CN107453639A - A kind of servo dead-zone compensation method, apparatus and system - Google Patents

A kind of servo dead-zone compensation method, apparatus and system Download PDF

Info

Publication number
CN107453639A
CN107453639A CN201710780516.6A CN201710780516A CN107453639A CN 107453639 A CN107453639 A CN 107453639A CN 201710780516 A CN201710780516 A CN 201710780516A CN 107453639 A CN107453639 A CN 107453639A
Authority
CN
China
Prior art keywords
target
phase inverter
frequency
voltage value
output voltage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710780516.6A
Other languages
Chinese (zh)
Other versions
CN107453639B (en
Inventor
李源源
曾川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Invt Electric Co Ltd
Original Assignee
Shenzhen Invt Electric Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Invt Electric Co Ltd filed Critical Shenzhen Invt Electric Co Ltd
Priority to CN201710780516.6A priority Critical patent/CN107453639B/en
Publication of CN107453639A publication Critical patent/CN107453639A/en
Application granted granted Critical
Publication of CN107453639B publication Critical patent/CN107453639B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/03—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for very low speeds
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)

Abstract

The embodiment of the invention discloses a kind of servo dead-zone compensation method, apparatus and system, wherein method includes, respectively in N number of target DC quantity iaWhen obtain dead area compensation amount TcomOriginal formulation coefficient a and coefficient b, wherein, N be more than or equal to 10 integer, TsFor the carrier cycle of the switching tube of the three-phase inverter；When it is a determination value that the frequency of the switching tube of the three-phase inverter, which carries K, each target DC quantity i is calculated according to the original formulationaCorresponding dead area compensation amount Tcom, wherein K=1/Ts；According to the target DC quantity iaCorresponding dead area compensation amount TcomDead area compensation is carried out to the three-phase inverter.The available more accurately dead area compensation amount of the embodiment of the present invention, so as to further improve dead time effect, reduces the torque pulsation under servo-drive system low speed, improves the low-speed performance of system.

