CN108459655B - SPWM pulse signal implementation method based on MCU - Google Patents
SPWM pulse signal implementation method based on MCU Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02M1/081—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters wherein the phase of the control voltage is adjustable with reference to the AC source
- H02M1/082—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters wherein the phase of the control voltage is adjustable with reference to the AC source with digital control
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Abstract
The invention discloses an SPWM pulse signal realization method based on MCU, which firstly adopts a symmetrical rule sampling method to determine the generation mode of SPWM waves. Then, a term containing a sine function that does not change in the subsequent actual control is calculated and stored in an array. The SPWM wave comparison time of 1/4 sine wave periods of the A phase is calculated according to the SPWM waveform duty ratio calculation formula and is stored in the first 1/4 part of the comparison time array of the A phase SPWM wave. According to the symmetry of the sine wave, the comparison time of 3/4 parts behind the phase A is obtained, then according to the phase difference characteristic of the three-phase SPWM wave, the comparison time array of the phase B SPWM wave and the comparison time array of the phase C SPWM wave are obtained, and finally the square wave with the duty ratio changing according to the sine rule is obtained through triangular wave interception. The method can reduce the operation amount in the process of generating the SPWM waveform, quicken the calculation process, reduce the consumption of processor and memory resources and improve the precision of generating the SPWM waveform under the same condition.
Description
Technical Field
The invention belongs to the technical field of control or regulation of electromechanical converters, and particularly relates to an SPWM pulse signal implementation method based on an MCU (microprogrammed control Unit), in particular to an SPWM digital pulse for industrial rapid control.
Background
The Sinusoidal Pulse Width Modulation (SPWM) method is a mature and widely used PWM method. The method is to modulate a plurality of pulses in each sine period with natural or regular width, so that the pulses sequentially modulate a phase angle and an area equivalent to a sine function value, and are equivalent to a pulse sequence of a sine wave to form sinusoidal current output with equal amplitude and unequal width.
At present, the method for generating the SPWM waveform is multiple, and an SPWM analog circuit can be formed by an operational amplifier; or a digital circuit or an analog-digital mixed circuit can be used for forming a multi-stage gradient triangular wave or a sine wave to generate the SPWM wave; the SPWM waveform can also be generated by a chip or a processor such as an MCU, an FPGA and the like through a programming method.
However, when the SPWM waveform is generated by an analog circuit or a digital-analog hybrid circuit using an operational amplifier, the accuracy of the device itself is not high, which may cause the generated SPWM waveform to have a distortion phenomenon and low accuracy. The SPWM control is realized by a computer or a singlechip, the SPWM control is limited by system main frequency, processor resources, memory resources and the like, the speed of recalculating to generate the SPWM waveform is limited when control parameters need to be changed, and the accuracy is poor due to the limitation of the operation speed; the adoption of a special logic circuit causes difficulty in debugging and causes waste of a large amount of manpower and economic cost.
In general, the current SPWM waveform generation technology either uses an analog circuit or a digital-analog hybrid circuit of an operational amplifier, and the obtained waveform has poor quality and low precision; or the SPWM control is realized by adopting a computer or a singlechip, the algorithm is not optimized, the speed of re-calculating the generated SPWM waveform after the parameters are changed is limited, and the precision is poor due to the limitation of the operation speed; or special logic circuits are needed, debugging is difficult, and a great deal of waste of labor and economic cost is caused. These disadvantages and shortcomings make the comprehensive improvement of the SPWM waveform generation method the core of the present invention.
Disclosure of Invention
In order to solve the problems and the defects existing in the traditional sinusoidal pulse width modulation waveform generation method, the invention designs an SPWM pulse signal implementation method based on an MCU (microprogrammed control Unit), so as to reduce the operation amount in the SPWM waveform generation process, accelerate the calculation process, reduce the consumption of processor and memory resources, improve the precision of generating the SPWM waveform under the same condition and be applied to the purpose of a low-performance processor or a singlechip.
