YUAN Z B,YUAN R Y,et al.A groebner bases theory-based method for selective harmonic elimination[J].IEEETransactions on Power Electronics,2015,30(12):6581-6592.
[7]AHMADI D,KE Z,CONG L,et al.A universal selective harmonic elimination method for high-power inverters[J].IEEE Transactions on Power Electronics,2011,26(10):2743-2752.
[8]DAHIDAH M S A,KONSTANTINOU G,AGELIDIS V G.A review of multilevel selective harmonic elimination PWM:formulations,solving algorithms,implementation and applications[J].IEEE Transactions on Power Electronics,2015,30(8):4091-4106.
[9]ZHANG F,YAN Y.Selective harmonic elimination PWM control scheme on a three-phase four-leg voltage source inverter[J].IEEETransactions on Power Electronics,2009,24(7):1682-1689.
[10]YOUNG C,WU S.Selective harmonic elimination in multi-level inverter with zig-zag connection transformers[J].IET Power Electronics,2014,7(4):876-885.
[11]WANG Z,WU B,XU D,et al.Hybrid PWM for high-power current-source-inverter-fed drives with low switching frequency[J].IEEETransactions on Power Electronics,2011,26(6):1754-1764.
[12]CHANG G W,LIN H W,CHEN S K.Modeling characteristics of harmonic currents generated by high-speed railway traction drive converters[J].IEEE Transactions on Power Delivery,2004,19(2):766-773.
[13]周明磊,游小杰,王琛琛.电力机车牵引电机在方波下的控制策略[J].电工技术学报,2013,28(11):155-162.ZHOU Minglei,YOU Xiaojie,WANG Chenchen.Control strategy of locomotive traction motor under square wave condition[J].Transactions of China Electrotechnical Society,2013,28(11):155-162.
[14]王堃,游小杰,王琛琛,等.低开关频率下SHEPWM和SVPWM同步调制策略比较研究[J].电工技术学报,2015,30(14):333-341.WANG Kun,YOU Xiaojie,WANG Chenchen,et al.Research on the comparison of synchronized modulation of SHEPWM and SVPWMunder low switching frequency[J].Transactions of China Electrotechnical Society,2015,30(14):333-341.
[15]王堃,游小杰,王琛琛,等.低开关频率下SVPWM同步调制策略比较研究[J].中国电机工程学报,2015,35(16):4175-4183.WANG Kun,YOU Xiaojie,WANG Chenchen,et al.Research on synchronized SVPWM strategies under low switching frequency[J].Proceedings of the CSEE,2015,35(16):4175-4183.
[16]郭新华,王永兴,赵峰,等.基于SHEPWM的中压大功率牵引永磁同步电机两电平控制[J].电工技术学报,2012,27(11):76-82.GUO Xinhua,WANG Yongxing,ZHAO Feng,et al.Two level control technology of PMSM used in medium voltage high power traction system based on SHEPWM[J].Transactions of China Electrotechnical Society,2012,27(11):76-82.
[17]丁泉,李帅.智能变电站重采样应用研究及其线性插值法误差分析[J].电力系统保护与控制,2015,43(23):132-136.DING Quan,LI Shuai.Application study on resampling in smart substation with error analysis of linear interpolation[J].Power System Protection and Control,2015,43(23):132-136.
[18]周斌,鲁国刚,黄国方,等.基于线性Lagrange插值法的变电站IED采样值接口方法[J].电力系统自动化,2007,31(3):86-90.ZHOU Bin,LU Guogang,HUANG Guofang,et al.A sampled values interface method for substation IED based on the linear Lagrange interpolation algorithm[J].Automation of Electric Power Systems,2007,31(3):86-90.
[19]姜齐荣,王亮,谢小荣.电力电子化电力系统的振荡问题及其抑制措施研究[J].高电压技术,2017,43(4):1057-1066.JIANG Qirong,WANG Liang,XIE Xiaorong.Study on oscillations of power-electronized power systems and their mitigation schemes[J].High Voltage Engineering,2017,43(4):1057-1066.
[20]付媛,王毅,张祥宇,等.基于多端直流联网的风电功率协调控制[J].高电压技术,2014,40(2):611-619.FU Yuan,WANG Yi,ZHANG Xiangyu,et al.Coordinated control of wind power in multi-terminal DC transmission system[J].High Voltage Engineering.2014,40(2):611-619.
[2]RAMARATHNAM S,MOHAMMED A.K,BILGIN B.A review of structural and thermal analysis of traction motors[J].IEEE Transactions on Transportation Electrification,2015,1(3):255-265.
[3]SAHOO S K,BHATTACHARYA T.Rotor flux-oriented control of induction motor with synchronized sinusoidal PWM for traction application[J].IEEE Transactions on Power Electronics,2016,31(6):4429-4439.
