CN111342695A - Dead zone compensation method and device of inverter - Google Patents

Dead zone compensation method and device of inverter Download PDF

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Publication number
CN111342695A
CN111342695A CN201811540073.4A CN201811540073A CN111342695A CN 111342695 A CN111342695 A CN 111342695A CN 201811540073 A CN201811540073 A CN 201811540073A CN 111342695 A CN111342695 A CN 111342695A
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compensation
period
dead
cycle
parameter
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CN111342695B (en
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叶健豪
夏铸亮
赵小坤
陈平
张慧忠
刘秀田
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GAC Aion New Energy Automobile Co Ltd
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Guangzhou Automobile Group 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
    • 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
    • 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
    • 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
    • H02M1/38—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 embodiment of the invention discloses a dead zone compensation method and a device of an inverter, wherein the method comprises the steps of calculating an evaluation parameter of output current of the inverter in one period at the starting point of each period, and setting a compensation time calculation parameter according to the evaluation parameter; calculating dead zone compensation time in the period according to the compensation time calculation parameter set at the start of the period; and performing dead-zone compensation on the inverter in the period according to the dead-zone compensation time. The embodiment of the invention can enable the dead zone compensation of the inverter to adapt to different working conditions, carry out automatic optimization and achieve a relatively ideal compensation effect.

Description

Dead zone compensation method and device of inverter
Technical Field
The invention relates to the field of motor control, in particular to a dead zone compensation method and device of an inverter.
Background
In an inverter, in order to prevent the upper and lower bridge arms from being in direct connection with each other, when the upper and lower bridge arms are switched on and switched off, the power switching tubes of the upper and lower bridge arms need to be kept off, so that a dead zone is formed. The dead zone effect may cause an error in the output voltage, requiring error compensation. However, the parameters used for error compensation are often difficult to be set accurately, and particularly, the compensation effect still has defects under the condition of complex working conditions.
Disclosure of Invention
The embodiment of the invention provides a dead zone compensation method and device of an inverter, which can provide a relatively ideal compensation effect under different working conditions.
In a first aspect, an embodiment of the present invention provides a dead zone compensation method for an inverter, including:
calculating an evaluation parameter of the output current of the inverter in one period at the starting point of each period, and setting a compensation time calculation parameter according to the evaluation parameter;
calculating dead zone compensation time in the period according to the compensation time calculation parameter set at the start of the period;
and performing dead-zone compensation on the inverter in the period according to the dead-zone compensation time.
Preferably, the calculating the dead time compensation time in the period according to the compensation time calculation parameter set at the beginning of the period specifically includes:
calculating a parameter Δ i from the compensation time set at the beginning of the cyclekAnd formula
Figure BDA0001907843960000011
Calculating the dead time compensation time T in the periodk(ii) a Wherein, TdtAnd i is the output phase current of the inverter, which is the preset dead time.
Preferably, the setting of the compensation time calculation parameter according to the evaluation parameter specifically includes:
if it is confirmed that the compensation effect in the k-1 th cycle is better than the compensation effect in the k-2 th cycle based on the evaluation parameter, and Δ ik-1＞Δik-2Then set Δ ikSo that Δ ik＞Δik-1(ii) a Wherein, Δ ikCalculating a parameter for a compensation time set at the beginning of the kth period;
if it is confirmed that the compensation effect in the k-1 th cycle is better than the compensation effect in the k-2 th cycle based on the evaluation parameter, and Δ ik-1＜Δik-2Then set Δ ikSo that Δ ik＜Δik-1；
If it is confirmed that the compensation effect in the k-2 th period is better than the compensation effect in the k-1 th period based on the evaluation parameters, and Δ ik-1＞Δik-2Then set Δ ikSo that Δ ik＜Δik-1；
If it is confirmed that the compensation effect in the k-2 th period is better than the compensation effect in the k-1 th period based on the evaluation parameters, and Δ ik-1＜Δik-2Then set Δ ikSo that Δ ik＞Δik-1。
Preferably, the setting of the compensation time calculation parameter according to the evaluation parameter specifically includes:
if it is confirmed that the compensation effect in the k-1 th period is better than the compensation effect in the k-2 th period based on the evaluation parameter, Δ ik＝Δik-1+(Δik-1-Δik-2) (ii) a Wherein, Δ ikCalculating a parameter for a compensation time set at the beginning of the kth period;
if it is confirmed that the compensation effect in the k-2 th period is better than the compensation effect in the k-1 th period based on the evaluation parameter, Δ ik＝Δik-2。
Preferably, the evaluation parameter is a three-phase current total harmonic distortion average value.