The purpose of the invention is realized by the following technical scheme:
an SPWM pulse signal implementation method based on MCU is characterized in that a symmetrical rule sampling method is adopted to determine a mathematical basis of SPWM wave duty ratio calculation, firstly, one term of a sine function is determined to be contained in the mathematical basis, only 1/4 sine wave periods before the term are calculated, according to the symmetry of sine waves, a complete comparison time array of SPWM waves of one phase is obtained, then according to the phase difference characteristic of three-phase SPWM waves, a complete comparison time array of SPWM waves of the other two phases is obtained, and SPWM pulse signals are generated.
The method specifically comprises the following steps:
step 1: determining the generation mode of the SPWM wave by adopting a symmetrical rule sampling method; the mathematical expression of the A-phase SPWM wave duty ratio is as follows:
DutyA[i]＝(0.25-a_m*sin(2πi/M))*CLOCK/Fc
wherein, DutyA is a comparison time array of an A-phase SPWM wave, i is an array element serial number, the value range is from 0 to (M-1), a _ M is a modulation degree, M is a carrier ratio, CLOCK is a master control CLOCK frequency with the unit of Hz, and Fc is a triangular wave (namely carrier wave) frequency generated by a singlechip timer with the unit of Hz;
step 2: firstly, taking the range of the serial number i of the array elements as 0 to (M-1)/4, and calculating a term sin (2 pi i/M) containing a sine function in the formula;
and step 3: calculating the comparison time of the A-phase SPWM wave front 1/4 sine wave period according to the mathematical expression for calculating the A-phase SPWM wave duty ratio, and storing the comparison time into the front 1/4 part of the A-phase SPWM wave comparison time array;
and 4, step 4: according to the symmetry of the sine wave, the comparison time of the 3/4 rear part of the A phase is obtained through mathematical symmetry transformation and sign transformation and is stored in the 3/4 rear part of the SPWM wave comparison time array of the A phase;
and 5: according to the phase difference characteristic of the three-phase SPWM wave, performing cyclic translation processing on the A-phase SPWM wave comparison time array through mathematical translation transformation to obtain a B-phase SPWM wave comparison time array;
step 6: according to the phase difference characteristic of the three-phase SPWM wave, performing cyclic translation treatment on the A-phase SPWM wave comparison time array through mathematical translation transformation to obtain a C-phase SPWM wave comparison time array;
and 7: and transmitting the calculated SPWM comparison time array into a corresponding register of the MCU timer, and obtaining a square wave with the duty ratio changing according to a sine rule by triangular wave interception.
In order to solve the katon problem, the method adopts MCU software to simulate a multithreading parallel computing method. The method for simulating the multithreading parallel computation by the MCU software is realized based on timer interruption, and only 5-10 sampling points are computed when the timer interruption is entered each time until the computation of all the sampling points is completed.
In the above technical solution, the cyclic shift processing in step 5 is: and after the comparison time array of the A-phase SPWM wave is obtained, all array elements are translated to the tail end of the array by the array length of 1/3, and the overflowing array elements are supplemented to the head end of the array in sequence, so that the comparison time array of the B-phase SPWM wave is obtained.
The cyclic translation processing in the step 6 comprises the following steps: and after the comparison time array of the A-phase SPWM wave is obtained, all array elements are translated to the tail end of the array by the array length of 2/3, and the overflowing array elements are supplemented to the head end of the array in sequence, so that the comparison time array of the C-phase SPWM wave is obtained.
The invention has the beneficial effects that:
1. the SPWM waveform is generated by adopting a symmetric rule sampling method with less computation workload, and a foundation is laid for reducing the computation workload in the computation process.
2. The optimized SPWM waveform generation algorithm is adopted, partial coefficients are calculated during program initialization, after control parameters are changed, only the SPWM waveform comparison coefficient of 1/4 periods in one phase is calculated, the comparison coefficient of the part 3/4 of the phase is obtained through mathematical symmetry transformation and sign transformation, and then the SPWM comparison time array of the phase is subjected to cyclic translation processing through mathematical translation transformation according to the phase difference characteristics of three-phase SPWM waves, so that the calculation speed in the SPWM wave operation process is increased, the resource consumption is reduced, and the real-time control capability is improved.
