CN111224537B - Inverter dead zone compensation method based on phase current - Google Patents
Inverter dead zone compensation method based on phase current Download PDFInfo
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- CN111224537B CN111224537B CN202010115198.3A CN202010115198A CN111224537B CN 111224537 B CN111224537 B CN 111224537B CN 202010115198 A CN202010115198 A CN 202010115198A CN 111224537 B CN111224537 B CN 111224537B
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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
- 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
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
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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
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
- H02M7/53873—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with digital 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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Abstract
The invention discloses a phase current-based inverter dead zone compensation method, which comprises the following steps: measuring a dead time of the inverter; measuring turn-on delay and turn-off delay; measuring voltage loss under different currents; calculating the compensation amount under the condition of different phase currents, drawing a two-dimensional table, and performing function fitting in four sections to obtain a segmented function expression of the current-compensation amount; sampling and converting the three-phase current, calculating a current vector angle, and checking the current polarity; and calculating compensation values of all phases according to the instantaneous values of the input phase current and the segmentation function expression, and converting the compensation values into digital quantities to adjust the PWM duty ratio. The linearity of the inverter is improved, the control performance of a linear controller on the inverter is improved, the current loop performance can be effectively improved in the application occasions of a servo driver, the performances of a speed loop and a position loop are further improved, and the inverter is particularly suitable for the occasions of low speed, small load, high PWM carrier frequency and the like.
Description
Technical Field
The invention belongs to the field of servo control, and relates to a phase current-based inverter dead zone compensation method.
Background
The inverter is a converter which converts direct current electric energy into fixed frequency and fixed voltage or frequency and voltage regulation alternating current electric energy, is widely used in frequency converters and servo drivers, and further is applied to household appliances and industrial equipment such as air conditioners, electric vehicles, washing machines, electric fans, electric tools and the like. The inverter is a medium of weak current and strong current, and controls the strong current at two ends of the winding through a low-voltage weak current driving signal sent by the digital signal processing chip.
The inverter structure of a permanent magnet synchronous motor is generally a three-phase half-bridge type, and as shown in fig. 1, driving signals of upper and lower power tubes of each bridge arm are complementary signals in order to avoid direct connection of a power supply. However, of power tubesThe switch is usually charged and discharged along with the parasitic capacitor, so the switching is a process, and the time required by the switching is different, so that the situation that one power tube is not completely turned off and the other power tube of the same bridge arm is already turned on, namely the risk of power supply short circuit easily occurs. The dead time (T) of the drive signal is set for this problem d ) Switching on the signal in the complementary signal will be delayed by T d And acting, and normally acting of a turn-off signal. The addition of dead time causes errors in the amplitude and phase of the inverter output, referred to as dead time effects. Dead-zone effects cause severe inverter non-linearity, and effective dead-zone compensation of the inverter is required for better performance in a linear controller system.
Disclosure of Invention
The invention aims to: the inverter dead zone compensation method based on the phase current comprises power tube characteristic measurement, an inverter compensation scheme based on the phase current and polarity correction based on a current vector.
The technical scheme of the invention is as follows: a phase current based inverter dead zone compensation method includes:
measuring a dead time of the inverter;
measuring turn-on delay and turn-off delay;
measuring voltage loss at different currents;
calculating the compensation amount under the condition of different phase currents, drawing a two-dimensional table, and performing function fitting in four sections to obtain a segmented function expression of the current-compensation amount;
sampling and converting the three-phase current, calculating a current vector angle, and checking the current polarity;
and calculating compensation values of all phases according to the instantaneous value of the input phase current and the piecewise function expression, and converting the compensation values into digital quantity to adjust the PWM duty ratio.
