CN107196498A - A kind of new dead-zone compensation method and system based on pulse optimization - Google Patents
A kind of new dead-zone compensation method and system based on pulse optimization Download PDFInfo
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- CN107196498A CN107196498A CN201710596932.0A CN201710596932A CN107196498A CN 107196498 A CN107196498 A CN 107196498A CN 201710596932 A CN201710596932 A CN 201710596932A CN 107196498 A CN107196498 A CN 107196498A
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Classifications
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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
- H02M1/38—Means for preventing simultaneous conduction of switches
-
- 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
- H02M1/38—Means for preventing simultaneous conduction of switches
- H02M1/385—Means for preventing simultaneous conduction of switches with means for correcting output voltage deviations introduced by the dead time
Abstract
The invention discloses a kind of new dead-zone compensation method and device based on pulse optimization, efficiently solving the dead time effect of three-phase voltage-type inverter causes the problem of output voltage current distortion, zero current are clamped, it is characterized in that more easily judging current polarity using current space vector under two-phase rest frame, during three-phase current detection, devise a kind of Novel Filter, ensure to filter out current harmonics component and phase deviation will not be produced, improve the accuracy that current polarity judges, it is to avoid compensate by mistake.The present invention is easy and effective, can effectively reduce current distortion that dead time effect causes and improve zero current clamp phenomenon, improve system performance；Structure is reliable, easy to realize, solves the problem of dynamic stability brought in electric automobile during traveling is poor, improve electric automobile acceleration.
Description
Technical field
The present invention relates to a kind of Control of Electric Vehicles method and device, more particularly to a kind of dead band of electric automobile inverter
Compensation method and device.
Background technology
Inverter is as the critical component of Electric Vehicle's Alternating Current Drive System, and its performance quality directly affects the stabilization of automobile
Property.Ideally the switching signal of the device for power switching up and down in the same bridge arm of three-phase voltage-type inverter be it is complementary,
But shut-off delay is opened because actual power switching device is present, in order to prevent upper and lower bridge arm from leading directly to, generally in its switch motion
Period adds one section of dead time.The presence in dead band makes to produce error between inverter output virtual voltage and target voltage, so that
Cause machine phase voltages and phase current to be distorted, zero current clamp and the dead time effect such as torque and speed ripple, make system
Performance is reduced.
Dead-zone compensation method can be generally divided into two classes：Penalty method based on average voltage error and the compensation based on pulse
Method.Wherein, the former is easily achieved, but compensates not accurate enough；The latter can accurately compensate dead time, but to control chip requirement
It is higher, it is desirable to which that controller can be realized samples twice in a carrier cycle.In addition, current polarity in dead-zone compensation method
Detection is extremely important, and current zero-crossing point judges that inaccurate likely result in compensates by mistake.Thus, how to reduce what dead time effect was caused
Current distortion, improves invertor operation performance, control system of electric automobile is suffered from and its important meaning.
The content of the invention
The first object of the present invention is a kind of new dead-zone compensation method based on pulse optimization of offer, devises one kind
Novel Filter, actively avoids " dead time effect ", effectively filters out high fdrequency component, improves the accuracy that current polarity judges, realizes
Compensate dead band purpose.
The second object of the present invention be to provide it is a kind of implement the above method new dead based on pulse optimization when compensate
System.
Method of the present invention, including step in detail below：
Step 1: motor main circuit is powered using three-phase bridge voltage source inverter, power supply is dc source.
Step 2: PC setting speed signal, after driving motor in electric automobile is rotated, speed probe sampling obtains reality
Tach signal, voltage sensor sampling obtains voltage signal, and current sensor sampling obtains current signal.
Step 3: the three-phase current of collectioni a、i b、i cThe electric current letter under two-phase rest frame is transformed to through 3s/2s coordinates
Numberi α、i β, the electric current under this two-phase rest frame synthesizes current space vectori s, electricity is then filtered out by Novel Filter
The sector where current space vector is judged after the higher hamonic wave of stream, you can judge the sense of current.
