CN103414368A - Dead-zone compensation method of three-phase inverter - Google Patents
Dead-zone compensation method of three-phase inverter Download PDFInfo
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Abstract
The invention relates to control strategies of a three-phase inverter, and discloses a dead-zone compensation method of the three-phase inverter. The dead-zone compensation method of the three-phase inverter can effectively improve waveform distortion caused by a dead zone and reduce THD. The dead-zone compensation method is an off-line dead-zone compensation method and mainly comprises two parts including (1) accurate judgment on the inductive current polarity and (2) dead-zone compensation strategies under a, b and c coordinates according to a three-phase system. The accurate judgment on the inductive current fundamental wave polarity can further be divided into sampled inductive current polarity detection, electric current measurement circuit delay calculation and fundamental wave delay estimation caused by the dead zone, the inductive current fundamental wave polarity can be accurately obtained through the three steps, then the compensation strategies under the a, b and c coordinate system are adopted, therefore, extra delay caused by using a low pass filter is avoided, and compensation is turned to be simple and practical.
Description
Technical field
The present invention relates to the control of three-phase inverter, announced a kind of dead-zone compensation method of three-phase inverter, can effectively improve the output of inverter, reduce THD.
Background technology
Along with the development of power electronic technology and microprocessing, ac speed control technology is also in rapid progress.In order to make the comparatively ideal current waveform of voltage source inverter output, the power electronic device in inverter must be worked under higher switching frequency.In the commutation process of two power electronic device of the same brachium pontis of voltage source inverter, in order to prevent that the DC bus-bar voltage short circuit from burning out power electronic device, a power electronic device in same brachium pontis must fully be closed and have no progeny, and another power electronic device just can be opened.Like this, it is open-minded again that pipe to be opened must postpone a period of time backward, is called Dead Time this time of delay.This Dead Time reduces effective service time of pipe, and the switching frequency of the power electronic device in inverter is very high simultaneously, makes pipe open corresponding diminishing of cycle, causes the output waveform distortion of voltage source inverter.
The impact of dead band on inverter output waveforms, can analyze with dead time effect.The main circuit topology of voltage source inverter as shown in Figure 1, for the conducting simultaneously of pipe up and down that prevents inverter, each switch has been added into certain Dead Time (t
d).Except adding time delay, switch itself also has action to postpone (t
On_dAnd t
Off_d), and the conduction voltage drop (u of device
sAnd u
d), all will the output of inverter be impacted, and they are on the impact of inverter output, all will in dead time effect, make a concrete analysis of and obtain.
Choose a and study mutually, this phase inductance electric current shown in Figure 2 is (i just
a0) time control signal and the output waveform of switch mid point.(a), what (b) mean is desirable pwm signal, becomes complementary relationship.The output waveform of the switch mid point corresponding with this control signal is as (c).When adding dead band, opening of switch has been delayed t constantly
d, shutoff is constantly constant, and corresponding control signal is as (d), (e).Can see, at this time the control signal of upper and lower two pipes no longer becomes complementary relationship, in another switch periods, exists two time periods, and pipe all is in off state up and down, and output waveform at this time, just need to be judged by the polarity of inductive current.When inductive current is (i just
a0), namely during the outflow of bus current inverter, will ignore the conduction voltage drop of diode by the anti-paralleled diode afterflow of lower pipe, now output voltage is equivalent to directly be connected to the ground, so v
o=0, opposite, when inductive current when negative, will be by the anti-paralleled diode afterflow of upper pipe, so v
o=v
Dc.Here consider that inductive current is positive situation, when adding dead band, the output waveform of inverter switching device mid point will be as shown in (f).After continuing to consider the action delay of switch itself, the voltage waveform of the switch mid point of inverter is as figure (g).Figure (h) is voltage waveform that continue to consider the switch mid point after the conduction voltage drop of device, the i.e. Real output waveform of inverter switching device mid point after all factors of analysis-by-synthesis.By (h) with (c) compare, its difference (i) has just meaned the output voltage error caused by factors such as dead bands.This voltage error can mean with following formula at the mean value of a switch periods:
Wherein v
On-stageFinger, by the output voltage error that the device on-state voltage drop causes, is expressed from the next:
T
OnAnd t
offMeaned respectively upper pipe service time and turn-off time in a switch periods.
