CN107453666A - Dead-zone compensation method, motor driver and the storage medium of motor driver - Google Patents
Dead-zone compensation method, motor driver and the storage medium of motor driver Download PDFInfo
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- CN107453666A CN107453666A CN201710646008.9A CN201710646008A CN107453666A CN 107453666 A CN107453666 A CN 107453666A CN 201710646008 A CN201710646008 A CN 201710646008A CN 107453666 A CN107453666 A CN 107453666A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
Abstract
The invention discloses a kind of dead-zone compensation method of motor driver, motor driver and storage medium.Current temperature value of the invention by obtaining motor, the current delay time difference according to corresponding to determining the current temperature value, preferable dead area compensation voltage is modified according to the current delay time difference, no longer using delay time difference as a fixed value, but the switch time delay difference according to determined by current temperature value is modified to preferable dead area compensation voltage, make output voltage closer with theoretical value, improve motor control precision.
Description
Technical field
The present invention relates to motor control technology field, more particularly to a kind of dead-zone compensation method of motor driver, motor
Driver and storage medium.
Background technology
In Motor Control Field, in order to avoid the switching tube up and down of the same bridge arm of inverter is led directly to, opened up and down each time
During closing the pipe change of current, the time for artificially setting about one section switching tube not open is required for, this period is exactly anti-
The dead time that only switching tube is led directly to up and down.
Because the setting of dead time can cause the duty-cycle loss of inverter output voltage so that actual output voltage is low
In theoretical value, cause output voltage waveforms to distort, and then influence the precision of motor control, therefore, how to compensate dead-time problem pair
The influence of output voltage is the focus that scholars study in recent years.In essence, existing numerous dead-zone compensation methods can divide
For two major classes：The first kind is compensated for preferable dead time, the second class be consider switching device non-linear factor after it is right
Preferable dead area compensation voltage is modified.At present, preferable dead-time problem has been obtained for perfectly solving, however, actually should
In, due to the diversity and complexity of switching device non-linear factor, to the compensation problem of the non-linear factor of switching device,
Very not perfect solution.
In the non-linear factor of switching device, the delay of opening of switch tube voltage drop, switching tube is driven with shut-off delay, gate pole
The delay of dynamic circuit is the principal element for causing output voltage duty-cycle loss and output voltage to distort.Wherein, tube voltage drop is switched
The amplitude that this factor directly results in output voltage pulse is less than theoretical value, and the delay factor in switching process directly results in output
The width of voltage pulse is more than theoretical value.Only the pulse amplitude error of output voltage, pulse-length error are all compensated very
Accurately, accurate motor control could be realized.
However, prior art is when carrying out dead area compensation, typically by delay time it is poor (i.e. switching tube open delay with
Turn off the difference of delay) fixed value is used as, and delay time difference is understood variation with temperature and changed, and causes dead area compensation not smart
Really, motor control precision is influenceed.
The above is only used for auxiliary and understands technical scheme, does not represent and recognizes that the above is existing skill
Art.
The content of the invention
It is a primary object of the present invention to provide a kind of dead-zone compensation method of motor driver, motor driver and storage
Medium, it is intended to which dead area compensation is inaccurate in the prior art for solution, influences the technical problem of motor control precision.
To achieve the above object, the present invention provides a kind of dead-zone compensation method of motor driver, methods described include with
Lower step：
Obtain the current temperature value of motor；
The current delay time difference according to corresponding to determining the current temperature value；
Preferable dead area compensation voltage is modified according to the current delay time difference.
Preferably, the current delay time difference according to corresponding to determining the current temperature value, specifically include：
The current delay time difference according to corresponding to the current temperature value using mapping relations determination, the mapping relations are
Delay time difference and the corresponding relation of temperature value.
Preferably, it is described according to the current temperature value using mapping relations determine corresponding to the current delay time difference it
Before, methods described also includes：, specifically include：
The linear zone that mapping curve concentrates each mapping curve is searched, the mapping curve collection includes reflecting under different temperatures value
Curve is penetrated, the mapping curve is reflection delay time difference and the curve of current value corresponding relation；
Concentrated in the mapping curve and a pre-set current value is determined in the linear zone of each mapping curve, it is bent from the mapping
It is poor that line collection searches the delay time that each mapping curve corresponds to pre-set current value；
It is associated according to the delay time difference found temperature value not corresponding with its affiliated mapping curve, to be formed
The mapping relations.