According toi α=0,i α=1.732i β,i α=-1.732i βThree straight lines, are divided into six areas by current space vector plane
Domain.Setting：
Then current space vectori sPlace sector sec (i s) by following formula（1）It is determined that：
sec(i s)=4X+2Y+Z （1）
Wherein, X, Y, Z represent the true and false of proposition；i α、i βFor the current component under two-phase rest frame.
Novel Filter FIRωTransmission function such as following formula represent：
In formula：k rFor gain,ω cutFor cut-off frequency,ω mFor electric angular frequency, s is complex variable.
Step 4: the current space vector exported after filtering introduces dead area compensation module, inverter output voltage is obtainedu an1/ u an2。
Step 5: willi a>Actual output voltage when 0u an1Withi a<Actual output voltage when 0u an2It is input to space arrow
Pulse width modulation module is measured, six road pulse signals are obtained, so that control power device opens shut-off, three-phase output voltage is obtained
The operation of motor.
Step 6: periodically judging the sense of current, and compensated using the above method so that inverter reality output electricity
Pressureu an1 \u an2With desired output voltageu anIt is consistent, i.e., voltage deviation is zero, so as to avoid dead time effect to output voltage
The influence brought, it is ensured that motor operation is more smooth, improves the sine degree of output current.
The described new dead area compensation system based on pulse optimization includes PC, dc source, three-phase bridge voltage source
Type inverter, motor, control system, pulse driving device, voltage sensor, current sensor and speed probe, directly
Stream power supply is connected by three-phase bridge voltage source inverter with motor, inverse in dc source and three-phase bridge voltage-source type
There is voltage sensor between change device, voltage sensor is connected with control system input；Three-phase bridge voltage source inverter with
Current sensor is connected with power line between motor, motor is believed rotating speed by encoder, speed probe
Number send control system to；Control system synthesis given rotating speed, voltage, current signal and feedback rotating speed, voltage, current signal are defeated
Enter to space vector pulse width modulation module, calculate the dutycycle of space vector modulation, exporting pulse by optical-electrical converter drives
Signal is moved to pulse driving device, pulse driving device is connected with three-phase bridge voltage source inverter, it is characterised in that also wrapped
Compensation device when including dead, compensating module and Novel Filter when compensation device includes dead when described dead；Compensation device when dead
Input connects current sensor, output end connection DSP control system.
Compared with prior art, beneficial effects of the present invention：
The present invention have studied a kind of pulse optimization it is dead when compensation method, this method is using one only to inverter per phase bridge arm
Switching tube adds the method in dead band to avoid the generation of dead time effect.Novel Filter is designed simultaneously to the three-phase current that detects
It is filtered, current polarity is judged according to current space vector, improves the accuracy that current polarity judges, it is to avoid electricity
Flow through zero point and judge that inaccurate will result directly in compensates by mistake, with more preferable dynamic property.
The present invention is simple and reliable for structure, be easily achieved, and solving electric automobile, to run at a low speed the dynamic stability brought poor
The problem of, electric automobile acceleration is improved, accuracy of detection is high and does not need extra hardware costs.
Brief description of the drawings
It is the main circuit that three-phase voltage-type inverter connects motor shown in Fig. 1.In Fig. 1, D1, D2, D3, D4, D5, D6 are
Backward dioded；V1, V2, V3, V4, V5, V6 are IGBT device, i.e. insulated gate bipolar transistor；M3 ~ it is three-phase alternating current
Motivation；i aFor A phase currents,u dcFor commutating voltage.
Fig. 2 show A phase bridge arm switching process schematic diagrams.In Fig. 2,t dFor dead time, S1, S2 are the reason of switching device
Think on-off logic, S1＇、S2＇For the actual on-off logic of switching device,u anFor desired output voltage,u an1Fori a>Reality when 0
Output voltage,u an2Fori a<Actual output voltage when 0.
Fig. 3 is sector chart where the current space vector of the present invention.In Fig. 3,A、B、CAxle is the three phase static of 120 ° of mutual deviation
Reference axis,α、βAxle is two-phase static coordinate axle,u 0（000）、u 1（001）、u 2（010）、u 3（011）、u 4（100）、u 5（101）、u 6（110）、u 7（111）For space vector of voltageu sThe on off state at place, I, II, III, IV, V, VI is current space vectori s
Six regions of place plane.
