CN117833762A - Sine wave fine frequency modulation method, terminal and readable storage medium - Google Patents
Sine wave fine frequency modulation method, terminal and readable storage medium Download PDFInfo
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Abstract
The invention relates to a sine wave fine frequency modulation method, a terminal and a readable storage medium, which relate to the technical field of inverter control and comprise the steps of adopting fixed time intervals, setting sine wave frequency to be obtained, calculating an angle increment value corresponding to each fixed time interval, converting the angle increment value into a digital value with set bit precision, rounding up the digital value to obtain a first angle step, rounding down to obtain a second angle step, and obtaining actual sine wave period and frequency by the first angle step on stationary phase sites of sine waves and the rest sites except the stationary phase sites by the second angle step, thereby realizing fine frequency modulation. According to the method and the device, the sine wave frequency is finely adjusted by adopting different angle stepping, so that the sine wave frequency precision is improved.
Description
Technical Field
The invention relates to the technical field of inverters, in particular to a sine wave fine frequency modulation method, a terminal and a readable storage medium.
Background
The inverter on the market at present needs to realize the output parallel function, but to realize the output parallel, the inverter needs to realize high-speed and high-resolution frequency modulation within a very small range, for example, the output frequency is from 49.95Hz to 50.05Hz, and the inverter can realize frequency modulation output with resolution of 0.001 Hz. In order to realize high-resolution frequency modulation output, the sine wave reference needs to be more accurate, and at present, when an inverter is used for frequency modulation, two methods for generating the sine wave reference are as follows:
first kind: table look-up method
A sine table with fixed points is established, and sine wave references with different frequencies are realized by changing the frequency of the table lookup. If a sine table with d1=200 sampling points is created, the table is taken every time t1=100 us, and a sine wave period is obtained as follows:
t1=200 points 100 us=20000us=20 ms sine wave, output frequency f1=50 Hz.
If a sinusoidal reference of f2= 50.001Hz is to be obtained, the sine wave period T2 is:
T2＝1s/50.001Hz＝19999.6us
the interval time of the table lookup is calculated as follows:
t2= 19999.6us/200 points=99.998 us
It can be seen that to generate sinusoidal references for f1=50 Hz and f2= 50.001Hz, the look-up times are 100us and 99.998us, respectively. If a timer is used to generate the lookup interval, then the clock frequency of the timer is required:
t3＝100-99.998＝0.002us
f3＝1s/0.002us＝500MHz
the method adopts a table look-up method, so that the requirement on the degree operation speed of the singlechip is not high, but the requirement on the clock frequency of a timer is high, and the clock frequency of a common singlechip is about 20MHz-100MHz and can not reach 500 MHz. Can reach mcu of 500MHz, has high price and is used on an inverter with high cost.
First kind: the calculation method comprises the following steps:
and (5) changing the angular frequency by adopting a fixed time interval, and calculating a sine wave reference.
If a fixed time interval of 50us is used, to obtain a sine wave of 50Hz, the sine wave period needs to be calculated:
T3＝1s/50Hz＝20ms＝20000us
the sine wave angle of one sine wave period is 360 degrees, and the angle needs to be increased every 50us angles:
θ1=360 degrees 50us/20000 us=0.9 degrees
A sine wave of 50.001Hz is obtained:
1s/50.001Hz＝19999.6us
the sine wave angle of one sine wave period is 360 degrees, and the angle needs to be increased every 50us angles:
360 degrees 50us/19999.6 us= 0.900018 degrees
Under the method, because the fixed time interval of 50us is adopted for calculation, the clock frequency of the timer is not required, but the calculation capability of the singlechip is higher, and the sine value needs to be rapidly calculated according to a given angle value.
If a 16-precision sine wave operation is used, the angle is represented by a 16-bit binary number, which ranges from 0-65535. The angular resolution that can be obtained is:
360 degrees/65536= 0.00549 degrees
In order to achieve fine frequency modulation of 0.001Hz, the angular resolution required to be obtained is:
0.900018 degrees-0.9 degrees = 0.000018 degrees
Sine wave operation with 16-bit precision can not meet the precision requirement. Sine wave operation with 32-bit precision is needed to meet the requirement. Compared with the operation amount of 16-bit sine wave operation, the 32-bit sine operation has at least 4 times of difference, which has extremely high requirement on the operation capability of the singlechip.