Description

A kind of servo dead-zone compensation method, apparatus and system
Technical field
The present invention relates to electronic technology field, more particularly to a kind of servo dead-zone compensation method, apparatus and system.
Background technology
Servo techniques has been widely applied to industry, agricultural, the dirty day of aviation, traffic, national defense and military and the production of daily household electrical appliances In product, people suffer from higher and higher requirement to the performance of product servo, function, quality and cost.The low speed of servomotor Runnability is the important indicator for weighing AC servo performance, and excellent low-speed performance can widen the speed governing of electric system Than, and disclosure satisfy that Digit Control Machine Tool etc. requires the application scenario of low speed control.And influence a weight of servo-drive system low-speed performance Want the dead time effect that factor is exactly inverter.
The inverter of AC servo motor often uses three-phase inverter structure, and the three-phase inverter structure includes There is three-phase inverting circuit, wherein the switching device of the same upper and lower bridge arm of phase inverter circuit is operated in complementary state.To ensure inversion Circuit safety works, and avoids upper and lower bridge arm from simultaneously turning on and causes short circuit, it is necessary to after the switching device shut-off of same bridge arm The time of one section of very little is stayed to be referred to as dead time, abbreviation dead band, two in dead time before to another switch device conductive Device simultaneously turns off.Although dead time is very short, single pwm pulse is not enough to the performance of influence system, continuously considers one The accumulative very big influence being enough to inverter output voltage and output current of the effect in individual cycle.Carried in low speed and carrier frequency When very high, dead band will cause the reduction of inverter output voltage fundamental voltage amplitude, containing very big harmonic component, torque is occurred very Big pulsation, in some instances it may even be possible to cause system unstable and oscillatory occurences occurs, here it is the dead time effect of inverter.Therefore very It is necessary to compensate the dead time effect of inverter.
Existing dead area compensation has hardware compensating and software compensation two ways.Hardware dead-zone compensation method is to pass through increase Hardware detects the phase voltage in dead time, then compared with command voltage, its difference is as dead area compensation foundation.This method In, it is necessary to complicated hardware circuit, and take substantial amounts of cpu resource.Software dead band compensation method is required for detecting every phase electricity The positive-negative polarity of stream determines dead area compensation direction.And in compensation rate, conventional method substantially only considered derailing switch Part is opened, turn-off delay time and software design patterns dead time, is not almost accounted for spuious on IGBT in servo-drive system circuit Influence of the electric capacity in charge and discharge process to dead time effect, it so may result in dead area compensation amount and have deviation, it is dead to influence software The effect of area's compensation.
The content of the invention
The embodiment of the present invention provides a kind of servo dead-zone compensation method, apparatus and system, can obtain more accurately dead Area's compensation rate, so as to further improve dead time effect, reduce the torque pulsation under servo-drive system low speed, improve the low speed of system Energy.
In a first aspect, the embodiments of the invention provide a kind of servo dead-zone compensation method, this method is used for three-phase inversion Device, including,
Respectively in N number of target DC quantity iaWhen obtain dead area compensation amount TcomOriginal formulation coefficient a and coefficient b, it is described Original formulation is
Tcom=a+b*Ts
Wherein, N is more than or equal to 10 integer, TsFor the carrier cycle of the switching tube of the three-phase inverter；
When it is a determination value that the frequency of the switching tube of the three-phase inverter, which carries K, it is calculated according to the original formulation Each target DC quantity iaCorresponding dead area compensation amount Tcom, wherein K=1/Ts；
According to the target DC quantity iaCorresponding dead area compensation amount TcomDead area compensation is carried out to the three-phase inverter.
Preferably, it is described respectively in N number of target DC quantity iaWhen obtain dead area compensation amount TcomOriginal formulation coefficient a With coefficient b, including,
Respectively described three-phase inverter sets two different frequencies and carries K, and it is K that one of frequency, which carries,1, another frequency, which carries, is K2；
It is K when frequency carries1When, inject N number of target DC quantity i in a wherein phase inverter circuit for the three-phase invertera, And obtain each target DC quantity iaCorresponding actual output voltage value Van1With desired output voltage value Van1*, to be calculated It is K that frequency, which carries,1When each target DC quantity iaCorresponding dead area compensation amount Tcom1；
It is K when frequency carries2When, inject N number of target DC quantity i in a wherein phase inverter circuit for the three-phase invertera, And obtain each target DC quantity iaCorresponding actual output voltage value Van2With desired output voltage value Van2*, to be calculated It is K that frequency, which carries,2When each target DC quantity iaCorresponding dead area compensation amount Tcom2；
K is carried according to frequency1, frequency carry K2, each target DC quantity iaIt is K to be carried in frequency1When corresponding dead area compensation amount Tcom1And Each target DC quantity iaIt is K to be carried in frequency2When corresponding dead area compensation amount Tcom2, determine coefficient a and coefficient in the original formulation B value.
Preferably, it is described when frequency load is K1When, inject N number of mesh in a wherein phase inverter circuit for the three-phase inverter Mark DC quantity ia, and obtain each target DC quantity iaCorresponding actual output voltage value Van1With desired output voltage value Van1*, Carried so that frequency is calculated as K1When each target DC quantity iaCorresponding dead area compensation amount Tcom1, including,
It is K when frequency carries1When, to the N number of target DC quantity i injected in a wherein phase inverter circuit for the three-phase invertera Closed loop calculating is done respectively, to obtain each target DC quantity iaCorresponding actual output voltage value Van1；
By the resistance of the three-phase inverter and each injection DC quantity iaIt is multiplied to obtain corresponding preferable output respectively Magnitude of voltage Van1*；
By the actual output voltage value Van1With the desired output voltage value Van1* pulse corresponding to being converted into is wide Degree；
Corresponding two pulse widths are subtracted each other to obtain dead area compensation amount Tcom1.
Preferably, methods described also includes,
By the actual output voltage value Van1As open loop given voltage value, to obtain stabling current ia′；
By the actual output voltage value Van1Corresponding target DC quantity iaIt is updated to stabling current ia′。
Preferably, N number of target DC quantity iaValue be an arithmetic progression, the tolerance of the arithmetic progression is IN/ N, Wherein INFor rated current.
Second aspect, the embodiment of the present invention additionally provide a kind of device, and the device includes:
Acquiring unit, for respectively in N number of target DC quantity iaWhen obtain dead area compensation amount TcomOriginal formulation coefficient A and coefficient b, the original formulation are
Tcom=a+b*Ts
Wherein, N is more than or equal to 10 integer, TsFor the carrier cycle of the switching tube of the three-phase inverter；
Computing unit, when the frequency load K for the switching tube when the three-phase inverter is a determination value, according to described initial Each target DC quantity i is calculated in formulaaCorresponding dead area compensation amount Tcom, wherein K=1/Ts；
Compensating unit, for according to the target DC quantity iaCorresponding dead area compensation amount TcomTo the three-phase inverter Carry out dead area compensation.
Preferably, the acquiring unit includes,
Setup unit, for being respectively that the three-phase inverter sets two different frequencies load K, one of frequency, which carries, is K1, it is K that another frequency, which carries,2；
Processing unit, for being K when frequency carries1When, injected in a wherein phase inverter circuit for the three-phase inverter N number of Target DC quantity ia, and obtain each target DC quantity iaCorresponding actual output voltage value Van1With desired output voltage value Van1*, carried so that frequency is calculated as K1When each target DC quantity iaCorresponding dead area compensation amount Tcom1；
Wherein, it is K that the processing unit, which is additionally operable to when frequency carries,2When, in a wherein contrary power transformation for the three-phase inverter N number of target DC quantity i is injected in roada, and obtain each target DC quantity iaCorresponding actual output voltage value Van2It is defeated with ideal Go out magnitude of voltage Van2*, carried so that frequency is calculated as K2When each target DC quantity iaCorresponding dead area compensation amount Tcom2；
Determining unit, for carrying K according to frequency1, frequency carry K2, each target DC quantity iaIt is K to be carried in frequency1When corresponding dead band Compensation rate Tcom1And each target DC quantity iaIt is K to be carried in frequency2When corresponding dead area compensation amount Tcom2, determine described initial public Coefficient a and coefficient b value in formula.
Preferably, the processing unit includes,
Closed loop computing unit, for being K when frequency carries1When, to being noted in a wherein phase inverter circuit for the three-phase inverter The N number of target DC quantity i enteredaClosed loop calculating is done respectively, to obtain each target DC quantity iaCorresponding actual output voltage value Van1；
First processing subelement, for the resistance of the three-phase inverter to be injected into DC quantity i with eachaIt is multiplied to respectively Obtain corresponding desired output voltage value Van1*；
Second processing subelement, for by the actual output voltage value Van1With the desired output voltage value Van1* it is equal Be converted to pulse width corresponding to magnitude of voltage；
3rd processing subelement, for subtracting each other to obtain dead area compensation amount Tcom1 corresponding two pulse widths.
Preferably, the processing unit also includes,
Open loop computing unit, for by the actual output voltage value Van1As open loop given voltage value, to obtain stabilization Electric current ia′；
Updating block, for by the actual output voltage value Van1Corresponding target DC quantity iaIt is updated to stabling current ia′。
The third aspect, the embodiment of the present invention additionally provide a kind of system, including processor, input equipment, output equipment and Memory, the processor, input equipment, output equipment and memory are connected with each other, wherein, the memory, which is used to store, answers With program code, the processor is arranged to run the application code, to perform the method for above-mentioned first aspect.
