TW439350B - Pulse-width modulation control apparatus and methods for common mode voltage reduction of voltage-controlled inverters/converters - Google Patents
Pulse-width modulation control apparatus and methods for common mode voltage reduction of voltage-controlled inverters/converters Download PDFInfo
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- TW439350B TW439350B TW88112346A TW88112346A TW439350B TW 439350 B TW439350 B TW 439350B TW 88112346 A TW88112346 A TW 88112346A TW 88112346 A TW88112346 A TW 88112346A TW 439350 B TW439350 B TW 439350B
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- 208000032365 Electromagnetic interference Diseases 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 18
- 238000005516 engineering process Methods 0.000 description 11
- 238000001228 spectrum Methods 0.000 description 10
- 230000006698 induction Effects 0.000 description 8
- 238000005070 sampling Methods 0.000 description 6
- 230000000875 corresponding effect Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 230000002079 cooperative effect Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 2
- 235000015170 shellfish Nutrition 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
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- 238000012423 maintenance Methods 0.000 description 1
- 239000008267 milk Substances 0.000 description 1
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4 3 93 5 Ο Α7 ___Β7_ 五、發明説明（/ ) [產業上之應用領域] 本發明係一種減低反相器由於脈波寬度調變（Pulse-Width Modulation, PWM)所引起之共模電壓（Common Mode Voltage)的控制裝置發明。 [習用技術] 第一圖係表不習用之反相器的脈波寬度調變（Pulse-Width Modulation, PWM)控制之構成圖，該技術業已發表 IEEE Transactions on Industrial Applications, Vol. 24, No. 1，pp. 142-l5〇, 1988,並且廣泛用於反相器的脈波寬 度調變控制。 在第一圖中，<係電壓命令向量；凡係表示第k個取樣 瞬間；TA、TB、T7、及T。，分別爲反相器電力開關之切換狀 態的導通時間，亦即脈波寬度，係依照下列方程式予以計 算： V T 2 Ί sin (y-/) (l) ΤΒ = 下 2 sin {γ) (2) V = T7 4(TZ-TA-TB> (3) 經濟部中央標率局員工消費合作社印製 其中 GVs/PkVdJ，Vdc =直流鏈（DC link)電壓，Pk =奶，Τζ = 取樣週期（Sampling Period) ‘~’與‘TV分.別爲變頻器切換狀態‘sA’與‘sB’的脈波 寬度；切換狀態‘sA’與‘sB’的定義如第二圖所示。‘sA’表示 (〇〇 1)，（1 〇〇)或（010)的切換狀態，‘SB’ 表示（10 1),(011)或 (110)的切換狀態。‘TQ’與‘τ7’分別爲變頻器零切換狀態 本紙張尺度適用中國國家椟準（CNS ) Α4規格（210 X 297公釐） 經濟部中央標準局員工消費合作社印製 _B7 ____ 五、發明説明（之） (Null Switching 31&16)，‘3(>’，（000)，與‘37’，（111)，的脈波寬 度。 第二圖係表示切換狀態與電壓命令向量位置的關係， 依據電壓命令向量所在的區段（Sector)位置得以選擇鄰近 的切換狀態，在第一圖中對照表12係依照第二圖所建立 的對照表（Look-up Table，LUT)。另依據脈波的位置JP 前緣（Trailing Edge)或後緣（Leading Edge)，與對照表 12 建立反相器電力開關的切換狀態輸出表1々（Switching State Output Table)及脈波寬度輸出表10,控制反相器的 電力開關。以下所列之第一表係表示反相器脈波寬度調 變控制之切換樣式（Switching Pattern),切換狀態輸出表14 即係依據第一表所建立。 第一表習用技術之反相器脈波寬度調變控制之切換樣式 前緣（Leading Edge) 後緣（Trailing Edge) S 〇 —> S a ~> S β S η S7^SB^S A-^S〇 以下所列之第二表係表示反相器脈波寬度調變控制之 另一種切換樣式，在第一圖中切換狀態輸出表14及脈波 寬度輸出表10亦可依據第二表建立；而且反相器電力開 關之切換狀態的導通時間，亦即脈波寬度，依照下列方程 式予以計算： TA =TZ sin (4) 2 <3-^=· sin (y) (5) 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐} {請先閲讀背面之注意事項再.t务本頁) .裝_ 訂 線_ 經濟部中央標準局員工消費合作社印策 A7 B7 五、發明説明（3 ) T0=(TZ—TA-TB)forT7=0 (6) T7=(TZ-TA_TB)forT0=0 (7) 第二表習用技術之反相器脈波寬度調變控制之切換樣式 零切換狀態 前緣 後緣 S7 S ^ —y S β —> S 7 S7-^Sq->S A So ®〇->S a->Sq Sb — S A-^s0 再者，其動作原理係由脈波寬度輸出表10載入脈波寬 度至計時器10，同時由切襖狀態輸出表14取得對應的切 換狀態作爲反相器電力開關的控制信號18;當計時器16 計時至脈波寬度終止時間時，計時器！ 0產生中斷（Interrupt) 信號，以便由脈波寬度輸出表10再度載入下一個脈波寬 度至計時器16,並且同時由切換狀態輸出表14取得對應 的下一個切換狀態作爲反相器電力開關的控制信號18。 利用第一表所建立的反相器脈波寬度調變控制之切換 樣式，其在任意一個取樣週期內的切換樣式均包含零切換 狀態10’，（000)，與‘37’，（111);利用第二表所建立的反相器 脈波寬度調變控制之切換樣式，其在任意一個取樣週期內 的切換樣式則包含零切換狀態‘％’，（〇〇〇)，或‘s7’，（l 11)。 這呰零切換狀態將引起即大的共模電壓，因而產生共 模電流並_且因此引起電磁干擾（Electro-magnetic Interference，EMI)。第三圖所示係反相器控制馬達驅動 系統；依據式（8)共模電壓，匕，的定義，共模電壓與切換 狀態的關係詳如式（9)所示。4 3 93 5 〇 Α7 ___ Β7_ V. Description of the invention (/) [Application fields in the industry] The present invention is a method for reducing the common-mode voltage (Pulse-Width Modulation, PWM) caused by an inverter (Pulse-Width Modulation, PWM) Invention of a control device for Common Mode Voltage). [Conventional Technology] The first diagram shows the structure of pulse-width modulation (Pulse-Width Modulation, PWM) control of inverters, which has been published by IEEE Transactions on Industrial Applications, Vol. 24, No. 1, pp. 142-150, 1988, and widely used in pulse width modulation control of inverters. In the first figure, < is the voltage command vector; where is the k-th sampling instant; TA, TB, T7, and T. , Which are the on-times of the switching states of the inverter power switches, that is, the pulse width, are calculated according to the following equation: VT 2 Ί sin (y- /) (l) ΤΒ = 2 sin {γ) (2 ) V = T7 4 (TZ-TA-TB > (3) Printed by the Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs where GVs / PkVdJ, Vdc = DC link voltage, Pk = Milk, Τζ = Sampling period ( Sampling Period) '~' and 'TV points. The pulse widths of the inverter switching states' sA' and 'sB'; the definitions of the switching states' sA 'and' sB 'are shown in the second figure.' SA ' Represents the switching state of (〇〇1), (100) or (010), and 'SB' means the switching state of (10 1), (011) or (110). 