CN112152499A - Control device and method of power amplifier and motor - Google Patents

Control device and method of power amplifier and motor Download PDF

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Publication number
CN112152499A
CN112152499A CN202010934188.2A CN202010934188A CN112152499A CN 112152499 A CN112152499 A CN 112152499A CN 202010934188 A CN202010934188 A CN 202010934188A CN 112152499 A CN112152499 A CN 112152499A
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Prior art keywords
coil
power switch
time
bridge
current parameter
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CN202010934188.2A
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CN112152499B (en
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孙建东
林润方
赵科杰
胡叨福
郑安琪
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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Priority to CN202010934188.2A priority Critical patent/CN112152499B/en
Publication of CN112152499A publication Critical patent/CN112152499A/en
Priority to PCT/CN2021/093090 priority patent/WO2022052495A1/en
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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
    • 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
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • H02M1/088—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters for the simultaneous control of series or parallel connected semiconductor devices

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Amplifiers (AREA)
  • Inverter Devices (AREA)

Abstract

The invention discloses a control device, a method and a motor of a power amplifier, wherein the device comprises: an acquisition unit that acquires an output current parameter of the power amplifier; the power amplifier includes: a half-bridge three-bridge-arm power amplifier; the control unit is used for determining the coil state of the half-bridge type three-bridge arm power amplifier according to the output current parameter and the given current parameter; determining the switching parameters of power switches in a power switch group of the half-bridge type three-bridge arm power amplifier according to the coil state; generating a driving signal of a power switch in the power switch group according to the switching parameter; and the isolation driving unit controls the power switches in the power switch group to be switched on or switched off based on the driving signal. According to the scheme, the problem that the fixed duty ratio of the common bridge arm of the half-bridge three-bridge-arm power amplifier is difficult to determine can be solved, and the effect that the duty ratio of the common bridge arm of the half-bridge three-bridge-arm power amplifier can be conveniently determined is achieved.

Description

Control device and method of power amplifier and motor
Technical Field
The invention belongs to the technical field of motors, and particularly relates to a control device and a control method of a power amplifier and a motor, in particular to a control device and a control method of a magnetic suspension bearing switch power amplifier and a motor.
Background
In the magnetic suspension bearing controller system, the duty ratio of the common bridge arm of the half-bridge three-bridge power amplifier is fixed, but the fixed duty ratio is difficult to determine.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention aims to provide a control device, a control method and a motor of a power amplifier, which are used for solving the problem that the fixed duty ratio of a common bridge arm of a half-bridge three-bridge power amplifier is difficult to determine and achieving the effect of conveniently determining the duty ratio of the common bridge arm of the half-bridge three-bridge power amplifier.
The present invention provides a control device for a power amplifier, comprising: the device comprises an acquisition unit, a control unit and an isolation driving unit; wherein the obtaining unit is configured to obtain an output current parameter of the power amplifier; the power amplifier includes: a half-bridge three-bridge-arm power amplifier; the control unit is configured to determine the coil state of the half-bridge type three-bridge arm power amplifier according to the output current parameter and a given current parameter; determining the switching parameters of power switches in a power switch group of the half-bridge type three-bridge arm power amplifier according to the coil state; generating a driving signal of a power switch in the power switch group according to the switching parameter; the isolation driving unit is configured to control the power switches in the power switch group to be switched on or switched off based on the driving signal.
In some embodiments, the output current parameter comprises: a first output current parameter of a first coil in the half-bridge type three-bridge arm power amplifier and a second output current parameter of a second coil in the half-bridge type three-bridge arm power amplifier; the given current parameter includes: a first given current parameter and a second given current parameter; the control unit determines the coil state of the half-bridge type three-bridge arm power amplifier according to the output current parameter and the given current parameter, and the method comprises the following steps: if the difference value between the first given current parameter and the first output current parameter and the difference value between the second given current parameter and the second output current parameter are both greater than zero, determining that the first coil and the second coil are both in a charging state; if the difference value between the first given current parameter and the first output current parameter and the difference value between the second given current parameter and the second output current parameter are both smaller than zero, determining that the first coil and the second coil are both in a discharging state; and if one of the difference between the first given current parameter and the first output current parameter and the difference between the second given current parameter and the second output current parameter is greater than zero and the other difference is less than zero, determining that one coil of the first coil and the second coil is in a charging state and the other coil is in a discharging state.
In some embodiments, the determining, by the control unit, a switching parameter of a power switch in a power switch group of the half-bridge three-leg power amplifier according to the coil state includes: under the condition that a first coil and a second coil in the half-bridge three-arm power amplifier are both in a charging state, in a switching period, determining that the time for simultaneously conducting a first power switch and a second power switch in a power switch group is first charging time required by the first coil, and the time for simultaneously conducting the second power switch and a third power switch in the power switch group is second charging time required by the second coil; if the first charging time is greater than a switching period, determining that the first charging time is a switching period; if the second charging time is greater than a switching period, determining that the second charging time is a switching period; if the first charging time is less than one switching period and the second charging time is less than one switching period, controlling the first coil and the second coil to be kept in a follow current state in the remaining time of one switching period; under the condition that a first coil and a second coil in the half-bridge three-arm power amplifier are both in a discharging state, in a switching period, determining that the time for simultaneously turning off a first power switch and a second power switch in a power switch group is first discharging time required by the first coil, and the time for simultaneously turning off the second power switch and a third power switch in the power switch group is second discharging time required by the second coil; if the first discharge time is greater than a switching period, determining that the first discharge time is a switching period; if the second discharge time is greater than one switching period, determining that the second discharge time is one switching period; if the first discharging time is less than one switching period and the second discharging time is less than one switching period, controlling the first coil and the second coil to be kept in a follow current state in the remaining time of one switching period; under the condition that one coil of a first coil and a second coil in the half-bridge three-arm power amplifier is in a charging state and the other coil is in a discharging state, in a switching period, determining that the time for simultaneously turning off a first power switch and a second power switch in the power switch group is third charging time required by the coil in the charging state, and the time for simultaneously turning off the second power switch and the third power switch in the power switch group is third discharging time required by the coil in the discharging state; if the total time of the third charging time and the third discharging time is greater than one switching cycle, determining that the third charging time is the product of the proportion of the charging time in the total time and one switching cycle, and determining that the third discharging time is the product of the proportion of the discharging time in the total time and one switching cycle; and if the total time of the third charging time and the third discharging time is less than one switching period, controlling the first coil and the second coil to be kept in a freewheeling state in the remaining time of one switching period.
In some embodiments, the control unit generates the driving signals of the power switches in the power switch group according to the switching parameters, including: determining the switching sequence and the switching time of a first power switch, a second power switch and a third power switch in the power switch group under different coil states according to the on-time and the off-time of the first power switch, the second power switch and the third power switch in the power switch group under different coil states and the time of the first coil and the second coil which are in a freewheeling state simultaneously in one switching period; and generating PWM signals of the first power switch, the second power switch and the third power switch in the power switch group under different coil states according to the switching sequence and the switching time of the first power switch, the second power switch and the third power switch in the power switch group under different coil states, wherein the PWM signals are used as driving signals of the first power switch, the second power switch and the third power switch in the power switch group under different coil states.
In accordance with another aspect of the present invention, there is provided a motor including: the control device of the power amplifier of the motor is described above.
