CN109687701A - A kind of identification of electric machine controller dead zone and compensation method - Google Patents
A kind of identification of electric machine controller dead zone and compensation method Download PDFInfo
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- CN109687701A CN109687701A CN201710973917.3A CN201710973917A CN109687701A CN 109687701 A CN109687701 A CN 109687701A CN 201710973917 A CN201710973917 A CN 201710973917A CN 109687701 A CN109687701 A CN 109687701A
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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
- 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
- H02M1/12—Arrangements for reducing harmonics from ac input or output
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- 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
-
- 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
- H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
- H02P2209/11—Sinusoidal waveform
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention belongs to motor control technology fields, for the inherent shortcoming of existing dead-zone compensation method, propose a kind of new identification of electric machine controller dead zone and compensation method, core of this method as current transformer current control, the implementation of the compatible permanent magnet motor controller of energy, the sine degree of controller output voltage is improved, reduces output current harmonics distortion, reduce torque pulsation, can accurately be picked out comprising IGBT conducting and the equivalent dead time including turn off process；It can be picked out simultaneously comprising the line equivalent resistance including current transformer and stator coil, and the identification of the resistance value is not influenced by dead time effect, the present invention proposes the Dead-time compensation method based on identification result, this method can be compensated for all nonlinear elements of electric machine controller, the last present invention proposes specially treated scheme for magneto at light load, makes it reliably to be implemented on permanent magnet motor controller.
Description
Technical field
The invention belongs to motor control technology field, it is related to a kind of electric machine controller dead zone identification and compensation method.
Background technique
Electric machine controller uses PWM mode output voltage control current of electric, in order to avoid upper and lower bridge arm switching tube is straight
It is logical, dead zone is usually added.However harmonic distortion is caused for output voltage in dead zone, and then influences current waveform and torque pulsation.
Industry has conventional method for the compensation of dead time effect, and specific feature is as follows:
Firstly, offset is a preset fixed value, the conducting according to the dead time, selected switching tube being added
It is delayed with shutdown and determines compensation rate size.The individual difference of different IGBT is not accounted for, is not accounted under different driving resistance yet
The delay time of driving circuit；
Secondly, compensating just for dead time, the conduction voltage drop of IGBT and freewheeling diode is not accounted for defeated
Voltage and current waveform also has non-linear effects out；
Finally, size and direction according to three-phase current, determine that the size and symbol of offset, the step are asynchronous in control
Energy reliably working, often fails in weak carrying row because of current direction error in judgement, i.e., when controlling magneto when motor
Conventional method cannot be compatible with the implementation of permanent magnet motor controller.
Summary of the invention
The present invention proposes a kind of electric machine controller dead zone identification and compensation for some problem present in the prior art
Method, core of this method as current transformer current control can be compatible with the implementation of permanent magnet motor controller, improve controller output
The sine degree of voltage reduces Current harmonic distortion, reduces torque pulsation.
The present invention can be picked out accurately comprising IGBT conducting and the equivalent dead time including turn off process；The present invention
The first value part of direct current in IGBT and freewheeling diode conduction voltage drop can be accurately picked out, while can be picked out comprising unsteady flow
Line equivalent resistance including device and stator coil, and the identification of the resistance value is not influenced by dead zone.The present invention is proposed based on identification
As a result Dead-time compensation method, this method can be compensated for all nonlinear elements of electric machine controller, this last hair
It is bright to propose specially treated scheme at light load for magneto, make it in reliably implementation and permanent magnet motor controller.
