永磁同步电机锯齿载波减振控制
|
摘要
为了降低电力推进用永磁同步电机水下噪声,提出一种新型锯齿载波减振控制方法。该方法应用锯齿载波替代传统三角载波进行空间矢量脉宽调制,使相电流基波两侧的边带谐波幅值大幅降低,从而抑制电机低频振动。针对锯齿载波带来的相电流高频谐波增大的问题,进一步应用基于随机开关频率和随机零矢量的双随机控制,使得开关频率整数倍处的相电流高频谐波幅值有效降低,从而降低电机高频振动。实验结果表明,锯齿载波双随机控制对低频和高频振动均有明显抑制作用,尤其是锯齿载波较传统三角载波低频振动加速度降幅可达60%。
To reduce the underwater noise of the permanent magnet synchronous motor(PMSM) for electric propulsion, a novel control method for vibration reduction with the sawtooth carrier was proposed. Instead of the traditional triangle carrier,the sawtooth carrier was used for space vector pulse width modulation of PMSM. Thus, the amplitude of the sideband harmonics on both sides of the fundamental current was reduced, and the low frequency vibration was also decreased.To reduce the high frequency current harmonics caused by the sawtooth carrier, the dual random control(DRC) method was further presented based on the sawtooth carrier. By using the random switching frequency control and the random zero vector control simultaneously, both the amplitude of the high frequency current harmonics and the high frequency vibration at the integer multiple of the switching frequency, were all decreased effectively. The experimental results show that, with the sawtooth carrier DRC, the vibration acceleration can be reduced obviously in both low frequency and high frequency band. Moreover, the sawtooth carrier reduces the low frequency vibration acceleration by nearly 60% in comparison with the traditional triangle carrier.
To reduce the underwater noise of the permanent magnet synchronous motor(PMSM) for electric propulsion, a novel control method for vibration reduction with the sawtooth carrier was proposed. Instead of the traditional triangle carrier,the sawtooth carrier was used for space vector pulse width modulation of PMSM. Thus, the amplitude of the sideband harmonics on both sides of the fundamental current was reduced, and the low frequency vibration was also decreased.To reduce the high frequency current harmonics caused by the sawtooth carrier, the dual random control(DRC) method was further presented based on the sawtooth carrier. By using the random switching frequency control and the random zero vector control simultaneously, both the amplitude of the high frequency current harmonics and the high frequency vibration at the integer multiple of the switching frequency, were all decreased effectively. The experimental results show that, with the sawtooth carrier DRC, the vibration acceleration can be reduced obviously in both low frequency and high frequency band. Moreover, the sawtooth carrier reduces the low frequency vibration acceleration by nearly 60% in comparison with the traditional triangle carrier.
引文
[1]Islam M S,Islam R,Sebastian T.Noise and vibration characteristics of permanent-magnet synchronous motors using electromagnetic and structural analyses[J].IEEETransactions on Industry Applications,2014,50(5):3214-3222.
[2]陈益广,韩柏然,沈勇环,等.永磁同步推进电机电磁振动分析[J].电工技术学报,2017,32(23):16-22.Chen Yiguang,Han Boran,Shen Yonghuan,et al.Electromagnetic vibration analysis of permanent magnet synchronous propulsion motor[J].Transactions of China Electrotechnical Society,2017,32(23):16-22(in Chinese).
[3]赵文峰,赵博,徐永向.磁场干涉对永磁电机电磁力特性影响研究[J].电机与控制学报,2018,22(2):33-40.Zhao Wenfeng,Zhao Bo,Xu Yongxiang.Research of permanent magnet motors cogging force affected by interferential magnetic field[J].Electric Machines and Control,2018,22(2):33-40(in Chinese).
[4]Lin Fu,Zuo Shuguang,Deng Wenzhe,et al.Modeling and analysis of electromagnetic force,vibration,and noise in permanent-magnet synchronous motor considering current harmonics[J].IEEE Transactions on Industrial Electronics,2016,63(12):7455-7466.