In another aspect, the present invention provides a method for controlling a power amplifier of a motor, including: acquiring an output current parameter of the power amplifier; the power amplifier includes: a half-bridge three-bridge-arm power amplifier; determining the coil state of the half-bridge type three-bridge-arm power amplifier according to the output current parameter and the given current parameter; determining the switching parameters of power switches in a power switch group of the half-bridge type three-bridge arm power amplifier according to the coil state; generating a driving signal of a power switch in the power switch group according to the switching parameter; and controlling the power switches in the power switch group to be switched on or switched off based on the driving signal.
In some embodiments, the output current parameter comprises: a first output current parameter of a first coil in the half-bridge type three-bridge arm power amplifier and a second output current parameter of a second coil in the half-bridge type three-bridge arm power amplifier; the given current parameter includes: a first given current parameter and a second given current parameter; the determining the coil state of the half-bridge type three-bridge arm power amplifier according to the output current parameter and the given current parameter comprises the following steps: if the difference value between the first given current parameter and the first output current parameter and the difference value between the second given current parameter and the second output current parameter are both greater than zero, determining that the first coil and the second coil are both in a charging state; if the difference value between the first given current parameter and the first output current parameter and the difference value between the second given current parameter and the second output current parameter are both smaller than zero, determining that the first coil and the second coil are both in a discharging state; and if one of the difference between the first given current parameter and the first output current parameter and the difference between the second given current parameter and the second output current parameter is greater than zero and the other difference is less than zero, determining that one coil of the first coil and the second coil is in a charging state and the other coil is in a discharging state.
In some embodiments, the determining, according to the coil state, a switching parameter of a power switch in a power switch group of the half-bridge three-leg power amplifier includes: under the condition that a first coil and a second coil in the half-bridge three-arm power amplifier are both in a charging state, in a switching period, determining that the time for simultaneously conducting a first power switch and a second power switch in a power switch group is first charging time required by the first coil, and the time for simultaneously conducting the second power switch and a third power switch in the power switch group is second charging time required by the second coil; if the first charging time is greater than a switching period, determining that the first charging time is a switching period; if the second charging time is greater than a switching period, determining that the second charging time is a switching period; if the first charging time is less than one switching period and the second charging time is less than one switching period, controlling the first coil and the second coil to be kept in a follow current state in the remaining time of one switching period; under the condition that a first coil and a second coil in the half-bridge three-arm power amplifier are both in a discharging state, in a switching period, determining that the time for simultaneously turning off a first power switch and a second power switch in a power switch group is first discharging time required by the first coil, and the time for simultaneously turning off the second power switch and a third power switch in the power switch group is second discharging time required by the second coil; if the first discharge time is greater than a switching period, determining that the first discharge time is a switching period; if the second discharge time is greater than one switching period, determining that the second discharge time is one switching period; if the first discharging time is less than one switching period and the second discharging time is less than one switching period, controlling the first coil and the second coil to be kept in a follow current state in the remaining time of one switching period; under the condition that one coil of a first coil and a second coil in the half-bridge three-arm power amplifier is in a charging state and the other coil is in a discharging state, in a switching period, determining that the time for simultaneously turning off a first power switch and a second power switch in the power switch group is third charging time required by the coil in the charging state, and the time for simultaneously turning off the second power switch and the third power switch in the power switch group is third discharging time required by the coil in the discharging state; if the total time of the third charging time and the third discharging time is greater than one switching cycle, determining that the third charging time is the product of the proportion of the charging time in the total time and one switching cycle, and determining that the third discharging time is the product of the proportion of the discharging time in the total time and one switching cycle; and if the total time of the third charging time and the third discharging time is less than one switching period, controlling the first coil and the second coil to be kept in a freewheeling state in the remaining time of one switching period.
In some embodiments, the generating the driving signal of the power switch in the power switch group according to the switching parameter includes: determining the switching sequence and the switching time of a first power switch, a second power switch and a third power switch in the power switch group under different coil states according to the on-time and the off-time of the first power switch, the second power switch and the third power switch in the power switch group under different coil states and the time of the first coil and the second coil which are in a freewheeling state simultaneously in one switching period; and generating PWM signals of the first power switch, the second power switch and the third power switch in the power switch group under different coil states according to the switching sequence and the switching time of the first power switch, the second power switch and the third power switch in the power switch group under different coil states, wherein the PWM signals are used as driving signals of the first power switch, the second power switch and the third power switch in the power switch group under different coil states.
Therefore, according to the scheme of the invention, the duty ratio of the common bridge arm of the half-bridge type three-bridge arm power amplifier is calculated in real time from the given current, so that the problem that the fixed duty ratio of the common bridge arm of the half-bridge type three-bridge arm power amplifier is difficult to determine is solved, and the effect of conveniently determining the duty ratio of the common bridge arm of the half-bridge type three-bridge arm power amplifier is achieved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a schematic structural diagram of a control apparatus of a power amplifier according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a half-bridge three-arm power amplifier control system;
FIG. 3 is a schematic diagram of a work flow of a half-bridge three-leg power amplifier control system;
FIG. 4 is a schematic diagram of switching tube driving signals and current waveforms in a coordinated configuration when both of the two coils are in a charging state;
FIG. 5 is a schematic diagram of switching tube driving signals and current waveforms in a coordinated configuration with one coil in a charging state and the other coil in a discharging state;
fig. 6 is a flowchart illustrating a control method of a power amplifier according to an embodiment of the invention;
fig. 7 is a flowchart illustrating an embodiment of generating the driving signal of the power switch in the power switch group according to the switching parameter in the method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
According to an embodiment of the present invention, there is provided a control apparatus of a power amplifier. Referring to fig. 1, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The control device of the power amplifier can be applied to the drive control aspect of the power amplifier in a main circuit of a half-bridge three-bridge arm power amplifier, and the main circuit of the half-bridge three-bridge arm power amplifier can comprise: a first power switch such as a first switch tube (e.g., a MOSFET with an anti-parallel diode or an IGBT with an anti-parallel diode) Q1, a second power switch such as a second switch tube (e.g., a MOSFET with an anti-parallel diode or an IGBT with an anti-parallel diode) Q2, and a third power switch such as a third switch tube (e.g., a MOSFET with an anti-parallel diode or an IGBT with an anti-parallel diode) Q3, and a first coil, specifically a first electromagnetic coil, disposed between the emitter of the first power switch and the source of the second power switch, and a second coil, specifically a second electromagnetic coil, disposed between the source of the second power switch and the emitter of the third power switch. For example: power amplifier mainIn the circuit, MOSFET with antiparallel diode or IGBT Q with antiparallel diode1、Q2、Q3As a power switch, D1、D2、D3Is a diode, and the load is a first electromagnetic coil and a second electromagnetic coil, wherein L1、L2Inductance values, R, of the first and second electromagnetic coils, respectively1、R2The equivalent resistances of the first electromagnetic coil and the second electromagnetic coil are respectively. The drive control device for the power amplifier in the main circuit of the half-bridge three-bridge arm power amplifier can comprise: the device comprises an acquisition unit, a control unit and an isolation driving unit.
In particular, the obtaining unit can be configured to obtain an output current parameter of the power amplifier, in particular two-way current amplitude digital signals. The power amplifier includes: half-bridge three-arm power amplifier.
Specifically, two output current signals of the half-bridge three-arm power amplifier are sampled through a current sampling conditioning circuit, and two current amplitude digital signals are obtained through A/D conversion through an A/D sampling module.
For example: a current sampling and conditioning circuit for sampling two output current signals i1、i2And the current signal i is converted into1、i2And converting the current into a current analog signal which can be received by the AD sampling module. And the AD sampling module converts the current analog signal into a current amplitude digital signal which can be received by the MCU through analog-to-digital conversion.
