CN103618592B - A kind of PWM synchronization method and device - Google Patents
A kind of PWM synchronization method and device Download PDFInfo
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- CN103618592B CN103618592B CN201310598040.6A CN201310598040A CN103618592B CN 103618592 B CN103618592 B CN 103618592B CN 201310598040 A CN201310598040 A CN 201310598040A CN 103618592 B CN103618592 B CN 103618592B
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Abstract
The embodiment of the invention discloses a kind of PWM synchronization method and device, described method includes: upwards a node sends synchronization request information, and records the moment T1 of transmission；Receive the synchro feedback information that a upper node sends, and record the moment T4 of reception, synchro feedback information comprises a described upper node and receives the moment T2 and the moment T3 of a upper node transmission synchro feedback information of synchronization request information；According to T1, T2, T3, T4, obtain time deviation information offset of this node and a upper node；The synchronised clock of this node is adjusted with Tong Bu with a described upper node according to offset；According to described synchronised clock, produce and synchronize PWM.The present invention, by making to be formed between each node unified synchronised clock the most alternately, generates PWM based on this such that it is able to realizes high-precision PWM and synchronizes.
Description
Technical field
The embodiment of the present invention relates generally to PWM simultaneous techniques field, especially relates to a kind of PWM same
One step process and device.
Background technology
At present PWM(Pulse Width Modulation, pulse width modulation) simultaneous techniques has more
It is widely applied.Such as in modularity Frequency Drive field, often exist and use multiple power simultaneously
Module comes together to drive the situation of heavy-duty motor, now needs the PWM controlling each module to synchronize to protect
Demonstrate,prove each module current-sharing, reduce circulation.
Respective local inherent clock sysClock is generally individually had, for PWM's in each module
PwmClock clock is generally obtained by sysClock frequency multiplication.Frequency stability +/-due to conventional crystal oscillator
50ppm, namely every 1s clock crystal oscillator inherently may produce the deviation of 100us, so each power
The sysClock of module can there are differences unavoidably, the pwmClock frequency produced according to sysClock clock
Also will there is difference, will there is nonsynchronous phenomenon in the PWM that the most each module produces.
In the prior art, when needs carry out PWM synchronization, commonly used way is to arrange specially
Synchronous control signal line, by this synchronous control signal line by synchronized-pulse control signal send to each mould
Block, realizes PWM by the way of resetting pwmClock and synchronizes.But inventor is realizing this
During bright find, this scheme of the prior art due to can by synchronous control signal line length,
The impact of the factors such as PWM cycle, synchronization accuracy is the highest；Additionally, this need to dispose special same
The way of step control signal line also makes networking suffer restraints.
Summary of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of PWM synchronization method and device, with
Improve the precision that each equipment PWM synchronizes.
In order to solve above-mentioned technical problem, the embodiment of the invention discloses following technical scheme:
First aspect, it is provided that a kind of PWM synchronization method, for present node, described method includes:
Upwards a node sends synchronization request information, and records the moment sending described synchronization request information
T1；
Receive the synchro feedback information that a described upper node sends, and record receives described synchronous feedback letter
The moment T4 of breath, comprises a described upper node and receives described synchronization request information in described synchro feedback information
Moment T2 and described upper one node send described synchro feedback information moment T3；
According to described T1, T2, T3, T4, obtain the time of described present node and a described upper node
Deviation information offset；
The synchronised clock of described present node is adjusted with Tong Bu with a described upper node according to described offset；
According to described synchronised clock, produce and synchronize PWM.
In conjunction with above-mentioned first aspect, in the implementation that the first is possible, described according to described T1, T2,
T3, T4, obtain time deviation information offset of described present node and a described upper node, including:
According to offset={T2-T1-(T4-T3) }/2, obtain offset.
Second aspect, it is provided that a kind of PWM synchronization method, for present node, described method includes:
Receive the synchronization request information that next node is sent；
Sending synchro feedback information according to described synchronization request information to described next node, described synchronization is anti-
Feedforward information comprises present node and receives the moment T2 of described synchronization request information and present node sends institute
State the moment T3 of synchro feedback information.
