SVPWM的原理及法则推导和控制算法详解

SVPWMSVPWMPWMPWMSVPWMSPWM1.1SVPWMSVPWMPWM1-1UdcUAUBUC120UA(t)UB(t)UC(t)120219Umf()cos()()cos(2/3)()cos(2/3)AmBmCmUtUUtUUtUθθπθπ=⎧⎪=-⎨⎪=+⎩(1-1)2ftθπ=U(t)2/34/33()()()()2jjjABCmUtUtUteUteUeππθ=++=(1-2)U(t)1.5Um=2fU(t)(abc)1-16(,,)xSxabc=10xs⎧=⎨⎩(1-3)(SaSbSc)6Ul(001)319U2(010)U3(011)U4(100)U5(101)U6(110)U0(000)U7(111)(,,)(100)xSxabc==1-2U4(100),0,,0abdcbccadcaNbNdcaNcNdcaNbNcNUUUUUUUUUUUUUU===-⎧⎪-=-=⎨⎪++=⎩(1-4)UaN=2Ud/3UbN=-Ud/3UcN=-Ud/31-1SaSbScUabUbcUcaUaNUbNUcN000U0000000100U4Udc00dcU32dcU31-dcU31-110U6UdcUdc0dcU31dcU31dcU32-010U20UdcUdcdcU31-dcU31-dcU31-011U30UdcUdcdcU32-dcU31dcU31001U100UdcdcU31-dcU31-dcU32419101U5Udc0UdcdcU31dcU32-dcU31111U70000001-3(2Udc/3)60,*000xxyxxyTTTTTrefxyTTTUdtUdtUdtUdt++=++∫∫∫∫(1-5)00****refxxyyUTUTUTUT=++(1-6)UrefTTxTyT0UxUyU0U0U0U7(1-6)UrefTUxUyU0TxTyT05191-3U4(100)1.2SVPWM2fωπ=1/Tf=Sf/SRff=RS2/2/2/SdRffTTθπππ===(1-7)Uref1-4U4U6U0U74466refSUTUTUT*=*+*(1-8)1-4(,)UrefU4619644666||cos||||cos3||sin||sin3refssrefsTTUUUTTTUUTπθαπθβ⎧=+⎪⎪⎨⎪=⎪⎩(1-9)|U4|=|U6|=2Udc/346sin()3sinSSTmTTmTπθθ⎧=-⎪⎨⎪=⎩(1-10)mSVPWM3refdcmUU=(=/)T7=T0=(TS-T4-T6)/2(1-11)T7=(TS-T4-T6)(1-12)U4U6U7U0UrefSVPWM7191.2.17SVPWMPWMPWMU4(100)U0(000)AU4(100)U7(111)BCU4(100)U2(010)U1(001)U0(000)U6(110)U3(011)U5(100)U7(111)1-21-2UREFUREF0600-4-6-7-7-6-4-0601200-2-6-7-7-6-2-01201800-2-3-7-7-3-2-08191802400-1-3-7-7-3-1-02403000-1-5-7-7-5-1-03003600-4-5-7-7-5-4-0TSU0U4U6U7U6U4U01-2TSUrefdθ(1-9)T0T4T6T7TSUrefR1.2.25SVPWM7639191-3UREFUREF0604-6-7-7-6-4601202-6-7-7-6-21201802-3-7-7-3-21802401-3-7-7-3-12403001-5-7-7-5-110193003604-5-7-7-5-41.3SVPWMSVPWMSVPWMUref()1-41-4(,)Uref603601.3.1UrefNUUUrefI11190arctan(U/U)60UrefX,1-4IU0U0U/U3U0U/|U|3U0U0-U/U3U0U0U/U3U0-U/|U|3U0U0-U/U3UrefU,3U-U,-3U-U123322322UUUUUUUUββαβα⎧=⎪⎪⎪=-⎨⎪⎪=--⎪⎩(1-13)U10A=1A=0U20B=1B=0U30C=1C=0ABCABC10ABCABC1219N=4*C+2*B+AUref1-5NN3154621.3.2PWMSVPWM(1-10)UUUref1-446coscos123sin03sin3srefsdcUTUTUTTUαβπθθπ⎛⎞⎡⎤⎜⎟⎢⎥⎡⎤⎡⎤⎡⎤⎜⎟==+⎢⎥⎢⎥⎢⎥⎢⎥⎜⎟⎣⎦⎣⎦⎢⎥⎣⎦⎜⎟⎢⎥⎣⎦⎝⎠(1-14)46621322332sdcsdcUTUTTUTUTαβ⎧⎛⎞=+⎜⎟⎪⎝⎠⎪⎨⎛⎞⎪=⎜⎟⎪⎝⎠⎩(1-15)462614670743333331122222233(752ssssdcdcdcdcdcssdcdcssUTUUTUTTUTTTUUUUUUUTTTUUUTTTTTTTTTββαααβ⎧⎛⎞=-=-=-=⎪⎜⎟⎜⎟⎪⎝⎠⎪⎪==⎨⎪