CN101515764A - Current sampling circuit used for frequency converter and sampling method thereof - Google Patents
Current sampling circuit used for frequency converter and sampling method thereof Download PDFInfo
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Abstract
A current sampling circuit used for frequency converter comprises six switch pipes, and a sampling resistance is connected in serious at a lower bridge arm output end of at least two phases of direct current bus negative end or frequency converter of the current sampling circuit; a current sampling method of the current sampling circuit includes step of collecting information of current passing through the sampling resistance by the sampling resistance connected in series in the sampling circuit. The invention further provides two schemes, in one scheme, only a sampling resistance is connected in serious at a negative end of the direct current bus of the current sampling circuit, direct current bus current information is collected by the sampling resistance connected in serious at the negative end of the direct current bus, furthermore three-phase current information of a motor is reconstructed; in the other scheme, a sampling resistance is connected in serious at each output end of the three-phase lower bridge arm of the frequency converter, and three-phase load current information is obtained by directly sampling. The invention has simple sampling method, is easy to realize in engineering, and can be applied in any AC motor-driven system of three-phase balance current.
Description
Technical field
The invention belongs to the frequency conversion control technique field, relate to a kind of current sampling circuit and method of sampling thereof that is used for frequency converter.
Background technology
In high performance frequency-changing control system, current detecting is a key link, phase current by detecting alternating current machine and then implement the phase current of voltage-source type PWM inverter is carried out closed-loop control, to obtain high-precision three-phase sine-wave current information, guarantee controlling electromagnetic torque fast and accurately.Classical electric current detecting method is an applied current sensor electric current, promptly at ac output end 3 or at least 2 phase current transducers is set, and in order to the phase current feedback signal to be provided, DC current sensor is usually used in overcurrent protection.
The detection mode of electric current is a key issue that is related to cost and reliability in the design of frequency converter, and different detection modes has different pluses and minuses.Current sensor commonly used is a Hall effect detectors, and it not only costs an arm and a leg, and bulky, is difficult to be integrated in the power electronic equipment.In the last few years, for reducing the current sensor number, reduce equipment volume, and reduced equipment cost, and improved system's operational reliability, the research of inverter phase current estimation problem receives much concern.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of current sampling circuit of frequency converter and technical scheme of the method for sampling thereof of being used at above-mentioned prior art present situation.
The present invention solves the problems of the technologies described above by the following technical solutions:
A kind of basic scheme that is used for the current sampling circuit of frequency converter, described frequency converter comprises six switch transistor T 1～T6, it is characterized in that described current sampling circuit is in series with sampling resistor R at the following brachium pontis output of the two-phase at least of its dc bus negative terminal or described frequency converter.By being connected on the sampling resistor R on the described sample circuit, acquisition stream is through the current information of described sampling resistor R.
As preferably, described current sampling circuit is in series with a sampling resistor R at its dc bus negative terminal.
As further preferred, described sampling resistor R is the overcurrent protection resistance of described frequency converter.
Be used for the preferred version of current sampling circuit of above-mentioned frequency converter and the current sample method of further preferred version, by being connected on the sampling resistor R of dc bus negative terminal, gather dc bus current Idc information, again according to the on off state of six switch transistor T 1～T6, and in conjunction with the space vector PWM modulation algorithm, and then three-phase current A, B, the C of reconstruct motor.
As above-mentioned current sample method preferred, in sampling computational process, also adopt a kind of backoff algorithm, in order to solve the negative effect that Dead Time brings, promptly in the output duty cycle of three-phase PWM, according to the sign of phase current, add or minimizing error time Ter.
As the another kind of preferred version of above-mentioned current sampling circuit basic scheme, the brachium pontis output is in series with sampling resistor R1, a R2, R3 separately under the three-phase of described frequency converter.
As further preferred, described three sampling resistor R1, R2, R3 are the overcurrent protection resistance of described frequency converter.
