CN102082546B - Device and method for pulse width modulation (PWM) dead-zone compensation of inverter - Google Patents
Device and method for pulse width modulation (PWM) dead-zone compensation of inverter Download PDFInfo
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Abstract
The invention discloses a device and method for pulse width modulation (PWM) dead-zone compensation of an inverter. The inverter is used for driving a variable voltage variable frequency controlled induction motor. The method is characterized by computing the root mean square value of the output instantaneous current of the inverter; then adopting software to look up a table by using the root mean square of the current to obtain a dead-zone compensation voltage reference value and a per-unit value respectively; and finally multiplying the two voltage values to compute the PWM dead-zone compensation voltage value of the inverter. The device and the method have the following advantages: the complexity of computation for current-to-voltage conversion can be omitted so as to provide rapider input-output immediate response; meanwhile, a more precise dead-zone compensation voltage value can be obtained without increasing the hardware cost; and the undistorted output sinusoidal current can be obtained through dead-zone compensation so as to improve the efficiency of the motor during low-frequency and low-load operation.
Description
Technical field
The present invention relates to a kind of pulse width modulation dead area compensation devices and methods therefor of frequency converter, espespecially a kind of pulse width modulation dead area compensation devices and methods therefor that utilizes the software lookup table mode to calculate the frequency converter of dead area compensation magnitude of voltage.
Background technology
The most frequently used in the commercial Application and energy commercial frequency converter (inverter) control technology is controlled (vector control) two kinds but rough broad sense is divided into scale control (scalar control) with vector now.Although it is poor that scale is controlled at the speed dynamic response, the aspects such as control speed ratio and control precision are controlled to be than vector, but since the control framework of scale control simply, easily realize and relatively be not easy to disperse, therefore, on the commercial Application of some non-servo purposes, still be widely adopted.Scale control that is voltage/frequency control (V/f control) are also referred to as variable voltage variable frequency control (variable voltage variable frequency control, VVVF).Generally speaking, scale control is a kind of control method of opening the loop, does not need to feed back the rotating speed of motor.Its basic principle is: adjust the frequency of motor supply power supply according to the rotating speed order, that is the output frequency of frequency converter.Because the magnetic flux size of motor just therewith voltage be directly proportional with the ratio of frequency, therefore, also must adjust the size of frequency converter output voltage, so that the ratio of voltage and motor running frequency is kept certain value, reach whereby the purpose of keeping the magnetic flux size and controlling rotating speed.
Although voltage/frequency control is quite easily to realize, yet when the low frequency underloading, because the output voltage of frequency converter is minimum, add pressure drop on the diverter switch etc. factor, cause the error aggravation on the frequency converter output voltage, therefore, the control performance of motor running when the low frequency underloading just becomes relatively poor.
In addition, in the transducer drive circuit, because having on-delay (turn-on delay), power chip postpones the imperfect phenomenon of (turn-off delay) with cut-off, therefore, in fact, power chip can't immediately conducting or cut-off after input command arrives.The situation that two chips are short-circuited under non-complete conducting or cut-off state on the same arm, need in the middle of the conducting of upper underarm chip and cut-off, stagger, postpone a period of time, this section period is called Dead Time (dead time) or claims that short circuit prevents the time.
The way that short circuit prevents the time is for postponing the time with each power chip (switch) by ending to the moment of conducting backward, and the time of this delay size must cooperate the switch speed of switch.But, after the adding short circuit prevents the time, the basic wave of frequency converter output voltage becomes branch to reduce and low-frequency harmonics becomes branch to increase, when the motor low-speed running, low-frequency harmonics can be more obvious on the motor impact, particularly opening under the circuit controls, output current will occur to hand over the more dead band phenomenon of (zero-crossing) zero point, so that actual current has produced distortion when handing over more zero point.
See also the circuit block diagram that Figure 1A is known frequency converter dead area compensation, the dead area compensation mode of this kind frequency converter is one of compensation way commonly used at present.As shown in the figure, the dead area compensation mode of this frequency converter 20A utilizes the three-phase current of detecting one motor 30A to calculate required dead area compensation amount.That is, utilize a current-sensing circuit 40A to detect the input power electric current of this motor 30A, namely the three-phase output current of this frequency converter 20A.This three-phase output current is received the three-phase output current of this frequency converter 20A by a dead area compensation module 50A, and according to the polarity of this three-phase current, pulse width modulation (PWM) reference command value in each phase, add or deduct (deciding on current polarity) correction so that the dead area compensation amount that produces be one with the synchronous trapezoidal compensated curve of electric current.The dead area compensation mode of this kind frequency converter has the simple advantage of calculating, but its shortcoming is voltage compensation quantity and trapezoidal slope can depart from ideal value, cause the output current wave violent change, so that can producing, motor neglects soon slow rotating speed non-continuous event suddenly when rotating, (the particularly underloading below the 1Hz, even loose running) can be obvious especially when the low frequency underloading for this kind distortion phenomenon.