Preferably, current delay time difference, the tool according to corresponding to the current temperature value using mapping relations determination
Body includes：
Two reference points are chosen from the mapping relations, obtain the reference temperature value of each reference point and with reference to delay time
Difference, when according to the current temperature value, the reference temperature value of each reference point and determining the current delay with reference to delay time difference
Between it is poor.
Preferably, according to the current temperature value, the reference temperature value of each reference point and with reference to delay time difference under
Formula determines the current delay time difference,
Wherein, T is current temperature value, Δ tdelay(T) it is the current delay time difference, (i0,T1) it is reference temperature value T1It is corresponding
Reference delay time it is poor, t (i0,T2) it is reference temperature value T2It is corresponding poor with reference to delay time, i0For pre-set current value.
Preferably, the linear zone searched mapping curve and concentrate each mapping curve, is specifically included：
The tangent slope that mapping curve concentrates every on each mapping curve is obtained respectively, is determined according to the tangent slope each
The linear zone of mapping curve.
Preferably, it is described that the linear zone is determined according to the tangent slope, specifically include：
Tangent slope is equal to the point of default slope as cut-point；
The mapping curve is split according to the cut-point, obtains at least two cut sections；
Judge that each cut section is more than the point of default slope with the presence or absence of tangent slope, will not have tangent slope more than default
The cut section of the point of slope is as the linear zone.
Preferably, the motor is three-phase variable frequency motor；
Correspondingly, preferable dead area compensation voltage is modified by following formula according to the current delay time difference,
Wherein, iaFor the present current value of a phases, ibFor the current electricity of b phases
Flow valuve, icFor the present current value of c phases, Δ tdelay(T) it is current delay time difference, t corresponding to current temperature value TsTo be described
The switch periods of three-phase variable frequency motor, VdcFor DC bus-bar voltage, vdFor preferable dead area compensation voltage, vAN_compTo be revised
A phase dead area compensation voltages, vBN_compFor revised b phases dead area compensation voltage, vCN_compFor revised c phases dead area compensation electricity
Pressure.
In addition, to achieve the above object, the present invention also provides a kind of motor driver, and the motor driver includes：Deposit
Reservoir, processor and it is stored in the dead area compensation program that can be run on the memory and on the processor, the dead band
Compensation program is arranged for carrying out the step of described dead-zone compensation method.
In addition, to achieve the above object, the present invention also provides a kind of computer-readable recording medium, described computer-readable
Dead area compensation program is stored with storage medium, described dead area compensation is realized when the dead area compensation program is executed by processor
The step of method.
Current temperature value of the invention by obtaining motor, according to corresponding to determining the current temperature value during current delay
Between it is poor, preferable dead area compensation voltage is modified according to the current delay time difference, no longer using delay time difference as one
Individual fixed value, but the switch time delay difference according to determined by current temperature value is modified to preferable dead area compensation voltage, is made
Output voltage is closer with theoretical value, improves motor control precision.
Brief description of the drawings
Fig. 1 is the motor driver structural representation for the hardware running environment that scheme of the embodiment of the present invention is related to；
Fig. 2 is the schematic flow sheet of the dead-zone compensation method first embodiment of motor driver of the present invention；
Fig. 3 is the schematic flow sheet of the dead-zone compensation method second embodiment of motor driver of the present invention；
Fig. 4 is the schematic flow sheet of the dead-zone compensation method 3rd embodiment of motor driver of the present invention；
Fig. 5 is delay time difference in the embodiment of the present invention with electric current, the rule schematic diagram of temperature change；
Fig. 6 is the schematic diagram of revised a phases dead area compensation voltage in the embodiment of the present invention.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Reference picture 1, Fig. 1 are the motor driver structural representation for the hardware running environment that scheme of the embodiment of the present invention is related to
Figure.
As shown in figure 1, the motor driver can include：Processor 1001, such as CPU, communication bus 1002, Yong Hujie
Mouth 1003, memory 1004.Wherein, communication bus 1002 is used to realize the connection communication between these components.User interface
1003 can include display screen (Display), input block such as keyboard (Keyboard), and optional user interface 1003 can be with
Wireline interface, wave point including standard.Memory 1004 can be high-speed RAM memory or stable storage
Device (non-volatile memory), such as magnetic disk storage.Memory 1004 optionally can also be independently of aforementioned processing
The storage device of device 1001.