Specifically, the control unit can be configured to determine a coil state of the half-bridge three-leg power amplifier according to the output current parameter and a given current parameter; determining the switching parameters of power switches in a power switch group of the half-bridge type three-bridge arm power amplifier according to the coil state; and generating a driving signal of a power switch in the power switch group according to the switching parameter. In the magnetic levitation motor control, a given current parameter is generally calculated by a displacement signal of a motor rotor through a certain algorithm (such as PID control).
For example: and the MCU restores the received current amplitude digital signal, calculates the charging and discharging time according to the output current amplitude and the current given value, and performs coordination configuration on the charging and discharging time to obtain a PWM wave for controlling the power switch.
The half-bridge type three-bridge-arm power amplifier comprises a first coil and a second coil. The output current parameter can include: the power amplifier comprises a half-bridge type three-bridge arm power amplifier, a first coil and a second coil, wherein the first coil is arranged in the half-bridge type three-bridge arm power amplifier, and the second coil is arranged in the half-bridge type three-bridge arm power amplifier. The given current parameter can include: a first given current parameter and a second given current parameter.
In some embodiments, the control unit determines the coil state of the half-bridge three-leg power amplifier according to the output current parameter and the given current parameter, and can include any one of the following coil state determination cases:
first coil state determination case: the control unit may be further configured to determine that the first coil and the second coil are both in the charging state if a difference between the first given current parameter and the first output current parameter and a difference between the second given current parameter and the second output current parameter are both greater than zero, that is, if a difference between the first given current parameter and the first output current parameter is greater than zero and a difference between the second given current parameter and the second output current parameter is greater than zero.
Second coil state determination case: the control unit may be further configured to determine that the first coil and the second coil are both in the discharging state if the difference between the first given current parameter and the first output current parameter and the difference between the second given current parameter and the second output current parameter are both less than zero, that is, if the difference between the first given current parameter and the first output current parameter is less than zero and the difference between the second given current parameter and the second output current parameter is less than zero.
Third coil state determination case: the control unit may be further configured to determine that one of the first coil and the second coil is in a charging state and the other coil is in a discharging state if one of a difference between the first given current parameter and the first output current parameter and a difference between the second given current parameter and the second output current parameter is greater than zero and the other difference is less than zero. Specifically, the coil with the difference value larger than zero is in a charging state, and the coil with the difference value smaller than zero is in a discharging state.
For example: two paths of current signals i of the coil1、i2Processed by a sampling related circuit (such as an AD sampling module) and sent to the MCU to generate a given current signal i1 *、i2 *Making a comparison, i.e. calculating i1 *-i1And i2 *-i2To determine what state the coil needs to pass to achieve a given current. The coil has three states of charging, discharging and afterflow when the power amplifier operates: if i1 *-i1>0，i2 *-i2>0, the two coils are in a charging state; if i1 *-i1<0，i2 *-i2<0, the two coils are in a discharge state; if i1 *-i1<0，i2 *-i2>0 (or i)1 *-i1>0，i2 *-i2<0) And one path of coil is in a charging state and the other path of coil is in a discharging state.
Therefore, the coil state of the half-bridge type three-bridge-arm power amplifier is determined according to the output current parameter and the given current parameter, so that the duty ratio of the common bridge arm of the half-bridge type three-bridge-arm power amplifier can be calculated in real time from the given current, and the duty ratio of the common bridge arm of the half-bridge type three-bridge-arm power amplifier can be accurately determined.
In some embodiments, the power switch set of the half-bridge three-leg power amplifier includes: a first power switch, a second power switch, and a third power switch. The control unit determines the switching parameters of the power switches in the power switch group of the half-bridge three-bridge arm power amplifier according to the coil state, and the determination condition of any one of the following switching parameters can be included:
first switching parameter determination case: the control unit may be further configured to determine, in a switching cycle, that a time during which the first power switch and the second power switch in the power switch group are simultaneously turned on is a first charging time required by the first coil, and a time during which the second power switch and the third power switch in the power switch group are simultaneously turned on is a second charging time required by the second coil, when both the first coil and the second coil in the half-bridge three-arm power amplifier are in a charging state.
If the first charging time is greater than a switching period, determining that the first charging time is a switching period; if the second charging time is greater than a switching period, determining that the second charging time is a switching period; and if the first charging time is less than one switching period and the second charging time is less than one switching period, controlling the first coil and the second coil to be kept in a freewheeling state in the remaining time of one switching period.
For example: the first and second electromagnetic coils are both in a charged state. The MCU calculates the charging state time t required by the first electromagnetic coilr1And the required state of charge time t of the second solenoidr2. If tr1>T, then Tr1T; if tr2>T, then Tr2T. In a switching period T, the switching tube S1、S2With a simultaneous on-time of tr1Switching tube S2、S3With a simultaneous on-time of tr2And the two coils are kept in a freewheeling state for the rest time.
Second switching parameter determination case: the control unit may be further configured to determine, in a switching cycle, that a time during which the first power switch and the second power switch in the power switch group are simultaneously turned off is a first discharge time required by the first coil, and a time during which the second power switch and the third power switch in the power switch group are simultaneously turned off is a second discharge time required by the second coil, when both the first coil and the second coil in the half-bridge three-arm power amplifier are in a discharge state.
If the first discharge time is greater than a switching period, determining that the first discharge time is a switching period; if the second discharge time is greater than one switching period, determining that the second discharge time is one switching period; and if the first discharging time is less than one switching period and the second discharging time is less than one switching period, controlling the first coil and the second coil to be kept in a freewheeling state in the remaining time of one switching period.
For example: the first electromagnetic coil and the second electromagnetic coil are both in a discharged state. The MCU calculates the discharge state time t needed by the first electromagnetic coild1And the discharge state time t required for the second electromagnetic coild2. If td1>T, then Td1T; if td2>T, then Td2T. In a switching period T, the switching tube S1、S2The time of simultaneous turn-off is td1Switching tube S2、S3The time of simultaneous turn-off is td2And the two coils are kept in a freewheeling state for the rest time.
Third switching parameter determination case: the control unit may be further configured to determine, in a switching cycle, that a time during which the first power switch and the second power switch in the power switch group are simultaneously turned off is a third charging time required by the coil in the charging state, and a time during which the second power switch and the third power switch in the power switch group are simultaneously turned off is a third discharging time required by the coil in the discharging state, when one coil of the first coil and the second coil of the half-bridge three-arm power amplifier is in the charging state and the other coil of the first coil and the second coil of the half-bridge three-arm power amplifier is in the discharging state.
If the total time of the third charging time and the third discharging time is greater than one switching cycle, determining that the third charging time is the product of the proportion of the charging time in the total time and one switching cycle, and determining that the third discharging time is the product of the proportion of the discharging time in the total time and one switching cycle; and if the total time of the third charging time and the third discharging time is less than one switching period, controlling the first coil and the second coil to be kept in a freewheeling state in the remaining time of one switching period.
For example: one path of coil is in a charging state, and the other path of coil is in a discharging state. The MCU calculates the charging state time t needed by the first electromagnetic coil (or the second electromagnetic coil)rThe discharge state time required for the second solenoid coil (or the first solenoid coil) is td. If tr+td>T, then Tr＝T×tr/(tr+td)，td＝T×td/(tr+td). In a switching period T, the switching tube S1、S2The time of simultaneous conduction is trSwitching tube S2、S3The time of simultaneous turn-off is td(or switch tube S2、S3The time of simultaneous conduction is trSwitching tube S1、S2The time of simultaneous turn-off is td) And the two coils are kept in a freewheeling state for the rest time.
