CN106992661A - The over-sampling real-time signal processing method controlled for PWM count word - Google Patents
The over-sampling real-time signal processing method controlled for PWM count word Download PDFInfo
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- CN106992661A CN106992661A CN201710247219.5A CN201710247219A CN106992661A CN 106992661 A CN106992661 A CN 106992661A CN 201710247219 A CN201710247219 A CN 201710247219A CN 106992661 A CN106992661 A CN 106992661A
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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
- H02M1/00—Details of apparatus for conversion
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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
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0012—Control circuits using digital or numerical techniques
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- Power Engineering (AREA)
- Feedback Control In General (AREA)
Abstract
The present invention relates to digital processing field, the oversampled signals processing method particularly controlled for PWM count word.With the development of electronic technology, the speed of computer treatmenting information has been greatly improved, it is meant that signal sampling frequencies can be greatly increased.The optimized switch frequency of device for power switching is far smaller than the signal sampling frequencies of computer permission in high-power pwm circuit, in a PWM controlling cycle, can carry out multiple repairing weld and computing to control signal, that is to say over-sampling.Over-sampling can obtain more system informations, reduce sampling time delay, improve the performance of control system.The present invention overcomes the shortcoming of unitary sampling, with reference to the over-sampling method of average and the advantage of predicted method, propose a kind of new oversampled signals processing method, signal band width can be improved, suppress the intrinsic carrier-in-interference of pwm circuit, control accuracy is improved, improves the transient response speed and high-frequency signal ability of tracking of PWM count word control system.
Description
Technical field
The present invention relates to numerical control system field of signal processing, specifically refer to a kind of mistake controlled for PWM count word and adopt
Sample real-time signal processing method.
Background technology
At initial stage that is digital control to be mainly what is realized by digital computer, developing in Computer Control Technology, calculate
The speed of machine processing data is relatively low, typically all using unitary sampling control technology, i.e. signal sampling, control law computing and control
Three steps of amount output are successively performed within the same sampling period, namely signal sampling frequencies are equal to control frequency.With electricity
The speed of the development of sub- technology, computer and A/D converter processing information has been greatly improved, and sample frequency can be with
Greatly increase.In many cases, the speed of controlled device (such as the device for power switching in pwm circuit) is far smaller than counted
The information processing rate of calculation machine.By taking the combining inverter based on electric current PWM closed-loop controls as an example, computer complete signal sampling and
The time of control law computing is less than 8 microseconds, and the optimized switch frequency of high-power IGBT pipe is about that (cycle is 100 micro- to 10kHz
Second).It means that in a PWM current control cycle, multiple repairing weld and computing can be carried out to signal, be that is to say
Sampling.
Existing oversampled signals treatment technology is mainly the over-sampling method of average, i.e., in a controlling cycle, to signal
Multiple repairing weld, the signal sampling value averaged as this controlling cycle.The over-sampling method of average can make the frequency band of sampling element
Widen, and the interference of PWM carrier waves and its harmonic wave can be filtered out completely, widely should have been obtained in actual numerical control system
With.
A kind of Application No. CN201710172918.8 application for a patent for invention, it is proposed that over-sampling consensus forecast method,
This method has the advantage of the over-sampling method of average and difference prediction method concurrently, but this method requires that sample frequency is PWM carrier frequencies
Even-multiple, the selection of sample frequency is limited by larger, and is calculating odd sample mean and even sample mean
When, the sampled data of half is only make use of respectively, suppresses the reduced capability of PWM harmonic wave interferences.
In the case where PWM controlling cycles are certain, if oversampled signals processing method can be improved further, extension control
The frequency bandwidth of system, will promote the development of computer control theory particularly PWM control technologies, also brings along good society
Benefit and economic benefit.
The content of the invention
The present invention overcomes the shortcoming of prior art, proposes that one kind can greatly improve signal band width and can filter out completely
The over-sampling real-time signal processing method of PWM carrier-in-interferences.
A kind of sampled signal processing method controlled for PWM count word, it is more mono- comprising signal sampling processing unit and PWM
Member, signal sampling frequencies are N times of PWM carrier frequencies, and N is the integer more than 1, and signal sampling processing unit is in each sampling week
In phase, the sampled value X (0) of selection current period and before this sampled value X (- 1) in cycle, X (- 2) ... ..., X (- M+1), X successively
(- M), common M+1, M is the integer more than 1, it is determined that the sampling equivalence value for control law computing, and calculate PWM controlled quentity controlled variables
With output PWM controlled quentity controlled variables, PWM comparing units are received at special time point according to carrier characteristics and exported by signal sampling processing unit
Newest PWM controlled quentity controlled variables, give up unnecessary PWM controlled quentity controlled variables, it is characterised in that determine in the following manner be used for control law fortune
The sampling equivalence value Y of calculation：
Y=(1/M+K) * X (0)+X (- 1)/M+X (- 2)/M+ ...+X (- M+1)/M-K*X (- M)
Wherein K is the constant more than 0.Because K represents the size of instant prediction effect in above-mentioned formula, it might as well be claimed
For predictive coefficient.