The third aspect, it is provided that a kind of PWM synchronization method, for present node, described method includes:
Multiple synchronization request information the most upwards node is sent, and record sends described synchronization every time and asks
Seek the moment T1 of informationi；
Receive described upper one node send with synchronization request information synchro feedback information one to one, and
Record receives the moment T4 of described synchro feedback information every timei, each described synchro feedback information wraps
The moment T2 of corresponding synchronization request information is received containing a described upper nodeiSend with a described upper node
The moment T3 of described synchro feedback informationi；
For request and feedback procedure every time, according to the one group of T1 obtainedi、T2i、T3i、T4i, obtain one
Individual described present node and time deviation information offset of a described upper nodei；
According to the multiple offset obtainedi, obtain generalized time deviation information；
According to the many groups T1 obtainedi、T2i、T3i、T4i, obtain described present node and a described upper node
Collective frequency different information；
According to described generalized time deviation information and described collective frequency different information, adjust described in work as prosthomere
The synchronised clock of point is with Tong Bu with a described upper node；
According to described synchronised clock, produce and synchronize PWM.
In conjunction with the above-mentioned third aspect, in the implementation that the first is possible:
Described for request and feedback procedure every time, according to the one group of T1 obtainedi、T2i、T3i、T4i, obtain
Take time deviation information offset of a described present node and a described upper nodei, including:
According to offseti={T2i-T1i-(T4i-T3i)/2, obtain one group of T1i、T2i、T3i、T4iInstitute
Corresponding offseti；
Described according to the multiple offset obtainedi, obtain generalized time deviation information, including:
To multiple offsetiIt is weighted summation, obtains generalized time deviation information；
Many groups T1 that described basis obtainsi、T2i、T3i、T4i, obtain described present node and described upper
The collective frequency different information of node, including:
According to Fcoe=(T1'T1''+T4'T4'')/(T2'T2''+T3'T3''),
Obtain frequency difference information Fcoe of adjacent Twice requests and feedback procedure, wherein T1', T2', T3',
T4' and T1'', T2'', T3'', T4'' are respectively in adjacent Twice requests and feedback procedure one obtained
Group T1i、T2i、T3i、T4i；
According to the average of the multiple Fcoe obtained, obtain collective frequency different information.
In conjunction with the above-mentioned third aspect or the first possible implementation of the third aspect, possible at the second
In implementation, described according to described generalized time deviation information and described collective frequency different information, adjust
The synchronised clock of whole described present node with Tong Bu with a described upper node, including:
The side-play amount of described present node synchronised clock is set according to described generalized time deviation information；
The clock frequency of described present node synchronised clock is adjusted according to described collective frequency different information.
Fourth aspect, it is provided that a kind of PWM synchronization method, for present node, described method includes:
Receive multiple synchronization request information that next node is sent；
Send successively and synchronization request information synchro feedback information one to one to described next node, often
Individual described synchro feedback information comprises present node and receives the moment T2 of corresponding synchronization request informationi
With the moment T3 that present node sends described synchro feedback informationi。
5th aspect, it is provided that a kind of PWM synchronizer, for present node, described device includes:
First synchronization request transmitting element, sends synchronization request information for a upwards node, and record is sent out
Send the moment T1 of described synchronization request information；
First synchronous feedback receives unit, for receiving the synchro feedback information that a described upper node sends,
And record the moment T4 receiving described synchro feedback information, described synchro feedback information comprises on described
One node receives the moment T2 of described synchronization request information and a described upper node described synchronous feedback of transmission
The moment T3 of information；
Very first time deviation acquiring unit, for according to described T1, T2, T3, T4, obtains described working as
Front nodal point and time deviation information offset of a described upper node；
First clock adjustment unit, for adjusting the synchronised clock of described present node according to described offset
With Tong Bu with a described upper node；
PWM signal generating unit, for according to described synchronised clock, produces and synchronizes PWM.
6th aspect, it is provided that a kind of PWM synchronizer, for present node, described device includes:
First synchronization request receives unit, for receiving the synchronization request information that next node is sent；
First synchronous feedback transmitting element, for sending out to described next node according to described synchronization request information
Send synchro feedback information, described synchro feedback information comprises present node and receives described synchronization request information
Moment T2 and present node send described synchro feedback information moment T3.