It is exactly more than the analysis to dead time effect.The output voltage error caused in order to compensate dead band, had many scholars to propose various dead-zone compensation methods at present.Can be divided into two classes in general: the dead area compensation strategy of off-line and online dead area compensation strategy.Wherein the dead area compensation strategy of off-line is simple, but need to detect inductive current polarity, owing in inductive current, containing each harmonic, want to obtain accurate polarity not a duck soup, therefore in the dead area compensation strategy of off-line, core technology is exactly the acquisition of inductive current polarity.Online dead-zone compensation method, do not need to detect inductive current polarity, but but need Real-time Monitoring Data, and return to processor and calculate, and increased the burden of processor, so and be of little use.
Prior art [1] is disclosed in the DQ coordinate system and carries out dead area compensation.At first calculate the difference of each phase output voltage, then carry out the DQ conversion, obtained the error amount table of DQ coordinate system.Then according to this table, plane has been divided into to 6 zones, has been in which zone by judging current inverter, and then tabled look-up and just can obtain the magnitude of voltage that compensate.The method is simple and clear, has formulated the offset table, makes dead area compensation simple.But the judgement of its inductive current polarity inaccuracy, the precision of compensation is not high.
Prior art [2] openly utilizes software to realize dead area compensation, the method, without increasing any hardware device, is only realized by software, therefore convenient enforcement, but the method is not analyzed the action delay of switch itself and the on-state voltage drop of device, and the effect of compensation has much room for improvement.
Prior art [3] has obtained inductive current polarity, and has compensated the zero current clamping effect, but but comparatively complicated, is not easy to implement.
In general dead-zone compensation method, mostly directly use the inductive current detected, but because harmonic components in inductive current is large, and use current Hall also can bring certain delay, thus direct-detection to inductive current be inaccurate.
Summary of the invention
In order to obtain inductive current polarity accurately, the present invention proposes a set of rigorous and detection method accurately.On the basis of the method, announced a kind of dead-zone compensation method of three-phase inverter, can effectively improve the output of inverter, reduce THD.
To achieve these goals, the technical solution used in the present invention is as follows:
A kind of dead-zone compensation method of three-phase inverter comprises the following steps: judgement inductive current polarity; According to inductive current polarity, precisely determine the voltage error of each phase of inverter; The voltage error of each phase is added on voltage instruction, carries out dead area compensation.
The method of judgement inductive current polarity is: gather the three pole reactor electric current, it is transformed into to the DQ coordinate system, filter out alternating component and obtain flip-flop, then, calculate the phase place of flip-flop under the DQ coordinate system, then the time delay of phase place and inverter generation is subtracted each other, obtain the phase place of actual inductive current, finally according to the phase place of actual inductive current, judge inductive current polarity.
The time delay that described inverter produces comprises current detection circuit time delay and the first-harmonic time delay caused by dead band.
The computational methods of described first-harmonic time delay are:
Wherein,
Be load impedance angle, △ V is the amplitude of the voltage difference that causes of dead band, and U is the output voltage amplitude of inverter during without dead band, and θ is exactly that the inverter output first-harmonic caused by dead band that will calculate postpones.
The computational methods of described current detection circuit time delay are: by modulating wave, adding 5 times and 7 subharmonic, and the phase shift of calculating corresponding harmonic wave in the output response, and then obtain only containing the equation that detects the loop time delay, by numerical solution, can Exact Solutions obtain the time delay of measuring circuit.
