CN102013829A - Method for compensating dead time of converter based on distortion function - Google Patents
Method for compensating dead time of converter based on distortion function Download PDFInfo
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Abstract
The invention discloses a novel method for compensating dead time of a converter, which is applied to universal voltage source converters. In the method, a distortion function correction step is increased on the basis of the normal method for compensating the dead time compensation. In the method, voltage feedback is used as a reference, and a dead time effect distortion function is corrected for a plurality of periods, so that the accuracy for dead time compensation can be effectively improved and the output quality of the converter is improved. The method is easy to implement and does not cause obvious disturbance to a converter control system.
Description
Technical field:
The present invention relates to a kind of dead-time compensation method of novel high-power converter, can be applied to comprise wind electric converter, the driving output of any high-power converters such as propelling current transformer peculiar to vessel.The present invention has effectively compensated the linearity error of the current transformer output that Dead Time causes, and has improved the output waveform quality, has reduced the output torque ripple of its drive motors.
Background technology:
High-power converter has wide application background, and has become one of nucleus equipment in a plurality of industries.At present, Jue Daduoshuo high-power converter has adopted the three-phase fully-controlled full-bridge circuit.For prevent bridge circuit up and down device (being generally IGBT) produce conducting simultaneously and be short-circuited, switching circuit can add Dead Time at the device up and down of brachium pontis.In switching process, postpone one period set time after the device that switching circuit will be in brachium pontis turn-offs after another device in the conducting brachium pontis again, be called as Dead Time this time of delay.
In Dead Time, device up and down in the brachium pontis is in off state simultaneously, the output voltage of current transformer also be can't help switching device decision, but determine by the conducting of fly-wheel diode, voltage output in the Dead Time will cause wave distortion to the output of current transformer voltage, this wave distortion has influenced the voltage output quality of current transformer, thereby has brought the torque ripple of load motor, a series of negative effects such as energy consumption increase of driving load.
According to the difference of the sense of current, the distortion that Dead Time causes can approximate expression be a trapezoidal wave, as shown in Figure 1.
U
Dt=u
dWork as I
Load＜-I
Th
U
Dt=-u
dWork as I
Load＞I
Th
U
DtBe Dead Time distortion function value, I
LoadBe load current, u
dWith I
ThBe the major parameter of distortion function, determined the main performance of Dead Time distortion function.As shown in Figure 2, the final output waveform mean value of current transformer is generally sinewave output target function and distorted waveform U
DtSum.
In order to reduce the distortion of Dead Time for current transformer output, industry has proposed multiple different compensation method, and compensation method mainly is to inject in target function with diverse ways the inverse value-U of distortion function
DtNo matter adopt any compensation method, the difficult point of dead area compensation is how prediction and calculation is also determined distortion function U
Dt
Determine distortion function U
DtFirst difficult point be accurately to provide U
dSize.Ignoring the diode current flow time ideally,
After considering the diode current flow factor
The diode current flow time T
DiodeDetermined by device property and inductive current loop, correct given T
DiodeAnd then correctly provide K
DtBe very difficult, therefore caused definite U
dThe difficulty of size.
Determine distortion function U
DtSecond difficult point be to determine I
ThThereby size determine the slope of distortion function near zero-crossing point, distortion function is at the slope of near zero-crossing point, mainly, therefore caused near definite distortion function slope I at zero point by inductive current influence and this equiva lent impedance decision of load near zero-crossing point to the fly-wheel diode ON time
ThDifficulty.
How different dead-time compensation methods just determines distortion function U
DtProvided diverse ways separately, patent US5272710A has increased ON time and the definite U of extra measuring circuit to determine diode
dAnd I
ThSize, and in dead-time compensation, increased the modifying factor of current loop control.Patent CN10038861C has increased extra current zero-crossing point slope evaluation algorithm to revise distortion function zero crossing slope I
ThPatent CN101552567A is to obtain the continuous diode component parameter of staying as prediction U
dFoundation.Above several method implementation procedure is relatively complicated, and what have has higher dependence to power electronics and circuit parameter, and therefore a part that becomes current transformer control that has can cause certain disturbance to the control of whole current transformer.
