CN109217650B - Synchronous dead zone modulation method based on specific harmonic compensation - Google Patents

Synchronous dead zone modulation method based on specific harmonic compensation Download PDF

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CN109217650B
CN109217650B CN201710531466.8A CN201710531466A CN109217650B CN 109217650 B CN109217650 B CN 109217650B CN 201710531466 A CN201710531466 A CN 201710531466A CN 109217650 B CN109217650 B CN 109217650B
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phase
module
current
motor
dead
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CN109217650A (en
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张擎
杨奇峰
刘世昌
陈廷辉
陈睿
邓德智
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Shenyang Siasun Robot and Automation Co Ltd
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Shenyang Siasun Robot and Automation Co Ltd
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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
    • 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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  • Power Engineering (AREA)
  • Inverter Devices (AREA)

Abstract

The invention discloses a synchronous dead zone modulation method based on specific harmonic compensation.A +, A-, B +, B-, Z + and Z-differential signals are output by an encoder, and A, B, Z signals obtained after the processing of a differential receiver are sent to an orthogonal coding pulse circuit QEP of an event manager and are decoded to obtain the information of the rotating speed, the rotating direction and the rotating position of a rotor of a permanent magnet synchronous motor; t1UFINT triggers AD sampling, namely the sampling frequency of AD is the trigger frequency; obtaining feedback current i after transformation from three-phase static to two-phase rotating coordinatesd、iqAnd given id *、iq *Calculating deviation, and obtaining given voltage through current regulation; the given voltage is converted from two-phase rotation to two-phase static coordinates to obtain Uα、UβPWM chopped waves are obtained through an SVPWM algorithm and are processed by a level conversion circuit to control the on and off of an IGBT (insulated gate bipolar translator) of the power device, so that a voltage source inverter outputs proper voltage to realize the speed regulation operation of the motor.

Description

Synchronous dead zone modulation method based on specific harmonic compensation
Technical Field
The invention relates to the field of servo drive system control, in particular to a synchronous dead zone modulation method based on specific harmonic compensation.
Background
The servo driving system is an important component and a functional part of high-performance electromechanical integrated products such as a numerical control machine tool, an industrial robot and the like, and is also a basic strength of the national mechanical manufacturing level. The core of the servo driving system is the control technology of the servo motor, and the advanced degree of the control technology is closely related to the development of the motor, the microelectronic technology, the power switch, the sensor and the control theory.
The modern high-grade numerical control machine tool adopts a direct driving mode of a permanent magnet torque motor, an intermediate transmission mechanism is removed, and high-precision feeding is realized. However, the harmonic torque of the motor, the electromagnetic vibration of the motor and other factors directly affect the machining quality, that is, the fluctuation of the motor directly affects the precision of the machined workpiece. Therefore, it is very important to suppress the output torque ripple of the motor itself, and it is especially important to eliminate the vibration of the motor itself when the motor is operated at a low speed.
The servo controllers mostly use pulse width modulation techniques, i.e. generate a desired and repeated switching pattern according to fixed frequency and amplitude commands; although the technology can well inhibit low-order harmonics in voltage waveform, a certain harmonic voltage component is injected into stator voltage, so that stator current contains rich higher harmonics, and the air-gap magnetic field also contains rich harmonics. In addition, the motor does not operate at a fixed rotating speed, but operates in a certain frequency range, so that the frequency of electromagnetic force waves can coincide with the natural frequency of certain modes of the motor in the operation process of the motor, and mechanical resonance is generated, so that the motor generates large-amplitude vibration and annoying noise.
In the PWM inverter, because of the storage effect of a power switch device, the turn-off delay exists, and in order to avoid input short circuit caused by direct connection of two power switch tubes of the same bridge arm of the inverter, a dead time must be set between a turn-on signal and a turn-off signal. In the development of inverters, many novel control schemes have been proposed for obtaining a good sinusoidal output voltage waveform, but most of them must design dead time. The insertion of the dead time enables the inverter to work safely, but if the dead time is not properly selected, the dynamic performance of the inverter is greatly influenced, and the output performance of the inverter is reduced, particularly expressed on the output voltage. As the dead time increases, the inverter operates more safely, but at the same time the quality of the output voltage waveform of the inverter will deteriorate, and the effective value of the output voltage will increase or decrease, thereby affecting the load.
By setting the dead time based on the periodic variation of the resonance frequency, specific harmonics at the mechanical resonance point of the stator current are eliminated. The invention provides a synchronous dead zone modulation strategy based on specific harmonic compensation.
Disclosure of Invention
The invention aims to provide a synchronous dead zone modulation strategy based on specific harmonic compensation.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: 1. a synchronous dead zone modulation method based on specific harmonic compensation is characterized by comprising the following steps:
an A +, A-, B +, B-, Z + and Z-differential signal is output through an encoder, and an A, B, Z signal obtained after the differential signal is processed by a differential receiver is sent to an orthogonal encoding pulse circuit QEP of the event manager;
decoding the orthogonal coding signal through a QEP decoder to obtain the rotating speed, the rotating direction and the rotating position information of the rotor of the permanent magnet synchronous motor;
an underflow interrupt T1UFINT of the event manager triggers AD sampling, namely the sampling frequency of the AD is the triggering frequency;
obtaining feedback current i after transformation from three-phase static to two-phase rotating coordinatesd、iqAnd given id *、iq *Calculating deviation, and obtaining given voltage through current regulation;
the given voltage is converted from two-phase rotation to two-phase static coordinates to obtain Uα、UβObtaining 6 paths of PWM chopped waves with periodically changed dead time through an SVPWM algorithm based on periodic dead time modulation, and processing the chopped waves through a level conversion circuit for use inAnd controlling the power device IGBT to be switched on and switched off, so that the voltage source inverter outputs proper voltage, and the speed regulation operation of the motor is realized.
The PWM regulation is controlled by carrier regulation, regulating the periodicity and phase of the dead time. (corresponding harmonic wave can be eliminated, electromagnetic exciting force can be inhibited, and vibration noise can be reduced.)
The method comprises the steps of setting a rotor position of a permanent magnet synchronous motor, applying a current vector to a stator of the motor on the premise of normal decoupling of a quadrature axis and a direct axis, detecting the rotation direction of the motor by using an incremental encoder pulse signal to judge the relation between the rotation direction and an input current phase, continuously changing the direction of the current vector to reduce the positioning range through multiple comparisons until the last given current vector does not enable the rotor to generate displacement or very small displacement, and accurately positioning the rotor on the premise of very small displacement.
The method comprises the steps of determining the electrical angular speed of a motor rotor, adopting a 2500-wire incremental encoder to output signals A +, A-, B +, B-, Z + and Z-six differential signals, converting the signals into signals capable of being received by an orthogonal coding module circuit of an event manager through a differential receiver, receiving A, B two-phase pulse signals by the event manager, judging the motion direction of the motor by the event manager, carrying out quadruple frequency on the motion direction, and then obtaining the rotating speed of the motor by adopting an M/T algorithm.
The SVPWM algorithm based on the periodic dead zone modulation specifically comprises the following steps:
the first step is as follows: quadrature signal uαuβInput into the sector judging module to judge VrefThe located sector N;
real-time modulation of SVPWM signals, requiring determination of VrefSector in which it is located, analysis VαAnd VβThe relationship of (1): if Vβ>0, then a equals 1, otherwise a equals 0;
if it is
Figure GDA0003051668280000031
B is 1, otherwise B is 0; if it is
Figure GDA0003051668280000032
Then C is 1, otherwise C is 0, so sector N is a +2B + 4C;
the second step is that: n is input to a base vector action time module that determines two non-zero vector action times T that are adjacent in each sector1、T2；
Calculating two adjacent non-zero vectors in each sector and action time T of the zero vectork、Tk+1、T0Let us order
Figure GDA0003051668280000033
For different sectors T1、T2Taking a value according to a table, T1、T2After assignment, the saturation of the value needs to be judged, and if T is reached1+T2>T, then take T1＝T1T/(T1+T2)，T2＝T2T/(T1+T2)；
TABLE 1 base vector action time T1、T2Value-taking meter
Sector area 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
The third step: t is1、T2Inputting the sum N into a three-phase time comparison module to obtain a three-phase time comparison value Tcm1、Tcm2、Tcm3，
Vector switching point Tcm1、Tcm2、Tcm3Taking the first sector as an example, let the intermediate variables be T respectivelya、Tb、TcFrom the PWM modulation principle, T can be obtaineda＝(T-T1-T2)/4，Tb＝Ta+T1/2，Tc＝Tb+T2/2, comparison values T corresponding to different sectorscm1、Tcm2、Tcm3；
TABLE 2 switching time of different sectors
Sector area 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
The fourth step: t iscm1、Tcm2、Tcm3Six paths of PWM pulses with variable dead zones are obtained by the periodic variable dead zone generation module to drive the IGBT.
The event manager adopts TMS320F2812 as a main control chip, and the control process is executed according to the following steps:
firstly, initializing a system;
secondly, initializing timers T1 and T2;
enabling a universal timer T1 underflow interrupt (master interrupt) and a CAP3 interrupt of a universal timer T2;
initializing a PWM module, a QEP module, an ADC module, a soft start module and id、iqA current and speed regulator module;
step five, interrupt waiting;
step six, T1 interrupts the service subprogram;
and seventhly, finishing.
Wherein, the interrupt processing procedure of T1 in the sixth step is executed according to the following steps:
step 1, protecting a site and clearing a fault marker bit;
step 2, reading an AD sampling value, phase current and bus voltage;
step 3, CLARK transformation and PARK transformation are operated;
step 4, executing a current PID control algorithm;
step 5, if the current is normal, executing step 6; otherwise, executing step 11;
step 6, operating IPARK conversion;
step 7, operating a space voltage vector module with periodically changed dead time;
step 8, operating the speed module, if the speed is normal, executing the step 9, otherwise, executing the step 11;
step 9, updating the driving signal and the SVPWM parameter
Step 10, recovering the field jumping interruption, and executing step 12;
step 11, blocking the PWM pulse and displaying an error signal;
and step 12, returning to the main function.
Compared with the prior art, the invention provides a control method for eliminating specific harmonic at the stator current mechanical resonance point through the periodically-changed dead time, and is particularly suitable for a motor control device for inhibiting mechanical resonance generated when a load is driven.
The invention will become more apparent from the following description when taken in conjunction with the accompanying drawings, which illustrate embodiments of the invention.
Drawings
FIG. 1 is a waveform diagram of an IGBT switching process according to an embodiment of the invention;
FIG. 2 is a diagram of symmetric dead band, asymmetric dead band drive signals according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a three-phase rectifier circuit and a DC bus according to an embodiment of the present invention;
FIG. 4 is a diagram of an exemplary three-phase inverter circuit according to an embodiment of the present invention;
FIG. 5 is an overall hardware block diagram of a synchronous dead-zone modulation control system based on specific harmonic compensation according to an embodiment of the present invention;
FIG. 6 is a specific control block diagram of a synchronous dead-zone modulation method based on specific harmonic compensation according to an embodiment of the present invention;
FIG. 7 is a SVPWM basic vector distribution diagram according to an embodiment of the present invention;
FIG. 8 is a block flow diagram of an SVPWM module with variable dead band in accordance with an embodiment of the present invention;
FIG. 9 is a waveform diagram of variable dead time at a carrier frequency of 10K according to an embodiment of the present invention;
FIG. 10 is a graph of a harmonic analysis of phase A current without periodic dead time according to an embodiment of the present invention;
FIG. 11 is a graph of a harmonic analysis of phase A current with periodic variation dead time added to an embodiment of the present invention;
FIG. 12 is a block diagram of the main program flow of an embodiment of the present invention;
FIG. 13 is a flow diagram of an interrupt service routine in an embodiment of the present invention;
FIG. 14 is a block flow diagram of a space voltage vector module routine with periodically varying dead time in accordance with an embodiment of the present invention;
fig. 15 is a waveform diagram of a two-phase modulated wave in accordance with an embodiment A, B of the present invention.
Detailed Description
Embodiments of the present invention will now be described with reference to the drawings, wherein like element numerals represent like elements. As described above:
first, the theoretical basis of the present invention will be described.
Assuming that IGBTs are ideal switches, the turn-on and turn-off are done instantaneously, and the dead time may not be considered. In practice, the IGBT is turned on and off by a voltage U between the gate and the emitterGEDetermined when U isGEIs positive and greater than the turn-on voltage UGE(th)When the IGBT is started, a channel is formed in the MOSFET and provides base current for the transistor so as to enable the IGBT to be conducted; when reverse voltage or no signal is applied between the grid and the emitter, a channel in the MOSFET disappears, the base current of the transistor is cut off, and the IGBT is turned off, which needs a certain time to complete. Fig. 1 shows the switching process of the IGBT, and it can be seen from fig. 1 that the gate emitter driving voltage U is applied when the IGBT is turned onGEFrom its amplitude of 10% to the collector current ICMUp to 90% of its amplitudeRequires tonOpening the time; gate emitter drive voltage U when IGBT is offGEFrom its amplitude of 90% to the collector current ICMT is required to drop to its 10% amplitudeoffAnd the time is turned off. t is tonAnd toffCommonly referred to as the turn-on and turn-off times of the IGBT.
The 180-degree conduction voltage source inverter completes current conversion between the upper and lower switching devices of the same bridge arm and adopts complementary PWM driving signals. Due to the inherent storage time t of the power switch devicedInfluence of, turn-off time toffIs compared with the on time tonAnd the short-circuit fault that the upper and lower switching devices of the same bridge arm are conducted at the same time easily occurs. In order to prevent this phenomenon, a certain time interval t is usually added between the conduction of the upper and lower switching devices of the same bridge arm of the inverterdI.e. dead time or dead time delay, setting the dead time tdThe purpose of the bridge arm is to ensure that after one switching tube on the same bridge arm is reliably switched off, the other switching tube can be switched on. The dead time setting depends on the switching speed of the device, and the faster the switching speed of the device, the shorter the dead time can be. Therefore, three elements of dead time: (1) a dc voltage bus is present; (2) two switching devices are connected in series to form a bridge arm on the bus; (3) the two switching devices need to be turned on alternately at the switching frequency. The switch dead time can be set in various ways, as shown in fig. 2: symmetric settings, hybrid settings, delayed turn-on settings, advanced turn-off settings, etc. The symmetrical arrangement means that the switch tube advances tdTime off,/2, delay tdThe time is switched on at a time t, and the dead time of the whole switching period is td. The delayed conduction setting means that when any one of the three bridge arms is conducted, the switching tube is delayed by tdThe power switch tube is turned on again in time and is still turned off on time when being turned off, and the power switch tube can be effectively protected by the dead zone setting modes.
The invention is described in detail below: the specific steps of the synchronous dead zone modulation method based on specific harmonic compensation are as follows:
as shown in fig. 3, 4 and 5, the whole control system based on the synchronous dead-zone modulation method with specific harmonic compensation mainly comprises a power driving part and a control part. The power driving part consists of a rectifying part, an inverting part and a switching power supply. The main circuit is an actuating mechanism of power conversion, adopts an alternating current-direct current-alternating current voltage source type voltage-variable frequency conversion device, mainly comprises a rectification circuit, a filter circuit, an inverter circuit and the like, and has the working principle that three-phase alternating current is converted into direct current through uncontrollable rectification; the inverter converts the filtered direct current into three-phase alternating current with adjustable voltage and frequency and provides the three-phase alternating current for the motor. The core chip TMS320F2812 of the control unit is a special chip for motor control, has strong functions, is used for completing A/D conversion of current and voltage, coordinate transformation and calculation of the rotating speed and position of the motor of a vector control system, finally obtains a PWM chopping signal containing periodically-changed dead-zone time by using a vector control algorithm, and drives an IGBT power switch device after passing through an optical coupling isolation circuit.
As shown in fig. 6, a specific control block diagram of the synchronous dead-zone modulation method based on specific harmonic compensation according to the present invention is shown in fig. 6. The method comprises a current/bus voltage/position sampling link, a three-phase static coordinate system to two-phase rotating coordinate system change link and a rotating speed adjusting link; a stator current and rotor current adjusting link, a two-phase rotating coordinate system to two-phase static coordinate system changing link and a PWM chopping generating link. The specific method comprises the following steps: an A +, A-, B +, B-, Z + and Z-differential signal output by the encoder is sent to a TMS320F2812 event manager orthogonal coding pulse circuit QEP by an A, B, Z signal obtained after processing by a differential receiver, the A and B signals are orthogonal at 90 degrees, the Z phase is used as a zero phase, and a coded disc of the encoder rotates for one circle to generate a mark signal which is commonly used for positioning a reference point. And decoding the orthogonal coded signals through a QEP decoder to obtain information such as the rotating speed, the rotating direction, the rotating position and the like of the motor rotor. The amplitude value of the motor phase current sampled by the Hall current sensor is 0-3V after the motor phase current is subjected to operational amplification treatment, the motor phase current is input to an AD port of TMS320F2812, underflow interrupt T1UFINT of an EVA event manager triggers AD sampling, namely the sampling frequency of AD is the trigger frequency. Obtaining feedback current i after transformation from three-phase static to two-phase rotating coordinatesd、iqAnd given id、iqCalculating deviation, and obtaining given voltage through current regulation; the given voltage is converted from two-phase rotation to two-phase static coordinates to obtain Uα、UβAnd 6 paths of PWM chopped waves with periodically changed dead zone time are obtained through an SVPWM algorithm based on periodic dead zone modulation, and are processed by circuits such as level conversion and the like to control the on and off of an IGBT (insulated gate bipolar translator) of a power device, so that a voltage source inverter outputs proper voltage to realize the speed regulation operation of the motor. The PWM regulation is controlled by carrier regulation, the periodicity and the phase of dead time are regulated, corresponding harmonic waves can be eliminated, electromagnetic exciting force is inhibited, and vibration noise is reduced.
(1) Initializing the position of a rotor of the permanent magnet synchronous motor;
for the permanent magnet synchronous motor of the incremental encoder, the electrical angle of the rotor cannot be directly read before power-on, that is, the position of the rotor is unknown before the motor rotates, so that the rotor needs to be positioned before the motor runs, and the phase initialization of the rotor is completed. The invention adopts a perturbation positioning method, and the main idea of perturbation positioning is as follows: on the premise of normal decoupling of the quadrature-direct axis, a current vector is applied to a motor stator, the motor rotation direction is detected by using an incremental encoder pulse signal to judge the relation between the rotation direction and the input current phase, and the current vector direction is continuously changed through multiple comparisons to realize reduction of the positioning range until the last given current vector does not enable the rotor to generate displacement or very small displacement, so that the rotor can be accurately positioned on the premise of very small displacement.
(2) Determining the electrical angular velocity of the motor rotor;
according to the invention, a 2500-wire incremental encoder is adopted, six paths of output signals A +, A-, B +, B-, Z + and Z-are converted into signals which can be received by an orthogonal coding module circuit of a DSP through a differential receiver, and a TMS320F2812 receives A, B two-phase pulse signals.
(3) Executing a synchronous dead zone modulation algorithm based on specific harmonic compensation, specifically as follows:
the SVPWM algorithm based on the synchronous dead zone modulation is composed of four parts, the basic vector distribution is shown in figure 7, and a specific flow module is shown in figure 8.
The first step is as follows: quadrature signal uαuβInput into the sector judging module to judge VrefIn sector N.
Real-time modulation of SVPWM signals, requiring determination of VrefThe sector in which it is located. Analysis VαAnd VβThe relationship of (1): if Vβ>0, then a equals 1, otherwise a equals 0; if it is
Figure GDA0003051668280000081
B is 1, otherwise B is 0; if it is
Figure GDA0003051668280000082
Then C is 1, otherwise C is 0. Thus, sector N is a +2B + 4C.
The second step is that: n is input to a base vector action time module that determines two non-zero vector action times T that are adjacent in each sector1、T2。
Calculating two adjacent non-zero vectors in each sector and action time T of the zero vectork、Tk+1、T0. Order to
Figure GDA0003051668280000083
For different sectors T1、T2Taking values according to a table. T is1、T2After assignment, it is necessary to judge its saturation. If T1+T2>T, then take T1＝T1T/(T1+T2)，T2＝T2T/(T1+T2)。
Base vector action time T1、T2The table of values is as follows:
Figure GDA0003051668280000084
Figure GDA0003051668280000091
the third step: t is1、T2Inputting the sum N into a three-phase time comparison module to obtain a three-phase time comparison value Tcm1、Tcm2、Tcm3。
Vector switching point Tcm1、Tcm2、Tcm3Taking the first sector as an example, let the intermediate variables be T respectivelya、Tb、TcFrom the PWM modulation principle, T can be obtaineda＝(T-T1-T2)/4，Tb＝Ta+T1/2，Tc＝Tb+T2/2, comparison values T corresponding to different sectorscm1、Tcm2、Tcm3。
The switching times of the switches of different sectors are as follows:
sector area 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
The fourth step: t iscm1、Tcm2、Tcm3Six paths of PWM pulses with variable dead zones are obtained by the periodic variable dead zone generation module to drive the IGBT.
The traditional dead time is fixed and unchanged, the output voltage waveform is distorted due to the existence of the traditional dead time, the amplitude of a fundamental wave is reduced, the harmonic loss of a load is increased, and the electromagnetic torque of the motor can generate large pulsation when the frequency is low and the frequency is high, so that the running performance of the system is seriously influenced. The invention adopts an asymmetric dead time setting mode based on the periodically changed dead time, the change frequency is the same as the mechanical resonance frequency, and the harmonic wave of the resonance frequency generated in the stator current of the motor is eliminated through phase discrimination adjustment processing, thereby inhibiting the mechanical resonance generated when the load is driven. Each PWM chopper corresponds to a dead time, which may vary periodically by 4.0, 4.1, 4.2, 4.3, 4.4, 4.5, 4.4, 4.3, 4.2, 4.1, 4.0 μ s, for example. The variable dead time waveform at carrier frequency 10K is shown in fig. 9, the a-phase current harmonic analysis without adding the periodic dead time is shown in fig. 10, the periodic variable dead time is added, and the a-phase current harmonic analysis is shown in fig. 11.
(3) The PWM module of the DSP generates three pairs of six PWM chopping signals with dead time changing periodically, and the three pairs of six PWM chopping signals trigger the IGBT gate pole after being processed by the circuit.
The PWM signal output by the DSP is 3.3V, and the driving capability needs to be improved by a driving circuit to trigger the gate pole of the IGBT. And the IGBT conducts and shuts off control according to the six paths of PWM pulse signals to drive the motor to operate.
The TMS320F2812 is adopted as a main control chip, the main program flow is shown in FIG. 12, and the control process is executed according to the following steps:
firstly, initializing a system;
secondly, initializing timers T1 and T2;
enabling a universal timer T1 underflow interrupt (master interrupt) and a CAP3 interrupt of a universal timer T2;
initializing a PWM module, a QEP module, an ADC module, a soft start module and id、iqA current and speed regulator module;
step five, interrupt waiting;
step six, T1 interrupts the service subprogram;
and seventhly, finishing.
As shown in fig. 13, the interrupt handling process of T1 in step six is performed as follows:
step 1, protecting a site and clearing a fault marker bit;
step 2, reading an AD sampling value, phase current and bus voltage;
step 3, CLARK transformation and PARK transformation are operated;
step 4, executing a current PID control algorithm;
step 5, if the current is normal, executing step 6; otherwise, executing 11;
step 6, operating IPARK conversion;
step 7, operating a space voltage vector module with periodically changed dead time;
step 8, operating the speed module, if the speed is normally executed 9, otherwise executing 11;
step 9, updating the driving signal and the SVPWM parameter
Step 10, recovering the field jumping interruption, and executing 12;
step 11, blocking the PWM pulse and displaying an error signal;
and step 12, returning to the main function.
The program flow chart of the space voltage vector module with the periodically changing dead time is shown in fig. 14, and the generated saddle-shaped modulation wave is shown in fig. 15.
Step one, starting interruption;
step two, UdInverse park change of Uq to give UαUβ；
Step three, determining UrefThe sector N is located;
writing the main vector obtained by the N into the ACTR;
step five, looking up the table by N to obtain the action time T of the voltage vector1 T2；
Step six, the step T1 T2Calculating the value of the comparison matching;
step seven, going to the comparison register CMPRxWriting a value in;
step eight, configuring DBTCONA to set dead time;
and step nine, returning by interruption.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, therefore, the present invention is not limited by the appended claims.

Claims (3)

1. A synchronous dead zone modulation method based on specific harmonic compensation is characterized by comprising the following steps:
an A +, A-, B +, B-, Z + and Z-differential signal is output through an encoder, and an A, B, Z signal obtained after the differential signal is processed by a differential receiver is sent to an orthogonal encoding pulse circuit QEP of the event manager;
decoding the orthogonal coding signal through a QEP decoder to obtain the rotating speed, the rotating direction and the rotating position information of the rotor of the permanent magnet synchronous motor;
an underflow interrupt T1UFINT of the event manager triggers AD sampling, namely the sampling frequency of the AD is the triggering frequency;
obtaining feedback current i after transformation from three-phase static to two-phase rotating coordinatesd、iqAnd given id *、iq *Calculating deviation, and obtaining given voltage through current regulation;
the given voltage is converted from two-phase rotation to two-phase static coordinates to obtain Uα、UβThe PWM chopping with 6 paths of dead zone time periodically changed is obtained through an SVPWM algorithm based on periodic dead zone modulation, and is processed by a level conversion circuit to control the on and off of an IGBT (insulated gate bipolar translator) of a power device, so that a voltage source inverter outputs proper voltage to realize the speed regulation operation of a motor;
the change frequency of the periodically changing dead time is the same as the mechanical resonance frequency;
the method comprises the steps of initializing the position of a rotor of the permanent magnet synchronous motor, applying a current vector to a stator of the motor on the premise of normal decoupling of a quadrature axis and a direct axis, detecting the rotation direction of the motor by using an incremental encoder pulse signal to judge the relation between the rotation direction and an input current phase, and continuously changing the direction of the current vector to reduce the positioning range through multiple comparisons until the last given current vector does not enable the rotor to generate displacement or very small displacement, so that the rotor can be accurately positioned on the premise of very small displacement;
