CN205864288U - Inverter Dead-time compensation device and inverter - Google Patents
Inverter Dead-time compensation device and inverter Download PDFInfo
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- CN205864288U CN205864288U CN201620325201.3U CN201620325201U CN205864288U CN 205864288 U CN205864288 U CN 205864288U CN 201620325201 U CN201620325201 U CN 201620325201U CN 205864288 U CN205864288 U CN 205864288U
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Abstract
The utility model proposes a kind of Inverter Dead-time compensation device and inverter, relate to Motor Control Field, wherein, Inverter Dead-time of the present utility model compensation device includes: current acquisition module, for according to obtaining sample rate current；Angle-determining module, for determining the rotor position angle of sample rate current；Coordinate transformation module, for determining the current phasor phase angle of sample rate current；Phase delay compensation dosage determines module, for determining the Phase delay compensation dosage postponed for compensation filter；Current phase determines module, is used for determining sample rate current phase place；Dead area compensation value determines module, determines phase place dead area compensation value for root；Drive current compensation module, be used for compensating three-phase inverter and drive electric current.The sample rate current phase place using such device to obtain is more accurate, and the phase place dead area compensation value determined is more accurate, so that dead area compensation is more accurate, and then optimizes the effect of dead area compensation.
Description
Technical field
This utility model relates to Motor Control Field, particularly a kind of Inverter Dead-time compensation device and inverter.
Background technology
In inverter, due to the characteristic of switching tube self, the switching of each switching tube is required for certain time, and
Turn-off time is more longer than service time.In inverter, if two switching tubes on same brachium pontis, in the shutoff of a switching tube
In journey, the conducting of another switching tube, the most necessarily causes bridgc arm short.In order to prevent bridgc arm short from occurring, triggering signal is generally allowed to prolong
A period of time late, being referred to as " Dead Time ", its impact produced is referred to as " dead time effect ".Dead time effect can make output phase voltage and
Current waveform is distorted, and torque produces pulsation, especially easily causes motor concussion or even step-out when low speed.
In recent years, the various backoff algorithm documents to dead time effect proposed in succession, but great majority are under specific occasion
Compensate application, or compensation method is not accurate enough, or compensation method is the most loaded down with trivial details, needs the biggest amount of calculation to bear, or
Need additional additional detection circuits.
Utility model content
A purpose of the present utility model is to propose one Inverter Dead-time compensation technique scheme more accurately.
According to an aspect of the present utility model, a kind of Inverter Dead-time compensation device is proposed, including: current acquisition mould
Block；Angle-determining module, is connected with current acquisition module；Coordinate transformation module, is connected with current acquisition module；Phase delay is mended
The amount of repaying determines module, is connected with current acquisition module；Current phase determines module, with angle-determining module, coordinate transformation module
Determine that module connects with Phase delay compensation dosage；Dead area compensation value determines module, determines that module is connected with current phase；Drive electricity
With dead area compensation value, stream compensating module, determines that module is connected；Wherein, current acquisition module exports electric current according to three-phase inverter
Obtain sample rate current；Angle-determining module receives the sample rate current from current acquisition module, determines the rotor position of sample rate current
Angle setting, and be sent to current phase and determine module；Coordinate transformation module receives the sample rate current from current acquisition module, determines
The current phasor phase angle of sample rate current, and be sent to current phase and determine module；Phase delay compensation dosage determines that module receives
From the sample rate current of current acquisition module, determine the Phase delay compensation dosage postponed for compensation filter, and be sent to electric current
Phase determination module；Current phase determines that module is true according to rotor position angle, current phasor phase angle and Phase delay compensation dosage
Determine sample rate current phase place；Dead area compensation value determines that module receives the sample rate current phase place determining module from current phase, according to
Sample rate current phase place, determines phase place dead area compensation value based on predetermined backoff strategy, and is sent to phase place dead area compensation value drive
Current compensation module；Drive current compensation module to repay three-phase inverter according to phase place dead area compensation value complement and drive electric current.
Alternatively, Phase delay compensation dosage determines that module includes: frequency acquisition unit；With, delay compensation amount determines unit,
It is connected with frequency acquisition unit；Wherein, frequency acquisition unit obtains the frequency of sample rate current, and is sent to delay compensation amount and determines
Unit；Delay compensation amount determines that unit determines Phase delay compensation dosage according to the frequency of sample rate current.
Alternatively, if ω ∈ [1Hz, 5Hz), delay compensation amount determines that unit determines that Phase delay compensation dosage is 0；If
ω ∈ [5Hz, 10Hz), delay compensation amount determines that unit determines that Phase delay compensation dosage is 4 ω+0.36；If ω ∈ [10Hz,
20Hz), delay compensation amount determines that unit determines that Phase delay compensation dosage is ω；If ω ∈ [20Hz, 25Hz), delay compensation amount
Determining that unit determines that Phase delay compensation dosage is ω+0.24, wherein, ω is the frequency of sample rate current.
Alternatively, current phase determines that module is according to formula:
Phase=K1*A+K2*B+K3*C+K4
Determining sample rate current phase place Phase, wherein, A is rotor calculation angle, and B is current phasor phase angle, and C is that phase place is prolonged
Compensation dosage, K late1、K2And K3It is respectively the Compensation Transformation coefficient of A, B and C, K4Constant is converted for sector round.
