CN108683386B - PWM waveform correction method and device and motor control system - Google Patents
PWM waveform correction method and device and motor control system Download PDFInfo
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- CN108683386B CN108683386B CN201810639062.5A CN201810639062A CN108683386B CN 108683386 B CN108683386 B CN 108683386B CN 201810639062 A CN201810639062 A CN 201810639062A CN 108683386 B CN108683386 B CN 108683386B
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- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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Abstract
The invention discloses a method and a device for correcting a PWM waveform and a motor control system, wherein the method comprises the following steps: obtaining the opening time Ta, Tb and Tc of a three-phase PWM waveform in the current PWM period Ts, and obtaining the minimum value, the intermediate value and the maximum value of Ta, Tb and Tc to obtain the minimum phase opening time Tmin, the intermediate phase opening time Tmid and the maximum phase opening time Tmax; judging whether narrow pulses exist according to Ta, Tb and Tc, Tmin, Tmax and a preset minimum pulse width limit value Tminp; if yes, synchronously correcting the Tmin, the Tmid and the Tmax; and reversely assigning the corrected Tmin ', Tmid ' and Tmax ' to Ta, Tb and Tc to correct the three-phase PWM waveform, thereby ensuring that the action time of two effective vectors of any sector is unchanged and effectively avoiding the interference on the original control system.
Description
Technical Field
The invention relates to the technical field of PWM control, in particular to a method and a device for correcting a PWM waveform and a motor control system.
Background
PWM (Pulse Width Modulation) technology is widely used in various fields of power electronics, such as switching power supplies and motor control. Ideally, the higher the pulse resolution of the PWM, the higher the control accuracy, but the actual power device is not turned on and off instantaneously, and when the pulse width of the PWM is smaller than the sum of the on and off times of the power device, a complete pulse waveform cannot be output, and at this time, not only the control accuracy cannot be achieved, but also extra switching loss is caused. For this reason, the minimum pulse width of PWM is limited in a practical system.
The conventional method is as follows: when the pulse width of a certain phase is smaller than a threshold value, the pulse width is set to be zero, so that the phase power device does not act, but the action time of two effective vectors of any sector can be changed due to the change of the minimum phase, and the control system is a disturbance for the original control system.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the first objective of the present invention is to provide a method for correcting a PWM waveform, which can ensure that the action time of two effective vectors in any sector is unchanged, thereby effectively avoiding interference to the original control system.
A second object of the invention is to propose a non-transitory computer-readable storage medium.
The third purpose of the invention is to provide a PWM waveform correction device.
A fourth object of the present invention is to provide a motor control system.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for correcting a PWM waveform, including the following steps: obtaining the opening time Ta, Tb and Tc of a three-phase PWM waveform in the current PWM period Ts, and obtaining the minimum value, the intermediate value and the maximum value of the opening time Ta, Tb and Tc to obtain the minimum phase opening time Tmin, the intermediate phase opening time Tmid and the maximum phase opening time Tmax; judging whether narrow pulses exist or not according to the opening time Ta, Tb and Tc, the minimum phase opening time Tmin, the maximum phase opening time Tmax and a preset minimum pulse width limit value Tminp; if the narrow pulse exists, synchronously correcting the minimum phase opening time Tmin, the intermediate phase opening time Tmid and the maximum phase opening time Tmax; and reversely assigning the corrected minimum phase opening time Tmin ', intermediate phase opening time Tmid ' and maximum phase opening time Tmax ' to the opening times Ta, Tb and Tc so as to correct the three-phase PWM waveform.
According to the method for correcting the PWM waveform of the embodiment of the invention, the turn-on time Ta, Tb and Tc of the three-phase PWM waveform in the current PWM period Ts is obtained, and the minimum value, the intermediate value and the maximum value of the turn-on time Ta, Tb and Tc are obtained to obtain the minimum phase turn-on time Tmin, the intermediate phase turn-on time Tmid and the maximum phase turn-on time Tmax. Then, it is judged whether or not there is a narrow pulse based on Ta, Tb and Tc, Tmin, Tmax and a preset minimum pulse width limit value Tminp. If the three-phase PWM waveform exists, the Tmin, the Tmid and the Tmax are synchronously corrected, and the corrected Tmin ', the Tmid ' and the Tmax ' are reversely assigned to the opening time Ta, Tb and Tc to correct the three-phase PWM waveform, so that the action time of two effective vectors of any sector can be ensured to be unchanged, and the interference on an original control system is effectively avoided.
According to an embodiment of the present invention, the determining whether there is a narrow pulse according to the on times Ta, Tb, and Tc, the minimum phase on time Tmin, the maximum phase on time Tmax, and a preset minimum pulse width limit value Tminp includes: when Ta is more than Tc and more than Tb or Tb is more than Ta and more than Tc or Tc is more than Tb and more than Ta, if Tmin is less than TminP, judging that low-level narrow pulses exist, and otherwise, judging that the low-level narrow pulses do not exist; when Ta is greater than Tb is greater than Tc or Tb is greater than Tc is greater than Ta or Tc is greater than Ta is greater than Tb, if Ts-Tmax is less than TminP, judging that high-level narrow pulses exist, and otherwise, judging that the high-level narrow pulses do not exist.
According to an embodiment of the present invention, when it is determined that there is a low-level narrow pulse, the synchronously correcting the minimum phase on time Tmin, the middle phase on time Tmid, and the maximum phase on time Tmax includes: if the Tmin is not more than TminP/2, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax according to a first preset correction mode; and if TminP/2 < Tmin < TminP, carrying out outward synchronous correction on the Tmin, the Tmid and the Tmax according to a second preset correction mode.