In order to improve the output current wave violent change phenomenon of the above-mentioned motor running of putting forward when the low frequency underloading, another kind also is one of compensation way commonly used at present, and is as described below:
See also the circuit block diagram that Figure 1B is known frequency converter dead area compensation.The dead area compensation mode of this kind frequency converter is for adopting the dead area compensation mode of Voltage Feedback.That is the dead area compensation mode of this kind frequency converter increases by a voltage detection circuit 60A in addition again except adopting above-mentioned compensation way.This voltage detection circuit 60A is in order to detecting the three-phase output voltage of this frequency converter 20A, and obtains its instantaneous Voltage-output residual quantity.And according to this Voltage-output residual quantity and the three-phase current polarity that detects, obtain the direction of voltage compensation quantity and compensation rate thereof.This kind carries out the mode of dead area compensation in the Voltage Feedback mode, the waveform of output current is level and smooth compensated curve near pure string ripple.Be one trapezoidal compared to the compensation rate of the first frequency converter dead area compensation mode (such as Figure 1A), except causing breakover point place trapezoidal when high voltage is exported, outside the violent change of meeting generation current, also because trapezoidal compensation rate is inconsistent with true compensation rate, will produce the excessive problem of voltage compensation.Therefore, the dead area compensation mode of this kind frequency converter more can obtain almost undistorted string ripple electric current except the advantage that can obtain the high accuracy compensation rate, to improve the output current wave violent change phenomenon of motor running when the low frequency underloading.But its shortcoming is must additionally increase this voltage detection circuit 60A for direct detecting to obtain the Voltage-output residual quantity, so, compared to the first frequency converter dead area compensation mode (such as Figure 1A), need to increase the cost of additional hardware circuit.
Therefore, how to design a kind of pulse width modulation dead area compensation device and method of frequency converter, can make is not additionally increasing under the prerequisite of hardware circuit, improve the problem of motor running low-frequency current violent change when the low frequency underloading, and obtain faster import and export summary responses, a large problem that overcomes and solve for institute of the present invention wish row.
Summary of the invention
In order to address the above problem, the invention provides a kind of pulse width modulation dead area compensation device of frequency converter.The conducting of this frequency converter internal switch element and cut-off state promote by a gate driver circuit, in order to drive an induction motor with variable voltage variable frequency (V/f) control, and the three-phase output current size of this frequency converter is a simulation detecting current by current-sensing circuit detecting.The pulse width modulation dead area compensation device of this frequency converter comprises an analog digital converting unit, an electric voltage frequency control unit, a dead area compensation logical block and a pulse width modulation generation unit.
This analog digital converting unit connects this current-sensing circuit, and in order to receiving this simulation detecting current, and to change this simulation detecting current be a digital detecting current; Wherein, under the framework of speed loop circuit, this analog digital converting unit is in order to receiving the output frequency of this induction motor, and to change this output frequency be a digital detecting frequency.This electric voltage frequency control unit connects this analog digital converting unit, in order to receive this numeral detecting frequency, wherein, under the framework of speed loop circuit, also receive simultaneously a foreign frequency order, and should the numeral detecting frequency and the error amount of this frequency order, and according to the electric voltage frequency transformational relation of this electric voltage frequency control unit, export the reference voltage of a correspondence.This compensation logic unit, dead band connects this analog digital converting unit and this electric voltage frequency control unit, in order to receiving this numeral detecting current and this reference voltage, and exports a voltage commands.This pulse width modulation generation unit connects this compensation logic unit, dead band, in order to receiving and to change this voltage commands, and exports a pulse width modulation voltage commands to this gate driver circuit.