Alternatively, dead area compensation value determines that module includes: three-phase current polarity determines unit；With, three-phase dead area compensation value
Determine unit, determine that unit is connected with three-phase current polarity；Wherein, three-phase current polarity determines that unit is in three-phase current
One monophase current: determine the polarity of monophase current according to the sample rate current phase place of monophase current, and by the polarity of monophase current
It is sent to three-phase dead area compensation value and determines unit；Three-phase dead area compensation value determines that unit is timing in the polarity of monophase current, really
The phase place dead area compensation value of order phase current is positive number；When the polarity of monophase current is for bearing, determine that the phase place of monophase current is dead
District's offset is negative.
Alternatively, three-phase current polarity determines that the sample rate current phase place of monophase current is deducted predetermined constant and obtains single by unit
The normalization phase value of phase current；If normalization phase value is more than zero, it is determined that the polarity of monophase current is just, if normalizing
Change phase value less than or equal to zero, it is determined that the polarity of monophase current is negative.
Alternatively, dead area compensation value determines that module also includes: pulse width determines unit, determines with three-phase dead area compensation value
Unit connects；Pulse width determines that unit receives the phase place dead band benefit of the monophase current determining unit from three-phase dead area compensation value
Repay value, determine the pulse width after compensation according to the phase place dead area compensation value of monophase current；Pulse width after compensating is with pre-
Determine max threshold to compare；When the pulse width after compensating is more than predetermined max threshold, determine that three-phase inverter drives electric current
Pulse width be predetermined max threshold.
Alternatively, pulse width determine unit will compensate after pulse width compared with predetermined minimum threshold；Work as compensation
After pulse width less than predetermined minimum threshold time, determine three-phase inverter drive electric current pulse width be predetermined minimum gate
Limit.
Alternatively, pulse width determine unit will compensate after pulse width and predetermined max threshold and predetermined minimum threshold
Compare；When the pulse width after compensating is between predetermined max threshold and predetermined minimum threshold, determine that three-phase inverter drives
The pulse width of streaming current is the pulse width after compensating.
Alternatively, current compensation module is driven to drive the pulse width of electric current to adjust three-phase inverter according to three-phase inverter
Drive the dutycycle of electric current.
Alternatively, angle-determining module includes position sensor or observer.
Alternatively, coordinate transformation module includes: Clarke Clarke converter unit；With, Parker Park converter unit, with
Clarke converter unit is connected；Wherein, sample rate current is carried out coordinate transform to biphase quiet by Clarke Clarke converter unit
Only under α β coordinate system, and it is sent to Parker Park converter unit；Parker Park converter unit is by under biphase static α β coordinate system
Sample rate current carries out coordinate transform under biphase synchronous rotary dq coordinate system, determines the current phasor phase angle of sample rate current.
Such device can carry out real-time sampling to the output electric current of three-phase inverter, and according to rotor position angle, electricity
Flow vector phase angle and Phase delay compensation dosage determine sample rate current phase place；Phase place dead band can be determined according to sample rate current phase place
Three-phase inverter is also driven electric current to compensate by offset, and the sample rate current phase place using such device to obtain is more accurate
Really, the phase place dead area compensation value determined is more accurate, so that dead area compensation is more accurate, and then optimizes the effect of dead area compensation
Really.
According to another aspect of the present utility model, a kind of inverter is proposed, including any one dead band being set forth above
Compensation device.
Such equipment can optimize the effect of dead area compensation, solve " dead time effect " cause the current distortion under low speed and
Torque pulsation problem, reduces driving power consumption, improves drive efficiency.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing being further appreciated by of the present utility model, constitutes the part of the application,
Schematic description and description of the present utility model is used for explaining this utility model, is not intended that of the present utility model improper
Limit.In the accompanying drawings:
Fig. 1 is the flow chart of an embodiment of the operation method of Inverter Dead-time of the present utility model compensation device.
Fig. 2 be Inverter Dead-time of the present utility model compensation device operation method in determine of sample rate current phase place
The flow chart of embodiment.
Fig. 3 be Inverter Dead-time of the present utility model compensation device operation method in determine phase according to sample rate current phase place
The flow chart of one embodiment of position dead area compensation value.
Fig. 4 be Inverter Dead-time of the present utility model compensation device operation method in determine phase according to sample rate current phase place
The flow chart of another embodiment of position dead area compensation value.
Fig. 5 be Inverter Dead-time of the present utility model compensation device operation method in adjust drive signal an enforcement
The schematic diagram of example.
Fig. 6 is the schematic diagram of an embodiment of Inverter Dead-time of the present utility model compensation device.
Fig. 7 is the embodiment that in the compensation device of Inverter Dead-time of the present utility model, dead area compensation value determines module
Schematic diagram.
Fig. 8 is another embodiment that in the compensation device of Inverter Dead-time of the present utility model, dead area compensation value determines module
Schematic diagram.
The 5Hz oscillogram of compressor when Fig. 9 A is not use Inverter Dead-time compensation device of the present utility model.
Fig. 9 B is to use the 5Hz waveform of compressor after Inverter Dead-time of the present utility model compensation device.
The 10Hz oscillogram of compressor when Fig. 9 C is not use Inverter Dead-time compensation device of the present utility model.
Fig. 9 D is to use the 10Hz waveform of compressor after Inverter Dead-time of the present utility model compensation device.
The 15Hz oscillogram of compressor when Fig. 9 E is not use Inverter Dead-time compensation device of the present utility model.
Fig. 9 F is to use the 15Hz waveform of compressor after Inverter Dead-time of the present utility model compensation device.