Therefore, by carrying out coordination configuration on the charging and discharging time of the coil, compared with the fixed duty ratio control technology, the output current can track the given current in a shorter time, and the response speed of the half-bridge type three-bridge-arm power amplifier under the condition of different load current changes is improved.
In some embodiments, the generating, by the control unit, the driving signal of the power switch in the power switch group according to the switching parameter can include:
the control unit may be further configured to determine a switching sequence and a switching time of the first power switch, the second power switch, and the third power switch in the power switch group in different coil states according to on-time and off-time of the first power switch, the second power switch, and the third power switch in the power switch group in different coil states, and a time during which the first coil and the second coil are in a freewheeling state simultaneously in one switching cycle.
The control unit may be further configured to generate PWM signals of the first power switch, the second power switch, and the third power switch in the power switch group in different coil states according to the switching order and the switching time of the first power switch, the second power switch, and the third power switch in the power switch group in different coil states, as driving signals of the first power switch, the second power switch, and the third power switch in the power switch group in different coil states.
Specifically, the control unit generates the driving signals of the power switches in the power switch group according to the switching parameters, and may include any one of the following driving signal generation cases:
first drive signal generation case: the control unit may be further configured to determine, assuming that a high-level PWM signal triggers the power switch to be turned on, a time when two coils are in a freewheeling state simultaneously in one switching period when both the first coil and the second coil in the half-bridge three-arm power amplifier are in a charging state as T-Trmax，trmax＝max(tr1,tr2). By adopting the control method, the charging time range of the two coils is 0-T, and the output current can be increased to a given current in at least one switching period.
Second drive signal generation case: the control unit may be further configured to determine, assuming that a high-level PWM signal triggers the power switch to be turned on, a time when two coils are in a freewheeling state simultaneously in one switching period when both the first coil and the second coil in the half-bridge three-arm power amplifier are in a discharging state as T-Tdmax，tdmax＝max(td1,td2). By adopting the control method, the discharge time range of the two coils is 0-T, and the output current can be reduced to a given current in at least one control period.
Third drive signal generation case: the control unit may be further configured to determine, assuming that a high-level PWM signal triggers the power switch to be turned on, a time when two coils are in a freewheeling state simultaneously in a switching period when one coil of the first coil and the second coil of the half-bridge three-arm power amplifier is in a charging state and the other coil of the first coil and the second coil of the half-bridge three-arm power amplifier is in a discharging state as T-Td-tr. With this control method, when t isr+td<T, the two coil currents can track the given current in a switching period T, and when T isr+tdMax (T) can be avoided after the second compromise step when T is reachedr,td) The current response time of the corresponding coil is too slow.
Therefore, the MCU is used for carrying out coordination configuration on the sequence and time of the three power switches to obtain PWM signals of the power switch group after the coordination configuration, and the PWM signals are sent to the power switches through the isolation driving circuit to control the on and off of the switches, so that the electromagnetic coil works in a state required by control. The PWM signals are symmetrical after coordination and allocation, only one switch state changes when the switch states are switched every time, and the switching loss is reduced.
Specifically, the isolation driving unit can be configured to control the power switches in the power switch group to be turned on or off based on the driving signal.
For example: an isolation drive circuit for generating a drive signal S from the PWM signal output by the MCU1、S2、S3To control the turn-on and turn-off of the respective power switches. Drive signal S1For controlling power switches Q1Driving signal S2For controlling power switches Q2Driving signal S3For controlling power switches Q3。
Therefore, the conducting time of the common bridge arm switching tube of the power amplifier in each control period is adjusted in real time according to the load state and the charging and discharging time, so that the two paths of output currents can quickly follow the given current, the duty ratio of the common bridge arm of the half-bridge type three-bridge arm power amplifier is determined by the given current, the duty ratio of the common bridge arm of the half-bridge type three-bridge arm power amplifier can be accurately determined, and the response speed effect of the half-bridge type three-bridge arm power amplifier under different load current change conditions can be improved.
Through a large number of tests, the technical scheme of the invention is adopted, and the duty ratio of the common bridge arm of the half-bridge three-bridge-arm power amplifier is determined by the given current, so that the duty ratio of the common bridge arm of the half-bridge three-bridge-arm power amplifier can be conveniently determined.
According to an embodiment of the present invention, there is also provided a motor corresponding to the control device of the power amplifier. The motor may be able to include: the control device of the power amplifier of the motor is described above.
In a magnetic suspension bearing control system, a switching power amplifier supplies required current to an electromagnet coil, so that electromagnetic force acting on a rotor is generated to enable the rotor to be stably suspended, and the switching power amplifier is a key part of energy conversion in the control system. In order to reduce cost and simplify the structure, a half-bridge type three-bridge-arm power amplifier is applied to an active magnetic suspension bearing control system, compared with a half-bridge type topology, the use number of 1/4 power devices is reduced, the size of a bearing controller is reduced, and the integration level and the power density are improved.
For a half-bridge three-leg power amplifier, when the load current of one phase increases (or decreases), the load current of the other phase cannot decrease (or increase), and the two-phase load current changes are mutually restricted. In the control methods in some schemes, the duty ratio of the common bridge arm is usually set as a fixed value, so that the decoupling of two paths of output currents is realized. In a magnetic suspension control system, load current changes in real time and is irregular, fixed duty ratio is often difficult to determine, once the duty ratio of a common bridge arm is fixed, the maximum charging time and the maximum discharging time of coils in all control periods are fixed values, and the power amplifier cannot have the fastest response speed under the condition that different load currents change.
In some embodiments, the scheme of the invention provides a control scheme of a magnetic suspension bearing switching power amplifier, so that the duty ratio of a common bridge arm of a half-bridge three-bridge arm power amplifier is calculated in real time from a given current, the problem that the duty ratio is difficult to determine in a fixed duty ratio control technology is solved, and the duty ratio of the common bridge arm of the half-bridge three-bridge arm power amplifier can be accurately determined.
Specifically, in the scheme of the invention, the conduction time of the common bridge arm switching tube of the power amplifier in each control period is adjusted in real time according to the load state and the charging and discharging time, so that two paths of output currents can quickly follow the given current, the problem that the duty ratio of the common bridge arm of the half-bridge three-bridge power amplifier is fixed, and the response speed of the half-bridge three-bridge power amplifier under different load current change conditions is influenced can be solved, and the effect of improving the response speed of the half-bridge three-bridge power amplifier under different load current change conditions by determining the duty ratio of the common bridge arm of the half-bridge three-bridge power amplifier by the given current is achieved. Through the coordination configuration of the charging and discharging time of the coil, compared with the fixed duty ratio control technology, the output current can track the given current in a shorter time, and the response speed of the half-bridge type three-bridge arm power amplifier under the condition of different load current changes is improved.
In some embodiments, a specific implementation process of the scheme of the present invention may be exemplarily described with reference to examples shown in fig. 2 to 5.
Fig. 2 is a schematic structural diagram of a half-bridge three-arm power amplifier control system. As shown in fig. 2, the half-bridge three-bridge power amplifier control system mainly comprises a current sampling and conditioning circuit, an AD sampling module, an MCU, an isolation driving circuit, and a half-bridge three-bridge power amplifier main circuit.
Wherein, the current sampling conditioning circuit samples two paths of output current signals i1、i2And the current signal i is converted into1、i2And converting the current into a current analog signal which can be received by the AD sampling module.
And the AD sampling module converts the current analog signal into a current amplitude digital signal which can be received by the MCU through analog-to-digital conversion.
And the MCU restores the received current amplitude digital signal, calculates the charging and discharging time according to the output current amplitude and the current given value, and performs coordination configuration on the charging and discharging time to obtain a PWM wave for controlling the power switch.