[4]TAN X Y.Advanced SHEPWM technique for AC traction drives[J].Proceedings-Chinese Society of Electrical Engineering,2001,21(9):47-52.
[5]ZABALETA M,BURGUETE E,MADARIAGA D,et al.Grid filter design of a multimegawatt medium-voltage converter for offshore wind turbine using SHEPWM modulation[J].IEEE Transactions on Power Electronics,2016,31(3):1993-2001.
[6]YANG K H,YUAN Z B,YUAN R Y,et al.A groebner bases theory-based method for selective harmonic elimination[J].IEEETransactions on Power Electronics,2015,30(12):6581-6592.
[7]AHMADI D,KE Z,CONG L,et al.A universal selective harmonic elimination method for high-power inverters[J].IEEE Transactions on Power Electronics,2011,26(10):2743-2752.
[8]DAHIDAH M S A,KONSTANTINOU G,AGELIDIS V G.A review of multilevel selective harmonic elimination PWM:formulations,solving algorithms,implementation and applications[J].IEEE Transactions on Power Electronics,2015,30(8):4091-4106.
[9]ZHANG F,YAN Y.Selective harmonic elimination PWM control scheme on a three-phase four-leg voltage source inverter[J].IEEETransactions on Power Electronics,2009,24(7):1682-1689.
[10]YOUNG C,WU S.Selective harmonic elimination in multi-level inverter with zig-zag connection transformers[J].IET Power Electronics,2014,7(4):876-885.
[11]WANG Z,WU B,XU D,et al.Hybrid PWM for high-power current-source-inverter-fed drives with low switching frequency[J].IEEETransactions on Power Electronics,2011,26(6):1754-1764.
[12]CHANG G W,LIN H W,CHEN S K.Modeling characteristics of harmonic currents generated by high-speed railway traction drive converters[J].IEEE Transactions on Power Delivery,2004,19(2):766-773.
[13]周明磊,游小杰,王琛琛.电力机车牵引电机在方波下的控制策略[J].电工技术学报,2013,28(11):155-162.ZHOU Minglei,YOU Xiaojie,WANG Chenchen.Control strategy of locomotive traction motor under square wave condition[J].Transactions of China Electrotechnical Society,2013,28(11):155-162.
[14]王堃,游小杰,王琛琛,等.低开关频率下SHEPWM和SVPWM同步调制策略比较研究[J].电工技术学报,2015,30(14):333-341.WANG Kun,YOU Xiaojie,WANG Chenchen,et al.Research on the comparison of synchronized modulation of SHEPWM and SVPWMunder low switching frequency[J].Transactions of China Electrotechnical Society,2015,30(14):333-341.
[15]王堃,游小杰,王琛琛,等.低开关频率下SVPWM同步调制策略比较研究[J].中国电机工程学报,2015,35(16):4175-4183.WANG Kun,YOU Xiaojie,WANG Chenchen,et al.Research on synchronized SVPWM strategies under low switching frequency[J].Proceedings of the CSEE,2015,35(16):4175-4183.
[16]郭新华,王永兴,赵峰,等.基于SHEPWM的中压大功率牵引永磁同步电机两电平控制[J].电工技术学报,2012,27(11):76-82.GUO Xinhua,WANG Yongxing,ZHAO Feng,et al.Two level control technology of PMSM used in medium voltage high power traction system based on SHEPWM[J].Transactions of China Electrotechnical Society,2012,27(11):76-82.
[17]丁泉,李帅.智能变电站重采样应用研究及其线性插值法误差分析[J].电力系统保护与控制,2015,43(23):132-136.DING Quan,LI Shuai.Application study on resampling in smart substation with error analysis of linear interpolation[J].Power System Protection and Control,2015,43(23):132-136.
[18]周斌,鲁国刚,黄国方,等.基于线性Lagrange插值法的变电站IED采样值接口方法[J].电力系统自动化,2007,31(3):86-90.ZHOU Bin,LU Guogang,HUANG Guofang,et al.A sampled values interface method for substation IED based on the linear Lagrange interpolation algorithm[J].Automation of Electric Power Systems,2007,31(3):86-90.
[19]姜齐荣,王亮,谢小荣.电力电子化电力系统的振荡问题及其抑制措施研究[J].高电压技术,2017,43(4):1057-1066.JIANG Qirong,WANG Liang,XIE Xiaorong.Study on oscillations of power-electronized power systems and their mitigation schemes[J].High Voltage Engineering,2017,43(4):1057-1066.
[20]付媛,王毅,张祥宇,等.基于多端直流联网的风电功率协调控制[J].高电压技术,2014,40(2):611-619.FU Yuan,WANG Yi,ZHANG Xiangyu,et al.Coordinated control of wind power in multi-terminal DC transmission system[J].High Voltage Engineering.2014,40(2):611-619.