Figure 10 is the schematic diagram of an embodiment of inverter of the present utility model.
Figure 11 is the schematic diagram of an embodiment of the application scenarios of inverter of the present utility model.
Detailed description of the invention
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Flow chart such as Fig. 1 institute of one embodiment of the operation method of Inverter Dead-time of the present utility model compensation device
Show.
In a step 101, the output electric current of three-phase inverter is gathered, it is thus achieved that sample rate current.
In a step 102, determine rotor position angle according to sample rate current, as used arctan function to calculate rotor-position
Angle.
In step 103, current phasor phase angle is determined according to sample rate current.In one embodiment, can pass through will
Sample rate current carries out coordinate transform to the current phasor phase angle determining sample rate current under biphase synchronous rotary dq coordinate system.One
In individual embodiment, first sample rate current is carried out coordinate transform under biphase static α β coordinate system, then by biphase static α β coordinate system
Under sample rate current carry out coordinate transform under biphase synchronous rotary dq coordinate system, determine the current phasor phase place of sample rate current
Angle.
At step 104, Phase delay compensation dosage is determined.Owing to there being delay to produce on hardware and software filtering, therefore,
Correct produced delay of filtering and can improve the accuracy that sampling phase determines.
In step 105, sample rate current is determined according to rotor position angle, current phasor phase angle and Phase delay compensation dosage
Phase place.
In step 106, phase place dead area compensation value is determined according to sample rate current phase place based on predetermined backoff strategy.Can root
Phase place dead area compensation value is determined according to the corresponding relation of predetermined sample rate current phase place Yu dead area compensation value.
In step 107, repay three-phase inverter according to phase place dead area compensation value complement and drive electric current, according to phase place dead area compensation
Value adjusts three-phase inverter and drives the dutycycle of electric current.In one embodiment, the phase place dead area compensation value determined is sent to
The comparand register of SVPWM (Space Vector Pulse Width Modulation, space vector pulse width modulation), by than
Three-phase inverter after the output of relatively depositor adjusts drives electric current.
By such method, it is possible to the output electric current of three-phase inverter is carried out real-time sampling, and according to rotor-position
Angle, current phasor phase angle and Phase delay compensation dosage determine sample rate current phase place；Phase can be determined according to sample rate current phase place
Three-phase inverter is also driven electric current to compensate by position dead area compensation value.The sample rate current phase place obtained by such method is more
Add accurately, so that it is determined that phase place dead area compensation value the most accurate, and then optimize the effect of dead area compensation, solve " dead band
Effect " cause the current distortion under low speed and torque pulsation problem, reduce driving power consumption, improve drive efficiency.Further, we
Method is not limited to specific occasion and uses, and has versatility.
In one embodiment, the output electric current of real-time sampling three-phase inverter is also circulated adjustment, adjusts phase in real time
Position dead area compensation value, thus optimize the effect of dead area compensation further.
In one embodiment, can initialize, such as by advanced line parameter:
Void Epwm_init(void)；
{
I/O defines；
Dead area compensation amount structure defines；
Dead band constant structure definition etc.；
Epwm definition etc.；
……
}
In one embodiment, need to define collocation structure body and constant when parameter initialization, such as:
The determination being phase place dead area compensation by such method provides structure and constant, and in circulating treatment procedure
Constantly refresh offset, optimize phase place dead area compensation result.
Flow chart such as Fig. 2 institute of the embodiment determining sample rate current phase place according to sample rate current of the present utility model
Show.
In step 201, utilize position sensor or observer detection sample rate current, determine rotor position angle.
In step 202., adopt to determining under biphase synchronous rotary dq coordinate system by sample rate current being carried out coordinate transform
The current phasor phase angle of sample electric current.
In step 203, the frequency of sample rate current is determined.
In step 204, Phase delay compensation dosage is determined according to the frequencies omega of sample rate current.
In one embodiment, if ω ∈ [1Hz, 5Hz), determine that Phase delay compensation dosage is 0；If ω ∈ [5Hz,
10Hz), determine that Phase delay compensation dosage is 4 ω+0.36；If ω ∈ [10Hz, 20Hz), determine that Phase delay compensation dosage is
ω；If ω ∈ [20Hz, 25Hz), determine that Phase delay compensation dosage is ω+0.24.
In another embodiment, Phase delay compensation dosage can be set as predetermined value, can be by compensation effect
Observation adjusts this predetermined value, so that it is determined that optimal Phase delay compensation dosage predetermined value.
In step 205, according to rotor position angle, current phasor phase angle and Phase delay compensation dosage, in conjunction with it each
Weight determine sample rate current phase place.
In one embodiment, can be according to formula
Phase=K1*A+K2*B+K3*C+K4
Determining sample rate current phase place, wherein, A is rotor calculation angle, and B is current phasor phase angle, and C is that Phase delay compensates
Amount, K1、K2And K3It is respectively rotor calculation angle, current phasor phase angle and the Compensation Transformation coefficient of Phase delay compensation dosage, K4For
Sector round conversion constant.In one embodiment, Compensation Transformation coefficient and sector round conversion constant can by experiment not
Disconnected adjustment determines.