The Dead Time effect has several distinguishing features for current transformer.The firstth, the Dead Time effect has reduced the output characteristic and the performance of current transformer stable state.The secondth, generally the Dead Time effect does not influence the startup and basic operation of current transformer.The 3rd is the Dead Time effect and the distortion function U thereof of current transformer
DtBe invariant function when approximate, determine current zero-crossing point and U when correct
d, I
ThAfterwards and during system stable operation, Dead Time distortion function constant periodic function when being basically.
Summary of the invention
The objective of the invention is: provided a kind of novel dead-time compensation method, this compensation method has improved compensation precision simply and effectively and has not needed to rely on the higher control algolithm of complexity, has avoided the disturbing influence of compensation method for converter control system.Simultaneously, compensation method itself has reduced the dependence to power electronic device and load circuit parameter.
For achieving the above object, design of the present invention is: three big characteristics based on the Dead Time effect of describing in the technical background the present invention proposes a kind of novel dead-time compensation method.Whole process comprises at first current transformer being started with traditional dead-time compensation method to be moved, and again according to the compensation of Voltage Feedback correction distortion function, promotes and keep the accuracy of dead area compensation afterwards.
According to above-mentioned inventive concept, technical scheme of the present invention is as follows:
Technical scheme of the present invention realizes in converter control system, is the part of converter control system.
The signal flow graph of technical scheme of the present invention as shown in Figure 3, the present invention at first adopts common dead-time compensation method that current transformer is started and operates in stable state, in this process the dead-time compensation method based on distortion function U
DtAdopt ideal parameters given in advance.Subtract each other acquisition compensate for residual waveform with Voltage Feedback waveform and the voltage commands waveform that records then.With the compensate for residual waveform is benchmark, and each parameter that the Dead Time distortion function will be revised by system to be to improve compensation precision, reach the ideal stability value by some cycle compensate for residual functions after, fixedly dead band distortion function and dead-time compensation method.The present invention can monitor the compensate for residual waveform in real time in whole current transformer running, algorithm will repeat to compensate makeover process when obviously worsening if produce.
The key that the present invention improves the dead area compensation effect is the correction link of dead band distortion function, and as shown in Figure 1, the key of the correction of dead band distortion function is u
dWith I
ThThe parameter correction.
By the characteristic decision of Dead Time effect, compensate for residual waveform stable state is near the cycle square wave, and frequency is identical with the electric current dominant frequency.Therefore the compensate for residual waveform will comprise low-order harmonics such as 5,7,11,13.The technical program will change (FFT) back to compensate for residual function Fourier and obtain 5,7,11,13 harmonic component amplitude, and be harmonic reference value correction u with its weighted sum
d, the correction of distortion function is to change u
dSearched for optimum u
dSo that the harmonic reference value minimizes.This correcting mode itself has guaranteed that the present invention can effectively suppress because the low-frequency harmonics that the Dead Time effect is brought has reduced the negative effect of these low-frequency harmonics for load.
I
ThThe parameter correction based near the characteristic the compensate for residual waveform pass zero point, as shown in Figure 4, G1 (I) supposes I for the distorted waveform of conventional compensation approach prediction is that load current unit value (p.u.) is the mapping function of variable with load current I
ThValue is 0.2.F (I) is near the corresponding mapping function of actual distorted waveform zero crossing, and I is load current unit value (p.u.), supposes I
ThValue is 0.1.The Dead Time effect is F (I)-G1 (I) through the remaining waveform of conventional compensation approach compensation post-compensation.I
ThError amount is directly proportional with the peak-to-peak reference value shown in the compensate for residual function, so the correction of dead area compensation distortion function is to search for optimum I
ThSo that the peak-to-peak reference value in the compensate for residual function minimizes.
The present invention compares in prior art, has following conspicuous outstanding substantive distinguishing features and remarkable advantage:
Can improve the steady-state characteristic of the dead-time compensation of current transformer output effectively, especially can reduce its low-frequency harmonics component.
Can improve near the waveform characteristic of dead-time compensation load current point of current transformer output effectively.
Algorithm is relatively effectively simple, and the The whole control algorithm is not had perturbation.
Description of drawings
Fig. 1 is a Dead Time distortion function exemplary plot.
Fig. 2 is a Dead Time distortion effect oscillogram.
Fig. 3 is a dead-time compensation method flow diagram of the present invention.
Fig. 4 is a distortion function compensation schematic diagram.
