CN104578858B - A kind of non-linear compensation method of inverter - Google Patents
A kind of non-linear compensation method of inverter Download PDFInfo
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- CN104578858B CN104578858B CN201510021564.8A CN201510021564A CN104578858B CN 104578858 B CN104578858 B CN 104578858B CN 201510021564 A CN201510021564 A CN 201510021564A CN 104578858 B CN104578858 B CN 104578858B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
Abstract
The present invention relates to field of power electronics, a kind of non-linear compensation method of inverter is disclosed.In the present invention, the method includes the steps of：The nonlinear compensation time of inverter is recognized with the change of size of current, and preserves identification result, wherein, the nonlinear compensation time corresponds with size of current；Nonlinear compensation is carried out to inverter according to identification result.Compared with prior art, the output stability and accuracy of inverter are improved.It is additionally, since the change that this method is only software section in the system that is directed to, it is not necessary to extra hardware device, cost is also saved while systematic function is improved.
Description
Technical field
The present invention relates to field of power electronics, more particularly to a kind of non-linear compensation method of inverter.
Background technology
Inverter is the transformer that a kind of direct current is changed into alternating current.Illustrated below by taking A bridge arms as an example, in voltage
In source inventer control system, in order to prevent two switching tube VT1 and VT2 of the same bridge arm of inverter simultaneously in the conduction state
And occur short circuit, it is necessary to dead time is added between two switching tubes open signal, as shown in figure 1, wherein, M represents motor.Open
Close pipe VT1 and VT2 to turn on and off when being required for a period of time, be not completely synchronous with control signal, i.e., switching tube is with controlling
There is open time delay and turn-off delay time between signal processed.
In addition, when switching tube VT1 and VT2 is opened, there is certain voltage drop on switching tube；When the pole of inverse parallel two
When pipe VD1 is with VD2 afterflows, there is also certain pressure drop on anti-paralleled diode.As shown in figure 1, A points output voltage is not fully
Equal to busbar voltage VdcOr 0.Because switch tube voltage drop and anti-paralleled diode pressure drop are more or less the same, tube voltage drop is uniformly set to here
Von。
In existing literature and inverter nonlinear compensation technology, total nonlinear compensation time TDTAs shown in formula (1).
Wherein tdFor dead time, tonFor open time delay, toffFor turn-off delay time, VdcFor bus voltage value, Ts
For pulse width modulation (PWM) periodic quantity.
In real system, only dead time tdIt is manually set, size is determination value.Open time delay tonAnd pass
Disconnected time delay toffIt is relevant with the switching tube and the size of inverter current that inverter is used, it is unknown quantity, it is parasitic by switching tube
Change constantly in the influence of electric capacity, system operation, and electric current compared with it is small when excursion it is big.Tube voltage drop VonMade with inverter
Switching tube is relevant, is similarly unknown quantity.
In practical application, traditional inverter nonlinear compensation is only with dead time tdIt is non-linear as total inverter
Compensation time TDT, other unknown quantitys ignore.This can cause inverter output inaccurate, cause subsequent conditioning circuit equipment (such as
Motor) normal work when stability difference influence.
In addition, inverter nonlinear compensation needs to judge the positive and negative of nonlinear compensation time according to current polarity at present.Electricity
Stream be timing compensation the time be TDT；When electric current is bears, the compensation time is-TDT.Near current zero-crossing point, the polarity of electric current is sentenced
Disconnected easy mistake, causes the incorrect polarity of offset, current waveform is serious with voltage waveform distortion.Particularly Speedless sensor
In vector control system, the stability of a system is deteriorated during low speed.
The content of the invention
Present invention solves the problem in that providing a kind of non-linear compensation method of inverter, all non-linear factors are entered
Row compensation, improves the accuracy to inverter nonlinear compensation.
In order to solve the above technical problems, embodiments of the present invention provide a kind of non-linear compensation method of inverter,
Comprise the steps of：
The nonlinear compensation time of inverter is recognized with the change of size of current, and preserves identification result；Wherein,
The nonlinear compensation time corresponds with the size of current；
Nonlinear compensation is carried out to inverter according to the identification result.