By such method, it is possible to the sample rate current according to obtaining in real time determines rapidly rotor position angle, current phasor
Phase angle；Frequency based on sample rate current, the relation according to postponing with frequency determines Phase delay compensation dosage, it is possible to determine more
Phase delay compensation dosage accurately；According to rotor position angle, current phasor phase angle and Phase delay compensation dosage, respectively according to pre-
Fixed Compensation Transformation coefficient and sector round conversion constant determine sample rate current phase place.Due to sample rate current by sampling instant,
Noise, precision impact relatively big, when directly compensating value according to sample rate current, compensation effect is unsatisfactory.By such
Method, it is possible to acquisition sample rate current phase place more accurately, thus Optimization Compensation effect.
In one embodiment, when determining phase place dead area compensation value according to sample rate current phase place, can be first according to sampling electricity
Stream phase place determines the polarity of each monophase current in three-phase current, uses corresponding predetermined backoff plan according to the polarity of each monophase current
Slightly determine the phase place dead area compensation value of monophase current.As, if current polarity is negative, it is determined that the phase place dead area compensation of monophase current
Value is negative；If current polarity is just, it is determined that the phase place dead area compensation value of monophase current is positive number.
By such method, it is possible to determine the polarity of three-phase current according to sample rate current phase place, and according to three-phase current
Respective polarity is adjusted, and then determines the phase place dead area compensation value of monophase current, thus realizes determining list targetedly
Phase dead area compensation value, precision height and algorithm clear and definite.
In one embodiment, normalization can be obtained by the way of sample rate current phase place is deducted predetermined constant single-phase
The phase value of electric current；Whether the phase value according to the monophase current after normalization is more than zero polarity determining each monophase current.Logical
Cross such method, it is possible to determine the phase place of three-phase current according to sample rate current phase place, and further according to three-phase current
Phase place determines that each phase polarity, algorithm clear and definite, and running efficiency are high, it is simple to apply in systems.
Inverter Dead-time of the present utility model compensation method determines phase place dead area compensation value according to sample rate current phase place
The flow chart of one embodiment is as shown in Figure 3.
In step 31, converted by sector round, monophase current sample rate current phase place is deducted predetermined constant acquisition and returns
One changes phase value.In step 311, the phase place of U phase current is determined；In step 312, the phase place of V phase current is determined；In step
In 313, determine the phase place of W phase current.
In the step 32, judge whether the phase place of each phase current is more than 0 respectively, so that it is determined that the pole of each phase current phase place
Property.In step 321, determine the polarity of U phase current；In step 322, the polarity of V phase current is determined；In step 323, really
Determine the polarity of W phase current.
In step 33, it is judged that each phase current polarity positive and negative.When monophase current polarity is for time negative, perform step 341；When
Monophase current polarity is timing, performs step 342.
In step 341, the phase place dead area compensation value determining monophase current is negative.
In step 342, determine that the phase place dead area compensation value of monophase current is positive number.
By such method, it is possible to determine phase place and the polarity of three-phase current according to the sample rate current phase place determined, and
It is adjusted according to the respective polarity of three-phase current, and then determines the phase place dead area compensation value of monophase current, thus realize there is pin
To property order phase dead area compensation value really, precision height and algorithm clear and definite.
In one embodiment, it is necessary within phase place dead area compensation value is limited in predetermined threshold.In one embodiment,
The pulse width after compensation can be determined according to the phase place dead area compensation value of monophase current, and the pulse width after compensating is with pre-
Determine max threshold to compare；When the pulse width after compensating is more than predetermined max threshold, determine that three-phase inverter drives electric current
Pulse width be predetermined max threshold.In one embodiment, can be by the pulse width after compensating and predetermined minimum threshold
Compare；When the pulse width after compensating is less than predetermined minimum threshold, determine that three-phase inverter drives the pulse width of electric current
For predetermined minimum threshold.In one embodiment, the pulse width after compensating and predetermined max threshold and predetermined minimum threshold
Compare；When the pulse width after compensating is between predetermined max threshold and predetermined minimum threshold, determine that three-phase inverter drives
The pulse width of streaming current is the pulse width after the compensation that the phase place dead area compensation value according to monophase current determines.
By such method, it is possible to the phase place dead area compensation value of monophase current is limited in predetermined threshold range it
In, prevent owing to crossing the error adjusting appearance.
Dead-zone compensation method of the present utility model determines a reality of phase place dead area compensation value according to sample rate current phase place
Execute the flow chart of example as shown in Figure 4.
In step 401, determine the pulse width after compensation according to the phase place dead area compensation value of monophase current, and will compensate
After pulse width compare with predetermined max threshold and predetermined minimum threshold respectively.If the pulse width after Bu Changing is more than pre-
Determine max threshold, then perform step 403；If the pulse width after Bu Changing is between predetermined max threshold and predetermined minimum threshold,
Then perform step 404；If the pulse width after Bu Changing is less than predetermined minimum threshold, then perform step 405.
In step 403, determine that three-phase inverter drives the pulse width of electric current to be predetermined max threshold.
In step 404, determine that three-phase inverter drives the pulse width of electric current to be the phase place dead band according to monophase current
Pulse width after the compensation that offset determines.
In step 405, determine that three-phase inverter drives the pulse width of electric current to be predetermined minimum threshold.
By such method, by the pulse width after compensation that the phase place dead area compensation value according to monophase current is determined
Degree compares with predetermined max threshold and predetermined minimum threshold and adjusts, and three-phase inverter drives the pulse width of electric current limit
System, in the range of predetermined max threshold and predetermined minimum threshold, preferably prevents owing to crossing the error adjusting appearance, the most excellent
Change the effect of dead area compensation.
