CN103414368B - A kind of dead-zone compensation method of three-phase inverter - Google Patents
A kind of dead-zone compensation method of three-phase inverter Download PDFInfo
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Abstract
The present invention, about the control strategy of three-phase inverter, announces the dead-zone compensation method of a kind of three-phase inverter, it is possible to effectively improve the wave distortion caused by dead band, reduces THD.This is the dead-zone compensation method of a kind of off-line, mainly includes two parts: 1. the accurate of inductive current polarity judges 2. for the dead area compensation strategy under the abc coordinate of three-phase system.Wherein, the accurate judgement of inductive current first-harmonic polarity can be divided into again sampling inductive current Check up polarity, the first-harmonic delay estimation that current measurement circuit time delay calculates and caused by dead band, the polarity of inductive current first-harmonic can be accurately obtained by this three step, then the compensation policy under abc coordinate system is used, avoid the extra delay using low pass filter to cause, also make compensation become simple.
Description
Technical field
The present invention relates to the control of three-phase inverter, disclose the dead-zone compensation method of a kind of three-phase inverter, Ke Yiyou
Effect improves the output of inverter, reduces THD.
Background technology
Along with Power Electronic Technique and the development of microprocessing, ac speed control technology is also the most progressive.In order to make electricity
Die mould inverter export comparatively ideal current waveform, the power electronic devices in inverter must under higher switching frequency work
Make.In the commutation process of two power electronic devices of the same brachium pontis of voltage source inverter, in order to prevent dc bus electricity
Power electronic devices is burnt out by pressure short circuit, after a power electronic devices in same brachium pontis must complete switch off, and another electricity
Power electronic device just can be opened.So, it is the most open-minded that pipe to be opened must postpone a period of time backward, and this time delay claims
For Dead Time.This Dead Time makes effective service time of pipe reduce, simultaneously the power electronic devices in inverter
Switching frequency is the highest so that pipe is opened the cycle and diminished accordingly, causes the output waveform of voltage source inverter to distort.
The dead band impact on inverter output waveforms, can analyze with dead time effect.Voltage source inverter as shown in Figure 1
Main circuit topology, in order to prevent the pipe up and down of inverter from simultaneously turning on, each switch is when being added to certain dead band
Between (td).In addition to adding time delay, switch itself also has action to postpone (ton_dAnd toff_d), and the conduction voltage drop (u of devicesWith
ud), all the output of inverter will be impacted, and the impact that inverter is exported by they, all will have in dead time effect
Body analysis obtains.
Choosing a phase to study, this phase inductance electric current shown in Fig. 2 is just (ia> 0) and time control signal and switch midpoint
Output waveform.A (), what (b) represented is preferable pwm signal, becomes complementary relationship.The switch midpoint corresponding with this control signal
Output waveform such as (c).When adding dead band, the moment of opening of switch is delayed by td, turn off the moment constant, corresponding control
Signal such as (d), (e).It will be seen that the control signal of the most upper and lower two pipes no longer becomes complementary relationship, another switch periods
In, there are two time periods, upper down tube is all in off state, output waveform at this time, it is necessary to by inductive current
Polarity judges.When inductive current is just (ia> 0), when i.e. electric current flows out inverter, will be continued by the anti-paralleled diode of down tube
Stream, ignores the conduction voltage drop of diode, and now output voltage is equivalent to directly be connected to the ground, therefore vo=0, contrary, work as inductance
Electric current is for time negative, by by the anti-paralleled diode afterflow of upper pipe, so vo=vdc.Here consider that inductive current is positive situation, when
When adding dead band, the output waveform at inverter switching device midpoint will be as Suo Shi (f).After continuing with the action delay of switch itself,
The voltage waveform such as figure (g) at the switch midpoint of inverter.Figure (h) is to continue with considering the switch midpoint after the conduction voltage drop of device
The Real output waveform at inverter switching device midpoint after voltage waveform, the i.e. all factors of comprehensive analysis.(h) is compared with (c),
Its difference has (i) meant that the output voltage error caused by factors such as dead bands.This voltage error is a switch periods
Meansigma methods can represent with following formula:
It is wherein von-stageRefer to the output voltage error caused by device on-state voltage drop, be expressed from the next:
tonAnd toffRepresented the upper pipe service time in a switch periods and turn-off time respectively.