The computational methods of described current detection circuit time delay are: in modulating wave, add 5 times and 7 subharmonic, gather three pole reactor electric current and output voltage; Measure the phase difference with respect to output voltage of sample rate current
Wherein,
Be respectively inverter and be output as under power frequency, 5 frequencys multiplication and 7 frequencys multiplication, the phase difference with respect to output voltage of sample rate current; According to following formula, calculate first-harmonic time delay t:
Compared with prior art, the present invention has the following advantages at least: the present invention adopt the abc coordinate system compensate method, after inductive current polarity being detected, the voltage error of each phase just can obtain easily, only this voltage difference need to be added on voltage instruction, just complete dead area compensation.Adopt the dead-zone compensation method of abc coordinate system, simple and clear, and do not need row to write the voltage error table.
The accompanying drawing explanation
Fig. 1 is the main circuit diagram of three-phase inverter in the present invention.
Fig. 2 is that in the present invention, the three-phase inverter inductive current is (i just
a0) time control signal and the output waveform of switch mid point.
Fig. 3 is that in the present invention, sampling inductive current polarity detects block diagram.
Fig. 4 is for considering inverter simple model and the phasor diagram thereof in dead band, and wherein, Fig. 4 a is simple model figure, and Fig. 4 b is the phasor diagram of voltage leading current, and Fig. 4 b is the phasor diagram of electric current leading voltage.
Fig. 5 is dead area compensation strategy of the present invention.
Fig. 6 is current signal flow chart of the present invention.
Fig. 7 is experimental result and contrast, wherein, a figure is output voltage and the current waveform figure that does not carry out dead area compensation, and b figure is voltage and the current waveform figure of not considering the dead area compensation of electric current time delay, and c figure is voltage and the current waveform figure of the present invention's dead area compensation of considering the electric current time delay.
Embodiment
The present invention mainly comprises two parts: 1. the accurate judgement 2. of inductive current polarity is for the dead area compensation strategy under the abc coordinate of three-phase system.Wherein, the accurate judgement of inductive current polarity can be divided into again:
1 sampling inductive current polarity detects
The inductive current obtained for sampling, owing to containing a large amount of harmonic waves, especially inductive current itself when just very little, can be in a long time zero passage repeatedly, therefore can not directly be used for detecting its polarity.Same, can not directly use low pass filter (LPF) to carry out the filtering harmonic wave, because so also can bring a delay to first-harmonic, reduce the levels of precision of Current polarity detection.
The present invention has announced a kind of detection method of the inductive current polarity of sampling.By gathering the three pole reactor electric current, be transformed into the DQ coordinate system, fundamental current will become DC quantity, and harmonic components is still of ac, at this time by the low pass filter that cut-off frequency is very low, alternating component is filtered, obtain flip-flop, then contravariant changes to the abc coordinate system, just can obtain the first-harmonic composition of each phase current (according to Fig. 5, after low-pass filtering, flip-flop is converted to angle or the phase place of DQ coordinate system.Should be so whether that after being converted to the angle or phase place of DQ coordinate system, the abc coordinate system is changed in contravariant, obtain the first-harmonic composition of each phase current).With this filtered electric current, judge polarity, than direct use sample rate current, will greatly improve accuracy.Control block diagram is shown in Fig. 3.
This sample rate current detection method, elimination the high-frequency harmonic in the electric current, avoided simultaneously of ac is used to filter, and then avoided the first-harmonic delay, can obtain very accurately the polarity of sample rate current.
2 current detection circuit Time delay measurements
In reality, current detection circuit, always more or less bring delay, and this delay can not be eliminated in dead-zone compensation method, thereby will inevitably reduce compensation effect.
The present invention has announced the method for measurement that a kind of current detection circuit postpones, by in modulating wave, adding 5 times and 7 subharmonic, and the phase shift of calculating corresponding harmonic wave in the output response, and then obtain only containing the equation that detects loop time delay t, by numerical solution, can Exact Solutions obtain the time delay of measuring circuit.
The 3 first-harmonic delay estimations that caused by dead band
Due in the time delay of computation and measurement loop, first-harmonic composition and the modulating wave of supposing the inverter mid-point voltage are synchronous, and this must set up in desirable inverter, but after considering dead band, between the two, have certain phase difference, this will reduce certainty of measurement.
