CN1988365A - Dead zone compensating method for space vector pulse width modulating output - Google Patents
Dead zone compensating method for space vector pulse width modulating output Download PDFInfo
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Abstract
This invention relates to a dead zone compensation method for SVPWM output including: taking an expected value of the output three-phase voltage of a magnet synchronous motor as the pulse width expected value output by modulation of three bridge arm pulse width of an inverter, taking the combined value of the expected values of the pulse width output by the modulation of U, V and W as the voltage space vector output expected value of the inverter of an AC servo system, taking the designed dead zone time of the output pulse modulation as the expected value of the dead zone compensation time and utilizing the polarity of each output phase current of a magnet synchronous motor, the expected value of the voltage space vector and that of the dead zone compensation time to compute the acting time of each voltage space vector.
Description
Technical field
The invention belongs to the AC Servo Technology field, a kind of dead-zone compensation method based on space vector pulse width modulation (SVPWM) output particularly is provided, eliminate the torque pulsation of AC servo by the dead band compensation is done in SVPWM (space vector pulse width modulation) output of AC servo, and then improve the AC Servo System Low Speed performance.
Background technology
One of main drive source that AC servo is produced as modern industry is the basic technology that modern industry is produced.A kind of like this automatic control system of playing the part of mainstay technology role of AC servo, obtained using very widely in many high-tech areas, as laser processing, robot, Digit Control Machine Tool, large scale integrated circuit manufacturing, business automation equipment, radar and various military weapon servomechanism and flexible manufacturing system etc.In modern digital ac servo system, generally realize sine wave control to AC permanent magnet synchronous motor by PWM (pulse-width modulation) technology driving voltage source type inverter.And a basic controlling principle of voltage source inverter is to want the device of conducting should lag behind a Dead Time T of device that will turn-off
dIn case straight-through (the seeing Fig. 7, shown in Figure 8) of upper and lower bridge arm, so just caused the dead time effect of AC servo.For AC servo, the direct influence of dead time effect is the torque pulsation of permagnetic synchronous motor output, because the existence of torque pulsation, make that the AC Servo System Low Speed performance is bad, show as output stepping sense or pulsating sense are arranged, moreover this also makes the minimum speed of system's output not guarantee.For AC servo,, particularly low-speed performance there is very high requirement because aforesaid application circumstances requires it can guarantee control precision.Therefore, in order to obtain low-speed performance preferably, the dead time effect of the PWM output of just necessary elimination system.
Summary of the invention
The object of the present invention is to provide the dead-zone compensation method of a kind of space vector pulse width modulation (SVPWM) output, dead time effect with PWM (pulse-width modulation) output of eliminating AC servo, improve the low-speed performance of AC servo, guarantee the minimum speed requirement of AC servo.
The dead band compensation is done in space vector pulse width modulation (SVPWM) output that the invention reside in system, eliminates the torque pulsation of system, to improve the low-speed performance of system.This method may further comprise the steps:
(1) the pulsewidth desired value that the U phase voltage desired value of permanent-magnetic synchronous motor stator is exported as AC servo inverter U phase brachium pontis pulse-width modulation (PWM), wherein the span of the U phase voltage desired value of permanent-magnetic synchronous motor stator is greater than the zero input d-c bus voltage value less than inverter;
(2) the pulsewidth desired value that the V phase voltage desired value of permanent-magnetic synchronous motor stator is exported as AC servo inverter V phase brachium pontis pulse-width modulation (PWM), wherein the span of the V phase voltage desired value of permanent-magnetic synchronous motor stator is greater than the zero input d-c bus voltage value less than inverter;
(3) the pulsewidth desired value that the W phase voltage desired value of permanent-magnetic synchronous motor stator is exported as AC servo inverter W phase brachium pontis pulse-width modulation (PWM), wherein the span of the W phase voltage desired value of permanent-magnetic synchronous motor stator is greater than the zero input d-c bus voltage value less than inverter;
(4) the pulsewidth desired value combination of inverter U, V, W three-phase brachium pontis pulse-width modulation (PWM) output is exported desired value as the space vector of voltage pulse-width modulation (SVPWM) of AC servo inverter;
(5) the setting Dead Time of being exported by the space vector of voltage pulse-width modulation (SVPWM) of inverter is determined the desired value of dead area compensation time, and the span of dead area compensation time desired value is more than or equal to the zero setting Dead Time less than PWM (pulse-width modulation) output.