Fig. 5 is the overall algorithm structure figure of embodiment of the present invention.
Fig. 6 is compensate for residual waveform computing module algorithm structure figure.
Fig. 7 is distortion function correcting module algorithm structure figure.
1. vector control output modules among the figure, 2. pulse-width modulation (PWM) waveform generation module, 3. dead-time compensation module, 4. compensate for residual waveform computing module, 5. distortion function correcting module, 6, measure the compensation of delay module, 7. cycle mean value calculation module, 8. waveform-Function Mapping module, 9. peak-to-peak reference value computing module, 10.I
ThSearch is computing module relatively, 11.U
dSearch is computing module relatively.
Embodiment
Details are as follows in conjunction with the accompanying drawings for the preferred embodiments of the present invention:
Enforcement example of the present invention can be realized in traditional current transformer vector control system.As shown in Figure 5, the present embodiment comprises a dead-time compensation module (3), and purpose is according to distortion function the Dead Time effect to be compensated; A compensate for residual waveform computing module (4), purpose are to calculate and deduct sinusoidal vector according to the current transformer output under dead-time compensation condition at present and export formed remaining waveform; A distortion function correcting module (5), purpose are according to the online adjustment distortion function of compensate for residual waveform.Control of these three modules and conventional vector and PWM output module cooperate circular flow in actual motion.
The dead-time compensation module is the opposite number-U that adds distortion function on the basis of the voltage commands of inverter controller output
Dt
U
Dt=u
dWork as I
Load＜-I
Th
U
Dt=-u
dWork as I
Load＞I
Th
During the converter system initial launch, the dead-time compensation module at first adopts desirable distortion function parameter,
Ignore the diode current flow time.Estimate I for given one simultaneously
ThTo determine the distortion function slope of near zero-crossing point, I
ThValue determines by experience, and do not require very accurate.
Compensate for residual waveform computing module specific implementation as shown in Figure 6, the Voltage Feedback waveform is that current transformer output end voltage waveform measurement fetch cycle unit average obtains.The voltage commands waveform is sinusoidal wave for control output waveform, stable state.Need consider when two waveforms subtract each other to measure and the time-delay factor of mean value computing, waveform subtracts each other and is compensated remaining waveform.
Distortion function correcting module specific implementation as shown in Figure 7.The distortion function correcting module is at first according to the functional relation (9) between compensate for residual waveform and current loading waveform mapping acquisition compensate for residual magnitude of voltage and the load current, by shown in Figure 3, its function shows as F (I)-G (I), obtain peak-to-peak reference value (10) then as calculated, the peak-to-peak reference value can be used for defining existing distortion function near zero-crossing point slope I
ThError amount with actual distortion function zero crossing slope.Then by I
ThSearch comparison algorithm (11) increases progressively I
ThBe worth and compare with last cycle peak-to-peak reference value.When reducing, the peak-to-peak reference value continues to increase progressively I
Th, when the peak-to-peak reference value increases, begin the I that successively decreases
ThValue, after a plurality of circulation and judging that the peak-to-peak reference value is in claimed range, I
ThCan reach and be fixed as the ideal parameters value.The distortion function correcting module utilize compensate for residual Harmonic Waves component and according to the Harmonic Distribution of square wave as revising u
dThe harmonic reference value, u
dSearch comparison algorithm (12) and I
ThSimilar, at first increase progressively u
dBe worth and compare with last cycle harmonic reference value.When reducing, the harmonic reference value continues to increase progressively u
d, when the harmonic reference value increases, begin the u that successively decreases
dValue, after a plurality of circulation and judging that the harmonic reference value is in claimed range, u
dCan reach and be fixed as the ideal parameters value.
Compensate for residual waveforms detection module is responsible for detecting peak-to-peak reference value and the harmonic wave reference value of representing the distortion function error range, the peak-to-peak reference value of system requirements and the normal range (NR) of harmonic reference value can be as the system parameters input systems, when the distortion function error makes that peak-to-peak reference value and harmonic wave reference value exceed normal range (NR), this module will trigger the distortion function correcting module again, repeat makeover process.
Claims (4)
1. the dead-time compensation method of current transformer is characterized in that:
On common dead-zone compensation method basis, be that benchmark is revised compensation method again with the Voltage Feedback,
A compensate for residual waveform computing module, purpose are the remaining waveform of Dead Time effect according to the current transformer output under the present dead-time compensation condition,
A distortion function correcting module, purpose are according to the online adjustment distortion function of compensate for residual waveform.
