CN1148864C - Method and device for compensating ripple amplitude modulation - Google Patents
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Abstract
The present invention relates to a method and a device for compensating ripple amplitude modulation. Firstly, an instantaneous value CVD of a DC bus voltage with ripples is sampled in real time; a correction coefficient K (K=Us/CVD) is calculated according to the sampled CVD and a voltage value Us of a rated DC bus; the calculated correction coefficient K multiplies by a pulse-width modulation operational factor before pulse-width modulation calculation to carry out rectifying compensation or the calculated correction coefficient K multiplies by a pulse width value after the pulse-width modulation calculation to carry out the rectifying compensation. The method and the device for compensating ripple amplitude modulation sample bus ripples in real time in each carrier cycle. In this way, real-time correction is carried out for the pulse-width modulation, and thus, a problem of the distortion of sine pulse width modulation or space vector width modulation because of ripple amplitude modulation is solved; the distortion factor of an output current is descended; the oscillation of the output current is reduced; simultaneously, a current is descended; the output driving performance of a frequency converter is increased; the cost and the volume can be reduced by reducing the capacity of a bus filter capacitor.
Description
Technical field
The present invention relates to power control technology, more particularly, relating to a kind of being used for proofreaies and correct because the ripple of DC bus-bar voltage carries out the method and apparatus of the pulse width modulation distortion that amplitude modulation(PAM) causes to inverter output pwm pulse at power electronic equipment, more particularly, relate to a kind of method and apparatus that the ripple amplitude modulation(PAM) is compensated.
Background technology
In the frequency converter of V/F control, adopt sinusoidal pulse width modulation or space vector pulse width modulation to realize three-phase voltage, electric current output, all ignored the influence of DC bus-bar voltage ripple, for sinusoidal pulse width modulation, the pulse width modulation algorithm formula in arbitrary carrier cycle is:
T=T*M*SIN (a) (1) is wherein:
T: modulating pulse width time;
T: carrier cycle;
M: modulation ratio
(a): the angle during current carrier wave
For space vector pulse width modulation, the pulse-width modulation computing formula in the sector in arbitrary carrier cycle is:
t1＝T*M*SIN(60°-a) (2)
T2=T*M*SIN (a) (3) is wherein:
T1: the action time of space vector 1;
T2: the action time of space vector 2;
T: carrier cycle;
M: modulation ratio;
(a): the angle during current carrier wave in the sector
In the above-mentioned algorithmic formula, M is a modulation ratio, the modulation depth instruction that to be system provide according to the linear corresponding relation of output voltage output frequency, and M remains unchanged when the output voltage output frequency of default is constant.M does not have real-time meaning.The physical significance of M is to set the ratio of output voltage amplitude and specified DC bus-bar voltage, M=Um/Us.When carrying out the pulse-width modulation computing, pulse width modulation algorithm is only calculated the width of output pulse according to the factor of Um that is provided with of the output voltage of system, and when busbar voltage fluctuate, pulse duration can not get correcting, and output departs from calculated value, occurs fluctuating.Under the constant condition of DC bus-bar voltage, carry out pulse-width modulation, the three-phase alternating voltage of output frequency, voltage controlled according to the inverter of above-mentioned algorithmic formula control of conversion device.But when DC bus-bar voltage changed, when still carrying out pulse-width modulation according to above-mentioned algorithm, the DC bus-bar voltage of variation can be brought output distortion.The variation of above-mentioned DC bus-bar voltage comprises the change of the DC bus-bar voltage mean value that the fluctuation of input voltage causes, this kind variation is the variation on the macroscopic view, when inverter carries out pulse-width modulation, each carrier cycle can think that substantially DC bus-bar voltage is identical in certain time period, it is the height difference of the DC bus-bar voltage of different time sections, this kind variation causes the frequency converter output voltage fluctuation, adopts AVR (automatic voltage lifting) mode to guarantee that frequency converter output is stable at present mostly; The variation of above-mentioned DC bus-bar voltage comprises that also dc-link capacitance discharges and recharges the ripple that causes and