By simple mathematical operation, above-mentioned algorithm can be written as again：
Y=(X (0)+X (- 1)+X (- 2) ...+X (- M+1))/M+K* (X (0)-X (- M))
The Section 1 of above formula, is that traditional over-sampling is averaged, the average advantage of conventional over-sampled is maintained, with wider
Frequency band, there is very strong inhibitory action to certain interference frequency.The Section 2 of above formula is to utilize instant sampled value X (0) and X (- M))
Differential prediction is carried out, system delay, spreading bandwidth can be reduced.This method can be described as the average instant prediction method of over-sampling.
The above method requires that sample frequency is the integral multiple (N) of PWM carrier frequencies, the feelings allowed in computer disposal speed
Under condition, N, which tries one's best, takes maximum.N is bigger, and system delay is smaller, stronger to the rejection ability of interfering frequency.
In the above method, PWM comparing units are received by signal sampling processing unit according to carrier characteristics at special time point
The newest PWM controlled quentity controlled variables of output, implementation has 3 kinds：1. newest PWM controls are received at the time of PWM carrier waves are begun to ramp up
Amount processed, 2. receives newest PWM controlled quentity controlled variables at the time of PWM carrier waves are begun to decline, 3. at the time of PWM carrier waves are begun to ramp up and
Newest PWM controlled quentity controlled variables are all received at the time of beginning to decline.First two scheme only receives a controlled quentity controlled variable in each PWM cycle.
The third scheme receives two controlled quentity controlled variables in each PWM cycle, can further reduce system delay, improves control performance.
In the above method, predictive coefficient K is bigger, and bandspreading ability is stronger.When K exceedes certain value, signal can be adopted
Sample processing unit is upwarped in the amplitude versus frequency characte and phase-frequency characteristic of intermediate frequency and high frequency region.System signal generally will be carried out first before sampling
Anti-aliasing filter, frequency overlapped-resistable filter belongs to low pass filter, and its amplitude versus frequency characte and phase-frequency characteristic have substantially in medium-high frequency area
It is sagging.Suitable predictive coefficient K is selected, frequency characteristic of the signal sampling processing unit in medium-high frequency area is upwarped, and
The droop characteristic of anti-aliasing low pass filter forms complementation, then the frequency bandwidth of control system can be made wider.
In the above method, M=N is selected, then in a PWM cycle, just has N number of sampled value average for calculating
Value, PWM carrier waves and harmonic wave interference can be filtered out completely, and will not introduce extra time delay, make control performance optimal.
In the above method, it is the integer more than 1 to select M=A*N, A, can improve antijamming capability, be particularly suitable for capable and experienced
Disturb in environment and use.
The present invention compared with prior art, has the advantage that and beneficial effect
Signal processing method proposed by the present invention, has average and instant prediction the advantage of over-sampling concurrently.With prior art phase
Than reducing system delay, improving the ability for suppressing the intrinsic carrier waves of PWM and its harmonic wave interference, extend the frequency band of system, change
It has been apt to the high frequency ability of tracking and interference rejection capability of PWM closed-loop systems.It is particularly suitable in combining inverter or active electric power
Used in the electric current PWM closed-loop control systems of wave filter.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is the frequency characteristic curve diagram of the average instant prediction method one embodiment of over-sampling of the present invention.
Fig. 3 is the frequency characteristic curve diagram of the over-sampling method of average.
Fig. 4 is the frequency characteristic curve diagram of over-sampling average forecast method.
Embodiment
Fig. 1 is the structural representation of one embodiment of the invention.This is the electric current PWM closed-loop controls of a combining inverter
System (only depicts a phase therein), includes PWM main circuits, frequency overlapped-resistable filter, PWM carrier generators, comparator, control
Device and signal sampling processing unit.PWM carrier generators, comparator, controller and signal sampling processing unit are by a piece of
TMS320F28335DSP chips are realized by hardware circuit in program and piece.Signal sampling frequencies are at 80kHz, signal sampling
Unit is managed, it is right respectively by the average instant prediction method (wherein N=M=8, predictive coefficient K=0.5) of over-sampling proposed by the present invention
The output current and output voltage of inverter are sampled and calculate electric current and voltage sample equivalence value, and controller is according to sampling
Equivalence value calculates and exports PWM controlled quentity controlled variables, and the output frequency of PWM controlled quentity controlled variables is 80kHz.PWM carrier waves are triangular wave, and frequency is
10kHz, receives PWM controlled quentity controlled variables at the time of carrier wave is begun to ramp up and at the time of beginning to decline.Frequency overlapped-resistable filter uses second order
Butterworth LPF, corner frequency is 20kHz.The frequency characteristic of frequency overlapped-resistable filter and signal sampling processing unit
Frequency characteristic is complementary, signal feedback channel is had flat and wider low frequency and intermediate frequency zone.
