CN108092532A - A kind of Inverter Dead-time compensation method based on PWM triggering end voltage samples - Google Patents
A kind of Inverter Dead-time compensation method based on PWM triggering end voltage samples Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/175—Indicating the instants of passage of current or voltage through a given value, e.g. passage through zero
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0006—Arrangements for supplying an adequate voltage to the control circuit of converters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0009—Devices or circuits for detecting current in a converter
Abstract
A kind of Inverter Dead-time compensation method based on PWM triggering end voltage samples, is related to inverter switching device strategy, includes the following steps：PWM module configures, and configures the comparand register of PWM1, PWM2, PWM3, PWM4, PWM5 and PWM6；Configure ADC module；Switch periods start read terminal voltage conversion value, resequence to ADC channel and reset sorting unit；The three-phase terminal voltage value obtained to sampling is filtered；Carry out the judgement of three-phase current polarity；Compensate time calculating；According to formulaCalculate offset voltage；Clarke conversion is carried out to three-phase compensation voltages, obtains the offset voltage under two-phase rest frame；The target voltage being added under two-phase rest frame be compensated after target voltage；Using this target voltage as input, space vector pulse width modulation strategy is performed, obtains next switch periods three-phase duty cycle.
Description
Technical field
The present invention relates to inverter switching device strategy, elaborate be one kind do not depend on current detecting, can be in current over-zero area
Between realize that accurate current polarity judges and the compensation time calculates, is at low cost, applied widely based on PWM triggering end voltage samples
Inverter Dead-time compensation method.
Background technology
It is known that in inverter space vector pulse width modulation strategy, dead zone is inserted into prevent the same phase of inverter
Dc-side short-circuit caused by the switching device of upper and lower bridge is led directly to, but inverter output voltage and current wave are also resulted in simultaneously
The distortion of shape considerably increases the harmonic content of output waveform.In the AC machine drive system using constant voltage constant frequency control,
The degree of fluctuation of torque and rotating speed when wave distortion caused by the insertion of dead zone can increase the operation of motor low speed, reduces load capacity.
In the AC machine drive system using vector controlled, it is low that inverter nonlinear characteristic caused by the insertion of dead zone can reduce motor
The stability of rotating speed control and the stationarity of torque output, the difference of virtual voltage and target voltage caused by dead zone during speed operation
The accuracy of the flux linkage estimation and Identification of parameter that rely on voltage can be reduced.With AC machine drive system application increasingly
Extensively, the energy loss caused by inverter output aberration problems and performance loss are of increasing concern, especially some high
Performance occasion, effective compensation is carried out to dead zone becomes the necessary means for improving motor performance.
Existing dead-zone compensation method can be divided into：Based on the method for voltage-second balance theory, error observation method, current harmonics
Filtration method and dead zone null method.
Error observation method estimates total voltage error by error observer, and this method needs the accurate parameter of electric machine,
Influenced by Parameters variation bigger, requirement of the parameter regulation to experience is also higher, and only possesses speed probe and extremely
The system of few two current sensors could should be in this way.
Current harmonics filtration method calculates compensation electricity by filtering out 6 primary current harmonic waves in dq synchronous rotating frames
Pressure.Although current harmonics filtration method does not depend on Current polarity detection and the parameter of electric machine, transient response and compensation precision are poor, and
And it can be only applied in the electric machine control system with electric current loop using vector controlled.
Dead zone null method detects current polarity by ancillary hardware circuit, and same phase bridge is then only turned on according to current polarity
A switching tube in arm, so It is not necessary to being inserted into dead zone.However, there is no consider switch time and pressure drop for this method.
Dead zone null method needs high-precision Current polarity detection, because the Current polarity detection of mistake can cause very serious voltage
Distortion.
The factor for causing inverter output distortion is divided into dead zone insertion, switch time by the method based on voltage-second balance theory
And pressure drop, including forward voltage drop and fly-wheel diode pressure drop.By off-line calibration or the model of switching device is established to realize
Line compensates, and this method quantifies influence of each factor to voltage distortion.Accurately detected during current zero-crossing point current polarity and really
Surely the compensation time is two key points of this method.