This compensation logic unit, dead band comprises a root-mean-square value computing unit, a divider, one first current/voltage converting unit, one second current/voltage converting unit, a multiplier and an adder.This root-mean-square value computing unit receives this numeral detecting current, is a substrate current in order to the root-mean-square value that calculates this numeral detecting current.This divider connects this root-mean-square value computing unit, is a mark electric current (or claiming mark the one electric current) in order to the ratio that calculates this numeral detecting current and this substrate current.This first current/voltage converting unit connects this root-mean-square value computing unit, in order to receiving this substrate current, and according to the current/voltage transformational relation of this first current/voltage converting unit, exports the substrate bucking voltage of a correspondence.This second current/voltage converting unit connects this divider, in order to receiving this mark electric current, and according to the current/voltage transformational relation of this second current/voltage converting unit, exports the mark bucking voltage of a correspondence.This multiplier connects this first current/voltage converting unit and this second current/voltage converting unit, is a bucking voltage in order to the product that calculates this mark bucking voltage and this substrate bucking voltage.This adder connects this multiplier, is this voltage commands in order to add up this reference voltage that calculates this bucking voltage and the output of this electric voltage frequency control unit.
In order to address the above problem, the invention provides a kind of pulse width modulation dead-zone compensation method of frequency converter.This frequency converter is in order to drive an induction motor with variable voltage variable frequency control (V/f).The step of the pulse width modulation dead-zone compensation method of this frequency converter comprises: at first, the three-phase current instantaneous value that calculates this frequency converter output is a three-phase current root-mean-square value.Then, one first current/voltage transformational relation is utilized lookup table mode, obtain a dead area compensation voltage reference value.Then, the ratio that calculates this three-phase current instantaneous value and this three-phase current root-mean-square value is a three-phase current per unit value.Then, one second current/voltage transformational relation is utilized lookup table mode, obtain a dead area compensation voltage per unit value.At last, the product that calculates this dead band bucking voltage fiducial value and this dead band bucking voltage per unit value is a dead area compensation magnitude of voltage.
Reach technology, means and the effect that predetermined purpose is taked in order further to understand the present invention, see also following about detailed description of the present invention and accompanying drawing, believe purpose of the present invention, feature and characteristics, when getting thus one deeply and concrete understanding, yet appended accompanying drawing only provides reference and explanation usefulness, and the present invention is limited.
Description of drawings
Figure 1A is the circuit block diagram of known frequency converter dead area compensation;
Figure 1B is the circuit block diagram of known frequency converter dead area compensation;
Fig. 2 A is the Organization Chart of induction motor drive system of the present invention under the control of rotating speed loop circuit;
To be induction motor drive system of the present invention open Organization Chart under the circuit controls at rotating speed to Fig. 2 B;
Fig. 3 is pulse width modulation dead area compensation device of the present invention, the inside calcspar of a dead area compensation logical block;
Fig. 4 A is the current/voltage transformational relation curve chart of one first current/voltage converting unit;
Fig. 4 B is the current/voltage transformational relation curve chart of one second current/voltage converting unit; And
Fig. 5 is the flow chart of pulse width modulation dead-zone compensation method of the present invention.
Wherein, Reference numeral
40A current-sensing circuit 50A dead area compensation module
60A voltage detection circuit Vs AC power
10 rectifiers, 20 frequency converters
30 induction motors, 32 encoders
40 gate driver circuits, 50 current-sensing circuits
60 analog digital converting unit, 70 electric voltage frequency control units
80 dead area compensation logical blocks, 802 root-mean-square value computing units
804 dividers, 806 first current/voltage converting units
808 second current/voltage converting units, 810 multipliers
812 adders, 90 pulse width modulation generation units
Ia simulation detecting current Im numeral detecting current
Fc frequency order Fi output frequency
Fm numeral detecting frequency Vr reference voltage
Vc voltage commands Vp pulse width modulation voltage commands
Ib substrate current Ipu marks electric current
Vb substrate bucking voltage Vpu marks bucking voltage
Vcom bucking voltage S10～S50 step
Embodiment
Relevant the technical content and a detailed description cooperate description of drawings as follows:
Seeing also Fig. 2 A is the Organization Chart of induction motor drive system of the present invention under the control of rotating speed loop circuit.Shown in Fig. 2 A, a three-phase alternating-current supply Vs is through a rectifier (rectifier) 10 that is comprised of a plurality of diodes (indicate), and the ac voltage rectifier of this AC power Vs is become direct voltage.Then, in order to eliminate the voltage ripple of this direct voltage after the rectification, therefore, after this rectifier 10, add an electric capacity (indicating), in order to voltage regulation filtering to produce the direct voltage Vd behind the rectifying and wave-filtering.At last, by a frequency converter (inverter) 20, this direct voltage Vd is transformed into the pulse voltage form to control an induction motor 30.This frequency converter 20 can convert this AC power Vs of fixed voltage and frequency to the AC power of the variable frequency, variable voltage or the variable current that are applicable to drive these induction motor 30 variable-speed operations.