changes, this kind variation causes at each ripple each carrier cycle in the cycle, DC bus-bar voltage all is different, ripple changes the result changed the pulse-width modulation that each carrier cycle carries out, produce the ripple amplitude modulation effect, make output and theoretical value generation error, cause frequency converter output pulse width modulation distortion, the output waveform distortion, the technology that existing frequency converter does not compensate at the ripple amplitude modulation(PAM), and the ripple variation exists all the time, just varies in size.In fact, this control mode, when three phase rectifier, very big at the dc bus filter capacitor, under the less situation of dc bus ripple, little to the output influence, but when single-phase rectifier, because rectifier has reduced by 3 times to the frequency of dc bus filter capacitor charging, cause the DC bus-bar voltage ripple to increase, output PWM ripple is produced serious ripple amplitude modulation effect, make sinusoid pulse width modulation modulation or space vector pulse duration modulate serious distortion, output voltage, the current waveform distortion, energy consumption increases, output current oscillations, the frequency converter driveability is descended, give the frequency converter application in the single phase poaer supply field, particularly household electrical appliance, the application of apparatus field has brought adverse effect.
Existing frequency converter and all do not take alignment technique at dc bus ripple amplitude modulation effect based on the inverter of frequency converter and uninterrupted power supply etc.If do not consider other function beyond the pulse-width modulation in its PWM interruption, PWM Interrupt Process flow process then of the prior art can simply be described as shown in Figure 1, promptly directly carries out pulse-width modulation.
Summary of the invention
The technical problem to be solved in the present invention is, the distortion that how DC bus-bar voltage ripple pulse-width modulated is formed compensates, concrete is exactly in pulse-width modulation process, proposes a kind of amplitude modulation effect of can be at the dc bus ripple, reducing the dc bus ripple as far as possible and PWM in the frequency converter is exported the modulation compensated method and apparatus that influences.
According to ripple amplitude modulation(PAM) provided by the invention compensation method, may further comprise the steps: real-time sampling has the DC bus-bar voltage instantaneous value CVD of ripple signal; According to the CVD that samples and specified d-c bus voltage value Us calculation correction COEFFICIENT K=Us/CVD; Multiply each other with the pulse-width modulation operational factor before the pulse-width modulation computing with the correction coefficient K that calculates and to carry out rectification building-out, or multiply each other with the pulse width values of asking for after the pulse-width modulation computing with the correction coefficient K that calculates and to carry out rectification building-out.
Above-mentioned according to method provided by the invention in, described real-time sampling has the DC bus-bar voltage instantaneous value CVD of ripple signal, is in the PWM interrupt service routine DC bus-bar voltage to be sampled, sample frequency is greater than 3KHz.
Above-mentioned according to method provided by the invention in, described real-time sampling has the DC bus-bar voltage instantaneous value CVD of ripple signal, used sample frequency is greater than being sampled 20 times of signal.
Above-mentioned according to method provided by the invention in, the DC bus-bar voltage instantaneous value CVD that described real-time sampling has the ripple signal may further comprise the steps: the CVD that samples is carried out noise suppressed.
Above-mentioned according to method provided by the invention in, multiply each other with the pulse-width modulation operational factor before the pulse-width modulation computing with the correction coefficient that calculates and to carry out rectification building-out:
1) satisfies for sinusoidal pulse width modulation
t＝M*T*SIN(a)*K
＝(Um/Us)*T*SIN(a)*Us/CVD
＝(Um/CVD)*T*SIN(a)
Wherein, t is the modulating pulse width time, and T is a carrier cycle, the angle when (a) being current carrier wave, and M is modulation ratio and M=Um/Us, Um sets output voltage amplitude;
2) satisfy for space vector modulation
t1＝M*T*SIN(60°-a)*K
＝(Um/Us)*T*SIN(60°-a)*Us/CVD
＝(Um/CVD)*T*SIN(60°-a)
t2＝M*T*SIN(a)*K
＝(Um/Us)*T*SIN(a)*Us/CVD
＝(Um/CVD)*T*SIN(a)
Wherein, t1 is the action time of space vector 1, and t2 is the action time of space vector 2, and T is a carrier cycle, the angle when (a) being current carrier wave in the sector, and M is modulation ratio and M=Um/Us, Um sets output voltage amplitude.