In one embodiment, as it is shown in figure 5, S+ aAnd S- aIt is respectively upper arm and the underarm of the upper a arm of three-phase inverter
The driving signal of switching tube, wherein, (a), (b) are that upper and lower bridge arm ideal opens signal, and (c), (d) are actual to open signal.With
As a example by ia ＞ 0, for upper arm switching tube, Terr fewer than preferable service time of actual service time, and underarm switching tube
Terr more than preferable service time of actual service time, accordingly, it would be desirable to the time bias done is exactly by the reason of upper arm switching tube
Looking on the bright side of things logical time lengthening Terr, due to the mutual symmetry of upper and lower arm switch pipe, the service time of underarm switching tube is just shortened
Terr, the actual service time of such switching tube is consistent with ideal time, it is ensured that output voltage is equal with ideal voltage value.
In like manner can analyze as ia that < when 0, compensation method is that preferable service time of upper arm switching tube is shortened Terr.According to above-mentioned point
Analysing and determine phase place dead area compensation value, then dead band offset is sent to the comparand register of SVPWM, comparand register is according to phase place
The output of dead area compensation value controls inverse with the preferable driving electric current driving electric current identical on pulse position, width, this driving electric current
Become the break-make of device switching tube such that it is able to the error that the deadband eliminating time causes, reach the purpose of dead area compensation.
The schematic diagram of one embodiment of Inverter Dead-time of the present utility model compensation device is as shown in Figure 6.Wherein, 601
For current acquisition module, it is possible to gather the output electric current of three-phase inverter, it is thus achieved that sample rate current.602 is angle-determining module, energy
Enough determine rotor position angle according to sample rate current, as used arctan function module to determine the rotor position angle of sample rate current.603
For coordinate transformation module, it is possible to determine current phasor phase angle according to sample rate current.In one embodiment, can be by adopting
Sample electric current carries out coordinate transform to the current phasor phase angle determining sample rate current under biphase synchronous rotary dq coordinate system.604 are
Phase delay compensation dosage determines module, it is possible to determine Phase delay compensation dosage.Owing to there being delay to produce on hardware and software filtering
Raw, therefore, correct produced delay of filtering and can improve the accuracy that sampling phase determines.605 is that current phase is true
Cover half block, it is possible to determine sample rate current phase place according to rotor position angle, current phasor phase angle and Phase delay compensation dosage.606
Determine module for dead area compensation value, for according to sample rate current phase place, determine phase place dead area compensation value based on predetermined backoff strategy.
Phase place dead area compensation value can be determined according to the corresponding relation of predetermined sample rate current phase place Yu dead area compensation value.607 for driving
Current compensation module, drives electric current, according to phase place dead area compensation value for repaying three-phase inverter according to phase place dead area compensation value complement
Adjust three-phase inverter and drive the dutycycle of electric current.In one embodiment, the phase place dead area compensation value determined is sent to
The comparand register of SVPWM, comparand register output the three-phase inverter after adjusting drives electric current.
Such device can carry out real-time sampling to the output electric current of three-phase inverter, and according to rotor position angle, electricity
Flow vector phase angle and Phase delay compensation dosage determine sample rate current phase place；Phase place dead band can be determined according to sample rate current phase place
Three-phase inverter is also driven electric current to compensate by offset.The sample rate current phase place that such device obtains is more accurate, from
And the phase place dead area compensation value determined is the most accurate, and then optimize the effect of dead area compensation；Further, this method does not limit
Use due to specific occasion, there is versatility.
In one embodiment, angle-determining module 602 can be position sensor or observer, it is possible to detection sampling electricity
Stream, determines rotor position angle.Such device can use existing equipment, module to detect rotor position angle, it is simple to
Popularization and application.
In one embodiment, coordinate transformation module 603 includes Clarke converter unit and Park converter unit, wherein,
Sample rate current can be carried out coordinate transform under biphase static α β coordinate system by Clarke converter unit；Park converter unit is used for
Sample rate current under biphase static α β coordinate system is carried out coordinate transform under biphase synchronous rotary dq coordinate system, determine sampling electricity
The current phasor phase angle of stream.Such device can use existing equipment, module to determining current phasor phase angle, it is simple to
Popularization and application.
In one embodiment, Phase delay compensation dosage determines that module 604 includes frequency acquisition unit and delay compensation amount
Determining unit, wherein, frequency acquisition unit can determine that the frequency of sample rate current, delay compensation amount determine that unit is according to sampling electricity
The frequencies omega of stream determines Phase delay compensation dosage.In one embodiment, delay compensation amount determines that unit can include comparator,
The frequency range of sample rate current can be compared, and according to the Phase delay compensation dosage of frequency range output correspondence: if ω is ∈
[1Hz, 5Hz), determine that Phase delay compensation dosage is 0；If ω ∈ [5Hz, 10Hz), determine Phase delay compensation dosage be 4 ω+
0.36；If ω ∈ [10Hz, 20Hz), determine that Phase delay compensation dosage is ω；If ω ∈ [20Hz, 25Hz), determine phase place
Delay compensation amount is ω+0.24.
Such device can frequency based on sample rate current, determine that Phase delay compensates with the relation of frequency according to postponing
Amount, the Phase delay compensation dosage determined is more accurate.
In another embodiment, Phase delay compensation dosage can be set as predetermined value, by the observation to compensation effect
Adjust this predetermined value, so that it is determined that optimal Phase delay compensation dosage predetermined value.Such device operand is little, to equipment
The requirement of arithmetic speed is low, and can debug according to practical situations, meets actual demand.