Preferably, the confirming that the compensation effect in the k-1 th period is better than the compensation effect in the k-2 th period according to the evaluation parameter specifically comprises: when the three-phase current total harmonic distortion average value calculated at the beginning of the kth period is smaller than the three-phase current total harmonic distortion average value calculated at the beginning of the kth-1 period, determining that the compensation effect in the kth-1 period is better than that in the kth-2 period;
according to the evaluation parameters, the compensation effect in the k-2 th period is determined to be better than the compensation effect in the k-1 th period, and specifically: and when the three-phase current total harmonic distortion average value calculated at the beginning of the kth period is larger than the three-phase current total harmonic distortion average value calculated at the beginning of the kth-1 period, determining that the compensation effect in the kth-2 period is better than that in the kth-1 period.
In a second aspect, an embodiment of the present invention provides a dead zone compensation apparatus for an inverter, including:
the setting module is used for calculating an evaluation parameter of the output current of the inverter in a first period at the starting point of each period and setting a compensation time calculation parameter according to the evaluation parameter;
the calculation module is used for calculating dead zone compensation time in the period according to the compensation time calculation parameter set at the starting point;
and the compensation module is used for performing dead-zone compensation on the inverter in the period according to the dead-zone compensation time.
Preferably, the calculation module is specifically configured to calculate the parameter Δ i according to a compensation time set at the beginning of the cyclekAnd formula
Figure BDA0001907843960000031
Calculating the dead time compensation time T in the periodk(ii) a Wherein, TdtAnd i is the output phase current of the inverter, which is the preset dead time.
Preferably, the setting module includes:
a first setting unit for confirming that the compensation effect in the (k-1) th cycle is better than the compensation effect in the (k-2) th cycle if it is determined based on the evaluation parameter, andΔik-1＞Δik-2then set Δ ikSo that Δ ik＞Δik-1(ii) a Wherein, Δ ikCalculating a parameter for a compensation time set at the beginning of the kth period;
a second setting unit for confirming that the compensation effect in the k-1 th cycle is better than that in the k-2 th cycle and Δ i is greater than that in the first setting unit if the evaluation parameter is satisfiedk-1＜Δik-2Then set Δ ikSo that Δ ik＜Δik-1；
A third setting unit for confirming that the compensation effect in the k-2 th cycle is better than that in the k-1 th cycle and Δ i is greater than that in the k-2 th cycle if it is determined based on the evaluation parameterk-1＞Δik-2Then set Δ ikSo that Δ ik＜Δik-1；
A fourth setting unit for confirming that the compensation effect in the k-2 th cycle is better than the compensation effect in the k-1 th cycle and Δ i is greater than the first threshold value if it is determined that the compensation effect is greater than the first threshold value according to the evaluation parameterk-1＜Δik-2Then set Δ ikSo that Δ ik＞Δik-1。
Preferably, the setting module includes:
a forward optimizing unit for determining Δ i if the evaluation parameter confirms that the compensation effect in the k-1 th cycle is better than the compensation effect in the k-2 th cyclek＝Δik-1+(Δik-1-Δik-2) (ii) a Wherein, Δ ikCalculating a parameter for a compensation time set at the beginning of the kth period;
a reverse optimizing unit for determining Δ i if the compensation effect in the k-2 th cycle is better than the compensation effect in the k-1 th cycle based on the evaluation parameterk＝Δik-2。
The embodiment of the invention has the following beneficial effects:
according to the technical scheme of the embodiment of the invention, the compensation time calculation parameter is periodically set according to the evaluation parameter of the output current of the inverter, the dead zone compensation time is calculated according to the compensation time calculation parameter, the zero crossing point region of the output current in the period is compensated according to the dead zone compensation time, and the compensation time calculation parameter is dynamically adjusted according to the evaluation parameter of the output current in the period, so that the compensation time calculation parameter can adapt to different working conditions, automatic optimization is carried out, and a relatively ideal compensation effect is achieved.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1 is a flowchart of a dead-time compensation method for an inverter according to an embodiment of the present invention;
fig. 2 is a flowchart of another dead-time compensation method for an inverter according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a dead zone compensation device of an inverter according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an apparatus according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are for purposes of illustration and not limitation. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Furthermore, the terms first, second, third and the like in the description and in the claims, are used for descriptive purposes only to distinguish one element from another, and are not to be construed as indicating or implying relative importance or implying any order or order to the indicated elements. The terms are interchangeable where appropriate. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Fig. 1 is a flowchart of a dead-time compensation method for an inverter according to an embodiment of the present invention. The embodiment can be applied to the condition that the compensation algorithm is automatically adjusted according to the working condition in the working process of the inverter. The method may be performed by a dead-time compensation arrangement of an inverter, which may be integrated in a device having a memory and a processor.