According to an embodiment of the present invention, when it is determined that there is a high-level narrow pulse, the synchronously correcting the minimum phase on time Tmin, the middle phase on time Tmid, and the maximum phase on time Tmax includes: acquiring a correction mode of the three-phase PWM waveform in the previous PWM period; when the correction mode is a first preset correction mode or a third preset correction mode, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax according to the third preset correction mode; and when the correction mode is a second preset correction mode or a fourth preset correction mode, performing outward synchronous correction on the Tmin, the Tmid and the Tmax according to the fourth preset correction mode.
Further, if the three-phase PWM waveform is not corrected in the previous PWM period, judging whether Ts-Tmax is larger than Tminp/2; if Ts-Tmax is larger than Tminp/2, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax according to a third preset correction mode; and if the Ts-Tmax is less than or equal to Tminp/2, carrying out outward synchronous correction on the Tmin, the Tmid and the Tmax according to a fourth preset correction mode.
According to an embodiment of the present invention, the first preset modification manner is: subtracting Tmin from the Tmin, the Tmid, and the Tmax, respectively; the second preset correction mode is as follows: adding Tmin-Tmin to said Tmin, said Tmid, and said Tmax, respectively; the third preset correction mode is as follows: subtracting Tminp + Tmax-Ts from the Tmin, the Tmid and the Tmax, respectively; the fourth preset correction mode is as follows: adding Ts-Tmax to the Tmin, the Tmid and the Tmax respectively.
According to an embodiment of the present invention, the method for correcting a PWM waveform further includes: and performing amplitude limiting processing on the corrected Tmin ', Tmid ' and Tmax '.
To achieve the above object, a second embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the above PWM waveform modification method.
According to the non-transitory computer-readable storage medium of the embodiment of the invention, by the method for correcting the PWM waveform, the action time of two effective vectors of any sector can be ensured to be unchanged, so that the interference on an original control system is effectively avoided.
In order to achieve the above object, a third aspect of the present invention provides a PWM waveform modification apparatus, including: the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring the turn-on time Ta, Tb and Tc of a three-phase PWM waveform in the current PWM period Ts, and acquiring the minimum value, the intermediate value and the maximum value of the turn-on time Ta, Tb and Tc to acquire the minimum phase turn-on time Tmin, the intermediate phase turn-on time Tmid and the maximum phase turn-on time Tmax; a judging unit, configured to judge whether a narrow pulse exists according to the on-times Ta, Tb, and Tc, the minimum phase on-time Tmin, the maximum phase on-time Tmax, and a preset minimum pulse width limit value Tminp; and a correction unit configured to, if the narrow pulse exists, perform synchronous correction on the minimum phase on-time Tmin, the intermediate phase on-time Tmid, and the maximum phase on-time Tmax, and reversely assign the corrected minimum phase on-time Tmin ', intermediate phase on-time Tmid ', and maximum phase on-time Tmax ' to the on-times Ta, Tb, and Tc, so as to correct the three-phase PWM waveform.
According to the correction device of the PWM waveform of the embodiment of the present invention, the on times Ta, Tb, and Tc of the three-phase PWM waveform in the current PWM period Ts are acquired by the first acquisition unit, and the minimum value, the intermediate value, and the maximum value of Ta, Tb, and Tc are acquired to obtain the minimum phase on time Tmin, the intermediate phase on time Tmid, and the maximum phase on time Tmax, and the presence or absence of the narrow pulse is judged by the judgment unit based on Ta, Tb, and Tc, Tmin, Tmax, and the preset minimum pulse width limit value Tminp. If the three-phase PWM waveform exists, the correction unit synchronously corrects the Tmin, the Tmin id and the Tmax, and assigns the corrected Tmin ', the Tmin ' and the Tmax ' to Ta, Tb and Tc in a reverse mode to correct the three-phase PWM waveform, so that the action time of two effective vectors of any sector can be guaranteed to be unchanged, and the interference on an original control system is effectively avoided.
According to an embodiment of the present invention, the determining unit is specifically configured to: when Ta is more than Tc and more than Tb or Tb is more than Ta and more than Tc or Tc is more than Tb and more than Ta, if Tmin is less than TminP, judging that low-level narrow pulses exist, and otherwise, judging that the low-level narrow pulses do not exist; when Ta is greater than Tb is greater than Tc or Tb is greater than Tc is greater than Ta or Tc is greater than Ta is greater than Tb, if Ts-Tmax is less than TminP, judging that high-level narrow pulses exist, and otherwise, judging that the high-level narrow pulses do not exist.
According to an embodiment of the present invention, when it is determined that there is a low-level narrow pulse, the correction unit is specifically configured to: if the Tmin is not more than TminP/2, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax according to a first preset correction mode; and if TminP/2 < Tmin < TminP, carrying out outward synchronous correction on the Tmin, the Tmid and the Tmax according to a second preset correction mode.
According to an embodiment of the present invention, when it is determined that there is a high-level narrow pulse, the correction unit is specifically configured to: acquiring a correction mode of the three-phase PWM waveform in the previous PWM period; when the correction mode is a first preset correction mode or a third preset correction mode, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax according to the third preset correction mode; when the correction mode is a second preset correction mode or a fourth preset correction mode, performing outward synchronous correction on the Tmin, the Tmid and the Tmax according to the fourth preset correction mode;
further, the correction unit is further specifically configured to: if the three-phase PWM waveform is not corrected in the previous PWM period, judging whether Ts-Tmax is larger than Tminp/2; if Ts-Tmax is larger than Tminp/2, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax according to a third preset correction mode; and if the Ts-Tmax is less than or equal to Tminp/2, carrying out outward synchronous correction on the Tmin, the Tmid and the Tmax according to a fourth preset correction mode.