The present invention passes through following technical proposal reality it is not necessary that dead time, the conducting of switching tube and turn-off characteristic is known in advance
The identification and compensation in existing dead zone, the specific steps are as follows:
Step 1: the first current target value I of setting1, slowly apply output voltage until phase current reaches target value, record
The average value for applying line voltage is UAB1；
Step 2: the second current target value I of setting2, slowly apply output voltage until phase current reaches target value, record
The average value for applying line voltage is UAB2；
Step 3: setting third current target value I3, slowly apply output voltage until phase current reaches target value, record
The average value for applying line voltage is UAB3；
Step 4: the 4th current target value I of setting4, slowly apply output voltage until phase current reaches target value, record
The average value for applying line voltage is UAB4；
Step 5: the data identification according to step 1 to step 4 goes out a series of relevant parameter of dead time effects, comprising: equivalent
Dead time dΔ, diode conduction voltage drop initial value VD0, IGBT conduction voltage drop initial value VT0, substitutional connection resistance RΣ；
Step 6: if it is permanent magnet motor controller, in its operation, applying different excitation electricity according to different loads region
Stream；
Step 7: to sample rate current i under dq coordinate systemdqIt is filtered, obtains idqLpf；
Step 8: to filtered electric current idqLpfIt is coordinately transformed to obtain the reconstruction value i of three-phase currentabcEst；
Step 9: the reconstruction value i according to three-phase currentabcEstSize and direction, it is related in conjunction with the dead time effect that picks out
Parameter (dΔ、VD0、VT0、R∑), offset value calculation compensation output；
Step 1 used in the present invention to step 5 is the identification process of dead area compensation, is needed independently of electric machine controller just
Often except work, belong to the self-studying mode of electric machine controller.The identification process is participated in without current closed-loop, using heuristic,
Output voltage is slowly increased until output electric current reaches setting value.The phase of dead time effect can be picked out by four DC experiments
Close parameter.
In step 5 used in the present invention, the line equivalent resistance R not influenced by dead time effect can be picked out∑。
It is different from existing motor stator resistance discrimination method, dead-zone compensation method is added when existing method is using identification, the present invention
It is to pick out stator resistance while recognizing dead zone, it is as a result more accurate.
Step 6 used in the present invention is the specially treated done to be compatible with magneto.Motor at light load, permanent magnetism
Motor stator electric current very little, traditional foundation electric current determine that the method for compensation direction can fail.Therefore this step is applied with one
Apply a different exciting current according to motor load difference, which helps compensate for the judgement in direction.
Step 7 used in the present invention to step 9 is the implementation process of dead area compensation, is similarly utilized with previous methods
Current direction determines compensation direction, compensates IGBT conduction voltage drop and afterflow two since size of current is different the difference is that introducing
Pole pipe conduction voltage drop, while compensating for line equivalent resistance drop.
Detailed description of the invention
PWM when dead zone is added in Fig. 1 exports schematic diagram；
Fig. 2 DC experiment circuit diagram；
Fig. 3 deadzone parameter identification process schematic diagram；
Fig. 4 deadzone parameter identification program flow chart；
Fig. 5 dead area compensation value computing block diagram；
Fig. 6 permanent magnet motor controller exciting current gives schematic diagram；
Fig. 7 dead-zone compensation method control block diagram；
Fig. 8 dead area compensation program flow diagram.
Specific embodiment
Here is specific implementation example of the invention, will be described in detail in conjunction with attached drawing to technical solution of the present invention, but
The invention is not limited to following Examples modes.
