CN109217650A - Synchronization dead zone modulator approach based on particular harmonic compensation - Google Patents
Synchronization dead zone modulator approach based on particular harmonic compensation Download PDFInfo
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- CN109217650A CN109217650A CN201710531466.8A CN201710531466A CN109217650A CN 109217650 A CN109217650 A CN 109217650A CN 201710531466 A CN201710531466 A CN 201710531466A CN 109217650 A CN109217650 A CN 109217650A
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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
- H02M1/38—Means for preventing simultaneous conduction of switches
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
-
- 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
- H02M1/38—Means for preventing simultaneous conduction of switches
- H02M1/385—Means for preventing simultaneous conduction of switches with means for correcting output voltage deviations introduced by the dead time
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Inverter Devices (AREA)
Abstract
The invention discloses a kind of synchronization dead zone modulator approaches based on particular harmonic compensation, pass through encoder output A+, A-, B+, B-, Z+, Z- differential signal, A, B, Z signal obtained after differential receiver is handled is sent on the quadrature coding pulse circuit QEP of task manager and is decoded, and obtains revolving speed, direction of rotation, the rotary position information of permanent-magnetic synchronous motor rotor；T1UFINT triggers AD sampling, i.e. the sample frequency of AD is triggering frequency；By obtaining feedback current i after three phase static to two-phase rotating coordinate transformationd、iq, with given id *、iq *Deviation is sought, obtains given voltage by current regulation；Given voltage rotates to after the transformation of two-phase static coordinate by two-phase and obtains Uα、Uβ, by SVPWM algorithm, PWM copped wave is obtained, the processing through level shifting circuit is turned on and off for controlling power device IGBT, and voltage source inverter is made to export appropriate voltage, realizes electric machine speed regulation operation.
Description
Technical field
The present invention relates to servo drive system control field more particularly to a kind of synchronization dead zones based on particular harmonic compensation
Modulator approach.
Background technique
Servo drive system is the important component of the high performance electromechanical integrated product such as numerically-controlled machine tool, industrial robot
And the basic strength of functional component and a national machine-building level.The core of servo drive system is servomotor
Control technology, the advanced degree of control technology and motor, microelectric technique, power switch, sensor and control theory
Development have close connection.
Modern high-grade, digitally controlled machine tools use permanent magnet torque motor direct drive mode, eliminate intermediate transmission mechanism, realize
Feeding with high precision.But the factors such as the electric and magnetic oscillation of the harmonic torque of motor and motor will all directly affect processing quality, i.e., electric
The fluctuation of machine itself will have a direct impact on the precision of workpieces processing.Therefore inhibit the pulsation of motor output torque itself very crucial, work as electricity
When machine low speed is run, the vibration for eliminating motor itself is particularly important.
The servo controller overwhelming majority uses pulse modulation technology, i.e., generates according to fixed frequency and amplitude instruction pre-
Phase and duplicate switching mode；Although this technology can inhibit the low-order harmonic in voltage waveform well, in stator
Inject certain harmonic voltage component in voltage, make higher hamonic wave rich in stator current, make in air-gap field there is also
Harmonic wave abundant, especially near switching frequency and its integral multiple, electric current higher hamonic wave generated in air-gap field high speed revolve
The space harmonics turned, affects the amplitude and number of electromagnetic force wave in motor gas-gap magnetic field significantly, to change synthesis rotation
Magnetomotive waveform.In addition, motor is not run under fixed revolving speed, work in certain frequency range, therefore,
In the operational process of motor, electromagnetic force wave frequency is possible to be overlapped with the intrinsic frequency of the certain mode of motor, and then generates
The phenomenon that mechanical resonance, so that motor be made to generate vibration by a relatively large margin and make us irritated noise.