According to an embodiment of the present invention, the first preset modification manner is: subtracting Tmin from the Tmin, the Tmid, and the Tmax, respectively; the second preset correction mode is as follows: adding Tmin-Tmin to said Tmin, said Tmid, and said Tmax, respectively; the third preset correction mode is as follows: subtracting Tminp + Tmax-Ts from the Tmin, the Tmid and the Tmax, respectively; the fourth preset correction mode is as follows: adding Ts-Tmax to the Tmin, the Tmid and the Tmax respectively.
According to an embodiment of the present invention, the apparatus for correcting a PWM waveform further includes: and a clipping unit configured to perform clipping processing on the corrected Tmin ', the Tmid ', and the Tmax '.
In order to achieve the above object, a fourth aspect of the present invention provides a motor control system, which includes the above PWM waveform correction apparatus.
According to the motor control system provided by the embodiment of the invention, the action time of two effective vectors of any sector can be ensured to be unchanged by the PWM waveform correction device, so that the interference on the original control system is effectively avoided.
Drawings
FIG. 1 is a flow chart of a method of modification of a PWM waveform according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a sector in which a space voltage vector is located, according to one embodiment of the present invention;
FIG. 3 is a flow chart of a method of modifying a PWM waveform according to one embodiment of the present invention;
FIG. 4a is a three-phase reference voltage for conventional space vector modulation;
FIG. 4b is a PWM waveform diagram corresponding to FIG. 4 a;
FIG. 5a is a three-phase reference voltage during space vector modulation according to one embodiment of the present invention;
FIG. 5b is a PWM waveform diagram corresponding to FIG. 5 a;
fig. 6 is a block diagram illustrating an apparatus for modifying a PWM waveform according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A method, an apparatus, and a motor control system for correcting a PWM waveform according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for correcting a PWM waveform according to an embodiment of the present invention. As shown in fig. 1, the method for correcting the PWM waveform according to the embodiment of the present invention may include the following steps:
s1, obtaining the turn-on time Ta, Tb and Tc of the three-phase PWM waveform in the current PWM period Ts, and obtaining the minimum value, the intermediate value and the maximum value of the turn-on time Ta, Tb and Tc to obtain the minimum phase turn-on time Tmin, the intermediate phase turn-on time Tmid and the maximum phase turn-on time Tmax.
Specifically, within the current PWM period (PWM carrier period), the on times Ta, Tb, and Tc of the three-phase PWM waveform are acquired, and the minimum value, the intermediate value, and the maximum value among Ta, Tb, and Tc are acquired, and the minimum value, the intermediate value, and the maximum value are assigned to Tmin, Tmid, and Tmax in sequence.
And S2, judging whether the narrow pulse exists according to the opening time Ta, Tb and Tc, the minimum phase opening time Tmin, the maximum phase opening time Tmax and a preset minimum pulse width limiting value Tminp. The preset minimum pulse width limit value Tminp may be calibrated according to actual conditions, for example, the switching frequency, the switching loss, the on and off time of the power device, the dead time, and the like may be considered comprehensively.
According to an embodiment of the present invention, determining whether or not a narrow pulse exists based on times Ta, Tb, and Tc, a minimum phase on time Tmin, a maximum phase on time Tmax, and a preset minimum pulse width limit value Tminp includes: when Ta is more than Tc and more than Tb or Tb is more than Ta and more than Tc or Tc is more than Tb and more than Ta, if Tmin is less than TminP, judging that low-level narrow pulses exist, otherwise, judging that the low-level narrow pulses do not exist; when Ta is more than Tb and more than Tc or Tb is more than Tc and more than Ta is more than Tb, if Ts-Tmax is less than TminP, judging that high-level narrow pulses exist, and otherwise, judging that the high-level narrow pulses do not exist.
Specifically, when determining whether there is a narrow pulse, the sector in which the space voltage vector is located may be determined according to the on-times Ta, Tb, and Tc, and then it may be further determined whether there is a low-level narrow pulse or a high-level narrow pulse according to the sector, that is, whether a narrow low-level pulse or a narrow high-level pulse occurs, so as to further determine the correction method for the PWM waveform.
Specifically, as shown in FIG. 2, when Ta > Tc > Tb, the space voltage vector is determined to be in UWV sectors; when Tb is larger than Ta and is larger than Tc, judging that the space voltage vector is in the VUV sector; when Tc is more than Tb and more than Ta, judging that the space voltage vector is in WVU sectors; when Ta is more than Tb and more than Tc, judging that the space voltage vector is in the UVW sector; when Tb is more than Tc and more than Ta, judging that the space voltage vector is in VWU sectors; when Tc > Ta > Tb, the space voltage vector is judged to be in WUV sectors.
Further, when the space voltage vector is in UWV sector, VUW sector or WVU sector, determining whether there is a low level narrow pulse according to Tmin, wherein if Tmin < Tmin p, determining that there is a low level narrow pulse; if Tmin is more than or equal to Tminp, judging that no low-level narrow pulse exists, and not correcting Tmin, Tmid and Tmax at the moment. When the space voltage vector is in a UVW sector, an VWU sector or a WUV sector, judging whether high-level narrow pulses exist according to Ts-Tmax, wherein if the Ts-Tmax is less than Tminp, judging that the high-level narrow pulses exist; if Ts-Tmax is larger than or equal to Tminp, judging that no high-level narrow pulse exists, and not correcting Tmin, Tmid and Tmax at the moment.
S3, if there is a narrow pulse, the minimum phase on time Tmin, the intermediate phase on time Tmid, and the maximum phase on time Tmax are corrected in synchronization.