The present invention considers the inverter simple model in dead band by foundation, can calculate easily this and postpone, and then, in the time delay of computation and measurement loop, eliminate the impact of this delay, has improved accuracy.
By this three step, can obtain accurately the polarity of inductive current first-harmonic, after inductive current polarity being detected, the voltage error of each phase just can obtain easily, only this voltage difference need to be added on voltage instruction, has just completed dead area compensation.
Below in conjunction with accompanying drawing, the present invention is further elaborated.
Figure 1 shows that the main circuit of three-phase voltage-type inverter, general, we gather three pole reactor electric current (i
a, i
b, i
c) and capacitance voltage (v
a, v
b, v
c) control.The dead-zone compensation method that the present invention announces, on this basis, do not need extra hardware circuit.
At first, we need to estimate that the first-harmonic caused in dead band postpones.For simplifying the analysis, we have set up the inverter simple model of considering dead band.The voltage difference amplitude caused due to dead band is definite value, and its positive and negative polarity with electric current is identical, gets so a certain phase in inverter, and the voltage difference that cause in dead band just can mean with a current-controlled voltage source of being controlled by inductive current.As Fig. 4, wherein
Represent load impedance (comprising inductance, resistance, electric capacity), U is inverter output voltage during without dead band, and controlled source has meaned the voltage error caused by dead band.No matter be voltage leading current or electric current leading voltage, according to phasor diagram, always can obtain following formula:
Here,
Be load impedance angle, △ V is the amplitude of the voltage difference that causes of dead band, and U is the output voltage amplitude of inverter during without dead band, and θ is exactly that the desired inverter output first-harmonic caused by dead band postpones.
According to equation (3), we can calculate this delay like a cork, and convenient for subsequent calculations, we calculate respectively at 50Hz, 250Hz, and the first-harmonic caused by dead band during 350Hz postpones θ
1, θ
5, θ
7.These 3 delays will be calculated in the back when current measurement circuit postpones and be used.
Then, we calculate the current measurement circuit time delay.Suppose between the inductive current that actual inductive current and sampling obtain a time delay t is arranged, this time delay, may be by current Hall, and the reasons such as AD conversion cause.Directly use the inductive current polarity of sampling, will reduce compensation precision.Therefore calculating and eliminate the impact of this time delay, is very necessary.
This step need to complete before an inverter is formally devoted oneself to work, and if current measurement circuit do not change, this value will be steady state value, only need to measure once just can use always.
Relation between actual inductive current phase place and sampling inductive current phase place can mean with following formula:
For inverter shown in Figure 1, its load impedance angle can mean with following formula:
Suppose that the modulating wave initial phase is zero, consider the flow process of whole current signal as shown in Figure 6, have
Usually the load of inverter has change, and due to load parameter inaccuracy, so we do not wish to use R, L, the occurrence of C, but the method for employing Frequency, calculate current measurement circuit and postpone.
When adopting different frequency, power frequency for example, 5 frequencys multiplication and 7 frequencys multiplication, can obtain
And
(8) formula is carried out to abbreviation, can obtain:
Consider (7) (9) formula, through arranging, can obtain:
By separating this equation, just can obtain the time delay t that current measurement circuit brings.
Concrete operating procedure is as follows:
Step 1: adjust respectively inverter and be output as 50Hz, 250Hz, 350Hz(are power frequency, 5 frequencys multiplication and 7 frequencys multiplication), and sampling three-phase inductive current and output voltage.
Step 2: the phase difference with respect to output voltage of measuring sample rate current
Here can use the FFT method, also can be three-phase voltage and electric current conversion DQ coordinate system all, the phase difference of calculating voltage vector sum current vector.
Step 3: will measure
Substitution equation (8), solve time delay t.
Be exactly more than the computational methods of current measurement circuit time delay, after having obtained time delay t, we just can deduct the phase difference caused by this time delay by the inductive current phase place of sampling, have namely obtained the phase place of actual inductive current.