3. The MCU software is adopted to simulate a multithreading algorithm, only 5-10 sampling points are calculated when the timer is interrupted every time, and the calculation of all the sampling points can be completed after the timer is interrupted for multiple times, so that the operation efficiency and the real-time control capability are improved.
Drawings
FIG. 1 is a schematic diagram of an SPWM average symmetric rule sampling method in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a second 1/4 cycle portion of an A-phase SPWM wave comparison time array calculated by a mathematical symmetry transformation based on the symmetry of a sine wave according to an embodiment of the present invention;
FIG. 3 is a schematic representation of 1/2 cycles after computing an A-phase SPWM wave comparison time array by mathematical sign transformation based on the symmetry of the sine wave according to an embodiment of the present invention;
FIG. 4 is a diagram of MATLAB program simulation results of an SPWM waveform and an original sine wave of an embodiment of the present invention;
FIG. 5 is a flowchart of a process for MCU based SPWM pulse signal waveform generation in accordance with an embodiment of the present invention.
Detailed Description
For the purpose of facilitating the understanding and practice of the present invention, reference will now be made in detail to the embodiments of the present invention, which are illustrated in the accompanying drawings.
The invention adopts a scheme that a symmetrical rule sampling method is adopted, an optimized SPWM waveform generation algorithm is adopted in the program writing process, and an MCU software simulation multithreading method is adopted in actual embedded development to generate the SPWM waveform.
The invention adopts a symmetrical rule sampling method, determines the mathematical basis of the SPWM wave calculation, and reduces the calculation amount in the mathematical level.
According to the optimized SPWM waveform generation algorithm, the complete comparison time array of the SPWM wave of one phase is obtained through mathematical symmetric transformation and symbolic transformation according to the symmetry of the sine wave, and the complete comparison time array of the SPWM wave of the other two phases is obtained through mathematical translation transformation according to the phase difference characteristic of the three-phase SPWM wave, so that the program operation efficiency is improved, the calculation speed in the SPWM wave operation process is accelerated, the resource consumption is reduced, and the real-time control capability is improved.
The method for simulating multithreading by MCU software adopted in actual embedded development improves the parallel computing capability, the operation efficiency and the real-time control capability and ensures the continuity in the program running process.
This embodiment describes the present invention in detail with respect to the generation process of bipolar SPWM waves.
Referring to fig. 5, the SPWM pulse signal implementation method based on MCU provided in the present invention includes the following steps:
step 1: referring to fig. 1, a symmetric rule sampling method with a small amount of operation is adopted to determine the generation mode of the SPWM wave, and a mathematical expression for calculating the duty ratio of the a-phase SPWM wave is obtained. The mathematical expression for calculating the duty ratio of the A-phase SPWM wave is as follows:
DutyA[i]＝(0.25-a_m*sin(2πi/M))*CLOCK/Fc
wherein, DutyA is the comparison time array of the A-phase SPWM wave, i is the array element number, the value range is from 0 to (M-1), a _ M is the modulation degree, M is the carrier ratio, CLOCK is the master control CLOCK frequency with the unit of Hz, Fc is the triangular wave (carrier wave) frequency generated by the singlechip timer with the unit of Hz.
Step 2: when the program is initialized, a sin (2 pi i/M) containing a sine function which is not changed in the subsequent actual control is calculated and stored in an array for later use, and the serial number i of an element of the array is in the range of 0 to (M-1)/4.
And step 3: and calculating the comparison time of the A-phase SPWM wave front 1/4 sine wave period according to the mathematical expression for calculating the A-phase SPWM wave duty ratio, and storing the comparison time into the front 1/4 part of the A-phase SPWM wave comparison time array.