The further technical scheme is as follows: the measuring dead time of the inverter includes:
acquiring PWM signals output by a digital signal processing chip to an upper power tube and a lower power tube of a bridge arm;
determining the time difference of the level jump time of the PWM signal as dead time T d 。
The further technical scheme is as follows: the measuring turn-on delay and turn-off delay includes:
obtaining the gate drive voltage V of the power transistor gs Drain current I d Drain source voltage V ds ；
When the IGBT is turned on, the drain current I is conducted d Up to 10% of maximum to drain-source voltage V ds The time between the fall to 10% of the maximum is determined as the turn-on delay T on ；
When the IGBT is turned off, the drain-source voltage V is applied ds Down to 90% of the on value to the drain current I d The time between the drop to 90% of the load current is determined as the turn-off delay T off 。
The further technical scheme is as follows: the measuring of voltage loss at different currents comprises:
obtaining gate driving voltage Up _ V of upper bridge arm of power tube gs Lower bridge arm gate drive voltage Down _ V gs And the drain source voltage V of the lower bridge arm ds ；
Testing V at different currents in a winding ds Waveform, calculate voltage loss.
The method for calculating the compensation quantity under different phase currents and drawing a two-dimensional table comprises the following steps:
converting the voltage loss into a turn-on time loss T pc ；
According to current and on-time loss T pc The correspondence of (a) is plotted as a two-dimensional table.
The further technical scheme is as follows: the sampling conversion processing is carried out to the three-phase current, the current vector angle is calculated, and the current polarity is corrected, and the method comprises the following steps:
for three-phase current i u 、i v 、i w Sampling, and obtaining a direct-axis current i through coordinate transformation d And quadrature axis current i q ；
According to the direct axis current i d And said cross-overAxial current i q Calculating a current vector angle;
in contrast to the polarity of the phase current;
and when the polarity of the phase current is wrong due to inaccurate detection, correcting the polarity according to the current vector angle.
The further technical scheme is as follows: the converting into digital quantity to adjust the PWM duty ratio comprises the following steps:
according to the obtained dead time T d Turn-on delay T on Turn-off delay T off On time loss T pc The CMP of the output PWM is adjusted.
The invention has the advantages that:
a complete inverter dead zone compensation scheme is provided, besides dead zone time, turn-on delay and turn-off delay are considered, the turn-on delay and the turn-off delay are generally considered to be fixed values and can be measured or read in a device manual, influence on parasitic capacitance is expressed as a function of phase current, voltage deviation caused by the parasitic capacitance is calculated by measuring drain-source voltage of a power tube, and a polarity correction method of the phase current is further provided. The inverter dead zone compensation scheme provided by the invention can improve the linearity of the inverter and the control performance of a linear controller on the inverter, can effectively improve the performance of a current loop in the application occasion of a servo driver, further improves the performance of a speed loop and a position loop, and is particularly suitable for the occasions of low speed, small load, high PWM carrier frequency and the like.
Drawings
The invention is further described below with reference to the following figures and examples:
fig. 1 is a topology diagram of an inverter provided by an embodiment of the present application;
FIG. 2 is a flow chart of a phase current based inverter dead band compensation method provided by an embodiment of the present application;
FIG. 3 is a graph of the current versus the drain-source voltage V provided by an embodiment of the present application ds A relationship diagram of (a);
FIG. 4 is a graph of current-voltage deviation provided by one embodiment of the present application;
fig. 5 is a flowchart of a phase current based inverter dead-time compensation method according to another embodiment of the present application.
Detailed Description
Example (b): the pulse width modulation PWM is an increase and decrease counting mode, and dead time is set to be added into a dead zone along a rising edge. The compensation method based on the phase current polarity online correction and considering the parasitic capacitance is provided for the high-precision servo driver occasion and the problem that the inverter is seriously nonlinear due to dead zone setting. Traditional blind spot compensation scheme only to dead time, the compensation identical value of all occasions, after phase current segmentation appears, adds smooth angle, only avoids but does not openly solve, and this application adopts different values to compensate under different electric currents and the PWM section from the theory of operation analysis of power device, has openly solved the segmentation phenomenon. In addition, the method is an object-based method, provides a way to measure various indexes of the object, and implements a compensation strategy according to the indexes.