7th aspect, it is provided that a kind of PWM synchronizer, for present node, described device includes:
Second synchronization request transmitting element, for multiple synchronization request information the most upwards node is sent,
And record the moment T1 every time sending described synchronization request informationi；
Second synchronous feedback receive unit, for receive described upper one node transmission with synchronization request information
Synchro feedback information one to one, and record the moment T4i every time receiving described synchro feedback information,
Each described synchro feedback information comprises a described upper node receive corresponding synchronization request information time
Carve T2i and the moment T3 of a described upper node described synchro feedback information of transmissioni；
Second time deviation acquiring unit, for for request and feedback procedure every time, according to obtained
Group T1i、T2i、T3i、T4i, obtain the time deviation letter of a described present node and a described upper node
Breath offseti；
Generalized time deviation acquiring unit, for according to the multiple offset obtainedi, obtain generalized time inclined
Difference information；
Collective frequency difference acquiring unit, for according to the many groups T1 obtainedi、T2i、T3i、T4i, obtain
Described present node and the collective frequency different information of a described upper node；
Second clock adjustment unit, for poor according to described generalized time deviation information and described collective frequency
Different information, adjusts the synchronised clock of described present node with Tong Bu with a described upper node；
PWM signal generating unit, for according to described synchronised clock, produces and synchronizes PWM.
In conjunction with above-mentioned 7th aspect, in the implementation that the first is possible, described second clock adjusts single
Unit includes:
Side-play amount adjusts subelement, for arranging described present node according to described generalized time deviation information
The side-play amount of synchronised clock；
Clock frequency adjusts subelement, works as prosthomere described in adjusting according to described collective frequency different information
The clock frequency of some synchronised clock.
Eighth aspect, it is provided that a kind of PWM synchronizer, for present node, described device includes:
Second synchronization request receives unit, for receiving multiple synchronization request information that next node is sent；
Second synchronous feedback transmitting element, for sending successively and synchronization request information to described next node
Synchro feedback information one to one, comprises present node in each described synchro feedback information and receives relatively
The moment T2 of the synchronization request information answerediWith the moment T3 that present node sends described synchro feedback informationi。
Some beneficial effects of the present invention may include that
When needs realize PWM synchronization between each node, for each node (such as power model), this
Inventive embodiments generates PWM not in use by node this locality inherent clock, the most no longer by special same
Step control signal line carries out Synchronization Control to PWM, but by the way of the most mutual between node, makes
Next node knows the time deviation of itself and a upper node, thus keeps Tong Bu with a upper node.The most each
Just can form unified synchronised clock between node, generate PWM further according to this synchronised clock, just can
Realize high-precision PWM to synchronize；Additionally, because the present invention need not dispose special Synchronization Control letter
Number line, it is only necessary to by each internodal line (such as ethernet line), also make each node networking
More flexible.
It should be appreciated that it is only exemplary, not that above general description and details hereinafter describe
The disclosure can be limited.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality
Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that below,
Accompanying drawing in description is only some embodiments of the present invention, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the networking schematic diagram carrying out PWM Synchronization Control in prior art；
Fig. 2 is the networking schematic diagram that the embodiment of the present invention one carries out PWM Synchronization Control；
Fig. 3 is the exemplary process diagram of the embodiment of the present invention one method；
Fig. 4 is the communication schematic diagram of the embodiment of the present invention one method；
Fig. 5 is the exemplary process diagram of the embodiment of the present invention one method；
Fig. 6 is the exemplary process diagram of the embodiment of the present invention two method；
Fig. 7 is the communication schematic diagram of the embodiment of the present invention two method；
Fig. 8 is the exemplary process diagram of the embodiment of the present invention two method；
Fig. 9 is the embodiment of the present invention three current block Clock Synchronization Procedure schematic diagram；
Figure 10 is that in the embodiment of the present invention three, each module PWM synchronizes schematic diagram；
Figure 11 is the schematic diagram of the embodiment of the present invention four device；
Figure 12 is the schematic diagram of the embodiment of the present invention five device；
Figure 13 is the schematic diagram of the embodiment of the present invention six device；
Figure 14 is the schematic diagram of the embodiment of the present invention seven device.
By above-mentioned accompanying drawing, it has been shown that the embodiment that the present invention is clear and definite, hereinafter will be described in more detail.
These accompanying drawings and word are described and are not intended to be limited by any mode the scope of present inventive concept, but
It is that those skilled in the art illustrate idea of the invention by reference specific embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the present invention, and
It is not all, of embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art are not making
Go out the every other embodiment obtained under creative work premise, broadly fall into the scope of protection of the invention.
In order to understand the present invention comprehensively, refer to numerous concrete details in the following detailed description, but
It should be appreciated by those skilled in the art that the present invention can realize without these details.Real at other
Execute in example, be not described in detail known method, process, assembly and circuit, in order to avoid undesirably resulting in reality
Execute example to obscure.
