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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2019, Vol. 53 Issue (2): 388-398    DOI: 10.3785/j.issn.1008-973X.2019.02.023
Electric Engineering     
DC-link voltage fluctuation compensation for selected harmonics elimination under low switching frequency
Shuo-feng ZHAO(),Xiao-yan HUANG*(),You-tong FANG
College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China
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Abstract  

A novel compensation strategy for selected harmonics elimination pulse width modulation (SHEPWM) was proposed to suppress the current and torque ripple of railway traction motor caused by DC-link voltage fluctuation. Synchronous processing sections were decided according to the number of pulse per fundamental cycle of the modulation. A repetitive predictor was employed to predict the DC-link voltage pattern in the next section. Flux error of the next section was then estimated and the switching instants in the section were accordingly adjusted to compensate the flux error. Experiments were run on an 18 kW traction interior-mounted permanent magnet synchronous motor (IPMSM) with the proposed compensation strategy, with the average DC-link voltage compensation and without any compensation. Results showed that the proposed strategy can significantly eliminate the low-order harmonic current components and motor torque ripple caused by the DC-link voltage fluctuation, and was more effective than average DC-link voltage compensation.

Key words： railway traction      DC-link voltage fluctuation      selected harmonics elimination pulse width modulation (SHEPWM)      repetitive predictor      permanent magnet synchronous motor (PMSM)     
Received: 17 January 2018      Published: 21 February 2019
CLC:  TH 133  
Corresponding Authors: Xiao-yan HUANG     E-mail: 3090101746@zju.edu.cn;huangxiaoyan@zju.edu.cn
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Shuo-feng ZHAO
Xiao-yan HUANG
You-tong FANG
Cite this article:

Shuo-feng ZHAO,Xiao-yan HUANG,You-tong FANG. DC-link voltage fluctuation compensation for selected harmonics elimination under low switching frequency. Journal of ZheJiang University (Engineering Science), 2019, 53(2): 388-398.

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http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2019.02.023     OR     http://www.zjujournals.com/eng/Y2019/V53/I2/388


低开关频率选择谐波消除调制的母线波动补偿

提出基于选择谐波消除脉宽调制（SHEPWM）的补偿策略，用于抑制由直流母线电压波动引起的列车牵引电机电流与转矩波动. 根据每一基波周期内的调制脉冲数确定同步处理区间，使用重复预测器对下一处理区间内的直流母线电压波形进行预测. 根据预测的母线电压波形与开关时刻估计下一处理区间内的磁链误差，并相应地调整开关时刻以消除磁链误差. 在18 kW永磁体内置式永磁同步电动机（IPMSM）上分别对采用完整的补偿策略、采用近似的处理区间内平均母线电压补偿策略与不采用任何补偿策略的情况进行实验. 结果表明提出的补偿策略能显著降低由直流母线电压波动所引起的低次电流谐波和电机转矩波动，且相比近似的处理区间内平均母线电压补偿策略具有更好的电流与转矩波动抑制效果.


关键词： 列车牵引,  直流母线电压波动,  选择谐波消除脉宽调制（SHEPWM）,  重复预测器,  永磁同步电机（PMSM） 
Fig.1 AC-DC-AC topology for railway traction system
Fig.2 Simulation result of motor phase current under influence of DC-link voltage fluctuation
Fig.3 Simulation result of motor electromagnetic torque under influence of DC-link voltage fluctuation
Fig.4 General structure of traction control system
Fig.5 Processing sections and typical stator flux trajectories under different SHEPWM modes
Fig.6 Principle of moving prediction window
Fig.7 Simulation result of DC-link voltage actual value, frontend predicted value and current instant predicted value
Fig.8 Calculation of stator flux error
Fig.9 Compensation of stator flux error
Fig.11 Hardware and software configuration of embedded control system
项目 符号/单位 数值
额定功率 Pn/kW 18
额定转速 Nn/(r·min?1) 3 000
额定转矩 Tn/(N·m) 57
效率 η/% 98
额定线电压 Vn-l/V 350
相数 M 3
极对数 P 3
定子相电阻 Rs/Ω 0.028
直轴电感 Ld/H 0.001
交轴电感 Lq/H 0.002 5
Tab.1 Machine specifications in experiments
Fig.10 Controller setup and experiment platform
Fig.13 Experimental results of DC-link voltage, machine line-to-line voltage and machine phase current under different SHEPWM modes with proposed compensation employed
Fig.12 Experimental results of DC-link voltage, machine line-to-line voltage and machine phase current under different SHEPWM modes with no compensation
Fig.14 Experimental results of DC-link voltage, machine line-to-line voltage and machine phase current under different SHEPWM modes with direct average compensation employed
Fig.15 Vibration sensor
补偿使用情况 SHEPWM模式 vv/（mm?s?1） av/（mm?s?2）
无补偿 7APQ 13.7 29.2
无补偿 5APQ 13.9 27.5
无补偿 3APQ 13.2 25.8
无补偿 1APQ 16.9 51.5
直接平均法 7APQ 11.1 19.5
直接平均法 5APQ 11.3 19.9
直接平均法 3APQ 12.7 21.7
直接平均法 1APQ 15.1 32.9
本研究提出的方法 7APQ 5.9 10.7
本研究提出的方法 5APQ 8.7 15.7
本研究提出的方法 3APQ 7.4 14.6
本研究提出的方法 1APQ 7.6 13.2
Tab.2 Measured vibration values with no compensation，direct average compensation and proposed compensation
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