It it is exactly more than the analysis to dead time effect.In order to compensate the output voltage error that dead band is caused, have not
Few scholar proposes various dead-zone compensation method.Two classes can be divided in general: the dead area compensation strategy of off-line is with online
Dead area compensation strategy.Wherein the dead area compensation strategy of off-line is simple, however it is necessary that and detects inductive current polarity, but by
Containing each harmonic in inductive current, it is desirable to obtain accurate polarity not a duck soup, therefore in the dead area compensation strategy of off-line,
Core technology is exactly the acquisition of inductive current polarity.Online dead-zone compensation method, it is not necessary to detection inductive current polarity, but
Therefore and be of little use but need Real-time Monitoring Data, and return processor and calculate, add the burden of processor,.
Prior art [1] is disclosed in DQ coordinate system and carries out dead area compensation.First the difference of each phase output voltage is calculated, so
After carry out DQ conversion, obtained the error amount table of DQ coordinate system.Then according to this table, plane be divide into 6 regions, by sentencing
Disconnected current inverter is in which region, and then the magnitude of voltage that can be obtained by compensating of tabling look-up.The method is simple and clear, system
Determine offset table, made dead area compensation simple.But the judgement of its inductive current polarity inaccuracy, the precision of compensation is not
High.
Prior art [2] is open utilizes software to realize dead area compensation, and the method is without increasing any hardware device, Jin Jinyou
Software realizes, therefore convenient enforcement, but the method does not analyze action delay and the on-state voltage drop of device of switch itself,
The effect compensated has much room for improvement.
Prior art [3] has obtained inductive current polarity, and compensate for zero current clamping effect, but the most multiple
Miscellaneous, it is not easy to implement.
In general dead-zone compensation method, mostly directly use the inductive current detected, but due in inductive current
Harmonic components is big, and uses current Hall to also bring along certain delay, so the inductive current directly detected being forbidden
Really.
Summary of the invention
In order to obtain inductive current polarity accurately, the present invention proposes a set of rigorous and detection method accurately.At this
On the basis of method, disclose the dead-zone compensation method of a kind of three-phase inverter, the output of inverter can be effectively improved, reduce
THD。
To achieve these goals, the technical solution used in the present invention is as follows:
The dead-zone compensation method of a kind of three-phase inverter, comprises the following steps: judge inductive current polarity；According to inductance electricity
Stream polarity precisely determines the voltage error of each phase of inverter；The voltage error of each phase is added on voltage instruction, carries out dead
District compensates.
The method judging inductive current polarity is: gathers three pole reactor electric current, converts it to DQ coordinate system, filter out friendship
Stream composition obtains flip-flop, then, calculates flip-flop phase place under DQ coordinate system, then phase place is produced with inverter
Raw time delay is subtracted each other, and obtains the phase place of actual inductive current, and the phase place finally according to actual inductive current judges inductive current pole
Property.
The time delay that described inverter produces includes current detection circuit time delay and the first-harmonic time delay caused by dead band.
The computational methods of described first-harmonic time delay are:Wherein,It is load impedance angle, △
V is the amplitude of the voltage difference that dead band is caused, and U is without the output voltage amplitude of inverter during dead band, and θ is exactly to be calculated by extremely
The inverter output first-harmonic that district causes postpones.
The computational methods of described current detection circuit time delay are: by adding 5 times and 7 subharmonic in modulating wave, and count
Calculate the phase shift of corresponding harmonic wave in output response, and then obtain comprising only the equation of measure loop time delay, by numerical solution, permissible
Exact Solutions must measure the time delay in loop.
The computational methods of described current detection circuit time delay are: add 5 times and 7 subharmonic in modulating wave, gather three-phase
Inductive current and output voltage；Measure the phase contrast relative to output voltage of sample rate currentIts
In,Be respectively inverter be output as under power frequency, 5 frequencys multiplication and 7 frequencys multiplication, sample rate current relative to defeated
Go out the phase contrast of voltage；According to below equation calculating first-harmonic time delay t:
Compared with prior art, the present invention at least has the advantage that the present invention uses and compensates in abc coordinate system
Method, after inductive current polarity being detected, the voltage error of each phase is just readily apparent, it is only necessary to by this electricity
Pressure reduction is added on voltage instruction, just completes dead area compensation.Use the dead-zone compensation method of abc coordinate system, simple and clear, and
Need not row and write voltage error table.