In one embodiment, current phase determines that module 605 can be realized, according to public affairs by adder and multiplier
Formula:
Phase=K1*A+K2*B+K3*C+K4
Being determined sample rate current phase place by multiplier and adder, wherein, A is rotor calculation angle, and B is current phasor phase place
Angle, C is Phase delay compensation dosage, K1、K2And K3It is respectively rotor calculation angle, current phasor phase angle and Phase delay compensation dosage
Compensation Transformation coefficient, K4Constant is converted for sector round.In one embodiment, Compensation Transformation coefficient and the conversion of sector round
Constant can constantly be adjusted by experiment and determine.
Such device can determine rapidly rotor position angle, current phasor phase place according to the sample rate current obtained in real time
Angle；Frequency based on sample rate current determines Phase delay compensation dosage according to the relation postponed with frequency, it is possible to it is more accurate to determine
Phase delay compensation dosage；According to rotor position angle, current phasor phase angle and Phase delay compensation dosage, respectively according to predetermined
Compensation Transformation coefficient and sector round conversion constant determine sample rate current phase place.Due to sample rate current by sampling instant, noise,
The impact of precision is relatively big, and when directly compensating value according to sample rate current, compensation effect is unsatisfactory.Use such device energy
Enough sample rate current phase places more accurately that obtains, thus Optimization Compensation effect.
In one embodiment, as it is shown in fig. 7, dead area compensation value determines that module includes that three-phase current polarity determines unit
701 and three-phase dead area compensation value determine unit 702.Wherein, three-phase current polarity determines that unit 701 is for according to sample rate current phase
Position determines the polarity of each monophase current in three-phase current.In one embodiment, three-phase current polarity determines that unit 701 is by fan
District's round conversion, deducts the phase value after predetermined constant obtains normalization, including determining U phase respectively by single-phase sample rate current phase place
The phase place of electric current, the phase place of V phase current and the phase place of W phase current；Whether determine each more than 0 by the phase place judging each phase current
The polarity of phase phase place.Three-phase dead area compensation value determines that unit 702 uses corresponding predetermined benefit for the polarity according to each phase current
Repay strategy and determine the phase place dead area compensation value of monophase current, as when monophase current polarity is for, time negative, determining the phase place of monophase current
Dead area compensation value is negative, when monophase current polarity is timing, determines that the phase place dead area compensation value of monophase current is positive number.
Such device can determine phase place and the polarity of three-phase current according to the sample rate current phase place determined, and according to three
The respective polarity of phase current is adjusted, and then determines the phase place dead area compensation value of monophase current, thus realizes targetedly
Determine single-phase dead area compensation value, precision height and algorithm clear and definite.
In one embodiment, as shown in Figure 8, dead area compensation value determines that module includes that three-phase current polarity determines unit
801, three-phase dead area compensation value determines unit 802, and pulse width determines unit 803.Wherein, three-phase current polarity determines list
Unit 801, three-phase dead area compensation value determine that the 26S Proteasome Structure and Function of unit 802 is similar to the embodiment of Fig. 7.Pulse width determines list
Unit 803 is for determining the pulse width after compensation according to the phase place dead area compensation value of monophase current, and the pulse width after compensating
Spend the threshold value with pulse width to compare, within three-phase inverter drives the pulse width of electric current be limited in thresholding.?
In one embodiment, can be by the pulse width after compensating compared with predetermined max threshold；Pulse width after compensating is big
When predetermined max threshold, determine that three-phase inverter drives the pulse width of electric current to be predetermined max threshold.An embodiment
In, can be by the pulse width after compensating compared with predetermined minimum threshold；Pulse width after compensating is less than predetermined minimum
During thresholding, determine that three-phase inverter drives the pulse width of electric current to be predetermined minimum threshold.In one embodiment, after compensating
Pulse width compared with predetermined max threshold and predetermined minimum threshold；Pulse width after compensating is at predetermined max threshold
And time between predetermined minimum threshold, determine that three-phase inverter drives the pulse width of electric current to be the pulse width after compensating.
Such device by the pulse width after compensation that the phase place dead area compensation value according to monophase current is determined with
Predetermined max threshold and predetermined minimum threshold compare and adjust, and the pulse width driving electric current is limited in predetermined gate
In the range of limit and predetermined minimum threshold, preferably prevent from, owing to crossing the error adjusting appearance, optimizing the effect of dead area compensation further
Really.
One embodiment of dead area compensation device of the present utility model is applied to the current waveform design sketch of compressor such as
Shown in Fig. 9 A-Fig. 9 F, the compressor number of pole-pairs used in embodiment is 3.Fig. 9 A is the compressor current waveform compensating front 5Hz
Figure, Fig. 9 B be compensate after the compressor current oscillogram of 5Hz；Fig. 9 C is the compressor current oscillogram compensating front 10Hz, Fig. 9 D
For the compressor current oscillogram of 10Hz after compensating；Fig. 9 E is the compressor current oscillogram compensating front 15Hz, and Fig. 9 F is for compensating
The compressor current oscillogram of rear 15Hz.Can be seen that at load current point and peak value before and after compensating, use this practicality new
After the dead area compensation device of type, the smoothness of electric current and sine degree be above compensate before, and compressor noise and torque pulsation bright
Aobvious reduction, especially below 15Hz low-frequency effect becomes apparent from, and the waveform of compressor current has obtained good improvement, it is achieved pressure
Reliability service under contracting machine low speed, to improving compressor operating efficiency, reduces each frequency range compressor noise aspect effect notable.