It will be understood by those skilled in the art that the motor driver structure shown in Fig. 1 is not formed to motor driver
Restriction, can include than illustrating more or less parts, either combine some parts or different parts arrangement.
As shown in figure 1, as in a kind of memory 1004 of computer-readable storage medium can include operating system, Yong Hujie
Mouth mold block and dead area compensation program.
In the motor driver shown in Fig. 1, the motor driver is called in memory 1004 by processor 1001
The dead area compensation program of storage, and perform following operate：
Obtain the current temperature value of motor；
The current delay time difference according to corresponding to determining the current temperature value；
Preferable dead area compensation voltage is modified according to the current delay time difference.
Further, processor 1001 can call the dead area compensation program stored in memory 1004, also perform following
Operation：
The current delay time difference according to corresponding to the current temperature value using mapping relations determination, the mapping relations are
Delay time difference and the corresponding relation of temperature value.
Further, processor 1001 can call the dead area compensation program stored in memory 1004, also perform following
Operation：
The linear zone that mapping curve concentrates each mapping curve is searched, the mapping curve collection includes reflecting under different temperatures value
Curve is penetrated, the mapping curve is reflection delay time difference and the curve of current value corresponding relation；
Concentrated in the mapping curve and a pre-set current value is determined in the linear zone of each mapping curve, it is bent from the mapping
It is poor that line collection searches the delay time that each mapping curve corresponds to pre-set current value；
It is associated according to the delay time difference found temperature value not corresponding with its affiliated mapping curve, to be formed
The mapping relations.
Further, processor 1001 can call the dead area compensation program stored in memory 1004, also perform following
Operation：
Two reference points are chosen from the mapping relations, obtain the reference temperature value of each reference point and with reference to delay time
Difference, when according to the current temperature value, the reference temperature value of each reference point and determining the current delay with reference to delay time difference
Between it is poor.
Further, processor 1001 can call the dead area compensation program stored in memory 1004, also perform following
Operation：
Institute is determined by following formula according to the current temperature value, the reference temperature value of each reference point and with reference to delay time difference
The current delay time difference is stated,
Wherein, T is current temperature value, Δ tdelay(T) it is the current delay time difference, (i0,T1) it is reference temperature value T1It is corresponding
Reference delay time it is poor, t (i0,T2) it is reference temperature value T2It is corresponding poor with reference to delay time, i0For pre-set current value.
Further, processor 1001 can call the dead area compensation program stored in memory 1004, also perform following
Operation：
The tangent slope that mapping curve concentrates every on each mapping curve is obtained respectively, is determined according to the tangent slope each
The linear zone of mapping curve.
Further, processor 1001 can call the dead area compensation program stored in memory 1004, also perform following
Operation：
Tangent slope is equal to the point of default slope as cut-point；
The mapping curve is split according to the cut-point, obtains at least two cut sections；
Judge that each cut section is more than the point of default slope with the presence or absence of tangent slope, will not have tangent slope more than default
The cut section of the point of slope is as the linear zone.
Further, the motor is three-phase variable frequency motor, and processor 1001 can call what is stored in memory 1004
Dead area compensation program, also perform following operate：
Preferable dead area compensation voltage is modified by following formula according to the current delay time difference,
Wherein, iaFor the present current value of a phases, ibFor the current electricity of b phases
Flow valuve, icFor the present current value of c phases, Δ tdelay(T) it is current delay time difference, t corresponding to current temperature value TsTo be described
The switch periods of three-phase variable frequency motor, VdcFor DC bus-bar voltage, vdFor preferable dead area compensation voltage, vAN_compTo be revised
A phase dead area compensation voltages, vBN_compFor revised b phases dead area compensation voltage, vCN_compFor revised c phases dead area compensation electricity
Pressure.
The present embodiment, by obtaining the current temperature value of motor, is determined by such scheme according to the current temperature value
The corresponding current delay time difference, preferable dead area compensation voltage is modified according to the current delay time difference, no longer will
Delay time difference is used as a fixed value, but switch time delay difference is come to preferable dead area compensation according to determined by current temperature value
Voltage is modified, and makes output voltage closer with theoretical value, improves motor control precision.