Accompanying drawing explanation
Fig. 1 is the main circuit diagram of three-phase inverter in the present invention.
Fig. 2 is that in the present invention, three-phase inverter inductive current is just (ia> 0) and time control signal and switch midpoint output
Waveform.
Fig. 3 is sampling inductive current Check up polarity block diagram in the present invention.
Fig. 4 is inverter simple model and the phasor diagram thereof considering dead band, and wherein, Fig. 4 a is simple model figure, and Fig. 4 b is
The phasor diagram of voltage leading current, Fig. 4 b is the phasor diagram of electric current leading voltage.
Fig. 5 is the dead area compensation strategy of the present invention.
Fig. 6 is current signal flow chart of the present invention.
Fig. 7 is experimental result and contrast, and wherein, a figure is output voltage and the current waveform figure not carrying out dead area compensation, b
Figure is voltage and the current waveform figure of the dead area compensation not considering electric current time delay, and c figure is the dead band that the present invention considers electric current time delay
The voltage compensated and current waveform figure.
Detailed description of the invention
The invention mainly comprises two parts: 1. inductive current polarity accurately judge 2. for the abc coordinate of three-phase system
Under dead area compensation strategy.Wherein, the accurate judgement of inductive current polarity can be divided into again:
1 sampling inductive current Check up polarity
The inductive current obtained for sampling, due to containing a large amount of harmonic waves, when especially inductive current is the least, meeting
Zero passage repeatedly in a long time, therefore can not be used directly to detect its polarity.Same, can not directly use
Low pass filter (LPF) filters harmonic wave, because the most also can bring a delay to first-harmonic, reduces the essence of Current polarity detection
Really degree.
The invention discloses the detection method of a kind of inductive current polarity of sampling.By gathering three pole reactor electric current, conversion
To DQ coordinate system, fundamental current will become DC quantity, and harmonic components remains as of ac, at this time by a cutoff frequency
The low pass filter that rate is the lowest, filters alternating component, obtains flip-flop, then abc coordinate system is changed in contravariant, it is possible to obtain
Flip-flop (according to Fig. 5, after low-pass filtering, will be converted to angle or the phase place of DQ coordinate system by the first-harmonic composition of each phase current.
After the most whether should being converted into angle or the phase place of DQ coordinate system, abc coordinate system is changed in contravariant, obtains the base of each phase current
Wave component).Use this filtered electric current to judge polarity, compared to directly using sample rate current, will be greatly improved accurately
Property.Control block diagram is shown in Fig. 3.
This sample rate current detection method, has filtered off the high-frequency harmonic in electric current, avoids simultaneously and of ac is used filtering
Device, and then avoid first-harmonic delay, can be accurately obtained very much the polarity of sample rate current.
2 current detection circuit Time delay measurements
In reality, current detection circuit, always the most more or less bring delay, and this postpones, at dead-zone compensation method
In can not eliminate, thus compensation effect will necessarily be reduced.
The invention discloses the measuring method that a kind of current detection circuit postpones, by adding 5 times and 7 times in modulating wave
Harmonic wave, and calculate the phase shift of corresponding harmonic wave in output response, and then obtain comprising only the equation of measure loop time delay t, by number
Value solution, can must measure the time delay in loop with Exact Solutions.
The first-harmonic delay estimation that 3 are caused by dead band
Due to the time delay of computation and measurement loop when, it is assumed that the first-harmonic composition of inverter mid-point voltage and modulating wave are same
Phase place, this necessarily sets up in preferable inverter, it is contemplated that after dead band, have certain between both
Phase contrast, this will reduce certainty of measurement.
The present invention considers the inverter simple model in dead band by setting up, and can calculate this easily and postpone, enter
And the time delay of computation and measurement loop when, eliminate this impact postponed, improve degree of accuracy.
The polarity of inductive current first-harmonic can be accurately obtained, after inductive current polarity being detected, respectively by this three step
The voltage error of individual phase is just readily apparent, it is only necessary to this voltage difference be added on voltage instruction, just completes dead band and mends
Repay.
Below in conjunction with the accompanying drawings the present invention is further elaborated.