In PWM inverter, due to device for power switching storage effect and exist shutdown delay, in order to avoid inverter
Two power switch tubes of same bridge arm occur straight-through and cause input short, it is necessary to one be arranged between signal turning on and off
Dead time.In the development process of inverter, in order to obtain excellent sine output voltage waveform, it is proposed that many novelties
Control mode, but most of must all design dead time.The insertion of dead time enables inverter trouble free service, but
If dead time selects improper, the dynamic property of inverter will be largely effected on, reduce the output performance of inverter, especially table
Now on the output voltage.With the growth of dead time, the work of inverter is safer, but will make the output electricity of inverter simultaneously
Corrugating quality is deteriorated, and the virtual value of output voltage increases or reduces, to impact to load.
It is based on the periodically variable dead time of resonant frequency by setting, to eliminate at stator current mechanical resonance point
Particular harmonic.The invention proposes a kind of synchronization dead zone modulation strategies based on particular harmonic compensation.
Summary of the invention
The object of the present invention is to provide a kind of synchronization dead zone modulation strategies based on particular harmonic compensation.
To achieve the goals above, technical solution provided by the invention are as follows: 1, a kind of synchronization based on particular harmonic compensation
Dead zone modulator approach, which comprises the steps of:
By encoder output A+, A-, B+, B-, Z+, Z- differential signal, A, B, the Z obtained after differential receiver is handled
Signal is sent on the quadrature coding pulse circuit QEP of task manager；
Orthogonal intersection code signal is decoded by the decoder of QEP, obtains revolving speed, the rotation of permanent-magnetic synchronous motor rotor
Direction, rotary position information；
The underflow of task manager interrupts T1UFINT triggering AD sampling, i.e. the sample frequency of AD is triggering frequency；
By obtaining feedback current i after three phase static to two-phase rotating coordinate transformationd、iq, with given id *、iq *Ask inclined
Difference obtains given voltage by current regulation；
Given voltage rotates to after the transformation of two-phase static coordinate by two-phase and obtains Uα、Uβ, by based on periodical dead zone
The SVPWM algorithm of modulation, obtains the periodically variable PWM copped wave of 6 tunnel dead times, and the processing through level shifting circuit is used for
Control power device IGBT is turned on and off, and voltage source inverter is made to export appropriate voltage, realizes electric machine speed regulation operation.
PWM is adjusted to be adjusted by carrier wave and be controlled, and adjusts the periodicity and phase of dead time.(corresponding harmonic wave can be eliminated,
Inhibit electro-magnetic exciting force, reduces vibration noise.)
Further include the steps that permanent-magnet synchronous motor rotor position initializes, under the premise of ac-dc axis normally decouples, passes through
Apply current phasor to motor stator, determines rotation direction using incremental encoder pulse signal detection direction of motor rotation
Constantly change current phasor direction by repeatedly comparing with the relationship between input current phase and realize diminution orientation range,
Until last given current phasor no longer makes rotor generate the displacement of displacement or very little, the rotor just realized is minimum
It is accurately positioned under the premise of displacement.
The angular rate for further including the steps that determining rotor, using the incremental encoder of 2500 lines, output signal A
+, A-, B+, B-, Z+, six road differential signal of Z-, by differential receiver, the orthogonal coding module for being converted to task manager is electric
Road can received signal, task manager receives the pulse signal of A, B two-phase, and task manager first judges the movement of motor
Then direction and by its quadruple obtains the revolving speed of motor using M/T algorithm.
By the SVPWM algorithm modulated based on periodical dead zone, specifically comprise the following steps:
Step 1: orthogonal signalling uαuβIt is input in the judgment module of sector, can determine whether out VrefThe sector N at place；
The modulated in real time of SVPWM signal, it is thus necessary to determine that VrefV is analyzed in the sector at placeαAnd VβRelationship: if Vβ> 0, then A
=1, otherwise A=0；
IfThen B=1, otherwise B=0；IfThen C=1, otherwise therefore C=0 is fanned
Area N=A+2B+4C；
Step 2: N is input in basis vector action time module, which be can determine that adjacent two in each sector
A non-zero vector action time T1、T2；
Calculate the action time T of two adjacent non-zero vectors and zero vector in each sectork、Tk+1、T0, enableFor different sector T1、T2By table
Value, T1、T2It after assignment, needs to be saturated it and judges, if T1+T2> T, then take T1=T1T/(T1+T2), T2=T2T/(T1+
T2)；
1 basis vector action time T of table1、T2Value table
| Sector | I | II | III | IV | V | VI |
| N | 3 | 1 | 5 | 4 | 6 | 2 |
| T1 | -Z | Z | X | -X | -Y | Y |
| T2 | X | Y | -Y | Z | -Z | -X |
Step 3: T1、T2It is input in three-phase time comparison module with N, three-phase time fiducial value T can be obtainedcm1、Tcm2、
Tcm3,
Vectors switching point Tcm1、Tcm2、Tcm3Calculating, by taking the first sector as an example, enabling intermediate variable is respectively Ta、Tb、Tc, by
PWM modulation principle can obtain Ta=(T-T1-T2)/4, Tb=Ta+T1/ 2, Tc=Tb+T2/ 2, the corresponding fiducial value T of different sectorscm1、
Tcm2、Tcm3；
2 different sectors switching time of table
| Sector | N | Tcm1 | Tcm2 | Tcm3 |
| I | 3 | Ta | Tb | Tc |
| II | 1 | Tb | Ta | Tc |
| III | 5 | Tc | Ta | Tb |
| IV | 4 | Tc | Tb | Ta |
| V | 6 | Tb | Tc | Ta |
| VI | 2 | Ta | Tc | Tb |
Step 4: Tcm1、Tcm2、Tcm3Through cyclically-varying dead zone generation module, six tunnels obtained are with varied dead zone PWM
Pulse drives IGBT.
Using TMS320F2812 as main control chip, control process executes the task manager according to the following steps:
Step 1: system initialization；
Step 2: initialization timer T1, T2；
Step 3: enabled general purpose timer T1 underflow interrupts (main interruption) and the CAP3 of general purpose timer T2 is interrupted；
Step 4: initialization PWM module, QEP module, ADC module, soft-start module, id、iqElectric current and speed regulator
Module；
Step 5: interrupt latency；
Step 6: T1 interrupt service subroutine；
Step 7: terminating.
Wherein, T1 interrupt processing process executes according to the following steps in step 6:
Step 1 keeps the scene intact and clear interrupt flag bit；
Step 2 reads AD sampled value, phase current and busbar voltage；
Step 3, operation CLARK transformation and PARK transformation；
Step 4 executes electric current pid control algorithm；
If step 5, electric current are normal, step 6 is executed；It is no to then follow the steps 11；
Step 6, operation IPARK transformation；
Step 7, the operation periodically variable space voltage vector module of dead time；
Step 8, speed of service module, it is no to then follow the steps 11 if speed normally executes step 9；
Step 9 updates driving signal and SVPWM parameter
Step 10, restoring scene jump out interruption, execute step 12；
Step 11, block pwm pulse, and show error signal；
Step 12 returns to principal function.
Compared with prior art, in view of the problems of the existing technology, the present invention provides a kind of by periodically variable
Dead time eliminates the control method of the particular harmonic at stator current mechanical resonance point, especially suitable for inhibiting negative in driving
The motor control assembly of the mechanical resonance generated when load.
Through the following description and in conjunction with the attached drawings, the present invention will become more fully apparent, these attached drawings are used to explain the present invention
Embodiment.
Detailed description of the invention
Fig. 1 is IGBT switching process waveform diagram of the embodiment of the present invention；
Fig. 2 is the symmetrical dead zone of the embodiment of the present invention, asymmetric dead zone driving signal figure；
Fig. 3 is rectified three-phase circuit of the embodiment of the present invention and DC bus schematic diagram；
Fig. 4 is typical case's three-phase inverting circuit figure of the embodiment of the present invention；
Fig. 5 is the synchronization dead zone modulating control system entirety hardware block diagram that the embodiment of the present invention is compensated based on particular harmonic；
Fig. 6 is the specific control block diagram of synchronization dead zone modulator approach that the embodiment of the present invention is compensated based on particular harmonic；
Fig. 7 is SVPWM basic vector distribution map of the embodiment of the present invention；
Fig. 8 is the SVPWM block process block diagram in belt variable of embodiment of the present invention dead zone；
Varied dead zone time waveform figure when Fig. 9 is carrier frequency 10K of the embodiment of the present invention；
Figure 10 is the A phase current frequency analysis figure that the embodiment of the present invention does not add periodical dead time；
Figure 11 is that cyclically-varying dead time, A phase current frequency analysis figure is added in the embodiment of the present invention；
Figure 12 is main program flow block diagram of the embodiment of the present invention；
Figure 13 is interrupt service subroutine flow diagram of the embodiment of the present invention；
Figure 14 is the periodically variable space voltage vector modular program flow diagram of dead time of the embodiment of the present invention；
Figure 15 is two-phase modulating wave waveform diagram of embodiment of the present invention A, B.
Specific embodiment
The embodiment of the present invention described referring now to the drawings, similar element numbers represent similar element in attached drawing.Such as
It is upper described:
Theoretical basis according to the present invention is introduced first.
Assuming that IGBT is perfect switch, turning on and off was completed in moment, can not consider dead time.But it is practical
It is by grid and transmitting voltage across poles U that upper IGBT, which is turned on and off,GEIt determines, works as UGEIt is positive and is greater than cut-in voltage UGE(th)
When, MOSFET is interior to form channel, and provides base current for transistor and then IGBT is connected；When grid and transmitting interpolar apply
When backward voltage or not plus signal, the channel in MOSFET disappears, and the base current of transistor is cut off, so that IGBT is turned off,
This, which requires the regular hour, to complete.Fig. 1 show the switching process of IGBT, it can be seen from the figure that opening in IGBT
When, grid emitter-base bandgap grading driving voltage UGEFrom its amplitude 10% to collector current ICMT is needed when rising to its 90% amplitudeonTime opens
It is logical；When IGBT is closed, grid emitter-base bandgap grading driving voltage UGEFrom its amplitude 90% to collector current ICMDropping to its 10% amplitude needs
Want toffTime shutdown.tonAnd toffCommonly referred to as IGBT's turns on and off the time.
180 ° of electric conduction potential source type inverters complete the change of current between upper and lower two switching devices of same bridge arm, using mutual
The PWM drive signal of benefit.Due to the intrinsic storage time t of device for power switchingdInfluence, turn-off time toffThan service time
tonIt is long, therefore be easy to that the short trouble that upper and lower two switching devices of same bridge arm simultaneously turn on occurs.This is existing in order to prevent
Certain time interval t is added in the appearance of elephant usually between upper and lower two switch device conductives of the same bridge arm of inverterd, i.e.,
Dead time or dead zone delay, are arranged dead time tdPurpose be the switching tube reliable turn-off guaranteed on same bridge arm after,
Another switching tube could be opened.Depending on the length of dead band time setting wants the switching speed of visual organ part, the switching speed of device
Faster, the dead time stayed can be shorter.Therefore, three elements of dead time: (1) there are direct current voltage bus；(2)
There are two the bridge arms constituted on the bus after switching device series connection；(3) the two switching devices needs are handed over switching frequency
For conducting.There are many set-up modes of switching dead time, as shown in Figure 2: arranged symmetrically, mixing is arranged, turn on delay is arranged,
Shutdown setting in advance etc..It is symmetrical arranged and refers to that switching tube shifts to an earlier date tdThe shutdown of/2 times, postpones td/ 2 times are open-minded, entire switch week
The dead time of phase is td.Turn on delay setting be exactly three bridge arm either switch pipes conducting when, allow its delay tdTime is again
Open-minded, when shutdown, still turns off on time, and these types of the dead time mode can be effectively protected power switch tube.
The present invention described in detail below: the specific steps of the synchronization dead zone modulator approach based on particular harmonic compensation, specifically
Steps are as follows:
As shown in Fig. 3,4,5, entirely based on particular harmonic compensation synchronization dead zone modulator approach control system mainly by
Power drive part and control section composition.Power drive part is made of rectification, inversion, Switching Power Supply.Main circuit is power
The executing agency of transformation mainly includes rectification circuit, filter circuit, inverse using cross-straight-intersection voltage-source type variable voltage variable frequency device
The composition such as power transformation road, its working principle is that three-phase alternating current is become direct current by uncontrollable rectification；Inverter will be by filtering
Direct current become voltage and the adjustable three-phase alternating current of frequency is supplied to motor.The core chips TMS320F2812 of control unit is
Motor control special chip, have the function of it is powerful, completed with it vector control system electric current and voltage A/D conversion,
Coordinate transform, the calculating of the revolving speed of motor and position are finally used vector control algorithm, are obtained containing dead by cyclically-varying
The PWM chopping signal of area's time drives IGBT device for power switching after optical coupling isolation circuit.
As shown in fig. 6, the present invention is based on specific control block diagram such as Fig. 6 of the synchronization dead zone modulator approach of particular harmonic compensation
It is shown.Change link to two-phase rotating coordinate system including electric current/busbar voltage/position sampling element, three-phase static coordinate system, turn
Fast governing loop；Stator current and rotor current governing loop, two-phase rotating coordinate system change link to two-phase stationary coordinate system
And PWM copped wave generates link.Specific method is: A+, A-, B+, B-, Z+, Z- differential signal of encoder output, through differential reception
A, B, Z signal obtained after device processing is sent on TMS320F2812 task manager quadrature coding pulse circuit QEP, A and B letter
Numbers 90 degree orthogonal, and Z phase is used as zero phase, and the code-disc of encoder rotates a circle, and just generates a marking signal, is usually used in datum mark
Positioning.Orthogonal intersection code signal is decoded by the decoder of QEP, obtains revolving speed, the direction of rotation, rotation position of rotor
The information such as set.The electric machine phase current that Hall current sensor samples amplitude after amplifier is handled is input in 0-3V
The AD mouth of TMS320F2812, the underflow of EVA task manager interrupt T1UFINT triggering AD sampling, i.e. the sample frequency of AD is touching
Send out frequency.By obtaining feedback current i after three phase static to two-phase rotating coordinate transformationd、iq, with given id、iqDeviation is sought,
Given voltage is obtained by current regulation；Given voltage rotates to after the transformation of two-phase static coordinate by two-phase and obtains Uα、Uβ,
By the SVPWM algorithm modulated based on periodical dead zone, the periodically variable PWM copped wave of 6 tunnel dead times is obtained, is turned through level
The processing for changing equal circuits, turns on and off for controlling power device IGBT, and voltage source inverter is made to export appropriate voltage, realizes
Electric machine speed regulation operation.PWM is adjusted to be adjusted by carrier wave and be controlled, and adjusts the periodicity and phase of dead time, can be eliminated corresponding
Harmonic wave inhibits electro-magnetic exciting force, reduces vibration noise.
(1) permanent-magnet synchronous motor rotor position initializes；
For the permanent magnet synchronous motor of incremental encoder, the electrical angle of rotor cannot be directly read before powering on,
That is before motor rotation, the position of rotor is unknown, it is therefore desirable to be carried out before motor running to rotor
Positioning, completes the initialisation phase of rotor.Using perturbation localization method, the main thought for positioning of perturbing is the present invention: straight handing over
Under the premise of axis normally decouples, by applying current phasor to motor stator, incremental encoder pulse signal detection electricity is utilized
Machine rotation direction determines the relationship between rotation direction and input current phase, by repeatedly comparing, constantly changes electric current arrow
Diminution orientation range is realized in amount direction, until last given current phasor no longer makes rotor generate displacement or very little
Displacement, the rotor just realized are accurately positioned under the premise of infinitesimal displacement amount.
(2) angular rate of rotor is determined；
The present invention uses the incremental encoder of 2500 lines, and six tunnel output signal A+, A-, B+, B-, Z+, Z- is by differential
Receiver, be converted to DSP orthogonal coding modular circuit can received signal, TMS320F2812 receives the arteries and veins of A, B two-phase
Rush signal, on the one hand, first judge the direction of motion of motor and by its quadruple, the revolving speed of motor is then obtained using M/T algorithm.
(3) the synchronization dead zone modulation algorithm compensated based on particular harmonic is executed, specific as follows:
The present invention is based on the SVPWM algorithms of synchronous dead zone modulation to be made of four parts, basic vector distribution as shown in fig. 7,
Detailed process module is as shown in Figure 8.
Step 1: orthogonal signalling uαuβIt is input in the judgment module of sector, can determine whether out VrefThe sector N at place.
The modulated in real time of SVPWM signal, it is thus necessary to determine that VrefThe sector at place.Analyze VαAnd VβRelationship: if Vβ> 0, then A
=1, otherwise A=0；IfThen B=1, otherwise B=0；IfThen C=1, otherwise C=0.Cause
This, sector N=A+2B+4C.
Step 2: N is input in basis vector action time module, which be can determine that adjacent two in each sector
A non-zero vector action time T1、T2。
Calculate the action time T of two adjacent non-zero vectors and zero vector in each sectork、Tk+1、T0.It enablesFor different sector T1、T2By table
Value.T1、T2After assignment, needs to be saturated it and judge.If T1+T2> T, then take T1=T1T/(T1+T2), T2=T2T/(T1+
T2)。
1 basis vector action time T of table1、T2Value table
Step 3: T1、T2It is input in three-phase time comparison module with N, three-phase time fiducial value T can be obtainedcm1、Tcm2、
Tcm3。
Vectors switching point Tcm1、Tcm2、Tcm3Calculating, by taking the first sector as an example, enabling intermediate variable is respectively Ta、Tb、Tc, by
PWM modulation principle can obtain Ta=(T-T1-T2)/4, Tb=Ta+T1/ 2, Tc=Tb+T2/ 2, the corresponding fiducial value T of different sectorscm1、
Tcm2、Tcm3。
2 different sectors switching time of table
| Sector | N | Tcm1 | Tcm2 | Tcm3 |
| I | 3 | Ta | Tb | Tc |
| II | 1 | Tb | Ta | Tc |
| III | 5 | Tc | Ta | Tb |
| IV | 4 | Tc | Tb | Ta |
| V | 6 | Tb | Tc | Ta |
| VI | 2 | Ta | Tc | Tb |
Step 4: Tcm1、Tcm2、Tcm3Through cyclically-varying dead zone generation module, six tunnels obtained are with varied dead zone PWM
Pulse drives IGBT.
Traditional dead time is fixed and invariable, and existing causes output voltage waveforms to generate distortion, reduces fundamental wave
Amplitude increases the harmonic loss of load, in low frequency and high carrier frequency, can make motor electromagnetic torque that larger arteries and veins occur
It is dynamic, severely impact the runnability of system.The present invention is based on periodically variable dead times, when using asymmetric dead zone
Between set-up mode, change frequency is identical as mechanical resonance frequency, handled by phase demodulation adjustment, eliminate motor stator electric current in generate
The harmonic wave of resonant frequency, to inhibit driving the mechanical resonance generated when load.When each PWM copped wave corresponds to a dead zone
Between, as dead time can be by 4.0 μ s, 4.1 μ s, 4.2 μ s, 4.3 μ s, 4.4 μ s, 4.5 μ s, 4.4 μ s, 4.3 μ s, 4.2 μ s, 4.1 μ
S, 4.0 μ s cyclically-varying.Varied dead zone time waveform when carrier frequency 10K is not as shown in figure 9, add periodical dead time
A phase current frequency analysis is as shown in Figure 10, and cyclically-varying dead time is added, and A phase current frequency analysis is as shown in figure 11.
(3) PWM module of DSP generates three pair of six tunnel dead time and presses periodically variable PWM chopping signal, at circuit
After reason, IGBT gate pole is triggered.
The pwm signal of DSP output is 3.3V, need to improve driving capability through driving circuit to trigger IGBT gate pole.IGBT root
Conducting is carried out according to six road pwm pulse signals and turns off control, driving motor operation.
The present invention using TMS320F2812 as main control chip, main program flow is as shown in figure 12, control process by with
Lower step executes:
Step 1: system initialization；
Step 2: initialization timer T1, T2；
Step 3: enabled general purpose timer T1 underflow interrupts (main interruption) and the CAP3 of general purpose timer T2 is interrupted；
Step 4: initialization PWM module, QEP module, ADC module, soft-start module, id、iqElectric current and speed regulator
Module；
Step 5: interrupt latency；
Step 6: T1 interrupt service subroutine；
Step 7: terminating.
As shown in figure 13, T1 interrupt processing process executes according to the following steps in step 6:
Step 1 keeps the scene intact and clear interrupt flag bit；
Step 2 reads AD sampled value, phase current and busbar voltage；
Step 3, operation CLARK transformation and PARK transformation；
Step 4 executes electric current pid control algorithm；
If step 5, electric current are normal, 6 are executed；Otherwise 11 are executed；
Step 6, operation IPARK transformation；
Step 7, the operation periodically variable space voltage vector module of dead time；
Otherwise step 8, speed of service module execute 11 if speed normally executes 9；
Step 9 updates driving signal and SVPWM parameter
Step 10, restoring scene jump out interruption, execute 12；
Step 11, block pwm pulse, and show error signal；
Step 12 returns to principal function.
The periodically variable space voltage vector modular program flow chart of dead time is as shown in figure 14, the shape of a saddle of generation
Modulating wave is then as shown in figure 15.
Start Step 1: interrupting；
Step 2: UdUq changes through anti-park, obtains UαUβ；
Step 3: determining UrefPlace sector N；
Step 4: the master vector obtained by N, is written in ACTR；
Voltage vector action time T is sought Step 5: being tabled look-up by N1T2；
Step 6: by T1T2Calculate the value that comparison match occurs；
Step 7: toward comparand register CMPRxMiddle write-in value；
Step 8: dead time is arranged in configuration DBTCONA；
It is returned Step 9: interrupting.
The above disclosure is only a preferred embodiment of the invention, cannot limit the right of the present invention with this certainly
Range, therefore according to equivalent variations made by scope of the present invention patent, it is still within the scope of the present invention.
Claims (7)
1. a kind of synchronization dead zone modulator approach based on particular harmonic compensation, which comprises the steps of:
By encoder output A+, A-, B+, B-, Z+, Z- differential signal, A, B, Z signal for being obtained after differential receiver is handled
It is sent on the quadrature coding pulse circuit QEP of task manager；
Orthogonal intersection code signal is decoded by the decoder of QEP, obtains revolving speed, the rotation side of permanent-magnetic synchronous motor rotor
To, rotary position information；
The underflow of task manager interrupts T1UFINT triggering AD sampling, i.e. the sample frequency of AD is triggering frequency；
By obtaining feedback current i after three phase static to two-phase rotating coordinate transformationd、iq, with given id *、iq *Deviation is sought, is passed through
Overcurrent adjusts to obtain given voltage；
Given voltage rotates to after the transformation of two-phase static coordinate by two-phase and obtains Uα、Uβ, by based on periodical dead zone modulation
SVPWM algorithm, obtain the periodically variable PWM copped wave of 6 tunnel dead times, the processing through level shifting circuit, for controlling
Power device IGBT is turned on and off, and voltage source inverter is made to export appropriate voltage, realizes electric machine speed regulation operation.
2. the synchronization dead zone modulator approach as described in claim 1 based on particular harmonic compensation, which is characterized in that PWM is adjusted
It is adjusted and controls by carrier wave, adjust the periodicity and phase of dead time.
3. the synchronization dead zone modulator approach as described in claim 1 based on particular harmonic compensation, which is characterized in that further include forever
The step of magnetic-synchro motor rotor position initializes, under the premise of ac-dc axis normally decouples, by applying electricity to motor stator
Flow vector, determined using incremental encoder pulse signal detection direction of motor rotation rotation direction and input current phase it
Between relationship constantly change current phasor direction by repeatedly comparing and realize diminution orientation range, until last given
Current phasor no longer makes the displacement of rotor generation displacement or very little, and the rotor just realized is quasi- under the premise of infinitesimal displacement amount
Determine position.
