CN106374802A - Automatic adjustment method for dead-time compensation voltage value of motor driver - Google Patents
Automatic adjustment method for dead-time compensation voltage value of motor driver Download PDFInfo
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- CN106374802A CN106374802A CN201610832040.1A CN201610832040A CN106374802A CN 106374802 A CN106374802 A CN 106374802A CN 201610832040 A CN201610832040 A CN 201610832040A CN 106374802 A CN106374802 A CN 106374802A
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- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
Abstract
Disclosed is an automatic adjustment method for a dead-time compensation voltage value of a motor driver. The automatic adjustment method comprises the steps of at least selecting five numbers, including c[0], c[1] until c[n] to be used as primary screening dead-time compensation voltage values; driving an asynchronous motor to rotate according to c[0]; sampling a stator current Iu once every a preset time period; obtaining a harmonic coefficient array Xu(k) of a frequency domain; calculating a ratio A5[0] of five-order harmonic coefficient to fundamental wave harmonic coefficient and a ratio A7[0] of seven-order harmonic coefficient to the fundamental wave harmonic coefficient separately, and enabling A5[0] and A7[0] to be summed to obtain A[0]; deducting the rest by analogy, obtaining A[1] until A[n]; performing comparison on A[0] until A[n], taking two primary screening dead-time compensation voltage values corresponding to two smallest values therebetween as dead-time compensation voltage preferred values number 0 which is C-[0] and number 1 which C-[1]; then at least selecting five numbers, including c*[0], c*[1] until c*[j], between C-[0] and C-[1] to be used as secondary screening dead-time compensation voltage values; driving the asynchronous motor to rotate according to c*[0] until c*[j], and obtaining A*[0] until A*[j]; and performing comparison on magnitudes of A*[0] until A*[j], and taking a dead-time compensation voltage value corresponding to the smallest value as the optimal dead-time compensation voltage value. By adoption of the automatic adjustment method, the proper dead-time compensation voltage value can be automatically acquired according to the electrical characteristics of the motor.
Description
Technical field
The present invention relates to the method for adjustment of the dead area compensation magnitude of voltage of motor driver.
Background technology
Motor driver mainly includes converter and the big kind equipment of servo-driver two.Converter is mainly used to drive asynchronous
Motor and synchronous motor, and servo-driver is mainly used to drive synchronous servo motor.Motor driver would generally select three-phase
Bridge drive circuit, because power switch pipe (such as igbt, mosfet) has on-delay and turn-off delay, in order to avoid same
Two switching tubes up and down of one brachium pontis occur straight-through it is necessary to arrange one between signal extremely in turning on and off of each switching tube
Area's time.The presence of Dead Time makes the pwm waveform of inverter reality output not be equivalent to preferable sinusoidal wave form, leads to
The phase current inequivalence of motor produces arteries and veins in preferable sine wave, the electric current of motor and magnetic linkage control degradation, electromagnetic torque
Dynamic.
In prior art, in order to overcome the adverse effect that dead time effect brings it is proposed that the method for multiple dead area compensation.Relatively
It is the root-mean-square value size of the output transient current calculating motor driver for a kind of common method, equal with electric current by software
Root value is tabled look-up, then calculates the pulse width modulation dead area compensation magnitude of voltage of this converter.This method implements
Fairly simple, but there is also certain problem.First, this dead-zone compensation method of tabling look-up does not have real-time online detection dead band to mend
Repay the whether rational means of magnitude of voltage, whether rationally, whether rationally the table of the pre-production that places one's entire reliance upon, and closes dead area compensation value
The dead area compensation magnitude of voltage of reason is not only relevant with RMS current, also relevant with the electrical characteristic of motor itself, with motor rotation
Rotary speed is relevant, in other words, different motors under different speed conditions, under the conditions of same RMS current,
Most suitable dead area compensation magnitude of voltage is different.
Content of the invention
The technical problem to be solved is to provide a kind of the automatic of the dead area compensation magnitude of voltage of motor driver
Method of adjustment, it can obtain suitable dead area compensation magnitude of voltage automatically according to the electrical characteristic of motor.
For solving above-mentioned technical problem, the technical solution adopted in the present invention is:
The invention provides a kind of automatic adjusting method of the dead area compensation magnitude of voltage of motor driver, walk including following
Rapid:
Step a, at least select 5 numbers c [0], c [1], c [2] ... ..c [n] is as primary screening dead area compensation voltage
Value, n >=4；
Step b, motor driver drives asynchronous machine rotation according to first dead area compensation magnitude of voltage c [0] selecting
Turn；
Step c, every default time cycle tsThe stator current i of sample motoruOnce, and respectively it is recorded as xu(k),
Wherein, k=0,1,2 ... 2n- 1, n are positive integer, m=2n,F is the frequency of the stator current of asynchronous machine；Always
Sampling 2 altogethernTerminate after secondary to sample；
Step d, by stator current sampled value array xuK () carries out Fourier transformation, obtain harmonic constant array x of frequency domainu
(k), wherein, k=0,1,2 ... 2n-1；Calculate corresponding with fundamental wave, 5 subharmonic and 7 subharmonic in harmonic constant array respectively
Array sequence number k0、k1And k2；
Step e, calculates and stores the ratio a of 5 subharmonic coefficients and principal wave harmonic wave coefficient5[0], calculate and store 7 times humorous
Wave system number and the ratio a of principal wave harmonic wave coefficient7[0], then by a5[0] and a7[0] it is added and obtain a [0]；
Step f, the rest may be inferred, and motor driver drives asynchronous electricity respectively according to remaining a n dead area compensation magnitude of voltage
Machine rotates, and obtains a [1]～a [n]；
Step g, compares the size of a [0]～a [n], will be wherein minimum both to be distinguished corresponding two primary screenings dead
Area's offset voltage value is picked out, and is recorded as preferably No. 0 value c [0] of dead area compensation voltage and No. 1 value c [1]；
Step h, between preferably No. 0 value c [0] of dead area compensation voltage and preferably No. 1 value c [1] of dead area compensation voltage at least
Select 5 numbers c*[0]、c*[1]、……c*[j] is as postsearch screening dead area compensation magnitude of voltage, j >=4；
Step i, motor driver is respectively according to postsearch screening dead area compensation magnitude of voltage c*[0]～c*[j] drives described asynchronous
Motor rotates, and repeats with above-mentioned step b to the similar step of step f, obtains a*[0]～a*[j]；a*[0]～a*
[j] is to correspond respectively to c*[0]～c*The 5 subharmonic coefficients of [j] and the ratio of principal wave harmonic wave coefficient and 7 subharmonic coefficients and base
The ratio sum of ripple harmonic constant；
Step j, compares a*[0]～a*The size of [j], dead area compensation magnitude of voltage corresponding to wherein minimum one is picked out
Come, as optimum dead zone offset voltage value.
Present invention also offers a kind of automatic adjusting method of the dead area compensation magnitude of voltage of motor driver, walk including following
Rapid:
Step a, at least select 5 numbers c [0], c [1], c [2] ... ..c [n] is as primary screening dead area compensation voltage
Value, n >=4；
Step b, motor driver drive asynchronous machine rotation according to first dead area compensation magnitude of voltage c [0] selecting
Turn；
Step c, every default time cycle tsThe stator current i of sample motoruOnce, and respectively it is recorded as xu(k),
Wherein, k=0,1,2 ... 2n- 1, n are positive integer, m=2n,F is the frequency of the stator current of asynchronous machine；Always
Sampling 2 altogethernTerminate after secondary to sample；
Step d, by stator current sampled value array xuK () carries out Fourier transformation, obtain harmonic constant array x of frequency domainu
(k), wherein, k=0,1,2 ... 2n-1；Calculate corresponding with fundamental wave, 5 subharmonic and 7 subharmonic in harmonic constant array respectively
Array sequence number k0、k1And k2；
Step e, calculate and store the ratio a of 5 subharmonic coefficients and principal wave harmonic wave coefficient5[0], calculate and store 7 times humorous
Wave system number and the ratio a of principal wave harmonic wave coefficient7[0], then by a5[0] and a7[0] it is added and obtain a [0]；
Step f, the rest may be inferred, and motor driver drives asynchronous electricity respectively according to remaining a n dead area compensation magnitude of voltage
Machine rotates, and obtains a [1]～a [n]；
Step g, compare the size of a [0]～a [n], that the primary screening dead band corresponding to wherein one of minimum is mended
Repay magnitude of voltage to pick out, as optimum dead zone offset voltage value.
After technique scheme, the present invention at least has advantages below and a feature:
1 present invention achieves motor driver under the conditions of different motor speeds, different stator current online in real time from
The suitable dead area compensation magnitude of voltage of dynamic acquisition, so that the stable state of motor and dynamic operation effect are all more superior, and no longer
Need professional and technical personnel to spend more time to debug out suitable dead area compensation magnitude of voltage, alleviate the work of staff
Amount；
2nd, the present invention is applied to the motor driver of various power section, and the existing dead-zone compensation method based on look-up table
The motor driver needing a power section corresponds to a look-up table, and otherwise the effect of dead area compensation can be undesirable.Therefore, this
The bright suitability is more preferable than the dead-zone compensation method based on look-up table；
3rd, the present invention improves violent change and the distortion of motor stator electric current by dead area compensation, reduces the height in stator current
Order harmonic components, and then improve smoothness during motor rotation；
4th, the present invention can achieve it is not necessary to add extra hardware device and equipment on common motor driver,
Implementation cost is low.
Brief description
Fig. 1 shows the adjust automatically of the dead area compensation magnitude of voltage employing motor driver according to embodiments of the present invention
The control block diagram of the motor vector controlled of method.
Specific embodiment
Embodiment 1
The automatic adjusting method of the dead area compensation magnitude of voltage of the motor driver according to embodiment 1, comprises the following steps:
Step a, at least select 5 numbers c [0], c [1], c [2] ... ..c [n] is as primary screening dead area compensation voltage
Value, n >=4；
Step b, motor driver drives asynchronous machine rotation according to first dead area compensation magnitude of voltage c [0] selecting
Turn；
Step c, every default time cycle tsThe stator current i of sample motoruOnce, and respectively it is recorded as xu(k),
Wherein, k=0,1,2 ... 2n- 1, n are positive integer, m=2n,F is the frequency of the stator current of asynchronous machine；Always
Sampling 2 altogethernTerminate after secondary to sample；
Step d, by stator current sampled value array xuK () carries out Fourier transformation, obtain harmonic constant array x of frequency domainu
(k), wherein, k=0,1,2 ... 2n-1；Calculate corresponding with fundamental wave, 5 subharmonic and 7 subharmonic in harmonic constant array respectively
Array sequence number k0、k1And k2；
Step e, calculates and stores the ratio a of 5 subharmonic coefficients and principal wave harmonic wave coefficient5[0], calculate and store 7 times humorous
Wave system number and the ratio a of principal wave harmonic wave coefficient7[0], then by a5[0] and a7[0] it is added and obtain a [0]；
Step f, the rest may be inferred, and motor driver drives asynchronous electricity respectively according to remaining a n dead area compensation magnitude of voltage
Machine rotates, and repeats with step c to the similar step of step e, obtains a [1]～a [n]；
Step g, compares the size of a [0]～a [n], will be wherein minimum both to be distinguished corresponding two primary screenings dead
Area's offset voltage value is picked out, and is recorded as preferably No. 0 value of dead area compensation voltageIt is worth with No. 1
Step h, in preferably No. 0 value of dead area compensation voltageWith preferably No. 1 value of dead area compensation voltageBetween at least select
Select 5 numbers c*[0]、c*[1]、……c*[j] is as postsearch screening dead area compensation magnitude of voltage, j >=4；The numerical values recited of j can be with
Aforesaid n is equal or different；
Step i, motor driver is respectively according to postsearch screening dead area compensation magnitude of voltage c*[0]～c*[j] drives described asynchronous
Motor rotates, and repeats with above-mentioned step b to the similar step of step f, obtains a*[0]～a*[j]；a*[0]～a*
[j] is to correspond respectively to c*[0]～c*The 5 subharmonic coefficients of [j] and the ratio of principal wave harmonic wave coefficient and 7 subharmonic coefficients and base
The ratio sum of ripple harmonic constant；
Step j, compares a*[0]～a*The size of [j], dead area compensation magnitude of voltage corresponding to wherein minimum one is picked out
Come, as optimum dead zone offset voltage value.
Preferentially, at least 5 primary screening dead area compensation magnitudes of voltage in above-mentioned step a are located between 0.1c and 3c, c
The initial value of the dead area compensation voltage controlling for svpwm,Wherein, tdzFor in motor driver during default dead band
Between, tpwmIt is the carrier cycle that svpwm controls.This at least 5 primary screening dead area compensation magnitudes of voltage when arranging from small to large are in
Arithmetic progression.
Fig. 1 shows the adjust automatically of the dead area compensation magnitude of voltage employing motor driver according to embodiments of the present invention
The control block diagram of the motor vector controlled of method.Below in conjunction with Fig. 1 and a specific Application Example to described in embodiment 1
The work process of the automatic adjusting method of dead area compensation magnitude of voltage of motor driver is described in more details.
Step a, the Dead Time t being pre-set according to the svpwm module of motor driverdzAnd tpwm, calculate dead band
The initial value c of offset voltage, computing formula is as follows:Then, following 11 primary screening dead area compensations electricity are calculated
Pressure value, i.e. c [0]=0.9c, c [1]=0.8c, c [2]=0.7c, c [3]=0.6c, c [4]=0.5c, c [5]=c, c [6]=
1.1c, c [7]=1.2c, c [8]=1.3c, c [9]=1.4c, c [10]=1.5c.
Step b, first dead area compensation magnitude of voltage c [0] is input in the dead area compensation module of motor driver,
Drive asynchronous machine rotation；
Step c, in motor driver motor rotation course of normal operation, now dead area compensation module is also normal
Work, every default time cycle tsSample motor stator current iuOnce, and respectively it is recorded as xu(k), wherein, k=0,1,
2,…2n- 1, n are positive integer, m=2n,F is the frequency of the stator current of asynchronous machine；Sampling 2 altogethernAfter secondary
Terminate sampling.Stator current mentioned here can be the stator current of any one phase, the stator electricity of such as u phase, v phase or w phase
Stream, the stator current of each phase is sine-wave current or gathers biphase stator current, this biphase stator current sum
Divided by 2 as sampled result.The stator current of u phase can be gathered in the present embodiment.
In step c, sampling interval duration tsValue be a key, if tsValue is crossed conference and is led to current sample
Value cannot accurately reflect the higher harmonic components in actual current waveform, leads to result of calculation and the actual value of follow-up fft
Between there is relatively large deviation；If tsValue is too small and sampling can be caused excessively frequent and then need more memory spaces, and
The storage size of embedded system chip is limited, and this results in unnecessary waste.
Summary is got up, tsFollowing two principles, first, t should be followed with the value of nsSize and stator current frequency
F is inversely proportional to, and that is, stator current frequency is higher, sampling interval duration tsShould be less；Second, should meetSo that
The complete motor stator current waveform of a cycle of can sampling.In the present embodiment, can makeN=10, m=210=
1024.
Step d, by stator current sampled value array xuK () carries out discrete Fourier transform, obtain the harmonic constant of frequency domain
Array xu(k), wherein, k=0,1,2 ... 2n-1；Respectively calculate harmonic constant array in fundamental wave, 5 subharmonic and 7 subharmonic phases
Corresponding array sequence number k0、k1And k2.
xuWhat k () represented is that u phase current medium frequency isHarmonic constant array.Dead area compensation voltage c [0]
If improper, can lead in motor stator electric current for 5 times and 7 order harmonic components are larger, that is, frequency is the humorous of 5fhz and 7fhz
Wave system number is larger, then needs first to calculate corresponding fundamental wave in harmonic constant array, 5 times and the array sequence corresponding to 7 subharmonic
Number k0、k1And k2, specific formula for calculation is as follows: dfundamental-harmonic pair answers harmonic constant xu(k0) in k0Computing formula be k0=fnts, 5 times
Harmonic wave corresponds to harmonic constant xu(k1) in k1Computing formula be k1=5fnts, 7 subharmonic correspondence harmonic constant xu(k2) in k2's
Computing formula is k2=7fnts.
Step e, according to formulaCalculate and store the ratio a of 5 subharmonic coefficients and principal wave harmonic wave coefficient5
[0], according to formulaCalculate and store the ratio a of 7 subharmonic coefficients and principal wave harmonic wave coefficient7[0], then by a5
[0] and a7[0] it is added and obtain a [0].
Step f, the rest may be inferred, and motor driver drives asynchronous electricity respectively according to remaining a n dead area compensation magnitude of voltage
Machine rotates, and repeats with step c to the similar step of step e, obtains a [1]～a [10].
Step g, compares the size of a [0]～a [10] this 11 harmonic constant ratios by comparator, by wherein minimum
Corresponding two primary screening dead area compensation magnitudes of voltage are picked out respectively for two harmonic constant ratios institute, are recorded as dead area compensation
Preferably No. 0 value of voltageIt is worth with No. 1
Step h, by preferably No. 0 value of dead band offset voltageWith preferably No. 1 value of dead area compensation voltageBetween be divided into
10 parts, obtain following 11 postsearch screening dead area compensation magnitude of voltage, that is, ...,Wherein m=1,2 ... ..., 10.
Step i, motor driver is respectively according to postsearch screening dead area compensation magnitude of voltage c*[0]～c*[j] drives described asynchronous
Motor rotates, and repeats with above-mentioned step b to the similar step of step f, obtains a*[0]～a*[10]；a*[0]～
a*[10] it is respectively corresponding to c*[0]～c*[10] 5 subharmonic coefficients and the ratio of principal wave harmonic wave coefficient and 7 subharmonic coefficients
Ratio sum with principal wave harmonic wave coefficient；
Step j, compares a*[0]～a*[10] size of this 11 harmonic constant ratios, by wherein minimum harmonic series
Dead area compensation magnitude of voltage corresponding to number ratio is picked out, the optimum dead zone offset voltage value picking out as this method.
Embodiment 2
Embodiment 2 is approximate with the method and step of embodiment 1, differs primarily in that embodiment is screened twice, and real
Apply example 2 and only done 1 screening, therefore, the identification precision of embodiment 1 is better than embodiment 2, but the identification speed of embodiment 2 will
Faster than embodiment 1.
The automatic adjusting method of the dead area compensation magnitude of voltage of the motor driver according to embodiment 1, comprises the following steps:
Step a, at least select 5 numbers c [0], c [1], c [2] ... ..c [n] is as primary screening dead area compensation voltage
Value, n >=4；
Step b, motor driver drive asynchronous machine rotation according to first dead area compensation magnitude of voltage c [0] selecting
Turn；
Step c, every default time cycle tsThe stator current i of any one phase of sample motoruOnce, and respectively record
For xu(k), wherein, k=0,1,2 ... 2n- 1, n are positive integer, m=2n,Sampling 2 altogethernTerminate after secondary to sample；
Step d, by stator current sampled value array xuK () carries out Fourier transformation, obtain harmonic constant array x of frequency domainu
(k), wherein, k=0,1,2 ... 2n-1；Calculate corresponding with fundamental wave, 5 subharmonic and 7 subharmonic in harmonic constant array respectively
Array sequence number k0、k1And k2；
Step e, calculate and store the ratio a of 5 subharmonic coefficients and principal wave harmonic wave coefficient5[0], calculate and store 7 times humorous
Wave system number and the ratio a of principal wave harmonic wave coefficient7[0], then by a5[0] and a7[0] it is added and obtain a [0]；
Step f, the rest may be inferred, and motor driver drives asynchronous electricity respectively according to remaining a n dead area compensation magnitude of voltage
Machine rotates, and repeats with step c to the similar step of step e, obtains a [1]～a [n]；
Step g, compare the size of a [0]～a [n], that the primary screening dead band corresponding to wherein one of minimum is mended
Repay magnitude of voltage to pick out, as optimum dead zone offset voltage value.
Preferentially, at least 5 primary screening dead area compensation magnitudes of voltage in above-mentioned step a are located between 0.1c and 3c, c
The initial value of the dead area compensation voltage controlling for svpwm,Wherein, tdzFor in motor driver during default dead band
Between, tpwmIt is the carrier cycle that svpwm controls.This at least 5 primary screening dead area compensation magnitudes of voltage when arranging from small to large are in
Arithmetic progression.
In a specific application example, n=j=10,N=10, m=1024.
The present invention drives asynchronous machine rotation according to default dead area compensation magnitude of voltage, in collection asynchronous machine operation process
Motor stator electric current, then current sampling data is carried out Fourier transformation, through calculating after obtain in motor stator electric current
Each harmonic coefficient, if the ratio of 5 subharmonic coefficients and principal wave harmonic wave coefficient and 7 subharmonic coefficients and principal wave harmonic wave coefficient
Ratio sum is excessive, and just explanation dead area compensation magnitude of voltage now is improper, then program dead area compensation magnitude of voltage is carried out many
Secondary adjustment, can make 5 subharmonic coefficients humorous with 7 times with the ratio of principal wave harmonic wave coefficient until finding a dead area compensation magnitude of voltage
Wave system number is relatively minimal with the ratio sum of principal wave harmonic wave coefficient, then this dead area compensation magnitude of voltage is just as relatively optimal
Value.If motor speed and stator current do not change, then continue to keep this dead area compensation magnitude of voltage.
Claims (10)
1. the automatic adjusting method of the dead area compensation magnitude of voltage of motor driver is it is characterised in that comprise the following steps:
Step a, at least select 5 numbers c [0], c [1], c [2] ... ..c [n] as primary screening dead area compensation magnitude of voltage, n >=
4；
Step b, motor driver drives asynchronous machine rotation according to first dead area compensation magnitude of voltage c [0] selecting；
Step c, every default time cycle tsThe stator current i of sample motoruOnce, and respectively it is recorded as xu(k), wherein,
K=0,1,2 ... 2n- 1, n are positive integer, m=2n,F is the frequency of the stator current of described asynchronous machine；Altogether
Sampling 2nTerminate after secondary to sample；
Step d, by stator current sampled value array xuK () carries out Fourier transformation, obtain harmonic constant array x of frequency domainu(k),
Wherein, k=0,1,2 ... 2n-1；Calculate respectively in harmonic constant array with fundamental wave, 5 subharmonic and the corresponding number of 7 subharmonic
Group sequence number k0、k1And k2；
Step e, calculates and stores the ratio a of 5 subharmonic coefficients and principal wave harmonic wave coefficient5[0], calculate and store 7 subharmonic coefficients
Ratio a with principal wave harmonic wave coefficient7[0], then by a5[0] and a7[0] it is added and obtain a [0]；
Step f, the rest may be inferred, and motor driver drives asynchronous machine to revolve according to remaining n dead area compensation magnitude of voltage respectively
Turn, obtain a [1]～a [n]；
Step g, compares the size of a [0]～a [n], will be wherein minimum both distinguished corresponding two primary screening dead bands benefit
Repay magnitude of voltage to pick out, be recorded as preferably No. 0 value c [0] of dead area compensation voltage and No. 1 value c [1]；
Step h, at least selects 5 between preferably No. 0 value c [0] of dead area compensation voltage and preferably No. 1 value c [1] of dead area compensation voltage
Number c*[0]、c*[1]、……c*[j] is as postsearch screening dead area compensation magnitude of voltage, j >=4；
Step i, motor driver is respectively according to postsearch screening dead area compensation magnitude of voltage c*[0]～c*[j] drives described asynchronous machine
Rotation, and repeat with above-mentioned step b to the similar step of step f, obtain a*[0]～a*[j]；a*[0]～a*[j]
For corresponding respectively to c*[0]～c*The 5 subharmonic coefficients of [j] are humorous with fundamental wave with 7 subharmonic coefficients with the ratio of principal wave harmonic wave coefficient
The ratio sum of wave system number；
Step j, compares a*[0]～a*The size of [j], dead area compensation magnitude of voltage corresponding to wherein minimum one is picked out, makees
For optimum dead zone offset voltage value.
2. the automatic adjusting method of the dead area compensation magnitude of voltage of motor driver as claimed in claim 1 is it is characterised in that institute
State at least 5 primary screening dead area compensation magnitudes of voltage in step a to be located between 0.1c and 3c, c mends for the dead band that svpwm controls
Repay the initial value of voltage,Wherein, tdzFor Dead Time default in motor driver, tpwmIt is that svpwm controls
Carrier cycle.
3. the automatic adjusting method of the dead area compensation magnitude of voltage of motor driver as claimed in claim 1 or 2, its feature exists
In at least 5 primary screening dead area compensation magnitudes of voltage selecting in described step a are in arithmetic progression when arranging from small to large.
4. the dead area compensation magnitude of voltage of motor driver as claimed in claim 2 automatic adjusting method it is characterised in that
In described step c,N=10, m=1024.
5. the automatic adjusting method of the dead area compensation magnitude of voltage of motor driver as claimed in claim 1 is it is characterised in that institute
The motor driver stated is converter or servo-driver.
6. the automatic adjusting method of the dead area compensation magnitude of voltage of motor driver is it is characterised in that comprise the following steps:
Step a, at least select 5 numbers c [0], c [1], c [2] ... ..c [n] as primary screening dead area compensation magnitude of voltage, n >=
4；
Step b, motor driver drive asynchronous machine rotation according to first dead area compensation magnitude of voltage c [0] selecting；
Step c, every default time cycle tsThe stator current i of sample motoruOnce, and respectively it is recorded as xu(k), wherein,
K=0,1,2 ... 2n- 1, n are positive integer, m=2n,F is the frequency of the stator current of described asynchronous machine；Altogether
Sampling 2nTerminate after secondary to sample；
Step d, by stator current sampled value array xuK () carries out Fourier transformation, obtain harmonic constant array x of frequency domainu(k),
Wherein, k=0,1,2 ... 2n-1；Calculate respectively in harmonic constant array with fundamental wave, 5 subharmonic and the corresponding number of 7 subharmonic
Group sequence number k0、k1And k2；
Step e, calculate and store the ratio a of 5 subharmonic coefficients and principal wave harmonic wave coefficient5[0], calculate and store 7 subharmonic coefficients
Ratio a with principal wave harmonic wave coefficient7[0], then by a5[0] and a7[0] it is added and obtain a [0]；
Step f, the rest may be inferred, and motor driver drives asynchronous machine to revolve according to remaining n dead area compensation magnitude of voltage respectively
Turn, obtain a [1]～a [n]；
Step g, compare the size of a [0]～a [n], by that the primary screening dead area compensation electricity corresponding to wherein one of minimum
Pressure value is picked out, as optimum dead zone offset voltage value.
7. the automatic adjusting method of the dead area compensation magnitude of voltage of motor driver as claimed in claim 6 is it is characterised in that institute
State at least 5 primary screening dead area compensation magnitudes of voltage in step a to be located between 0.1c and 3c, c mends for the dead band that svpwm controls
Repay the initial value of voltage,Wherein, tdzFor Dead Time default in motor driver, tpwmIt is that svpwm controls
Carrier cycle.
8. the automatic adjusting method of the dead area compensation magnitude of voltage of motor driver as claimed in claims 6 or 7, its feature exists
In at least 5 primary screening dead area compensation magnitudes of voltage selecting in described step a are in arithmetic progression when arranging from small to large.
9. the dead area compensation magnitude of voltage of motor driver as claimed in claim 6 automatic adjusting method it is characterised in that
In described step c,N=10, m=1024.
10. the dead area compensation magnitude of voltage of motor driver as claimed in claim 6 automatic adjusting method it is characterised in that
Described motor driver is converter or servo-driver.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106374802B (en) | 2019-01-25 |
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