The embodiment of the present invention obtains dead area compensation curve by different size of current value measurement, preferably compensate for meeting The dead time effect of IGBT non-linear behaviors, more accurately dead area compensation amount can be obtained, so as to further improve dead time effect, Reduce the torque pulsation under servo-drive system low speed, improve the low-speed performance of system.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, it is required in being described below to embodiment to use Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, general for this area For logical technical staff, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of schematic flow diagram of servo dead-zone compensation method provided in an embodiment of the present invention；
Fig. 1 a are the circuit structure diagrams of three-phase inverter provided in an embodiment of the present invention；
Fig. 1 b are the switching pulse oscillograms of A phases inverter circuit provided in an embodiment of the present invention；
Fig. 1 c are the reality output equivalent electrics of a points after open and close time provided in an embodiment of the present invention and tube voltage drop loss Press VaoWaveform；
Fig. 1 d are electric current i provided in an embodiment of the present inventionaFor different size when corresponding PWM waveform figure；
Fig. 1 e are the compensated curve figures under different frequency loads in the embodiment of the present invention；
Fig. 2 is the schematic flow diagram of step S101 sub-step in the embodiment of the present invention；
Fig. 3 is the schematic flow diagram of step S202 sub-step in the embodiment of the present invention；
Fig. 4 is the schematic flow diagram of step S203 sub-step in the embodiment of the present invention；
Fig. 5 is a kind of schematic block diagram of device provided in an embodiment of the present invention；
Fig. 6 is the schematic block diagram of the subelement of acquiring unit 101 in the embodiment of the present invention；
Fig. 7 is the schematic block diagram of the subelement of processing unit 202 in the embodiment of the present invention；
Fig. 8 is a kind of schematic block diagram for system that another embodiment of the present invention provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is part of the embodiment of the present invention, rather than whole embodiments.Based on this hair Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made Example, belongs to the scope of protection of the invention.
It should be appreciated that ought be in this specification and in the appended claims in use, term " comprising " and "comprising" instruction Described feature, entirety, step, operation, the presence of element and/or component, but it is not precluded from one or more of the other feature, whole Body, step, operation, element, component and/or its presence or addition for gathering.
It is also understood that the term used in this description of the invention is merely for the sake of the mesh for describing specific embodiment And be not intended to limit the present invention.As used in description of the invention and appended claims, unless on Other situations are hereafter clearly indicated, otherwise " one " of singulative, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and appended claims is Refer to any combinations of one or more of the associated item listed and be possible to combine, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt Be construed to " when ... " or " once " or " in response to determining " or " in response to detecting ".
It is that the embodiment of the present invention provides a kind of schematic flow diagram of servo dead-zone compensation method, methods described referring to Fig. 1 For three-phase inverter, method may include step S101~step S103 as shown in the figure,
Step S101, respectively in N number of target DC quantity iaWhen obtain dead area compensation amount TcomOriginal formulation coefficient a and Coefficient b, the original formulation are
Tcom=a+b*Ts
Wherein, N is more than or equal to 10 integer, TsFor the carrier cycle of the switching tube of the three-phase inverter.
Wherein, each target DC quantity iaIt can accordingly get dead area compensation amount TcomOriginal formulation in be Number a and coefficient b, i.e., each target DC quantity iaCorresponding corresponding calculating dead area compensation amount TcomOriginal formulation.Make To be preferable, N number of target DC quantity iaValue can be first-class difference series, the tolerance of the arithmetic progression is IN/ N, its Middle INFor rated current.N number of target DC quantity iaValue can also sets itself according to demand, be not limited thereto.
Specifically, according to the original formulation, dead area compensation amount TcomWith carrier cycle TsChange and change, together The switching tube of Shi Suoshu three-phase inverters is controlled by the MCU controllers of outside and provides corresponding pwm pulse signal, from And the closing and disconnection of controlling switch pipe, therefore dead area compensation amount TcomFor compensating the pwm pulse signal in three-phase inverter.
Study and found in inverter A phase output currents i through inventoraWhen different, its dead area compensation amount TcomWith switching tube Carrier cycle TsFollowing relational expressions be present
Wherein TdFor dead time, ToffFor the turn-off time of the switching tube of the three-phase inverter, TonFor three contrary Become the ON time of the switching tube of device, VdcFor DC bus-bar voltage.VceoFor the threshold voltage of diode, VdoFor the door of IGBT pipes Sill voltage.
Thus inventor is further discovered that only inverter A phase different output currents i need to be obtainedaWhen dead area compensation amount TcomWith The carrier cycle T of switching tubesUnknown quantity a and b in relational expression, if a=Td-Toff+Ton, b=(Vceo +Vdo)/(2*Vdc), after Continue can be by that when switching tube is operated in different carrier frequency, can be operated in different output current i by inverteraWhen it is corresponding initial Formula Tcom=a+b*TsDead area compensation amount T corresponding to calculatingcom, dead band compensation rate TcomIt is more accurate, so as to further Improve dead time effect, reduce the torque pulsation under servo-drive system low speed, improve the low-speed performance of system.Concrete analysis is as follows.
Specifically, the circuit structure diagram of three-phase inverter as shown in Figure 1a, the three-phase inverter includes three-phase inversion Circuit, i.e. A phases inverter circuit, B phases inverter circuit and C phase inverter circuits, per phase inverter circuit by the MCU controllers of outside It is controlled and corresponding pulse is provided.Include top tube and down tube per phase inverter circuit, the top tube and down tube can be IGBT switching tubes.
For convenience, by taking A phase inverter circuits as an example, define using a points as basic point from left to right stream be electric current forward direction, i.e., Electric current iaFor just.When the upper tube VT1 conductings of A phase inverter circuits, a points current potential is Vdc/ 2, wherein VdcIt is the voltage between P, N, That is DC bus-bar voltage, and supply voltage.After VT1 is turned off, because dead time T be presentd, the down tube of A phase inverter circuits VT2 will not be turned on immediately, and due to electromagnet inertia, flow into motor eanElectric current iaImmediately reversely it will not work as ia>When 0, VT1 is closed The VT2 that has no progeny open before by diode VD2 afterflows, at this moment a points clamper is in-Vdc/ 2, work as ia<When 0, VT1 is open-minded after VT1 shut-offs It is preceding by diode VD1 afterflows, a point clampers are in Vdc/2.Similarly understand, the situation phase after situation and VT1 shut-offs after VT2 shut-offs Together.It is similar, the shut-off of each IGBT pipes and to open situation also identical in B phases inverter circuit and C phase inverter circuits.
In a word, i is worked asa>When 0, the actual output voltage V of a points of inverteraoThe negative pulse of PWM waveform broaden, positive pulse Narrow, work as ia<It is then opposite when 0.Dead time TdPresence cause inverter a points reality output equivalent voltage Vao's PWM waveform produces distortion, different from the PWM waveform of the desired output voltage of a points.
Therefore work as ia>When 0, the pwm pulse waveform of a point reality outputs can as shown in Figure 1 b, and wherein a+, a- are a phases respectively The upper tube pulse signal and down tube pulse signal of inverter circuit, TdIt is the dead time of Default Value, TonFor the three-phase inversion The ON time of the switching tube of device, and the ON time that IGBT switching tubes are equivalent, ToffFor the switching tube of the three-phase inverter Turn-off time, and turn-off time that IGBT switching tubes are equivalent, TcomIt is dead area compensation amount.
Furthermore if T can be obtainedd、Ton、Toff, with regard to dead area compensation amount T can be calculatedcom.But in the inverter circuit of reality The conduction voltage drop of IGBT switching tubes and the conduction voltage drop of diode also be present, also exist and IGBT switching tubes and diode Deng the stray capacitance of parallel connection, these factors can all have influence on actual dead band loss amount, will analyze one by one below.Hereafter with Fig. 1 In A phase inverter circuits exemplified by perform an analysis, IGBT switching tubes therein are typical switching tube.
As illustrated in figure 1 c, the solid line in figure is the reality output equivalent voltage V of a points of inverteraoWaveform, dotted line is a The waveform of the preferable output equivalent voltage of point, VdFor the conduction voltage drop of diode, VceFor the conduction voltage drop of IGBT switching tubes.
Threshold voltage and internal resistance are equivalent in view of switching tube conduction voltage drop, therefore the conduction voltage drop V of IGBT switching tubesceWith And the conduction voltage drop Vd of diode can be expressed as：Vce=Vce0+rce|ia| and Vd=Vd0+rd|ia|, wherein, VceoFor The threshold voltage of IGBT pipes, Vd0For the threshold voltage of diode, rceEquivalent internal resistance when being turned on for IGBT switching tubes, rdFor two poles Equivalent internal resistance when pipe turns on, iaTo flow through the electric current of a points, and the Injection Current that the control of outside MCU controllers provides.By This, can be derived by relational expression
According to original formulation above, i.e. dead area compensation amount expression formula, it is known that, compensation rate Ts(Vceo+Vdo) /(2*Vdc)Portion It not is fixed value to divide, although tube voltage drop Vceo+VdO is substantially stationary, but wherein includes carrier cycle TsXiang Ze shows different carrier waves This partial value and differed during the cycle, while carrier frequency K and carrier cycle TsIt is inversely proportional, carrier frequency K gets over large compensation amount TcomIt is smaller. As can be seen here except dead area compensation amount T in dead area compensation amount expression formulacomWith the ON time T of switching tubeonAnd the pass of switching tube Disconnected time ToffRelation, dead area compensation amount TcomAlso by carrier frequency K and DC bus-bar voltage VdcInfluence.
As shown in two figures in Fig. 1 d, as electric current iaWhen different, the loss of actual dead band is different, namely IGBT The turn-off time T of switching tubeoffWith ON time TonBy electric current iaInfluence.In addition, as under the different carrier frequency in Fig. 1 e Shown in compensated curve, wherein abscissa is electric current scaled values, and ordinate is the pulsewidth scaled values of dead area compensation amount, it is known that in difference Carrier frequency K under, dead area compensation amount is also what is differed.