[5]Min S G,Sarlioglu B.Modeling and investigation on electromagnetic noise in PM motors with single-and double-layer concentrated winding for EV and HEVapplication[J].IEEE Transactions on Transportation Electrification,2018,4(1):292-302.
[6]Deng Wenzhe,Zuo Shuguang,Lin Fu,et al.Influence of pole and slot combinations on vibration and noise in external rotor axial flux in-wheel motors[J].IET Electric Power Applications,2017,11(4):586-594.
[7]王凯,孙海阳,张露锋,等.永磁同步电机转子磁极优化技术综述[J].中国电机工程学报,2017,37(24):7304-7317.Wang Kai,Sun Haiyang,Zhang Lufeng,et al.An overview of rotor pole optimization techniques for permanent magnet synchronous machines[J].Proceedings of the CSEE,2017,37(24):7304-7317(in Chinese).
[8]谢颖,李飞,黎志伟,等.内置永磁同步电机减振设计与研究[J].中国电机工程学报,2017,37(18):5437-5445.Xie Ying,Li Fei,Li Zhiwei,et al.Optimized design and research of vibration reduction with an interior permanent magnet synchronous motor[J].Proceedings of the CSEE,2017,37(18):5437-5445(in Chinese).
[9]Zou Jibin,Lan Hua,Xu Yongxiang,et al.Analysis of global and local force harmonics and their effects on vibration in permanent magnet synchronous machines[J].IEEE Transactions on Energy Conversion,2017,32(4):1523-1532.
[10]苑利维,于洋,汪远银,等.RSVPWM技术在船舶推进系统中的应用研究[J].电力电子技术,2017,51(3):84-85,124.Yuan Liwei,Yu Yang,Wang Yuanyin,et al.Research on application of RSVPWM technology in ship propulsion system[J].Power Electronics,2017,51(3):84-85,124(in Chinese).
[11]Peyghambari A,Dastfan Ali,Ahmadyfard A.Selective voltage noise cancellation in three-phase inverter using random SVPWM[J].IEEE Transactions on Power Electronics,2016,31(6):4604-4610.
[12]陈国强,吴志红,朱元.随机脉冲位置空间矢量脉宽调制的谐波分析[J].同济大学学报:自然科学版,2012,40(7):1111-1117.Chen Guoqiang,Wu Zhihong,Zhu Yuan.Harmonic analysis of random pulse position space vector PWM[J].Journal of Tongji University:Natural Science,2012,40(7):1111-1117(in Chinese).
[13]Liang Wenyi,Luk P C K,Fei Weizhong.Analytical investigation of sideband electromagnetic vibration in integral-slot PMSM drive with SVPWM technique[J].IEEE Transactions on Power Electronics,2017,32(6):4785-4795.
[14]Lee K,Shen Guangtong,Yao Wenxi,et al.Performance characterization of random pulse width modulation algorithms in industrial and commercial adjustable-speed drives[J].IEEE Transactions on Industry Applications,2017,53(2):1078-1087.
[15]Kumar A C B,Narayanan G.Variable-switching frequency PWM technique for induction motor drive to spread acoustic noise spectrum with reduced current ripple[J].IEEE Transactions on Industry Applications,2016,52(5):3927-3938.
[16]刘洋,王庆义,赵金.基于矢量控制系统的双随机PWM技术研究[J].中国电机工程学报,2010,30(36):98-102.Liu Yang,Wang Qingyi,Zhao Jin.Dual randomized PWMbased on vector control system[J].Proceedings of the CSEE,2010,30(36):98-102(in Chinese).
[17]陈国呈,蔡立清,周勤利,等.基于锯齿载波的最少开关次数调制波的PWM数学分析[J].电工电能新技术,2015,34(11):1-10.Chen Guocheng,Cai Liqing,Zhou Qinli,et al.Mathematical analysis on least switching PWM based on sawtooth carrier wave[J].Advanced Technology of Electrical Engineering and Energy,2015,34(11):1-10(in Chinese).