Existing Current polarity detection method mainly has：(1) current polarity directly is detected with current sensor, shortcoming is electricity
Electric current A/D conversions are influenced by null offset and noise than more serious when flowing through zero point；(2) electric current is filtered, shortcoming is
Larger phase delay can be caused, causes current over-zero section current detecting inaccurate；(3) using the hardware circuit detection of auxiliary
Current polarity, shortcoming are that required hardware circuit is more complicated, increase cost and reduce reliability, are difficult to apply in practice.It is existing
Some compensation time determines that method mainly has：(1) method of off-line calibration, shortcoming are to need to take a substantial amount of time, and method is led to
It is poor with property；(2) using ancillary hardware circuit on-line measurement terminal voltage duty cycle, terminal voltage edge is oblique when shortcoming is current zero-crossing point
Rate can change, and this hardware circuit can generate the measurement error of up to 1/4 dead time, and hardware cost is higher, real
It is difficult to apply in border；(3) switching device is modeled, shortcoming is that model depends on current detecting, so during current zero-crossing point
The precision of time calculating is compensated still than relatively low.It is accurate, this method that although the method based on voltage-second balance principle, which seems,
Need to solve the problems, such as that weak current measures under noise circumstance.
Consider dead zone, driving circuit delay, switch time and pressure drop, detailed voltage distortion analysis such as Fig. 1.In figure, just
Refer to electric current from inverter flow direction motor, T to electric currentdIt is dead time, TtonAnd TtoffIt is drive signal rising edge and decline
The transmission delay on edge, TdonIt is that conducting is delayed, TdoffIt is off being delayed, TrAnd TfBe respectively according to voltage-second balance principle obtain etc.
Imitate rise time and equivalent fall time, Δ TriseWith Δ TfallIt is total terminal voltage rising edge and trailing edge delay respectively, TsIt is
Time interval between the turn-on instant of the shut-off moment of upper bridge (lower bridge) switching tube reality and lower bridge (upper bridge) switching tube reality,
UDCIt is DC bus-bar voltage, UDIt is diode drop, UFIt is the forward voltage drop of IGBT, TPWMIt is switch periods, U*It is command voltage,
U*Scope be 0~UDC。
According to Fig. 1, the expression formula derivation of offset voltage is as follows：
Tc=Δ Trise-ΔTfall (2)
In formula：TcThe compensation time, i.e., the error between preferable terminal voltage duty cycle and actual terminal voltage duty cycle；
I is phase current,It is the command voltage redefined, scope is-UDC/ 2~UDC/2。
The content of the invention
Present invention aim to address above-mentioned the deficiencies in the prior art, overcome existing Inverter Dead-time compensation method in electric current
The shortcomings that zero passage section is difficult to realize accurate compensation provides one kind and does not depend on current detecting, can be realized in current over-zero section
Accurate current polarity judges and the calculating of compensation time, applied widely, the inexpensive inversion based on PWM triggering end voltage samples
Device dead-zone compensation method
Technical solution is used by the present invention solves the deficiencies in the prior art：
A kind of Inverter Dead-time compensation method based on PWM triggering end voltage samples, it is characterised in that include the following steps：
(1) PWM module configures, and the comparand register A of configuration PWM1, PWM2 and PWM3 generate inverter three-phase bridge arm switch
The drive signal of pipe configures the comparand register A and comparand register B of PWM4, PWM5 and PWM6 to trigger to three phase terminals electricity
The sampling of pressure, PWM4, PWM5 and PWM6 forbid exporting；
(2) ADC module is configured, 16 passages of ADC are arranged to cascade mode, it is enabled to start to turn from PWM module
It changes a-signal and starts to convert B signal, the triggering of each trigger source is set to convert number as 1；
(3) switch periods start read terminal voltage conversion value, ADC channel is resequenced and is answered according to table 1
Position sorting unit,
Table 1
U in table 1arAnd UafIt is the voltage sample twice near A phase terminal voltages rising edge and trailing edge respectively；UbrAnd Ubf
It is the voltage sample twice near B phase terminal voltages rising edge and trailing edge respectively；UcrAnd UcfIt is on C phase terminal voltages respectively
Rise the voltage sample twice near edge and trailing edge；
The above-mentioned voltage sample moment is specially：
Wherein：toffsetFor sampling instants offset value；TdFor dead time；TtonRising edge is prolonged for gate drive circuit
The slow time；TdonFor switching device open time delay；TfbkIt, should in isolated form inverter for the time delay of terminal voltage feedback circuit
Time can not ignore；
(4) the three-phase terminal voltage value obtained to sampling is filtered, and filtering algorithm step is as follows：
A, signal on the basis of the signal A that selection sampling obtains, if the value of reference signal becomes low level simultaneously from high level
And signal persistently keeps low level in the angle of α, and the phase angle θ of benchmark just is reset to α, θ is the phase angle of signal A；