Though with three-phase current, voltage composition disclosed concept and embodiment are described in the present invention, but can utilize the reference axis conversion, convert the a-b-c triaxial coordinate to d-q diaxon orthogonal coordinates, concept disclosed in this invention and embodiment base are implanted under the d-q diaxon orthogonal coordinates, reach identical technological means.As for the technology of the reference axis conversion known technology that can know of those skilled in the art for this reason, therefore repeat no more in the present invention.
The present invention more discloses a kind of pulse width modulation dead area compensation device of frequency converter.The conducting of these frequency converter 20 internal switch elements and cut-off state promote by a gate driver circuit 40, in order to drive an induction motor 30 with variable voltage variable frequency (V/f) control, and the three-phase output current size of this frequency converter 20 is a simulation detecting current by a current-sensing circuit 50 detectings.Wherein, these frequency converter 20 internal switch elements can adopt have heavy current, igbt (Isolated Gate Bipolar Transistor that high-voltage applications and fast electric die mould grid are controlled function entirely, IGBT) or other can realize the power transistor of identical function, such as mos field effect transistor (metal oxide semiconductor field effecttransistor, MOSFET).In addition, can detect the rotating speed of this motor 30 by being installed in the encoder (encoder) 32 on these motor 30 axle center, to be provided at the speed feedback under the control of rotating speed loop circuit.And, because the rotating speed of this motor 30 is proportional to the output frequency Fi of this motor 30, therefore, can according to the rotating speed of this encoder 32 this motor 30 that detects, obtain corresponding this motor 30 output frequency Fi.
The pulse width modulation dead area compensation device of this frequency converter comprises an analog digital converting unit 60, an electric voltage frequency control unit 70, a dead area compensation logical block 80 and a pulse width modulation generation unit 90.
This analog digital converting unit 60 connects these current-sensing circuits 50, and in order to receiving this simulation detecting current Ia, and to change this simulation detecting current Ia be a digital detecting current Im; In addition, this analog digital converting unit 60 is in order to receiving this induction motor 30 output frequency Fi, and to change this output frequency Fi be a digital detecting frequency Fm.Under rotating speed loop circuit control framework, this electric voltage frequency control unit 70 connects this analog digital converting unit 60, in order to receive this numeral detecting frequency Fm, also receives a foreign frequency order Fc simultaneously.Therefore, the error amount (being difference on the frequency) of the digital detecting frequency Fm that this electric voltage frequency control unit 70 will feed back and this frequency order Fc according to the electric voltage frequency transformational relation of this electric voltage frequency control unit 70, is exported the reference voltage Vr of a correspondence.This compensation logic unit, dead band 80 connects this analog digital converting unit 60 and this electric voltage frequency control unit 70, in order to receiving this numeral detecting current Im and this reference voltage Vr, and exports a voltage commands Vc.This pulse width modulation generation unit 90 connects these compensation logic unit, dead band 80, in order to receiving and to change this voltage commands Vc, and exports a pulse width modulation voltage commands Vp to this gate driver circuit 40.In addition, this compensation logic unit, dead band 80 will cooperate Fig. 3 that more detailed description is arranged.
See also Fig. 2 B and be induction motor drive system of the present invention and open Organization Chart under the circuit controls at rotating speed.The principle that rotating speed is opened circuit controls is similar to the control of aforesaid rotating speed loop circuit, yet the difference of both maximums is: drive under the circuit controls framework this encoder 32 that need not installing speed feedback usefulness at rotating speed.Therefore, this electric voltage frequency control unit 70 directly receives this foreign frequency order Fc, and according to the electric voltage frequency transformational relation of this electric voltage frequency control unit 70, exports the reference voltage Vr of a correspondence.It is identical with the control of aforesaid rotating speed loop circuit that follow-up signal is processed, and do not repeat them here.