According to an embodiment of the present invention, when it is judged that there is a low-level narrow pulse, performing synchronous correction on the minimum phase on time Tmin, the middle phase on time Tmid, and the maximum phase on time Tmax includes: if the Tmin is not more than TminP/2, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax according to a first preset correction mode; and if TminP/2 is more than Tmin and less than TminP, carrying out outward synchronous correction on the Tmin, Tmid and Tmax according to a second preset correction mode.
Specifically, when it is determined that there is a low-level narrow pulse, if Tmin is less than or equal to Tminp/2, the inward synchronization correction is performed on Tmin, Tmid, and Tmax according to a first preset correction method, where the first preset correction method may be: tmin is subtracted from Tmin, Tmin id and Tmax respectively, the corrected minimum phase opening time Tmin ' is 0, the intermediate phase opening time Tmin ' is Tmin-Tmin, and the maximum phase opening time Tmax ' is Tmax-Tmin. If Tminp/2 < Tmin < Tminp, carrying out outward synchronous correction on the Tmin, Tmid and Tmax according to a second preset correction mode, wherein the second preset correction mode can be as follows: Tmin-Tmin is added to Tmin, Tmid and Tmax respectively, the corrected minimum phase opening time Tmin ' is Tmin p, the corrected intermediate phase opening time Tmid ' is Tmid + Tmin-Tmin, and the corrected maximum phase opening time Tmax ' is Tmax + Tmin-Tmin.
That is, when Ta > Tc > Tb or Tb > Ta > Tc or Tc > Tb > Ta, it is first determined whether there is a low-level narrow pulse according to the magnitude relationship between Tmin and Tminp, and if Tmin < Tminp, it is determined that there is a low-level narrow pulse, at this time, Tmin, Tmid, and Tmax need to be corrected, and further a correction mode is determined according to the magnitude relationship between Tmin and Tminp/2, wherein if Tmin is not greater than Tminp/2, then Tmin, Tmid, and Tmax are corrected inward synchronously according to a first preset correction mode; and if Tminp/2 < Tmin < Tminp, carrying out outward synchronous correction on the Tmin, Tmid and Tmax according to a second preset correction mode. If Tmin is more than or equal to Tminp, judging that no low-level narrow pulse exists, and at the moment, correcting Tmin, Tmid and Tmax is not needed.
According to an embodiment of the present invention, when it is judged that there is a high-level narrow pulse, performing synchronous correction on the minimum phase on time Tmin, the middle phase on time Tmid, and the maximum phase on time Tmax includes: acquiring a correction mode of a three-phase PWM waveform in the previous PWM period; when the correction mode is a first preset correction mode or a third preset correction mode, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax according to the third preset correction mode; and when the correction mode is a second preset correction mode or a fourth preset correction mode, carrying out outward synchronous correction on the Tmin, the Tmid and the Tmax according to the fourth preset correction mode.
Further, if the three-phase PWM waveform is not corrected in the previous PWM period, judging whether Ts-Tmax is larger than Tminp/2; if Ts-Tmax is larger than Tminp/2, carrying out inward synchronous correction on Tmin, Tmid and Tmax according to a third preset correction mode; and if the Ts-Tmax is less than or equal to Tminp/2, performing outward synchronous correction on the Tmin, the Tmid and the Tmax according to a fourth preset correction mode.
Specifically, when it is determined that there is a high-level narrow pulse, the correction method for the three-phase PWM waveform in the previous PWM period, i.e., the correction method for Tmin, Tmid, and Tmax in the previous PWM period is also obtained.
If the PWM waveform is not corrected in the previous PWM period, further judging whether Ts-Tmax is larger than Tmin p/2, if Ts-Tmax is larger than Tmin p/2, performing inward synchronous correction on Tmin, Tmid and Tmax according to a third preset correction mode, wherein the third preset correction mode can be as follows: tmin, Tmid and Tmax are respectively subtracted by Tmin + Tmax-Ts, the corrected minimum phase opening time Tmin ' ═ Tmin- (Tmin + Tmax-Ts), the intermediate phase opening time Tmid ' ═ Tmid- (Tmin + Tmax-Ts) and the maximum phase opening time Tmax ' ═ Ts-Tmin are obtained. If Ts-Tmax is less than or equal to Tminp/2, performing outward synchronous correction on Tmin, Tmid and Tmax according to a fourth preset correction mode, wherein the fourth preset correction mode can be as follows: and adding Ts-Tmax to the Tmin, the Tmid and the Tmax respectively, and correcting the minimum phase opening time Tmin ' ═ Tmin + (Ts-Tmax), the intermediate phase opening time Tmid ' ═ Tmid + (Ts-Tmax) and the maximum phase opening time Tmax ' ═ Ts.
If the previous PWM period adopts a first preset correction mode or a third preset correction mode, carrying out inward synchronous correction on Tmin, Tmid and Tmax according to the third preset correction mode; and if the previous PWM period adopts a second preset correction mode or a fourth preset correction mode, performing outward synchronous correction on Tmin, Tmid and Tmax according to the fourth preset correction mode.
That is, when Ta > Tb > Tc or Tb > Tc > Ta or Tc > Ta > Tb, whether high-level narrow pulses exist is judged according to the magnitude relation between Ts-Tmax and Tminp, if Ts-Tmax < Tminp, the high-level narrow pulses exist is judged, at this time, Tmin, Tmid and Tmax need to be corrected, and the correction mode of the current PWM period is further determined according to the correction mode of Tmin, Tmid and Tmax in the previous PWM period. If the Tmin, the Tmid and the Tmax are not corrected in the previous PWM period, further determining a specific correction mode according to the size relation between the Ts-Tmax and the Tmin/2, wherein if the Ts-Tmax is larger than the Tmin/2, inwards correcting the Tmin, the Tmid and the Tmax according to a third preset correction mode; and if Ts-Tmax is less than or equal to Tminp/2, performing outward synchronous correction on Tmin, Tmid and Tmax according to a fourth preset correction mode. And if the previous PWM period adopts a first preset correction mode or a third preset correction mode, carrying out inward synchronous correction on Tmin, Tmid and Tmax according to the third preset correction mode. And if the previous PWM period adopts a second preset correction mode or a fourth preset correction mode, performing outward synchronous correction on Tmin, Tmid and Tmax according to the fourth preset correction mode.