Therefore different carrier frequency K and different electric current iaCorresponding dead area compensation amount differs, it can thus be appreciated that dead area compensation Amount, i.e. dead area compensation amount TcomCalculating need the factor that considers to have：Dead time Td, switching tube ON time TonAnd shut-off Time Toff, switching tube conduction voltage drop Vceo+Vdo, carrier frequency, DC bus-bar voltage VdcWith electric current iaSize.It has been investigated that Td-Toff+Ton(Vceo+Vdo)/(2*Vdc)Substantially fixed value, therefore above-mentioned two parts are set to dead area compensation amount Tcom With the carrier cycle T of switching tubesRelational expression Tcom=a+b*TSIn coefficient a and b, by obtaining inverter in different output current iaWhen a and b, both can determine that in different output current iaWhen dead area compensation TcomOriginal formulation, subsequently through computing not With output current iaWhen T corresponding to actual carrier frequencycomAnd the pwm pulse signal in three-phase inverter is compensated with this.
Referring to Fig. 2, as preferred embodiment, step S101 can include step S201~S204,
S201, respectively described three-phase inverter set two different frequencies and carry K, and it is K that one of frequency, which carries,1, another It is K that frequency, which carries,2。
Wherein, by taking A phase inverter circuits as an example, two different predetermined periods is provided by the MCU controllers of outside, are obtained Corresponding compensation rate in the case of different cycles, that is, compensate time Tcom。
Specifically, obtain Tcom=a+b*TSIn unknown quantity a and b method can be, in different output current iaTime-division A and b is calculated after listing equation group in known dead area compensation amount under not carried with two carrier frequency and the frequency.It is and therein dead When area needs to set different the time, change TdSize.
As preferred embodiment, one of frequency carries K1For 2KHz, another described frequency carries K2For 8KHZ.When So, it can be that different frequencies carry that described two frequencies, which carry K, and the difference between two frequencies carry is bigger, then mends in the dead band being calculated The general formula for the amount of repaying is then more accurate, that is, make it that the calculating of dead area compensation amount is more accurate, and this is understood especially in accordance with Fig. 1 e Two frequency carry values relatively far apart when, the higher calculating dead area compensation amount T of precision can be obtainedcomOriginal formulation.
S202, it is K when frequency carries1When, inject N number of target direct current in a wherein phase inverter circuit for the three-phase inverter Measure ia, and obtain each target DC quantity iaCorresponding actual output voltage value Van1With desired output voltage value Van1*, with calculating It is K to obtain frequency to carry1When each target DC quantity iaCorresponding dead area compensation amount Tcom1。
Wherein, because electric current iaThe compensation time is relatively more fixed when larger, therefore takes target DC quantity iaMeasurement point when larger, In target DC quantity iaUnder can determine carrier frequency K1Corresponding dead area compensation amount Tcom1。
Referring to Fig. 3, as preferred embodiment, step 202 can include step S301~S304,
S301, it is K when frequency carries1When, to the N target injected in a wherein phase inverter circuit for the three-phase inverter DC quantity iaClosed loop calculating is done respectively, to obtain each target DC quantity iaCorresponding actual output voltage value Van1。
Wherein it is possible to pass through the Injection Current i in the wherein phase inverter circuit to the three-phase inverteraMake closed loop meter Calculate, such as the inverter circuit corresponds to A phase inverter circuits, Injection Current i hereinaIt is that outside MCU controllers control carries The electric current of confession.By to Injection Current iaDo closed loop and calculate the actual output voltage that can obtain corresponding A phases inverter circuit Value Van1。
Meanwhile wherein N is the integer more than or equal to 10, certainly according to actual conditions or less than 10 and more than 2 Integer.That is, when carrier frequency is K1, wherein phase inverter circuit injection that can be to the three-phase inverter is N number of not Same target DC quantity ia, so as to obtain each target DC quantity iaCorresponding dead area compensation amount Tcom.Similarly, can also be to B Phase inverter circuit and C phase inverter circuits do above-mentioned processing.
S302, by the resistance of the three-phase inverter and each injection DC quantity iaIt is multiplied to obtain corresponding ideal respectively Output voltage values Van1*。
Wherein, the resistance of the three-phase inverter can be obtained by self study.Certainly, as preferred embodiment, go back Using the slope that straight line is done in 2 points of end and determines straight line to obtain a resistance value, it can be led to according to the relation of electric current and voltage The product of calculating current and resistance value is crossed, a theoretical magnitude of voltage can be obtained, that is, obtain desired output voltage value.
S303, by the actual output voltage value Van1With the desired output voltage value Van1* it is converted into corresponding arteries and veins Rush width.
Wherein it is possible to by the actual output voltage value Van1Corresponding pulse width is converted to, also can be defeated by the ideal Go out magnitude of voltage Van1* corresponding pulse width is converted to.
S304, corresponding two pulse widths are subtracted each other to obtain dead area compensation amount Tcom1。
Specifically, by the actual output voltage value Van1Corresponding pulse width and the desired output voltage value Van1* Corresponding pulse width, which is subtracted each other, can obtain and the injection DC quantity iaCorresponding dead area compensation amount Tcom1。
In addition, as preferred embodiment, the step 202 can also include step S301a~S301b,
S301a, by the actual output voltage value Van1As open loop given voltage value, to obtain stabling current ia′。
Wherein, by calculating open loop given voltage value, so as to obtain stabling current ia' stabilization and precision can be obtained Compare high phase voltage and the value of phase current, can be according to pre- in the watt level of the motor in not knowing servo-drive system If the generation of over-current phenomenon avoidance is avoided corresponding to Rule difference predetermined period during the compensation time.
S301b, by the actual output voltage value Van1Corresponding target DC quantity iaIt is updated to stabling current ia′。
Wherein, now stabling current ia' the actual output voltage value V new as one can be updatedan1Corresponding mesh Mark DC quantity ia, that is, the dead area compensation amount T that is calculatedcomOriginal formulation reality corresponding to electric current be stabling current ia′。
S203, it is K when frequency carries2When, inject N number of target direct current in a wherein phase inverter circuit for the three-phase inverter Measure ia, and obtain each target DC quantity iaCorresponding actual output voltage value Van2With desired output voltage value Van2*, with calculating It is K to obtain frequency to carry2When each target DC quantity iaCorresponding dead area compensation amount Tcom2。
Wherein, because electric current iaThe compensation time is relatively more fixed when larger, therefore takes target DC quantity iaMeasurement point when larger, In target DC quantity iaUnder can determine carrier frequency K2Corresponding dead area compensation amount Tcom2。
Referring to Fig. 4, as preferred embodiment, step S203 can include step S401~S405,
S401, it is K when frequency carries2When, to the N target injected in a wherein phase inverter circuit for the three-phase inverter DC quantity iaClosed loop calculating is done respectively, to obtain each target DC quantity iaCorresponding actual output voltage value Van2。
Wherein it is possible to pass through the Injection Current i in the wherein phase inverter circuit to the three-phase inverteraMake closed loop meter Calculate, such as the inverter circuit corresponds to A phase inverter circuits, Injection Current i hereinaIt is that outside MCU controllers control carries The electric current of confession.By to Injection Current iaDo closed loop and calculate the actual output voltage that can obtain corresponding A phases inverter circuit Value Van2。
Meanwhile wherein N is the integer more than or equal to 10, certainly according to actual conditions or less than 10 and more than 2 Integer.That is, when carrier frequency is K2, N can be injected separately into a wherein phase inverter circuit for the three-phase inverter Individual different target DC quantity ia, so as to obtain each target DC quantity iaCorresponding dead area compensation amount Tcom.Similarly, can also Above-mentioned processing is done to B phases inverter circuit and C phase inverter circuits.
S402, by the resistance of the three-phase inverter and each injection DC quantity iaIt is multiplied to obtain corresponding ideal respectively Output voltage values Van2*。
Wherein, the resistance of the three-phase inverter can be obtained by self study.Certainly, as preferred embodiment, go back Using the slope that straight line is done in 2 points of end and determines straight line to obtain a resistance value, it can be led to according to the relation of electric current and voltage The product of calculating current and resistance value is crossed, a theoretical magnitude of voltage can be obtained, that is, obtain desired output voltage value.
S403, by the actual output voltage value Van2With the desired output voltage value Van2* it is converted into corresponding arteries and veins Rush width.
Wherein it is possible to by the actual output voltage value Van2Corresponding pulse width is converted to, also can be defeated by the ideal Go out magnitude of voltage Van2* corresponding pulse width is converted to.
S404, corresponding two pulse widths are subtracted each other to obtain dead area compensation amount Tcom2。
Specifically, by the actual output voltage value Van2Corresponding pulse width and the desired output voltage value Van2* Corresponding pulse width, which is subtracted each other, can obtain and the injection DC quantity iaCorresponding dead area compensation amount Tcom2。
In addition, as preferred embodiment, the step 203 can also include step S401a~S401b,
S401a, by the actual output voltage value Van2As open loop given voltage value, to obtain stabling current ia″。
Wherein, by calculating open loop given voltage value, so as to obtain stabling current ia" stabilization and precision can be obtained Compare high phase voltage and the value of phase current, can be according to pre- in the watt level of the motor in not knowing servo-drive system If the generation of over-current phenomenon avoidance is avoided corresponding to Rule difference predetermined period during the compensation time.
S401b, by the actual output voltage value Van2Corresponding target DC quantity iaIt is updated to stabling current ia″。
Wherein, now stabling current ia" the actual output voltage value V new as one can be updatedan2Corresponding mesh Mark DC quantity ia, that is, the dead area compensation amount T that is calculatedcomOriginal formulation reality corresponding to electric current be stabling current ia″。