See also Fig. 3, be the inside calcspar of a dead area compensation logical block of pulse width modulation dead area compensation device of the present invention.As shown in the figure, this compensation logic unit, dead band 80 comprises a root-mean-square value computing unit 802, a divider 804, one first current/voltage converting unit 806, one second current/voltage converting unit 808, a multiplier 810 and an adder 812.This root-mean-square value computing unit 802 receives this numeral detecting current Im, is a substrate current Ib in order to the root-mean-square value that calculates this numeral detecting current Im.This divider 804 connects this root-mean-square value computing unit 802, is a mark electric current I pu in order to the ratio that calculates this numeral detecting current Im and this substrate current Ib.This first current/voltage converting unit 806 connects these root-mean-square value computing units 802, in order to receiving this substrate current Ib, and according to these the first current/voltage converting unit 806 current/voltage transformational relations, exports the substrate bucking voltage Vb of a correspondence.This second current/voltage converting unit 808 connects these dividers 804, in order to receiving this mark electric current I pu, and according to the current/voltage transformational relation of this second current/voltage converting unit 808, exports the mark bucking voltage Vpu of a correspondence.This multiplier 810 connects this first current/voltage converting unit 806 and this second current/voltage converting unit 808, is a bucking voltage Vcom in order to the product that calculates this mark bucking voltage Vpu and this substrate bucking voltage Vb.This adder 812 connects this multiplier 810, is this voltage commands Vc in order to add up this reference voltage Vr that calculates this bucking voltage Vcom and 70 outputs of this electric voltage frequency control unit.Be worth mentioning, this compensation logic unit, dead band 80 more comprises a current polarity unit (not shown), this current polarity unit detects the three-phase output current polarity of this frequency converter 20 according to this current-sensing circuit 50, with the increase and decrease direction of decision this bucking voltage Vcom that produced, and provide correct voltage compensation quantity.
See also the current/voltage transformational relation curve chart that Fig. 4 A and Fig. 4 B are respectively this first current/voltage converting unit and this second current/voltage converting unit, wherein these two curves are monotonically increasing function curve roughly.Shown in Fig. 4 A, this substrate current Ib (unit is ampere) that abscissa provides root-mean-square value to calculate gained for this numeral detecting current Im through this root-mean-square value computing unit 802, and ordinate is this substrate bucking voltage Vb (unit is volt) of the current/voltage transformational relation gained of this first current/voltage converting unit 806.Be worth mentioning, the current/voltage transformational relation of this first current/voltage converting unit 806 utilizes conducting and the deadline of measuring these frequency converter 20 internal switch elements, tries to achieve the transformational relation of this substrate current Ib and this substrate bucking voltage Vb.In addition, the current/voltage transformational relation of this first current/voltage converting unit 806 also utilizes a software to carry out direct current and injects, and cooperates the difference of theoretical voltage output and virtual voltage output, tries to achieve the transformational relation of this substrate current Ib and this substrate bucking voltage Vb.Be worth mentioning, the discrete data of the current/voltage transformational relation of this first current/voltage converting unit 806 is for to utilize the method for interpolation method (interpolation method) or predetermined value analysis to fit to continuous function, so that complete instant sampling current and the relation of corresponding voltage to be provided.
Shown in Fig. 4 A, illustrate it.Be 5 ampere-hours when this root-mean-square value computing unit 802 calculates this substrate current Ib, then utilize lookup table mode, can directly obtain this substrate bucking voltage Vb by the current/voltage transformational relation of this first current/voltage converting unit 806 is 5.06 volts; Maybe working as this substrate current Ib again is 10 ampere-hours, and then can directly obtain this substrate bucking voltage Vb is 5.75 spies.If be 7.3 amperes (not just corresponding this substrate bucking voltage Vb) but this root-mean-square value computing unit 802 calculates this substrate current Ib, but the then method match analyzed of interpolation method or predetermined value is about 5.39 volts to calculate this substrate current Ib.
Shown in Fig. 4 B, abscissa is this mark electric current I pu (unit is mark) of this divider 804 of this numeral detecting current Im process and this substrate current Ib ratio calculation gained, and ordinate is this mark bucking voltage Vpu (unit is for marking) of the current/voltage transformational relation gained of this second current/voltage converting unit 808.Be worth mentioning, the current/voltage transformational relation of this second current/voltage converting unit 808 utilizes the conducting of measuring these frequency converter 20 internal switch elements and tries to achieve this mark electric current I pu deadline and the transformational relation of this mark bucking voltage Vpu.In addition, the current/voltage transformational relation of this second current/voltage converting unit 808 also utilizes a software to carry out direct current and injects, and cooperates the difference of theoretical voltage output and virtual voltage output, tries to achieve the transformational relation of this mark electric current I pu and this mark bucking voltage Vpu.Be worth mentioning, the discrete data of the current/voltage transformational relation of this second current/voltage converting unit 808 utilizes the method for interpolation method (interpolation method) or predetermined value analysis to fit to continuous function, so that complete instant sampling current and the relation of corresponding voltage to be provided.