'TQ' and 'τ7' are frequency conversions, respectively Zero-switching state of the device This paper size applies to China National Standards (CNS) A4 (210 X 297 mm) Printed by the Consumer Cooperatives of the Central Bureau of Standards of the Ministry of Economic Affairs _B7 ____ V. Description of the Invention (of) (Null Switching 31 & 16 ), '3 (>', (000), and '37', (111), pulse widths. The second diagram shows the switching state and the voltage command vector The relationship between the positions is based on the location of the sector where the voltage command vector is located. The adjacent switching state can be selected. The comparison table 12 in the first figure is a look-up table (LUT) established according to the second figure. In addition, based on the position of the pulse wave JP, the leading edge (Trailing Edge) or the trailing edge (Leading Edge), and the comparison table 12 to establish the switching state output table of the inverter power switch 1) (Switching State Output Table) and pulse width output table 10. Control the power switch of the inverter. The first table listed below indicates the switching pattern of the inverter's pulse width modulation control. The switching status output table 14 is established based on the first table. The first table of conventional technology is the switching pattern of the inverter pulse width modulation control. Leading Edge Trailing Edge S 〇— > S a ~ > S β S η S7 ^ SB ^ S A -^ S〇 The second table listed below represents another switching pattern of inverter pulse width modulation control. The switching state output table 14 and the pulse width output table 10 in the first figure can also be based on the second Table establishment; and the inverter power switch The on-time of the switching state, that is, the pulse width, is calculated according to the following equation: TA = TZ sin (4) 2 < 3-^ = · sin (y) (5) This paper size applies the Chinese National Standard (CNS) A4 specifications (210X 297 mm) {Please read the precautions on the back before t. This page). _ _ _ _ _ Line_ A7 B7 printed by the Consumers' Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 5. Description of the invention (3) T0 = (TZ—TA-TB) forT7 = 0 (6) T7 = (TZ-TA_TB) forT0 = 0 (7) Switching pattern of inverter pulse width modulation control of the second table conventional technology Zero switching state After leading edge Margin S7 S ^ —y S β — > S 7 S7- ^ Sq- > SA So ®〇- > S a- > Sq Sb — S A- ^ s0 Furthermore, its principle of action is based on pulse waves The width output table 10 loads the pulse width to the timer 10. At the same time, the corresponding switching state is obtained by the cut-off state output table 14 as the control signal 18 of the inverter power switch; when the timer 16 counts to the pulse width end time , Timer! 0 Generates an Interrupt signal, so that the next pulse width is loaded from the pulse width output table 10 to the timer 16, and the corresponding next switching state is obtained from the switching state output table 14 as an inverter power switch.的 控制 信号 18。 The control signal 18. Using the switching pattern of the inverter pulse width modulation control established in the first table, the switching pattern in any one sampling period includes zero switching states 10 ', (000), and' 37 ', (111) ; Using the switching pattern of the inverter pulse width modulation control established in the second table, the switching pattern in any one sampling period includes zero switching state '%', (〇〇〇), or 's7' , (L 11). This zero-zero switching state will cause a large common-mode voltage, thus generating a common-mode current and thus causing electromagnetic interference (Electro-magnetic Interference, EMI). The inverter control motor drive system shown in the third figure is shown in equation (9) according to the definition of common mode voltage, dk, and the relationship between common mode voltage and switching state.