There is provided a kind of side for improving inverter output stability in terms of existing technologies for embodiment of the present invention
Method.This method non-linear to inverter is accordingly mended by picking out the corresponding inverter Nonlinear Time of different size of current
The time of repaying compensates, because this method non-linear factor all to inverter is compensated, it is possible to raising pair
The accuracy of inverter nonlinear compensation.
Further, in the step of progressively being recognized to the default N number of current value corresponding nonlinear compensation time,
Utilize the equation below calculating current corresponding nonlinear compensation time：
Wherein, TsFor pulse width modulation (PWM) periodic quantity, VdcFor bus voltage value, UdFor d shaft voltages, RsFor motor stator
Resistance value.The nonlinear compensation time corresponding to variant current value can be obtained by the formula.
Further, in the step of carrying out nonlinear compensation to inverter according to result, if in the three-phase current of motor
Any phase current ixAbsolute value be equal to preserve, the current value Is [Step] of any step, then phase current ixNonlinear compensation
Time is step current value Is [Step] the corresponding nonlinear compensation times；
If the ixAbsolute value meet Is [Step-1] ＜ | ix| ＜ Is [Step], then calculate the phase using equation below
Electric current ixThe nonlinear compensation time：
If | ix| ＞ Is [N], then T 'xFor Tcomp[N]；
Wherein, x is a, b or c phase, T 'xFor ixThe nonlinear compensation time.
To calculate the electric current not ranked in form corresponding non-linear for data that can be in form using formula (3)
The compensation time.
It is described according to the identification result to inverter carry out nonlinear compensation the step of in, if the ixMore than 0, then
The T 'xIt is constant, otherwise, the T 'xValue take opposite number.
When inverter rear end motor be in low speed low current when, the inverter nonlinear compensation time by size of current influenceed compared with
Greatly, due to the inverter nonlinear compensation time T of phase current near zero-crossing point picked out using this methodDTIt is smaller, this method
Not strict is required to the correctness that phase current polarity judges, current waveform and voltage waveform can be improved, inverter output is improved
Stability.
Further, in the step of being recognized to the nonlinear compensation time of inverter with the change of size of current,
Motor is not rotated, and is adapted to various application scenarios, so as to ensure that the ease for operation of the discrimination method.
Brief description of the drawings
Fig. 1 is inverter structure figure of the prior art；
Fig. 2 is the inverter Nonlinear Time identification system block diagram in first embodiment of the invention；
Fig. 3 is a kind of non-linear compensation method flow chart of inverter of first embodiment of the invention；
Fig. 4 is the inverter Nonlinear Time learning process figure of first embodiment of the invention；
Fig. 5 is the compensation program flow chart of tabling look-up of first embodiment of the invention；
Fig. 6 is the traditional rectangular compensation oscillogram of first embodiment of the invention；
Fig. 7 is the look-up table compensation oscillogram of first embodiment of the invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with each reality of the accompanying drawing to the present invention
The mode of applying is explained in detail.However, it will be understood by those skilled in the art that in each embodiment of the invention,
In order that reader more fully understands the application and proposes many ins and outs.But, even if without these ins and outs and base
Many variations and modification in following embodiment, can also realize each claim of the application technical side claimed
Case.
The first embodiment of the present invention is related to a kind of non-linear compensation method of inverter, based on the nonlinear compensation side
The inverter Nonlinear Time identification system block diagram of method is as shown in Fig. 2 the flow chart of present embodiment is as shown in Figure 3.