According to above-mentioned backoff algorithm, after pulse width modulation algorithm having been applied compensation, the modulation ratio of pulse width modulation algorithm becomes Um/CVD, and physical significance is to set the ratio of output voltage amplitude and the DC bus-bar voltage CVD of current real-time sampling.Like this, pulse width modulation algorithm is exactly to calculate the width of output pulse in real time according to two factors of variation of the setting of the output voltage of system and dc bus, make output voltage stabilization, not fluctuateed by busbar voltage, particularly the influence of the fluctuation that brings of busbar voltage ripple.
Above-mentioned according to method provided by the invention in, multiply each other with the pulse width values asked for after the pulse-width modulation computing with the correction coefficient K that calculates and to carry out rectification building-out, satisfy: t=t ' * K, and t '=M*T*SIN (a), wherein, t is the modulating pulse width time, t ' is the preceding pulse width values of pulse-width modulation computing post-equalization compensation, T is a carrier cycle, the angle when (a) being current carrier wave, and M is a modulation ratio.
According to the invention provides a kind of ripple amplitude modulation(PAM) compensation arrangement, comprise: the busbar voltage sampling unit, according to the correction coefficient calculation of the DC bus-bar voltage instantaneous value CVD calculation correction COEFFICIENT K of busbar voltage sampling unit output, and the correcting unit of PWM being proofreaied and correct according to the correction coefficient that provides from described correction coefficient calculation.
Above-mentioned according to ripple amplitude modulation(PAM) compensation arrangement provided by the invention in, described busbar voltage sampling unit comprises a noise reduction unit of the band ripple signal that samples being carried out noise suppressed.
Above-mentioned according to ripple amplitude modulation(PAM) compensation arrangement provided by the invention in, described correction coefficient calculation is to calculate the calculation element of specified d-c bus voltage value Us and the ratio Us/CVD of the CVD of described noise reduction unit output.
Above-mentioned according to ripple amplitude modulation(PAM) compensation arrangement provided by the invention in, described correcting unit is a multiplier, a correction coefficient K who is input as from described correction coefficient calculation of described multiplier, another is input as the pulse-width modulation factor before proofreading and correct, and the correction of described multiplier output is output as the pulse-width modulation factor after the correction, and the pulse-width modulation factor can be carrier cycle, modulation ratio, sine value or modulation ratio and carrier cycle and sine value product before the described correction.
Enforcement is according to ripple amplitude modulation(PAM) provided by the invention compensation method and device, make amendment at existing frequency converter hardware busbar voltage sample circuit, by reducing time constant filter, make it to comprise bus ripple signal, by software real-time sampling bus ripple, when carrying out sinusoidal pulse width modulation or space vector pulse width modulation, size according to current bus ripple, perhaps before the pulse-width modulation computing, the pulse-width modulation factor is proofreaied and correct in real time, when the pulse-width modulation computing, compensated the amplitude modulation effect that the bus ripple produces output PWM ripple, perhaps after the pulse-width modulation computing, the pulse-width value is proofreaied and correct, and has corrected sinusoid pulse width modulation modulation or space vector width modulated problem of dtmf distortion DTMF that bus ripple amplitude modulation(PAM) causes, the output current distortion degree is descended greatly, output current oscillations reduces greatly, and output current descends simultaneously, and frequency converter output driveability improves.Thereby solved single-phase inverter current oscillation problem, can reduce the capacity of bus filter capacitor simultaneously, reduced cost and volume.