Therefore, how to obtain fine frequency modulation and reduce cost is a problem to be solved at present.
Disclosure of Invention
The invention aims to provide a sine wave reference fine frequency modulation method, a terminal and a readable storage medium, which are used for detecting a peak value, adopting a fixed time interval, adopting a first angle step at a first position of a sine wave, adopting a second angle step at a non-first position, and improving frequency modulation precision at the first position, or a wave peak, or a zero crossing point or a stationary phase position, so as to realize sine wave reference fine frequency modulation.
In a first aspect, the invention provides a sine wave reference fine frequency modulation method, which is realized by the following technical scheme: a sine wave reference fine frequency modulation method comprises the steps of adopting fixed time intervals to set sine wave frequency to be obtained, calculating an angle increment value corresponding to each fixed time interval, converting the angle increment value into a digital value with set position accuracy, rounding up the digital value to obtain a first angle step, rounding down the digital value to obtain a second angle step, stepping at a second angle step at a stationary phase point of the sine wave, stepping at the first angle at the rest points except the stationary phase point to obtain actual sine wave period and frequency, and realizing fine frequency modulation.
The invention is further provided with: setting the bit precision as the square N of 2, wherein the square N comprises 16 bits or an integer multiple of 16 bits, and N is a positive integer greater than or equal to 2.
The invention is further provided with: the stationary phase sites of the sine wave comprise positive and negative peak points and zero crossing points.
The invention is further provided with: the corresponding angle increment value delta theta at each fixed time interval is calculated as follows:
the sine wave period T01 required to obtain the frequency f0 is calculated as follows:
T01＝1s/f0＝a0us (1)；
frequency modulation is carried out by adopting a fixed time interval t0, and the angle of each fixed time interval t0 is increased by a value delta theta:
Δθ＝360×t0/a0＝b0 (2)。
the invention is further provided with: according to the set bit precision, converting the fixed time interval t0 angle increment value delta theta into a digital value, comprising:
C0＝Δθ×2 N /360 (3)；
wherein, C0 is a value having an integer part and a fractional part, adding 1 to the integer part to obtain a first angle step C1, and taking the integer part to obtain a second angle step C2.
The invention is further provided with: the method comprises the steps of adopting a combination of a first angle step and a second angle step, adopting the second angle step at a stationary phase point of a sine wave, adopting the first angle step at a non-stationary phase point, and calculating to obtain the actual sine wave period and frequency.
The invention is further provided with:
the actual sine wave period is shown as follows:
T0＝{(2 N -m×(C2))/(C1)+m}×t0 (4)；
wherein m represents the number of stationary phase sites, and t0 represents a fixed time interval.
The invention is further provided with: the method comprises the following steps:
s1, receiving a PWM period interrupt signal with a fixed time interval;
s2, detecting whether the sine wave is at a fixed phase of the sine wave, if so, entering the next step, and if not, turning to S4;
s3, calculating an angle stepping value dtheta_t of a fixed phase sampling point, taking the sum of the angle value theta of the sampling point at the last moment and the angle stepping value dtheta_t of a wave crest sampling point as the angle value theta of the current sampling point, calculating a 16-bit wide sine function sin16 (theta), and turning to S5;
s4, calculating an angle stepping value dthena of the non-stationary phase sampling point, and taking the sum of the angle value theta of the sampling point at the previous moment and the angle stepping value dthena of the non-peak sampling point as the angle value theta of the current sampling point to calculate a 16-bit wide sine function sin16 (hena);
s5, ending the interruption.
In a second aspect, the invention provides a sine wave reference fine frequency modulation terminal, which is realized by the following technical scheme: a sine wave reference fine frequency modulation terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the method described herein when executing the computer program.