Next, we adopt method shown in Figure 3, measure the phase place of sampling inductive current.Concrete steps are as follows:
Step 1: the sampling three-phase electric current, and rotate to the DQ coordinate system.
Step 2: at the DQ coordinate system, a low pass filter that direct frequency is very low is set, the filtering alternating component, obtain flip-flop.
Step 3: do anti-DQ conversion, obtain the first-harmonic composition of inductive current, and this first-harmonic composition is arranged, obtain inductive current polarity.
By method before, we have just obtained the exact value of inductive current polarity, can be worth with this, have carried out dead area compensation, and Fig. 5 is shown in overall compensation method.
Fig. 6 is experimental result and contrast, and MWINV-9R144 inverter platform is adopted in this experiment, DC voltage 200V, and three-phase symmetrical, inductance 3.5mH, electric capacity 15 μ F, resistance 20 Ω, switching frequency 10kHz, Dead Time are 6 μ s.(a) be inverter output waveforms and the THD(b of uncompensation) be waveform and the THD(c that directly utilizes sample rate current polarity to compensate) be to adopt output waveform of the present invention and THD.Visible, the present invention can continue to improve compensation effect on existing methodical basis, improve the compensation waveform.
Claims (6)
1. the dead-zone compensation method of a three-phase inverter, is characterized in that: comprise the following steps: judgement inductive current polarity; According to inductive current polarity, precisely determine the voltage error of each phase of inverter; The voltage error of each phase is added on voltage instruction, carries out dead area compensation.
2. the dead-zone compensation method of a kind of three-phase inverter as claimed in claim 1, it is characterized in that: the method for judgement inductive current polarity is: gather the three pole reactor electric current, it is transformed into to the DQ coordinate system, filter out alternating component and obtain flip-flop, then, calculate the phase place of flip-flop under the DQ coordinate system, then the time delay of phase place and inverter generation is subtracted each other, obtain the phase place of actual inductive current, finally according to the phase place of actual inductive current, judge inductive current polarity.
3. the dead-zone compensation method of a kind of three-phase inverter as claimed in claim 2 is characterized in that: the time delay that described inverter produces comprises current detection circuit time delay and the first-harmonic time delay caused by dead band.
4. the dead-zone compensation method of a kind of three-phase inverter as claimed in claim 3, it is characterized in that: the computational methods of described first-harmonic time delay are:
Wherein,
Be load impedance angle, △ V is the amplitude of the voltage difference that causes of dead band, and U is the output voltage amplitude of inverter during without dead band, and θ is exactly that the inverter output first-harmonic caused by dead band that will calculate postpones.
5. the dead-zone compensation method of a kind of three-phase inverter as claimed in claim 3, it is characterized in that: the computational methods of described current detection circuit time delay are: by modulating wave, adding 5 times and 7 subharmonic, and the phase shift of calculating corresponding harmonic wave in the output response,
And then obtain only containing the equation that detects the loop time delay, by numerical solution, can Exact Solutions obtain the time delay of measuring circuit.