Ka„=j(K + K+K) (8) 本紙張尺度適用中國國家標準（CNS ) A4規格（21 〇 X 297公釐） ---^-------裝-- (請先閲讀背面之注意事項再^-寫本頁) 訂 五、發明説明（4Ka „= j (K + K + K) (8) This paper size is applicable to China National Standard (CNS) A4 (21 〇X 297 mm) --- ^ ------- install-(Please Read the precautions on the back before writing ^-)
Vd：V: y〇rS0 />rS7Vd: V: y〇rS0 / > rS7
~Kc++jKc f0T SAL|^C++J^' /〇rSB A7 B7 (9) 上列方程式中的匕+及匕-分別爲第三圖所示的直流鏈 (DC Link)正負電壓値得注意的是爲正値， 然而^_卻爲負値，因此零切換狀態造成反相器輸出端共模 電壓的增加。 第四圖及第五圖分別爲利用前述第—表與第二表所列 係利用具有零切換狀態之習用技術作反相器脈波寬度調 變控制所產生的共模電壓與其相關頻譜實際量測結果。 如第四圖及第五圖所示，其共模電壓的振幅極大，因此使 得其相對的電磁干擾亦十分顯著< (請先閲讀背面之注意事項再填寫本頁)~ Kc ++ jKc f0T SAL | ^ C ++ J ^ '/ 〇rSB A7 B7 (9) The dagger + and dagger-in the equations above are the positive and negative voltages of the DC link (DC Link) shown in the third figure 値It should be noted that it is positive 値, but ^ _ is negative 因此, so the zero-switching state causes the common-mode voltage of the inverter output to increase. The fourth graph and the fifth graph are respectively the common mode voltage and its related spectrum actual amount generated by using the first table and the second table to use the conventional technology with zero switching state for inverter pulse width modulation control.测 结果。 Test results. As shown in the fourth and fifth figures, the amplitude of the common mode voltage is extremely large, so that its relative electromagnetic interference is also very significant. (Please read the precautions on the back before filling this page)
'1T 經濟部中央標準局員工消費合作社印製 [解決課題之手段] 習用的反相器脈波寬度調變控制的方法產生的切換樣 式（Switching Pattern)由於含有零切換狀態，因此其所產 生的共模電壓的振幅極大，而且其相對的電磁干擾亦十分 顯著。 一般解決此一課題的方法均從增加硬體著手，常用的 方法爲利用共模電感器（Common Mode Choke)及濾波器 (Filter);這些技術業已分別發表於/££五〇« Industry Applications, Vol. 27, No. 1, pp. 27-3 1, 1991 及 IEEE Transactions on Industry Applications, Vol. 34, No. 5, pp. 1 1 13-1 122,1998. 本發明則從引起共模電壓根源的反相器脈波寬度調變 控制方法著手解決此一問題《本發明的優點爲不需 6 ! 本纸張尺度適用中國國家標孽（CNS > A4規格（210X297公釐） A7 B7 五、發明説明（5 ) 要額外的共模電感器或濾波器等硬體設備，因此節省硬體 設備費用與空間以外，硬體設備於日常運作所引起的能量 損失與維護等問題均得以避免。 本發明利用如第三表所示的反相器脈波寬度調變控制 切換樣式，使反相器的切換樣式不含任何的零切換狀態， 其中各切換狀態相對應的切換狀態的導通時間如下列方 程式所示。 (請先閲讀背面之注意事項再厂，心本頁) 、ye TA=Tza-|，sin (j-χ) (10) TB =Tza-^sin (χ) (11) τ〇=τ；=1(τζ-τΑ-τΒ)=τ0=τ7 (12) 經濟部中央標準局貝工消費合作社印製 將本發明列於方程式（10 ) - (1 2 )所示的切換狀態的導 通時間與相對於習用技術列於方程式（1) - ( 3 )所示的切換 狀態的導通時間比較，兩項技術的切換狀態的導通時間控 制並沒有改變。因此利用本發明列於第三表所示的切換 樣式與其列於方程式（10)-(12)所示的切換狀態的導通時 間控制反相器，其基本電壓並沒有因此改變。相關實驗結 果將說明如下： 第六圖爲利用本發明；詳見第三表所列不具有零切換 狀態之切換樣式作反相器脈波寬度調變控制所產生的共 模電壓波形與其相關頻譜實際量測結果。將相對於本發 明結果的第六圖（A)分別與相對於利用習用技術所得結果 的第四圖（A)及第五圖（A)比較，結果顯示利用本發明；詳 見第三表所列不具有零切換狀態之技術作反相器脈波寬 度調變控制，反相器輸出共模電壓得以減少約50%，因此 本紙張尺度適用中國國家標準（CNS ) A4現格（210X297公釐) A7 B7 五、發明説明（6 ) 使得其相對的電磁干擾亦大量減少。 將相對於本發明結果之共模電壓相關頻譜的第六圖（B) 分別與相對於利用習用技術所得結果之共模電壓相關頻 譜的第四圖（B)及第五圖（B)比較，結果顯示利用本發明； 詳見第三表所列不具有零切換狀態之切換樣式作反相器 脈波寬度調變控制，反相器輸出共模電壓主要諧波得以減 少約50%。値得注意的是相對於利用本發明所得結果的第 六圖（B),其共模電壓相關頻譜的刻度（Scale)爲第四圖（B) 及第五圖（B)所示共模電壓相關頻譜刻度的50%。 第三表本發明之反相器脈波寬度調變控制的切換樣式與其 切換狀態導通時間；5A= NOT (SA) 前緣（Leading Edge) 前緣（Trailing Edge) φτ0> SA - >S0—> ^-τΒ> 弓A — SB—> sa·^ SA 4·Τ叶Tj 經濟部t央標準爲貝工消費合作社印製 ----：-------0-- (請先閱讀背面之注意事項再v V*本頁) 値得注意的是在不改變反相器基本電壓與不使用零切 換狀態的條件下，反相器脈波寬度調變控制的切換樣式具 有其它種組合的可能性·，第四表及第五表所示爲另外兩種 不具有零切換狀態的反相器脈波寬度調變控制方法。如 第四表及第五表所示，其切換樣式的切換狀態的導通時間 如前述方程式（10)-(12)所列，因此其基本電壓並沒有因 此改變；然而如第四表及第五表所示，其反相器的切換樣 式不具有零切換狀態，因此反相器輸出共模電壓與相對的 電磁干擾均能夠大量減少》 本紙張尺度適用中國國家標準（CNS〉A4規格（210X297公釐） 經濟部智慧財產局員工消費合作社印製 ' A7 ____B7 五、發明說明（了） 第四表本發明之反相器脈波寬度調變控制的切換樣式與其 切換狀態導通時間；& = NOT (SB) 前緣（Leading Edge) 後緣（Trailing Edge) SB 4 sA- +SB— ^τΒ> ^sB SB—s <*T7> B->· sA-^· sB -TB 十 TA^卜T0^j 第五表本發明之反相器脈波寬度調變控制的切換樣式與其 切換狀態導通時間；54©58=(3+與SB)的”互斥或”'1T Printed by the Consumers ’Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs [Method to solve the problem] The switching pattern generated by the conventional inverter pulse width modulation control method has a zero switching state. The amplitude of the common-mode voltage is extremely large, and its relative electromagnetic interference is also very significant. Generally, the method to solve this problem starts with adding hardware. The common method is to use common mode choke and filter; these technologies have been published in / ££ 五 〇 «Industry Applications, Vol. 27, No. 1, pp. 27-3 1, 1991 and IEEE Transactions on Industry Applications, Vol. 34, No. 5, pp. 1 1 13-1 122, 1998. The present invention leads to common mode voltage The root-cause inverter pulse width modulation control method addresses this