S204, K is carried according to frequency1, frequency carry K2, each target DC quantity iaIt is K to be carried in frequency1When corresponding dead area compensation amount Tcom1 And each target DC quantity iaIt is K to be carried in frequency2When corresponding dead area compensation amount Tcom2, determine in the original formulation coefficient a and Coefficient b value.
Wherein, K is carried according to known frequency1, frequency carry K2, each target DC quantity iaIt is K to be carried in frequency1When corresponding dead band mend The amount of repaying Tcom1And each target DC quantity iaIt is K to be carried in frequency2When corresponding dead area compensation amount Tcom2Equation group can be listed, from And dead area compensation amount T when trying to achieve different target DC quantity iacomThe coefficient a and coefficient b of original formulation value.
Step S102, when it is a determination value that the frequency of the switching tube of the three-phase inverter, which carries K, according to the original formulation Each target DC quantity i is calculatedaCorresponding dead area compensation amount Tcom, wherein K=1/Ts。
Wherein, after the coefficient a in the original formulation and coefficient b is determined, as long as it is determination value that frequency, which carries K, you can with To each target DC quantity i nowaCorresponding dead area compensation amount Tcom。
Step S103, according to the target DC quantity iaCorresponding dead area compensation amount TcomThe three-phase inverter is carried out Dead area compensation.
Wherein it is determined that dead area compensation amount TcomAfter can to the three-phase inverter carry out dead area compensation, dead band now Compensation rate is the above-mentioned dead area compensation amount T determinedcom.The dead area compensation amount now obtained is more accurate, can reduce dead band The error of compensation rate, improve the low-speed performance of whole servo-drive system.
In summary, inventive embodiments of the present invention can be determined in different target DC quantity iaIn the case of it is corresponding dead The original formulation of area's compensation rate, dead area compensation amount of each electric current under conditions of different frequencies load can be so obtained, so as to right The pwm pulse signal that switching tube in three-phase inverter receives accurately is compensated, certain DC bus-bar voltage therein VdcAnd dead time TdIt can be set accordingly according to actual conditions.
The embodiment of the present invention is mainly used in servo field, to improve the low-speed performance of servo-drive system.Pass through different size Current value measurement obtain dead area compensation curve, preferably compensate for the dead time effect for meeting IGBT non-linear behaviors, can obtain To more accurately dead area compensation amount, so as to further improve dead time effect, reduce the torque pulsation under servo-drive system low speed, carry The low-speed performance of high system.
Referring to Fig. 5, it is a kind of schematic block diagram for device that the embodiment of the present invention is provided.Device 100 as depicted For a kind of servo dead-zone compensation method in the corresponding embodiments of the present invention, described device 100 includes,
Acquiring unit 101, for respectively in N number of target DC quantity iaWhen obtain dead area compensation amount TcomOriginal formulation Coefficient a and coefficient b, the original formulation are
Tcom=a+b*Ts
Wherein, N is more than or equal to 10 integer, TsFor the carrier cycle of the switching tube of the three-phase inverter.
Referring to Fig. 6, as preferred embodiment, the acquiring unit 101 includes,
Setup unit 201, for being respectively that the three-phase inverter sets two different frequencies load K, one of frequency carries For K1, it is K that another frequency, which carries,2。
Wherein, by taking A phase inverter circuits as an example, two different predetermined periods is provided by the MCU controllers of outside, are obtained Corresponding compensation rate in the case of different cycles, that is, compensate time Tcom。
As preferred embodiment, one of frequency carries K1For 2KHz, another described frequency carries K2For 8KHZ.When So, it can be that different frequencies carry that described two frequencies, which carry K, and the difference between two frequencies carry is bigger, then mends in the dead band being calculated The general formula for the amount of repaying is then more accurate, that is, make it that the calculating of dead area compensation amount is more accurate, and this is understood especially in accordance with Fig. 1 e Two frequency carry values relatively far apart when, the higher calculating dead area compensation amount T of precision can be obtainedcomOriginal formulation.
Processing unit 202, for being K when frequency carries1When, injected in a wherein phase inverter circuit for the three-phase inverter N number of target DC quantity ia, and obtain each target DC quantity iaCorresponding actual output voltage value Van1With desired output voltage value Van1*, carried so that frequency is calculated as K1When each target DC quantity iaCorresponding dead area compensation amount Tcom1。
Wherein, because electric current iaThe compensation time is relatively more fixed when larger, therefore takes target DC quantity iaMeasurement point when larger, In target DC quantity iaUnder can determine frequency carry K1Corresponding dead area compensation amount Tcom1。
Referring to Fig. 7, as preferred embodiment, the processing unit 202 can include,
Closed loop computing unit 301, for being K when frequency carries1When, in a wherein phase inverter circuit for the three-phase inverter N number of target DC quantity i of injectionaClosed loop calculating is done respectively, to obtain each target DC quantity iaCorresponding actual output voltage value Van1。
Wherein it is possible to pass through the Injection Current i in the wherein phase inverter circuit to the three-phase inverteraMake closed loop meter Calculate, such as the inverter circuit corresponds to A phase inverter circuits, Injection Current i hereinaIt is that outside MCU controllers control carries The electric current of confession.By to Injection Current iaDo closed loop and calculate the actual output voltage that can obtain corresponding A phases inverter circuit Value Van1。
Meanwhile wherein N is the integer more than or equal to 10, certainly according to actual conditions or less than 10 and more than 2 Integer.That is, when carrier frequency is K1, wherein phase inverter circuit injection that can be to the three-phase inverter is N number of not Same target DC quantity ia, so as to obtain each target DC quantity iaCorresponding dead area compensation amount Tcom.Similarly, can also be to B Phase inverter circuit and C phase inverter circuits do above-mentioned processing.
First processing subelement 302, for the resistance of the three-phase inverter to be injected into DC quantity i with eachaPhase respectively It is multiplied by obtain corresponding desired output voltage value Van1*。
Wherein, the resistance of the three-phase inverter can be obtained by self study.Certainly, as preferred embodiment, go back Using the slope that straight line is done in 2 points of end and determines straight line to obtain a resistance value, it can be led to according to the relation of electric current and voltage The product of calculating current and resistance value is crossed, a theoretical magnitude of voltage can be obtained, that is, obtain desired output voltage value.
Second processing subelement 303, for by the actual output voltage value Van1With the desired output voltage value Van1* It is converted into pulse width corresponding to magnitude of voltage.
Wherein it is possible to by the actual output voltage value Van1Corresponding pulse width is converted to, also can be defeated by the ideal Go out magnitude of voltage Van1* corresponding pulse width is converted to.
3rd processing subelement 304, for subtracting each other to obtain dead area compensation amount corresponding two pulse widths Tcom1。
Specifically, by the actual output voltage value Van1Corresponding pulse width and the desired output voltage value Van1* Corresponding pulse width, which is subtracted each other, can obtain and the injection DC quantity iaCorresponding dead area compensation amount Tcom1。
In addition, as preferred embodiment, the processing unit 202 also includes,
Open loop computing unit 301a, for by the actual output voltage value Van1As open loop given voltage value, to obtain Stabling current ia′。
Wherein, by calculating open loop given voltage value, so as to obtain stabling current ia' stabilization and precision can be obtained Compare high phase voltage and the value of phase current, can be according to pre- in the watt level of the motor in not knowing servo-drive system If the generation of over-current phenomenon avoidance is avoided corresponding to Rule difference predetermined period during the compensation time.
Updating block 301b, for by the actual output voltage value Van1Corresponding target DC quantity iaIt is updated to stabilization Electric current ia′。
Wherein, now stabling current ia' the actual output voltage value V new as one can be updatedan1Corresponding mesh Mark DC quantity ia, that is, the dead area compensation amount T that is calculatedcomOriginal formulation reality corresponding to electric current be stabling current ia′。
It is K that the processing unit 202, which is additionally operable to when frequency carries,2When, in a wherein phase inverter circuit for the three-phase inverter The middle N number of target DC quantity i of injectiona, and obtain each target DC quantity iaCorresponding actual output voltage value Van2Exported with ideal Magnitude of voltage Van2*, carried so that frequency is calculated as K2When each target DC quantity iaCorresponding dead area compensation amount Tcom2.Wherein, because Electric current iaMeasurement point when compensating that the time is relatively fixed when larger, therefore taking predetermined current larger, can be with the pre-set current value Determine the compensation time corresponding to two different predetermined periods.
As shown in fig. 7, be used as preferably, in the processing unit 202,
The closed loop computing unit 301, it is K to be additionally operable to when frequency carries2When, the wherein phase inversion to the three-phase inverter The N number of target DC quantity i injected in circuitaClosed loop calculating is done respectively, to obtain each target DC quantity iaCorresponding reality output Magnitude of voltage Van2。
Wherein it is possible to pass through the Injection Current i in the wherein phase inverter circuit to the three-phase inverteraMake closed loop meter Calculate, such as the inverter circuit corresponds to A phase inverter circuits, Injection Current i hereinaIt is that outside MCU controllers control carries The electric current of confession.By to Injection Current iaDo closed loop and calculate the actual output voltage that can obtain corresponding A phases inverter circuit Value Van2。
Meanwhile wherein N is the integer more than or equal to 10, certainly according to actual conditions or less than 10 and more than 2 Integer.That is, when carrier frequency is K2, a wherein phase inverter circuit for the three-phase inverter can be injected separately into N number of Different target DC quantity ia, so as to obtain each target DC quantity iaCorresponding dead area compensation amount Tcom.Similarly, can also be to B Phase inverter circuit and C phase inverter circuits do above-mentioned processing.
The first processing subelement 302, it is additionally operable to the resistance of the three-phase inverter and each injection DC quantity ia It is multiplied to obtain corresponding desired output voltage value V respectivelyan2*。