B, if the edge of signal B and signal C are not appeared in the range of the phase angle of permission, then it is assumed that edge is to make an uproar
Sound；
C, signal on the basis of b steps treated signal B or signal C is selected, if the value of reference signal becomes from high level
The phase angle θ 1 of benchmark is just reset to α by low level and signal persistently keeps low level in the angle of α, θ 1 for signal B or
The phase angle of signal C；
D, if the edge of signal A is not appeared in the range of the phase angle of permission, then it is assumed that edge is noise；
Wherein, α is obtained by debugging, and α is the 1.1- of signal A abnormal low level maximum angular durations in one cycle
1.3 again；The phase angular region of permission adds and subtracts phase angle allowable error for point of theory scope；Phase angle allowable error usually takes
10°
(5) judgement of three-phase current polarity is carried out, current polarity determination methods are as follows：
In formula：irFor the current polarity at terminal voltage rising edge；ifFor the current polarity of terminal voltage falling edge；ieFor one
It is a to open
Close the equivalent current polarity in the cycle；UDCIt is DC bus-bar voltage；UrTo be sampled near terminal voltage rising edge
The electricity arrived
Pressure；UfFor the terminal voltage sampled near terminal voltage trailing edge；
The above-mentioned voltage sample moment is specially：
(6) time calculating is compensated, compensates time TcComputational methods are as follows：
In formula：TrAnd TfIt is the equivalent rise time and equivalent fall time obtained according to voltage-second balance principle respectively, TdIt is
Dead zone
Time.
(7) the compensation time obtained in the current polarity obtained in step (5) and step (6) is substituted into expression formula:
Calculate offset voltage,
Wherein, TcThe compensation time, i.e., the error between preferable terminal voltage duty cycle and actual terminal voltage duty cycle；TPWM
It is switch periods, UDCIt is DC bus-bar voltage, UDIt is diode drop, UFIt is the forward voltage drop of IGBT, i is phase current,It is
The command voltage redefined, scope are-UDC/ 2~UDC/2；
(8) Clarke conversion is carried out to the three-phase compensation voltages that step (7) is calculated, obtained under two-phase rest frame
Benefit
Repay voltage；
(9) two-phase rest frame is added to the offset voltage under two-phase rest frame that step (8) is calculated
Under target voltage be compensated after target voltage；
(10) using the target voltage after the compensation that step (9) obtains as input, space vector pulse width modulation strategy is performed, is obtained
To next switch periods three-phase duty cycle；
(11) the voltage sample moment is determined, the definite method of sampling instant is as follows：
Wherein：toffsetFor sampling instants offset value；TdFor dead time；TtonRising edge is prolonged for gate drive circuit
The slow time；TdonFor switching device open time delay；TfbkIt, should in isolated form inverter for the time delay of terminal voltage feedback circuit
Time can not ignore；
The comparand register A of PWM4, PWM5 and PWM6 and comparand register B are updated using the moment according to definite, to
Carry out the sampling of next switch periods three-phase terminal voltage.
The sortord of ADC channel described in 3rd step such as table 1, U in tablearAnd UafIt is in A phase terminal voltage rising edges respectively
With the voltage sample twice near trailing edge.It is because in sky why each switch periods, which will resequence to ADC channel,
Between under Vector Pulse Width Modulation, when the sector where reference voltage vector changes, the rising edge of three-phase terminal voltage and decline
The order on edge can change, so also to be changed by the order of the ADC channel of PWM triggerings with sector.
Square wave filtering algorithm principle described in 4th step is as shown in Fig. 2, step is as follows：
(1) if the value for the signal A that sampling obtains becomes low level from high level and signal is persistently protected in the angle of α
Low level is held, θ is just reset into α；
(2) if the edge of signal B and signal C are not appeared in the range of the phase angle of permission, then it is assumed that edge is to make an uproar
Sound；
(3) on the basis of signal B or C, trap signal A in the same way.
Current polarity determination methods described in 5th step are as shown in figure 3, specific as follows：
In formula：irFor the current polarity at terminal voltage rising edge；ifFor the current polarity of terminal voltage falling edge；ieFor one
Equivalent current polarity in a switch periods；UrFor the voltage sampled near terminal voltage rising edge；UfFor under terminal voltage
Drop is along nearby sampling obtained terminal voltage.
Compensation time computational methods described in 6th step are as follows：
The present invention does not depend on current detecting, carries out Inverter Dead-time compensation based on PWM triggering ends voltage sample, has and overcome
In traditional dead-zone compensation method under current over-zero section noise circumstance weak current problem, realize current over-zero area
Between accurate dead area compensation；It can realize that accurate current polarity judges and the compensation time calculates, is applicable in model in current over-zero section
Enclose the advantages that wide, inexpensive.