As shown in fig. 2, the phase current-based inverter dead zone compensation method may include:
Alternatively, the measurement of the dead time of the inverter may be performed by:
firstly, acquiring PWM signals output by a digital signal processing chip to an upper power tube and a lower power tube of a bridge arm.
And PWM signals output by the bridge arm of the digital signal processing chip are approximately complementary digital signals.
Alternatively, the digital signal processing chip may be a DSP chip.
Secondly, determining the time difference of the level jump time of the PWM signals of the upper and lower power tubes as the dead time T d 。
And 2, measuring the turn-on delay and the turn-off delay.
Optionally, the measurement of the turn-on delay and the turn-off delay may be performed by:
firstly, obtaining the gate drive voltage V of the power tube gs Drain current I d Drain source voltage V ds 。
Second, when the IGBT is turned on, the drain current I is adjusted d Rise to 10% of maximum to drain-source voltage V ds The time between the fall to 10% of the maximum is determined as the turn-on delay T on 。
Thirdly, when the IGBT is turned off, the voltage V of the drain electrode and the source electrode is adjusted ds Down to 90% of the on value to the drain current I d The time between the drop to 90% of the load current is determined as the turn-off delay T off 。
And 3, measuring the voltage loss under different currents.
Optionally, for the measurement of the voltage loss, considering the influence of the parasitic capacitance, the method may be implemented by:
firstly, obtaining a gate driving voltage Up _ V of an upper bridge arm of a power tube gs And a gate driving voltage Down _ V of the lower bridge arm gs And drain source voltage V of lower bridge arm ds 。
Second, testing V in different current in winding ds Waveform, calculate voltage loss.
And 4, calculating the compensation amount under the condition of different phase currents, drawing a two-dimensional table, and performing function fitting in four sections to obtain a piecewise function expression of the current-compensation amount.
Optionally, for calculating the compensation amount under different current conditions, drawing a two-dimensional table may include the following steps:
first, converting the voltage loss into the on-time loss T pc 。
Second, according to the current and the on-time loss T pc The correspondence of (a) is plotted as a two-dimensional table.
Aiming at the step 3 and the step 4, the method can be divided into four conditions according to the magnitude of the current, and the discharge rule of the capacitor is as follows:
as shown in fig. 3, in the dead time, taking the tube as an example, the capacitor is discharged from the freewheeling diode first, and the voltage drops faster as the current increases. The current can be divided into four cases:
(a) At dead time T d Inner, I 2 Just make the voltage drop to 0, the voltage acts on I more 2 The area of a triangle enclosed by the X axis.
(b) If the current is less than I 2 E.g. I 1 In the process, the capacitor is not discharged in the dead zone time, the power tube is conducted after the dead zone is finished, the capacitor is rapidly discharged by the power tube, and the voltage is acted on I 2 With the X axis and X = T d The enclosed trapezoidal area.
(c) If the current is greater than I 2 E.g. I 3 In the dead time, the capacitor is already discharged, and the voltage acts on I 3 A triangular area enclosed by the X axis is smaller in area change along with the increase of current; therefore, the voltage deviation under different currents needs to be tested, and the equivalent time deviation of the voltage deviation is recorded as T pc With current as abscissa, T pc And drawing a two-dimensional table for the ordinate, and dividing the curve into three sections for fitting as shown in fig. 4, thereby obtaining the PWM duty ratio compensation quantity.
(d) If the current direction is opposite, i.e. the negative half-axis of fig. 3, the current freewheels through the upper arm diode, and is approximately considered to be not affected by the parasitic capacitance.
Therefore, for the lower tube, the voltage is instantaneously reduced when the current is negative; when the current is positive (when the current flowing into the inverter is positive), the voltage drops faster as the current increases. The upper tube has the characteristics similar to the lower tube, and when the current is positive, the voltage is instantaneously reduced; when the current is positive, the voltage drops faster the larger the current is, and the description is omitted here. Two dead times occur per complete PWM cycle and are therefore analyzed separately.