An isolation drive circuit for generating a drive signal S from the PWM signal output by the MCU1、S2、S3To control the turn-on and turn-off of the respective power switches.
MOSFET with anti-parallel diode or IGBT Q with anti-parallel diode in main circuit of power amplifier1、Q2、Q3As a power switch, D1、D2、D3Is a diode, and the load is a first electromagnetic coil and a second electromagnetic coil, wherein L1、L2Inductance values, R, of the first and second electromagnetic coils, respectively1、R2The equivalent resistances of the first electromagnetic coil and the second electromagnetic coil are respectively. Wherein the driving signal S1For controlling power switches Q1Driving signal S2For controlling power switches Q2Driving signal S3For controlling power switches Q3。
Fig. 3 is a schematic diagram of a work flow of a half-bridge three-leg power amplifier control system. As shown in fig. 3, the work flow of the half-bridge three-bridge arm power amplifier control system mainly includes the following steps:
step 1, current signals i of two paths of coils1、i2Processed by a sampling related circuit (such as an AD sampling module) and sent to the MCU to generate a given current signal i1 *、i2 *Making a comparison, i.e. calculating i1 *-i1And i2 *-i2To determine what state the coil needs to pass to achieve a given current.
And 2, judging the coil state. The coil has three states of charging, discharging and afterflow when the power amplifier operates, and the two paths of coils are divided into three conditions: if i1 *-i1>0，i2 *-i2>0, executing the first condition, namely that the two coils are in a charging state; if i1 *-i1<0，i2 *-i2<0, executing the second condition, namely that the two coils are in a discharging state; if i1 *-i1<0，i2 *-i2>0 (or i)1 *-i1>0，i2 *-i2<0) And executing the third condition, namely one path of coil is in a charging state and the other path of coil is in a discharging state.
The first condition is as follows: the first and second electromagnetic coils are both in a charged state. The MCU calculates the charging state time t required by the first electromagnetic coilr1And the required state of charge time t of the second solenoidr2. If tr1>T, then Tr1T; if tr2>T, then Tr2T. In a switching period T, the switching tube S1、S2With a simultaneous on-time of tr1Switching tube S2、S3With a simultaneous on-time of tr2And the two coils are kept in a freewheeling state for the rest time. And skipping to execute the step 3.
Case two: the first electromagnetic coil and the second electromagnetic coil are both in a discharged state. The MCU calculates the discharge state time t needed by the first electromagnetic coild1And the discharge state time t required for the second electromagnetic coild2. If td1>T, then Td1T; if td2>T, then Td2T. In a switching period T, the switching tube S1、S2The time of simultaneous turn-off is td1Switching tube S2、S3The time of simultaneous turn-off is td2And the two coils are kept in a freewheeling state for the rest time. And skipping to execute the step 3.
Case three: one path of coil is in a charging state, and the other path of coil is in a discharging state. The MCU calculates the charging state time t needed by the first electromagnetic coil (or the second electromagnetic coil)rThe discharge state time required for the second solenoid coil (or the first solenoid coil) is td. If tr+td>T, then Tr＝T×tr/(tr+td)，td＝T×td/(tr+td). In a switching period T, the switching tube S1、S2The time of simultaneous conduction is trSwitching tube S2、S3The time of simultaneous turn-off is td(or switch tube S2、S3The time of simultaneous conduction is trSwitching tube S1、S2The time of simultaneous turn-off is td) And the two coils are kept in a freewheeling state for the rest time. And skipping to execute the step 3.
And step 3: and the MCU performs coordinated configuration on the sequence and time of the three power switches. During the coordination configuration, the freewheeling states are generally placed at the beginning, middle and end of the control period, and it is necessary to ensure that only one switching state changes during each switching state switching in other time periods, so that the switching loss and the harmonic wave can be reduced. Assuming that the high level PWM signal triggers the power switch to turn on, 0-t, for example, as shown in FIG. 41In time, both coils are in a follow current state; t is t1-t2Within time, drive signal S2From 0 to 1, both coils are in a charged state; t is t2-t3Within time, drive signal S3When the voltage is changed from 1 to 0, the first electromagnetic coil is charged, and the second electromagnetic coil freewheels; t is t3-t4Within time, drive signal S1Changing from 1 to 0, both coils are in a freewheeling state; t is t4-t5Within time, drive signal S1When the voltage is changed from 0 to 1, the first electromagnetic coil is charged, and the second electromagnetic coil freewheels; t is t5-t6Within time, drive signal S3From 0 to 1, both coils are in a charged state; t is t6-t7Within time, drive signal S2From 1 to 0, both coils are in a freewheeling state. This is the coil state during a control cycle. Wherein:
(1) for the first case, the time that two coils are in a freewheeling state simultaneously in one switching period is determined as T-Trmax，trmax＝max(tr1,tr2). By adopting the control method, two routes are adoptedThe charging time of the ring ranges from 0 to T, and the output current can rise to a given current in at least one switching period. With tr1>tr2For example, fig. 4 shows the driving PWM signal and the output current waveform of the power amplifier in one control period obtained after the coordination configuration.
(2) For the second case, the time that two coils are in the follow current state simultaneously in one switching period is determined as T-Tdmax，tdmax＝max(td1,td2). By adopting the control method, the discharge time range of the two coils is 0-T, and the output current can be reduced to a given current in at least one control period.
(3) For the third case, the time that two coils are in the follow current state simultaneously in one switching period is determined as T-Td-tr. With this control method, when t isr+td<T, the two coil currents can track the given current in a switching period T, and when T isr+tdMax (T) can be avoided after the second compromise step when T is reachedr,td) The current response time of the corresponding coil is too slow. Taking the first solenoid coil as an example of charging and the second solenoid coil as an example, fig. 5 shows the driving signal and the output current waveform of the power amplifier after the coordination configuration.
And 4, sending the PWM signal to the power switch after passing through the isolation driving circuit to control the on and off of the switch, so that the electromagnetic coil works in a state required by control.
In the scheme of the invention, the action sequence and the time configuration mode of the power tube driving signals are also applicable to any other configuration mode except those listed in the invention, and all the driving signal configuration modes formed by adopting equivalent transformation or equivalent transformation are also within the protection scope of the scheme of the invention.
Since the processes and functions implemented by the motor of this embodiment substantially correspond to the embodiments, principles, and examples of the apparatus shown in fig. 1, the descriptions of this embodiment are not detailed, and refer to the related descriptions in the embodiments, which are not described herein.
Through a large number of tests, the technical scheme of the invention can improve the response speed of the half-bridge type three-bridge-arm power amplifier under the condition of different load current changes by determining the duty ratio of the common bridge arm of the half-bridge type three-bridge-arm power amplifier by the given current.