Description of the drawings
Fig. 1 is voltage error analysis：Wherein (a) i>0, (b) i<0.
Fig. 2 is the square wave filtering algorithm of invention.
Fig. 3 is that the PWM triggering terminal voltage detectings of invention judge current polarity method.
Fig. 4 is the method that the PWM triggering terminal voltage detectings of invention calculate rise time and fall time.
Fig. 5 is the equivalent rise time T under different electric currentsrWith fall time Tf：Wherein (a) is equivalent rise time, (b)
It is equivalent fall time.
Fig. 6 is the data extracted from DSP memories：Wherein (a) is three-phase current, and (b) is that A phases compensate time and electric current,
(c) it is the original A phase terminal voltages that are sampled under 5Hz electricity frequencies near A phase terminal voltage trailing edges, (d) is 5Hz electricity frequencies
Under A phase terminal voltages after the filtering that is sampled near A phase terminal voltage trailing edges, (e) is near A phase terminal voltage rising edges
Obtained A phases phase current and terminal voltage are sampled, (f) is that A phase terminal voltages trailing edge nearby samples obtained A phases phase current and end electricity
Pressure.
Fig. 7 is the frequency analysis of the phase current and phase current that are compensated using different Current polarity detection methods：Wherein
(a) it is uncompensation, (b) is to begin through current sensor detection electric current in switch periods, and (c) is by compensating the time
Judge current polarity, (d) is that terminal voltage detecting method judges current polarity.
Fig. 8 is fixed compensation and the corresponding phase current of improved fixed compensation and its frequency analysis：Wherein (a) is fixed
Compensation, (b) is improved fixed compensation.
Fig. 9 is online calculating method and the corresponding phase current of improved online calculating method and its frequency analysis：Wherein (a) is
Time online calculating method is compensated, (b) is improved online calculating method.
Figure 10 is feedback compensation method and the corresponding phase current of improved feedback compensation method and its frequency analysis：Wherein (a)
It is feedback compensation method, (b) is improved feedback compensation.
Figure 11 is the current harmonics under different compensation methodes.
Specific embodiment
A kind of Inverter Dead-time compensation method based on PWM triggering end voltage samples, this method, which has, does not depend on electric current inspection
The advantages of altimetry precision, low cost.
(1) PWM module configures, and the comparand register A of configuration PWM1, PWM2 and PWM3 generate inverter three-phase bridge arm switch
The drive signal of pipe configures the comparand register A and comparand register B of PWM4, PWM5 and PWM6 to trigger to three phase terminals electricity
The sampling of pressure, PWM4, PWM5 and PWM6 forbid exporting；
(2) ADC module is configured, 16 passages of ADC are arranged to cascade mode, it is enabled to start to turn from PWM module
It changes a-signal and starts to convert B signal, the triggering of each trigger source is set to convert number as 1；
(3) switch periods start read terminal voltage conversion value, according to the sortord (table 1) of invention
It resequences to ADC channel and resets sorting unit；Table 1 is ADC channel sequence.
(4) the three-phase terminal voltage value obtained according to the square wave filtering algorithm (Fig. 2) of invention to sampling is filtered；
(5) judgement of three-phase current polarity is carried out according to the current polarity determination methods (Fig. 3) of invention；
(6) time calculating is compensated according to the compensation time computational methods (Fig. 4) of invention；
(7) the compensation time obtained in the current polarity obtained in step (5) and step (6) is substituted into expression formula (1), meter
Calculate offset voltage；
(8) Clarke conversion is carried out to the three-phase compensation voltages that step (7) is calculated, obtained under two-phase rest frame
Offset voltage；
(9) two-phase rest frame is added to the offset voltage under two-phase rest frame that step (8) is calculated
Under target voltage be compensated after target voltage；
(10) using the target voltage after the compensation that step (9) obtains as input, space vector pulse width modulation strategy is performed, is obtained
To next switch periods three-phase duty cycle；
(11) the comparand register A of method update PWM4, PWM5 and PWM6 is determined according to the sampling instant of invention
With comparand register B, to carry out the sampling of next switch periods three-phase terminal voltage.
The sortord of ADC channel described in 3rd step such as table 1, U in tablearAnd UafIt is in A phase terminal voltage rising edges respectively
With the voltage sample twice near trailing edge.It is because in sky why each switch periods, which will resequence to ADC channel,
Between under Vector Pulse Width Modulation, when the sector where reference voltage vector changes, the rising edge of three-phase terminal voltage and decline
The order on edge can change, so also to be changed by the order of the ADC channel of PWM triggerings with sector.