In a third aspect, the present invention is a computer readable storage medium, which is implemented by the following technical solutions:
a computer readable storage medium storing a computer program which, when executed by a processor, implements the method described herein.
Compared with the prior art, the beneficial technical effects of this application are:
1. according to the method, the sine wave period is adjusted by adopting fixed time intervals and adopting different angle steps at different positions of the sine wave, so that the sine wave with fine frequency modulation is obtained;
2. further, the method for stepping different angles adopts the method for rounding up and rounding down to limit the value, so that the accuracy of the value is ensured.
Drawings
FIG. 1 is a schematic flow chart of a sine wave reference fine frequency modulation method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a comparison of a fine frequency modulation method according to an embodiment of the present invention with a sine wave obtained by a prior art frequency modulation method.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The sine wave reference fine frequency modulation method comprises the steps of adopting a fixed time interval, adopting a first angle step at positive and negative wave peaks of a sine wave and adopting a second angle step at a non-wave peak to obtain the sine wave reference with corresponding frequency.
Assuming that a sine wave reference with a frequency f0 needs to be obtained, a period T01 of the sine wave reference is:
T01＝1s/f0＝a0us (1)；
frequency modulation is carried out by adopting a fixed time interval t0, the sine wave angle of one sine wave period is 360 degrees, and the angle increment value delta theta of each fixed time interval t0 is calculated:
Δθ＝360×t0/a0＝b0 (2)；
the N power of the positioning precision is set to be 2, and the positioning precision comprises 16 bits, 32 bits, 64 bits and the like.
The digital value corresponding to the angle increment value delta theta at each fixed time interval t0 is as follows:
C0＝Δθ×2 N /360 (3)；
c0 is a numerical value with an integer part and a decimal part, C0 is rounded up to C1 and rounded down to C2 respectively, the integer part is increased by 1 as a first angle step, the decimal part is cancelled as a second angle step, and only the integer part is reserved.
Calculating actual sine wave period
T0＝{(2 N -m×(C2))/(C1)+m}×t0 (4)；
The 16-bit precision sine operation is adopted, the maximum value corresponding to the 16-bit number is 65536, the maximum value corresponding to the 16-bit precision of 360 degrees is the digital value corresponding to the increment value delta theta of the angle t0 at each fixed time interval:
65536/360＝182.044
the digital value corresponding to the angle increment delta theta of each fixed time interval t0 is calculated as follows:
c0＝b0×182.044
c0 is a numerical value with an integer part and a decimal part, c0 is rounded up to c1 and c2 is rounded down respectively, the integer part is increased by 1, the decimal value is cancelled, and only the integer part is reserved.
When the sine wave positive peak value and the sine wave negative peak value adopt the downward angular stepping of the integer value c2, and when the non-peak value adopts the upward angular stepping of the integer value c1, the obtained sine wave period is as follows:
T0＝{(65536-2×(c2))/(c1)+2}×t0
the actual sine wave frequency obtained is:
F0＝1s/T0 1 (6)。
for different fixed time intervals and sine wave frequencies, the corresponding sine wave reference data can be obtained by only modifying the values in the formulas (1) - (5).
In one embodiment of the present application, assuming a fixed time interval of 50us, the desired sine wave frequency is 50Hz, then the following is calculated according to equations (1) - (5):
T01 1 ＝1s/50Hz＝20ms＝20000us
every fixed time interval t0 the angle increases by a value delta theta _1:
Δθ 1 =360×50us/20000 us=0.9 degrees
The corresponding digital value of each degree is:
0.9×182.044＝163.84
rounding 163.84 up to 164 and rounding down to 163, using 163 angular steps at both positive and negative peaks and 164 angular steps at non-peak points, yielding t0_1:
T0-1＝((65536-163*2)/164+2)×50us＝19981.0976us
the corresponding sine wave frequencies are:
F0-1＝1s/19981.0976us＝50.0473Hz
when the same fixed time interval is adopted, the same angle step c1 is adopted, and the obtained sine wave period is as follows:
T0-2＝66553/163×50us＝20103.0675us
the corresponding frequencies are: f0-2=1s/20103.0675 us= 49.7436Hz
When the same fixed time interval is adopted, the same angle step c2 is adopted, and the obtained sine wave period is as follows:
T0-3＝66553/164×50us＝19980.4878us
the corresponding frequencies are: f0-3=1s/19980.4878 us= 50.0488Hz
F0-1 and F0-3 are compared, the frequency is different by 0.0015Hz, and F0-2 and F0-3 are compared, the frequency is different by 0.3Hz. Therefore, the sine wave frequency obtained by adopting different angle stepping methods is more accurate, and the frequency resolution is obviously improved.