6. as the dead-zone compensation method of claim 3 or 5 described a kind of three-phase inverters, it is characterized in that: the computational methods of described current detection circuit time delay are:
A, in modulating wave, add 5 times and 7 subharmonic, gather three pole reactor electric current and output voltage;
The phase difference with respect to output voltage of B, measurement sample rate current
Wherein,
Be respectively inverter and be output as under power frequency, 5 frequencys multiplication and 7 frequencys multiplication, the phase difference with respect to output voltage of sample rate current;
C, calculate first-harmonic time delay t according to following formula:
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| CN104201869A (en) * | 2014-08-22 | 2014-12-10 | 国家电网公司 | Dead-zone compensation method for parabolic current control |
| CN104362881A (en) * | 2014-11-17 | 2015-02-18 | 天津电气科学研究院有限公司 | Dead-time compensation method based on instantaneous current and refined voltage compensation |
| CN104578858A (en) * | 2015-01-15 | 2015-04-29 | 上海新时达电气股份有限公司 | Nonlinear compensation method for inverter |
| CN103746590B (en) * | 2014-01-22 | 2016-04-13 | 丽水学院 | The three-phase two-level inversion device space voltage vector modulation method of unipolar control |
| CN106877724A (en) * | 2017-03-20 | 2017-06-20 | 南京航空航天大学 | A kind of inverter delay compensation method based on critical current control |
| CN107317502A (en) * | 2016-04-18 | 2017-11-03 | 珠海格力电器股份有限公司 | Inverter Dead-time compensation method, device and inverter |
| CN107546966A (en) * | 2017-08-31 | 2018-01-05 | 四川大学 | A kind of harmonic wave quantitative calculation method based on CBPWM technology three-phase two-level inverters |
| CN108075678A (en) * | 2017-12-23 | 2018-05-25 | 西安交通大学 | The bilateral compensation method of three-phase inverter dead time effect based on pulse-width adjustment |
| CN111541365A (en) * | 2020-05-07 | 2020-08-14 | 上海交通大学 | Unit modulation degree control method of variable-frequency speed-regulating inverter and application thereof |
| CN111541366A (en) * | 2020-05-07 | 2020-08-14 | 上海交通大学 | Grid-connected inverter and dead zone phase shift compensation method thereof |
| CN111817594A (en) * | 2019-04-05 | 2020-10-23 | 英飞凌科技股份有限公司 | Method for determining polarity of half-bridge current and half-bridge controller |
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| CN103746590B (en) * | 2014-01-22 | 2016-04-13 | 丽水学院 | The three-phase two-level inversion device space voltage vector modulation method of unipolar control |
| CN104201869B (en) * | 2014-08-22 | 2017-01-18 | 国家电网公司 | Dead-zone compensation method for parabolic current control |
| CN104201869A (en) * | 2014-08-22 | 2014-12-10 | 国家电网公司 | Dead-zone compensation method for parabolic current control |
| CN104362881A (en) * | 2014-11-17 | 2015-02-18 | 天津电气科学研究院有限公司 | Dead-time compensation method based on instantaneous current and refined voltage compensation |
| CN104578858A (en) * | 2015-01-15 | 2015-04-29 | 上海新时达电气股份有限公司 | Nonlinear compensation method for inverter |
| CN107317502B (en) * | 2016-04-18 | 2023-07-18 | 珠海格力电器股份有限公司 | Inverter dead zone compensation method and device and inverter |
| CN107317502A (en) * | 2016-04-18 | 2017-11-03 | 珠海格力电器股份有限公司 | Inverter Dead-time compensation method, device and inverter |
| CN106877724A (en) * | 2017-03-20 | 2017-06-20 | 南京航空航天大学 | A kind of inverter delay compensation method based on critical current control |
| CN107546966A (en) * | 2017-08-31 | 2018-01-05 | 四川大学 | A kind of harmonic wave quantitative calculation method based on CBPWM technology three-phase two-level inverters |
| CN107546966B (en) * | 2017-08-31 | 2018-08-21 | 四川大学 | A kind of harmonic wave quantitative calculation method based on CBPWM technology three-phase two-level inverters |
| CN108075678A (en) * | 2017-12-23 | 2018-05-25 | 西安交通大学 | The bilateral compensation method of three-phase inverter dead time effect based on pulse-width adjustment |
| CN111817594A (en) * | 2019-04-05 | 2020-10-23 | 英飞凌科技股份有限公司 | Method for determining polarity of half-bridge current and half-bridge controller |
| CN111541366A (en) * | 2020-05-07 | 2020-08-14 | 上海交通大学 | Grid-connected inverter and dead zone phase shift compensation method thereof |
| CN111541366B (en) * | 2020-05-07 | 2021-06-25 | 上海交通大学 | Grid-connected inverter and dead zone phase shift compensation method thereof |
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