Fig. 1 is PWM output schematic diagram when dead zone is added, which, which synthetically considers, influences output voltage distortion
All factors, specifically include: the dead time T of settingd, IGBT turn-on time Ton, IGBT turn-off time Toff, IGBT leads
Logical pressure drop VT, freewheeling diode conduction voltage drop VD, busbar voltage UdcEtc..Assuming that given duty ratio is dref, switch periods are
TPWM, each bridge arm upper tube service time is T∑, giving output voltage is uref。
Consider the case where electric current is greater than zero, i.e. electric current from electric machine controller flow direction motor.Under given target duty ratio
dref, the duty ratio of reality output are as follows:
It might as well setDead time effect is brought by setting dead time, the conducting of IGBT and turn-off time
To the Equivalence effects of duty ratio, Jin Eryou: dreal=dref-dΔ。
When winding is clamped to upper bridge arm, electric current passes through IGBT, so output voltage has reduced the conducting of an IGBT
Pressure drop；When winding is clamped to lower bridge arm, electric current passes through diode continuousing flow, and output voltage has reduced the conducting of a diode
Pressure drop considers the fluctuation of busbar voltage, final output voltage are as follows:
ureal=uref-UdcdΔ+(VD-VT)(dref-dΔ)-VD
Consider the minus situation of electric current, i.e. electric current from motor flow direction motor controller.The duty ratio of reality output are as follows:
dreal=dref+dΔ
When winding is clamped to upper bridge arm, electric current passes through IGBT, so output voltage increases leading for a diode
Logical pressure drop；When winding is clamped to lower bridge arm, electric current passes through diode continuousing flow, and output voltage increases the conducting of an IGBT
Pressure drop considers the fluctuation of busbar voltage, final output voltage are as follows:
ureal=uref+UdcdΔ+(VD-VT)(dref+dΔ)+VT
Fig. 2 is the DC experiment circuit diagram used in present example, first assumes that A phase is passed through the DC voltage greater than zero
uref, B, C two-phase is passed through symmetrical minus DC voltage -0.5uref.If A phase duty ratio is dref, then B, C two-phase duty ratio
For 0.75-0.5dref.A phase current is positive at this time, and BC biphase current is negative, line voltage real output value are as follows:
uAB=1.5uref-2UdcdΔ+VD(1.5dref-1.75-2dΔ)+VT(-1.5dref-0.25+2dΔ)
K might as well be setD=-(1.5dref-1.75-2dΔ)、kT=-(- 1.5dref-0.25+2dΔ) be tube voltage drop equivalent system
Number.In DC experiment circuit, drefSlightly larger than 0.5, therefore kDWith kTNumerical value all near 1.Due to the equivalent system of tube voltage drop
D in numberΔProportion very little, can be temporarily by preset valueIt is calculated.
By the conduction voltage drop curve of IGBT, there is VT=vTO+RT| i |, by the conduction voltage drop curve of freewheeling diode, there is VD=
VD0+RD|i|.Then reality output line voltage are as follows:
uAB=1.5uref-2UdcdΔ-kDVD0-kTVT0-(kDRD+kT0.5RT)|i|
In practical applications, the conduction voltage drop curve of IGBT and freewheeling diode is substantially close, might as well set an equivalent electricity
ResistanceThen reality output line voltage are as follows:
uAB=1.5uref-2UdcdΔ-kDVD0-kTVT0-1.5RDT|i|
When input direct-current voltage generates DC current, specifically there is following expression:
2UdcdΔ+kDVD0+kTVT0+(1.5Rs+1.5RDT) | i |=1.5uref
Introduce equivalent line resistance R∑=1.5 (Rs+RDT), although the resistance contains the partial information of tube voltage drop, simultaneously
Do not influence the positive limit of output electric current.
Fig. 3 is the schematic diagram of dead time effect relevant parameter identification process.Using four DC experiments, electric current mesh is exported every time
Scale value is different.The target current during testing might as well be set four times and be followed successively by I, 2I, 3I, 4I.Successively obtain three given outputs
Line voltage average value UAB1、UAB2、UAB3、UAB4。
And then it is available containing there are four the equation groups of unknown number:
Solving equations can be by all relevant parameter (d of dead time effectΔ、VD0、VT0、R∑) pick out and, Fig. 4 is dead zone effect
Answer relevant parameter identification program flow chart.
Fig. 5 is dead area compensation value computing block diagram.After having carried out four DC experiments and having picked out dead time effect relevant parameter,
Dead area compensation value can be calculated, which will be used for the dead area compensation of each PWM cycle.It is analyzed by front it is found that in dead zone shadow
Under sound, the duty ratio of reality output is different from setting duty ratio, reality output voltage and to set voltage also different.Therefore it compensates
It can compensate, can also be compensated at given duty ratio, in order to more intuitive, the present embodiment is used in electricity at given voltage
It is compensated at pressure.