Be used for the back a kind of preferred version of current sampling circuit of above-mentioned frequency converter and the current sample method of further preferred version, it is characterized in that, when brachium pontis flow through the load current of motor down, Direct Sampling obtained the threephase load current information of motor.
The present invention is on the basis of its basic scheme; two kinds of sampling plans that carry out electric machine phase current with sampling resistor replacement current sensor have been proposed; load detecting, overload, overcurrent, short-circuit protection are all concentrated on the same resistance, system is simplified, effectively reduce system cost.And the method for sampling is simple, does not relate to than complex calculations, is easy to realize on engineering, and is irrelevant with the load and the model parameter of drive system, can use in the AC machine drive system of any three-phase equilibrium electric current.
Description of drawings
Fig. 1 is a frequency converter bus list resistor current sample circuit schematic diagram of the present invention.
Fig. 2 is in (Sa, Sb, Sc)=(1,0,0) the current trend schematic diagram during state for frequency converter bus list resistor current sample circuit scheme inverter switching device of the present invention.
Fig. 3 is a frequency converter space vector schematic diagram of the present invention.
Fig. 4 is a frequency converter converter bridge switching parts view of the present invention.
Fig. 5 is a frequency converter PWM duty ratio schematic diagram of the present invention.
Fig. 6 is frequency converter inverter bridge A phase brachium pontis switching signal of the present invention and output voltage schematic diagram.
Fig. 7 is a frequency converter three-phase resistance current sampling circuit schematic diagram of the present invention.
Fig. 8 moves towards schematic diagram for frequency converter three-phase resistance current sampling circuit scheme electric current of the present invention is in the corresponding following brachium pontis afterflow state current of (1,0,0) state current vector.
Embodiment
Describe performance of the present invention in detail below in conjunction with accompanying drawing, but they do not constitute limitation of the invention, only give an example.Simultaneously by illustrating that advantage of the present invention will become clear more and understanding easily.
Embodiment one: dc bus list resistance sampling
The structured flowchart of dc bus list resistance sampling circuit as shown in Figure 1, by being connected on the sampling resistor R of dc bus negative terminal, gather the electrical information of dc bus current Idc, again according to the on off state of six switch transistor T 1～T6, and in conjunction with the space vector PWM modulation algorithm, and then three-phase current A, B, the C of reconstruct motor.This sampling resistor has utilized the overcurrent protection resistance of IPM power model just, so can not increase any hardware cost.And traditional electric current detecting method is an applied current sensor electric current, but more expensive transducer makes system cost increase.Another kind method is to utilize the linear resistance of a plurality of cheapnesss to obtain current information, but under the limited condition of hardware, also is difficult to sometimes realize.From reducing system cost, reducing volume, the method for obtaining motor and drive system current information with single current detection technology becomes a kind of effective means.
Space vector PWM modulation algorithm above-mentioned, its principle is as follows:
Space vector algorithm (SVPWM) is that the magnetic field that stator current produces is divided into 6 limit and 6 basic vectors, 2 zero vectors mutually, as shown in Figure 3.The stator field of any direction all is to obtain by two adjacent basic vectors are synthetic.
As shown in Figure 4, all corresponding a kind of on off state of each basic vector can arbitrarily switch 6 basic vectors by the conducting state that changes 6 switching tubes.In the form of Fig. 4, the pipe conducting is gone up in 1 representative, the following pipe turn-offed, and conducting is managed in 0 representative down, upward pipe turn-offs.For example, on vector V 1 corresponding A, under the B, conducting under the C, be equivalent to the A phase current for just, B, C phase current are for negative.Wherein, 000 and 111 represent two zero vectors respectively, because go up pipe conducting simultaneously or 3 down during pipe conducting simultaneously when 3, do not have electric current to flow in the motor or flow out.