Therefore, whether the narrow pulse exists or not is judged according to the opening time Ta, Tb and Tc, the minimum phase opening time Tmin and the maximum phase opening time Tmax, and when the narrow pulse exists, the minimum phase opening time Tmin, the intermediate phase opening time Tmid and the maximum phase opening time Tmax are synchronously adjusted, so that the action time (action time t1 is Tmax-Timd, action time t2 is Tmid-Tmin) of two effective vectors of any sector is kept unchanged, and the interference on an original control system is effectively avoided. And when the narrow pulse is judged to exist, the low-level narrow pulse and the high-level narrow pulse are distinguished and are symmetrically processed, so that the even harmonic wave is not introduced on the whole.
S4, reversely assigning the corrected minimum phase on time Tmin ', intermediate phase on time Tmid ' and maximum phase on time Tmax ' to on times Ta, Tb and Tc to correct the three-phase PWM waveform.
According to an embodiment of the present invention, the method for correcting the PWM waveform may further include: the modified Tmin ', Tmid ' and Tmax ' are subjected to clipping processing, for example, the maximum value of the modified Tmax ' is limited to Ts, and the minimum value of the modified Tmin ' is limited to 0.
Specifically, after the modified minimum phase on time Tmin ', intermediate phase on time Tmid' and maximum phase on time Tmax 'are subjected to amplitude limiting processing, the updated Tmin', Tmid 'and Tmax' are reversely assigned to Ta, Tb and Tc in the order of the original minimum, intermediate and maximum values of Ta, Tb and Tc. For example, if Tb < Ta < Tc, then Tmax ' is assigned to Tb, Tmid ' is assigned to Ta, and Tmax ' is assigned to Tc, thereby implementing the correction of the three-phase PWM waveform. Because the minimum of the adjusted minimum phase on-time is zero and the maximum of the adjusted maximum phase on-time is the maximum of the PWM period Ts, the original PWM modulation range is not reduced, and the modulation range can still reach zero to full switching period.
In order to enable those skilled in the art to more clearly understand the present invention. Fig. 3a to 3b are flowcharts illustrating a method for correcting a PWM waveform according to an embodiment of the present invention, and as shown in fig. 3a to 3b, the method for correcting a PWM waveform may include the following steps:
s101, obtaining the turn-on time Ta, Tb and Tc of a three-phase PWM waveform, obtaining the minimum phase turn-on time Tmin, the intermediate phase turn-on time Tmid and the maximum phase turn-on time Tmax, and obtaining the narrow pulse correction flag bit maxPluseFlag of the previous PWM period.
When maxPulseFlag is 0, the three-phase PWM waveform is not corrected in the previous PWM period; when maxPulseFlag is 1, the three-phase PWM waveform is corrected inwards in the previous PWM period by using the first preset correction mode or the third preset correction mode; and when maxPulseFlag is 2, indicating that the three-phase PWM waveform is corrected outwards in the previous PWM period by adopting the second preset correction mode or the fourth preset correction mode. And, at initial run, maxPulseFlag is 0.
S102, determining Ta, Tb and Tc.
S103, when Ta > Tc > Tb, Tb > Ta > Tc, or Tc > Tb > Ta, Tmin is judged.
S104, if the Tmin is not more than Tminp/2, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax by adopting a first preset correction mode, and assigning the maxPluseFlag to be 1.
S105, if Tminp/2 is more than Tmin and less than Tminp, adopting a second preset correction mode to perform outward synchronous correction on Tmin, Tmid and Tmax, and assigning the maxPluseFlag to be 2.
S106, if the Tmin is more than or equal to the Tminp, the Tmin, the Tmid and the Tmax are not corrected, and maxPalseFlag is assigned to be 0.
S107, when Ta > Tb > Tc or Tb > Tc > Ta or Tc > Ta > Tb, judging Ts-Tmax.
S108, if Ts-Tmax is less than Tminp, judging maxPluseFlag.
S109, if maxPluseFlag is 0, judging whether Ts-Tmax > Tminp/2 is satisfied. If yes, go to step S110; otherwise, step S111 is performed.
S110, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax by adopting a third preset correction mode, and assigning the maxPluseFlag to be 1.
S111, adopting a fourth preset correction mode to perform outward synchronous correction on Tmin, Tmid and Tmax, and assigning the maxPluseFlag to be 2.
And S112, if the maxPluseFlag is 1, performing inward synchronous correction on the Tmin, the Tmid and the Tmax by adopting a third preset correction mode, and assigning the maxPluseFlag to be 1.
And S113, if the maxPluseFlag is 2, performing outward synchronous correction on the Tmin, the Tmid and the Tmax by adopting a fourth preset correction mode, and assigning the maxPluseFlag to be 2.
S114, if Ts-Tmax is larger than or equal to Tminp, not correcting Tmin, Tmid and Tmax, and assigning maxPlusflag to be 0.
S115, limiting the corrected Tmin ', Tmid ' and Tmax ', and assigning values to Ta, Tb and Tc in a reverse mode, so that correction of the three-phase PWM waveform of the current PWM period is completed.