Square wave filtering algorithm principle described in 4th step is as shown in Fig. 2, the three-phase terminal voltage value obtained to sampling is filtered
Ripple, filtering algorithm step are as follows：
A, signal on the basis of the signal A that selection sampling obtains, if the value of reference signal becomes low level simultaneously from high level
And signal persistently keeps low level in the angle of α, and the phase angle θ of benchmark just is reset to α, θ is the phase angle of signal A；
B, if the edge of signal B and signal C are not appeared in the range of the phase angle of permission, then it is assumed that edge is to make an uproar
Sound；
C, signal on the basis of b steps treated signal B or signal C is selected, if the value of reference signal becomes from high level
The phase angle θ 1 of benchmark is just reset to α by low level and signal persistently keeps low level in the angle of α, θ 1 for signal B or
The phase angle of signal C；
D, if the edge of signal A is not appeared in the range of the phase angle of permission, then it is assumed that edge is noise；By noise
It filters out.
Wherein, α is obtained by debugging, and α needs to be slightly larger than signal A abnormal low level maximum duration angles in one cycle
Degree, noise circumstance of the abnormal low level maximum angular duration with device in itself are related, it is necessary to be measured by experiment, the present embodiment
Middle α is the low level maximum angular duration of 1.2 times of exception.
The phase angular region of permission adds and subtracts phase angle allowable error for point of theory scope；The phase angular region of permission is by such as
Lower method obtains：The trailing edge of signal A is defined as 0 degree in the first step, then the corresponding theory of the trailing edge of signal B and signal C
Angle should be respectively 120 degree and 240 degree, and the corresponding point of theory of rising edge of signal B and signal C should be respectively 300 degree and 60
Degree, the phase angular region of permission add and subtract phase angle allowable error for point of theory, phase angle allowable error also with specific electromagnetism
Noise circumstance is related, need to be obtained by testing, selection need to follow following principle：Abnormal hopping edge can be filtered out, and not
Normal hopping edge can be filtered out, at the same it is small as far as possible；Phase angle allowable error chooses 10 ° in the present embodiment.
Current polarity determination methods described in 5th step are as shown in figure 3, specific as follows：
In formula：irFor the current polarity at terminal voltage rising edge；ifFor the current polarity of terminal voltage falling edge；ieFor one
Equivalent current polarity in a switch periods；UrFor the voltage sampled near terminal voltage rising edge；UfFor under terminal voltage
Drop is along nearby sampling obtained terminal voltage.
Compensation time computational methods described in 6th step are as follows：
Sampling instant described in 11st step is as shown in figure 3, specific as follows：
Wherein：toffsetFor sampling instants offset value；TdFor dead time；TtonRising edge is prolonged for gate drive circuit
The slow time；TdonFor switching device open time delay；TfbkIt, should in isolated form inverter for the time delay of terminal voltage feedback circuit
Time can not ignore；
The theoretical foundation of the present invention is as follows：
In the calculating of offset voltage, TcIt is very crucial, but TcIt is difficult to directly obtain.Although existing method utilizes DSP's
Input capture module realizes the feedback of terminal voltage duty cycle, but when electric current passes through zero point, the slope of terminal voltage becomes
Change, measuring circuit will generate the measurement error of up to 1/4 dead time, so T under modeling analysis difference electric currentcVariation rule
Rule is necessary.
According to Fig. 1 and expression formula (2), Δ Trise,ΔTfallAnd TcExpression formula derive it is as follows：
In TcComposition item in, dead time TdIt is fixed.Transfer delay TtonAnd TtoffVariation is very small, because driving
The operating mode of circuit hardly changes, in addition, they can cancel out each other.Although conducting delay and shut-off delay are with electricity
Stream changes, they can also cancel out each other because in a switch periods rising edge to falling edge curent change very
It is small.So TcExpression formula can be simplified to：
Equivalent rise time TrWith fall time TfIt can not cancel out each other, because even the phase of rising edge and falling edge
Electric current is identical, and the two may also can fall far short.TrAnd TfIt is charge and discharge generation and electric current the width by IGBT parasitic capacitances
Value is closely related with direction, will derive T according to the charging and recharging model of parasitic capacitance belowrAnd Tf。
Electric current i at rising edgerWhen polarity is bears, after the shut-off of bridge switch pipe, terminal voltage increases linearly over time, table
It is as follows up to formula：
V=irt/Cp (8)
In formula：CpIt is total parasitic capacitance of bridge and bridge switch pipe in a phase.