⎪--===--⎪⎪⎩(1-16)1319Uref1-6(1-13)U1U2U3PWM1-6SVPWMbaseUUU′=U′Q121409623nombaseUU=UnomDSPPWMfsDSPfdspPWMfsPWMNTpwm=fdsp/fs/2,Uα′Uβ′2dcNTpwmUnomKsvpwmU=623()22TUNKsvpwmUKsvpwmUβα′′′=-=6666666114141134*333**()2232TTTsTdcbasedcdcTdcdcTNTNTfsNNTpwmTfsNTpwmNTpwmfsTNNTpwmTfsNTpwmUfsUUNTpwmUNTpwmUUUUNTpwmUbaseNTpwmUnomNUUUUNKsvpwmUKsvpwmUβαββ=⇒=⇒=⇒===′′==-′′⇒==′′⇒==1-61419I162433UUTTUUTTdcsdcs==1624UKsvpwmTUKsvpwmTNN′=′=TN4=TNxTN6=TNy362233UUTTUUTTdcsdcs==3622UKsvpwmTUKsvpwmTNN′=′=TN2=TNxTN6=TNy331233UUTTUUTTdcsdcs==3312UKsvpwmTUKsvpwmTNN′=′=TN2=TNxTN3=TNy231133UUTTUUTTdcsdcs==2311UKsvpwmTUKsvpwmTNN′=′=TN1=TNxTN3=TNy253133UUTTUUTTdcsdcs==2531UKsvpwmTUKsvpwmTNN′=′=TN1=TNxTN5=TNy153433UUTTUUTTdcsdcs==1534UKsvpwmTUKsvpwmTNN′=′=TN4=TNxTN5=TNy1-160PWM1-5SVPWM1-51519323233dcdcUU×=33dcUSPWMUdc/2SVPWM31/1.154732dcdcUU=SVPWMSPWM15.47%1-5SVPWMTNxTNyTx+TyTNPWMTNx+TNyTNPWMTNx'TNy'1619NyNxNxNyTTTT′′=(1-17)TNx'TNy'TN0TN7070NxNxNPWMNxNyNyNyNPWMNxNyTTTTTTTTTTTT⎧′=⎪+⎪⎪⎪′=⎨+⎪⎪⎪==⎪⎩(1-18)UrefPWM1-5I()/27aonsxybonaonxconbonytTTTttTttT⎧=--⎪⎪=+---⎨⎪=+⎪⎩(1-19)17195I05aonbonxconbonyttTttT⎧=⎪=--⎨⎪=+⎩(1-20)PWM1807()/2taonNxNytbontaonNxtcontbonNyNTNPWMNTPWMTTNTNPWMNTNTNPWMNT⎧=---⎪⎪=--⎨⎪=--⎪⎩()⎪⎩⎪⎨⎧+=+=--=NytbontconNxtaontbonNyNxtaonTNNTNNTTNTPWMN2/5⎪⎩⎪⎨⎧--=-==NytbontconNxtbontaonTNTNPWMNTTNPWMNTNPWMN⎪⎩⎪⎨⎧+===NytbontconNxtbontaonTNNTNN01-7NtaonNtbonNtcon1-7SVPWM1-7123456TaNtaonNtbonNtconNtconNtbonNtaonTbNtbonNtaonNtaonNtbonNtconNtconTcNtconNtconNtbonNtaonNtaonNtbon1.4SVPWMSVPWMSPWMSVPWM1819SPWMABCSPWMSVPWMSVPWMSPWMSVPWMABCSVPWMU0,Uk,Uk+1,U7,Uk+1,Uk,U0U0,Uk+1,Uk,U7,Uk,Uk+1,U01sincoscos33(1)(1)sinsincos33kskkkTmTTkkππθππθ+⎡⎤-⎢⎥⎡⎤⎡⎤=⎢⎥⎢⎥⎢⎥--⎣⎦⎣⎦⎢⎥-⎢⎥⎣⎦(1-21)mSVPWM0677604406776044067760443()()cos()22222222263()()sin()22222222263()()cos()2222222226dcarefsdcbrefsdccrefsUTTTTTTTTUUTUTTTTTTTTUUTUTTTTTTTTUUTπθθπθθπθθ⎧=-++++++-=-⎪⎪⎪⎪=-++++++-=-⎨⎪⎪⎪=-++++++-=--⎪⎩(1-22)191934cos()(0,)26333245()cos(,)23333325cos()(,2)26332()()34()()3refarefrefbacaUUUUUUUUπππθθπθππππθθθθπππθθπθπθθπθθπ⎧⎧----≤≤⎪⎪⎪⎪⎪⎪=-------≤≤⎨⎪⎪⎪⎪⎪⎪+---≤≤⎪⎨⎩⎪⎪=-⎪⎪⎪⎪=-⎪⎩(1-23)()()()3||sin()32()()34()()3ababrefbcabcaaUUUUUUUUπθθθθθθπθθπ⎧=-=+⎪⎪⎪=-⎨⎪⎪=-⎪⎩(1-24)(1-23)(1-24)