In the positive and negative peak points of the sine wave, the slope of the sine wave approaches zero, the positive and negative peak points are taken as angle stepping change points, the distortion is minimum, an abrupt step is not generated, in the embodiment, the positive and negative peak points are taken as examples for explanation, the rest points on the sine wave are taken as angle stepping change points, and the like, and the description is omitted.
The control flow chart of the sine wave reference fine frequency modulation method is shown in fig. 1, and comprises the following steps: s1, receiving a PWM period interrupt signal with a fixed time interval;
s2, detecting whether the sine wave is in a positive wave peak or a negative wave peak of the sine wave, if so, entering the next step, and if not, turning to S4;
s3, calculating an angle stepping value dtheta_t of a peak sampling point, taking the sum of the angle value theta of the sampling point at the previous moment and the angle stepping value dtheta_t of the peak sampling point as the angle value theta of the current sampling point, calculating a 16-bit wide sine function sin16 (theta), and turning to S5;
s4, calculating an angle stepping value dthena of a non-peak sampling point, taking the sum of the angle value theta of the sampling point at the last moment and the angle stepping value dthena of the non-peak sampling point as the angle value theta of the current sampling point, and calculating a 16-bit wide sine function sin16 (hena);
s5, ending the interruption.
Where sin16 (theta) represents a 16-bit wide sine function. A PWM period interrupt signal at regular time intervals, i.e., a fixed time interval timing interrupt signal.
In the control method, the frequency adjustment can be carried out by only modifying the value of dtheta or/and dtheta_t, if coarse frequency modulation is needed, the frequency modulation range is wide, only the value of dtheta needs to be changed, and if fine frequency modulation is needed, the frequency modulation range is narrow, and only the value of dtheta_t needs to be changed.
As shown in fig. 2, an illustration of the algorithm is depicted in comparison to the frequency modulation accuracy.
In the figure there are 3 sine wave curves, respectively standard 50Hz, 50Hz with fixed angular steps, 50Hz with peak-to-angular steps.
The fine frequency modulation adopts a peak value angle-changing stepping algorithm, and after 5 periods of the sine wave, the sine wave still coincides with the standard 50Hz waveform.
Compared with 50Hz with fixed angle stepping, after 5 sine wave periods, the frequency modulation precision is poor because the frequency modulation precision is far shifted by 50Hz.
In this application, the wave crest is used for explanation, of course, take different angle steps to sine wave different positions, increase different positions to more than two, the position on the sine wave is zero crossing point or stationary phase position, its theory of operation is so analogized, and the description of not having again belongs to the protection scope of this application.
In this application, the calculation is performed with 16-bit precision, and for the calculation with more bit precision, and so on, no further description is given.
An embodiment of the present application provides a sine wave reference fine frequency modulation terminal device, where the terminal device of the embodiment includes: a processor, a memory, and a computer program stored in the memory and executable on the processor, such as a calculation and detection peak program, which when executed by the processor implements the methods described herein.
The computer program may be divided into one or more modules/units, which are stored in the memory and executed by the processor to accomplish the present invention, for example. The one or more modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program in the sine wave reference fine frequency modulation terminal device.
The sine wave reference fine frequency modulation terminal device may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the above examples are merely examples of the sine wave reference fine tuning terminal device and do not constitute a limitation of the sine wave reference fine tuning terminal device, and may include more or fewer components, or may combine certain components, or different components.