Based on above-mentioned hardware configuration, the dead-zone compensation method embodiment of motor driver of the present invention is proposed.
Reference picture 2, Fig. 2 are the schematic flow sheet of the dead-zone compensation method first embodiment of motor driver of the present invention.
In the first embodiment, the dead-zone compensation method of the motor driver comprises the following steps：
S10：Obtain the current temperature value of motor；
It should be noted that the current temperature value is the temperature of motor inverter bridge arm upper switch pipe described in current time
Angle value.
It will be appreciated that the current temperature value can be obtained using various ways, such as：Can using temperature sensor come
The current value is obtained, the current temperature value can be also obtained using infrared radiation thermometer, the present embodiment is not any limitation as to this.
S20：The current delay time difference according to corresponding to determining the current temperature value；
In the specific implementation, because delay time difference understands variation with temperature and changes, therefore, can be worked as according to described
Preceding temperature value is come the current delay time difference corresponding to determining.
It should be noted that delay time difference is shut-off delay time and the difference for opening delay time, calculation formula
Δ t can be useddelay=tturn_off_delay-tturn_on_delay, wherein, Δ tdelayIt is poor for delay time, tturn_off_delayFor shut-off
Delay time, tturn_on_delayTo open delay time.
S30：Preferable dead area compensation voltage is modified according to the current delay time difference.
It should be noted that after preferable dead area compensation voltage is as compensated using preferable dead time in the prior art
Voltage, but because it does not consider switching device non-linear factor, dead area compensation can be caused inaccurate, influence motor control essence
Degree.
The present embodiment is by obtaining the current temperature value of motor, the current delay according to corresponding to determining the current temperature value
Time difference, preferable dead area compensation voltage is modified according to the current delay time difference, no longer using delay time difference as
One fixed value, but the switch time delay difference according to determined by current temperature value is modified to preferable dead area compensation voltage,
Make output voltage closer with theoretical value, improve motor control precision.
Further, as shown in figure 3, proposing the dead-zone compensation method the of motor driver of the present invention based on first embodiment
Two embodiments.
In the present embodiment, step S20 is specifically included：
S20’：The current delay time difference according to corresponding to the current temperature value using mapping relations determination, the mapping
Relation is delay time difference and the corresponding relation of temperature value.
It should be noted that for ease of the current delay time difference corresponding to determination, in the present embodiment, mapping can be pre-established
Relation, the mapping relations are delay time difference and the corresponding relation of temperature value, and therefore, the present embodiment can be according to the current temperature
Angle value is using the current delay time difference corresponding to mapping relations determination.
To obtain the mapping relations, in the present embodiment, test of many times test can be carried out, so as to obtain mapping relations collection,
The mapping curve collection includes the mapping curve under different temperatures value, and the mapping curve is reflection delay time difference and current value
The curve of corresponding relation, due to having the faster inelastic region of amplitude of variation in mapping curve, determined according to inelastic region
The mapping relations, the current delay time difference that can cause to obtain can not ensure precision, so, in the present embodiment, it can search and reflect
Penetrate the linear zone of each mapping curve in curve set；Concentrated in the mapping curve and one is determined in the linear zone of each mapping curve in advance
If current value (it will be appreciated that the pre-set current value can be configured as needed, certainly, can also use what is randomly selected
Mode, the present embodiment are not any limitation as to this), search each mapping curve from the mapping curve collection and correspond to prolonging for pre-set current value
When the time difference；It is associated according to the delay time difference found temperature value not corresponding with its affiliated mapping curve, with shape
Into the mapping relations.
It should be noted that because the amplitude of variation of the linear zone is generally relatively slow, so, its tangent slope generally compared with
It is small, for ease of searching the linear zone that the mapping curve concentrates each mapping curve, in the present embodiment, the mapping can be obtained respectively
The tangent slope of every on each mapping curve in curve set, the linear zone of each mapping curve is determined according to the tangent slope.