[18]Lyu Xiaofeng,Li Yanchao,Cao Dong.DC-link RMScurrent reduction by increasing paralleled three-phase inverter module number for segmented traction drive[J].IEEE Journal of Emerging and Selected Topics in Power Electronics,2017,5(1):171-181.
[19]Ghias A M Y M,Pou J,Agelidis V G,et al.Voltage balancing method for a flying capacitor multilevel converter using phase disposition PWM[J].IEEETransactions on Industrial Electronics,2014,61(12):6538-6546.
[20]Sivarani T S,Joseph J S,Agees K C.Intensive random carrier pulse width modulation for induction motor drives based on hopping between discrete carrier frequencies[J].IET Power Electronics,2016,9(3):417-426.
[21]Paramasivan M,Paulraj M M,Balasubramanian S.Assorted carrier-variable frequency-random PWM scheme for voltage source inverter[J].IET Power Electronics,2017,10(14):1993-2001.
[22]Mouton H,Putzeys B.Understanding the PWMnonlinearity:single-sided modulation[J].IEEETransactions on Power Electronics,2012,27(4):2116-2128.
[23]陈国呈,蔡立清,周勤利,等.基于等腰三角载波的鞍形波PWM的数学分析[J].电工电能新技术,2015,34(9):2-16,28.Chen Guocheng,Cai Liqing,Zhou Qinli,et al.Mathematical analysis on saddle waveform PWM based on isosceles triangle carrier wave[J].Advanced Technology of Electrical Engineering and Energy,2015,34(9):2-16,28(in Chinese).
[2]陈益广,韩柏然,沈勇环,等.永磁同步推进电机电磁振动分析[J].电工技术学报,2017,32(23):16-22.Chen Yiguang,Han Boran,Shen Yonghuan,et al.Electromagnetic vibration analysis of permanent magnet synchronous propulsion motor[J].Transactions of China Electrotechnical Society,2017,32(23):16-22(in Chinese).
[3]赵文峰,赵博,徐永向.磁场干涉对永磁电机电磁力特性影响研究[J].电机与控制学报,2018,22(2):33-40.Zhao Wenfeng,Zhao Bo,Xu Yongxiang.Research of permanent magnet motors cogging force affected by interferential magnetic field[J].Electric Machines and Control,2018,22(2):33-40(in Chinese).
[4]Lin Fu,Zuo Shuguang,Deng Wenzhe,et al.Modeling and analysis of electromagnetic force,vibration,and noise in permanent-magnet synchronous motor considering current harmonics[J].IEEE Transactions on Industrial Electronics,2016,63(12):7455-7466.
[5]Min S G,Sarlioglu B.Modeling and investigation on electromagnetic noise in PM motors with single-and double-layer concentrated winding for EV and HEVapplication[J].IEEE Transactions on Transportation Electrification,2018,4(1):292-302.
[6]Deng Wenzhe,Zuo Shuguang,Lin Fu,et al.Influence of pole and slot combinations on vibration and noise in external rotor axial flux in-wheel motors[J].IET Electric Power Applications,2017,11(4):586-594.
[7]王凯,孙海阳,张露锋,等.永磁同步电机转子磁极优化技术综述[J].中国电机工程学报,2017,37(24):7304-7317.Wang Kai,Sun Haiyang,Zhang Lufeng,et al.An overview of rotor pole optimization techniques for permanent magnet synchronous machines[J].Proceedings of the CSEE,2017,37(24):7304-7317(in Chinese).
[8]谢颖,李飞,黎志伟,等.内置永磁同步电机减振设计与研究[J].中国电机工程学报,2017,37(18):5437-5445.Xie Ying,Li Fei,Li Zhiwei,et al.Optimized design and research of vibration reduction with an interior permanent magnet synchronous motor[J].Proceedings of the CSEE,2017,37(18):5437-5445(in Chinese).
[9]Zou Jibin,Lan Hua,Xu Yongxiang,et al.Analysis of global and local force harmonics and their effects on vibration in permanent magnet synchronous machines[J].IEEE Transactions on Energy Conversion,2017,32(4):1523-1532.