problem. "The advantage of the present invention is that it does not require 6! This paper size is applicable to Chinese national standards (CNS > A4 size (210X297 mm) A7 B7 5 5. Description of the invention (5) Additional hardware equipment such as common mode inductors or filters are required, so in addition to saving hardware equipment costs and space, problems such as energy loss and maintenance caused by the daily operation of hardware equipment can be avoided. The present invention uses the inverter pulse width modulation control switching pattern as shown in the third table, so that the switching pattern of the inverter does not include any zero switching state, and the on-time of the switching state corresponding to each switching state is such as The following (Please read the precautions on the back, and then make the page,) ye TA = Tza- |, sin (j-χ) (10) TB = Tza- ^ sin (χ) (11) τ〇 = τ; = 1 (τζ-τΑ-τΒ) = τ0 = τ7 (12) Printed by the Shellfish Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs, the invention is listed in the switching state shown by equations (10)-(1 2) Comparing the on-time with the on-time of the switching state shown in equations (1)-(3) for conventional techniques, the on-time control of the switching state of the two technologies has not changed. Therefore, the present invention is listed in the third table. The switching pattern shown and its on-time controlled inverter listed in the switching states shown in equations (10)-(12) have not changed due to this. The relevant experimental results will be explained as follows: Invention; see the third table for the switching mode without zero switching state for the inverter ’s pulse width modulation control for the common-mode voltage waveform and its related spectrum actual measurement results. Figure 6 (A) and Figure 4 (A) and The comparison of the five graphs (A) shows that the present invention is used. For details, please refer to the technology listed in the third table without the zero-switching state for inverter pulse width modulation control. Therefore, this paper size applies the Chinese National Standard (CNS) A4 (210X297 mm) A7 B7 V. Description of the invention (6) makes its relative electromagnetic interference greatly reduced. Comparing the sixth graph (B) of the common-mode voltage-related spectrum with respect to the result of the present invention with the fourth graph (B) and the fifth (B) of the common-mode voltage-related spectrum with respect to the result obtained by using the conventional technology, The results show that the present invention is used. For details, see the switching patterns listed in the third table without the zero switching state for inverter pulse width modulation control, and the main harmonics of the common mode voltage output by the inverter can be reduced by about 50%. It should be noted that compared to the sixth graph (B) obtained by using the present invention, the scale of the common-mode voltage-related spectrum is the common-mode voltage shown in the fourth graph (B) and the fifth graph (B). 50% of the relevant spectrum scale. The third table is the switching pattern of the inverter pulse width modulation control of the present invention and its switching state on time; 5A = NOT (SA) Leading Edge Leading Edge φτ0 > SA-> S0— > ^ -τΒ > Bow A — SB— > sa · ^ SA 4 · T Ye Tj Standard printed by the Ministry of Economic Affairs for Shellfish Consumer Cooperative ------------- 0-- ( (Please read the precautions on the back first, then v V * this page). It should be noted that without changing the basic voltage of the inverter and not using the zero switching state, the switching mode of the inverter pulse width modulation control has Possibility of other combinations. Tables 4 and 5 show two other inverter pulse width modulation control methods that do not have a zero switching state. As shown in the fourth table and the fifth table, the on-time of the switching state of the switching pattern is as listed in the aforementioned equations (10)-(12), so its basic voltage has not changed accordingly; As shown in the table, the switching pattern of the inverter does not have a zero switching state, so the common-mode voltage and relative electromagnetic interference of the inverter output can be greatly reduced. ”This paper size applies to Chinese national standards (CNS> A4 specification (210X297) %) Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs' A7 ____B7 V. Explanation of the invention (the) Table 4 The switching pattern of the inverter pulse width modulation control of the present invention and its switching state on-time; & = NOT (SB) Leading Edge Trailing Edge SB 4 sA- + SB— ^ τΒ > ^ sB SB—s < * T7 > B- > · sA- ^ · sB -TB Ten TA ^ T0 ^ j Table 5: The switching pattern of the inverter pulse width modulation control of the present invention and its switching state on-time; 54 © 58 = (3+ and SB) 's "mutual exclusion or"