Quickly searched to be realized to the linear zone, can be to the mapping curve of mapping curve concentration in the present embodiment
Traveled through, tangent slope in the current mapping curve traversed is equal to the point of default slope as cut-point；Described it will work as
Preceding mapping curve is split according to the cut-point, obtains at least two cut sections；Judge that each cut section whether there is tangent line
Slope is more than the point of default slope, tangent slope will be present and is more than the cut section for the point for presetting slope as the current mapping
The linear zone of curve.
Further, as shown in figure 4, proposing the dead-zone compensation method the of motor driver of the present invention based on second embodiment
Three embodiments.
In the present embodiment, step S20 is specifically included：
S20”：Two reference points are chosen from the mapping relations, the reference temperature value and reference for obtaining each reference point are prolonged
When the time difference, determined according to the current temperature value, the reference temperature value of each reference point and with reference to delay time difference described current
Delay time is poor.
Certainly, in the specific implementation, current delay corresponding with current temperature value can be searched in the mapping relations
Time difference, but limited in view of the temperature value in the mapping relations, it is understood that there may be searched in mapping relations less than with current temperature
The situation of current delay time difference corresponding to angle value, therefore, in the present embodiment, two references can be chosen from the mapping relations
Point, when according to the current temperature value, the reference temperature value of each reference point and determining the current delay with reference to delay time difference
Between it is poor.
According to experimental results can the computation delay time difference, it can be seen from result of calculation, delay time difference is with electric current, temperature
Shown in solid in the rule such as Fig. 5 of degree change, the abscissa in figure is current value, and ordinate is that delay time is poor.According in Fig. 5
Rule, calculated to simplify, the influence of curent change can be ignored, only consider the influence of temperature change.Blocked portion in Fig. 5
The linear zone of as described mapping curve, therefore, a pre-set current value i can be chosen in the linear zone0, so as to establish
State mapping relations.
Correspondingly, can be according to the current temperature value, the reference temperature value of each reference point and with reference to delay in the present embodiment
Time difference determines the current delay time difference by following formula,
Wherein, T is current temperature value, Δ tdelay(T) it is the current delay time difference, (i0,T1) it is reference temperature value T1It is corresponding
Reference delay time it is poor, t (i0,T2) it is reference temperature value T2It is corresponding poor with reference to delay time, i0For pre-set current value.
It should be noted that the dotted line in Fig. 5 is to calculate acquisition respectively to each temperature value in square frame according to above-mentioned formula
Delay time it is poor, it will be understood that, the current temperature value need to be also required to be in the linear zone can just use it is above-mentioned
Formula accurately calculates the current delay time difference, if current temperature value is not in linear zone, needs using other modes come really
Settled preceding delay time is poor, such as：Determined by directly carrying out the modes such as corresponding lookup from the mapping curve, certainly,
Other modes can be also used, the present embodiment is not any limitation as to this.
It will be appreciated that the motor can be two-phase variable-frequency motor, three-phase variable frequency motor or four phase inverter motors etc., this
In embodiment so that the motor is three-phase variable frequency motor as an example, but do not limit protection scope of the present invention.
In the present embodiment, because the motor is three-phase variable frequency motor, and the frequency converter of three-phase variable frequency motor is each mutually equal
There can be bridge arm, each bridge arm has upper switch pipe and lower switch pipe respectively, so, for the bridge arm in each phase, have respectively
There is current temperature value (because region residing for the bridge arm in each phase is closer to, so current temperature value is generally identical), therefore, respectively
The current delay time difference corresponding to above-mentioned formula calculating can be respectively adopted in the present current value of phase according to the current temperature value of each phase,
So preferable dead area compensation voltage can be modified by following formula according to the current delay time difference,
Correspondingly, preferable dead area compensation voltage is modified by following formula according to the current delay time difference,
Wherein, iaFor the present current value of a phases, ibFor the current electricity of b phases
Flow valuve, icFor the present current value of c phases, Δ tdelay(T) it is current delay time difference, t corresponding to current temperature value TsTo be described
The switch periods of three-phase variable frequency motor, VdcFor DC bus-bar voltage, vdFor preferable dead area compensation voltage, vAN_compTo be revised
A phase dead area compensation voltages, vBN_compFor revised b phases dead area compensation voltage, vCN_compFor revised c phases dead area compensation electricity
Pressure.
It should be noted that above-mentioned Δ vAN_delay(ia,T)、ΔvBN_delay(ib, T) and Δ vCN_delay(ic, T) it is above-mentioned
Calculation formula can be based on voltagesecond product equal principle in a switch periods, and delay time error converting component amount voltage error is obtained
.