The schematic diagram of one embodiment of inverter of the present utility model is as shown in Figure 10.Wherein, 1001 is three-phase inversion
Device, provides for motor 1000 and controls three-phase current.Inverter Dead-time compensation device 1003 obtains three-phase inverter 1001 and exports electricity
Stream.Inverter Dead-time compensation device determines rotor position angle, current phasor phase angle, Phase delay according to the sample rate current obtained
Compensation dosage, determines sample rate current phase place according to rotor position angle, current phasor phase angle, Phase delay compensation dosage, further according to adopting
Sample current phase determines phase place dead area compensation value.Phase place dead area compensation value is sent to PWM by Inverter Dead-time compensation device 1003
(Pulse Width Modulation, pulse width modulation) device, exports and drives electric current phase on pulse position, width with preferable
Same driving electric current, this driving electric current controls the break-make of three-phase inverter 1001 switching tube such that it is able to the deadband eliminating time makes
The error become, optimizes the effect of dead area compensation, solves " dead time effect " and causes asking of the current distortion under low speed and torque pulsation
Topic, reduces driving power consumption, improves drive efficiency.
As shown in figure 11, FOC (Field Oriented Control, Field orientable control) double loop system can be used
Adjust the output electric current of three-phase inverter.Three-phase current is detected by MCU (Microcontroller Unit, micro-control unit),
By they being transformed in α β coordinate system with Clarke conversion, then it is transformed in dq coordinate system by Park conversion.Dq is sat
Current signal in mark system is compared with their reference-input signal, by PI (Proportion Integration, ratio
Integration) controller acquisition controlled quentity controlled variable.But using existing structure, arranging of Dead Time can cause driving electric current to have error,
And then make the output electric current of three-phase inverter produce distortion.
Inverter of the present utility model can be on the basis of Figure 11, by gathering the output electric current of three-phase inverter, root
Sample rate current phase place is determined, further according to sample rate current phase place according to rotor position angle, current phasor phase angle, Phase delay compensation dosage
Determine phase place dead area compensation value, adjust the driving electric current of SVPWM output.SVPWM is according to the output of phase place dead area compensation value and ideal
Drive the driving electric current that electric current is identical on pulse position, width such that it is able to the error that the deadband eliminating time causes, reach dead
The purpose that district compensates.
Finally should be noted that: it is only limited by above example in order to the technical solution of the utility model to be described
System；Although being described in detail this utility model with reference to preferred embodiment, those of ordinary skill in the field should
Understand: still detailed description of the invention of the present utility model can be modified or portion of techniques feature is carried out equivalent and replace
Change；Without deviating from the spirit of technical solutions of the utility model, it all should contain the technical scheme being claimed at this utility model
In the middle of scope.
Claims (10)
1. an Inverter Dead-time compensation device, it is characterised in that including:
Current acquisition module；
Angle-determining module, is connected with described current acquisition module；
Coordinate transformation module, is connected with described current acquisition module；
Phase delay compensation dosage determines module, is connected with described current acquisition module；
Current phase determines module, with described angle-determining module, described coordinate transformation module and described Phase delay compensation dosage
Determine that module connects；
Dead area compensation value determines module, determines that module is connected with described current phase；
Drive current compensation module, determine that module is connected with described dead area compensation value；
Wherein, described current acquisition module obtains sample rate current according to three-phase inverter output electric current；Described angle-determining module
Receive the sample rate current from described current acquisition module, determine the rotor position angle of described sample rate current, and be sent to described
Current phase determines module；Described coordinate transformation module receives the sample rate current from described current acquisition module, determines described
The current phasor phase angle of sample rate current, and be sent to described current phase and determine module；Described Phase delay compensation dosage determines
Module receives the sample rate current from described current acquisition module, and the phase place postponed for compensation filter is prolonged to utilize comparator to determine
Late compensation dosage, and be sent to described current phase and determine module；Described current phase determine module according to described rotor position angle,
Current phasor phase angle and Phase delay compensation dosage determine sample rate current phase place by adder and multiplier；Dead area compensation value is true
Cover half block receives the described sample rate current phase place determining module from described current phase, according to described sample rate current phase place, base
Utilize subtractor, comparator and depositor to determine phase place dead area compensation value in predetermined backoff strategy, and described phase place dead band is mended
Repay value to be sent to drive current compensation module；Described driving current compensation module repays three-phase according to described phase place dead area compensation value complement
Inverter driving streaming current.
Device the most according to claim 1, it is characterised in that described Phase delay compensation dosage determines that module includes:
Frequency acquisition unit；With,
Delay compensation amount determines unit, is connected with described frequency acquisition unit；
Wherein, described frequency acquisition unit obtains the frequency of described sample rate current, and is sent to delay compensation amount and determines unit；Institute
State delay compensation amount and determine that unit determines Phase delay compensation dosage according to the frequency of described sample rate current.
Device the most according to claim 2, it is characterised in that
If ω ∈ [1Hz, 5Hz), described delay compensation amount determines that unit determines that described Phase delay compensation dosage is 0；
If ω ∈ [5Hz, 10Hz), described delay compensation amount determine unit determine described Phase delay compensation dosage be 4 ω+
0.36；
If ω ∈ [10Hz, 20Hz), described delay compensation amount determines that unit determines that described Phase delay compensation dosage is ω；
If ω ∈ [20Hz, 25Hz), described delay compensation amount determine unit determine described Phase delay compensation dosage be ω+
0.24,
Wherein, described ω is the frequency of sample rate current.