The space vector of any direction is divided into 6 limits mutually, and each vector of limitting mutually all is to be made of two adjacent basic vectors and two zero vectors, recently changes the size and Orientation of resultant vector by the duty that changes two basic vectors.Fig. 5 is the first duty ratio schematic diagram of vector in the limit mutually, and the duty ratio of PWM ripple adopts 7 sections methods to represent that T1 represents the duty ratio of basic vector V1 among the figure, and T2 represents the duty ratio of basic vector V2, and T0 and T7 represent the duty ratio of zero vector.The modulation system of this PWM is exactly space vector pulse width modulation (SVPWM).
Motor phase current reconstruction technology:, now propose alternating current motor phase current reconstruction technology under space vector PWM (SVPWM) control mode having analyzed under the complementary PWM pattern on the inverter change of current basis.This technology according to inverter on off state of living in and three-phase current relation, calculates each phase current with a linear resistance sampling inverter dc bus current, realizes the phase current reconstruction of alternating current motor.So-called complementary output is promptly with in the inversion system shown in Figure 1, upper and lower two device for power switching of same brachium pontis, and when last brachium pontis break-over of device, following brachium pontis device is in off state, and vice versa.
As previously described, the definition switching variable is got 0 or 1 two states, and wherein the conducting of brachium pontis device for power switching is gone up in 1 expression; 0 expression brachium pontis device for power switching conducting down.8 kinds of inverter switching states shown in the form among Fig. 4 are then arranged.Wherein, (Sa, Sb, Sc)=(0,0,0) and (in the time of Sc)=(1,1,1), inverter output voltage is zero for Sa, Sb, so these two kinds of on off states of inverter are defined as nought state, and all the other 6 kinds of states is defined as effective status.When inverter switching device is in effective status, for example be in that (Sc)=(1,0,0), its current flowing path as shown in Figure 2 for Sa, Sb.As seen from Figure 2, under this state, dc bus current Idc is the A phase current of alternating current motor.In like manner the stator current based on off state can be expressed as follows, and the sense of current is to flow to load for just:
Idc＝Ia?when(Sa，Sb，Sc)＝(1，0，0)
Idc＝-Ia?when(Sa，Sb，Sc)＝(0，1，1)
Idc＝Ib?when(Sa，Sb，Sc)＝(0，1，0)
Idc＝-Ib?when(Sa，Sb，Sc)＝(1，0，1)
Idc＝Ic?when(Sa，Sb，Sc)＝(0，0，1)
Idc＝-Ic?when(Sa，Sb，Sc)＝(1，1，0)
Idc＝0?when(Sa，Sb，Sc)＝(1，1，1)
Idc＝0?when(Sa，Sb，Sc)＝(0，0，0)
Fig. 2 is in (Sa, Sb, Sc)=(1,0,0) the current trend schematic diagram during state for controller power model of the present invention adopts bus list resistor current sample circuit scheme inverter switching device.Therefore, according in the opportune moment of effective status dc bus resistance being sampled, with regard to the three-phase current of energy reconstruct motor with co-relation.
Key problem in technology point: as previously mentioned, voltage U dc on the sampling resistor R can not represent load current Ia, Ib, Ic in full-time territory, therefore and closely related with the on off state of switching tube, the sampling to sampling resistor R just becomes the key point that can this technology realize opportunity.
As shown in Figure 3, prescribe a time limit mutually when stator field is positioned at first, it is limit the magnetic vector of interior any direction all to be synthesized by basic vector (100) and (110) mutually and obtains.Corresponding PWM waveform and switching tube state as shown in Figure 5, the on off state of T1 time correspondence 100 wherein, the electric current that flows through on the sampling resistor is the A phase current of alternating current motor as shown in Figure 2, and the equal and opposite in direction direction is identical; The on off state of T2 time correspondence 110 in like manner, the electric current that flows through on the sampling resistor is represented the C phase current of alternating current motor, and opposite sign but equal magnitude.Therefore only sample and to obtain effective motor load current information in T1 time and T2 time.