Fig. 1 show the main circuit of three-phase voltage-type inverter, general, and we gather three pole reactor electric current (ia, ib,
ic) and capacitance voltage (va, vb, vc) be controlled.The dead-zone compensation method that the present invention announces, on this basis, is not required to
Extra hardware circuit.
First, it would be desirable to the first-harmonic that estimation dead band is caused postpones.For simplifying the analysis, we establish and consider dead band
Inverter simple model.The voltage difference amplitude caused due to dead band is definite value, and it is positive and negative identical with the polarity of electric current, then take inverse
Become a certain phase in device, the voltage difference that dead band is caused, it is possible to come with a current-controlled voltage source controlled by inductive current
Represent.Such as Fig. 4, whereinRepresenting load impedance (including inductance, resistance, electric capacity), U is without inverter output electricity during dead band
Pressure, controlled source illustrates the voltage error caused by dead band.Either voltage leading current or electric current leading voltage, according to phase
Spirogram, always can obtain following formula:
Here,Being load impedance angle, △ V is the amplitude of the voltage difference that dead band is caused, and U is without inverter defeated during dead band
Going out voltage magnitude, the inverter caused by the dead band output first-harmonic that θ is exactly required postpones.
According to equation (3), we can easily calculate this and postpone, and in order to subsequent calculations is convenient, we count respectively
Calculating at 50Hz, the first-harmonic caused by dead band when 250Hz, 350Hz postpones θ1, θ5, θ7.These 3 delays will be at calculating current below
Measuring circuit is used when postponing.
Then, our calculating current measuring circuit time delay.Assuming that the inductive current that actual inductive current and sampling obtain
Between have a time delay t, this time delay, may be by current Hall, the reason such as AD conversion causes.Directly use the inductance electricity of sampling
Stream polarity, it will reduce compensation precision.Therefore calculate and eliminate the impact of this time delay, be the most necessary.
This step need completed before an inverter is formally devoted oneself to work, and if current measurement circuit do not send out
Changing, this value will be steady state value, it is only necessary to measures and the most just can use always.
Relation between actual inductive current phase place and sampling inductive current phase place can represent with following formula:
For the inverter shown in Fig. 1, its load impedance angle can represent with following formula:
Assuming that modulating wave initial phase is zero, it is considered to the flow process of whole current signal as shown in Figure 6, then has
The generally load of inverter has variation, and due to load parameter inaccuracy, so we are not intended to make
With R, the occurrence of L, C, but the method using Frequency, calculating current measuring circuit postpones.
When using different frequency, such as power frequency, 5 frequencys multiplication and 7 frequencys multiplication, can obtain
And
(8) formula is carried out abbreviation, can obtain:
Consider (7) (9) formula, through arranging, can obtain:
By solving this equation, it is possible to obtain the time delay t having current measurement circuit to bring.
Concrete operating procedure is as follows:
Step 1: adjust inverter respectively and be output as 50Hz, 250Hz, 350Hz(i.e. power frequency, 5 frequencys multiplication and 7 frequencys multiplication), and
Sampling three-phase inductive current and output voltage.
Step 2: measure the phase contrast relative to output voltage of sample rate currentHere may be used
To use FFT method, it is also possible to three-phase voltage and electric current are all converted all DQ coordinate system, calculating voltage vector and current vector
Phase contrast.
Step 3: measurement is arrivedSubstitute into equation (8), solve time delay t.
Being exactly more than the computational methods of current measurement circuit time delay, after obtaining time delay t, we just can be with sampling
Inductive current phase place, deducts the phase contrast caused by this time delay, has i.e. obtained the phase place of actual inductive current.
It follows that we use method shown in Fig. 3, measure the phase place of sampling inductive current.Specifically comprise the following steps that
Step 1: sampling three-phase electric current, and rotate to DQ coordinate system.
Step 2: arrange a lowest low pass filter of direct frequency in DQ coordinate system, filters alternating component, obtains straight
Stream composition.
Step 3: make anti-DQ conversion, obtain the first-harmonic composition of inductive current, and have this first-harmonic composition, it is thus achieved that inductive current
Polarity.
By method before, we have just obtained the exact value of inductive current polarity, can use this value, carry out dead band
Compensate for, Fig. 5 is shown in overall compensation method.