Since the part pressure drop of energy equivalent resistance in tube voltage drop has no effect on the waveform of output voltage and electric current, it is only influenced
Amplitude, therefore it can be compensated together with stator resistance.
When electric current is greater than zero, a voltage value is compensated on the basis of Ying Yuan given voltage:
uc=UdcdΔ+VD0(1-dref+dΔ)+VT0(dref-dΔ)+R∑i
When electric current is less than zero, a voltage value is compensated on the basis of Ying Yuan given voltage:
uc=-UdcdΔ-VT0(1-dref-dΔ)-VT0(dref+dΔ)-R∑i
The compensation of equivalent resistance pressure drop can be improved the amplitude precision of output voltage, but for exporting current sinusoidal degree
It is not helpful, therefore can be omitted in open loop speed-regulating system, recommend to use in vector controlled.
Fig. 6 is that permanent magnet motor controller exciting current gives schematic diagram.The present invention at light load, is passed for magneto low speed
The shortcomings that compensation method of uniting is easy failure at Cutoff current direction, designs an exciting current exclusively for permanent magnet motor controller
Setter.Go one exciting current of increase in magnetic direction given in d axis according to different loads situation, for reliable Cutoff current
Direction.The given absolute value of q shaft current is investigated, when it is less than the minimum value that current direction reliably recognizes, exciting current applies
On d axis field weakening direction, it is given as a constant.As load gradually increases, exciting current is given to be gradually reduced, until being
Zero.For asynchronous machine without the link.
Fig. 7 is dead-zone compensation method control block diagram, is first passed through stator current under coordinate transform to dq axis, then to dq axis
Feedback current is filtered, and is finally changed under ABC coordinate system to filtered electric current contravariant, this electric current is as reconstruct electric current.
Offset voltage, the voltage compensation are calculated using the dead time effect relevant parameter picked out according to the size and Orientation of reconstruct electric current
In PWM voltage final output.Fig. 8 gives dead area compensation program flow diagram.
Claims (7)
1. a kind of electric machine controller dead zone identification and compensation method, it is characterised in that: the identification and compensation of dead time effect are by as follows
Step is realized:
Step 1: the first current target value of setting, slowly apply output voltage until phase current reaches target value, record applies line
The average value of voltage is；
Step 2: the second current target value of setting, slowly apply output voltage until phase current reaches target value, record applies line
The average value of voltage is；
Step 3: setting third current target value, slowly apply output voltage until phase current reaches target value, record applies line
The average value of voltage is；
Step 4: setting third current target value, slowly apply output voltage until phase current reaches target value, record applies line
The average value of voltage is；
Step 5: the data identification according to step 1 to step 4 goes out a series of relevant parameter of dead time effects, comprising: equivalent dead zone
Time, diode conduction voltage drop initial value, IGBT conduction voltage drop initial value, substitutional connection resistance；
Step 6: if it is permanent magnet motor controller, in its operation, applying different exciting currents according to different loads region；
Step 7: to sample rate current under dq coordinate systemIt is filtered, obtains；
Step 8: to filtered electric currentIt carries out coordinate inverse transformation and obtains the reconstruction value of three-phase current；
Step 9: the reconstruction value according to three-phase currentSize and direction, in conjunction with pick out dead time effect relevant parameter (、、、), offset value calculation compensation output.
2. a kind of electric machine controller dead zone identification as described in claim 1 and compensation method, it is characterised in that: dead area compensation makes
Parameter is identification result rather than default result, and all parameters embody the individual difference of electric machine controller.
3. a kind of electric machine controller dead zone identification as claimed in claim 2 and compensation method, it is characterised in that: dead time is distinguished
Knowing object is not only the dead time for being arranged and being added, and includes the delay time of IGBT conducting and turn off process.
4. a kind of electric machine controller dead zone identification as claimed in claim 2 and compensation method, it is characterised in that: dead time effect is distinguished
Know the first value part that object further comprises IGBT Yu freewheeling diode conduction voltage drop.