And 4, step 4: according to the symmetry of the sine wave, the comparison time of the rear 3/4 part of the A-phase is obtained through mathematical symmetry transformation and mathematical sign transformation and is stored in the rear 3/4 part of the comparison time array of the A-phase SPWM wave. The specific implementation of the mathematical symmetry transformation is as follows: referring to FIG. 2, the array elements corresponding to the first 1/4 cycles of the array are filled into the second 1/4 cycles as indicated by the arrows in the figure, and the symbols remain unchanged. The specific implementation of the mathematical sign transformation is as follows: referring to FIG. 3, the array elements corresponding to the first 1/2 cycles of the array are filled in the corresponding positions of the last 1/2 cycles as indicated by arrows in the figure, and the signs are reversed.
And 5: according to the phase difference characteristic of the three-phase SPWM wave, the comparison time array of the A-phase SPWM wave is circularly translated through mathematical translation transformation, all array elements are translated to the tail end of the array by 1/3 array lengths, and overflowing array elements are sequentially supplemented to the head end of the array, so that the comparison time array of the B-phase SPWM wave is obtained.
Step 6: according to the phase difference characteristic of the three-phase SPWM wave, the A-phase SPWM wave comparison time array is circularly translated through mathematical translation transformation, all array elements are translated to the tail end of the array by 2/3 array lengths, and overflowing array elements are sequentially supplemented to the head end of the array, so that the C-phase SPWM wave comparison time array is obtained.
And 7: a triangular wave carrier is generated by a timer of the MCU, and the level of six ports output by the SPWM waveform is automatically turned when the six ports reach the numerical value in the SPWM comparison array by utilizing the functions of comparison at a set value and automatic turning of high and low levels, so that a square wave signal with a variable duty ratio is obtained. At each timer overflow, i.e. at the end of a triangular wave cycle, the comparison values of the six registers can be changed, thereby generating a series of square wave signals with different pulse widths. If the integer changes in the SPWM wave comparison array are sinusoidal, then the output square wave duty cycle is sinusoidal.
And 8: in order to further solve the stuck problem, the SPWM pulse signal implementation method based on the MCU can adopt a method of simulating multithreading parallel computation by MCU software. Only 5-10 sampling points are calculated when the timer is interrupted every time, and the calculation of all the sampling points can be completed after the timer is interrupted for multiple times, so that other tasks cannot be influenced in the calculation process, and the calculation efficiency is improved.
The embodiment can set the triangular wave frequency Fc, the modulation degree a _ M, the carrier ratio M, the dead time DeadTime and the like in the SPWM generation process, and is suitable for the waveform requirements of the SPWM waves under different control conditions. The method comprises the steps of programming a program in MATLAB to carry out a simulation experiment (see figure 4) and carrying out actual embedded development on an MSP430F5438A single chip microcomputer to generate a three-phase bipolar SPWM waveform, wherein when the carrier ratio M is 249 and the timer interrupt period is set to 10ms, after control parameters are changed, the calculation of re-assignment of the SPWM can be completed once within 0.3s, then the flag bit for completing calculation is changed, and the actual U, V, W array is re-assigned, so that the function of changing the SPWM frequency to realize control can be completed. The method is characterized in that a traditional calculation method of the SPWM wave comparison time array is adopted, actual embedded development is carried out on the MSP430F5438A single chip microcomputer to generate a three-phase bipolar SPWM waveform, under the condition that all control parameters are the same, the A, B, C three-phase SPWM wave comparison time array is completely calculated according to a mathematical expression of the three-phase SPWM wave duty ratio, the calculation of the three-phase SPWM wave comparison time array can be completed within about 5s, the calculation of the three-phase SPWM wave comparison time array can be completed within the same time after the control parameters are changed, and the calculation efficiency is greatly reduced.
Through experimental analysis, the SPWM calculation program using the improved algorithm and multithreading has high operation efficiency, and the real-time performance of control is greatly improved. In addition, due to the adoption of the optimization algorithm in the calculation process, the consumption of processor and memory resources in the calculation process is greatly reduced, and the SPWM waveform generation algorithm disclosed in the embodiment is suitable for being adopted on a low-performance processor or a single chip microcomputer.