前緣（Leading Edge) 後緣（Trailing Edge) SA©Se *-t0> ~^SA- -^SB—>SA&SB 豢TB十Ί SA ®SB ->SB- —sa- —sA® <-T〇> SB 第七圖係表示利用第三表所示的切換樣式所建構之反 相器的脈波寬度調變控制裝置構成圖，具備切換狀態修正 器57;切換狀態修正器57係依據脈波的位置，即前緣或 後緣，與第三表所示反相器的脈波寬度調變控制切換樣式， 建立不含有零切換狀態的反相器電力開關的切換狀態輸 出表54，以控制反相器的電力開關。 利用第四表與第五表所示的切換樣式於第七圖中的切 換狀態修正器57,亦可建構反相器的脈波寬度調變控制裝 置，建立不含有零切換狀態的反相器電力開關的切換狀態 輸出表54,以控制反相器的電力開關。 利用切換狀態修正器57修正切換狀態，使脈波寬度調 變控制所得到的反相器之切換樣式不含任何零切換狀態， 以致可以大量地降低因爲零切換狀態所引起的共模電壓 及電磁干擾。 9 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） (請先閱讀背面之注意事項再填寫本頁) -------—訂--------*線_ 在 3 93 5 0作 A7 ______ B7 經濟部智慧財產局員工消費合作社印製 五、發明說明（δ ) [發明的效果] 第六圖爲利用本發明於第三表所示之反相器脈波寬度 調變控制方法及第七圖所示之反相器的脈波寬度調變控 制裝置所產生的共模電壓與其頻譜實際量測結果；與分別 利用第一表及第二表所示之反相器脈波寬度調變控制習 用方法暨第一圖所示之反相器的脈波寬度調變控制裝置 所產生的第四圖及第五圖實際量測結果比較，本發明顯著 減少反相器共模電壓與相關電磁干擾。 [實施例] 第八圖係表示本發明第七圖之脈波寬度調變控制裝 置應用於交流感應馬達的閉迴路轉子磁場導向控制之 具體例構成圖。在第八圖中，爲構成可變電壓、可變頻率 之反相器83 ,依據脈波寬度調變控制裝置的輸出信號控制 電力開關的導通時間，將直流輸入電源轉換成爲包含交流 基本電壓與其它次數諧波的調變信號，供給感應馬達90。 在第八圖中，除了四個控制器.80、82、84、86與一個積 分器88之外，另包括有磁化電流計算器85、電壓解耦合 計算器87、滑差頻率計算器89、電流座標轉換計算器1〇〇 及、電壓座標轉換計算器200等方塊，分別如下列方程式 所示。 磁化電流計算器85Leading Edge Trailing Edge SA © Se * -t0 > ~ ^ SA--^ SB— > SA & SB 豢 TB 十 ΊSA ®SB-> SB- —sa- —sA® < -T〇 > SB The seventh diagram is a structural diagram of a pulse width modulation control device of an inverter constructed using a switching pattern shown in the third table, and includes a switching state corrector 57; a switching state corrector 57 is based on the position of the pulse wave, that is, the leading edge or the trailing edge, and the pulse width modulation control switching pattern of the inverter shown in the third table, to establish the switching state output of the inverter power switch without zero switching state Table 54 to control the power switch of the inverter. By using the switching patterns shown in the fourth and fifth tables in the switching state corrector 57 in the seventh figure, the pulse width modulation control device of the inverter can also be constructed to establish an inverter without a zero switching state. The switching state of the power switch outputs table 54 to control the power switch of the inverter. The switching state corrector 57 is used to correct the switching state, so that the switching pattern of the inverter obtained by the pulse width modulation control does not include any zero switching state, so that the common mode voltage and electromagnetic caused by the zero switching state can be greatly reduced. interference. 9 This paper size applies to China National Standard (CNS) A4 (210 X 297 mm) (Please read the precautions on the back before filling this page) --------- Order -------- * Line_ made at 3 93 5 0 A7 ______ B7 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 5. Description of the invention (δ) [Effects of the invention] The sixth figure shows the inversion of the invention shown in the third table Converter ’s pulse width modulation control method and the inverter ’s pulse width modulation control device, the common mode voltage generated by the pulse width modulation control device and the actual measurement results of its frequency spectrum; and the first table and the second table are used respectively. As shown in the conventional method of inverter pulse width modulation control shown in the first diagram and the actual measurement results of the fourth diagram and the fifth diagram produced by the pulse width modulation control device of the inverter shown in the first diagram, the present invention is remarkable Reduce inverter common-mode voltage and related electromagnetic interference. [Embodiment] Fig. 8 is a structural diagram showing a specific example of the closed-loop rotor magnetic field steering control of the pulse width modulation control device of Fig. 7 of the present invention