In step 301, inverter carries out Nonlinear Time identification.This step uses system as shown in Figure 2, wherein,
Using two current regulators, d axles can follow the current reference value of d axles and q axles respectively with two current feedback values of q axles, its
Middle d shaft currents value of feedback (IdFdb) follows d shaft currents reference value (IdRef), and q shaft currents value of feedback (IqFdb) follows q axles electricity
Flow reference value (IqRef).Wherein three-phase dutycycle calculator is voltage Ud, Uq and bus electricity that two electric currents are adjusted to its output
Press (Vdc) generation three-phase dutycycle Ta, Tb, Tc are calculated, pwm pulse maker is the non-linear benefit by Ta, Tb, Tc and inverter
Repay in time T ' a, T ' b, the road pulse signals control inverters of total three-phase dutycycle generation six of T ' c generations six switching tubes
Open and turn off；The output three-phase electricity of inverter connects the stator winding of motor；Compensation of tabling look-up refers to nonlinear compensation function
Compensation program of tabling look-up；The effect of Clarke (Clarke) conversion is to turn ia, ib, ic three-phase current signal through Clarke conversion
It is changed to two phase signals IdFdb, IqFdb.
Identification flow in this step is specific as shown in figure 4, including following sub-step：
Step 401：Initializing register values.Wherein, register is included：Step number register and counter register；Step number is posted
Step value is stored in storage, Step initial value is 1, and it is 50 to set N；Cnt value is stored in counter register, Cnt's is first
Initial value is 0, and it is 25 (can be configured according to actual conditions) to set maximum n；And the increase c=for often walking electric current is set
0.01.In the present embodiment, study total step number N=50, i.e. Step maximum is 50, it is, will in present embodiment
Learn the nonlinear compensation time corresponding to 50 current values, and often walk learning time n=25.
Step 402：If inverter nonlinear compensation amount T ' a, T ' b, T ' c are zero in Fig. 2, compensation program of tabling look-up is not transported
OK.
Step 403：If q shaft current reference values IqRef=0.
Step 404：If d shaft current reference value IdRef=Step*c, and the count value Cnt=0 of this hour counter, are opened from 0
Begin to count.
Step 405：Judge whether Cnt is equal to n, if Cnt is equal to n, perform step 406；If Cnt is less than n, hold
Row step 407.In this step, counter Cnt is for every step Step identification process timing.For example, when Step is equal to 1, to d axles
The electric current IdRef of input is equal to c*1, and this hour counter Cnt starts timing, and when Cnt is equal to n, the step is completed.
Step 406：Now inverter nonlinear compensation time T is calculated using formula 2DT, and d shaft currents now are referred to
Value IdRef and compensation time TDTIt recorded in table 1, meanwhile, Cnt is reset, and Step adds 1.Wherein, nonlinear compensation in identification result
Time is corresponded with size of current, and in the present embodiment, identification result is stored in table form, data storage shape
Formula is indicated by taking form as an example, but is not limited to this.Table 1 is identification result, comprising identification step number (Step), every in table 1
The corresponding current value Is [Step] of one identification step number (Step) and corresponding compensation time Tcomp[Step].Wherein, Step is small
In or equal to 50；Is [Step]=IdRef=c*Step, TcompIt is non-that [Step] walks the inverter for picking out equal to Step
Linear compensation time TDT, i.e. Tcomp[Step]=TDT, Step adds 1 (Step++).Wherein, formula 2 is as follows：
Wherein, Is [Step] is the d shaft current reference values that Step is walked, Tcomp[Step] is the Is [Step] that Step is walked
The nonlinear compensation time calculated, TsFor pulse width modulation (PWM) periodic quantity, VdcFor bus voltage value, UdFor d axles electricity
Pressure, RsFor motor stator resistance value.
Step 407, Cnt adds 1, and return to step 405.If Cnt is less than n, after Jia 1, continue timing, until Cnt is equal to
n。
Step 408：Judge whether Step is more than or equal to N；If Step is less than N, step 404 is continued executing with；Such as
Fruit Step is more than or equal to N, then identification terminates.It can accurately calculate that to obtain different current values corresponding non-by the identification process
Linear session, so as to ensure to carry out the accuracy of nonlinear compensation.
Table 1
| Step | 1 | 2 | 3 | 4 | 5 | … | N |
| Is[Step] | Is[1] | Is[2] | Is[3] | Is[4] | Is[5] | … | Is[N] |
| Tcomp[Step] | Tcomp[1] | Tcomp[2] | Tcomp[3] | Tcomp[4] | Tcomp[5] | … | Tcomp[N] |
So far, to the default N number of current value corresponding nonlinear compensation time, from 1 to N to each step current value
The nonlinear compensation time, which completes, progressively to be recognized.
When the inverter nonlinear compensation time recognizes, identification program of tabling look-up is not run, and now T ' a, T ' b, T ' c are zero.
When identification is completed, when system normally runs motor, identification program of tabling look-up just is run.
In step 302, after identification program terminates, compensation of tabling look-up is carried out.Wherein, compensation program of tabling look-up flow such as Fig. 5 institutes
Show, comprise the following steps：
Step 501：Opening is tabled look-up compensation program.Current value and corresponding compensation time T are have recorded in formDT.Inverter
Compensation operation of being tabled look-up during normal operation is opened.
Step 502：Sampling three-phase electric current ia、ib、icCurrent value, and set i=0.Sampling three-phase electric current ia, ib, ic electricity
The mode of flow valuve is sampled for current sensor, and the current sensor is not indicated in fig. 2.
Step 503：Judge whether i is more than or equal to N, if i is more than or equal to N, perform step 505；If i
Less than N, then step 504 is performed.Wherein, i=Step-1.
Step 504：Judge ixValue whether meet Is [i]≤ix≤ Is [i+1], if ixValue meet Is [i]≤ix≤
Is [i+1], then perform step 507；If ixValue be unsatisfactory for Is [i]≤ix≤ Is [i+1], then perform step 506.
Step 505：T′x=Tcomp[Step], wherein x can use x=a, x=b or x=c, and the step is judged when i is more than etc.
When N, nonlinear compensation time T 'xFormula T ' can directly be usedx=Tcomp[Step] is calculated.
Step 506：I=i+1, the step represents i in previous step 504xValue be unsatisfactory for Is [i]≤ix≤Is[i+1]
When, i value enters step 503 after adding 1 and judged again.
Step 507：T ' is calculated using formula 3x.The step represents ixValue meet Is [i]≤ixDuring≤Is [i+1] condition,
Formula 3 need to be used to calculate T 'x.Wherein, formula 3 is as follows：
Wherein Is [Step] is the d shaft current reference values that Step is walked, and Is [Step-1] is the d shaft currents that Step-1 is walked
Reference value, TcompThe nonlinear compensation time that [Step] is calculated by the Step Is [Step] walked, Tcomp[Step-1] is the
The nonlinear compensation time that the Is [Step-1] of Step-1 steps is calculated, ixIt is three-phase electricity flow valuve (ixFor ia、ibOr ic), T 'x
If being ixThe corresponding nonlinear compensation time, | ix| >=Is [N], T 'xFor Tcomp[N]。
If it should be noted that any phase current ix absolute value is equal to preserve, Ren Yibu in the three-phase current of motor
Current value Is [Step], then phase current ixThe nonlinear compensation time for step current value Is [Step] it is corresponding non-linear
Compensation time, the nonlinear compensation time can also be calculated by formula 3 and be obtained, and the data that can also be directly read in form are obtained
Take.
Step 508：Judge ixWhether 0 is more than, if ixMore than 0, then compensation program of tabling look-up terminates；If ixIt is less than or equal to
0, then perform step 509；
Step 509：T′x=-T 'x.If the step represents ixLess than 0, then T ' is takenxOpposite number as nonlinear compensation when
Between.
So far, nonlinear compensation EP (end of program).
In order to test the feasibility and validity of the invention, reality has been done using 5.5kW frequency converters dragging 4kW asynchronous motors
Test comparative analysis.Under equal conditions, the compensation of tabling look-up of traditional rectangular inverter Non-Linear Compensating type and the present invention is respectively adopted
Mode.Rotor flux-oriented control mode is used during test, and chooses low speed low current situation, now inverter non-linear effects
Larger, effect is more apparent.As shown in Figure 6, Figure 7, wherein numbering 1 is phase current waveform, numbering 2 is phase voltage ripple to test waveform
Shape, numbering 3 is compensation rate.