Innovation point: ideally two of the upper and lower bridge arm of inverter always complementary conductings of device for power switching and closing.But because the turn-on and turn-off of device all need certain hour, and generally be that turn-off time Toff is longer than ON time Ton.Therefore between the turn-on and turn-off of upper and lower bridge arm, added one section dead band time-delay Td, to prevent dc-side short-circuit.In Dead Time, electric current can not suddenly change, and the fly-wheel diode that is actually by conducting has constituted the loop.There is deviation between the actual signal of therefore desirable modulation signal and switching tube output.This deviation causes dead time effect, makes output voltage waveforms produce distortion, has reduced fundamental voltage amplitude, increased the harmonic loss of low-order harmonic content and motor, when low frequency and high carrier frequency, can make the motor electromagnetic torque that bigger pulsation takes place, seriously influenced the runnability of system.And for dc bus list resistance sampling scheme, when PWM output is opened up empty than can't sampling by the dc bus sampling resistor less than the Dead Time system that makes, therefore have a strong impact on the reliability of this scheme under low frequency, low loading condition, and bring bigger output torque commutation pulsation easily.This patent has proposed a kind of backoff algorithm, in order to solve the negative effect that Dead Time brings.
As shown in Figure 6, be example with inverter A phase brachium pontis, labor SVPWM dead time effect and compensation method thereof.(a) and (b) are desirable upper and lower brachium pontis switching tube triggering signal among Fig. 6, (c), (d) opens switching tube real output signal after time-delay Ton, the turn off delay time Toff for postpone Td and device through the dead band, (e) being the output voltage waveforms of this phase brachium pontis. dash area is the safe clearance interval that upper and lower bridge arm all turn-offs, i.e. two actual Dead Times that switching tube all turn-offs, for fear of obscuring with the Dead Time that is provided with, be defined herein as error time Ter, this interval output voltage values is determined by the direction of load current:
1) when current i a be timing, following brachium pontis diode D2 conducting, output voltage U ao=-0.5Vdc.
2) when current i a when negative, last brachium pontis diode D1 conducting, output voltage U ao=0.5Vdc.
Width between two dotted lines among Fig. 6 (e) is desirable output positive pulse voltage time, according to the different width differences of analyzing actual voltage pulse output and desirable given pulse voltage of current i a polarity is:
1) when current i a be timing, actual positive pulse width is narrower than desirable given pulse duration, the time of minimizing is
Ter＝Td+Ton-Toff (1)
In the formula: Td is a Dead Time; Ton, Toff are turning on and off the time of device; Ter is the error time of actual pulsewidth of output voltage and desirable pulsewidth.
2) when current i a when negative, actual positive pulse width is wideer than desirable given positive pulse width, the time of increase also is Ter.
For other two-phase inverter output voltage pulsewidths, has above-mentioned relation equally.Therefore only need in the output duty cycle of three-phase PWM,, add or minimizing error time Ter, just can solve dead time effect, also improved the effect of Dead Time simultaneously the sampling of dc bus list resistor current according to the sign of phase current.
Embodiment two: brachium pontis three resistance-type phase current samplings under the inverter
As shown in Figure 7, present embodiment is by connect separately at the following brachium pontis output of each phase of inverter sampling resistor R1, a R2, R3, when brachium pontis flows through the load current of motor down, can Direct Sampling obtains the threephase load current information of motor.Same these three sampling resistors have also been taken into account the overcurrent protection function of IPM power model.Compare with embodiment one, embodiment two softwares are realized relatively easy, and sampling algorithm is simple, and insensitive to dead time effect, but hardware cost is high relatively slightly.
The same employing of present embodiment space vector PWM modulation algorithm above-mentioned, its principle and method are with embodiment one.