As shown in fig. 1, a dead-zone compensation method for an inverter according to an embodiment of the present invention includes the following steps S110, S120, and S130.
S110, calculating an evaluation parameter of the output current of the inverter in one period at the beginning of each period, and setting a compensation time calculation parameter according to the evaluation parameter.
In the embodiment of the invention, if not specifically indicated, the period refers to a time period between the setting of the compensation time calculation parameter twice. The length of the time period may be a multiple of the sinusoidal period of the output current, for example 4 or 8 times the sinusoidal period of the current.
The evaluation parameter may be various parameters known to those skilled in the art for evaluating the difference between the actual current value and the ideal value, such as a total harmonic distortion average value calculated by performing fourier transform on the three-phase sampled current, a time when the current is clamped at a zero point, or a distortion frequency.
The compensation time calculation parameter refers to a parameter in an algorithm for calculating dead time compensation time. Those skilled in the art may select a preferred dead time compensation algorithm, for example,
Figure BDA0001907843960000061
wherein, TkCompensating for time, T, for dead timedtFor a predetermined dead time, i is the output phase current of the inverter, Δ ikIs the current threshold. The algorithm is that when the absolute value of the current is larger than the current threshold value, the dead zone compensation time is constant
Figure BDA0001907843960000062
When the absolute value of the current is smaller than the threshold value, the dead-time compensation time is linearly reduced to 0 according to the absolute value of the current, namely
Figure BDA0001907843960000063
sgn (i) represents a sign function of i, and returns the sign of i, namely, the polarity of i is reflected. The algorithm canThe dead zone compensation effect at the current zero-crossing point is improved by overcoming the zero current clamping effect. The parameters can be used as compensation time calculation parameters in the embodiment of the invention.
The evaluation parameter for setting the compensation time calculation parameter calculated at the start of each period may be one or more. There may be various technical means for setting the compensation time calculation parameter according to the evaluation parameter, for example, a plurality of evaluation parameters are used as characteristic values, and a preset mathematical model is used to calculate the compensation time calculation parameter. In the examples of the present invention, various preferred embodiments will be presented.
And S120, calculating dead zone compensation time in the period according to the compensation time calculation parameter set at the beginning of the period.
As described above, the skilled person can select the preferred dead time calculation algorithm, and S110 and S120 recalculate the dead time every cycle if a reasonable dead time calculation algorithm is determined. With the preferred dead time compensation time calculation algorithm described above
Figure BDA0001907843960000064
Figure BDA0001907843960000071
For example, specifically, S120 may include: calculating a parameter Δ i from the compensation time set at the beginning of the cyclekAnd formula
Figure BDA0001907843960000072
Calculating the dead time compensation time T in the periodk；TdtAnd i is the output phase current of the inverter, which is the preset dead time. The dead time can be set according to the parameters of circuit elements of the bridge inverter, and the power switch tubes of two bridge arms of the inverter are not conducted in the dead time; while the current threshold value delta ikCan be used as a compensation time calculation parameter which can be periodically changed, k refers to the serial number of the period, i.e. in the embodiment of the invention, delta ikThe settings are adjusted periodically. Initialization of compensation time calculation parametersValue, i.e. Δ i0May be any value, preferably empirically given by those skilled in the art, to reduce the seek time.