In Fig. 1, switch on the bridge pipe it is actual shut-off at the time of and bridge switch pipe it is actual unlatching at the time of between time quilt
It is defined as Ts, TsExpression formula：
Ts=Td+(Tton-Ttoff)+(Tdon-Tdoff) (9)
TtonAnd Ttoff, TdonAnd TdoffBetween difference can ignore, therefore, TsEqual to dead time Td.Work as irEqual to facing
Boundary electric current IcWhen, terminal voltage TdU is just risen in timeDC。IcExpression formula：
Ic=UDCCp/Td (10)
Work as irPolarity is timing, and terminal voltage v rises to U within the very short timeDC, because parasitic capacitance is opened in upper bridge
After be attached directly on dc bus, in TrAnalysis in, this period is ignored.Different electric current lower end electricity are given in Fig. 5
Press the variation tendency of v, in figure choice refreshments setting-out represent equivalent rising edge.Equivalent process is based on average value principle, that is to say, that Fig. 5
Middle blue region is identical with red area area.Accordingly, rise time TrIt derives as follows：
Similarly, the fall time T under different electric currentsfIt derives as follows：
V=UDC-ift/Cp (12)
As the electric current i of terminal voltage falling edgefWhen polarity is bears, parasitic capacitance is short-circuited after bridge switch pipe is opened, and is held
Voltage v drops to zero in a short period of time.In TfAnalysis in, this period is also ignored.
As can be seen from the above analysis, different current polarities and amplitude correspond to different terminal voltage edge slope variations
Rule.According to above-mentioned analysis, this patent proposes a kind of inversion based on PWM triggering end voltage samples for not depending on current detecting
Device dead-zone compensation method overcomes the difficulty of weak current under the noise circumstance of current over-zero section in traditional dead-zone compensation method
Topic, realizes the accurate dead area compensation in current over-zero section.
It is able to demonstrate that the experiment of the method for the present invention effect is as follows, experiment porch parameter is as shown in table 2 and table 3；Table 2 is experiment
With two-level inverter parameter.Table 3 is experiment induction motor parameter.
1st, the comparison of different Current polarity detection methods
In this part Experiment, the compensation time is fed back by terminal voltage duty cycle to be obtained.Although this method is in current over-zero
Section comes with some shortcomings, but when unique variable is Current polarity detection method, terminal voltage duty cycle feedback side
The deficiency of method can't influence the fairness of control experiment.In addition to the terminal voltage detecting method of invention, also have other two
Kind Current polarity detection method.These three methods are：
(1) electric current is detected in the current sensor that begins through of a switch periods, this is in practice using the widest
A kind of general method；
(2) actual terminal voltage duty cycle, the terminal voltage duty cycle before being inserted into dead zone are obtained using additional feedback circuit
It subtracts actual terminal voltage duty cycle and obtains terminal voltage duty cycle error, it is clear that phase current and duty cycle error have identical polar.
This Current polarity detection method precision is far above current sensor, and contrast experiment below is able to demonstrate that；
(3) the PWM triggering terminal voltage detecting methods of invention.
First method depends on current sample, and second method is fed back dependent on terminal voltage duty cycle, invention
Method dependent on terminal voltage sample., it is necessary to ensure the quality for the signal that these three methods rely on, from DSP memories before experiment
The data of middle extraction such as Fig. 6.
As shown in Fig. 6 (a), three-phase phase current almost symmetry, noise is also smaller.Fig. 6 (b) demonstrates current polarity can be with
Judged by compensating the time.Fig. 6 (c) and Fig. 6 (d) demonstrates the validity of the filtering algorithm of invention.Fig. 6 (e) and Fig. 6
(f) the terminal voltage detecting method for demonstrating invention judges the validity of current polarity.In fact, current sensor can not
As the test stone of terminal voltage detecting method, because terminal voltage detecting method has higher Current polarity detection precision, the reality of Fig. 7
It tests and is able to demonstrate that.
During without dead area compensation, current distortion is very serious, as shown in Fig. 7 (a).Fig. 7 (b) is disclosed not to Fig. 7 (d)
With the difference of Current polarity detection method.Judge that the terminal voltage detecting method of current polarity and invention is bright by compensating the time
Aobvious to be better than directly detecting current polarity by current sensor, although both approaches difference is smaller, terminal voltage detecting method is not
Rely on duty cycle feedback circuit, it is only necessary to 6 divider resistances.