Fig. 2 is the frequency characteristic curve diagram of the average instant prediction method one embodiment of over-sampling of the present invention, and sample frequency is
80kHz, PWM carrier frequency 10kHz, N=M=8, predictive coefficient K=0.5.It is less than 45 ° with phase error and amplitude error is less than
3dB divides low frequency range, and its frequency bandwidth is 6.3kHz, and PWM carrier waves and harmonic wave interference 10kHz--70kHz filtered out completely.
Fig. 3 is the frequency characteristic of the over-sampling method of average, and sample frequency is 80kHz, PWM carrier frequencies 10kHz.Its frequency
Bandwidth is 2.2kHz, and PWM carrier waves and harmonic wave interference 10kHz--70kHz are filtered out completely.
Fig. 4 is the frequency characteristic of over-sampling average forecast method, and sample frequency is 80kHz, PWM carrier frequencies 10kHz.
Its frequency bandwidth is 5.3kHz, and PWM carrier waves and harmonic wave interference 10kHz--30kHz are filtered out completely, and 40kHz interference is exaggerated about
20dB。
From Fig. 2 to Fig. 4, the average instant prediction method of over-sampling proposed by the present invention has not only had over-sampling concurrently and has been averaged
The advantage of method and over-sampling average forecast method, and the frequency bandwidth of signal can be further expanded.
Claims (4)
1. a kind of sampled signal processing method controlled for PWM count word, more mono- comprising signal sampling processing unit and PWM
Member, signal sampling frequencies are N times of PWM carrier frequencies, and N is the integer more than 1, and signal sampling processing unit is in each sampling week
In phase, the sampled value X (0) of selection current period and before this sampled value X (- 1) in cycle, X (- 2) ... ..., X (- M+1), X successively
(- M), common M+1, M is the integer more than 1, it is determined that the sampling equivalence value for control law computing, and calculate PWM controlled quentity controlled variables
With output PWM controlled quentity controlled variables, PWM comparing units are received at special time point according to carrier characteristics and exported by signal sampling processing unit
Newest PWM controlled quentity controlled variables, give up unnecessary PWM controlled quentity controlled variables, it is characterised in that determine in the following manner be used for control law fortune
The sampling equivalence value Y of calculation：
Y=(1/M+K) * X (0)+X (- 1)/M+X (- 2)/M+ ...+X (- M+1)/M-K*X (- M)
Wherein K is the constant more than 0.
2. the sampled signal processing method according to claim 1 controlled for PWM count word, it is characterized in that：Selection is suitable
Predictive coefficient K, upwarp frequency characteristic of the signal sampling processing unit in medium-high frequency area, and anti-aliasing low pass filter
Droop characteristic form complementation.
3. it is used for the sampled signal processing method that PWM count word is controlled, its feature according to claim 1 or claim 2
It is：Select M=N.
4. it is used for the sampled signal processing method that PWM count word is controlled, its feature according to claim 1 or claim 2
It is：It is the integer more than 1 to select M=A*N, A.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109617443A (en) * | 2018-12-17 | 2019-04-12 | 江苏固德威电源科技股份有限公司 | A kind of gird-connected inverter output current sample control method |
| CN110429893A (en) * | 2019-08-29 | 2019-11-08 | 上海电机学院 | A kind of electric machine controller carrier frequency dynamic optimization method and electric machine controller |
| CN113098523A (en) * | 2021-03-25 | 2021-07-09 | 华中科技大学 | Digital delta-sigma control method, double-loop control method and high-precision alternating current source |
| CN114252697A (en) * | 2020-09-23 | 2022-03-29 | 麦克维尔空调制冷(武汉)有限公司 | APF oversampling method, system and storage medium |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109617443A (en) * | 2018-12-17 | 2019-04-12 | 江苏固德威电源科技股份有限公司 | A kind of gird-connected inverter output current sample control method |
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| CN114252697A (en) * | 2020-09-23 | 2022-03-29 | 麦克维尔空调制冷(武汉)有限公司 | APF oversampling method, system and storage medium |
| CN114252697B (en) * | 2020-09-23 | 2024-02-13 | 麦克维尔空调制冷(武汉)有限公司 | APF oversampling method, system and storage medium |
| CN113098523A (en) * | 2021-03-25 | 2021-07-09 | 华中科技大学 | Digital delta-sigma control method, double-loop control method and high-precision alternating current source |
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Application publication date: 20170728 |