According to an embodiment of the present invention, there is also provided a method for controlling a power amplifier of an electric machine corresponding to the electric machine, as shown in fig. 6, which is a schematic flow chart of an embodiment of the method of the present invention. The control method of the power amplifier of the motor can be applied to the drive control aspect of the power amplifier in a main circuit of a half-bridge type three-bridge arm power amplifier, and the main circuit of the half-bridge type three-bridge arm power amplifier can comprise the following steps: a first power switch such as a first switch tube (e.g., a MOSFET with an anti-parallel diode or an IGBT with an anti-parallel diode) Q1, a second power switch such as a second switch tube (e.g., a MOSFET with an anti-parallel diode or an IGBT with an anti-parallel diode) Q2, and a third power switch such as a third switch tube (e.g., a MOSFET with an anti-parallel diode or an IGBT with an anti-parallel diode) Q3, and a first coil, specifically a first electromagnetic coil, disposed between the emitter of the first power switch and the source of the second power switch, and a second coil, specifically a second electromagnetic coil, disposed between the source of the second power switch and the emitter of the third power switch. For example: MOSFET with anti-parallel diode or IGBT Q with anti-parallel diode in main circuit of power amplifier1、Q2、Q3As a power switch, D1、D2、D3Is a diode, and the load is a first electromagnetic coil and a second electromagnetic coil, wherein L1、L2Inductance values, R, of the first and second electromagnetic coils, respectively1、R2The equivalent resistances of the first electromagnetic coil and the second electromagnetic coil are respectively. The driving control method of the power amplifier in the main circuit of the half-bridge type three-bridge arm power amplifier can comprise the following steps: step S110 to step S130.
At step S110, obtaining an output current parameter of the power amplifier; the power amplifier includes: a half-bridge three-bridge-arm power amplifier is specifically two paths of current amplitude digital signals.
Specifically, two output current signals of the half-bridge three-arm power amplifier are sampled through a current sampling conditioning circuit, and two current amplitude digital signals are obtained through A/D conversion through an A/D sampling module.
For example: a current sampling and conditioning circuit for sampling two output current signals i1、i2And the current signal i is converted into1、i2And converting the current into a current analog signal which can be received by the AD sampling module. And the AD sampling module converts the current analog signal into a current amplitude digital signal which can be received by the MCU through analog-to-digital conversion.
At step S120, determining a coil state of the half-bridge three-leg power amplifier according to the output current parameter and a given current parameter; determining the switching parameters of power switches in a power switch group of the half-bridge type three-bridge arm power amplifier according to the coil state; and generating a driving signal of a power switch in the power switch group according to the switching parameter.
For example: and the MCU restores the received current amplitude digital signal, calculates the charging and discharging time according to the output current amplitude and the current given value, and performs coordination configuration on the charging and discharging time to obtain a PWM wave for controlling the power switch.
Wherein the output current parameter can include: the power amplifier comprises a half-bridge type three-bridge arm power amplifier, a first coil and a second coil, wherein the first coil is arranged in the half-bridge type three-bridge arm power amplifier, and the second coil is arranged in the half-bridge type three-bridge arm power amplifier. The given current parameter can include: a first given current parameter and a second given current parameter.
In some embodiments, the determining the coil state of the half-bridge three-leg power amplifier according to the output current parameter and the given current parameter in step S120 can include any one of the following coil state determination cases:
first coil state determination case: and if the difference value between the first given current parameter and the first output current parameter and the difference value between the second given current parameter and the second output current parameter are both greater than zero, namely if the difference value between the first given current parameter and the first output current parameter is greater than zero and the difference value between the second given current parameter and the second output current parameter is greater than zero, determining that the first coil and the second coil are both in a charging state.
Second coil state determination case: and if the difference value between the first given current parameter and the first output current parameter and the difference value between the second given current parameter and the second output current parameter are both smaller than zero, namely if the difference value between the first given current parameter and the first output current parameter is smaller than zero and the difference value between the second given current parameter and the second output current parameter is smaller than zero, determining that the first coil and the second coil are both in a discharging state.
Third coil state determination case: and if one of the difference between the first given current parameter and the first output current parameter and the difference between the second given current parameter and the second output current parameter is greater than zero and the other difference is less than zero, determining that one coil of the first coil and the second coil is in a charging state and the other coil is in a discharging state.
For example: two paths of current signals i of the coil1、i2Processed by a sampling related circuit (such as an AD sampling module) and sent to the MCU to generate a given current signal i1 *、i2 *Making a comparison, i.e. calculating i1 *-i1And i2 *-i2To determine what state the coil needs to pass to achieve a given current. The coil has three states of charging, discharging and afterflow when the power amplifier operates: if i1 *-i1>0，i2 *-i2>0, the two coils are in a charging state; if i1 *-i1<0，i2 *-i2<0, the two coils are in a discharge state; if i1 *-i1<0，i2 *-i2>0 (or i)1 *-i1>0，i2 *-i2<0) And one path of coil is in a charging state and the other path of coil is in a discharging state.
Therefore, the coil state of the half-bridge type three-bridge-arm power amplifier is determined according to the output current parameter and the given current parameter, so that the duty ratio of the common bridge arm of the half-bridge type three-bridge-arm power amplifier can be calculated in real time from the given current, and the duty ratio of the common bridge arm of the half-bridge type three-bridge-arm power amplifier can be accurately determined.
In some embodiments, the determining, according to the coil state, the switching parameters of the power switches in the power switch group of the half-bridge three-leg power amplifier in step S120 may include determining any one of the following switching parameters:
first switching parameter determination case: under the condition that a first coil and a second coil in the half-bridge three-arm power amplifier are both in a charging state, in a switching period, the time for simultaneously conducting a first power switch and a second power switch in the power switch group is determined to be first charging time required by the first coil, and the time for simultaneously conducting the second power switch and a third power switch in the power switch group is determined to be second charging time required by the second coil.
If the first charging time is greater than a switching period, determining that the first charging time is a switching period; if the second charging time is greater than a switching period, determining that the second charging time is a switching period; and if the first charging time is less than one switching period and the second charging time is less than one switching period, controlling the first coil and the second coil to be kept in a freewheeling state in the remaining time of one switching period.
For example: the first and second electromagnetic coils are both in a charged state. The MCU calculates the charging state time t required by the first electromagnetic coilr1And the required state of charge time t of the second solenoidr2. If tr1>T, then Tr1T; if tr2>T, then Tr2T. In a switch cycleIn period T, switch tube S1、S2With a simultaneous on-time of tr1Switching tube S2、S3With a simultaneous on-time of tr2And the two coils are kept in a freewheeling state for the rest time.
Second switching parameter determination case: under the condition that a first coil and a second coil in the half-bridge three-arm power amplifier are both in a discharging state, in a switching period, the time for simultaneously turning off a first power switch and a second power switch in the power switch group is determined to be first discharging time required by the first coil, and the time for simultaneously turning off the second power switch and a third power switch in the power switch group is determined to be second discharging time required by the second coil.
If the first discharge time is greater than a switching period, determining that the first discharge time is a switching period; if the second discharge time is greater than one switching period, determining that the second discharge time is one switching period; and if the first discharging time is less than one switching period and the second discharging time is less than one switching period, controlling the first coil and the second coil to be kept in a freewheeling state in the remaining time of one switching period.
For example: the first electromagnetic coil and the second electromagnetic coil are both in a discharged state. The MCU calculates the discharge state time t needed by the first electromagnetic coild1And the discharge state time t required for the second electromagnetic coild2. If td1>T, then Td1T; if td2>T, then Td2T. In a switching period T, the switching tube S1、S2The time of simultaneous turn-off is td1Switching tube S2、S3The time of simultaneous turn-off is td2And the two coils are kept in a freewheeling state for the rest time.
Third switching parameter determination case: under the condition that one coil of a first coil and a second coil in the half-bridge three-arm power amplifier is in a charging state and the other coil is in a discharging state, in a switching period, the time for simultaneously turning off a first power switch and a second power switch in the power switch group is determined to be third charging time required by the coil in the charging state, and the time for simultaneously turning off the second power switch and the third power switch in the power switch group is determined to be third discharging time required by the coil in the discharging state.