5. a kind of electric machine controller dead zone identification as claimed in claim 2 and compensation method, it is characterised in that: dead time effect is distinguished
Know object and further comprise the equivalent resistance part of IGBT Yu freewheeling diode conduction voltage drop, and by its motor stator resistance together structure
It picks out to come at equivalent resistance.
6. a kind of electric machine controller dead zone identification as described in claim 1 and compensation method, it is characterised in that: be directed to Permanent Magnet and Electric
The dead area compensation of machine controller joined current excitation link, which makes the present invention reliably be implemented on magneto control
On device.
7. a kind of electric machine controller dead zone identification as described in claim 1 and compensation method, it is characterised in that: add in compensation
Line equivalent resistance-drop compensation is entered, so that output voltage is more accurate.
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Cited By (7)
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|---|---|---|---|---|
| CN110071669A (en) * | 2019-06-03 | 2019-07-30 | 北京机械设备研究所 | A kind of permanent magnet synchronous motor vector controlled " dead time effect " compensation method |
| CN110098774A (en) * | 2019-05-21 | 2019-08-06 | 上海大郡动力控制技术有限公司 | Electric machine controller dead-time compensation method based on current forecasting |
| CN110426559A (en) * | 2019-07-19 | 2019-11-08 | 深圳和而泰智能控制股份有限公司 | A kind of method, apparatus and equipment measuring electric motor resistance |
| CN110716082A (en) * | 2019-09-24 | 2020-01-21 | 哈尔滨工业大学（威海） | Terminal voltage acquisition and compensation method for improving precision of power-stage motor simulator |
| CN110824252A (en) * | 2019-09-30 | 2020-02-21 | 东南大学 | Permanent magnet synchronous motor stator resistance off-line measuring method based on inverter nonlinear dead time compensation |
| CN110932584A (en) * | 2019-12-05 | 2020-03-27 | 深圳市汇川技术股份有限公司 | Inverter nonlinear compensation method, system, device and storage medium |
| CN111490714A (en) * | 2020-04-17 | 2020-08-04 | 东南大学深圳研究院 | Temperature detection method of permanent magnet synchronous motor |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110098774A (en) * | 2019-05-21 | 2019-08-06 | 上海大郡动力控制技术有限公司 | Electric machine controller dead-time compensation method based on current forecasting |
| CN110071669A (en) * | 2019-06-03 | 2019-07-30 | 北京机械设备研究所 | A kind of permanent magnet synchronous motor vector controlled " dead time effect " compensation method |
| CN110426559A (en) * | 2019-07-19 | 2019-11-08 | 深圳和而泰智能控制股份有限公司 | A kind of method, apparatus and equipment measuring electric motor resistance |
| CN110716082A (en) * | 2019-09-24 | 2020-01-21 | 哈尔滨工业大学（威海） | Terminal voltage acquisition and compensation method for improving precision of power-stage motor simulator |
| CN110716082B (en) * | 2019-09-24 | 2021-11-02 | 哈尔滨工业大学（威海） | Terminal voltage acquisition and compensation method for improving precision of power-stage motor simulator |
| CN110824252A (en) * | 2019-09-30 | 2020-02-21 | 东南大学 | Permanent magnet synchronous motor stator resistance off-line measuring method based on inverter nonlinear dead time compensation |
| CN110824252B (en) * | 2019-09-30 | 2021-12-14 | 东南大学溧阳研究院 | Permanent magnet synchronous motor stator resistance measurement method based on dead time compensation |
| CN110932584A (en) * | 2019-12-05 | 2020-03-27 | 深圳市汇川技术股份有限公司 | Inverter nonlinear compensation method, system, device and storage medium |
| CN111490714A (en) * | 2020-04-17 | 2020-08-04 | 东南大学深圳研究院 | Temperature detection method of permanent magnet synchronous motor |
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Application publication date: 20190426 |