(6) utilize permagnetic synchronous motor to export the desired value of the polarity of each phase current, space vector of voltage and the action time that the desired value of dead area compensation time is calculated each space vector of voltage.Computational methods are:
A, calculate the pulsewidth desired value of compensation back each brachium pontis pulse-width modulation output of inverter, when the output current of certain brachium pontis be on the occasion of the time, increase dead area compensation time of PWM output pulse width of this brachium pontis; When the output current of certain brachium pontis is negative value, reduce dead area compensation time of PWM output pulse width of this brachium pontis;
B, according to the pulsewidth desired value of three brachium pontis pulse-width modulations outputs of the desired value of space vector ordering compensation back inverter.The pulsewidth desired value represents that with T then the ordering back is T
Greatly, T
In, T
Little, wherein, T
Greatly〉=T
In〉=T
Little
C, the action time of calculating each space vector of voltage, wherein T
Vector1=T
Greatly-T
In, T
Vector2=T
In-T
Little
Voltage desired value of the present invention is that the AC servo inverter outputs to the magnitude of voltage on the permanent-magnetic synchronous motor stator in real time, for the voltage source inverter of AC servo, the inverter three-phase voltage of desired output is the sine wave of 120 ° of mutual deviations on the phase place; Described d-c bus voltage value is the dc voltage value of AC servo inverter input.
Groundwork principle of the present invention is: with the pulsewidth desired value that the desired value of permanent-magnetic synchronous motor stator U, V, W three-phase voltage is exported as AC servo voltage source inverter three road and bridge arm PWM (pulse-width modulation), the pulsewidth desired value combination of U, V, the output of W three-phase PWM is exported desired value as the space vector of voltage pulse-width modulation (SVPWM) of AC servo inverter; Determine the desired value of dead area compensation time by the dead band set point of PWM (pulse-width modulation) output; According to the polarity of permagnetic synchronous motor output three-phase current, be full of the principle that subtracts according to thanks to adding, according to the space vector of voltage output of expectation and the dead area compensation time of expectation, the action time of calculating each space vector of voltage.
The invention has the advantages that simple possible is easy to realize, can reach and overcome space vector PWM (pulse-width modulation) output dead time effect, eliminate the AC servo torque pulsation, improve the target of AC Servo System Low Speed performance, guarantee the minimum speed requirement of AC servo.
Description of drawings
Fig. 1 be AC servo under 001 and 101 vector effects, the motor three-phase current is output as i
u＞0, i
v＜0, i
w＞0 o'clock, SVPWM (space vector pulse width modulation) output and according to compensation effect schematic diagram that the present invention did.
Fig. 2 be AC servo under 001 and 011 vector effect, the motor three-phase current is output as i
u＞0, i
v＞0, i
w＜0 o'clock, SVPWM (space vector pulse width modulation) output and according to compensation effect schematic diagram that the present invention did.
Fig. 3 be AC servo under 010 and 011 vector effect, the motor three-phase current is output as i
u＜0, i
v＞0, i
w＜0 o'clock, SVPWM (space vector pulse width modulation) output and according to compensation effect schematic diagram that the present invention did.
Fig. 4 be AC servo under 010 and 110 vector effects, the motor three-phase current is output as i
u＜0, i
v＞0, i
w＞0 o'clock, SVPWM (space vector pulse width modulation) output and according to compensation effect schematic diagram that the present invention did.
Fig. 5 be AC servo under 100 and 110 vector effects, the motor three-phase current is output as i
u＜0, i
v＜0, i
w＞0 o'clock, SVPWM (space vector pulse width modulation) output and according to compensation effect schematic diagram that the present invention did.
Fig. 6 be AC servo under 100 and 101 vector effects, the motor three-phase current is output as i
u＜0, i
v＜0, i
w＞0 o'clock, SVPWM (space vector pulse width modulation) output and according to compensation effect schematic diagram that the present invention did.