2nd, to the promotion of existing compensation method
(1) to the promotion of fixed compensation
The expression formula of offset voltage is simplified to by fixed compensation method from (1)：
In fixed compensation, current polarity is detected by the detection circuit of current sensor or auxiliary, and the compensation time consolidates
It is set to dead time, pressure drop is also ignored.Fixed compensation method is to apply a kind of more methods in practice.
From figure 8, it is seen that the terminal voltage detecting method of invention promotes substantially, because the two knot fixed compensation method
The detection of current polarity and to compensate the calculating of time all more accurate after conjunction.Moreover, after electric frequency is more than 10Hz, this group
The effect of conjunction can even be compared with feedback compensation, as shown in figure 11.This demonstrate under medium and higher electric frequency, electric current is fast
Speed passes through zero point, and the compensation time is almost equal to dead time always, and compensation effect depends primarily upon the precision of Current polarity detection.
(2) to the promotion of compensation time online calculating method
The effect of time online calculating method is compensated between feedback compensation and fixed compensation, the hardware electricity that need not be aided in
Road is less than feedback compensation in cost.This method utilizes the expression formula similar to (11) and (13) to compensate the time in line computation, though
It is accurate so to calculate in theory, but actual effect has many discounts.No matter and obtain the difficulty of accurate parasitic capacitance value,
This method depends on current sample, when current zero-crossing point, it is difficult to realize accurate current sample.
Such as Fig. 9, compensation time online calculating method can be obtained more accurately compensates the time than fixed compensation.10Hz's
Below electric frequency, the combination of this method and terminal voltage detecting method is more preferable than a kind of upper combined effect, but electric frequency is more than
Effect is worse after 10Hz, as shown in figure 11, the possible reason is parasitic capacitance can change with the operating mode of switching tube.
(3) to the promotion of feedback compensation
Feedback compensation method realizes the real-time anti-of terminal voltage duty cycle using the input capture module of auxiliary circuit and DSP
Feedback.The principle of circuit is very simple：Terminal voltage is divided by two resistance first, then compares partial pressure using comparator
Later terminal voltage and an amplitude are the fixed voltages of terminal voltage amplitude half after partial pressure, finally believe the output of comparator
Number input DSP input capture module.When terminal voltage edge slope does not change, which hardly generates error,
But when terminal voltage slope changes, which can generate the measurement error of up to 1/4 dead time.
Such as Figure 10, by using the terminal voltage duty cycle feedback circuit of high cost, feedback compensation method is undoubtedly three kinds of controls
Best one kind of effect in method.It is not too apparent, the PWM triggerings of invention that although promotion is compared with first two combination
Terminal voltage detecting method still further improves the effect of feedback compensation method.
Table 1
Table 2
Table 3
Claims (1)
1. a kind of Inverter Dead-time compensation method based on PWM triggering end voltage samples, it is characterised in that include the following steps：
(1) PWM module configures, and the comparand register A of configuration PWM1, PWM2 and PWM3 generate inverter three-phase bridge arm switch pipe
Drive signal configures the comparand register A and comparand register B of PWM4, PWM5 and PWM6 to trigger to three-phase terminal voltage
Sampling, PWM4, PWM5 and PWM6 forbid exporting；
(2) ADC module is configured, 16 passages of ADC are arranged to cascade mode, it is enabled to start to convert A letters from PWM module
Number and start convert B signal, the triggering of each trigger source is set to convert number as 1；
(3) switch periods start read terminal voltage conversion value, resequence according to table 1 to ADC channel and reset row
Sequence device,
Table 1
U in table 1arAnd UafIt is the voltage sample twice near A phase terminal voltages rising edge and trailing edge respectively；UbrAnd UbfRespectively
It is the voltage sample twice near B phase terminal voltages rising edge and trailing edge；UcrAnd UcfIt is in C phase terminal voltage rising edges respectively
With the voltage sample twice near trailing edge；The voltage sample moment is specially：
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Wherein：toffsetFor sampling instants offset value；TdFor dead time；TtonDuring for gate drive circuit to the delay of rising edge
Between；TdonFor switching device open time delay；TfbkFor the time delay of terminal voltage feedback circuit, the time in isolated form inverter
It can not ignore；
(4) the three-phase terminal voltage value obtained to sampling is filtered, and filtering algorithm step is as follows：
A, signal on the basis of the signal A that selection sampling obtains, if the value of reference signal becomes low level and in α from high level
Angle in signal persistently keep low level, the phase angle θ of benchmark is just reset into α, θ is the phase angle of signal A；
B, if the edge of signal B and signal C are not appeared in the range of the phase angle of permission, then it is assumed that edge is noise；
C, signal on the basis of b steps treated signal B or signal C is selected, if the value of reference signal becomes low electricity from high level
It puts down and signal persistently keeps low level in the angle of α, the phase angle θ 1 of benchmark is just reset into α, θ 1 is signal B or signal
The phase angle of C；
D, if the edge of signal A is not appeared in the range of the phase angle of permission, then it is assumed that edge is noise；
Wherein, α is obtained by debugging, and α is the 1.1-1.3 of signal A abnormal low level maximum angular durations in one cycle
Times；The phase angular region of permission adds and subtracts phase angle allowable error for point of theory scope；
(5) judgement of three-phase current polarity is carried out, current polarity determination methods are as follows：
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In formula：irFor the current polarity at terminal voltage rising edge；ifFor the current polarity of terminal voltage falling edge；ieIt is opened for one
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It can not ignore；
(6) time calculating is compensated, compensates time TcComputational methods are as follows：
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In formula：TrAnd TfIt is the equivalent rise time and equivalent fall time obtained according to voltage-second balance principle respectively, TdIt is dead zone
Time.