Preferable dead area compensation voltage is modified by above-mentioned formula in the present embodiment, improved in high temperature, high input
Control accuracy when voltage, low frequency, speed operation, in the present embodiment, revised a phases dead area compensation voltage can refer to Fig. 6.
In addition, the embodiment of the present invention also proposes a kind of computer-readable recording medium, the computer-readable recording medium
On be stored with dead area compensation program, following operation is realized when the dead area compensation program is executed by processor：
Obtain the current temperature value of motor；
The current delay time difference according to corresponding to determining the current temperature value；
Preferable dead area compensation voltage is modified according to the current delay time difference.
Further, following operation is also realized when the dead area compensation program is executed by processor：
The current delay time difference according to corresponding to the current temperature value using mapping relations determination, the mapping relations are
Delay time difference and the corresponding relation of temperature value.
Further, following operation is also realized when the dead area compensation program is executed by processor：
The linear zone that mapping curve concentrates each mapping curve is searched, the mapping curve collection includes reflecting under different temperatures value
Curve is penetrated, the mapping curve is reflection delay time difference and the curve of current value corresponding relation；
Concentrated in the mapping curve and a pre-set current value is determined in the linear zone of each mapping curve, it is bent from the mapping
It is poor that line collection searches the delay time that each mapping curve corresponds to pre-set current value；
It is associated according to the delay time difference found temperature value not corresponding with its affiliated mapping curve, to be formed
The mapping relations.
Further, following operation is also realized when the dead area compensation program is executed by processor：
Two reference points are chosen from the mapping relations, obtain the reference temperature value of each reference point and with reference to delay time
Difference, when according to the current temperature value, the reference temperature value of each reference point and determining the current delay with reference to delay time difference
Between it is poor.
Further, following operation is also realized when the dead area compensation program is executed by processor：
Institute is determined by following formula according to the current temperature value, the reference temperature value of each reference point and with reference to delay time difference
The current delay time difference is stated,
Wherein, T is current temperature value, Δ tdelay(T) it is the current delay time difference, (i0,T1) it is reference temperature value T1It is corresponding
Reference delay time it is poor, t (i0,T2) it is reference temperature value T2It is corresponding poor with reference to delay time, i0For pre-set current value.
Further, following operation is also realized when the dead area compensation program is executed by processor：
The tangent slope that mapping curve concentrates every on each mapping curve is obtained respectively, is determined according to the tangent slope each
The linear zone of mapping curve.
Further, following operation is also realized when the dead area compensation program is executed by processor：
Tangent slope is equal to the point of default slope as cut-point；
The mapping curve is split according to the cut-point, obtains at least two cut sections；
Judge that each cut section is more than the point of default slope with the presence or absence of tangent slope, will not have tangent slope more than default
The cut section of the point of slope is as the linear zone.
Further, the motor is three-phase variable frequency motor, and the dead area compensation program is also realized when being executed by processor
Following operation：
Preferable dead area compensation voltage is modified by following formula according to the current delay time difference,
Wherein, iaFor the present current value of a phases, ibFor the current electricity of b phases
Flow valuve, icFor the present current value of c phases, Δ tdelay(T) it is current delay time difference, t corresponding to current temperature value TsTo be described
The switch periods of three-phase variable frequency motor, VdcFor DC bus-bar voltage, vdFor preferable dead area compensation voltage, vAN_compTo be revised
A phase dead area compensation voltages, vBN_compFor revised b phases dead area compensation voltage, vCN_compFor revised c phases dead area compensation electricity
Pressure.
The present embodiment, by obtaining the current temperature value of motor, is determined by such scheme according to the current temperature value
The corresponding current delay time difference, preferable dead area compensation voltage is modified according to the current delay time difference, no longer will
Delay time difference is used as a fixed value, but switch time delay difference is come to preferable dead area compensation according to determined by current temperature value
Voltage is modified, and makes output voltage closer with theoretical value, improves motor control precision.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or system including a series of elements not only include those key elements, and
And also include the other element being not expressly set out, or also include for this process, method, article or system institute inherently
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this
Other identical element also be present in the process of key element, method, article or system.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme is substantially done to prior art in other words
Going out the part of contribution can be embodied in the form of software product, and the computer software product is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions to cause a station terminal equipment (can be mobile phone,
Computer, server, air conditioner, or network equipment etc.) perform method described in each embodiment of the present invention.