Fig. 4 show Novel Filter FIRωFrequency response.In Fig. 4,ωFor response frequency,ω cutFor cut-off frequency,ω mFor electric angular frequency, ζ is damping ratio（Value 0.5）.
Fig. 5 show A phase current input and output contrast figures.
Fig. 6 show the A phase bridge arm switching process schematic diagrams introduced after compensation.
The main circuit structure block diagram of compensation system when Fig. 7 is new dead based on pulse optimization of the present invention.
In Fig. 7, U1, three-phase bridge voltage source inverter；U2, motor；U3, it is dead when compensation device；U4, DSP are controlled
System processed；U5, PC；U6, pulse driving device；U7, voltage sensor；U8, current sensor；U9, speed probe；U10、
Dc source；U11, space vector pulse width modulation module, i.e. SVPWM；U12, encoder.
Embodiment
The specific steps of the inventive method：
Step 1: driving motor for electric automobile main circuit is typically powered using three-phase bridge voltage source inverter, power supply is straight
Flow power supply.Shut-off delay is opened because actual power switching device is present, in order to prevent upper and lower bridge arm from leading directly to, is generally switched at it
One section of dead time is added during action.The presence in dead band makes to produce error between inverter output virtual voltage and target voltage,
So as to causing machine phase voltages and phase current to be distorted, the dead time effect such as zero current clamp and torque and speed ripple.Fig. 1
Shown is the main circuit that three-phase voltage-type inverter connects motor, and rated current is by inverter flow direction motor for just, on the contrary is negative.
Fig. 2 show A phase bridge arm switching process waveforms.Wherein, (a) is the preferable drive of power switch pipe above and below A phase bridge arms
Dynamic signal；(b) it is the switching tube drive signal up and down behind addition dead band；(c) it is desired output voltageu an；(d) it isi a>When 0
Actual output voltageu an1；(e) it isi a<Actual output voltage when 0u an2.From Figure 2 it can be seen that adding dead timet dAfterwards, A phases are real
Border output voltage compared with desired output voltage,i a>A width is lost when 0 ist dVoltage pulse,i a<One is had more when 0
Individual width ist dVoltage pulse.In the case where switching frequency is constant, dead time is bigger, inverter actual output voltage with
Desired output voltage deviation is bigger, and dead time effect is more serious, it is therefore necessary to which dead band is compensated.
Step 2: PC setting speed signal, drives what motor in electric automobile was rotated by changing the rotating speed size of setting
Speed.The encoded device sampling of speed probe obtains actual speed signal, and voltage sensor is electric using the LV28-P of LEM companies
Pressure sensor, after level process circuit, A/D samplings, gives control system and obtains current signal, current sensor uses LEM
The LA28-NP current sensors of company, after level process circuit, A/D samplings, give control system and obtain current signal.
Step 3: the three-phase current of collectionia、ib、iC is transformed to the electric current under two-phase rest frame through 3s/2s coordinates
Signal iα、iβ, the electric current under this two-phase rest frame synthesizes current space vectori s, i.e.,is=i α+ji β.Pass through new filtering
Device filters out the sector judged after the higher hamonic wave of electric current where current space vector, you can judge the sense of current.
Fig. 3 show the current space vector of the present inventioni sPlace sector position.WhereinA、B、C axlesFor the three of 120 ° of mutual deviation
Phase static coordinate axle,α、βAxle is two-phase static coordinate axle.It is similar with space vector of voltage, pass throughi α=0,i α=1.732i β,i α
=-1.732i βThree straight lines, are divided into six regions by current space vector plane.Setting：
Then current space vectori sPlace sector sec (i s) determined by following formula (1)：
sec(i s)=4X+2Y+Z (1)
Wherein, X, Y, Z represent the true and false of proposition；i α、i βFor the current signal under two-phase rest frame.