Description of drawings
Fig. 1 is a prior art PWM processing procedure schematic diagram;
Fig. 2 is the PWM process chart according to the inventive method first embodiment;
Fig. 3 is the PWM process chart according to the inventive method second embodiment;
Fig. 4 is the PWM process chart according to the inventive method the 3rd embodiment;
Fig. 5 is the PWM process chart according to the inventive method the 4th embodiment;
Fig. 6 is a prior art frequency converter output current wave schematic diagram;
Fig. 7 is the output current wave schematic diagram that utilizes the frequency converter of the inventive method and device realization.
Embodiment
The present invention is directed to DC bus-bar voltage changes, dc bus variable quantity CVD is incorporated in the pulse width modulation algorithm formula, the function of the DC bus-bar voltage CVD of the real-time sampling when just modulation ratio M being expressed as current carrier cycle, the sampling rate that requires DC bus-bar voltage is greater than being sampled 20 times of signal frequency, the sample frequency of real system should can reflect the fluctuation of dc bus ripple greater than 3000Hz with the CVD signal that guarantees sampling formation.In view of the above, above-mentioned (1), (2), (3) formula can be rewritten as the following real-time pulse width modulation algorithm formula that comprises the busbar voltage compensating for variations factor: the real-time pulse width modulation algorithm formula of sinusoidal pulse width modulation
t＝T*SIN(a)*Um/CVD
＝T*SIN(a)*[Um/Us]*Us/CVD
＝T*SIN(a)*M*Us/CVD
＝T*M*SIN(a)*Us/CVD (4)
Wherein:
T: modulating pulse width time;
T: carrier cycle;
M: modulation ratio, M=Um/Us does not consider the dc bus ripple, asks for by the voltage-frequency curve;
(a): the angle during current carrier wave;
Um: set output voltage amplitude;
CVD: the DC bus-bar voltage instantaneous value that current carrier cycle real-time sampling arrives;
Us: the magnitude of voltage of dc bus under the specified input voltage;
The real-time pulse width modulation algorithm formula of space vector pulse width modulation is as follows:
t1＝T*SIN(60°-a)*Um/CVD
＝T*SIN(60°-a)*[Um/Us]*Us/CVD
＝T*SIN(60°-a)*M*Us/CVD
＝T*M*SIN(60°-a)*Us/CVD (5)
t2＝T*SIN(a)*Um/CVD
＝T*SIN(a)*[Um/Us]*Us/CVD
＝T*SIN(a)*M*Us/CVD
＝T*M*SIN(a)*Us/CVD (6)
Wherein:
T1: the action time of space vector 1;
T2: the action time of space vector 2;
T: carrier cycle;
M: modulation ratio, M=Um/Us does not consider the dc bus ripple, asks for by the voltage-frequency curve;
(a): the angle during current carrier wave in the sector;
Um: set output voltage amplitude;
CVD: the DC bus-bar voltage instantaneous value that current carrier cycle real-time sampling arrives;
Us: the magnitude of voltage of dc bus under the specified input voltage;
The public keys Us/CVD that contains in the formula 4,5,6 claims correction coefficient.As seen, original formula 1,2,3 is taken advantage of correction coefficient, just realized compensation the fluctuation of dc bus ripple.
M, T, M*T all are called the pulse-width modulation factor.