2. according to the dead-time compensation method of the described current transformer of claim 1, it is characterized in that, on common dead-zone compensation method basis, be that benchmark is revised compensation method again with the Voltage Feedback, the present invention at first adopts common dead-time compensation method that current transformer is started and operates in stable state, subtracts each other acquisition compensate for residual waveform with Voltage Feedback waveform and the voltage commands waveform that records then; Be benchmark with the compensate for residual waveform afterwards, each parameter that the Dead Time distortion function will be revised by system to be improving compensation precision, fixedly dead band distortion function and dead-time compensation method after the remaining function of some cycles post-compensations reaches the ideal stability value.
3. according to the dead-time compensation method of the described current transformer of claim 1, it is characterized in that, compensate for residual waveform computing module calculates and to provide the remaining waveform of Dead Time effect, and specific implementation shows as current transformer output end voltage feedback waveform fetch cycle unit average voltage and vector voltage command waveform subtracted each other and is compensated remaining waveform.
4. according to the dead-time compensation method of the described current transformer of claim 1, it is characterized in that, the distortion function correcting module is by the major parameter in the online adjustment Dead Time of the search comparison algorithm distortion function, ferret out be the compensate for residual waveform to current transformer output influence minimizing of reference value (peak-to-peak reference value and harmonic wave reference value), thereby reach the effect of the effect of optimizing dead area compensation.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104617760A (en) * | 2013-11-05 | 2015-05-13 | 德州仪器公司 | Cross-conduction detector for switching regulator |
| CN108429448A (en) * | 2018-03-06 | 2018-08-21 | 艾思玛新能源技术（上海）有限公司苏州高新区分公司 | A kind of dead-zone compensation method of H bridges topology |
| CN108964440A (en) * | 2018-02-27 | 2018-12-07 | 宁波央腾汽车电子有限公司 | A kind of system and method for the dead zone current compensation of three-phase inverter |
| CN110221626A (en) * | 2019-06-06 | 2019-09-10 | 睿魔智能科技（深圳）有限公司 | One kind is with clapping control method, device, computer equipment and storage medium |
| CN113442775A (en) * | 2021-07-23 | 2021-09-28 | 长春捷翼汽车零部件有限公司 | Charging and discharging control method, charging device and storage medium |
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| CN101552567A (en) * | 2008-12-23 | 2009-10-07 | 宁波欣达（集团）有限公司 | Compensation method for pulse width modulation dead zone in three-phase grid-connected converter |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104617760A (en) * | 2013-11-05 | 2015-05-13 | 德州仪器公司 | Cross-conduction detector for switching regulator |
| CN104617760B (en) * | 2013-11-05 | 2019-02-15 | 德州仪器公司 | The cross-conduction detector of switch regulator |
| CN108964440A (en) * | 2018-02-27 | 2018-12-07 | 宁波央腾汽车电子有限公司 | A kind of system and method for the dead zone current compensation of three-phase inverter |
| CN108964440B (en) * | 2018-02-27 | 2020-09-08 | 宁波央腾汽车电子有限公司 | System and method for dead-zone current compensation of three-phase inverter |
| CN108429448A (en) * | 2018-03-06 | 2018-08-21 | 艾思玛新能源技术（上海）有限公司苏州高新区分公司 | A kind of dead-zone compensation method of H bridges topology |
| CN110221626A (en) * | 2019-06-06 | 2019-09-10 | 睿魔智能科技（深圳）有限公司 | One kind is with clapping control method, device, computer equipment and storage medium |
| CN110221626B (en) * | 2019-06-06 | 2022-03-25 | 睿魔智能科技（深圳）有限公司 | Follow-shot control method and device, computer equipment and storage medium |
| CN113442775A (en) * | 2021-07-23 | 2021-09-28 | 长春捷翼汽车零部件有限公司 | Charging and discharging control method, charging device and storage medium |
| CN113442775B (en) * | 2021-07-23 | 2023-05-12 | 长春捷翼汽车科技股份有限公司 | Charge-discharge control method, charging device, and storage medium |
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| CN102013829B (en) | 2012-12-12 |
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