Device the most according to claim 1, it is characterised in that described current phase determines that module is according to formula:
Phase=K1*A+K2*B+K3*C+K4
Determining described sample rate current phase place Phase, wherein, A is described rotor calculation angle, and B is described current phasor phase angle, C
For described Phase delay compensation dosage, K1、K2And K3It is respectively the Compensation Transformation coefficient of A, B and C, K4Constant is converted for sector round.
5. according to the arbitrary described device of Claims 1 to 4, it is characterised in that
Described dead area compensation value determines that module includes:
Three-phase current polarity determines unit；With,
Three-phase dead area compensation value determines unit, determines that unit is connected with described three-phase current polarity；
Wherein, described three-phase current polarity determines that unit is for a monophase current in three-phase current: according to described single-phase electricity
The described sample rate current phase place of stream determines the polarity of described monophase current, and the polarity of described monophase current is sent to three-phase
Dead area compensation value determines unit；Described three-phase dead area compensation value determines that unit is timing in the polarity of described monophase current, determines
The phase place dead area compensation value of described monophase current is positive number；When the polarity of described monophase current is for bearing, determine described single-phase electricity
The phase place dead area compensation value of stream is negative.
Device the most according to claim 5, it is characterised in that described three-phase current polarity determines that unit is by described single-phase electricity
The described sample rate current phase place of stream deducts predetermined constant and obtains the normalization phase value of described monophase current；If described normalization
Phase value is more than zero, it is determined that the polarity of described monophase current is just, if described normalization phase value is less than or equal to zero, the most really
The polarity of fixed described monophase current is negative.
Device the most according to claim 5, it is characterised in that
Described dead area compensation value determines that module also includes:
Pulse width determines unit, determines that unit is connected with described three-phase dead area compensation value；
Described pulse width determines that unit receives the phase of the described monophase current determining unit from described three-phase dead area compensation value
Position dead area compensation value, determines the pulse width after compensation according to the phase place dead area compensation value of described monophase current；
By the pulse width after described compensation compared with predetermined max threshold；When the pulse width after described compensation is more than predetermined
During max threshold, determine that described three-phase inverter drives the pulse width of electric current to be described predetermined max threshold；
And/or
By the pulse width after described compensation compared with predetermined minimum threshold；When the pulse width after described compensation is less than predetermined
During minimum threshold, determine that described three-phase inverter drives the pulse width of electric current to be described predetermined minimum threshold；
And/or
By the pulse width after described compensation compared with predetermined max threshold and predetermined minimum threshold；Arteries and veins after described compensation
Rush width between described predetermined max threshold and the described predetermined minimum threshold time, determine that described three-phase inverter drives electric current
Pulse width is the pulse width after described compensation.
Device the most according to claim 1, it is characterised in that described driving current compensation module is according to described three-phase inversion
Device drives the pulse width of electric current to adjust described three-phase inverter and drives the dutycycle of electric current.
Device the most according to claim 1, it is characterised in that described angle-determining module includes position sensor or observation
Device；
And/or
Described coordinate transformation module includes: Clarke Clarke converter unit；With
Parker Park converter unit, is connected with described Clarke converter unit；
Wherein, described sample rate current is carried out coordinate transform to biphase static α β coordinate system by described Clarke Clarke converter unit
Under, and it is sent to described Parker Park converter unit；
Described sample rate current under biphase static α β coordinate system is carried out coordinate transform to two synchronised by Parker Park converter unit
Rotate under dq coordinate system, determine the current phasor phase angle of described sample rate current.
10. an inverter, it is characterised in that include the arbitrary described dead area compensation device of claim 1～9.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108092532A (en) * | 2017-12-31 | 2018-05-29 | 王大方 | A kind of Inverter Dead-time compensation method based on PWM triggering end voltage samples |
| CN108199633A (en) * | 2018-01-08 | 2018-06-22 | 哈尔滨工业大学 | The suppressing method of phase current reconstruction error under high PWM switching frequencies |
| CN109391199A (en) * | 2018-09-30 | 2019-02-26 | 苏州汇川技术有限公司 | Dead-zone compensation method, motor driver and computer readable storage medium |
| CN110855138A (en) * | 2019-10-25 | 2020-02-28 | 西安班特利奥能源科技有限公司 | Dead zone compensation method for three-level converter |
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2016
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108092532A (en) * | 2017-12-31 | 2018-05-29 | 王大方 | A kind of Inverter Dead-time compensation method based on PWM triggering end voltage samples |
| CN108199633A (en) * | 2018-01-08 | 2018-06-22 | 哈尔滨工业大学 | The suppressing method of phase current reconstruction error under high PWM switching frequencies |
| CN109391199A (en) * | 2018-09-30 | 2019-02-26 | 苏州汇川技术有限公司 | Dead-zone compensation method, motor driver and computer readable storage medium |
| CN109391199B (en) * | 2018-09-30 | 2021-07-27 | 苏州汇川技术有限公司 | Dead zone compensation method, motor driver and computer readable storage medium |
| CN110855138A (en) * | 2019-10-25 | 2020-02-28 | 西安班特利奥能源科技有限公司 | Dead zone compensation method for three-level converter |
| CN110855138B (en) * | 2019-10-25 | 2021-08-03 | 西安班特利奥能源科技有限公司 | Dead zone compensation method for three-level converter |
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