In first embodiment shown in Fig. 2, comprise 4 links such as sampling busbar voltage CVD, noise suppressed, correction modulation ratio, pulse-width modulation.When entering the PWM interrupt routine, the busbar voltage of at first in frame 201, sampling, sample rate is greater than 3KHz, concrete is exactly will be through the DC bus-bar voltage signal imitation amount of conversion, after being converted to data with A/D, be read in the processor, require the A/D conversion accuracy more than 8.Owing to require sampled signal to reflect the ripple signal in real time, therefore require this signal circuit time-delay to be not more than 100 μ S.This busbar voltage sample circuit should be able to reflect bus ripple signal in real time, then, in frame 202 sampled signal is carried out simple and easy Filtering Processing, suppresses noise; In frame 203, again ask for modulation ratio with handling stepmother's line magnitude of voltage, just finished compensation to the bus ripple, modulation ratio after the compensation is used for pulse width modulation algorithm computing (frame 204), because modulation ratio has been carried out real-time ripple compensation at each carrier wave, make the PWM waveform of output can overcome the influence of ripple amplitude modulation(PAM).Fig. 2 proofreaies and correct by the modulation ratio M to the pulse-width modulation factor, realizes compensation.
Fig. 3 illustrates by proofreading and correct carrier cycle and realizes the flow chart of second embodiment of ripple compensation.Different with Fig. 2 embodiment is to be that realization compensates with the pulse-width modulation factor of carrier cycle T as the needs correction.
Fig. 4 illustrates by proofreading and correct modulation ratio * carrier cycle and realizes the flow chart of the 3rd embodiment of ripple compensation.Wherein, promptly compensate as the pulse-width modulation factor with M*T with modulation ratio * carrier cycle.
Fig. 5 illustrates the flow chart that the duty of ratio of proofreading and correct three-phase output respectively realizes the 4th embodiment of ripple compensation.Compare with first three embodiment, implementation has difference.When pulse-width modulation, the pulse width data of output does not compensate through the ripple amplitude, but before these data are sent to the width-modulation pulse generator, proofreaies and correct according to current ripple value more again.
In the previous embodiment, CVD all refers to contain the DC bus-bar voltage real-time sampling value of ripple signal; Voltage rating is meant the d-c bus voltage value under the specified input condition of frequency converter; Correction coefficient among four embodiment all is expressed as " specified d-c bus voltage value/CVD ", may have accommodation during concrete enforcement, thereby but key point of the present invention is to recognize the amplitude modulation effect of ripple and adjust the amplitude modulation(PAM) that the width compensation ripple of the pulse of pulse-width modulator output brings according to the variation of ripple.
If main program is very short circulation timei, for example,, also can directly in main program rather than in the PWM interrupt routine, proofread and correct to realize the ripple compensation function the product of modulation ratio, carrier cycle or modulation ratio and carrier cycle less than 1mS.Under the condition that frequency converter is fully loaded with, Fig. 6 illustrates prior art frequency converter output current wave figure, and Fig. 7 illustrates the output current wave figure of the frequency converter that utilizes the inventive method and device realization.Therefrom as seen,, can effectively reduce the vibration of inverter output waveform, be embodied in the current distortion degree and reduce greatly by implementing method and apparatus provided by the invention.Adopt power analyzer PM3300 to be analyzed, verified under same hardware environment, after adopting the present invention, compare with sample of the present invention with hardware environment preferably comparative sample compare and all obtained good control effect, the current distortion degree obviously descends, output current reduces, and load torque is identical.
Undoubtedly, method and apparatus of the present invention, not only can be used in the frequency converter, can also be applied to inverter, uninterrupted power supply (ups) Unity system and need need produce any link that the pulse-width modulation distortion compensates to the bus ripple the bus ripple based on frequency converter.Example shown in this specification, only the exemplary statement for the principle of the invention does not constitute any qualification, and those skilled in the art's exemplary table according to the present invention is addressed instruction and to any distortion of the invention process aspect, is protection range of the present invention.