Fig. 7 is PWM (pulse-width modulation) the output schematic diagram of an ideally brachium pontis of inverter.
Fig. 8 is PWM (pulse-width modulation) the output schematic diagram that adds a brachium pontis of inverter behind the dead band.
Embodiment
In modern digital ac servo system, generally realize sine wave control to AC permanent magnet synchronous motor by PWM (pulse-width modulation) technology driving voltage source type inverter.Voltage source inverter is made of six powerful switching mode power electronic device, in twos one group form respectively three road and bridge arm.Upper and lower bridge arm takes turns conducting and conducting simultaneously during work.According to the characteristic of device for high-power power electronic, its turn-off time is longer than service time.In order to prevent the straight-through of upper and lower bridge arm, during design SVPWM (space vector pulse width modulation) signal, guarantee to want the device of conducting to lag behind a Dead Time T of device that will turn-off
d, so just cause dead time effect, cause that the electric current that inverter outputs to AC permanent magnet synchronous motor distorts, and causes torque pulsation.
Voltage source inverter for AC servo, the inverter three-phase voltage of desired output is the sine wave of 120 ° of mutual deviations on the phase place, according to the relation of three-phase voltage cycle of each K * 360 °+30 °～(K+1) * 360 °+30 ° is divided into six interval: K * 360 °+30 °～(K+1) * 360 °+90 °, K * 360 °+90 °～(K+1) * 360 °+1 50 °, K * 360 °+150 °～(K+1) * 360 °+210 °, K * 360 °+210 °～(K+1) * 360 °+270 °, K * 360 °+270 °～(K+1) * 360 °+330 °, K * 360 °+330 °～(K+1) * 360 °+390 °.In these six intervals, the relation of permagnetic synchronous motor three-phase voltage is definite constant, have periodically, shown in the table 1 specific as follows:
Table 1: the three-phase voltage output relation on the one-period
| Interval | 1 | 2 | 3 |
| Output voltage | u u＞u w＞u v | u u＞u v＞u w | u v＞u u＞u w |
| Interval | 4 | 5 | 6 |
| Output voltage | u v＞u w＞u u | u w＞u v＞u u | u w＞u u＞u v |
To be foundation as co-relation, determined that SVPWM (space vector pulse width modulation) output of inverter has six kinds of situations, show to Fig. 6 as Fig. 1 respectively.As seen from the figure, the space vector of voltage that works in each interval has 4, and wherein two is zero vector: 000 and 111, and two other is non-zero vector.Regulate the amplitude that to regulate sine wave output action time and the frequency of these vectors.Non-zero vector in interval one is 001 and 101, non-zero vector in interval two is 001 and 011, and the non-zero vector in the interval three is 011 and 010, and the non-zero vector in the interval four is 010 and 110, non-zero vector in interval five is 100 and 110, and the non-zero vector in the interval six is 100 and 101.