Wherein, the resistance of the three-phase inverter can be obtained by self study.Certainly, as preferred embodiment, go back Using the slope that straight line is done in 2 points of end and determines straight line to obtain a resistance value, it can be led to according to the relation of electric current and voltage The product of calculating current and resistance value is crossed, a theoretical magnitude of voltage can be obtained, that is, obtain desired output voltage value.
The second processing subelement 303, it is additionally operable to the actual output voltage value Van2With the desired output voltage Value Van2* it is converted into corresponding pulse width.
Wherein it is possible to by the actual output voltage value Van2Corresponding pulse width is converted to, also can be defeated by the ideal Go out magnitude of voltage Van2* corresponding pulse width is converted to.
The 3rd processing subelement 304, is additionally operable to subtract each other to obtain dead area compensation by corresponding two pulse widths Measure Tcom2。
Specifically, by the actual output voltage value Van2Corresponding pulse width and the desired output voltage value Van2* Corresponding pulse width, which is subtracted each other, can obtain and the injection DC quantity iaCorresponding dead area compensation amount Tcom2。
In addition, as preferred embodiment, in the processing unit 202,
The open loop computing unit 301a, it is additionally operable to the actual output voltage value Van2As open loop given voltage value, To obtain stabling current ia″。
Wherein, by calculating open loop given voltage value, so as to obtain stabling current ia" stabilization and precision can be obtained Compare high phase voltage and the value of phase current, can be according to pre- in the watt level of the motor in not knowing servo-drive system If the generation of over-current phenomenon avoidance is avoided corresponding to Rule difference predetermined period during the compensation time.
The updating block 301b, it is additionally operable to the actual output voltage value Van2Corresponding target DC quantity iaRenewal For stabling current ia″。
Wherein, now stabling current ia" the actual output voltage value V new as one can be updatedan2Corresponding mesh Mark DC quantity ia, that is, the dead area compensation amount T that is calculatedcomOriginal formulation reality corresponding to electric current be stabling current ia″。
Determining unit 204, for carrying K according to frequency1, frequency carry K2, each target DC quantity iaIt is K to be carried in frequency1When it is dead accordingly Area compensation rate Tcom1And each target DC quantity iaIt is K to be carried in frequency2When corresponding dead area compensation amount Tcom2, determine described initial Coefficient a and coefficient b value in formula.
Wherein, K is carried according to known frequency1, frequency carry K2, each target DC quantity iaIt is K to be carried in frequency1When corresponding dead band mend The amount of repaying Tcom1And each target DC quantity iaIt is K to be carried in frequency2When corresponding dead area compensation amount Tcom2Equation group can be listed, from And try to achieve coefficient a and coefficient b value.
Computing unit 102, when the frequency load K for the switching tube when the three-phase inverter is a determination value, according to described Each target DC quantity i is calculated in original formulationaCorresponding dead area compensation amount Tcom, wherein K=1/Ts。
Wherein, after the coefficient a in the original formulation and coefficient b is determined, as long as it is determination value that frequency, which carries K, you can with To each target DC quantity i nowaCorresponding dead area compensation amount Tcom。
Compensating unit 103, for according to the target DC quantity iaCorresponding dead area compensation amount TcomTo the three-phase inversion Device carries out dead area compensation.
Wherein it is determined that dead area compensation amount TcomAfter can to the three-phase inverter carry out dead area compensation, dead band now Compensation rate is the above-mentioned dead area compensation amount T determinedcom.The dead area compensation amount now obtained is more accurate, can reduce dead band The error of compensation rate, improve the low-speed performance of whole servo-drive system.
In summary, inventive embodiments of the present invention can be determined in different target DC quantity iaIn the case of it is corresponding dead The original formulation of area's compensation rate, dead area compensation amount of each electric current under conditions of different frequencies load can be so obtained, so as to right The pwm pulse signal that switching tube in three-phase inverter receives accurately is compensated, certain DC bus-bar voltage therein VdcAnd dead time TdIt can be set accordingly according to actual conditions.
The embodiment of the present invention is mainly used in servo field, to improve the low-speed performance of servo-drive system.Pass through different size Current value measurement obtain dead area compensation curve, preferably compensate for the dead time effect for meeting IGBT non-linear behaviors, can obtain To more accurately dead area compensation amount, so as to further improve dead time effect, reduce the torque pulsation under servo-drive system low speed, carry The low-speed performance of high system.
It is a kind of schematic block diagram for system that another embodiment of the present invention provides referring to Fig. 8.The present embodiment as depicted In system 800 can include：Processor 801, input equipment 802, output equipment 803 and memory 804.The processor 801st, input equipment 802, output equipment 803 and memory 804 are connected with each other.Wherein, the memory 802 is used for application program Code, processor 801 are used to run the application code, to perform respectively in N number of target DC quantity iaWhen obtain dead band Compensation rate TcomOriginal formulation coefficient a and coefficient b, the original formulation be
Tcom=a+b*Ts
Wherein, N is more than or equal to 10 integer, TsFor the carrier cycle of the switching tube of the three-phase inverter；When described When the frequency load K of the switching tube of three-phase inverter is a determination value, each target DC quantity is calculated according to the original formulation iaCorresponding dead area compensation amount Tcom, K=1/Ts；According to the target DC quantity iaCorresponding dead area compensation amount TcomTo described three Phase inverter carries out dead area compensation.
It is respectively that the three-phase inverter sets two different frequencies load K that the processor, which is additionally operable to perform, one of them It is K that frequency, which carries,1, it is K that another frequency, which carries,2；
It is K when frequency carries1When, inject N number of target DC quantity i in a wherein phase inverter circuit for the three-phase invertera, And obtain each target DC quantity iaCorresponding actual output voltage value Van1With desired output voltage value Van1*, to be calculated It is K that frequency, which carries,1When each target DC quantity iaCorresponding dead area compensation amount Tcom1；
It is K when frequency carries2When, inject N number of target DC quantity i in a wherein phase inverter circuit for the three-phase invertera, And obtain each target DC quantity iaCorresponding actual output voltage value Van2With desired output voltage value Van2*, to be calculated It is K that frequency, which carries,2When each target DC quantity iaCorresponding dead area compensation amount Tcom2；
K is carried according to frequency1, frequency carry K2, each target DC quantity iaIt is K to be carried in frequency1When corresponding dead area compensation amount Tcom1And Each target DC quantity iaIt is K to be carried in frequency2When corresponding dead area compensation amount Tcom2, determine coefficient a and coefficient in the original formulation B value.
The processor is K also particularly useful for performing when frequency carries1When, the wherein contrary power transformation to the three-phase inverter The N number of target DC quantity i injected in roadaClosed loop calculating is done respectively, to obtain each target DC quantity iaCorresponding reality output Magnitude of voltage Van1；
By the resistance of the three-phase inverter and each injection DC quantity iaIt is multiplied to obtain corresponding preferable output respectively Magnitude of voltage Van1*；
By the actual output voltage value Van1With the desired output voltage value Van1* pulse corresponding to being converted into is wide Degree；
Corresponding two pulse widths are subtracted each other to obtain dead area compensation amount Tcom1。
The processor is additionally operable to perform the actual output voltage value Van1As open loop given voltage value, to obtain Stabling current ia′；
By the actual output voltage value Van1Corresponding target DC quantity iaIt is updated to stabling current ia′。
It should be appreciated that in embodiments of the present invention, alleged processor 801 can be CPU (Central Processing Unit, CPU), the processor can also be other general processors, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-Programmable GateArray, FPGA) or other FPGAs Device, discrete gate or transistor logic, discrete hardware components etc..General processor can be microprocessor or this at It can also be any conventional processor etc. to manage device.
Input equipment 802 can include Trackpad, fingerprint adopt sensor (finger print information that is used to gathering user and fingerprint Directional information), microphone etc., output equipment 803 can include display (LCD etc.), loudspeaker etc..
The memory 804 can include read-only storage and random access memory, and to processor 801 provide instruction and Data.The a part of of memory 804 can also include nonvolatile RAM.For example, memory 804 can also be deposited Store up the information of device type.
In the specific implementation, processor 801, input equipment 802, the output equipment 803 described in the embodiment of the present invention can The implementation described in the embodiment of the method for servo dead area compensation provided in an embodiment of the present invention is performed, also can perform this The implementation of device described by inventive embodiments, will not be repeated here.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also It is that unit is individually physically present or two or more units are integrated in a unit.It is above-mentioned integrated Unit can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use When, it can be stored in a computer-readable recording medium.Based on such understanding, technical scheme substantially or Person says the part to be contributed to prior art, or the technical scheme all or part can in the form of software product body Reveal and, the computer software product is stored in a storage medium, including some instructions are causing a computer to set Standby (can be personal computer, server, or network equipment etc.) performs the whole of each embodiment methods described of the present invention Or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), magnetic disc or CD etc. are various can store journey The medium of sequence code.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any Those familiar with the art the invention discloses technical scope in, various equivalent modifications can be readily occurred in or replaced Change, these modifications or substitutions should be all included within the scope of the present invention.Therefore, protection scope of the present invention should be with right It is required that protection domain be defined.