Further, fig. 4a is the three-phase reference voltage in the conventional space vector modulation, when the modulation degree is close to the full modulation degree, which is a saddle wave as can be seen from the figure, and the corresponding output PWM waveform is shown in fig. 4 b. Comparing fig. 4a and fig. 4b, it can be seen that, in the case that the modulation degree is close to the full modulation degree, the output PWM waveform has narrow high-level pulses and low-level pulses at the peak time of the saddle, and if not limited, the power device will not output the complete waveform.
Fig. 5a shows three-phase reference voltages during space vector modulation according to an embodiment of the present invention, wherein the modulation degree is the same as that in fig. 4a, and it can be seen from the figure that the peak of the saddle is adjusted to the highest or lowest level, and the unrestricted peak has shrunk inwards, and the corresponding effect can be seen from the PWM waveform shown in fig. 5b, and at the narrow pulse, the full-high or full-low constant value has been adjusted. It can be seen from fig. 5a and 5b that the PWM waveform exhibits positive and negative symmetry, thereby preventing the introduction of even harmonics and achieving the desired effect, and therefore the method for correcting the PWM waveform according to the embodiment of the present invention is effective.
In summary, according to the method for correcting the PWM waveform of the embodiment of the present invention, the on-times of the minimum phase, the intermediate phase, and the maximum phase are synchronously adjusted, so that the two action times of the effective vector are kept unchanged, and the original control system is not disturbed. Meanwhile, the low-level narrow pulse and the high-level narrow pulse are comprehensively considered, the high-level narrow pulse and the low-level narrow pulse are symmetrically limited, half of the minimum pulse width limiting value is used as a judgment threshold value, inward or outward symmetrical adjustment is carried out, and new even harmonics are not introduced. In addition, after a minimum pulse width limiting strategy is introduced, the minimum pulse width is zero, the maximum pulse width is Ts, and the original PWM modulation range is not reduced.
In addition, an embodiment of the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the above-described PWM waveform correction method.
According to the non-transitory computer-readable storage medium of the embodiment of the invention, by the method for correcting the PWM waveform, the action time of two effective vectors of any sector can be ensured to be unchanged, so that the interference on an original control system is effectively avoided.
Fig. 6 is a block diagram illustrating an apparatus for modifying a PWM waveform according to an embodiment of the present invention. As shown in fig. 6, the apparatus for correcting a PWM waveform according to an embodiment of the present invention may include: a first acquisition unit 10, a judgment unit 20 and a correction unit 30.
The first obtaining unit 10 is configured to obtain on-times Ta, Tb, and Tc of a three-phase PWM waveform in a current PWM period Ts, and obtain a minimum value, an intermediate value, and a maximum value of the on-times Ta, Tb, and Tc to obtain a minimum phase on-time Tmin, an intermediate phase on-time Tmid, and a maximum phase on-time Tmax; the judging unit 20 is configured to judge whether there is a narrow pulse according to the on times Ta, Tb, and Tc, the minimum phase on time Tmin, the maximum phase on time Tmax, and a preset minimum pulse width limit value Tminp; the correction unit 30 is configured to, if there is a narrow pulse, perform synchronous correction on the minimum phase on time Tmin, the intermediate phase on time Tmid, and the maximum phase on time Tmax, and reversely assign the corrected minimum phase on time Tmin ', intermediate phase on time Tmid ', and maximum phase on time Tmax ' to the on times Ta, Tb, and Tc to correct the three-phase PWM waveform.
According to an embodiment of the present invention, the determining unit 20 is specifically configured to: when Ta is more than Tc and more than Tb or Tb is more than Ta and more than Tc or Tc is more than Tb and more than Ta, if Tmin is less than TminP, judging that low-level narrow pulses exist, otherwise, judging that the low-level narrow pulses do not exist; when Ta is more than Tb and more than Tc or Tb is more than Tc and more than Ta is more than Tb, if Ts-Tmax is less than TminP, judging that high-level narrow pulses exist, and otherwise, judging that the high-level narrow pulses do not exist.
According to an embodiment of the present invention, when determining that there is a low-level narrow pulse, the correction unit 30 is specifically configured to: if the Tmin is not more than TminP/2, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax according to a first preset correction mode; and if TminP/2 is more than Tmin and less than TminP, carrying out outward synchronous correction on the Tmin, Tmid and Tmax according to a second preset correction mode.
According to an embodiment of the present invention, when determining that there is a high-level narrow pulse, the correction unit 30 is specifically configured to: acquiring a correction mode of a three-phase PWM waveform in the previous PWM period; when the correction mode is a first preset correction mode or a third preset correction mode, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax according to the third preset correction mode; when the correction mode is a second preset correction mode or a fourth preset correction mode, carrying out outward synchronous correction on the Tmin, the Tmid and the Tmax according to the fourth preset correction mode;
further, the correction unit 30 is further specifically configured to: if the three-phase PWM waveform is not corrected in the previous PWM period, judging whether Ts-Tmax is larger than Tminp/2; if Ts-Tmax is larger than Tminp/2, carrying out inward synchronous correction on Tmin, Tmid and Tmax according to a third preset correction mode; and if the Ts-Tmax is less than or equal to Tminp/2, performing outward synchronous correction on the Tmin, the Tmid and the Tmax according to a fourth preset correction mode.
According to an embodiment of the present invention, the first preset modification manner is: tmin is subtracted from Tmin, Tmin id and Tmax respectively; the second preset correction mode is as follows: adding Tmin, Tmin id and Tmax to Tmin-Tmin respectively; the third preset correction mode is as follows: subtracting Tminp + Tmax-Ts from Tmin, Tmid and Tmax respectively; the fourth preset correction mode is as follows: tmin, Tmid and Tmax are added with Ts-Tmax, respectively.