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of dead-zone compensation method of motor driver, it is characterised in that the described method comprises the following steps：
Obtain the current temperature value of motor；
The current delay time difference according to corresponding to determining the current temperature value；
Preferable dead area compensation voltage is modified according to the current delay time difference.
2. the method as described in claim 1, it is characterised in that described currently to prolong according to corresponding to determining the current temperature value
When the time difference, specifically include：
The current delay time difference according to corresponding to the current temperature value using mapping relations determination, the mapping relations are delay
Time difference and the corresponding relation of temperature value.
3. method as claimed in claim 2, it is characterised in that described to be determined according to the current temperature value using mapping relations
Before the corresponding current delay time difference, methods described also includes：
The linear zone that mapping curve concentrates each mapping curve is searched, the mapping that the mapping curve collection is included under different temperatures value is bent
Line, the mapping curve are reflection delay time difference and the curve of current value corresponding relation；
Concentrated in the mapping curve and a pre-set current value is determined in the linear zone of each mapping curve, from the mapping curve collection
Search each mapping curve correspond to pre-set current value delay time it is poor；
It is associated according to the delay time difference found temperature value not corresponding with its affiliated mapping curve, with described in formation
Mapping relations.
4. method as claimed in claim 3, it is characterised in that described to be determined according to the current temperature value using mapping relations
The corresponding current delay time difference, specifically include：
From the mapping relations choose two reference points, obtain each reference point reference temperature value and with reference to delay time it is poor,
The current delay time is determined according to the current temperature value, the reference temperature value of each reference point and with reference to delay time difference
Difference.
5. method as claimed in claim 4, it is characterised in that according to the current temperature value, the reference temperature of each reference point
Value and reference delay time difference determine the current delay time difference by following formula,
<mrow>
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Wherein, T is current temperature value, Δ tdelay(T) it is the current delay time difference, (i0,T1) it is reference temperature value T1Corresponding ginseng
It is poor to examine delay time, t (i0,T2) it is reference temperature value T2It is corresponding poor with reference to delay time, i0For pre-set current value.
6. method as claimed in claim 3, it is characterised in that the mapping curve of searching concentrates the linear of each mapping curve
Area, specifically include：
The tangent slope that mapping curve concentrates every on each mapping curve is obtained respectively, and each mapping is determined according to the tangent slope
The linear zone of curve.
7. method as claimed in claim 6, it is characterised in that described that the linear zone is determined according to the tangent slope, tool
Body includes：
Tangent slope is equal to the point of default slope as cut-point；
The mapping curve is split according to the cut-point, obtains at least two cut sections；
Judge that each cut section is more than the point of default slope with the presence or absence of tangent slope, will not have tangent slope and be more than default slope
Point cut section as the linear zone.
8. such as method according to any one of claims 1 to 7, it is characterised in that the motor is three-phase variable frequency motor；
Correspondingly, preferable dead area compensation voltage is modified by following formula according to the current delay time difference,
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Wherein, iaFor the present current value of a phases, ibFor the current electricity of b phases
Flow valuve, icFor the present current value of c phases, Δ tdelay(T) it is current delay time difference, t corresponding to current temperature value TsTo be described
The switch periods of three-phase variable frequency motor, VdcFor DC bus-bar voltage, vdFor preferable dead area compensation voltage, vAN_compTo be revised
A phase dead area compensation voltages, vBN_compFor revised b phases dead area compensation voltage, vCN_compFor revised c phases dead area compensation electricity
Pressure.
9. a kind of motor driver, it is characterised in that the motor driver includes：Memory, processor and it is stored in described
On memory and the dead area compensation program that can run on the processor, the dead area compensation program are arranged for carrying out such as right
It is required that the step of dead-zone compensation method any one of 1 to 8.
10. a kind of computer-readable recording medium, it is characterised in that dead band benefit is stored with the computer-readable recording medium
Program is repaid, the dead area compensation as any one of claim 1 to 8 is realized when the dead area compensation program is executed by processor
The step of method.
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| 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 |
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