Because current space vector needs to detect three-phase current polarity, i.e. zero-crossing examination.But actual control
Influenceed in system with dead band by inverter is non-linear, the electric current of sampling has (6K ± 1) *ωSubharmonic composition and switch frequency
The high-frequency noise that rate is brought, and zero current clamp phenomenon can be produced, cause the inaccurate of current polarity judgement.So in electric current
In some region of amplitude very little, it is impossible to dead band is compensated completely, dead time effect influence is still present, particularly underloading feelings
Influence even more serious under condition.In order to reduce the influence that the high-frequency noise existed during current over-zero clamps phenomenon with zero current, improve
Current detection accuracy, realizes the Optimization Compensation in dead band, it is therefore desirable to which three-phase current is filtered.Traditional filtering method can cause electric current
Signal phase deviation, devises a kind of Novel Filter for this problem and electric current is filtered, solve current over-zero herein
The problem of point sampling is brought, more accurately differentiates the sector where current space vector.
Novel Filter FIRωTransmission function such as following formula represent：
In formula：k rFor gain,ω cutFor cut-off frequency,ω mFor electric angular frequency, s is complex variable.
For the ease of analysis, FIR is madeωCut-off frequencyω cut=ζ*ω m, can according to the theory analysis of Automatic Control Theory
Know FIRωTransmission function be similar to second-order system, ζ be second-order system damping ratio.Fig. 4 show FIRωFrequency response, its
In corresponding cut-off frequencyω cutFor 0.5*62.8rad/s.Whenω cutWhen larger, dampingratioζ is larger, according to second-order system when
Domain characteristic understands that response speed is very fast and overshoot is smaller, and filter to output current can preferably track input current, input electricity
Harmonic components and High-frequency Interference amplitude attenuation are smaller in stream, influence filter effect；Whenω cutWhen smaller,ω=ω mFrequency range width
Value will not change with phase, and harmonic components and High-frequency Interference decay are larger, and harmonic components greatly reduce, but now damping ratio
ζ is too small, and the response speed of filter to output current becomes very slow, is difficult to track input current in the short time, thereforeω cutIt is smaller
When can still influence current polarity to judge.In summary, in order to play more preferable filter effect, it is necessary to which suitable chooseω cutNumber
Value, generally takes dampingratioζ=0.4~0.8 to be advisable.It can be seen from Fig. 4, FIRωPhase offset is not present in filter to output current, humorous
Wave component and high-frequency noise decay are larger, therefore the Novel Filter can filter out harmonic components and high-frequency noise well
Interference.Fig. 5 show A phase current input and output contrast figures, it can be seen that A phase currents have filtered height after Novel Filter
Frequency component, and phase offset does not occur, so as to more accurately judge current polarity.
Step 4: the current space vector exported after filtering introduces new dead area compensation module, inverter output electricity is obtained
Pressureu an1/ u an2。
Still by taking inverter A phases in Fig. 1 as an example, wheni a>When 0, if upper pipe V1 drive signals S1 is height, down tube V2 drive signals
S2 is low, i.e., V1 is open-minded, V2 shut-offs, then A phases output voltageu anFor height；When S1 is changed into low, V1 shut-offs, by D2 afterflows, export electricity
Pressureu anTo be low, even if now S2 is height, V2 still can not be opened.As can be seen here, wheni a>When 0, A phase output voltagesu anOnly by upper
Pipe drive signal S1 determines that now upper bridge arm is controlled bridge arm, and lower bridge arm is not control bridge arm.Similarly, wheni a<When 0, A phases are exported
Voltageu anOnly determined by down tube drive signal S2, this at present bridge arm be controlled bridge arm, upper bridge arm is does not control bridge arm.
Analyzed based on more than, wheni a>When 0, pipe V1 drive signals are constant in holding, and down tube V2 shifts to an earlier date tdTurn off and postponet d
It is open-minded；Wheni a<When 0, keep V2 drive signals constant, V1 delayst dOpen and shift to an earlier datet dShut-off, you can make inverter reality output
Voltage is consistent with desired output voltage.
Fig. 6 show the A phase bridge arm switching process waveforms introduced after compensation.Wherein, (a) is that power is opened above and below A phase bridge arms
Close the desired driver signals of pipe；(b) it isi a>Dead area compensation principle when 0；(c) it isi a<Dead area compensation principle when 0；(d) it is reason
Think output voltageu an, (e) be using this dead-zone compensation method after,i a>Actual output voltage when 0u an1Withi a<Reality when 0
Output voltageu an2.As seen from Figure 5, after using above-mentioned dead-zone compensation method, actual output voltageu an1 \u an2With ideal output electricity
Pressureu anUnanimously, i.e., voltage deviation is zero, so as to avoid the influence that dead time effect is brought to output voltage.
