伺服电动机驱动系统的周期频率脉宽调制策略

孙莹莹; 卜飞飞; 杨磊; 郑再平; 何静萱; 秦海鸿; 黄玉平

doi:10.13224/j.cnki.jasp.20240439

伺服电动机驱动系统的周期频率脉宽调制策略

doi: 10.13224/j.cnki.jasp.20240439

孙莹莹^1,,
卜飞飞¹,
杨磊^{2, 3},
郑再平^{2, 3},
何静萱¹,
秦海鸿¹,
黄玉平^{2, 3}

1.
南京航空航天大学自动化学院，南京 211016
2.
北京精密机电控制设备研究所，北京 100076
3.
控制执行机构技术创新中心，北京 100076

详细信息

作者简介:
孙莹莹（2000-），女，硕士生，主要从事电动机控制方面的研究。E-mail：sunyingying@nuaa.edu.cn

中图分类号: V242.4
计量
- 文章访问数: 364
- HTML浏览量: 268
- PDF量: 30
- 被引次数: 0
出版历程
- 收稿日期: 2024-07-01
- 网络出版日期: 2025-08-19

Pulse width modulation strategy of periodic frequency for servo motor drive system

1.
College of Automation Engineering，Nanjing University of Aeronautics and Astronautics，Nanjing 211016，China
2.
Beijing Institute of Precision Mechatronics and Controls，Beijing 100076，China
3.
Innovation Center for Control Actuators，Beijing 100076，China

摘要

摘要:
为了有效抑制伺服电动机驱动系统电磁干扰，改善系统的电磁兼容性性能，研究扩频调制对电动机伺服系统高次谐波的抑制，详细分析了扩频范围过大对系统控制性能产生的负面影响，并对基于随机频率的和周期频率两种扩频策略进行了对比分析，仿真和实验结果表明：在相同扩频范围下，相比随机频率脉宽扩频调制策略，周期频率脉宽扩频调制策略缩小相邻开关频率差值分布范围，进一步降低了高次谐波尖峰，从而改善对传导电磁干扰抑制效果。电源线传导发射进行测试结果表明，周期频率脉宽扩频调制对传导EMI抑制效果在10～150 kHz频段优于随机频率脉宽扩频调制策略，兼顾系统传导 EMI 抑制效果和控制性能，这对扩频调制策略在实际工程应用中的推广具有重要意义。
- 伺服电动机驱动系统 /
- 周期频率脉宽调制 /
- 电磁干扰 /
- 高次谐波抑制 /
- 扩频范围
Abstract:
To effectively suppress electromagnetic interference in servo motor drive systems and improve the system's electromagnetic compatibility performance, the impact of spread spectrum modulation on the suppression of higher-order harmonics in motor servo systems was investigated. A detailed analysis was conducted on the negative effects of an excessively wide spread spectrum on the system control performance, along with a comparative analysis of two spread spectrum strategies: random switching frequency and periodic switching frequency pulse width modulation. Simulation and experimental results indicated that, under the same spread spectrum range, the periodic switching frequency pulse width spread spectrum modulation strategy reduced the distribution range of adjacent switching frequency differences compared with the random switching frequency strategy, leading to lower peaks of higher-order harmonics and improved EMI suppression. Test results for conducted emissions on the power line demonstrated that the periodic switching frequency strategy exhibited superior EMI suppression within the frequency range of 10 kHz to 150 kHz compared with the random switching frequency strategy. This strategy balanced EMI suppression and control performance, showing significance for practical engineering applications.
- servo motor drive system /
- periodic switching frequency pulse width modulation /
- electromagnetic interference /
- high-order harmonic suppression /
- spread spectrum range

HTML

图 1 FOC控制方法控制框图

Figure 1. Control block diagram of FOC control method

下载: 全尺寸图片幻灯片

图 2 三相两电平逆变器拓扑

Figure 2. Topology of three-phase two-level inverter

下载: 全尺寸图片幻灯片

图 3 空间电压矢量分布

Figure 3. Spatial voltage vector distribution

下载: 全尺寸图片幻灯片

图 4 SVPWM等效载波交截示意图

Figure 4. Schematic diagram of SVPWM equivalent carrier cross-section

下载: 全尺寸图片幻灯片

图 5 SVPWM输出A相电压高次谐波分布情况示意图

Figure 5. Schematic diagram of high-order harmonic distribution of phase A voltage of SVPWM output