The same with embodiment one, the definition switching variable is got 0 or 1 two states, and wherein the conducting of brachium pontis device for power switching is gone up in 1 expression; 0 expression brachium pontis device for power switching conducting down.8 kinds of inverter switching states shown in the form among Fig. 4 are then arranged.Wherein, (Sa, Sb, Sc)=(0,0,0) and (in the time of Sc)=(1,1,1), inverter output voltage is zero for Sa, Sb, so these two kinds of on off states of inverter are defined as nought state, and all the other 6 kinds of states is defined as effective status.Wherein (0,0,0) is down brachium pontis afterflow state.
Fig. 8 moves towards schematic diagram for frequency converter three-phase resistance current sampling circuit scheme electric current of the present invention is in the corresponding following brachium pontis afterflow state current of (1,0,0) state current vector.The electric current that flows through among following arm resistance R1, R2, the R3 is exactly the load current of motor A, B, C three-phase.The following brachium pontis afterflow mode of other several effective statuses similarly.
Therefore, adopt three resistor current sample circuit schemes, can directly obtain the three-phase current information of motor; Make that the sampling software algorithm is simple relatively, be easy to programming and control enforcement.
The key problem in technology point: as shown in Figure 8, under the situation that brachium pontis turn-offs simultaneously on the conducting simultaneously of brachium pontis under the three-phase of inverter, the three-phase, the three-phase electricity of motor fails to be convened for lack of a quorum and carries out afterflow by brachium pontis under the three-phase of inverter.At this moment, the electric current that flows through every phase sampler resistance is motor real load phase current.Therefore all under inverter, under the situation of brachium pontis afterflow, just can accurately obtain the three-phase current information of motor as long as guarantee the sampling time of every phase resistance.
Claims (9)
1, a kind of current sampling circuit that is used for frequency converter, described frequency converter comprises six switching tubes, it is characterized in that, described current sampling circuit is in series with sampling resistor at the following brachium pontis output of the two-phase at least of its dc bus negative terminal or described frequency converter.
2, the current sampling circuit that is used for frequency converter as claimed in claim 1 is characterized in that, described current sampling circuit only is in series with a sampling resistor at its dc bus negative terminal.
3, the current sampling circuit that is used for frequency converter as claimed in claim 2 is characterized in that, described sampling resistor is the overcurrent protection resistance of described frequency converter.
4, the described current sampling circuit that is used for frequency converter of claim 1 is characterized in that, described current sampling circuit is the brachium pontis output sampling resistor of connecting separately under the three-phase of described frequency converter.
5, the current sampling circuit that is used for frequency converter as claimed in claim 4 is characterized in that, describedly is connected on the overcurrent protection resistance that three sampling resistors of brachium pontis output under the described three-phase are described frequency converter separately.
6, the current sample method that is used for the current sampling circuit of frequency converter as claimed in claim 1 is characterized in that, by being connected on the sampling resistor on the described sample circuit, acquisition stream is through the current information of described sampling resistor.
7, current sample method as claimed in claim 6, be used for as claim 2 or 3 described current sampling circuits, it is characterized in that, by being connected on the sampling resistor of dc bus negative terminal, gather dc bus current information, again according to the on off state of six switching tubes, and in conjunction with the space vector PWM modulation algorithm, and then the three-phase current information of reconstruct motor.
8, the current sample method that is used for the current sampling circuit of frequency converter as claimed in claim 7, it is characterized in that, in sampling computational process, also adopt a kind of backoff algorithm, in order to solve the negative effect that Dead Time brings, promptly in the output duty cycle of three-phase PWM, according to the sign of phase current, add or the minimizing error time.
9, current sample method as claimed in claim 6 is used for it is characterized in that as claim 4 or 5 described current sampling circuits, and when brachium pontis flow through the load current of motor down, Direct Sampling obtained the threephase load current information of motor.
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| CN112436750B (en) * | 2020-10-09 | 2022-04-19 | 杭州士兰微电子股份有限公司 | Control method and control circuit of inverter |
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