Shown in Fig. 4 B, illustrate it.Be 0.2 when mark when this divider 804 calculates this mark electric current I pu, then utilize lookup table mode, can directly obtain by the current/voltage transformational relation of this second current/voltage converting unit 808 this mark bucking voltage Vpu and be 0.8 and mark; Again maybe when this mark electric current I pu be 0.4 when mark, then can directly obtain this mark bucking voltage Vpu and be 0.93 and mark.If be 0.35 mark (not just corresponding this mark bucking voltage Vpu) but this divider 804 calculates this mark electric current I pu, but the then method match analyzed of interpolation method or predetermined value is about 0.89 and marks to calculate this mark electric current I pu.
See also Fig. 5, be the flow chart of pulse width modulation dead-zone compensation method of the present invention.This frequency converter is in order to drive an induction motor with variable voltage variable frequency (V/f) control.And the step of the pulse width modulation dead-zone compensation method of this frequency converter is as described below.
At first, utilize conducting and the deadline of measuring this frequency converter internal switch element, set up one first current/voltage transformational relation and one second current/voltage transformational relation.In addition, also utilize a software to carry out direct current and inject, cooperate the difference of theoretical voltage output and virtual voltage output, set up this first current/voltage transformational relation and this second current/voltage transformational relation.Then, the three-phase current instantaneous value that calculates the output of this frequency converter is a three-phase current root-mean-square value (S10).Then, this first current/voltage transformational relation is utilized lookup table mode, obtain a dead area compensation voltage reference value (S20).Then, the ratio that calculates this three-phase current instantaneous value and this three-phase current root-mean-square value is a three-phase current per unit value (S30).Then, this second current/voltage transformational relation is utilized lookup table mode, obtain a dead area compensation voltage per unit value (S40).Then, the product that calculates this dead band bucking voltage fiducial value and this dead band bucking voltage per unit value is a dead area compensation magnitude of voltage (S50).At last, this dead band bucking voltage value and variable voltage variable frequency are controlled the reference voltage totalling calculating that produces, producing the voltage commands of a pulse width modulation, and promote conducting and the cut-off of the internal switch element of this frequency converter by a gate driver circuit, and then control this motor running.
Be worth mentioning, in step (S20) and step (S40), because this first current/voltage transformational relation and this second current/voltage transformational relation and discrete function, therefore, when utilize this first current/voltage transformational relation and this second current/voltage transformational relation be table look-up according to the time, because the electric current that is not all instant samplings can both obtain corresponding voltage (please cooperate referring to Fig. 4 A and Fig. 4 B) just, so, utilize interpolation method (interpolation method) or be continuous function with the method for predetermined value analysis with the discrete data fitting of this first current/voltage transformational relation and this second current/voltage transformational relation, so that complete instant sampling current and the relation of corresponding voltage to be provided.
In addition, these above-mentioned steps are by a digital signal processor (digital signal processor, DSP) institute's calculation process.
In sum, the present invention has advantages of following:
1, utilize conducting and the deadline of measuring this frequency converter internal switch element or utilize software to carry out the direct current injection, the difference that cooperates theoretical voltage output and virtual voltage output, set up the current/voltage transformational relation of this first current/voltage converting unit and this second current/voltage converting unit, and utilize the mode of table look-up (lookuptable), the method that only need cooperate again interpolation method (interpolation method) or predetermined value to analyze, can remove complicated current/voltage conversion from calculates, reduce widely computational complexity, so, in the application of control, will provide faster import and export summary responses when in sight.That is, as long as the three-phase current root-mean-square value size after obtaining this three-phase transient current size and calculating can be reached instant adjusting dead area compensation voltage compensation quantity.
2, utilize the software lookup table mode, the dead area compensation method of aanalogvoltage feedback system, except the advantage that can obtain the high accuracy compensation rate, more can obtain almost undistorted string ripple electric current, to improve the output current wave violent change phenomenon of motor running when the low frequency underloading.
3, utilize the software lookup table mode, use in order to drive an induction motor of controlling with variable voltage variable frequency (V/f) at this transducer drive, and, be applicable to rotating speed loop circuit and rotating speed and open circuit controls.Only need by current feedback with regard to exportable correct magnitude of voltage, voltage detection circuit that need not be extra can be reached in the situation that do not increase hardware cost and obtains more accurately voltage compensation quantity.
Certainly; the present invention also can have other various embodiments; in the situation that do not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make according to the present invention various corresponding changes and distortion, but these corresponding changes and distortion all should belong to the protection range of the appended claim of the present invention.