Claims (10)
1, a kind of ripple amplitude modulation(PAM) compensation method is characterized in that, may further comprise the steps: real-time sampling has the DC bus-bar voltage instantaneous value CVD of ripple signal; According to the CVD that samples and specified d-c bus voltage value Us calculation correction COEFFICIENT K=Us/CVD; Multiply each other with the pulse-width modulation operational factor before the pulse-width modulation computing with the correction coefficient K that calculates and to carry out rectification building-out, or multiply each other with the pulse width values of asking for after the pulse-width modulation computing with the correction coefficient K that calculates and to carry out rectification building-out.
According to the described method of claim 1, it is characterized in that 2, described real-time sampling has the DC bus-bar voltage instantaneous value CVD of ripple signal, is in the PWM interrupt service routine DC bus-bar voltage to be sampled, sample frequency is greater than 3KHz.
According to the described method of claim 1, it is characterized in that 3, described real-time sampling has the DC bus-bar voltage instantaneous value CVD of ripple signal, used sample frequency is greater than being sampled 20 times of signal.
According to the described method of claim 1, it is characterized in that 4, the DC bus-bar voltage instantaneous value CVD that described real-time sampling has the ripple signal may further comprise the steps: the CVD that samples is carried out noise suppressed.
5, according to the described method of claim 1, multiply each other with the pulse-width modulation operational factor before the pulse-width modulation computing with the correction coefficient that calculates and to carry out rectification building-out, it is characterized in that:
1) satisfies for sinusoidal pulse width modulation
t＝M*T*SIN(a)*K
＝(Um/Us)*T*SIN(a)*Us/CVD
＝(Um/CVD)*T*SIN(a)
Wherein, t is the modulating pulse width time, and T is a carrier cycle, the angle when (a) being current carrier wave, and M is modulation ratio and M=Um/Us, Um sets output voltage amplitude; 2) satisfy for space vector modulation:
t1＝M*T*SIN(60°-a)*K
＝(Um/Us)*T*SIN(60°-a)*Us/CVD
＝(Um/CVD)*T*SIN(60°-a)
t2＝M*T*SIN(a)*K
＝(Um/Us)*T*SIN(a)*Us/CVD
＝(Um/CVD)*T*SIN(a)
Wherein, t1 is the action time of space vector 1, and t2 is the action time of space vector 2, and T is a carrier cycle, the angle when (a) being current carrier wave in the sector, and M is modulation ratio and M=Um/Us, Um sets output voltage amplitude.
6, according to the described method of claim 1, it is characterized in that, multiply each other with the pulse width values of asking for after the pulse-width modulation computing at correction coefficient K that described usefulness calculates and to carry out in the rectification building-out process, satisfy: modulating pulse width time t=t ' * K and t '=M*T*SIN (a), wherein, t ' is the preceding pulse width values of pulse-width modulation computing post-equalization compensation, and T is a carrier cycle, angle when a is current carrier wave, M is a modulation ratio.
7, a kind of ripple amplitude modulation(PAM) compensation arrangement, it is characterized in that, comprise: the busbar voltage sampling unit, according to the correction coefficient calculation of the DC bus-bar voltage instantaneous value CVD calculation correction COEFFICIENT K of busbar voltage sampling unit output, and the correcting unit of PWM being proofreaied and correct according to the correction coefficient that provides from described correction coefficient calculation.
According to the described device of claim 7, it is characterized in that 8, described busbar voltage sampling unit comprises a noise reduction unit of the band ripple signal that samples being carried out noise suppressed.
9, described according to Claim 8 device is characterized in that, described correction coefficient calculation is to calculate the calculation element of specified d-c bus voltage value Us and the ratio Us/CVD of the CVD of described noise reduction unit output.
10, according to the described device of claim 9, it is characterized in that, described correcting unit is a multiplier, a correction coefficient K who is input as from described correction coefficient calculation of described multiplier, another is input as the pulse-width modulation factor before proofreading and correct, and the correction of described multiplier output is output as the pulse-width modulation factor after the correction, and the pulse-width modulation factor can be carrier cycle, modulation ratio, sine value or modulation ratio and carrier cycle and sine value product before the described correction.
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