the method comprises the following steps of determining the electrical angular speed of a motor rotor, namely, adopting a 2500-wire incremental encoder to output signals A +, A-, B +, B-, Z + and Z-six-path differential signals, converting the signals into signals which can be received by an orthogonal coding module circuit of an event manager through a differential receiver, receiving A, B two-phase pulse signals by the event manager, judging the motion direction of the motor by the event manager, carrying out quadruple frequency on the signals, and then obtaining the rotating speed of the motor by adopting an M/T algorithm;
PWM regulation is controlled by carrier regulation, and the periodicity and phase of dead time are regulated;
the SVPWM algorithm based on the periodic dead zone modulation specifically comprises the following steps:
the first step is as follows: quadrature signal uαuβInput into the sector judging module to judge VrefThe located sector N;
real-time modulation of SVPWM signals, requiring determination of VrefSector in which it is located, analysis VαAnd VβThe relationship of (1): if Vβ>0, then a equals 1, otherwise a equals 0;
if it is
Figure FDA0003051668270000021
B is 1, otherwise B is 0; if it is
Figure FDA0003051668270000022
Then C is 1, otherwise C is 0, so sector N is a +2B + 4C;
the second step is that: n is input to a base vector action time module that determines two non-zero vector action times T that are adjacent in each sector1、T2；
Calculating two adjacent non-zero vectors in each sector and action time T of the zero vectork、Tk+1、T0Let us order
Figure FDA0003051668270000023
For different sectors T1、T2Taking a value according to a table, T1、T2After assignment, the saturation of the value needs to be judged, and if T is reached1+T2>T, then take T1＝T1T/(T1+T2)，T2＝T2T/(T1+T2)；
Base vector action time T1、T2The table of values is as follows:
sector area 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
The third step: t is1、T2Inputting the sum N into a three-phase time comparison module to obtain a three-phase time comparison value Tcm1、Tcm2、Tcm3，
Three-phase time comparison value Tcm1、Tcm2、Tcm3Taking the first sector as an example, let the intermediate variables be T respectivelya、Tb、TcFrom the PWM modulation principle, T can be obtaineda＝(T-T1-T2)/4，Tb＝Ta+T1/2，Tc＝Tb+T2/2, three-phase time comparison value Tcm1、Tcm2、Tcm3；
The switching times of the switches of different sectors are as follows:
Figure FDA0003051668270000024
Figure FDA0003051668270000031
the fourth step: t iscm1、Tcm2、Tcm3Six paths of PWM pulses with variable dead zones are obtained by the periodic variable dead zone generation module to drive the IGBT.
2. The synchronous dead-zone modulation method based on specific harmonic compensation according to claim 1, wherein the event manager adopts TMS320F2812 as a master control chip, and the control process is executed according to the following steps:
firstly, initializing a system;
secondly, initializing timers T1 and T2;
enabling a universal timer T1 underflow interrupt (master interrupt) and a CAP3 interrupt of a universal timer T2;
initializing a PWM module, a QEP module, an ADC module, a soft start module and id、iqA current and speed regulator module;
step five, interrupt waiting;
step six, T1 interrupts the service subprogram;
and seventhly, finishing.
3. The synchronous dead-zone modulation method based on specific harmonic compensation according to claim 2, wherein the T1 interrupt processing in step six is performed as follows:
step 1, protecting a site and clearing a fault marker bit;
step 2, reading an AD sampling value, phase current and bus voltage;
step 3, CLARK transformation and PARK transformation are operated;
step 4, executing a current PID control algorithm;
step 5, if the current is normal, executing step 6; otherwise, executing step 11;
step 6, operating IPARK conversion;
step 7, operating a space voltage vector module with periodically changed dead time;
step 8, operating the speed module, if the speed is normal, executing the step 9, otherwise, executing the step 11;
step 9, updating the driving signal and the SVPWM parameter
Step 10, recovering the field jumping interruption, and executing step 12;
step 11, blocking the PWM pulse and displaying an error signal;
and step 12, returning to the main function.
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