Extended Summary 本文は pp.922–929 Mixed Modulation Method of PWM Inverter by Considering Acceleration Torque and Voltage Saturation for Speed Servo System Kenji Takahashi Student Member (Nagaoka University of Technology, [email protected]) Kiyoshi Ohishi Senior Member (Nagaoka University of Technology, [email protected]) Toshiyuki Kanmachi Member (Ishikawa National College of Technology, [email protected]) Keywords: AC servo motor, PWM inverter, voltage saturation, space voltage vector modulation, two phase modulation This paper proposes a new modulation method of PWM inverter for a speed servo system of an AC motor. The proposed modulation method appropriately switches over a space voltage vector modula- tion (SVM) inverter and a carrier comparison inverter by using the two phase modulation (2ph. M). Fig. 1 shows the inverter output voltage vectors of some modula- tion methods. When the original voltage reference u ∗ is larger than the maximum output voltage of the inverter, as shown in Fig.1, the 2ph. M inverter outputs the voltage vector ˜ u ∗ 2ph that has the phase er- ror, and the SVM inverter outputs the voltage vector ˜ u ∗ svm that has the same phase angle with u ∗ . In this case, the fundamental voltage and harmonics of the 2ph. M. inverter are larger than those of the SVM inverter. Therefore, the servo system that is based on the 2ph. M inverter has a larger output torque, larger harmonic loss, and larger acoustics noise as compared to the system that is based on the SVM inverter. This paper proposes a new modulation method that considers the acceleration motor torque and voltage saturation. In the proposed method, the middle voltage vector ˜ u ∗ mix is determined by the mixed ratio q mix (0 ≤ q mix ≤ 1), as shown in Fig. 1. The characteristics of the servo system that is based on the proposed method is changed by the mixed ratio q mix . The mixed ratio q mix is determined by using (1), (2), and (3), which considers the voltage limitation value and the acceleration torque. μ a ≡ K T i ∗ q − ˆ T L K T I qlim · sgn(i ∗ q ) − ˆ T L ·························· (1) μ Δu ≡ 1 1 + s/ω mix |u ∗ − ˜ u ∗ mix | K v ··························· (2) q mix = μ a + μ Δu − μ a μ Δu ······························· (3) Fig. 1. Voltage output method of proposed mixed mod- ulation Here, i ∗ q is the torque current reference, ˆ T L is the estimated distur- bance torque, K T is the torque constant, I qlim is the limitation value of i ∗ q , ω mix is the bandwidth of the low-pass filter, and K v is the stan- dard to evaluate the extent of voltage saturation. To determine q mix within its domain, μ Δu is limited to 1. Fig.2 shows the speed servo system of the SPM motor, which is used for some experiments in this paper. Fig.3 shows the experi- mental results of the speed servo system using mixed modulation of SVM and 2ph. M. The proposed system realizes both the rapid speed response and small THD current on voltage saturation. Fig. 2. Speed servo system of SPM motor with PI con- troller by considering voltage saturation Fig. 3. Experimental result of the servo system using mixed modulation of SVM and 2ph. M –9–
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Extended Summary 本文は pp.922–929
Mixed Modulation Method of PWM Inverter by ConsideringAcceleration Torque and Voltage Saturation for Speed Servo System
Kenji Takahashi Student Member (Nagaoka University of Technology, [email protected])
Kiyoshi Ohishi Senior Member (Nagaoka University of Technology, [email protected])
Toshiyuki Kanmachi Member (Ishikawa National College of Technology, [email protected])
Keywords: AC servo motor, PWM inverter, voltage saturation, space voltage vector modulation, two phase modulation
This paper proposes a new modulation method of PWM inverterfor a speed servo system of an AC motor. The proposed modulationmethod appropriately switches over a space voltage vector modula-tion (SVM) inverter and a carrier comparison inverter by using thetwo phase modulation (2ph. M).
Fig. 1 shows the inverter output voltage vectors of some modula-tion methods. When the original voltage reference u∗ is larger thanthe maximum output voltage of the inverter, as shown in Fig. 1, the2ph. M inverter outputs the voltage vector u∗2ph that has the phase er-ror, and the SVM inverter outputs the voltage vector u∗svm that has thesame phase angle with u∗. In this case, the fundamental voltage andharmonics of the 2ph. M. inverter are larger than those of the SVMinverter. Therefore, the servo system that is based on the 2ph. Minverter has a larger output torque, larger harmonic loss, and largeracoustics noise as compared to the system that is based on the SVMinverter.
This paper proposes a new modulation method that considers theacceleration motor torque and voltage saturation. In the proposedmethod, the middle voltage vector u∗mix is determined by the mixedratio qmix (0 ≤ qmix ≤ 1), as shown in Fig. 1. The characteristics ofthe servo system that is based on the proposed method is changedby the mixed ratio qmix. The mixed ratio qmix is determined by using(1), (2), and (3), which considers the voltage limitation value andthe acceleration torque.
Fig. 1. Voltage output method of proposed mixed mod-ulation
Here, i∗q is the torque current reference, TL is the estimated distur-bance torque, KT is the torque constant, Iqlim is the limitation valueof i∗q, ωmix is the bandwidth of the low-pass filter, and Kv is the stan-dard to evaluate the extent of voltage saturation. To determine qmix
within its domain, μΔu is limited to 1.Fig. 2 shows the speed servo system of the SPM motor, which is
used for some experiments in this paper. Fig. 3 shows the experi-mental results of the speed servo system using mixed modulationof SVM and 2ph. M. The proposed system realizes both the rapidspeed response and small THD current on voltage saturation.
Fig. 2. Speed servo system of SPM motor with PI con-troller by considering voltage saturation
Fig. 3. Experimental result of the servo system usingmixed modulation of SVM and 2ph. M
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論 文
速度サーボ系の加速トルクと電圧飽和を考慮したPWMインバータの混合変調方式
学生員 高橋 健治∗ 上級会員 大石 潔∗
正 員 上町 俊幸∗∗
Mixed Modulation Method of PWM Inverter by Considering Acceleration Torqueand Voltage Saturation for Speed Servo System
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