If the total time of the third charging time and the third discharging time is greater than one switching cycle, determining that the third charging time is the product of the proportion of the charging time in the total time and one switching cycle, and determining that the third discharging time is the product of the proportion of the discharging time in the total time and one switching cycle; and if the total time of the third charging time and the third discharging time is less than one switching period, controlling the first coil and the second coil to be kept in a freewheeling state in the remaining time of one switching period.
For example: one path of coil is in a charging state, and the other path of coil is in a discharging state. The MCU calculates the charging state time t needed by the first electromagnetic coil (or the second electromagnetic coil)rThe discharge state time required for the second solenoid coil (or the first solenoid coil) is td. If tr+td>T, then Tr＝T×tr/(tr+td)，td＝T×td/(tr+td). In a switching period T, the switching tube S1、S2The time of simultaneous conduction is trSwitching tube S2、S3The time of simultaneous turn-off is td(or switch tube S2、S3The time of simultaneous conduction is trSwitching tube S1、S2The time of simultaneous turn-off is td) And the two coils are kept in a freewheeling state for the rest time.
Therefore, by carrying out coordination configuration on the charging and discharging time of the coil, compared with the fixed duty ratio control technology, the output current can track the given current in a shorter time, and the response speed of the half-bridge type three-bridge-arm power amplifier under the condition of different load current changes is improved.
In some embodiments, a specific process of generating the driving signal of the power switch in the power switch group according to the switching parameter in step S120 may be further described with reference to a flowchart of an example of generating the driving signal of the power switch in the power switch group according to the switching parameter in the method of the present invention shown in fig. 7, where the specific process may include: step S210 and step S220.
Step S210, determining a switching sequence and a switching time of the first power switch, the second power switch, and the third power switch in the power switch group in different coil states according to the on-time and the off-time of the first power switch, the second power switch, and the third power switch in the power switch group in different coil states, and the time of the first coil and the second coil being in a freewheeling state simultaneously in one switching cycle.
Step S220, generating PWM signals of the first power switch, the second power switch, and the third power switch in the power switch group in different coil states according to the switching sequence and the switching time of the first power switch, the second power switch, and the third power switch in the power switch group in different coil states, and using the PWM signals as driving signals of the first power switch, the second power switch, and the third power switch in the power switch group in different coil states.
Specifically, the control unit generates the driving signals of the power switches in the power switch group according to the switching parameters, and may include any one of the following driving signal generation cases:
first drive signal generation case: the control unit may be further configured to determine, assuming that a high-level PWM signal triggers the power switch to be turned on, a time when two coils are in a freewheeling state simultaneously in one switching period when both the first coil and the second coil in the half-bridge three-arm power amplifier are in a charging state as T-Trmax，trmax＝max(tr1,tr2). By adopting the control method, the charging time range of the two coils is 0-T, and the output current can be increased to a given current in at least one switching period.
Second drive signal generation case: the control unit may be further configured to determine, assuming that a high-level PWM signal triggers the power switch to be turned on, a time when two coils are in a freewheeling state simultaneously in one switching period when both the first coil and the second coil in the half-bridge three-arm power amplifier are in a discharging state as T-Tdmax，tdmax＝max(td1,td2). By adopting the control method, the discharge time range of the two coils is 0-T, and the output current can be reduced to a given current in at least one control period.
Third drive signal generation case: the control unit may be further configured to determine, assuming that a high-level PWM signal triggers the power switch to be turned on, a time when two coils are in a freewheeling state simultaneously in a switching period when one coil of the first coil and the second coil of the half-bridge three-arm power amplifier is in a charging state and the other coil of the first coil and the second coil of the half-bridge three-arm power amplifier is in a discharging state as T-Td-tr. With this control method, when t isr+td<T, the two coil currents can track the given current in a switching period T, and when T isr+tdMax (T) can be avoided after the second compromise step when T is reachedr,td) The current response time of the corresponding coil is too slow.
Therefore, the MCU is used for carrying out coordination configuration on the sequence and time of the three power switches to obtain PWM signals of the power switch group after the coordination configuration, and the PWM signals are sent to the power switches through the isolation driving circuit to control the on and off of the switches, so that the electromagnetic coil works in a state required by control. The PWM signals are symmetrical after coordination and allocation, only one switch state changes when the switch states are switched every time, and the switching loss is reduced.
At step S130, on or off of the power switches in the power switch group is controlled based on the driving signal.
For example: an isolation drive circuit for generating a drive signal S from the PWM signal output by the MCU1、S2、S3To control the conductance of the corresponding power switchOn and off. Drive signal S1For controlling power switches Q1Driving signal S2For controlling power switches Q2Driving signal S3For controlling power switches Q3。
Therefore, the conducting time of the common bridge arm switching tube of the power amplifier in each control period is adjusted in real time according to the load state and the charging and discharging time, so that the two paths of output currents can quickly follow the given current, the duty ratio of the common bridge arm of the half-bridge type three-bridge arm power amplifier is determined by the given current, the duty ratio of the common bridge arm of the half-bridge type three-bridge arm power amplifier can be accurately determined, and the response speed effect of the half-bridge type three-bridge arm power amplifier under different load current change conditions can be improved.
Since the processing and functions implemented by the method of this embodiment substantially correspond to the embodiments, principles and examples of the motor, reference may be made to the related descriptions in the foregoing embodiments without being detailed in the description of this embodiment, which is not described herein.
Through a large number of tests, the technical scheme of the embodiment is adopted, the duty ratio of the common bridge arm of the half-bridge three-bridge power amplifier is determined by the given current, the problem that the response speed of the half-bridge three-bridge power amplifier under different load current change conditions is influenced due to the fact that the duty ratio of the common bridge arm of the half-bridge three-bridge power amplifier is fixed is solved, and the response speed of the half-bridge three-bridge power amplifier under different load current change conditions can be improved.
In summary, it is readily understood by those skilled in the art that the advantageous modes described above can be freely combined and superimposed without conflict.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (9)

1. A control apparatus for a power amplifier, comprising: the device comprises an acquisition unit, a control unit and an isolation driving unit; wherein the content of the first and second substances,
the obtaining unit is configured to obtain an output current parameter of the power amplifier; the power amplifier includes: a half-bridge three-bridge-arm power amplifier;
the control unit is configured to determine the coil state of the half-bridge type three-bridge arm power amplifier according to the output current parameter and a given current parameter; determining the switching parameters of power switches in a power switch group of the half-bridge type three-bridge arm power amplifier according to the coil state; generating a driving signal of a power switch in the power switch group according to the switching parameter;
the isolation driving unit is configured to control the power switches in the power switch group to be switched on or switched off based on the driving signal.
2. The control device of the power amplifier according to claim 1, wherein the output current parameter comprises: a first output current parameter of a first coil in the half-bridge type three-bridge arm power amplifier and a second output current parameter of a second coil in the half-bridge type three-bridge arm power amplifier; the given current parameter includes: a first given current parameter and a second given current parameter;
the control unit determines the coil state of the half-bridge type three-bridge arm power amplifier according to the output current parameter and the given current parameter, and the method comprises the following steps:
if the difference value between the first given current parameter and the first output current parameter and the difference value between the second given current parameter and the second output current parameter are both greater than zero, determining that the first coil and the second coil are both in a charging state;
if the difference value between the first given current parameter and the first output current parameter and the difference value between the second given current parameter and the second output current parameter are both smaller than zero, determining that the first coil and the second coil are both in a discharging state;
and if one of the difference between the first given current parameter and the first output current parameter and the difference between the second given current parameter and the second output current parameter is greater than zero and the other difference is less than zero, determining that one coil of the first coil and the second coil is in a charging state and the other coil is in a discharging state.