(7) the compensation time obtained in the current polarity obtained in step (5) and step (6) is substituted into expression formula:
Calculate offset voltage,
Wherein, TcThe compensation time, i.e., the error between preferable terminal voltage duty cycle and actual terminal voltage duty cycle；TPWMIt is switch
Cycle, UDCIt is DC bus-bar voltage, UDIt is diode drop, UFIt is the forward voltage drop of IGBT, i is phase current,It is again fixed
The command voltage of justice, scope is-UDC/ 2~UDC/2；
(8) Clarke conversion is carried out to the three-phase compensation voltages that step (7) is calculated, obtains the benefit under two-phase rest frame
Repay voltage；
(9) offset voltage under two-phase rest frame that step (8) is calculated is added under two-phase rest frame
Target voltage be compensated after target voltage；
(10) using the target voltage after the compensation that step (9) obtains as input, space vector pulse width modulation strategy is performed, is obtained down
One switch periods three-phase duty cycle.
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| CN110739874A (en) * | 2019-09-24 | 2020-01-31 | 哈尔滨工业大学（威海） | three-level inverter dead zone compensation method |
| CN111327178A (en) * | 2020-02-27 | 2020-06-23 | 致瞻科技(上海)有限公司 | Control method, system and storage medium for improving dead zone compensation under low modulation degree |
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| CN111766428A (en) * | 2019-04-01 | 2020-10-13 | 顺丰科技有限公司 | Method and device for measuring current of DC bus of inverter |
| CN110716082A (en) * | 2019-09-24 | 2020-01-21 | 哈尔滨工业大学（威海） | Terminal voltage acquisition and compensation method for improving precision of power-stage motor simulator |
| CN110739874A (en) * | 2019-09-24 | 2020-01-31 | 哈尔滨工业大学（威海） | three-level inverter dead zone compensation method |
| CN112910366A (en) * | 2019-12-03 | 2021-06-04 | 广东美的白色家电技术创新中心有限公司 | Single-resistor current sampling method, chip and electronic equipment |
| CN111327178A (en) * | 2020-02-27 | 2020-06-23 | 致瞻科技(上海)有限公司 | Control method, system and storage medium for improving dead zone compensation under low modulation degree |
| CN111327178B (en) * | 2020-02-27 | 2021-11-26 | 致瞻科技(上海)有限公司 | Control method, system and storage medium for improving dead zone compensation under low modulation degree |
| CN112583319A (en) * | 2020-12-02 | 2021-03-30 | 美的威灵电机技术（上海）有限公司 | Phase voltage detection method and device of motor, electric appliance and readable storage medium |
| CN112583319B (en) * | 2020-12-02 | 2022-03-18 | 美的威灵电机技术（上海）有限公司 | Phase voltage detection method and device of motor, electric appliance and readable storage medium |
| CN113437915A (en) * | 2021-06-09 | 2021-09-24 | 华中科技大学 | Construction method and application of inverter dead zone voltage compensation model |
| CN113484584A (en) * | 2021-07-06 | 2021-10-08 | 臻驱科技（上海）有限公司 | Current estimation method and system for DC side of inverter and computer readable storage medium |
| CN113484584B (en) * | 2021-07-06 | 2024-02-27 | 臻驱科技（上海）有限公司 | Current estimation method and system for DC side of inverter and computer readable storage medium |
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