applied to an AC induction motor. In the eighth figure, in order to constitute a variable voltage and variable frequency inverter 83, the on-time of the power switch is controlled according to the output signal of the pulse width modulation control device, and the DC input power is converted into an AC basic voltage and Modulation signals of other harmonics are supplied to the induction motor 90. In the eighth figure, in addition to the four controllers 80, 82, 84, 86 and an integrator 88, there are also a magnetizing current calculator 85, a voltage decoupling calculator 87, a slip frequency calculator 89, Blocks such as the current coordinate conversion calculator 100 and the voltage coordinate conversion calculator 200 are shown in the following equations. Magnetizing current calculator 85
l + ^rP (13) 請 先 閱 讀 背 面 之 注 填 寫 本 頁 裝 訂 線 電壓解耦合（Voltage Decoupling)計算器87 本纸張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） 4 3 93 5 Ο Α7 B7 五、發明說明（？ V^_P = + (1 - c〇4£yeimr 滑差頻率計算（Slip Frequency)器89 vdsdvcoup (14) j ， r Lm 電流的座標轉換器100 (15) .¾.l + ^ rP (13) Please read the note on the back and fill in this page. Voltage Decoupling Calculator for Gutter 87 This paper size applies to China National Standard (CNS) A4 (210 X 297 mm) 4 3 93 5 Ο Α7 B7 V. Description of the invention (? V ^ _P = + (1-c〇4 £ yeimr Slip Frequency calculator 89 vdsdvcoup (14) j, r Lm current coordinate converter 100 (15 ) .¾.
A 其中 X: X：' ir L沪」 =Q c -1 -1 2 2 V3 ―λ/3 2 2 J [2 電壓的座標轉換器200 (16) (17) (18) (請先閲讀背面之注意事項年填寫本頁) 厂裝·---—---訂----- 經濟部智慧財產局員工消費合作社印製 將本發明第七圖之脈波寬度調變控制裝置Si用於 交流感應馬達的閉迴路轉子磁場導向控制，其電壓命令値 v/與閉迴路轉子磁場導向控制器電壓輸出値vf，vf的關係 如下列方程式所示。 (19) < =知、2+(<;)2 第九圖係將本發明第七圖之脈波寬度調變控制裝置用 於交流感應馬達的閉迴路轉子磁場導向控制，在一個取樣 週期內的流程圖，此流程圖可利用軟體配合前述第八圖 11 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） 線J- 經濟部智慧財產局員工消費合作杜印製 A7 B7 五、發明說明（/〇 的交流感應馬達的閉迴路轉子磁場導向控制構成圖加以 實施。 參考第九圖來說明第八圖中之脈波寬度調變控制裝置 81的動作。首先，在步驟S300設定初始値，其中T，取樣 週期，TLFL=1表示前緣脈波；在步驟S310利用來自電壓 的座標轉換器200及方程式（13)計算電壓命令向量；在歩 驟S320利用來自步驟S310所得到的電壓命令向量與方 程式（10)，（11),及（12)計算脈波寬度，並且在步驟S330 利用第三表決定切換樣式；在步驟S330亦可利用第四表 或第五表決定切換樣式。 在步驟S340由脈波寬度輸出表50載入脈波寬度至計 時器：·，同時由切換狀態輸出表54取得對應的切換狀態 作爲反相器電力開關的控制信號58 ;當計時器〗ό計時至 脈波寬度終止時間時，計時器ί。產生中斷（Interrupt)信號， 以便由脈波寬度輸出表50再度載入下一個脈波寬度至計 時器：·，並且同時由切換狀態輸出表54取得對應的下一 個切換狀態作爲反相器電力開關的控制信號58。最後，在 步驟S350中改變旗標TLFL的値》 本發明亦可用於交流電力至直流電力變換的轉換器 (Converter)系統，除了電壓命令的產生方式有別於本應用 例之外，其脈波寬度調變控制裝置的動作方式均與本實施 例相同，因此本發明脈波寬度調變控制裝置對於轉換器仍 可適用。 前述說明係僅供例示本發明之技術思想，而不欲限制 本發明可應用之領域或對象；而本發明之精髓與範圍將由 後附申請專利範圍界定之》 12 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） (請先閱讀背面之注意事項*-,填寫本頁) ^----—--—訂—I------. 4A where X: X: 'ir L 沪 ”= Q c -1 -1 2 2 V3 ―λ / 3 2 2 J [2 Coordinate converter of voltage 200 (16) (17) (18) (Please read the back first (Please note this year to fill out this page) Factory-installed ----------------- Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs for the pulse width modulation control device Si of the seventh figure of the present invention For closed-loop rotor magnetic field steering control of AC induction motors, the relationship between the voltage command 値 v / and the closed-loop rotor magnetic field steering controller voltage output 値 vf, vf is shown in the following equation. (19) < = 知 、 2 + (<) 2 The ninth figure is the pulse width modulation control device of the seventh figure of the present invention for the closed-loop rotor magnetic field steering control of an AC induction motor. The flow chart in the cycle, this flow chart can use the software to cooperate with the aforementioned eighth figure 11 This paper size is applicable to the Chinese National Standard (CNS) A4 specification (210 X 297 mm) Line J- Intellectual Property Bureau, Ministry of Economic Affairs, Consumer Consumption Du Yin System A7 B7 V. Description of the Invention The closed-loop rotor magnetic field steering control configuration diagram of the AC induction motor (/ 0) is implemented. The operation of the pulse width modulation control device 81 in the eighth figure will be described with reference to the ninth figure. First, In step S300, the initial threshold is set, where T, the sampling period, and TLFL = 1 indicates the leading edge pulse; in step S310, the voltage command vector is calculated using the coordinate converter 200 from voltage and equation (13); The voltage command vector obtained in S310 and equations (10), (11), and (12) are used to