下载: 全尺寸图片幻灯片

图 6 矩形脉冲

Figure 6. rectangular pulse

下载: 全尺寸图片幻灯片

图 7 不同SVPWM目标电压矢量轨迹示意图

Figure 7. Schematic diagram of target voltage vector trajectory of different SVPWM

下载: 全尺寸图片幻灯片

图 8 不同SVPWM调制下输出电流波形、频谱及q轴电流仿真对比

Figure 8. Simulation Comparison of output current waveform, frequency spectrum and q-axis current under different SVPWM modulation

下载: 全尺寸图片幻灯片

图 9 伺服驱动系统实验平台实物图

Figure 9. Physical diagram of servo drive system experimental platform

下载: 全尺寸图片幻灯片

图 10 不同SVPWM调制下输出电流波形、频谱及q轴电流对比

Figure 10. Output current waveform, frequency spectrum and q-axis current under different SVPWM modulation

下载: 全尺寸图片幻灯片

图 11 伺服驱动系统EMI测试平台

Figure 11. EMI test platform for servo drive system

下载: 全尺寸图片幻灯片

图 12 不同SVPWM调制下电源线传导EMI对比

Figure 12. Comparison of EMI conducted by power line under different SVPWM modulation

下载: 全尺寸图片幻灯片

表 1 不同调制方式性能差异

Table 1. Performance comparison of different modulation strategies

调制策略	电流两倍频谐波值/mA	电流三倍频谐波值/mA	传导EMI 最大降低值/dBμV	q轴电流波动程度/%
SVPWM	188	385		24
RSF-SVPWM	97	132	5.29	34
PSF-SVPWM	55	68	7.4	30

下载: 导出CSV

参考文献(18)