Claims (10)

  1. A kind of 1. servo dead-zone compensation method, it is characterised in that methods described is used for three-phase inverter, including,
    Respectively in N number of target DC quantity iaWhen obtain dead area compensation amount TcomOriginal formulation coefficient a and coefficient b, it is described initial Formula is
    Tcom=a+b*Ts
    Wherein, N is more than or equal to 10 integer, TsFor the carrier cycle of the switching tube of the three-phase inverter；
    When it is a determination value that the frequency of the switching tube of three-phase inverter, which carries K, each target is calculated according to the original formulation DC quantity iaCorresponding dead area compensation amount Tcom, wherein K=1/Ts；
    According to the target DC quantity iaCorresponding dead area compensation amount TcomDead area compensation is carried out to the three-phase inverter.
  2. 2. according to the method for claim 1, it is characterised in that described respectively in N number of target DC quantity iaWhen obtain dead band mend The amount of repaying TcomOriginal formulation coefficient a and coefficient b, including,
    Respectively described three-phase inverter sets two different frequencies and carries K, and it is K that one of frequency, which carries,1, it is K that another frequency, which carries,2；
    It is K when frequency carries1When, inject N number of target DC quantity i in a wherein phase inverter circuit for the three-phase invertera, and obtain Take each target DC quantity iaCorresponding actual output voltage value Van1With desired output voltage value Van1*, carried so that frequency is calculated For K1When each target DC quantity iaCorresponding dead area compensation amount Tcom1；
    It is K when frequency carries2When, inject N number of target DC quantity i in a wherein phase inverter circuit for the three-phase invertera, and obtain Take each target DC quantity iaCorresponding actual output voltage value Van2With desired output voltage value Van2*, carried so that frequency is calculated For K2When each target DC quantity iaCorresponding dead area compensation amount Tcom2；
    K is carried according to frequency1, frequency carry K2, each target DC quantity iaIt is K to be carried in frequency1When corresponding dead area compensation amount Tcom1It is and each Target DC quantity iaIt is K to be carried in frequency2When corresponding dead area compensation amount Tcom2, determine coefficient a and coefficient b in the original formulation Value.
  3. 3. according to the method for claim 2, it is characterised in that described when frequency load is K1When, in its of the three-phase inverter In inject N number of target DC quantity i in a phase inverter circuita, and obtain each target DC quantity iaCorresponding actual output voltage value Van1With desired output voltage value Van1*, carried so that frequency is calculated as K1When each target DC quantity iaCorresponding dead area compensation amount Tcom1, including,
    It is K when frequency carries1When, to the N number of target DC quantity i injected in a wherein phase inverter circuit for the three-phase inverteraRespectively Closed loop calculating is done, to obtain each target DC quantity iaCorresponding actual output voltage value Van1；
    By the resistance of the three-phase inverter and each injection DC quantity iaIt is multiplied to obtain corresponding desired output voltage value respectively Van1*；
    By the actual output voltage value Van1With the desired output voltage value Van1* it is converted into corresponding pulse width；
    Corresponding two pulse widths are subtracted each other to obtain dead area compensation amount Tcom1。
  4. 4. according to the method for claim 3, it is characterised in that methods described also includes,
    By the actual output voltage value Van1As open loop given voltage value, to obtain stabling current ia′；
    By the actual output voltage value Van1Corresponding target DC quantity iaIt is updated to stabling current ia′。
  5. 5. according to the method for claim 1, it is characterised in that N number of target DC quantity iaValue be first-class difference Row, the tolerance of the arithmetic progression is IN/ N, wherein INFor rated current.
  6. A kind of 6. device, it is characterised in that described device includes,
    Acquiring unit, for respectively in N number of target DC quantity iaWhen obtain dead area compensation amount TcomOriginal formulation coefficient a and be Number b, the original formulation are
    Tcom=a+b*Ts
    Wherein, N is more than or equal to 10 integer, TsFor the carrier cycle of the switching tube of the three-phase inverter；
    Computing unit, when the frequency load K for the switching tube when three-phase inverter is a determination value, calculated according to the original formulation Obtain each target DC quantity iaCorresponding dead area compensation amount Tcom, wherein K=1/Ts；
    Compensating unit, for according to the target DC quantity iaCorresponding dead area compensation amount TcomThe three-phase inverter is carried out dead Area compensates.
  7. 7. device according to claim 6, it is characterised in that the acquiring unit includes,
    Setup unit, for being respectively that the three-phase inverter sets two different frequencies load K, it is K that one of frequency, which carries,1, it is another It is K that individual frequency, which carries,2；
    Processing unit, for being K when frequency carries1When, inject N number of target in a wherein phase inverter circuit for the three-phase inverter DC quantity ia, and obtain each target DC quantity iaCorresponding actual output voltage value Van1With desired output voltage value Van1*, with It is K that frequency, which is calculated, and carries1When each target DC quantity iaCorresponding dead area compensation amount Tcom1；
    Wherein, it is K that the processing unit, which is additionally operable to when frequency carries,2When, noted in a wherein phase inverter circuit for the three-phase inverter Enter N number of target DC quantity ia, and obtain each target DC quantity iaCorresponding actual output voltage value Van2And desired output voltage Value Van2*, carried so that frequency is calculated as K2When each target DC quantity iaCorresponding dead area compensation amount Tcom2；
    Determining unit, for carrying K according to frequency1, frequency carry K2, each target DC quantity iaIt is K to be carried in frequency1When corresponding dead area compensation amount Tcom1And each target DC quantity iaIt is K to be carried in frequency2When corresponding dead area compensation amount Tcom2, determine be in the original formulation Number a and coefficient b value.
  8. 8. device according to claim 7, it is characterised in that the processing unit includes,
    Closed loop computing unit, for being K when frequency carries1When, to the N injected in a wherein phase inverter circuit for the three-phase inverter Individual target DC quantity iaClosed loop calculating is done respectively, to obtain each target DC quantity iaCorresponding actual output voltage value Van1；
    First processing subelement, for the resistance of the three-phase inverter to be injected into DC quantity i with eachaIt is multiplied to obtain respectively Corresponding desired output voltage value Van1*；
    Second processing subelement, for by the actual output voltage value Van1With the desired output voltage value Van1* change For pulse width corresponding to magnitude of voltage；
    3rd processing subelement, for subtracting each other to obtain dead area compensation amount T corresponding two pulse widthscom1。
  9. 9. device according to claim 8, it is characterised in that the processing unit also includes,
    Open loop computing unit, for by the actual output voltage value Van1As open loop given voltage value, to obtain stabling current ia′；
    Updating block, for by the actual output voltage value Van1Corresponding target DC quantity iaIt is updated to stabling current ia′。
  10. 10. a kind of system, it is characterised in that the processor, defeated including processor, input equipment, output equipment and memory Enter equipment, output equipment and memory to be connected with each other, wherein, the memory is used to store application code, the processing Device is used to run the application code, to perform the method as described in claim any one of 1-5.
CN201710780516.6A 2017-09-01 2017-09-01 A kind of servo dead-zone compensation method, apparatus and system Active CN107453639B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710780516.6A CN107453639B (en) 2017-09-01 2017-09-01 A kind of servo dead-zone compensation method, apparatus and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710780516.6A CN107453639B (en) 2017-09-01 2017-09-01 A kind of servo dead-zone compensation method, apparatus and system