According to an embodiment of the present invention, the apparatus for correcting a PWM waveform may further include: and a clipping unit (not shown) for clipping the corrected Tmin ', Tmid ', and Tmax '.
It should be noted that, details that are not disclosed in the PWM waveform correction apparatus according to the embodiment of the present invention refer to details that are disclosed in the PWM waveform correction method according to the embodiment of the present invention, and are not repeated herein.
According to the correction device of the PWM waveform of the embodiment of the present invention, the on times Ta, Tb, and Tc of the three-phase PWM waveform in the current PWM period Ts are acquired by the first acquisition unit, and the minimum value, the intermediate value, and the maximum value of Ta, Tb, and Tc are acquired to obtain the minimum phase on time Tmin, the intermediate phase on time Tmid, and the maximum phase on time Tmax, and the presence or absence of the narrow pulse is judged by the judgment unit based on Ta, Tb, and Tc, Tmin, Tmax, and the preset minimum pulse width limit value Tminp. If the three-phase PWM waveform exists, the correction unit synchronously corrects the Tmin, the Tmin id and the Tmax, and assigns the corrected Tmin ', the Tmin ' and the Tmax ' to Ta, Tb and Tc in a reverse mode to correct the three-phase PWM waveform, so that the action time of two effective vectors of any sector can be guaranteed to be unchanged, and the interference on an original control system is effectively avoided.
In addition, the embodiment of the invention also provides a motor control system which comprises the device for correcting the PWM waveform.
According to the motor control system provided by the embodiment of the invention, the action time of two effective vectors of any sector can be ensured to be unchanged by the PWM waveform correction device, so that the interference on the original control system is effectively avoided.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In addition, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (14)
1. A method for correcting a PWM waveform is characterized by comprising the following steps:
obtaining the opening time Ta, Tb and Tc of a three-phase PWM waveform in the current PWM period Ts, and obtaining the minimum value, the intermediate value and the maximum value of the opening time Ta, Tb and Tc to obtain the minimum phase opening time Tmin, the intermediate phase opening time Tmid and the maximum phase opening time Tmax;
judging whether narrow pulses exist or not according to the opening time Ta, Tb and Tc, the minimum phase opening time Tmin, the maximum phase opening time Tmax and a preset minimum pulse width limit value Tminp;
if the narrow pulse exists, synchronously correcting the minimum phase opening time Tmin, the intermediate phase opening time Tmid and the maximum phase opening time Tmax;
reversely assigning the corrected minimum phase opening time Tmin ', intermediate phase opening time Tmid ' and maximum phase opening time Tmax ' to the opening times Ta, Tb and Tc so as to correct the three-phase PWM waveform;
the judging whether the narrow pulse exists according to the opening time Ta, Tb and Tc, the minimum phase opening time Tmin, the maximum phase opening time Tmax and a preset minimum pulse width limiting value Tminp comprises the following steps:
when Ta is more than Tc and more than Tb or Tb is more than Ta and more than Tc or Tc is more than Tb and more than Ta, if Tmin is less than Tminp, judging that low-level narrow pulses exist, and otherwise, judging that the low-level narrow pulses do not exist;
when Ta is more than Tb and more than Tc or Tb is more than Tc and more than Ta or Tc is more than Ta and more than Tb, if Ts-Tmax is less than Tminp, judging that high-level narrow pulses exist, and otherwise, judging that the high-level narrow pulses do not exist;
when it is determined that there is a low-level narrow pulse, the synchronously correcting the minimum phase on-time Tmin, the intermediate phase on-time Tmid, and the maximum phase on-time Tmax includes:
according to the minimum phase opening time Tmin, selecting to synchronously correct Tmin, Tmid and Tmax according to a first preset correction mode or a second preset correction mode;
when it is determined that there is a high-level narrow pulse, the synchronously correcting the minimum phase on-time Tmin, the intermediate phase on-time Tmid, and the maximum phase on-time Tmax includes:
and according to the correction mode of the three-phase PWM waveform in the previous PWM period, selecting to perform synchronous correction on Tmin, Tmid and Tmax according to a third preset correction mode or a fourth preset correction mode.
2. The method of correcting a PWM waveform according to claim 1, wherein said synchronously correcting said minimum phase on time Tmin, said middle phase on time Tmid, and said maximum phase on time Tmax when it is judged that there is a low-level narrow pulse, comprises:
if Tmin is not greater than Tmin/2, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax according to the first preset correction mode;
and if Tminp/2 < Tmin < Tminp, carrying out outward synchronous correction on the Tmin, the Tmid and the Tmax according to the second preset correction mode.
3. The method of correcting a PWM waveform according to claim 1, wherein said synchronously correcting said minimum phase on time Tmin, said middle phase on time Tmid and said maximum phase on time Tmax when it is judged that there is a high-level narrow pulse, comprises:
acquiring a correction mode of the three-phase PWM waveform in the previous PWM period;
when the correction mode is the first preset correction mode or the third preset correction mode, performing inward synchronous correction on the Tmin, the Tmid and the Tmax according to the third preset correction mode;
and when the correction mode is the second preset correction mode or the fourth preset correction mode, performing outward synchronous correction on the Tmin, the Tmid and the Tmax according to the fourth preset correction mode.
4. The method for correcting a PWM waveform according to claim 3, wherein if the three-phase PWM waveform is not corrected in the previous PWM period, it is determined whether Ts-Tmax is greater than Tminp/2;
if Ts-Tmax is larger than Tminp/2, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax according to a third preset correction mode;
and if the Ts-Tmax is less than or equal to Tminp/2, carrying out outward synchronous correction on the Tmin, the Tmid and the Tmax according to a fourth preset correction mode.