When supposing that phase current that inverter outputs to motor flows out brachium pontis for just, when flowing into brachium pontis for bearing.According to the operation principle of Power Electronic Circuit, learn that when the output current of brachium pontis is timing, the PWM peak pulse duration that the influence of dead time effect is equivalent to this brachium pontis output ideally reduces a Dead Time; When the output current of brachium pontis when negative, the PWM peak pulse duration that the influence of dead time effect is equivalent to this brachium pontis output ideally increases a Dead Time; In view of the above, in order to overcome the influence of dead time effect, when the output current of certain brachium pontis be on the occasion of the time, increase Dead Time of PWM (pulse-width modulation) output pulse width of this brachium pontis; When the output current of certain brachium pontis is negative value, reduce Dead Time of PWM output pulse width of this brachium pontis; According to this compensation method, consider that motor output three-phase current just can not be simultaneously and can not be negative constraints simultaneously, the combination of real electrical machinery output three-phase current has six kinds of situations, therefore, in each interval, the method for the dead time effect of compensation SVPWM (space vector pulse width modulation) output has six kinds of situations.Expression as follows, wherein, T
UonDesired pulse width, T for the U phase
VonDesired pulse width, T for the V phase
WonBe the desired pulse width of W phase, T
dBe Dead Time:
Table 2: the SVPWM pulsewidth determines under the various electric current output situations
| Feedback current | U phase pulsewidth | V phase pulsewidth | W phase pulsewidth |
| i u＞0，i v＜0，i w＞0 | T uon+T d | T von-T d | T won+T d |
| i u＞0，i v＜0，i w＜0 | T uon+T d | T von-T d | T won-T d |
| i u＞0，i v＞0，i w＜0 | T uon+T d | T von+T d | T won-T d |
| i u＜0，i v＞0，i w＜0 | T uon-T d | T von+T d | T won-T d |
| i u＜0，i v＞0，i w＞0 | T uon-T d | T von+T d | T won+T d |
| i u＜0，i v＜0，i w＞0 | T uon-T d | T von-T d | T won+T d |
Like this, in conjunction with six kinds of situations of SVPWM (space vector pulse width modulation) output in the last table, the Dead-time compensation method of inverter output SVPWM (space vector pulse width modulation) has 36 kinds of situations.
Below in conjunction with accompanying drawing 1, be i with output current in the interval one
u＞0, i
v＜0, i
w＞0 situation is that example illustrates this method.
With reference to accompanying drawing 1, in interval one, u
u＞u
w＞u
v, ordering action time of every phase brachium pontis PWM (pulse-width modulation) output is T
Uon＞T
Won＞T
Von, through combination three-phase brachium pontis PWM (pulse-width modulation) output, the non-zero space vector that obtains practical function in interval is 001 and 101.When output current is i
u＞0, i
v＜0, i
w＞0 o'clock, because dead time effect, under the situation of not doing compensation, the practical function pulsewidth of u phase PWM (pulse-width modulation) was T
Uon-T
d, the practical function pulsewidth of v phase is T
Von+ T
d, the practical function pulsewidth of w phase is T
Won-T
d, like this, the ordering action time of every phase brachium pontis PWM (pulse-width modulation) output in the reference interval one, be respectively the action time that draws non-zero vector 001 in interval one and 101: T
001=(T
Uon-T
d)-(T
Won-T
d), T
101=(T
Won-T
d)-(T
Von+ T
d), i.e. T
001=T
Uon-T
Won=T
1, T
101=(T
Won-T
Von)-2T
d=T
2-2T
dBecause of dead time effect, 101 vector ratio reality have acted on 2T less in other words
dTime.In order to eliminate this influence, as shown in Figure 1, increase pulsewidth greater than zero according to output current, electric current is done dead area compensation less than the zero principle that reduces pulsewidth.The dash area signal dead area compensation time among the figure, the width of dash area is T
dWherein, u phase PWM pulsewidth increases T
d, v phase PWM pulsewidth reduces T
d, w phase PWM pulsewidth increases T
dAfter the compensation, as shown in the figure, reference interval-in ordering action time of every phase brachium pontis PWM (pulse-width modulation) output, be the action time that obtains each vector: T
001=(T
Uon+ T
d)-(T
Won+ T
d), T
101=(T
Won+ T
d)-(T
Von-T
d), i.e. T
001=T
Uon-T
Won=T
1, T
101=(T
Won-T
Von)+2T
d=T
2+ 2T
dPromptly after the compensation, be T the action time of 101 vectors
2+ 2T
d, increased 2T than expectation
dTime.According to the analysis of front, because dead time effect, will reduce 2T the action time of 101 vectors
d, like this, after the adding compensation, be we desired T the action time of 101 vectors
2,, offset the influence in dead band promptly by the compensation in the accompanying drawing 1.
More than the wherein compensation method of a kind of SVPWM of situation (space vector pulse width modulation) output dead time effect has only been described for example, and the effect of compensation has been described.The SVPWM of other 35 kinds of situations (space vector pulse width modulation) output Dead-time compensation method can a Yituide according to above-mentioned concrete grammar.