calculate the pulse width, and the third table is used to determine the switching pattern in step S330; the fourth table or the fifth table can also be used in step S330. Decide the switching pattern. In step S340, the pulse width is loaded into the timer from the pulse width output table 50: · At the same time, the corresponding switching state is obtained from the switching state output table 54 as the control signal 58 of the inverter power switch; When the timer reaches the end of the pulse width, the timer ί. An interrupt signal is generated so that the next pulse width is loaded from the pulse width output table 50 to the timer: ·, and at the same time, the state is switched The output table 54 obtains the corresponding next switching state as the control signal 58 of the inverter power switch. Finally, the flag TLFL is changed in step S350. The present invention can also be used for a converter for converting AC power to DC power (Converter ) System, except that the voltage command generation method is different from this application example, the operation mode of its pulse width modulation control device is the same as this embodiment, so the pulse width modulation control device of the present invention The foregoing description is only for illustrating the technical idea of the present invention, and is not intended to limit the field or object to which the present invention can be applied; and the present invention The essence and scope will be defined by the scope of the attached patent. 12 This paper size is applicable to the Chinese National Standard (CNS) A4 specification (210 X 297 mm) (Please read the precautions on the back *-, fill out this page) ^- ------ Order--I ------. 4
：：3' 5; Q A7 ______B7___ 五、發明說明（"） [圖式之簡單說明] 第一圖習用技術之反相器的脈波寬度調變控制裝置 之構成圖； 第二圖切換狀態與電壓命令位置的關係； 第三圖反相器控制馬達驅動系統； 第四圖利用第一表所示習用技術脈波寬度調變控制 所得的共模電壓波形及其頻譜實測結果； 第五圖利用第二表所示習用技術脈波寬度調變控制 所得的共模電壓波形及其頻譜實測結果； 第六圖利用第三表所示本發明脈波寬度調變控制所 得的共模電壓波形及其頻譜實測結果； 第七圖本發明之反相器的脈波寬度調變控制裝置之 構成圖； 第八圖應用本發明之脈波寬度調變控制裝置於交流 感應馬達閉迴路轉子磁場導向控制的具體例 構成圖；以及 第九圖應用本發明之脈波寬度調變控制裝置於交流 感應馬達閉迴路轉子磁場導向控制的流程 圖。 [圖式之元件符號說明] 10,50 脈波寬度輸出表 12 對照表（Look-up Table) 14,54 切換狀態輸出表 16 計時器 18,58 反相器的控制信號 21 感應馬達或同步馬達定子繞組 57 切換狀態 修正器 13 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） (請先閱讀背面之注意事t再填寫本頁) --裝 經濟部智慧財產局員工消費合作社印製 A7 A7 經濟部智慧財產局員工消費合作社印製 B7 五、發明說明（a ) 80 速度控制器 82 q-軸電流控制器 84 磁通控制器 86 d-軸電流控制器 88 積分器 81 脈波寬度調變控制裝置 83 反相器 85 磁化電流計算器 87 電壓解耦合計算器 89 滑差頻率計算器. 90 感應馬達 92 編碼器 100 電壓座標轉換器 200 電流座標轉換器 S300-S350 步驟 <請先閱讀背面之注意事項苒填寫本頁) -丨裝！ 訂----- 本紙張尺度適用中國國家標準（CNS)A4規格.(210x 297公t )：: 3 '5; Q A7 ______B7___ 5. Explanation of the invention [Simplified description of the diagram] The first diagram shows the structure of the pulse width modulation control device of the inverter of the conventional technology in the first diagram; the second diagram shows the switching state The relationship with the position of the voltage command; the third figure is the inverter controlling the motor drive system; the fourth figure uses the conventional technology pulse width modulation control shown in the first table to obtain the common-mode voltage waveform and its spectrum measurement results; the fifth figure The common mode voltage waveform obtained by using the conventional technology pulse width modulation control shown in the second table and the measured results of its spectrum; the sixth diagram uses the common mode voltage waveform obtained by the pulse width modulation control of the present invention shown in the third table and The results of the actual measurement of the frequency spectrum; FIG. 7 is a structural diagram of the pulse width modulation control device of the inverter of the present invention; FIG. A specific example structure diagram; and a ninth diagram is a flowchart of applying the pulse width modulation control device of the present invention to a closed-loop rotor magnetic field steering control of an AC induction motor. [Explanation of Symbols of Schematic Elements] 10,50 Pulse Width Output Table 12 Look-up Table 14,54 Switching State Output Table 16 Timer 18,58 Inverter Control Signal 21 Induction Motor or Synchronous Motor Stator winding 57 Switching state corrector 13 This paper size applies to Chinese National Standard (CNS) A4 (210 X 297 mm) (Please read the notes on the back before filling this page)-installed staff of the Intellectual Property Bureau of the Ministry of Economic Affairs Printed by the consumer cooperative A7 A7 Printed by the consumer property cooperative of the Ministry of Economic Affairs Intellectual Property Bureau Printed by the consumer cooperative B7 V. Description of the invention (a) 80 Speed controller 82 q-axis current controller 84 Flux controller 86 d-axis current controller 88 Integrator 81 Pulse width modulation control device 83 Inverter 85 Magnetizing current calculator 87 Voltage decoupling calculator 89 Slip frequency calculator. 