Claims (18)
1. the pulse width modulation dead area compensation device of a frequency converter, it is characterized in that, the conducting of this frequency converter internal switch element and cut-off state promote by a gate driver circuit, in order to drive an induction motor with variable voltage variable frequency control, and the three-phase output current size of this frequency converter is a simulation detecting current by current-sensing circuit detecting; The pulse width modulation dead area compensation device of this frequency converter comprises:
One analog digital converting unit connects this current-sensing circuit, and in order to receiving this simulation detecting current, and to change this simulation detecting current be a digital detecting current; Wherein, under the framework of speed loop circuit, this analog digital converting unit is in order to receiving the output frequency of this induction motor, and to change this output frequency be a digital detecting frequency;
One electric voltage frequency control unit connects this analog digital converting unit, in order to receive this numeral detecting frequency; Wherein, under the framework of speed loop circuit, also receive simultaneously a foreign frequency order, and should the numeral detecting frequency and the error amount of this frequency order, according to the electric voltage frequency transformational relation of this electric voltage frequency control unit, export the reference voltage of a correspondence;
One dead area compensation logical block connects this analog digital converting unit and this electric voltage frequency control unit, in order to receiving this numeral detecting current and this reference voltage, and exports a voltage commands; This compensation logic unit, dead band comprises:
One root-mean-square value computing unit receives this numeral detecting current, is a substrate current in order to the root-mean-square value that calculates this numeral detecting current;
One divider connects this root-mean-square value computing unit, is a mark electric current in order to the ratio that calculates this numeral detecting current and this substrate current;
One first current/voltage converting unit connects this root-mean-square value computing unit, in order to receiving this substrate current, and according to the current/voltage transformational relation of this first current/voltage converting unit, exports the substrate bucking voltage of a correspondence;
One second current/voltage converting unit connects this divider, in order to receiving this mark electric current, and according to the current/voltage transformational relation of this second current/voltage converting unit, exports the mark bucking voltage of a correspondence;
One multiplier connects this first current/voltage converting unit and this second current/voltage converting unit, in order to calculate the product of this mark bucking voltage and this substrate bucking voltage; And
One adder connects this multiplier, calculates in order to add up
Aforementioned mark bucking voltage and this base of being somebody's turn to do The product of end bucking voltageThis reference voltage of exporting with this electric voltage frequency control unit is this voltage commands; And
One pulse width modulation generation unit connects this compensation logic unit, dead band, in order to receiving and to change this voltage commands, and exports a pulse width modulation voltage commands to this gate driver circuit.
2. the pulse width modulation dead area compensation device of frequency converter according to claim 1, it is characterized in that, when speed is opened circuit controls, this electric voltage frequency control unit directly receives this foreign frequency order, and according to the electric voltage frequency transformational relation of this electric voltage frequency control unit, export the reference voltage of a correspondence.
3. the pulse width modulation dead area compensation device of frequency converter according to claim 1 is characterized in that, this current/voltage transformational relation of this first current/voltage converting unit is a monotonic increase curve.
4. the pulse width modulation dead area compensation device of frequency converter according to claim 1 is characterized in that, this current/voltage transformational relation of this second current/voltage converting unit is a monotonic increase curve.
5. the pulse width modulation dead area compensation device of frequency converter according to claim 1, it is characterized in that, the current/voltage transformational relation of this first current/voltage converting unit, utilize conducting and the deadline of measuring this frequency converter internal switch element, try to achieve this substrate current to the transformational relation of this substrate bucking voltage.
6. the pulse width modulation dead area compensation device of frequency converter according to claim 1, it is characterized in that, the current/voltage transformational relation of this second current/voltage converting unit, utilize conducting and the deadline of measuring this frequency converter internal switch element, try to achieve this mark electric current to the transformational relation of this mark bucking voltage.
7. the pulse width modulation dead area compensation device of frequency converter according to claim 1, it is characterized in that, the current/voltage transformational relation of this first current/voltage converting unit, utilizing a software to carry out direct current injects, cooperate the difference of theoretical voltage output and virtual voltage output, try to achieve this substrate current to the transformational relation of this substrate bucking voltage.
8. the pulse width modulation dead area compensation device of frequency converter according to claim 1, it is characterized in that, the current/voltage transformational relation of this second current/voltage converting unit, utilizing a software to carry out direct current injects, cooperate the difference of theoretical voltage output and virtual voltage output, try to achieve this mark electric current to the transformational relation of this mark bucking voltage.