Step 5: willi a>Actual output voltage when 0u an1Withi a<Actual output voltage when 0u an2It is input to space arrow
Pulse width modulation module U11 is measured, six road pulse signals is obtained, is input to pulse driving device U6, so as to control three-phase bridge voltage
Power device opens shut-off in the type inverter U1 of source, obtains the operation that three-phase output voltage carrys out motor U1.
Step 6: sector where periodically judging current space vector is inclined to compensate the voltage that Inverter Dead-time effect is brought
Difference so that the rounded track of inverter output voltage, it is ensured that motor U1 operations are more smooth, improving output current just
String degree.
As shown in fig. 7, the new dead area compensation system of the present invention based on pulse optimization includes PC U5, direct current
Source U10, three-phase bridge voltage source inverter U1, motor U2, DSP control system U4, pulse driving device U6, voltage are passed
Sensor U7, current sensor U8 and speed probe U9, dc source U10 is by three-phase bridge voltage source inverter U1 with driving
Dynamic motor U2 connections, have voltage sensor U7, voltage sensor between dc source U10 and three-phase bridge voltage source inverter U1
Device U7 is connected with control system U4 inputs；Power line between three-phase bridge voltage source inverter U1 and motor U2
On be connected with current sensor U8, motor U2 sends tach signal to control by encoder U12, speed probe U9
System U4；Control system U4 integrates rotating speed, voltage, current signal and is input to space vector with feedback rotating speed, voltage, current signal
Pulse width modulation module U11, calculates the dutycycle of space vector modulation, passes through pulse driving device U6 and three-phase bridge voltage source
The U1 connections of type inverter；Characterized by further comprising it is dead when compensation device U3, mended when compensation device U3 includes dead when described dead
Module and Novel Filter are repaid, compensation device U3 input connection current sensor U8 when dead, output end connection DSP controls system
Unite U4.
Operation principle：
Current sensor U8 gathers three-phase currenti a、i b、i c, the electric current letter under two-phase rest frame is transformed to through 3s/2s coordinates
Numberi α、i β, because design Novel Filter is filtered to the three-phase current detected, the accuracy that current polarity judges is improved,
Now the electric current under two-phase rest frame synthesizes current space vectori s, i.e.,i s=i α+ji β。
Compensation device U3 uses programmable logic cells when dead, can be in a sampling by concurrent operation combination formula (1)
CycleT sInside quick and precisely judge current space vectori sThe sector at place, then exports preferable magnitude of voltage according to Fig. 6u an。
Control system U4 is by the voltage after compensationu an1/ u an2Space vector pulse width modulation module U11 is input to, six are obtained
Road pulse signal, is input to pulse driving device U6, so as to control power device in three-phase bridge voltage source inverter U1
Shut-off is opened, the operation that three-phase output voltage carrys out motor U1 is obtained so that the rounded track of grid-connected inverters voltage, simultaneously
The sine degree of output current is improved, voltage distortion rate is effectively reduced, it is to avoid the influence that dead time effect is brought.