90 Induction motor 92 Encoder 100 Voltage coordinate converter 200 Current coordinate converter S300-S350 Procedure < Please read the precautions on the back first and fill in this page)-丨 Install! Order ----- This paper size is applicable to China National Standard (CNS) A4. (210x 297mm t)
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| US10158299B1 (en) | 2018-04-18 | 2018-12-18 | Rockwell Automation Technologies, Inc. | Common voltage reduction for active front end drives |
| US11211879B2 (en) | 2019-09-23 | 2021-12-28 | Rockwell Automation Technologies, Inc. | Capacitor size reduction and lifetime extension for cascaded H-bridge drives |
| US11342878B1 (en) | 2021-04-09 | 2022-05-24 | Rockwell Automation Technologies, Inc. | Regenerative medium voltage drive (Cascaded H Bridge) with reduced number of sensors |
| US12346184B2 (en) | 2023-01-19 | 2025-07-01 | General Electric Company | Reduced common mode voltage pulse width modulation switching scheme with capacitor voltage balancing for a multilevel power converter |
-
1999
- 1999-07-20 TW TW88112346A patent/TW439350B/en not_active IP Right Cessation
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7215559B2 (en) | 2004-09-28 | 2007-05-08 | Rockwell Automation Technologies, Inc. | Method and apparatus to reduce common mode voltages applied to a load by a drive |
| US7164254B2 (en) | 2005-02-28 | 2007-01-16 | Rockwell Automation Technologies, Inc. | Modulation methods and apparatus for reducing common mode voltages |
| US9912221B2 (en) | 2012-08-13 | 2018-03-06 | Rockwell Automation Technologies, Inc. | Method and apparatus for bypassing cascaded h-bridge (CHB) power cells and power sub cell for multilevel inverter |
| US9425705B2 (en) | 2012-08-13 | 2016-08-23 | Rockwell Automation Technologies, Inc. | Method and apparatus for bypassing cascaded H-bridge (CHB) power cells and power sub cell for multilevel inverter |
| US10305368B2 (en) | 2012-08-13 | 2019-05-28 | Rockwell Automation Technologies, Inc. | Method and apparatus for bypassing Cascaded H-Bridge (CHB) power cells and power sub cell for multilevel inverter |
| US9787213B2 (en) | 2013-03-18 | 2017-10-10 | Rockwell Automation Technologies, Inc. | Power cell bypass method and apparatus for multilevel inverter |
| US9520800B2 (en) | 2014-01-09 | 2016-12-13 | Rockwell Automation Technologies, Inc. | Multilevel converter systems and methods with reduced common mode voltage |
| US9325252B2 (en) | 2014-01-13 | 2016-04-26 | Rockwell Automation Technologies, Inc. | Multilevel converter systems and sinusoidal pulse width modulation methods |
| US9559541B2 (en) | 2015-01-15 | 2017-01-31 | Rockwell Automation Technologies, Inc. | Modular multilevel converter and charging circuit therefor |
| US9748862B2 (en) | 2015-05-13 | 2017-08-29 | Rockwell Automation Technologies, Inc. | Sparse matrix multilevel actively clamped power converter |
| US9812990B1 (en) | 2016-09-26 | 2017-11-07 | Rockwell Automation Technologies, Inc. | Spare on demand power cells for modular multilevel power converter |
| US10158299B1 (en) | 2018-04-18 | 2018-12-18 | Rockwell Automation Technologies, Inc. | Common voltage reduction for active front end drives |
| US11211879B2 (en) | 2019-09-23 | 2021-12-28 | Rockwell Automation Technologies, Inc. | Capacitor size reduction and lifetime extension for cascaded H-bridge drives |
| US11342878B1 (en) | 2021-04-09 | 2022-05-24 | Rockwell Automation Technologies, Inc. | Regenerative medium voltage drive (Cascaded H Bridge) with reduced number of sensors |
| US12346184B2 (en) | 2023-01-19 | 2025-07-01 | General Electric Company | Reduced common mode voltage pulse width modulation switching scheme with capacitor voltage balancing for a multilevel power converter |
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