And S130, performing dead zone compensation on the inverter in the period according to the dead zone compensation time.
Illustratively, it may be according to a formula
Figure BDA0001907843960000073
Calculated dead time compensation time T of the k-th cyclekAnd compensating the inverter. With the dead time compensation known, the inverter compensation can be performed by means of techniques known to those skilled in the art, and will not be described herein.
Through the above description, those skilled in the art can know that, in the technical scheme of the embodiment of the present invention, the compensation time calculation parameter is periodically set according to the evaluation parameter of the output current of the inverter, the dead zone compensation time is calculated according to the compensation time calculation parameter, and the zero crossing point region of the output current in the period is compensated according to the dead zone compensation time.
Preferably, an embodiment of the present invention provides that the setting of the compensation time calculation parameter may be set according to a variation trend of the evaluation parameter, specifically, the setting of the compensation time calculation parameter according to the evaluation parameter includes:
(1) if the compensation time calculation parameter is increased in the last setting and beneficial change is caused to the evaluation parameter, the compensation time calculation parameter is still increased in the current setting; namely, it is
If it is confirmed that the compensation effect in the k-1 th cycle is better than the compensation effect in the k-2 th cycle based on the evaluation parameter, and Δ ik-1＞Δik-2Then set Δ ikSo that Δ ik＞Δik-1(ii) a Wherein, Δ ijCalculating a parameter for the compensation time set at the beginning of the jth period; j denotes the periodOrdinal number, i.e. Δ ikCalculating a parameter, Δ i, for the compensation time set at the start of the kth cyclek-1Calculating a parameter, Δ i, for the compensation time set at the start of the k-1 th cyclek-2Parameters are calculated for the offset time set at the start of the k-2 th cycle, and so on.
(2) If the last time of setting the compensation time calculation parameter is to reduce the compensation time calculation parameter and the evaluation parameter is favorably changed, the current time of setting is still to reduce the compensation time calculation parameter; namely, it is
If it is confirmed that the compensation effect in the k-1 th cycle is better than the compensation effect in the k-2 th cycle based on the evaluation parameter, and Δ ik-1＜Δik-2Then set Δ ikSo that Δ ik＜Δik-1；
(3) If the compensation time calculation parameter is set for the last time, the compensation time calculation parameter is increased, and the evaluation parameter is deteriorated, the compensation time calculation parameter is set for the current time and decreased; namely, it is
If it is confirmed that the compensation effect in the k-2 th period is better than the compensation effect in the k-1 th period based on the evaluation parameters, and Δ ik-1＞Δik-2Then set Δ ikSo that Δ ik＜Δik-1；
(4) If the last time of setting the compensation time calculation parameter is to reduce the compensation time calculation parameter and to make the evaluation parameter deteriorate, the current setting increases the compensation time calculation parameter, namely:
if it is confirmed that the compensation effect in the k-2 th period is better than the compensation effect in the k-1 th period based on the evaluation parameters, and Δ ik-1＜Δik-2Then set Δ ikSo that Δ ik＞Δik-1。
The implementation method has small calculation amount and ideal optimization effect.
Based on the above embodiment, it is more preferable to set the compensation time calculation parameter according to the variation trend of the evaluation parameter, and a fixed variation step (or referred to as an optimization step) can be set, for example, the step is a fixed value d, and then Δ ik＝Δik-1+ d or Δ ik＝Δik-1D, wherein Δ ikThe parameters are calculated for the compensation time set at the beginning of the kth cycle. The setting of the compensation time calculation parameter according to the evaluation parameter specifically includes:
if it is confirmed that the compensation effect in the k-1 th period is better than the compensation effect in the k-2 th period based on the evaluation parameter, Δ ik＝Δik-1+(Δik-1-Δik-2)；
If it is confirmed that the compensation effect in the k-2 th period is better than the compensation effect in the k-1 th period based on the evaluation parameter, Δ ik＝Δik-2。
It will be appreciated by those skilled in the art that in the above method, when the compensation effect changes beneficially, if Δ ik-1-Δik-2> 0, i.e. Δ ik-1Relative to Δ ik-2Increased by d, then Δ ikD is also increased; if Δ ik-1-Δik-2< 0, i.e.. DELTA.ik-1Relative to Δ ik-2Decrease d, then Δ ikD is also reduced. When the compensation effect deteriorates, Δ ik＝Δik-1-(Δik-1-Δik-2)＝Δik-2The compensation time calculation parameters are optimized back.