The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, data signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is a control center of the one sine wave reference fine frequency modulation terminal device, and connects the respective parts of the entire one sine wave reference fine frequency modulation terminal device using various interfaces and lines.
The memory may be used to store the computer program and/or the module, and the processor may implement various functions of the sine wave reference fine frequency modulation terminal device by running or executing the computer program and/or the module stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like;
the module/unit integrated with the sine wave reference fine frequency modulation terminal device can be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a Read-only memory (ROM), a random access memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
The above embodiments are not intended to limit the scope of the present invention, so: all equivalent changes in structure, shape and principle of the invention should be covered in the scope of protection of the invention.
Claims (10)
1. A sine wave reference fine frequency modulation method is characterized in that: the method comprises the steps of setting sine wave frequency to be obtained by adopting fixed time intervals, calculating an angle increment value corresponding to each fixed time interval, converting the angle increment value into a digital numerical value with set position precision, rounding up the digital numerical value to obtain a first angle step, rounding down to obtain a second angle step, stepping at a stationary phase position of the sine wave by the second angle step, stepping at the first angle at the rest points except the stationary phase position to obtain an actual sine wave period and frequency, and realizing fine frequency modulation.
2. The sine wave reference fine frequency modulation method according to claim 1, wherein: the N power of the bit precision is set to 2, including 16 bits, or an integer multiple of 16 bits.
3. The sine wave reference fine frequency modulation method according to claim 1, wherein: the stationary phase sites of the sine wave comprise positive and negative peak points and zero crossing points.
4. The sine wave reference fine frequency modulation method according to claim 1, wherein: the corresponding angle increment value delta theta at each fixed time interval is calculated as follows:
the sine wave period T01 required to obtain the frequency f0 is calculated as follows:
T01＝1s/f0＝a0us (1)；
frequency modulation is carried out by adopting a fixed time interval t0, and the angle of each fixed time interval t0 is increased by a value delta theta:
Δθ＝360×t0/a0＝b0 (2)。
5. the sine wave reference fine frequency modulation method according to claim 4, wherein:
according to the set bit precision, converting the fixed time interval t0 angle increment value delta theta into a digital value, comprising:
C0＝Δθ×2 N /360 (3)；
wherein, C0 is a value having an integer part and a fractional part, adding 1 to the integer part to obtain a first angle step C1, and taking the integer part to obtain a second angle step C2.
6. The sine wave reference fine frequency modulation method according to claim 5, wherein: the method comprises the steps of adopting a combination of a first angle step and a second angle step, adopting the second angle step at a stationary phase point of a sine wave, adopting the first angle step at a non-stationary phase point, and calculating to obtain the actual sine wave period and frequency.
7. The sine wave reference fine frequency modulation method of claim 6, wherein:
the actual sine wave period is shown as follows:
T0＝{(2 N -m×(C2))/(C1)+m}×t0 (4)；
wherein m represents the number of stationary phase sites, and t0 represents a fixed time interval.
8. The sine wave reference fine frequency modulation method according to claim 1, wherein: the method comprises the following steps:
s1, receiving a PWM period interrupt signal with a fixed time interval;
s2, detecting whether the sine wave is at a fixed phase of the sine wave, if so, entering the next step, and if not, turning to S4;
s3, calculating an angle stepping value dtheta_t of a fixed phase sampling point, taking the sum of the angle value theta of the sampling point at the last moment and the angle stepping value dtheta_t of a wave crest sampling point as the angle value theta of the current sampling point, calculating a 16-bit wide sine function sin16 (theta), and turning to S5;
s4, calculating an angle stepping value dthena of the non-stationary phase sampling point, and taking the sum of the angle value theta of the sampling point at the previous moment and the angle stepping value dthena of the non-peak sampling point as the angle value theta of the current sampling point to calculate a 16-bit wide sine function sin16 (hena);
s5, ending the interruption.
9. A sine wave reference fine frequency modulation terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized by: the processor, when executing the computer program, implements the method according to any of claims 1-8.
10. A computer readable storage medium storing a computer program, which when executed by a processor performs the method according to any one of claims 1-8.
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