3. The control device of the power amplifier according to claim 1 or 2, wherein the control unit determines the switching parameters of the power switches in the power switch group of the half-bridge three-leg power amplifier according to the coil states, and includes:
under the condition that a first coil and a second coil in the half-bridge three-arm power amplifier are both in a charging state, in a switching period, determining that the time for simultaneously conducting a first power switch and a second power switch in a power switch group is first charging time required by the first coil, and the time for simultaneously conducting the second power switch and a third power switch in the power switch group is second charging time required by the second coil;
if the first charging time is greater than a switching period, determining that the first charging time is a switching period; if the second charging time is greater than a switching period, determining that the second charging time is a switching period; if the first charging time is less than one switching period and the second charging time is less than one switching period, controlling the first coil and the second coil to be kept in a follow current state in the remaining time of one switching period;
under the condition that a first coil and a second coil in the half-bridge three-arm power amplifier are both in a discharging state, in a switching period, determining that the time for simultaneously turning off a first power switch and a second power switch in a power switch group is first discharging time required by the first coil, and the time for simultaneously turning off the second power switch and a third power switch in the power switch group is second discharging time required by the second coil;
if the first discharge time is greater than a switching period, determining that the first discharge time is a switching period; if the second discharge time is greater than one switching period, determining that the second discharge time is one switching period; if the first discharging time is less than one switching period and the second discharging time is less than one switching period, controlling the first coil and the second coil to be kept in a follow current state in the remaining time of one switching period;
under the condition that one coil of a first coil and a second coil in the half-bridge three-arm power amplifier is in a charging state and the other coil is in a discharging state, in a switching period, determining that the time for simultaneously turning off a first power switch and a second power switch in the power switch group is third charging time required by the coil in the charging state, and the time for simultaneously turning off the second power switch and the third power switch in the power switch group is third discharging time required by the coil in the discharging state;
if the total time of the third charging time and the third discharging time is greater than one switching cycle, determining that the third charging time is the product of the proportion of the charging time in the total time and one switching cycle, and determining that the third discharging time is the product of the proportion of the discharging time in the total time and one switching cycle; and if the total time of the third charging time and the third discharging time is less than one switching period, controlling the first coil and the second coil to be kept in a freewheeling state in the remaining time of one switching period.
4. The control device of claim 3, wherein the control unit generates the driving signals of the power switches in the power switch group according to the switching parameters, and comprises:
determining the switching sequence and the switching time of a first power switch, a second power switch and a third power switch in the power switch group under different coil states according to the on-time and the off-time of the first power switch, the second power switch and the third power switch in the power switch group under different coil states and the time of the first coil and the second coil which are in a freewheeling state simultaneously in one switching period;
and generating PWM signals of the first power switch, the second power switch and the third power switch in the power switch group under different coil states according to the switching sequence and the switching time of the first power switch, the second power switch and the third power switch in the power switch group under different coil states, wherein the PWM signals are used as driving signals of the first power switch, the second power switch and the third power switch in the power switch group under different coil states.
5. An electric machine, comprising: a control apparatus for a power amplifier according to any one of claims 1 to 4.
6. A method of controlling a power amplifier of an electric machine, comprising:
acquiring an output current parameter of the power amplifier; the power amplifier includes: a half-bridge three-bridge-arm power amplifier;
determining the coil state of the half-bridge type three-bridge-arm power amplifier according to the output current parameter and the given current parameter; determining the switching parameters of power switches in a power switch group of the half-bridge type three-bridge arm power amplifier according to the coil state; generating a driving signal of a power switch in the power switch group according to the switching parameter;
and controlling the power switches in the power switch group to be switched on or switched off based on the driving signal.
7. The method of controlling a power amplifier of an electric machine according to claim 6, wherein the output current parameter comprises: a first output current parameter of a first coil in the half-bridge type three-bridge arm power amplifier and a second output current parameter of a second coil in the half-bridge type three-bridge arm power amplifier; the given current parameter includes: a first given current parameter and a second given current parameter;
the determining the coil state of the half-bridge type three-bridge arm power amplifier according to the output current parameter and the given current parameter comprises the following steps:
if the difference value between the first given current parameter and the first output current parameter and the difference value between the second given current parameter and the second output current parameter are both greater than zero, determining that the first coil and the second coil are both in a charging state;
if the difference value between the first given current parameter and the first output current parameter and the difference value between the second given current parameter and the second output current parameter are both smaller than zero, determining that the first coil and the second coil are both in a discharging state;
and if one of the difference between the first given current parameter and the first output current parameter and the difference between the second given current parameter and the second output current parameter is greater than zero and the other difference is less than zero, determining that one coil of the first coil and the second coil is in a charging state and the other coil is in a discharging state.
8. The method for controlling the power amplifier of the motor according to claim 6 or 7, wherein the determining the switching parameters of the power switches in the power switch group of the half-bridge three-leg power amplifier according to the coil states comprises:
under the condition that a first coil and a second coil in the half-bridge three-arm power amplifier are both in a charging state, in a switching period, determining that the time for simultaneously conducting a first power switch and a second power switch in a power switch group is first charging time required by the first coil, and the time for simultaneously conducting the second power switch and a third power switch in the power switch group is second charging time required by the second coil;
if the first charging time is greater than a switching period, determining that the first charging time is a switching period; if the second charging time is greater than a switching period, determining that the second charging time is a switching period; if the first charging time is less than one switching period and the second charging time is less than one switching period, controlling the first coil and the second coil to be kept in a follow current state in the remaining time of one switching period;
under the condition that a first coil and a second coil in the half-bridge three-arm power amplifier are both in a discharging state, in a switching period, determining that the time for simultaneously turning off a first power switch and a second power switch in a power switch group is first discharging time required by the first coil, and the time for simultaneously turning off the second power switch and a third power switch in the power switch group is second discharging time required by the second coil;
if the first discharge time is greater than a switching period, determining that the first discharge time is a switching period; if the second discharge time is greater than one switching period, determining that the second discharge time is one switching period; if the first discharging time is less than one switching period and the second discharging time is less than one switching period, controlling the first coil and the second coil to be kept in a follow current state in the remaining time of one switching period;
under the condition that one coil of a first coil and a second coil in the half-bridge three-arm power amplifier is in a charging state and the other coil is in a discharging state, in a switching period, determining that the time for simultaneously turning off a first power switch and a second power switch in the power switch group is third charging time required by the coil in the charging state, and the time for simultaneously turning off the second power switch and the third power switch in the power switch group is third discharging time required by the coil in the discharging state;
if the total time of the third charging time and the third discharging time is greater than one switching cycle, determining that the third charging time is the product of the proportion of the charging time in the total time and one switching cycle, and determining that the third discharging time is the product of the proportion of the discharging time in the total time and one switching cycle; and if the total time of the third charging time and the third discharging time is less than one switching period, controlling the first coil and the second coil to be kept in a freewheeling state in the remaining time of one switching period.
9. The method of claim 8, wherein the generating the driving signals for the power switches of the power switch group according to the switching parameters comprises:
determining the switching sequence and the switching time of a first power switch, a second power switch and a third power switch in the power switch group under different coil states according to the on-time and the off-time of the first power switch, the second power switch and the third power switch in the power switch group under different coil states and the time of the first coil and the second coil which are in a freewheeling state simultaneously in one switching period;
and generating PWM signals of the first power switch, the second power switch and the third power switch in the power switch group under different coil states according to the switching sequence and the switching time of the first power switch, the second power switch and the third power switch in the power switch group under different coil states, wherein the PWM signals are used as driving signals of the first power switch, the second power switch and the third power switch in the power switch group under different coil states.
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