4. the synchronization dead zone modulator approach as described in claim 1 based on particular harmonic compensation, which is characterized in that further include true
The step of determining the angular rate of rotor, using the incremental encoder of 2500 lines, output signal A+, A-, B+, B-, Z+, Z-
Six road differential signals, by differential receiver, be converted to task manager orthogonal coding modular circuit can received signal,
Task manager receives the pulse signal of A, B two-phase, and task manager first judges the direction of motion of motor and by its quadruple,
Then the revolving speed of motor is obtained using M/T algorithm.
5. the synchronization dead zone modulator approach as described in claim 1 based on particular harmonic compensation, which is characterized in that by being based on
The SVPWM algorithm of periodical dead zone modulation, specifically comprises the following steps:
Step 1: orthogonal signalling uαuβIt is input in the judgment module of sector, can determine whether out VrefThe sector N at place；
The modulated in real time of SVPWM signal, it is thus necessary to determine that VrefV is analyzed in the sector at placeαAnd VβRelationship: if Vβ> 0, then A=1,
Otherwise A=0；
IfThen B=1, otherwise B=0；IfThen C=1, otherwise C=0, therefore, sector N
=A+2B+4C；
Step 2: N is input in basis vector action time module, which can determine that adjacent in each sector two are non-
Zero vector action time T1、T2；
Calculate the action time T of two adjacent non-zero vectors and zero vector in each sectork、Tk+1、T0, enableFor different sector T1、T2By table
Value, T1、T2It after assignment, needs to be saturated it and judges, if T1+T2> T, then take T1=T1T/(T1+T2), T2=T2T/(T1+
T2)；
1 basis vector action time T of table1、T2Value table
Step 3: T1、T2It is input in three-phase time comparison module with N, three-phase time fiducial value T can be obtainedcm1、Tcm2、Tcm3,
Vectors switching point Tcm1、Tcm2、Tcm3Calculating, by taking the first sector as an example, enabling intermediate variable is respectively Ta、Tb、Tc, by PWM
Modulation principle can obtain Ta=(T-T1-T2)/4, Tb=Ta+T1/ 2, Tc=Tb+T2/ 2, the corresponding fiducial value T of different sectorscm1、Tcm2、
Tcm3；
2 different sectors switching time of table
Step 4: Tcm1、Tcm2、Tcm3Through cyclically-varying dead zone generation module, six tunnels obtained have varied dead zone pwm pulse,
Drive IGBT.
6. the synchronization dead zone modulator approach as described in claim 1 based on particular harmonic compensation, which is characterized in that the event
Using TMS320F2812 as main control chip, control process executes manager according to the following steps:
Step 1: system initialization；
Step 2: initialization timer T1, T2；
Step 3: enabled general purpose timer T1 underflow interrupts (main interruption) and the CAP3 of general purpose timer T2 is interrupted；
Step 4: initialization PWM module, QEP module, ADC module, soft-start module, id、iqElectric current and speed regulator module；
Step 5: interrupt latency；
Step 6: T1 interrupt service subroutine；
Step 7: terminating.
7. the synchronization dead zone modulator approach as claimed in claim 6 based on particular harmonic compensation, which is characterized in that in step 6
T1 interrupt processing process executes according to the following steps:
Step 1 keeps the scene intact and clear interrupt flag bit；
Step 2 reads AD sampled value, phase current and busbar voltage；
Step 3, operation CLARK transformation and PARK transformation；
Step 4 executes electric current pid control algorithm；
If step 5, electric current are normal, step 6 is executed；It is no to then follow the steps 11；
Step 6, operation IPARK transformation；
Step 7, the operation periodically variable space voltage vector module of dead time；
Step 8, speed of service module, it is no to then follow the steps 11 if speed normally executes step 9；
Step 9 updates driving signal and SVPWM parameter
Step 10, restoring scene jump out interruption, execute step 12；
Step 11, block pwm pulse, and show error signal；
Step 12 returns to principal function.
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