According to the method, the compensation time calculation parameter is not finished, the automatic optimization is always carried out, and the current is lingered near the optimal current threshold. Even if the working condition changes, the compensation time calculation parameter can automatically follow the vicinity of the optimal compensation time calculation parameter under the working condition. The compensation time calculation parameters for calculating the dead zone compensation time are changed through the optimization method, so that the dead zone compensation effect under different working conditions can be optimal.
Preferably, the evaluation parameter is a three-phase current total harmonic distortion average value. The three-phase current total harmonic distortion average value is an evaluation parameter for objectively evaluating the difference between an actual value (output signal) and an ideal value (input signal) of current.
Preferably, the confirming that the compensation effect in the k-1 th period is better than the compensation effect in the k-2 th period according to the evaluation parameter specifically comprises: when the three-phase current total harmonic distortion average value calculated at the beginning of the kth period is smaller than the three-phase current total harmonic distortion average value calculated at the beginning of the kth-1 period, determining that the compensation effect in the kth-1 period is better than that in the kth-2 period;
according to the evaluation parameters, the compensation effect in the k-2 th period is determined to be better than the compensation effect in the k-1 th period, and specifically: and when the three-phase current total harmonic distortion average value calculated at the beginning of the kth period is larger than the three-phase current total harmonic distortion average value calculated at the beginning of the kth-1 period, determining that the compensation effect in the kth-2 period is better than that in the kth-1 period.
As known to those skilled in the art, the smaller the average value of the total harmonic distortion of the three-phase current is, the higher the output quality of the representative current is.
To better illustrate the above embodiments, please refer to fig. 2, fig. 2 shows a flowchart of another dead-time compensation method for an inverter according to an embodiment of the present invention, where the flowchart uses the total harmonic distortion average value THDkFor evaluating the parameters, an algorithm idea is shown for executing the above-described embodiment by a computer program, first setting an initial value Δ i of the compensation time calculation parameter0And setting the optimizing direction S to 1 (representing increasing or decreasing the compensation time calculation parameter), and setting the value of each change of the compensation time calculation parameter (i.e. the optimizing step length) to id. Program run according to Δ ik-1Carrying out zero crossing point partial compensation processing on the current in the k-1 th period, and calculating THD (total harmonic distortion) for the three-phase sampling current at the beginning of the k-1 th periodkIf THDk＜THDk-1I.e. the effect becomes better, the optimizing direction is not changed, Δ ik＝Δik-1+S×id(ii) a If THDk≥THDk-1Then the direction of seek changes, S ═ S, then Δ ik＝Δik-1+S×id. And by analogy, continuous optimization is realized.
The above description should make the features and advantages of the present invention more obvious, and the technical solution of the embodiment of the present invention periodically sets the compensation time calculation parameter according to the evaluation parameter of the output current, calculates the dead zone compensation time from the compensation time calculation parameter, and compensates the zero crossing point region of the output current in the period according to the dead zone compensation time. And through round-trip optimization, even if the working condition changes, the compensation time calculation parameter can automatically follow the vicinity of the optimal compensation time calculation parameter under the working condition, so that the dead zone compensation effect under different working conditions can be optimal.
For simplicity of explanation, the method embodiments are described as a series of acts or combinations, but those skilled in the art will appreciate that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the embodiments of the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Fig. 3 is a schematic structural diagram of a dead-time compensation device of an inverter according to an embodiment of the present invention, where the dead-time compensation device of the inverter includes:
a setting module 410, configured to calculate an evaluation parameter of the output current of the inverter of a previous cycle at the start of each cycle, and set a compensation time calculation parameter according to the evaluation parameter;
a calculating module 420, configured to calculate a dead time compensation time in the period according to the compensation time calculation parameter set at the beginning of the period;
and the compensation module 430 is used for performing dead-zone compensation on the inverter in the period according to the dead-zone compensation time.