[1]	孟德智. 汽车电子助力制动系统永磁同步电机伺服控制技术研究[D]. 杭州: 浙江大学, 2021. MENG Dezhi. Research on servo control technology of permanent magnet synchronous motor in automobile electronic power assisted braking system[D]. Hangzhou: Zhejiang University, 2021. (in Chinese MENG Dezhi. Research on servo control technology of permanent magnet synchronous motor in automobile electronic power assisted braking system[D]. Hangzhou: Zhejiang University, 2021. (in Chinese)
[2]	JIANG Chaoqiang, CHAU K T, LEE C H T, et al. A wireless servo motor drive with bidirectional motion capability[J]. IEEE Transactions on Power Electronics, 34(12): 12001-12010.
[3]	WANG Mingze, SUN Dan, KE Weihuang, et al. A universal lookup table-based direct torque control for OW-PMSM drives[J]. IEEE Transactions on Power Electronics, 36(6): 6188-6191.
[4]	李卓航. 无相移双三相永磁同步电机容错控制及谐波抑制研究[D]. 杭州: 浙江大学, 2021. LI Zhuohang. Research on fault-tolerant control and harmonic suppression of double three-phase permanent magnet synchronous motor without phase shift[D]. Hangzhou: Zhejiang University, 2021. (in Chinese LI Zhuohang. Research on fault-tolerant control and harmonic suppression of double three-phase permanent magnet synchronous motor without phase shift[D]. Hangzhou: Zhejiang University, 2021. (in Chinese)
[5]	CHEN Qiang, YU Xinqi, SUN Mingxuan, et al. Adaptive repetitive learning control of PMSM servo systems with bounded nonparametric uncertainties: theory and experiments[J]. IEEE Transactions on Industrial Electronics, 68(9): 8626-8635.
[6]	TAKAHASHI S, OGASAWARA S, TAKEMOTO M, et al. Common-mode voltage attenuation of an active common-mode filter in a motor drive system fed by a PWM inverter[J]. IEEE Transactions on Industry Applications, 55(3): 2721-2730.
[7]	徐军忠. 现代逆变电源调制策略的研究[D]. 上海: 上海交通大学, 2021. XU Junzhong. Research on modulation strategy of modern inverter power supply[D]. Shanghai: Shanghai Jiao Tong University, 2021. (in Chinese XU Junzhong. Research on modulation strategy of modern inverter power supply[D]. Shanghai: Shanghai Jiao Tong University, 2021. (in Chinese)
[8]	ZHANG Wentao, XU Yongxiang, HUANG Huidong, et al. Vibration reduction for dual-branch three-phase permanent magnet synchronous motor with carrier phase-shift technique[J]. IEEE Transactions on Power Electronics, 35(1): 607-618.
[9]	WANG Shuo, MAILLET Y Y, WANG Fei, et al. Investigation of hybrid EMI filters for common-mode EMI suppression in a motor drive system[J]. IEEE Transactions on Power Electronics, 25(4): 1034-1045.
[10]	VARUN M, SHUKLA K, MAHESHWARI R, et al. A new hybrid PWM for two parallel connected interleaved two-level inverter to reduce output current ripple[C]//2017 IEEE 7th International Conference on Power and Energy Systems. Toronto: IEEE, 2017: 74-79.
[11]	HUANG Yang, WALDEN J, FOOTE A, et al. Analytical characterization of CM and DM performance of three-phase voltage-source inverters under various PWM patterns[J]. IEEE Transactions on Power Electronics, 36(4): 4091-4104.
[12]	刘和平, 刘庆, 张威, 等. 电动汽车用感应电机削弱振动和噪声的随机PWM控制策略[J]. 电工技术学报, 2019, 34(7): 1488-1495. LIU Heping, LIU Qing, ZHANG Wei, et al. Random PWM technique for acoustic noise and vibration reduction in induction motors used by electric vehicles[J]. Transactions of China Electrotechnical Society, 2019, 34(7): 1488-1495. (in Chinese LIU Heping, LIU Qing, ZHANG Wei, et al. Random PWM technique for acoustic noise and vibration reduction in induction motors used by electric vehicles[J]. Transactions of China Electrotechnical Society, 2019, 34(7): 1488-1495. (in Chinese)
[13]	XU Yongxiang, YUAN Qingbing, ZOU Jinbin, et al. Sinusoidal periodic carrier frequency modulation in reducing electromagnetic noise of permanent magnet synchronous motor[J]. IET Electric Power Applications, 2013, 7(3): 223-230. doi: 10.1049/iet-epa.2012.0206
[14]	邱子桢, 陈勇, 成海全, 等. 基于周期谐波扩频调制的永磁同步电机高频边带声振抑制[J]. 电工技术学报, 2022, 37(10): 2459-2468. QIU Zizhen, CHEN Yong, CHENG Haiquan, et al. Periodic harmonic spread spectrum modulation for high-frequency sideband vibro-acoustic suppression in permanent magnet synchronous motor[J]. Transactions of China Electrotechnical Society, 2022, 37(10): 2459-2468. (in Chinese QIU Zizhen, CHEN Yong, CHENG Haiquan, et al. Periodic harmonic spread spectrum modulation for high-frequency sideband vibro-acoustic suppression in permanent magnet synchronous motor[J]. Transactions of China Electrotechnical Society, 2022, 37(10): 2459-2468. (in Chinese)
[15]	原庆兵. 永磁同步电机系统的周期频率调制策略研究[D]. 哈尔滨: 哈尔滨工业大学, 2016. YUAN Qingbing. Research on periodic frequency modulation strategy of permanent magnet synchronous motor system[D]. Harbin: Harbin Institute of Technology, 2016. (in Chinese YUAN Qingbing. Research on periodic frequency modulation strategy of permanent magnet synchronous motor system[D]. Harbin: Harbin Institute of Technology, 2016. (in Chinese)
[16]	颜心. 基于随机扩频的永磁同步电机控制系统设计与实现[D]. 南京: 东南大学, 2020. YAN Xin. Design and implementation of permanent magnet synchronous motor control system based on random spread spectrum[D]. Nanjing: Southeast University, 2020. (in Chinese YAN Xin. Design and implementation of permanent magnet synchronous motor control system based on random spread spectrum[D]. Nanjing: Southeast University, 2020. (in Chinese)
[17]	张艳. 永磁同步电机随机调制策略的研究[D]. 徐州: 中国矿业大学, 2020. ZHANG Yan. Research on random modulation strategy of permanent magnet synchronous motor[D]. Xuzhou: China University of Mining and Technology, 2020. (in Chinese ZHANG Yan. Research on random modulation strategy of permanent magnet synchronous motor[D]. Xuzhou: China University of Mining and Technology, 2020. (in Chinese)
[18]	杨志昌. 基于连续型混沌脉宽调制的电力电子变换器电磁频谱量化与性能分析方法研究[D]. 北京: 北京交通大学, 2020. YANG Zhichang. Research on electromagnetic spectrum quantization and performance analysis method of power electronic converter based on continuous chaotic pulse width modulation[D]. Beijing: Beijing Jiaotong University, 2020. (in Chinese YANG Zhichang. Research on electromagnetic spectrum quantization and performance analysis method of power electronic converter based on continuous chaotic pulse width modulation[D]. Beijing: Beijing Jiaotong University, 2020. (in Chinese)