9. the pulse width modulation dead area compensation device of frequency converter according to claim 1, it is characterized in that, the discrete data system of the current/voltage transformational relation of this first current/voltage converting unit and this second current/voltage converting unit utilizes interpolation method to fit to continuous function.
10. the pulse width modulation dead area compensation device of frequency converter according to claim 1, it is characterized in that, the discrete data of the current/voltage transformational relation of this first current/voltage converting unit and this second current/voltage converting unit utilizes the method for a predetermined value analysis to fit to continuous function.
11. the pulse width modulation dead area compensation device of frequency converter according to claim 1 is characterized in that, this frequency converter internal switch element is igbt.
12. the pulse width modulation dead-zone compensation method of a frequency converter is characterized in that, this frequency converter is in order to drive an induction motor with variable voltage variable frequency control; The step of the pulse width modulation dead-zone compensation method of this frequency converter comprises:
(a) the three-phase current instantaneous value that calculates the output of this frequency converter is a three-phase current root-mean-square value;
(b) one first current/voltage transformational relation is utilized lookup table mode, obtain a dead area compensation voltage reference value;
(c) ratio that calculates this three-phase current instantaneous value and this three-phase current root-mean-square value is a three-phase current per unit value;
(d) one second current/voltage transformational relation is utilized lookup table mode, obtain a dead area compensation voltage per unit value; And
(e) product that calculates this dead band bucking voltage fiducial value and this dead band bucking voltage per unit value is a dead area compensation magnitude of voltage.
13. method according to claim 12 is characterized in that, in this step (e) afterwards, more comprises:
(f) this dead band bucking voltage value and variable voltage variable frequency are controlled the reference voltage totalling calculating that produces, to produce the voltage commands of a pulse width modulation.
14. method according to claim 13 is characterized in that, this step (a) to this step (f) by a digital signal processor calculation process.
15. method according to claim 12, it is characterized in that, more comprise before conducting and the deadline of utilizing this frequency converter internal switch element of measurement in this step (a), set up this first current/voltage transformational relation and this second current/voltage transformational relation.
16. method according to claim 12, it is characterized in that, more comprise before in this step (a) and to utilize software to carry out direct current to inject, the difference that cooperates theoretical voltage output and virtual voltage to export is set up this first current/voltage transformational relation and this second current/voltage transformational relation.
17. method according to claim 12, it is characterized in that, in this step (a) and this step (d), utilizing interpolation method is continuous function with the discrete data fitting of this first current/voltage transformational relation and this second current/voltage transformational relation.
18. method according to claim 12, it is characterized in that, in this step (a) and this step (d), the method for utilizing a predetermined value analysis is continuous function with the discrete data fitting of this first current/voltage transformational relation and this second current/voltage transformational relation.
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| CN103078589B (en) * | 2013-01-10 | 2016-04-13 | 重庆长安汽车股份有限公司 | Dead-time compensation method and device |
| CN104578858B (en) * | 2015-01-15 | 2017-09-12 | 上海新时达电气股份有限公司 | A kind of non-linear compensation method of inverter |
| CN104811119B (en) * | 2015-04-24 | 2018-03-09 | 上海新时达电气股份有限公司 | A kind of frequency converter dead area compensation voltage self-learning method |
| JP6388730B2 (en) * | 2015-10-30 | 2018-09-12 | 三菱電機株式会社 | Motor control device, vacuum cleaner and hand dryer |
| CN106059329B (en) * | 2016-06-30 | 2019-06-04 | 株洲变流技术国家工程研究中心有限公司 | A kind of frequency converter dead-time compensation method |
| BR112018076846B1 (en) * | 2016-07-20 | 2023-03-21 | Nsk Ltd | ELECTRIC ASSISTED STEERING DEVICE |
| CN106374802B (en) * | 2016-09-19 | 2019-01-25 | 上海新时达电气股份有限公司 | The automatic adjusting method of the dead area compensation voltage value of motor driver |
| CN110365245B (en) * | 2018-03-26 | 2021-04-23 | 中车株洲电力机车研究所有限公司 | SVPWM control method, system and device for eliminating dead zone effect |
| CN109391199B (en) * | 2018-09-30 | 2021-07-27 | 苏州汇川技术有限公司 | Dead zone compensation method, motor driver and computer readable storage medium |
| CN113437915B (en) * | 2021-06-09 | 2022-06-21 | 华中科技大学 | Construction method and application of inverter dead zone voltage compensation model |
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