Protection scope of the present invention is as the criterion with claim.Under the situation that does not break away from the spirit and scope of the present invention; those skilled in the art all should drop within protection scope of the present invention its all conspicuous modification or variation about form and details of carrying out under the situation that does not depart from scope and spirit of the present invention.
Claims (2)
1, a kind of dead-zone compensation method of space vector pulse width modulation output is done the dead band compensation by the space vector pulse width modulation output to the AC servo inverter, may further comprise the steps:
(1) the pulsewidth desired value that the U phase voltage desired value of permanent-magnetic synchronous motor stator is exported as the pulse-width modulation of AC servo inverter U phase brachium pontis, wherein the span of the U phase voltage desired value of permanent-magnetic synchronous motor stator is greater than the zero input d-c bus voltage value less than inverter;
(2) the pulsewidth desired value that the V phase voltage desired value of permanent-magnetic synchronous motor stator is exported as the pulse-width modulation of AC servo inverter V phase brachium pontis, wherein the span of the V phase voltage desired value of permanent-magnetic synchronous motor stator is greater than the zero input d-c bus voltage value less than inverter;
(3) the pulsewidth desired value that the W phase voltage desired value of permanent-magnetic synchronous motor stator is exported as the pulse-width modulation of AC servo inverter W phase brachium pontis, wherein the span of the W phase voltage desired value of permanent-magnetic synchronous motor stator is greater than the zero input d-c bus voltage value less than inverter;
(4) the pulsewidth desired value combination of inverter U, V, W three-phase brachium pontis pulse-width modulation output is exported desired value as the space vector of voltage pulse-width modulation of AC servo inverter;
(5) the setting Dead Time of being exported by the space vector of voltage pulse-width modulation of inverter is determined the desired value of dead area compensation time, and the span of dead area compensation time desired value is more than or equal to the zero setting Dead Time less than SVPWM;
(6) utilize permagnetic synchronous motor to export the desired value of the polarity of each phase current, space vector of voltage and the action time that the desired value of dead area compensation time is calculated each space vector of voltage; Computational methods are:
A, calculate the pulsewidth desired value of compensation back each brachium pontis pulse-width modulation output of inverter, when the output current of certain brachium pontis be on the occasion of the time, increase dead area compensation time of PWM output pulse width of this brachium pontis; When the output current of certain brachium pontis is negative value, reduce dead area compensation time of PWM output pulse width of this brachium pontis;
B, according to the pulsewidth desired value of three brachium pontis pulse-width modulations outputs of the desired value of space vector ordering compensation back inverter, the pulsewidth desired value represents that with T then the ordering back is T
Greatly, T
In, T
Little, wherein, T
Greatly〉=T
In〉=T
Little
C, the action time of calculating each space vector of voltage, wherein T
Vector 1=T
Greatly-T
In, T
Vector 2=T
In-T
Little
2, in accordance with the method for claim 1, it is characterized in that: described voltage desired value is that the AC servo inverter outputs to the magnitude of voltage on the permanent-magnetic synchronous motor stator in real time, for the voltage source inverter of AC servo, the inverter three-phase voltage of desired output is the sine wave of 120 ° of mutual deviations on the phase place; Described d-c bus voltage value is the dc voltage value of AC servo inverter input.
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|---|---|---|---|
| CNA2006101443229A CN1988365A (en) | 2006-12-01 | 2006-12-01 | Dead zone compensating method for space vector pulse width modulating output |
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| CN107317506A (en) * | 2017-08-31 | 2017-11-03 | 鲁东大学 | A kind of SVPWM method of seven new segmentations |
| CN107508526A (en) * | 2017-08-31 | 2017-12-22 | 广东美的制冷设备有限公司 | Compressor and its power estimating method and device |
| CN107317506B (en) * | 2017-08-31 | 2020-03-27 | 鲁东大学 | Novel seven-segment SVPWM modulation method |
| CN110501976A (en) * | 2019-07-29 | 2019-11-26 | 北京精密机电控制设备研究所 | A method of it controls and drives for robot high performance servo |
| CN110501976B (en) * | 2019-07-29 | 2020-12-18 | 北京精密机电控制设备研究所 | Method for high-performance servo control driving of robot |
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