[10]苑利维,于洋,汪远银,等.RSVPWM技术在船舶推进系统中的应用研究[J].电力电子技术,2017,51(3):84-85,124.Yuan Liwei,Yu Yang,Wang Yuanyin,et al.Research on application of RSVPWM technology in ship propulsion system[J].Power Electronics,2017,51(3):84-85,124(in Chinese).
[11]Peyghambari A,Dastfan Ali,Ahmadyfard A.Selective voltage noise cancellation in three-phase inverter using random SVPWM[J].IEEE Transactions on Power Electronics,2016,31(6):4604-4610.
[12]陈国强,吴志红,朱元.随机脉冲位置空间矢量脉宽调制的谐波分析[J].同济大学学报:自然科学版,2012,40(7):1111-1117.Chen Guoqiang,Wu Zhihong,Zhu Yuan.Harmonic analysis of random pulse position space vector PWM[J].Journal of Tongji University:Natural Science,2012,40(7):1111-1117(in Chinese).
[13]Liang Wenyi,Luk P C K,Fei Weizhong.Analytical investigation of sideband electromagnetic vibration in integral-slot PMSM drive with SVPWM technique[J].IEEE Transactions on Power Electronics,2017,32(6):4785-4795.
[14]Lee K,Shen Guangtong,Yao Wenxi,et al.Performance characterization of random pulse width modulation algorithms in industrial and commercial adjustable-speed drives[J].IEEE Transactions on Industry Applications,2017,53(2):1078-1087.
[15]Kumar A C B,Narayanan G.Variable-switching frequency PWM technique for induction motor drive to spread acoustic noise spectrum with reduced current ripple[J].IEEE Transactions on Industry Applications,2016,52(5):3927-3938.
[16]刘洋,王庆义,赵金.基于矢量控制系统的双随机PWM技术研究[J].中国电机工程学报,2010,30(36):98-102.Liu Yang,Wang Qingyi,Zhao Jin.Dual randomized PWMbased on vector control system[J].Proceedings of the CSEE,2010,30(36):98-102(in Chinese).
[17]陈国呈,蔡立清,周勤利,等.基于锯齿载波的最少开关次数调制波的PWM数学分析[J].电工电能新技术,2015,34(11):1-10.Chen Guocheng,Cai Liqing,Zhou Qinli,et al.Mathematical analysis on least switching PWM based on sawtooth carrier wave[J].Advanced Technology of Electrical Engineering and Energy,2015,34(11):1-10(in Chinese).
[18]Lyu Xiaofeng,Li Yanchao,Cao Dong.DC-link RMScurrent reduction by increasing paralleled three-phase inverter module number for segmented traction drive[J].IEEE Journal of Emerging and Selected Topics in Power Electronics,2017,5(1):171-181.
[19]Ghias A M Y M,Pou J,Agelidis V G,et al.Voltage balancing method for a flying capacitor multilevel converter using phase disposition PWM[J].IEEETransactions on Industrial Electronics,2014,61(12):6538-6546.
[20]Sivarani T S,Joseph J S,Agees K C.Intensive random carrier pulse width modulation for induction motor drives based on hopping between discrete carrier frequencies[J].IET Power Electronics,2016,9(3):417-426.
[21]Paramasivan M,Paulraj M M,Balasubramanian S.Assorted carrier-variable frequency-random PWM scheme for voltage source inverter[J].IET Power Electronics,2017,10(14):1993-2001.
[22]Mouton H,Putzeys B.Understanding the PWMnonlinearity:single-sided modulation[J].IEEETransactions on Power Electronics,2012,27(4):2116-2128.
[23]陈国呈,蔡立清,周勤利,等.基于等腰三角载波的鞍形波PWM的数学分析[J].电工电能新技术,2015,34(9):2-16,28.Chen Guocheng,Cai Liqing,Zhou Qinli,et al.Mathematical analysis on saddle waveform PWM based on isosceles triangle carrier wave[J].Advanced Technology of Electrical Engineering and Energy,2015,34(9):2-16,28(in Chinese).