5. The method of modifying a PWM waveform of claim 3,
the first preset correction mode is as follows: subtracting Tmin from the Tmin, the Tmid, and the Tmax, respectively;
the second preset correction mode is as follows: adding Tmin-Tmin to said Tmin, said Tmid, and said Tmax, respectively;
the third preset correction mode is as follows: subtracting Tminp + Tmax-Ts from the Tmin, the Tmid and the Tmax, respectively;
the fourth preset correction mode is as follows: adding Ts-Tmax to the Tmin, the Tmid and the Tmax respectively.
6. The method for modifying the PWM waveform according to any one of claims 1 to 5, further comprising:
and performing amplitude limiting processing on the corrected Tmin ', Tmid ' and Tmax '.
7. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the method of modifying a PWM waveform according to any one of claims 1 to 6.
8. An apparatus for modifying a PWM waveform, comprising:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring the turn-on time Ta, Tb and Tc of a three-phase PWM waveform in the current PWM period Ts, and acquiring the minimum value, the intermediate value and the maximum value of the turn-on time Ta, Tb and Tc to acquire the minimum phase turn-on time Tmin, the intermediate phase turn-on time Tmid and the maximum phase turn-on time Tmax;
a judging unit, configured to judge whether a narrow pulse exists according to the on-times Ta, Tb, and Tc, the minimum phase on-time Tmin, the maximum phase on-time Tmax, and a preset minimum pulse width limit value Tminp;
a correction unit configured to, if the narrow pulse exists, perform synchronous correction on the minimum phase on time Tmin, the intermediate phase on time Tmid, and the maximum phase on time Tmax, and reversely assign the corrected minimum phase on time Tmin ', intermediate phase on time Tmid ', and maximum phase on time Tmax ' to the on times Ta, Tb, and Tc to correct the three-phase PWM waveform;
the judgment unit is specifically configured to:
when Ta is more than Tc and more than Tb or Tb is more than Ta and more than Tc or Tc is more than Tb and more than Ta, if Tmin is less than Tminp, judging that low-level narrow pulses exist, and otherwise, judging that the low-level narrow pulses do not exist;
when Ta is more than Tb and more than Tc or Tb is more than Tc and more than Ta or Tc is more than Ta and more than Tb, if Ts-Tmax is less than Tminp, judging that high-level narrow pulses exist, and otherwise, judging that the high-level narrow pulses do not exist;
when it is determined that the low-level narrow pulse exists, the correction unit is specifically configured to: according to the minimum phase opening time Tmin, selecting to synchronously correct Tmin, Tmid and Tmax according to a first preset correction mode or a second preset correction mode;
when it is determined that the high-level narrow pulse exists, the correction unit is specifically configured to: and according to the correction mode of the three-phase PWM waveform in the previous PWM period, selecting to perform synchronous correction on Tmin, Tmid and Tmax according to a third preset correction mode or a fourth preset correction mode.
9. The apparatus for modifying a PWM waveform according to claim 8, wherein when it is determined that the low-level narrow pulse exists, the modifying unit is specifically configured to:
if Tmin is not greater than Tmin/2, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax according to the first preset correction mode;
and if Tminp/2 < Tmin < Tminp, carrying out outward synchronous correction on the Tmin, the Tmid and the Tmax according to the second preset correction mode.
10. The apparatus for modifying a PWM waveform according to claim 8, wherein when it is determined that the high-level narrow pulse exists, the modifying unit is specifically configured to:
acquiring a correction mode of the three-phase PWM waveform in the previous PWM period;
when the correction mode is the first preset correction mode or the third preset correction mode, performing inward synchronous correction on the Tmin, the Tmid and the Tmax according to the third preset correction mode;
and when the correction mode is the second preset correction mode or the fourth preset correction mode, performing outward synchronous correction on the Tmin, the Tmid and the Tmax according to the fourth preset correction mode.
11. The apparatus for modifying a PWM waveform according to claim 10, wherein the modifying unit is further specifically configured to:
if the three-phase PWM waveform is not corrected in the previous PWM period, judging whether Ts-Tmax is larger than Tminp/2;
if Ts-Tmax is larger than Tminp/2, carrying out inward synchronous correction on the Tmin, the Tmid and the Tmax according to a third preset correction mode;
and if the Ts-Tmax is less than or equal to Tminp/2, carrying out outward synchronous correction on the Tmin, the Tmid and the Tmax according to a fourth preset correction mode.
12. The apparatus for modifying a PWM waveform according to claim 10,
the first preset correction mode is as follows: subtracting Tmin from the Tmin, the Tmid, and the Tmax, respectively;
the second preset correction mode is as follows: adding Tmin-Tmin to said Tmin, said Tmid, and said Tmax, respectively;
the third preset correction mode is as follows: subtracting Tminp + Tmax-Ts from the Tmin, the Tmid and the Tmax, respectively;
the fourth preset correction mode is as follows: adding Ts-Tmax to the Tmin, the Tmid and the Tmax respectively.
13. The apparatus for modifying a PWM waveform according to any one of claims 8 to 12, further comprising:
and a clipping unit configured to perform clipping processing on the corrected Tmin ', the Tmid ', and the Tmax '.
14. A motor control system comprising means for modifying a PWM waveform according to any one of claims 8 to 13.
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| CN112865650B (en) * | 2020-05-31 | 2023-05-30 | 江苏金陵智造研究院有限公司 | FPGA-based hardware current loop control system and method with variable chopping period |
| CN116581961B (en) * | 2023-06-14 | 2023-11-21 | 深圳丹青新技术有限公司 | Three-phase inverter current sampling method and motor device |
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