Claims (2)
1. a kind of new dead-zone compensation method based on pulse optimization, it is characterised in that comprise the following steps：
Step 1: motor main circuit is powered using three-phase bridge voltage source inverter, power supply is dc source；
Step 2: PC setting speed signal, after driving motor in electric automobile is rotated, speed probe sampling obtains actual speed
Signal, voltage sensor sampling obtains voltage signal, and current sensor sampling obtains current signal；
Step 3: the three-phase current of collectioni a、i b、i cThe current signal under two-phase rest frame is transformed to through 3s/2s coordinatesi α、i β, the electric current under this two-phase rest frame synthesizes current space vectori s, the height of electric current is then filtered out by Novel Filter
The sector where current space vector is judged after subharmonic, you can judge the sense of current；
According toi α=0,i α=1.732i β,i α=-1.732i βThree straight lines, are divided into six regions by current space vector plane；If
It is fixed：
Then current space vectori sPlace sector sec (i s) by following formula（1）It is determined that：
sec(i s)=4X+2Y+Z （2）
Wherein, X, Y, Z represent the true and false of proposition；i α、i βFor the current component under two-phase rest frame；
Novel Filter FIRωTransmission function such as following formula represent：
In formula：k rFor gain,ω cutFor cut-off frequency,ω mFor electric angular frequency, s is complex variable；
Step 4: the current space vector exported after filtering introduces dead area compensation module, inverter output voltage is obtainedu an1/ u an2；
Step 5: willi a>Actual output voltage when 0u an1Withi a<Actual output voltage when 0u an2It is input to space vector arteries and veins
Wide modulation module, obtains six road pulse signals, so that control power device opens shut-off, obtains three-phase output voltage to drive
The operation of motor；
Step 6: periodically judging the sense of current, and compensated using the above method so that inverter actual output voltageu an1 \u an2With desired output voltageu anIt is consistent, i.e., voltage deviation is zero, so that avoiding dead time effect gives output voltage band
The influence come, it is ensured that motor operation is more smooth, improves the sine degree of output current.
2. a kind of new dead area compensation system based on pulse optimization for implementing claim 1 methods described, including PC, direct current
Power supply, three-phase bridge voltage source inverter, motor, control system, pulse driving device, voltage sensor, electric current are passed
Sensor and speed probe, dc source are connected by three-phase bridge voltage source inverter with motor, in dc source
There is voltage sensor between three-phase bridge voltage source inverter, voltage sensor is connected with control system input；In three-phase
Current sensor is connected with power line between bridge voltage source type inverter and motor, motor passes through coding
Device, speed probe send tach signal to control system；Control system synthesis given rotating speed, voltage, current signal with it is anti-
Feedback rotating speed, voltage, current signal are input to space vector pulse width modulation module, calculate the dutycycle of space vector modulation, lead to
Cross optical-electrical converter and export pulse drive signal to pulse driving device, pulse driving device and three-phase bridge voltage-source type inversion
Device is connected, it is characterised in that also including it is dead when compensation device U3, when compensation device U3 includes dead when described dead compensating module and
Novel Filter；Compensation device U3 input connection current sensor U8, output end connection DSP control system U4 when dead；
Described Novel Filter FIRωTransmission function such as following formula represent：
In formula：k rFor gain,ω cutFor cut-off frequency,ω mFor electric angular frequency, s is complex variable.
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| CN111756300A (en) * | 2020-06-18 | 2020-10-09 | 中车永济电机有限公司 | Dead zone compensation method suitable for linear induction motor control based on current prediction |
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| CN112072986A (en) * | 2020-09-14 | 2020-12-11 | 厦门势拓御能科技有限公司 | Accurate dead-zone compensation method for three-phase inverter and three-phase inverter |
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| CN108075678A (en) * | 2017-12-23 | 2018-05-25 | 西安交通大学 | The bilateral compensation method of three-phase inverter dead time effect based on pulse-width adjustment |
| CN110798061A (en) * | 2018-08-01 | 2020-02-14 | 台达电子工业股份有限公司 | Three-phase frequency converter, dead zone compensation circuit and dead zone compensation method thereof |
| CN112865570A (en) * | 2019-11-28 | 2021-05-28 | 株洲中车时代电气股份有限公司 | Dead time compensation method and device based on bridge arm current prediction |
| CN112865570B (en) * | 2019-11-28 | 2022-05-24 | 株洲中车时代电气股份有限公司 | Dead time compensation method and device based on bridge arm current prediction |
| CN111756300A (en) * | 2020-06-18 | 2020-10-09 | 中车永济电机有限公司 | Dead zone compensation method suitable for linear induction motor control based on current prediction |
| CN111756287A (en) * | 2020-06-18 | 2020-10-09 | 中车永济电机有限公司 | Dead zone compensation method suitable for permanent magnet motor control based on current prediction |
| CN112072986A (en) * | 2020-09-14 | 2020-12-11 | 厦门势拓御能科技有限公司 | Accurate dead-zone compensation method for three-phase inverter and three-phase inverter |
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