It should be understood that parts of the specification not set forth in detail are well within the prior art.
It should be understood that the above-mentioned embodiments are described in some detail, and not intended to limit the scope of the invention, and those skilled in the art will be able to make alterations and modifications without departing from the scope of the invention as defined by the appended claims.
Claims (6)
1. The SPWM pulse signal implementation method based on the MCU is characterized in that a symmetrical rule sampling method is adopted to determine a mathematical basis for calculating the duty ratio of the SPWM wave, firstly, one term of a sine function is determined to be contained in the mathematical basis, only 1/4 sine wave periods before the term are calculated, according to the symmetry of sine waves, a complete comparison time array of the SPWM wave of one phase is obtained, then according to the phase difference characteristic of three-phase SPWM waves, a complete comparison time array of the SPWM wave of the other two phases is obtained, and the SPWM pulse signal is generated.
2. The MCU-based SPWM pulse signal realization method of claim 1, characterized by specifically comprising the steps of:
step 1: the method comprises the following steps of determining the generation mode of the SPWM wave by adopting a symmetrical rule sampling method, wherein the mathematical expression of the duty ratio of the A-phase SPWM wave is as follows:
DutyA[i]＝(0.25-a_m*sin(2πi/M))*CLOCK/Fc
wherein, DutyA is a comparison time array of an A-phase SPWM wave, i is an array element serial number, the value range is from 0 to (M-1), a _ M is a modulation degree, M is a carrier ratio, CLOCK is a master control CLOCK frequency with the unit of Hz, and Fc is a triangular wave (namely carrier wave) frequency generated by a singlechip timer with the unit of Hz;
step 2: firstly, taking the range of the serial number i of the array elements as 0 to (M-1)/4, and calculating a term sin (2 pi i/M) containing a sine function in the formula;
and step 3: calculating the comparison time of the A-phase SPWM wave front 1/4 sine wave period according to the mathematical expression for calculating the A-phase SPWM wave duty ratio, and storing the comparison time into the front 1/4 part of the A-phase SPWM wave comparison time array;
and 4, step 4: according to the symmetry of the sine wave, the comparison time of the 3/4 rear part of the A phase is obtained through mathematical symmetry transformation and sign transformation and is stored in the 3/4 rear part of the SPWM wave comparison time array of the A phase;
and 5: according to the phase difference characteristic of the three-phase SPWM wave, performing cyclic translation processing on the A-phase SPWM wave comparison time array through mathematical translation transformation to obtain a B-phase SPWM wave comparison time array;
step 6: according to the phase difference characteristic of the three-phase SPWM wave, performing cyclic translation treatment on the A-phase SPWM wave comparison time array through mathematical translation transformation to obtain a C-phase SPWM wave comparison time array;
and 7: and transmitting the calculated SPWM comparison time array into a corresponding register of the MCU timer, and obtaining a square wave with the duty ratio changing according to a sine rule by triangular wave interception.
3. An MCU based SPWM pulse signal realization method according to claim 1 or 2 characterized in that it uses MCU software to simulate a method of multi-threaded parallel computation.
4. The MCU based SPWM pulse signal realization method of claim 3 wherein said MCU software simulation multithread parallel computation method is realized based on timer interrupt, only 5-10 samples are computed each time a timer interrupt is entered until the computation of all samples is completed.
5. An MCU based SPWM pulse signal realization method according to claim 2 characterized by the cyclic shift process in step 5 being: and after the comparison time array of the A-phase SPWM wave is obtained, all array elements are translated to the tail end of the array by the array length of 1/3, and the overflowing array elements are supplemented to the head end of the array in sequence, so that the comparison time array of the B-phase SPWM wave is obtained.
6. An MCU based SPWM pulse signal realization method according to claim 2 characterized by the cyclic shift process in step 6 being: and after the comparison time array of the A-phase SPWM wave is obtained, all array elements are translated to the tail end of the array by the array length of 2/3, and the overflowing array elements are supplemented to the head end of the array in sequence, so that the comparison time array of the C-phase SPWM wave is obtained.
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