Preferably, the calculation module is specifically configured to calculate the parameter Δ i according to a compensation time set at the beginning of the cyclekAnd formula
Figure BDA0001907843960000111
Calculating the dead time compensation time T in the periodk(ii) a Wherein, TdtAnd i is the output phase current of the inverter, which is the preset dead time. .
Preferably, the setting module 410 may include:
a first setting unit for confirming that the compensation effect in the k-1 th cycle is better than the compensation effect in the k-2 th cycle and Δ i is greater than the first setting unit if the compensation effect in the k-1 th cycle is better than the first setting unit based on the evaluation parameterk-1＞Δik-2Then set Δ ikSo that Δ ik＞Δik-1(ii) a Wherein, Δ ikCalculating a parameter for a compensation time set at the beginning of the kth period;
a second setting unit for confirming that the compensation effect in the k-1 th cycle is better than that in the k-2 th cycle and Δ i is greater than that in the first setting unit if the evaluation parameter is satisfiedk-1＜Δik-2Then set Δ ikSo that Δ ik＜Δik-1；
A third setting unit for confirming that the compensation effect in the k-2 th cycle is better than that in the k-1 th cycle and Δ i is greater than that in the k-2 th cycle if it is determined based on the evaluation parameterk-1＞Δik-2Then set Δ ikSo that Δ ik＜Δik-1；
A fourth setting unit for confirming that the compensation effect in the k-2 th cycle is better than the compensation effect in the k-1 th cycle and Δ i is greater than the first threshold value if it is determined that the compensation effect is greater than the first threshold value according to the evaluation parameterk-1＜Δik-2Then set Δ ikSo that Δ ik＞Δik-1。
Alternatively, preferably, the setting module 410 includes:
a forward optimizing unit for determining Δ i if the evaluation parameter confirms that the compensation effect in the k-1 th cycle is better than the compensation effect in the k-2 th cyclek＝Δik-1+(Δik-1-Δik-2) (ii) a Wherein, Δ ikCalculating a parameter for a compensation time set at the beginning of the kth period;
a reverse optimizing unit for ifWhen the evaluation parameter confirms that the compensation effect in the k-2 th period is better than that in the k-1 th period, Δ ik＝Δik-2. The control device of the unmanned vehicle provided by the embodiment of the invention can implement the control method of the unmanned vehicle provided by any embodiment of the invention, and has corresponding beneficial effects.
Optionally, the evaluation parameter is a three-phase current total harmonic distortion average value.
Preferably, the first setting unit and the second setting unit are specifically configured to confirm that the compensation effect in the k-1 th period is better than the compensation effect in the k-2 th period when the three-phase current total harmonic distortion average value calculated at the beginning of the k-1 th period is smaller than the three-phase current total harmonic distortion average value calculated at the beginning of the k-1 th period;
and the third setting unit and the fourth setting unit confirm that the compensation effect in the k-2 th period is better than the compensation effect in the k-1 th period when the three-phase current total harmonic distortion average value calculated at the k-1 th period starting point is larger than the three-phase current total harmonic distortion average value calculated at the k-1 th period starting point.
Or the forward optimizing unit is specifically used for confirming that the compensation effect in the k-1 th period is better than the compensation effect in the k-2 th period when the three-phase current total harmonic distortion average value calculated at the k-1 th period starting point is smaller than the three-phase current total harmonic distortion average value calculated at the k-1 th period starting point;
the reverse optimization unit is specifically used for confirming that the compensation effect in the k-2 th period is better than the compensation effect in the k-1 th period when the total harmonic distortion average value of the three-phase current calculated at the starting point of the k-1 th period is larger than the total harmonic distortion average value of the three-phase current calculated at the starting point of the k-1 th period.
The dead zone compensation device of the inverter provided by the embodiment of the invention can implement the dead zone compensation method of the inverter provided by any embodiment of the invention, and has corresponding beneficial effects.
Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method as described above.
In this embodiment, the module/unit integrated with the dead zone compensation device of the inverter may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
Fig. 4 is a schematic diagram of an apparatus provided in an embodiment of the present invention. The apparatus provided by the embodiment of the present invention includes a memory 301, a processor 302, and a computer program stored in the memory 301 and executable on the processor 302, wherein the processor 302 implements the steps in the dead-zone compensation method embodiments of the inverters when executing the computer program, for example, S110 shown in fig. 1, calculating an evaluation parameter of an output current of an inverter of a previous cycle at the start of each cycle, and setting a compensation time calculation parameter according to the evaluation parameter; s120, calculating dead zone compensation time in the period according to the compensation time calculation parameter set at the beginning of the period; and S130, performing dead zone compensation on the inverter in the period according to the dead zone compensation time. Alternatively, the processor 302, when executing the computer program, implements the functions of the modules/units in the dead-zone compensation apparatus embodiments of the inverters, such as the setting module 410, the calculating module 420 and the compensating module 430 shown in fig. 3.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the device remote backup upgrading apparatus. For example, the computer program may be partitioned into a setting module 410, a calculation module 420, and a compensation module 430.
The device may be a computer device. The apparatus may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the schematic diagram 4 is merely an example of the device and does not constitute a limitation of the device, and may include more or less components than those shown, or some components in combination, or different components, for example, the device may also include input output devices, network access devices, buses, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is the control center for the device and that connects the various parts of the overall device using various interfaces and lines.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the apparatus by running or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a flash memory Card (FlashCard), at least one magnetic disk storage device, a flash memory device, or other volatile solid state storage device.
In the embodiment of the present invention, it should be understood that the disclosed dead-zone compensation apparatus and method for an inverter may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the described units or division of units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical or other form.
Those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A dead-time compensation method of an inverter, comprising:
calculating an evaluation parameter of the output current of the inverter in one period at the starting point of each period, and setting a compensation time calculation parameter according to the evaluation parameter;
calculating dead zone compensation time in the period according to the compensation time calculation parameter set at the start of the period;
and performing dead-zone compensation on the inverter in the period according to the dead-zone compensation time.
2. The dead-time compensation method of the inverter according to claim 1, wherein the calculating the dead-time compensation time in the period according to the compensation time calculation parameter set at the beginning of the period specifically comprises:
calculating a parameter Δ i from the compensation time set at the beginning of the cyclekAnd formula
Figure FDA0001907843950000011
Calculating the dead time compensation time T in the periodk(ii) a Wherein, TdtAnd i is the output phase current of the inverter, which is the preset dead time.
3. The dead-zone compensation method of the inverter according to claim 1, wherein the setting of the compensation time calculation parameter according to the evaluation parameter specifically includes:
if it is confirmed that the compensation effect in the k-1 th cycle is better than the compensation effect in the k-2 th cycle based on the evaluation parameter, and Δ ik-1＞Δik-2Then set Δ ikSo that Δ ik＞Δik-1(ii) a Wherein, Δ ikCalculating a parameter for a compensation time set at the beginning of the kth period;
if it is confirmed that the compensation effect in the k-1 th cycle is better than the compensation effect in the k-2 th cycle based on the evaluation parameter, and Δ ik-1＜Δik-2Then set Δ ikSo that Δ ik＜Δik-1；
If it is confirmed that the compensation effect in the k-2 th period is better than the compensation effect in the k-1 th period based on the evaluation parameters, and Δ ik-1＞Δik-2Then set Δ ikSo that Δ ik＜Δik-1；
If it is confirmed that the compensation effect in the k-2 th period is better than the compensation effect in the k-1 th period based on the evaluation parameters, and Δ ik-1＜Δik-2Then set Δ ikSo that Δ ik＞Δik-1。
4. The dead-zone compensation method of the inverter according to claim 1, wherein the setting of the compensation time calculation parameter according to the evaluation parameter specifically includes:
if it is confirmed that the compensation effect in the k-1 th period is better than the compensation effect in the k-2 th period based on the evaluation parameter, Δ ik＝Δik-1+(Δik-1-Δik-2) (ii) a Wherein, Δ ikCalculating a parameter for a compensation time set at the beginning of the kth period;
if it is confirmed that the compensation effect in the k-2 th period is better than the compensation effect in the k-1 th period based on the evaluation parameter, Δ ik＝Δik-2。
5. The dead-zone compensation method of an inverter according to claim 3 or 4, wherein the evaluation parameter is a three-phase current total harmonic distortion average value.