Fig. 6 is experimental result and contrast, this experiment employing MWINV-9R144 inverter platform, DC voltage 200V, three
Symmetrical, inductance 3.5mH, electric capacity 15 μ F, resistance 20 Ω, switching frequency 10kHz, Dead Time is 6 μ s.A () is uncompensation
Inverter output waveforms and THD(b) be to directly utilize waveform and the THD(c that sample rate current polarity compensates) it is to use this
Bright output waveform and THD.Visible, the present invention can continue to improve compensation effect, improve and compensate on the basis of existing method
Waveform.
Claims (2)
1. the dead-zone compensation method of a three-phase inverter, it is characterised in that: comprise the following steps: judge inductive current polarity；
The voltage error of each phase of inverter is precisely determined according to inductive current polarity；The voltage error of each phase is added to voltage instruction
On, carry out dead area compensation；The method judging inductive current polarity is: gathers three pole reactor electric current, converts it to DQ coordinate system,
Filter out alternating component and obtain flip-flop, then, calculate flip-flop phase place under DQ coordinate system, then by phase place with
The time delay that inverter produces is subtracted each other, and obtains the phase place of actual inductive current, and the phase place finally according to actual inductive current judges electricity
Inducing current polarity；The time delay that described inverter produces includes current detection circuit time delay and the first-harmonic time delay caused by dead band；
The computational methods of described current detection circuit time delay are:
A, in modulating wave, add 5 times and 7 subharmonic, gather three pole reactor electric current and output voltage；
B, the phase contrast relative to output voltage of measurement sample rate current Wherein,Be respectively inverter be output as under power frequency, 5 frequencys multiplication and 7 frequencys multiplication, sample rate current relative to output
The phase contrast of voltage；
C, according to below equation calculating current measure loop time delay t:
Wherein f1、f5、f7It is respectively the frequency under power frequency, 5 frequencys multiplication and 7 frequencys multiplication, θ1、θ5、θ7It is respectively power frequency, 5 frequencys multiplication and 7 times
Frequently the inverter output first-harmonic time delay caused by dead band time.
The dead-zone compensation method of a kind of three-phase inverter the most as claimed in claim 1, it is characterised in that: described first-harmonic time delay
Computational methods are:Wherein,Being load impedance angle, Δ V is the width of the voltage difference that dead band is caused
Value, U is without the output voltage amplitude of inverter during dead band, and θ is exactly the inverter caused by dead band output first-harmonic to be calculated
Time delay.
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| CN103746590B (en) * | 2014-01-22 | 2016-04-13 | 丽水学院 | The three-phase two-level inversion device space voltage vector modulation method of unipolar control |
| CN104201869B (en) * | 2014-08-22 | 2017-01-18 | 国家电网公司 | Dead-zone compensation method for parabolic current control |
| CN104362881B (en) * | 2014-11-17 | 2017-10-27 | 天津电气科学研究院有限公司 | Dead-zone compensation method based on transient current and the voltage compensation that becomes more meticulous |
| 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 |
| CN107317502B (en) * | 2016-04-18 | 2023-07-18 | 珠海格力电器股份有限公司 | Inverter dead zone compensation method and device and inverter |
| CN106877724A (en) * | 2017-03-20 | 2017-06-20 | 南京航空航天大学 | A kind of inverter delay compensation method based on critical current control |
| CN107546966B (en) * | 2017-08-31 | 2018-08-21 | 四川大学 | A kind of harmonic wave quantitative calculation method based on CBPWM technology three-phase two-level inverters |
| CN108075678B (en) * | 2017-12-23 | 2020-01-10 | 西安交通大学 | Pulse width adjustment-based dead zone effect bilateral compensation method for three-phase inverter |
| CN111817594A (en) * | 2019-04-05 | 2020-10-23 | 英飞凌科技股份有限公司 | Method for determining polarity of half-bridge current and half-bridge controller |
| CN111541366B (en) * | 2020-05-07 | 2021-06-25 | 上海交通大学 | Grid-connected inverter and dead zone phase shift compensation method thereof |
| CN111541365B (en) * | 2020-05-07 | 2021-06-29 | 上海交通大学 | Unit modulation degree control method of variable-frequency speed-regulating inverter and application thereof |
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| JP3580048B2 (en) * | 1996-10-03 | 2004-10-20 | 富士電機システムズ株式会社 | Inverter dead time compensation circuit |
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