Publications (2)

Publication Number Publication Date
CN107453639A true CN107453639A (en) 2017-12-08
CN107453639B CN107453639B (en) 2019-05-24

Family

ID=60494461

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710780516.6A Active CN107453639B (en) 2017-09-01 2017-09-01 A kind of servo dead-zone compensation method, apparatus and system

Country Status (1)

Country Link
CN (1) CN107453639B (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109039049A (en) * 2018-07-27 2018-12-18 苏州伟创电气设备技术有限公司 A kind of frequency converter PWM dead-time detection method
CN109391199A (en) * 2018-09-30 2019-02-26 苏州汇川技术有限公司 Dead-zone compensation method, motor driver and computer readable storage medium
CN111221371A (en) * 2020-01-03 2020-06-02 深圳市汇川技术股份有限公司 Analog voltage output method, system, device, and computer-readable storage medium
CN113612381A (en) * 2021-07-21 2021-11-05 深圳数马电子技术有限公司 Dead zone compensation method, dead zone compensation device, motor driver and storage medium

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007143320A (en) * 2005-11-21 2007-06-07 Meidensha Corp Dead time compensation arrangement of invertor
CN101409507A (en) * 2008-08-05 2009-04-15 中南大学 Method and apparatus for compensating dead zone of two-stage matrix converter based on carrier modulation
US8901864B2 (en) * 2011-09-09 2014-12-02 Delta Electronics, Inc. Driver having dead-time compensation function
JP2015077061A (en) * 2013-10-11 2015-04-20 オムロン株式会社 Inverter device, power conditioner, power generation system, and control method of inverter device
CN104852621A (en) * 2015-03-30 2015-08-19 国网上海市电力公司 Switch driving method eliminating dead zone influence of neutral-point-clamped three-level topology switch
CN105142961A (en) * 2013-04-18 2015-12-09 丰田自动车株式会社 External power supply system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007143320A (en) * 2005-11-21 2007-06-07 Meidensha Corp Dead time compensation arrangement of invertor
CN101409507A (en) * 2008-08-05 2009-04-15 中南大学 Method and apparatus for compensating dead zone of two-stage matrix converter based on carrier modulation
US8901864B2 (en) * 2011-09-09 2014-12-02 Delta Electronics, Inc. Driver having dead-time compensation function
CN105142961A (en) * 2013-04-18 2015-12-09 丰田自动车株式会社 External power supply system
JP2015077061A (en) * 2013-10-11 2015-04-20 オムロン株式会社 Inverter device, power conditioner, power generation system, and control method of inverter device
CN104852621A (en) * 2015-03-30 2015-08-19 国网上海市电力公司 Switch driving method eliminating dead zone influence of neutral-point-clamped three-level topology switch

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
牛威昆等: "直驱式永磁同步电机伺服系统死区补偿方法", 《控制与应用技术》 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109039049A (en) * 2018-07-27 2018-12-18 苏州伟创电气设备技术有限公司 A kind of frequency converter PWM dead-time detection method
CN109391199A (en) * 2018-09-30 2019-02-26 苏州汇川技术有限公司 Dead-zone compensation method, motor driver and computer readable storage medium
CN109391199B (en) * 2018-09-30 2021-07-27 苏州汇川技术有限公司 Dead zone compensation method, motor driver and computer readable storage medium
CN111221371A (en) * 2020-01-03 2020-06-02 深圳市汇川技术股份有限公司 Analog voltage output method, system, device, and computer-readable storage medium
CN113612381A (en) * 2021-07-21 2021-11-05 深圳数马电子技术有限公司 Dead zone compensation method, dead zone compensation device, motor driver and storage medium

Also Published As

Publication number Publication date
CN107453639B (en) 2019-05-24

Similar Documents

Publication Publication Date Title
CN107453639A (en) A kind of servo dead-zone compensation method, apparatus and system
Zhao et al. Universal high-frequency-link characterization and practical fundamental-optimal strategy for dual-active-bridge DC-DC converter under PWM plus phase-shift control
Majumder et al. A unified Smith predictor approach for power system damping control design using remote signals
Lehn Exact modeling of the voltage source converter
CN106849645A (en) A kind of charging circuit, method and electronic installation
US20160299554A1 (en) Single capacitor multi-phase three-level buck voltage regulator
CN107809113A (en) Complementary sliding-mode surface inverting Adaptive radial basis function neural network Design of Observer method
Kalla et al. Improved power quality charging scheme for heavy‐duty vehicle battery swapping stations
Liu et al. Control and implementation of converter based ac transmission line emulation
Babu Battery energy integrated active power filter for harmonic compensation and active power injection
CN103887798B (en) The inverting overall situation fast terminal sliding-mode control of Active Power Filter-APF
Fei et al. A novel sliding mode control technique for indirect current controlled active power filter
CN102723714B (en) Control method for three-phase three-wire active filtering apparatus
Sun et al. New Lyapunov function for transient stability analysis and control of power systems with excitation control
George et al. A novel, DSP based algorithm for optimizing the harmonics and reactive power under non-sinusoidal supply voltage conditions
Gao et al. Accuracy enhancement of shifted frequency-based simulation using root matching and embedded small-step
Narongrit et al. Adaptive fuzzy control for shunt active power filters
CN117150792A (en) Electromagnetic transient simulation method, system, equipment and medium for VSC converter
kwon Park et al. Hardware in the loop (HILS) testing of a power electronics controller with RTDS
CN107294370A (en) Control method, device and equipment of PFC circuit and storage medium
Xiao et al. An improved precise power control of voltage sensorless-MPC for PWM rectifiers
CN103414193A (en) Global sliding mode variable structure control method applied to active power filter
CN105024541A (en) Prediction current control method for low-harmonic high-power-factor single-phase rectification circuit
Suja et al. Fuzzy based unified power quality conditioner for power quality improvement
Du et al. Dynamic event‐triggered model predictive control of Vienna rectifiers in DC charging system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant