CN106788310B - Novel symmetrical power filter network structure and parameter design method thereof - Google Patents
Novel symmetrical power filter network structure and parameter design method thereof Download PDFInfo
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- CN106788310B CN106788310B CN201611109296.6A CN201611109296A CN106788310B CN 106788310 B CN106788310 B CN 106788310B CN 201611109296 A CN201611109296 A CN 201611109296A CN 106788310 B CN106788310 B CN 106788310B
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- H03H7/01—Frequency selective two-port networks
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Abstract
The invention discloses a novel symmetrical power filter network structureWhich comprises the following steps: a pair of inductorsL 1 The input ends of the PWM driving system are respectively connected with a pair of output ends of the PWM driving system and used for determining the system bandwidth; first capacitorC 1 For adjusting the damping of the system to prevent resonance, one end of which is connected to one of the inductors L1An output terminal of (a); resistance (RC)R 1 For adjusting the damping of the system against resonance, one end of which is connected to the first capacitorC 1 The other end of the inductor is connected with the other inductorL 1 An output terminal of (a); a pair of second capacitorsC 2 For establishing a system reference ground for absorbing high frequency noise, the pair of second capacitorsC 2 The series connection forms a series circuit, the series point is grounded, and a pair of inductors are respectively connected with two ends of the series circuitL 1 An output terminal of (a); third capacitorC 3 Two ends of the inductor are respectively connected with a pair of inductorsL 1 And a pair of inputs of the motor load. The advantages are that: the symmetric filter network can be equivalent to a second-order filter, the parameter design is easy, and the rapid design can be realized.
Description
Technical Field
The invention relates to the technical field of microminiature digital servo systems, in particular to a novel symmetrical power filter network structure and a parameter design method thereof.
Background
Miniaturization is an inevitable trend in the development of servo controllers, traditional analog servo controllers are widely applied due to high stability, along with the continuous improvement of performance index requirements of servo control systems, an analog control strategy can not meet precision requirements any more, the application of an advanced control algorithm is not facilitated, the sizes and power consumption of analog components are large, the requirement of size miniaturization of the servo controllers can not be met, and digital control is an inevitable trend for the reasons.
In a digital control system, a Pulse Width Modulation (PWM) driving method is widely used due to its advantages of low heat generation and high efficiency. Although the PWM driving system effectively reduces the current pulsation, improves the waveform coefficient, reduces the power loss and improves the low-speed stability of the system, the frequency bandwidth, the amplitude and the radiation intensity of the switching noise bring serious interference to the system, and particularly directly influence the reliability, the stability and the quality index of the system in a small space.
In a bipolar PWM motor drive system, the output to the two ends of the motor is a pair of complementary symmetrical square waves, as shown in FIG. 1, where U is the numberDFor the motor supply voltage, UagIs the dc component of the average voltage across the motor. The bipolar PWM power driving system is used for controlling the forward and reverse rotation of the motor in an H-bridge driving mode under the condition of a single power supply.
The average voltage input to the two ends of the motor by the PWM power driving circuit is shown as the formula (1), and is the sum of direct-current voltage and a series of high-frequency voltage. The dc voltage is determined by the duty cycle, as shown in equation (2), the ac voltage is frequency dependent, with higher frequencies and smaller amplitudes. Because the modulation frequency is far higher than the switching frequency of the motor and is hundreds to thousands of times of the frequency band of the motor, the high-frequency alternating voltage is completely attenuated by the motor, and the direct-current component plays a role in the motor.
Uag＝(2γ-1)UD
In the formula: gamma is the duty cycle, fkFor switching frequency, UanIs an alternating current component related to the duty cycle and the order n.
The adverse effect of PWM power driving on the system performance is valued by scholars at home and abroad, and because the PWM power driving system is connected to two ends of the motor and is a pair of complementary symmetrical square waves, the topological structure of the PWM power driving system is necessarily a symmetrical topological structure. An LCL filter is proposed in the patent "three-loop control method of three-phase PWM rectifier with LCL filtering" (201110327903.7), but the filter is applied to a three-phase PWM rectifier, and the power consumption is relatively high. The 'LC filter based on PWM inverter' (201320709945.1) patent proposes a multi-stage filter in the form of LC, which is relatively complex. The scholars of the American Glenn research institute put forward a design scheme of a multi-stage filter in the text of "Filter and Control of High Speed Motor Current A Flywheel Energy Storage System", and the multi-stage LCR filter adopting a split inductance method is shown in FIG. 2, and the scheme has a complex structure, can obtain a certain suppression effect, but has large power consumption and size, does not meet the requirement of miniaturization, and increases the design difficulty. Professor Lihaixia of Qinghua university provides a simplified filter network in the text of 'design of low-noise PWM power driving device of high-precision inertial navigation platform', but the power consumption is larger in practice, and the suppression effect on high-frequency noise is poor.
In summary, the filter related to the present bipolar PWM driving system has the disadvantages of complex structure, difficult design, high cost and large volume, and cannot be used in a narrow space, which is not favorable for the development trend of miniaturization of the servo controller.
Disclosure of Invention
The invention aims to provide a novel symmetrical power filter network structure and a parameter design method thereof, which not only need to reduce electromagnetic noise in a bipolar PWM driving system and improve the stability of a servo system, but also need to have the advantages of simple structure, high reliability, small volume, low cost and easy design.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a novel symmetrical power filter network structure is characterized by comprising:
a pair of inductors L1The input ends of the PWM driving system are respectively connected with a pair of output ends of the PWM driving system and used for determining the system bandwidth;
a first capacitor C1For adjusting the damping of the system to prevent resonance, one end of which is connected to one of the inductors L1An output terminal of (a);
resistance R1For adjusting the damping of the system against resonance, one end of which is connected to said firstCapacitor C1The other end of the inductor L is connected with the other end of the first inductor L1An output terminal of (a);
a pair of second capacitors C2For establishing a system reference ground for absorbing high frequency noise, the pair of second capacitors C2The series connection forms a series circuit, the series point is grounded, and a pair of inductors L are respectively connected with two ends of the series circuit1An output terminal of (a);
third capacitor C3Two ends of the inductor are respectively connected with a pair of inductors L1And a pair of inputs of the motor load.
The above-mentioned novel symmetrical formula power filter network structure, wherein:
2L1/R1<<R1C1，C2<<C3，2L1<<Lawherein L isaThe motor inductance value of the motor load.
The above-mentioned novel symmetrical formula power filter network structure, wherein:
C2≤0.1μF。
the above-mentioned novel symmetrical formula power filter network structure, wherein:
the attenuation G at the switching frequency of the PWM driving system satisfies:
G≥-20*lg(0.5*Uripple p-p/Ua)
In the formula of URipple p-pThe ripple amplitude U of the input voltage of the motor after the PWM driving system is filtered by a power filter networkaIs the maximum input voltage value of the filter network.
A parameter design method of a novel symmetrical power filter network structure is characterized by comprising the following steps:
s1, according to 10 x fBandwidth of≤fTurning part≤fSwitch with a switch body/10 determining the transition frequency f of a power filter networkTurning partIn the formula, fBandwidth of、fSwitch with a switch bodyRespectively the bandwidth and the switching frequency of the PWM driving system;
s2, determining the attenuation G ≧ 20 x lg (0.5U) at the switching frequency of the PWM driving systemRipple p-p/Ua) In the formula, URipple p-pThe ripple amplitude U of the input voltage of the motor after the PWM driving system is filtered by a power filter networkaThe maximum input voltage value of the power filter network;
s3, determining the descending slope K of the power filter network, wherein K is less than or equal to G/lg (f)Switch with a switch body/fTurning part)；
S4, determining C in power filter network2；
S5, determining L in power filter network1；
S6, according to C3＝π/(2*L1*fBandwidth of) Determining C in a power filter network3；
S7, according to Ra≤R1≤5*RaDetermining R in a power filter network1In the formula, RaIs the resistance value of the motor load;
s8, according to C1>10L1/R1 2Determining C in a power filter network1；
S9, calculating the transfer function of the final power filter network according to the selected parameters
In the formula of UiFor the input voltage of the power filter network, UaIs the maximum input voltage value of the power filter network.
Compared with the prior art, the invention has the following advantages:
1. the design is simple: the symmetric filter network can be equivalent to a second-order filter, the parameter design is easy, and the rapid design can be realized.
2. The cost is low: the symmetrical filter network only adopts 2 power inductors, 1 power resistor and 4 filter capacitors, and can realize low cost.
3. And (3) miniaturization: the filter network is simple in structure and small in occupied space, and after integration, the size can be further compressed, and the requirement for miniaturization is completely met.
4. The stability is good: experiments prove that the filter network structure can still stably run under long-time high-low temperature environment tests and vibration tests.
Drawings
FIG. 1 is a bipolar duty cycle diagram of a PWM drive system according to the prior art;
FIG. 2 is a prior art segmented inductive filter topology;
fig. 3 is a power filter network topology of the present invention.
Detailed Description
The present invention will now be further described by way of the following detailed description of a preferred embodiment thereof, taken in conjunction with the accompanying drawings.
As shown in fig. 3, a novel symmetrical power filter network structure is characterized by comprising: a pair of inductors L1The input ends of the PWM driving system are respectively connected with a pair of output ends of the PWM driving system and used for determining the system bandwidth; a first capacitor C1One end of the system is connected with the output end of one of the inductors L1; resistance R1For adjusting the damping of the system to prevent resonance, one end of which is connected to the first capacitor C1The other end of the inductor L is connected with the other end of the first inductor L1An output terminal of (a); a pair of second capacitors C2For establishing a system reference ground for absorbing high frequency noise, the pair of second capacitors C2The series connection forms a series circuit, the series point is grounded, and a pair of inductors L are respectively connected with two ends of the series circuit1An output terminal of (a); third capacitor C3Two ends of the inductor are respectively connected with a pair of inductors L1And a pair of inputs of the motor load.
In the figure, the inductance value of the motor is LaThe resistance value of the motor is RaSince the filter network adopts a symmetrical structure, the filter network can be equivalent to a symmetrical filter network.
As shown in fig. 3, in the circuit system, s is j ω, and if the inductance value is L, the impedance is Ls, and if the capacitance value is C, the impedance is C
Set UaIs the maximum input voltage value of the power filter network, i.e. the voltage across the motor, UiIs the output voltage of the drive circuit, i.e. the input voltage of the filter network, Gu(s) is the motor terminal voltage UaAnd an input voltage UiThe transfer function G is obtained by substituting the parametersu(s) is:
the transfer function is complex, two zeros in the molecule are eliminated, and the filter can be reduced to be a 2-order filter.
At 2L1<<LaUnder the condition, L in the molecule can be eliminatedas+RaTo obtain a transfer function
In a next step, 2L is satisfied1/R1<<R1C1Under the condition, the transfer function can be obtained
Wherein C is2Ground for establishing a PWM filter, satisfy C2<<C3Conditional then C2Ignore, C2Typically 0.1 muF or less, to obtain a transfer function
I.e. the time constant of the filter is
Damping coefficient of
Due to L1、R、C1Are all provided withEvaluation, 2L can be realized1/R<<RC1Conditions, so the simplified method only satisfies 2L after determining the motor parameters1<<LaThe conditions are simple, and the design is flexible.
In summary, the power filter network according to the present invention is designed in a manner of designing a power filter according to the characteristics of the output signal of the bipolar PWM driving system, so as to suppress the noise generated by the bipolar PWM driving system within an allowable range, and the transmission characteristic is as shown in formula (1), and through the above analysis, L is1And C3Mainly used for determining system bandwidth and increasing L1The bandwidth decreases and the damping increases but by 2L1<<LaThe conditions and structural dimensions are limited and cannot be made too large; r1And C1Damping, preventing resonance, C, mainly for regulating systems2Then, for establishing a reference, absorbing high-frequency noise, reasonable parameters must be designed to ensure the characteristics of the transfer function shown in formula (1), so that not only can the high-frequency attenuation be suppressed, but also the low-frequency band is ensured to ensure the characteristics of the control system. The high-frequency attenuation is a key characteristic and is related to the performance of a filter, and the control system is supposed to require the ripple amplitude of the filtered motor input voltage to be URipple p-pThe attenuation G at the switching frequency must satisfy the following equation
G≥-20*lg(0.5*URipple p-p/Ua) (5)
In the formula of URipple p-pThe ripple amplitude U of the input voltage of the motor after the PWM driving system is filtered by a power filter networkaIs the maximum input voltage value of the filter network.
The invention also discloses a parameter design method of the novel symmetrical power filter network structure, which takes the simplified transfer function as the basis and gives the detailed design steps of each unknown parameter through equivalent conditions, the parameter design process has the advantages of simple design and high efficiency, and the method specifically comprises the following steps:
s1, because the filter needs higher attenuation in the high frequency band and ensures the gain in the low frequency band, the turning frequency f is consideredTurning partNeed to be greater than the bandwidth f of the control systemBandwidth ofAnd less than the switching frequency, f can be determined according toTurning part：
10*fBandwidth of≤fTurning part≤fSwitch with a switch body/10 (6)
Determining the transition frequency f of a power filter networkTurning partIn the formula, fBandwidth of、fSwitch with a switch bodyRespectively the bandwidth and the switching frequency of the PWM driving system;
s2, directly influencing the noise intensity by the ripple amplitude of the filtered motor voltage, and also relating to the performance of the filter, determining the attenuation G at the switching frequency according to the requirements of the control system, wherein the specific calculation method is as shown in formula (5) as follows:
G≥-20*lg(0.5*Uripple p-p/Ua) (5)
In the formula of URipple p-pThe ripple amplitude U of the input voltage of the motor after the PWM driving system is filtered by a power filter networkaThe maximum input voltage value of the power filter network;
s3, according to the above design requirement, determining the falling slope K of the filter after the turning frequency should satisfy the following formula:
K≤G/lg(fswitch with a switch body/fTurning part) (7)
S4, determining C in power filter network2Due to C2The reference is mainly established, and the value is generally very small and is about 0.1 mu F;
s5, determining L in power filter network1Specifically, 2L is required for simplified analysis1<<LaThe boundary condition L can be determined1<5LaDue to LaAre known. The inductance value of the inductor with the same size is sharply reduced along with the increase of the current, so that a proper inductance value meeting the conditions needs to be selected according to the development of the current technology and the size requirement, and the internal resistance of the inductor needs to be considered in particular to avoid influencing the efficiency;
s6, determining L1Then, C can be adjusted3To change the damping and bandwidth of the system, C can be determined according to the bandwidth3The value of (c):
C3＝π/(2*L1*fbandwidth of) (8)
S7, determining R in power filter network1Decrease R1The increased damping can be varied and the range of adjustment is limited, typically at R1Value of (1) is the motor armature resistance value RaIn the 1-5 times of regulation, RaResistance value for motor load:
Ra≤R1≤5*Ra(9)
s8, determining C in power filter network1Specifically defined by the equivalent condition 2L1/R<<RC1Can select C1>10L1/R2；
S9, calculating the transfer function of the final power filter network according to the selected parameters
In the formula of UiFor the input voltage of the power filter network, UaAnd inputting voltage to the motor end.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (1)
1. A method for designing parameters of a network structure of a symmetric power filter, the structure comprising:
a pair of inductors L1The input ends of the PWM driving system are respectively connected with a pair of output ends of the PWM driving system and used for determining the system bandwidth;
a first capacitor C1For adjusting the damping of the system to prevent resonance, one end of which is connected to one of the inductors L1An output terminal of (a);
resistance R1For adjusting the damping of the system to prevent resonance, one end of which is connected to the first capacitor C1The other end of the inductor L is connected with the other end of the first inductor L1An output terminal of (a);
a pair of second capacitors C2For establishing a system reference ground for absorbing high frequency noise, the pair of second capacitors C2The series connection forms a series circuit, the series point is grounded, and a pair of inductors L are respectively connected with two ends of the series circuit1An output terminal of (a);
third capacitor C3Two ends of the inductor are respectively connected with a pair of inductors L1And a pair of inputs of the motor load for adjusting the system damping to prevent resonance;
the method comprises the following steps:
s1, according to 10 x fBandwidth of≤fTurning part≤fSwitch with a switch body/10 determining the transition frequency f of a power filter networkTurning partIn the formula, fBandwidth of、fSwitch with a switch bodyRespectively the bandwidth and the switching frequency of the PWM driving system;
s2, determining the attenuation G ≧ 20 x lg (0.5U) at the switching frequency of the PWM driving systemRipple p-p/Ua) In the formula, URipple p-pThe ripple amplitude U of the input voltage of the motor after the PWM driving system is filtered by a power filter networkaThe maximum input voltage value of the power filter network;
s3, determining the descending slope K of the power filter network, wherein K is less than or equal to G/lg (f)Switch with a switch body/fTurning part)；
S4, determining C in power filter network2，C2≤0.1μF；
S5, determining L in power filter network1，2L1/R1<<R1C1，C2<<C3，2L1<<LaWherein L isaA motor inductance value that is a motor load;
s6, according to C3＝π/(2*L1*fBandwidth of) Determining C in a power filter network3；
S7, according to Ra≤R1≤5*RaDetermining R in a power filter network1In the formula, RaIs the resistance value of the motor load;
s8, according to C1>10L1/R1 2Determining C in a power filter network1；
S9, calculating the transfer function of the final power filter network according to the selected parameters
In the formula of UiFor the input voltage of the power filter network, UaIs the maximum input voltage value of the power filter network.
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