6. The dead-zone compensation method of an inverter according to claim 5, wherein the determining that the compensation effect in the (k-1) th cycle is better than the compensation effect in the (k-2) th cycle according to the evaluation parameter includes: when the three-phase current total harmonic distortion average value calculated at the beginning of the kth period is smaller than the three-phase current total harmonic distortion average value calculated at the beginning of the kth-1 period, determining that the compensation effect in the kth-1 period is better than that in the kth-2 period;
according to the evaluation parameters, the compensation effect in the k-2 th period is determined to be better than the compensation effect in the k-1 th period, and specifically: and when the three-phase current total harmonic distortion average value calculated at the beginning of the kth period is larger than the three-phase current total harmonic distortion average value calculated at the beginning of the kth-1 period, determining that the compensation effect in the kth-2 period is better than that in the kth-1 period.
7. A dead-zone compensation device of an inverter, comprising:
the setting module is used for calculating an evaluation parameter of the output current of the inverter in a first period at the starting point of each period and setting a compensation time calculation parameter according to the evaluation parameter;
the calculation module is used for calculating dead zone compensation time in the period according to the compensation time calculation parameter set at the starting point of the period;
and the compensation module is used for performing dead-zone compensation on the inverter in the period according to the dead-zone compensation time.
8. The dead-time compensation device of an inverter according to claim 7, wherein the calculation module is specifically configured to calculate the parameter Δ i according to a compensation time set at a start of a cyclekAnd formula
Figure FDA0001907843950000031
Figure FDA0001907843950000032
Calculating the dead time compensation time T in the periodk(ii) a Wherein, TdtAnd i is the output phase current of the inverter, which is the preset dead time.
9. The dead zone compensation device of an inverter according to claim 8, wherein the setting module comprises:
a first setting unit for confirming that the compensation effect in the k-1 th cycle is better than the compensation effect in the k-2 th cycle and Δ i is greater than the first setting unit if the compensation effect in the k-1 th cycle is better than the first setting unit based on the evaluation parameterk-1＞Δik-2Then set Δ ikSo that Δ ik＞Δik-1(ii) a Wherein, Δ ikCalculating a parameter for a compensation time set at the beginning of the kth period;
a second setting unit for confirming that the compensation effect in the k-1 th cycle is better than that in the k-2 th cycle and Δ i is greater than that in the first setting unit if the evaluation parameter is satisfiedk-1＜Δik-2Then set Δ ikSo that Δ ik＜Δik-1；
A third setting unit for confirming that the compensation effect in the k-2 th cycle is better than that in the k-1 th cycle and Δ i is greater than that in the k-2 th cycle if it is determined based on the evaluation parameterk-1＞Δik-2Then set Δ ikSo that Δ ik＜Δik-1；
A fourth setting unit for confirming that the compensation effect in the k-2 th cycle is better than the compensation effect in the k-1 th cycle and Δ i is greater than the first threshold value if it is determined that the compensation effect is greater than the first threshold value according to the evaluation parameterk-1＜Δik-2Then set Δ ikSo that Δ ik＞Δik-1。
10. The dead zone compensation device of an inverter according to claim 8, wherein the setting module comprises:
a forward optimizing unit for determining Δ i if the evaluation parameter confirms that the compensation effect in the k-1 th cycle is better than the compensation effect in the k-2 th cyclek＝Δik-1+(Δik-1-Δik-2) (ii) a Wherein, Δ ikCalculating a parameter for a compensation time set at the beginning of the kth period;
a reverse optimizing unit for determining Δ i if the compensation effect in the k-2 th cycle is better than the compensation effect in the k-1 th cycle based on the evaluation parameterk＝Δik-2。
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