It will be appreciated from fig. 6 that traditional rectangle compensation way is near current zero-crossing point, current waveform has fluctuation, voltage wave
Shape has the burr of mutation, and now compensation rate is regular rectangle；During using look-up table proposed by the present invention, current waveform and electricity
Corrugating all improves significantly, rectangle of the compensation rate no longer for rule.
Second embodiment of the present invention designs a kind of non-linear compensation method of inverter.Second embodiment and first
Embodiment is roughly the same, is in place of the main distinction：In the first embodiment of the present invention, c=0.01, N=50, Ke Yi
The nonlinear compensation time is recognized and inverter is carried out between nonlinear compensation to compromise.And the second embodiment party of the present invention
In formula, if c=0.005, N=100, n=20 this method still have validity, wherein, c, N and n are underrange, need to be according to reality
Border is selected, and is not limited in described above, is not being repeated one by one here.
In addition, when carrying out Nonlinear Time identification using the non-linear compensation method, motor is not rotated, so, is improved
The ease for operation of this method.
Further, because this method is only the change of software section in the system that is directed to, it is not necessary to extra hardware device,
Cost is also saved while systematic function is improved.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific embodiment of the present invention,
And in actual applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (7)
1. a kind of non-linear compensation method of inverter, it is characterised in that comprise the steps of：
The nonlinear compensation time of inverter is recognized with the change of size of current, and preserves identification result；
Wherein, in the step of nonlinear compensation time to inverter recognizes with the change of size of current, to default
N number of current value corresponding nonlinear compensation time progressively recognized；In the identification result, the nonlinear compensation time
Corresponded with the size of current；The N is the natural number more than 1；
Nonlinear compensation is carried out to inverter according to the identification result；
Wherein, the identification result is also comprising identification step number Step；One current value Is of each identification step number Step correspondences
[Step] and compensation time Tcomp [Step]；The Step is natural number, and less than or equal to the N；Is[Step]
=(c*Step), the Is [Step] is the d axle reference current values of motor, and the c is the increase for often walking electric current；
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The nonlinear compensation time that the Tcomp [Step] is calculated by the Step Is [Step] walked；TsAdjusted for pulse width
PWM cycle value processed, VdcFor bus voltage value, UdFor d shaft voltages, RsFor motor stator resistance value.
2. the non-linear compensation method of inverter according to claim 1, it is characterised in that the identification result is a table
Lattice.
3. the non-linear compensation method of inverter according to claim 1, it is characterised in that described to default N number of
In the step of current value corresponding nonlinear compensation time is progressively recognized, following sub-step is included：
The initial value for pre-setting the Step is 1；
Progressively recognized from 1 to N to the nonlinear compensation time of each step current value.
4. the non-linear compensation method of inverter according to claim 1, it is characterised in that described according to the identification
As a result in the step of carrying out nonlinear compensation to inverter,
If any phase current i in the three-phase current of motorxAbsolute value be equal to preserve, the current value Is [Step] of any step, then
Phase current ixThe nonlinear compensation time be step current value Is [Step] the corresponding nonlinear compensation times；
If the ixAbsolute value meet Is [Step-1]<|ix|<Is [Step], then calculate phase current i using equation belowx
The nonlinear compensation time：
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If | ix|>Is [N], then T'xFor Tcomp[N]；
Wherein, x is a, b or c phase, T'xFor ixThe nonlinear compensation time.
5. the non-linear compensation method of inverter according to claim 4, it is characterised in that described according to the identification
As a result in the step of carrying out nonlinear compensation to inverter,
If the ixMore than 0, then the T'xIt is constant, otherwise, the T'xValue take opposite number.
6. the non-linear compensation method of inverter according to claim 1, it is characterised in that described to the non-of inverter
Before the step of linear compensation time is recognized with the change of size of current, also comprise the steps of：
The q shaft current reference values IqRef for pre-setting motor is zero, and sets the nonlinear compensation time of the three-phase current of motor
It is zero.
7. the non-linear compensation method of inverter according to claim 1, it is characterised in that described to the non-of inverter
In the step of linear compensation time is recognized with the change of size of current, motor is not rotated.
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