And 5, sampling and converting the three-phase current, calculating a current vector angle, and checking the polarity of the current.
Optionally, the checking of the current polarity may include the following steps:
first step ofFor three-phase current i u 、i v 、i w Sampling, and obtaining a direct-axis current i through coordinate transformation d And quadrature axis current i q 。
The calculation method comprises the following steps:
second, according to the direct axis current i d And quadrature axis current i q And calculating a current vector angle.
For direct axis current i d Quadrature axis current i q Low-pass filtering to obtain electric angle theta e ，θ i The calculation is as follows:
calculating the direct current i d Quadrature axis current i q Vector angle δ, and therefore the current vector angle, is:
θ i ＝θ e +δ (5)
and thirdly, comparing with the polarity of the phase current.
Determining a current vector angle θ i The sector can judge the polarity of the current, and when the polarity is different from the polarity of the three-phase current sign, the polarity of the phase current is corrected.
Determining theta i The current polarity can be judged in the sector, as shown in the following table:
TABLE 1
| sinθ i | cosθ i | Polarity |
| (-1/2,1/2] | >0 | +-- |
| (-1/2,1/2] | <0 | -++ |
| (1/2,1] | >0 | ++- |
| (1/2,1] | <0 | -+- |
| [-1,-1/2] | >0 | +-+ |
| [-1,-1/2] | <0 | --+ |
The polarity of the phase current is corrected when the polarity is different from the sign polarity of the three-phase current.
And fourthly, when the polarity of the phase current is wrong due to inaccurate detection, correcting the polarity according to the current vector angle.
And 6, calculating compensation values of all phases according to instantaneous values of the input phase current and the segmentation function expression, and converting the compensation values into digital quantities to adjust the PWM duty ratio.
Optionally, the PWM duty ratio is adjusted by converting the PWM duty ratio into a digital quantity, and the obtained dead time T can be used d Turn-on delay T on Turn-off delay T off On time loss T pc The time base counter CMP of the output PWM is adjusted.
According to the current, the compensation value of the first half section or the second half section of the PWM is as follows:
the compensation value of the second half section is:
finally, the compensation value T is calculated cpm The adjustment is performed at the CMP of PWM.
Referring to fig. 5, which shows a flowchart of a dead-time compensation method for an inverter based on phase current provided by the present application, a current is sampled and corrected, and whether the current is less than PRD/2 or greater than PRD/2 is determined according to a PWM counter, where PRD is a time-based period counter, and is determined to be on the left half or the right half, and a turn-on time loss T is determined pc Dead time T obtained by combining tests d Turn-on delay T on Turn-off delay T off Determining a compensation value T cpm According to the compensation value T cpm And adjusting the duty ratio of the PWM.
In summary, the inverter dead zone compensation method based on the phase current provides a perfect inverter dead zone compensation scheme, besides dead zone time, opening delay and closing delay are also considered, the opening delay and the closing delay are generally regarded as fixed values, the influences of parasitic capacitance can be measured or read in a device manual, the influences are expressed as functions of the phase current, voltage deviation caused by the parasitic capacitance is calculated by measuring the drain source voltage of a power tube, and in addition, a polarity correction method of the phase current is provided. The inverter dead zone compensation scheme provided by the invention can improve the linearity of the inverter and the control performance of a linear controller on the inverter, can effectively improve the performance of a current loop in the application occasion of a servo driver, further improves the performance of a speed loop and a position loop, and is particularly suitable for the occasions of low speed, small load, high PWM carrier frequency and the like.
The terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying a number of the indicated technical features. Thus, a defined feature of "first", "second", may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disk, or the like.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (5)
1. A phase current based inverter dead zone compensation method, the phase current based inverter dead zone compensation method comprising:
measuring a dead time of the inverter;
measuring turn-on delay and turn-off delay;
measuring voltage loss at different phase currents, comprising: obtaining gate driving voltage Up _ V of upper bridge arm of power tube gs Lower bridge arm gate drive voltage Down _ V gs And drain source voltage V of lower bridge arm ds ；
Testing V under different phase currents in windings ds Waveform, calculating voltage loss;
calculating the compensation amount under the condition of different phase currents, drawing a two-dimensional table, and performing function fitting in four sections to obtain a segmented function expression of the current-compensation amount; wherein, the calculating the compensation quantity under the condition of different phase currents and drawing a two-dimensional table comprises the following steps:
converting the voltage loss into a turn-on time loss T pc ；
The voltage loss is the voltage deviation under different phase currents, and the opening time loss T pc For the equivalent value of the voltage loss, the voltage loss is converted into the opening time loss T in an equivalent way pc ；
According to current and on-time loss T pc Drawing a two-dimensional table according to the corresponding relation;
sampling and converting the three-phase current, calculating a current vector angle, and checking the current polarity;
and calculating compensation values of all phases according to the instantaneous values of the input three-phase current and the piecewise function expression, and converting the compensation values into digital quantities to adjust the PWM duty ratio.
2. The phase current based inverter dead time compensation method of claim 1, wherein the measuring the dead time of the inverter comprises:
acquiring PWM signals output by a digital signal processing chip to an upper power tube and a lower power tube of a bridge arm;
determining the time difference of the level jump time of the PWM signal as dead time T d 。
3. The phase current based inverter dead zone compensation method of claim 2, wherein measuring turn-on and turn-off delays comprises:
obtaining the gate drive voltage V of the power transistor gs Drain current I d Drain source voltage V ds ；
When the IGBT is turned on, the drain current I is conducted d Up to 10% of maximum to drain-source voltage V ds Down to maximumThe time between 10% of the value is determined as the switching-on delay T on ；
When the IGBT is turned off, the drain-source voltage V is applied ds Down to 90% of the on-value to the drain current I d The time between the drop to 90% of the load current is determined as the turn-off delay T off 。
4. The phase current based inverter dead zone compensation method according to claim 3, wherein the sampling transformation processing of the three-phase current, the calculation of the current vector angle, and the correction of the current polarity comprise:
for three-phase current i u 、i v 、i w Sampling, and obtaining a direct-axis current i through coordinate transformation d And quadrature axis current i q ；
According to the direct axis current i d And the quadrature axis current i q Calculating a current vector angle;
in contrast to the polarity of the phase current;
and when the polarity of the phase current is wrong due to inaccurate detection, correcting the polarity according to the current vector angle.
5. The phase current based inverter dead zone compensation method of claim 4, wherein the converting to a digital quantity adjusts a PWM duty cycle comprising:
according to the obtained dead time T d Turn-on delay T on Turn-off delay T off On time loss T pc Adjusting a time-base counter CMP for outputting PWM, comprising:
when PWM is in the first half section, the compensation value of the first half section is:
when PWM is in the second half, the compensation value of the second half is:
according to the corresponding compensation value T cpm The adjustment is performed at the CMP of the PWM.
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| CN113612381B (en) * | 2021-07-21 | 2023-02-10 | 深圳数马电子技术有限公司 | Dead zone compensation method, dead zone compensation device, motor driver and storage medium |
| CN114447936B (en) * | 2021-12-24 | 2022-12-09 | 致瞻科技(上海)有限公司 | Dynamic voltage compensation method for silicon carbide device |
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| CN116937960B (en) * | 2023-09-18 | 2023-11-28 | 新誉集团有限公司 | Voltage compensation method and system of inverter, electronic equipment and storage medium |
| CN117578902A (en) * | 2023-11-23 | 2024-02-20 | 南京航空航天大学 | Inverter circuit control method for realizing self-adaptive dead time optimization |
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| CN104362881B (en) * | 2014-11-17 | 2017-10-27 | 天津电气科学研究院有限公司 | Dead-zone compensation method based on transient current and the voltage compensation that becomes more meticulous |
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