Fig. 1 is the networking schematic diagram carrying out PWM Synchronization Control in prior art.Central control unit passes through
Special synchronous signal line sends synchronized-pulse control signal to each power model respectively, to control PWM's
Synchronize.The impact on synchronized-pulse control signal of the length of synchronous signal line, and by lock-out pulse control
Signal processed resets this synchronization control mechanism of pwmClock, all makes PWM in prior art synchronize essence
Spend the highest.
Fig. 3 is the exemplary process diagram of the embodiment of the present invention one method.
Present embodiments providing a kind of PWM synchronization method, described method includes:
S301, upwards a node send synchronization request information, and record the described synchronization request information of transmission
Moment T1.Each power model would generally be connected with Ethernet for communication, then specifically may be used at the present embodiment
To send described synchronization request information through Ethernet and to receive synchro feedback information.
Fig. 4 is the communication schematic diagram of the embodiment of the present invention one method, and present node (i.e. from machine) is intended to upper
One node (i.e. main frame) keeps synchronizing, and then the most upwards a node sends synchronization request information, and record
Send the moment T1 of described synchronization request information, or claim time stamp T 1.
S302, receive described upper one node send synchro feedback information, and record receive described synchronization
The moment T4 of feedback information, described synchro feedback information comprises a described upper node receive described synchronization please
Ask the moment T2 and the moment T3 of a described upper node described synchro feedback information of transmission of information.
S303, according to described T1, T2, T3, T4, obtain present node and a described upper node time
Between deviation information offset.
Assume time of main frame than the time ratio from the fast offset(of machine or main frame from the slow offset of machine), main
Machine and the circuit time delay between machine are delay, then have:
T2-T1=delay+offset
T4-T3=delay offset
The most just obtain
Delay={T2-T1+T4-T3}/2
Offset={T2-T1 (T4-T3) }/2
S304, according to described offset adjust present node synchronised clock with Tong Bu with a described upper node.
S305, according to described synchronised clock, produce and synchronize PWM.
Above step is all to stand in the angle from machine to describe, if accounting for the angle at main frame, then includes such as figure
Step shown in 5:
The synchronization request information that S501, reception next node are sent.
S502, according to described synchronization request information to described next node send synchro feedback information, described
Synchro feedback information comprises present node and receives moment T2 and the present node of described synchronization request information
Send the moment T3 of described synchro feedback information.
Fig. 2 is the networking schematic diagram that the embodiment of the present invention one carries out PWM Synchronization Control.Centralized Controller
Being connected with power model 1,4 by network interface, power model 1 is connected with power model 2,3 again.Concentrate
Controller and each power model can regard a node as.During synchronization, power model 1,4 is respectively
Tong Bu with Centralized Controller, power model 2,3 is synchronize with power model 1 the most again, the most just achieves
The synchronization of whole system.
When needs realize PWM synchronization between each node, for each node, in the embodiment of the present invention
PWM is generated, the most no longer by special synchronous control signal line not in use by node this locality inherent clock
PWM is carried out Synchronization Control, but by the way of the most mutual between node, makes next node know
Its time deviation with a upper node, thus keep Tong Bu with a upper node.Just can between the most each node
Form unified synchronised clock, generate PWM further according to this synchronised clock, be just capable of high-precision
PWM synchronizes；Additionally, because the present invention need not dispose special synchronous control signal line, it is only necessary to
By each internodal line (such as ethernet line), also make each node networking more flexible.
Fig. 6 is the exemplary process diagram of the embodiment of the present invention two method.
The present embodiment is based on a upper embodiment.A upper embodiment is by the interaction once asked and feed back
Complete the synchronization of synchronised clock.In order to reach higher precision, in the present embodiment will be by repeatedly handing over
Obtain mutually and organize timestamp more.
Present embodiments providing a kind of PWM synchronization method, described method includes:
S601, multiple synchronization request information the most upwards node is sent, and record send every time described
The moment T1 of synchronization request informationi。
Fig. 7 is the communication schematic diagram of the embodiment of the present invention two method, and present node (i.e. from machine) is intended to upper
One node (i.e. main frame) keeps synchronizing, and the most upwards a node sends synchronization request information, and remembers
Record sends moment T1 (n) of described synchronization request information, T1 (n+1), and wherein the n in T1 (n) represents n-th
Secondary alternately.
S602, receive described upper one node send with synchronization request information synchronous feedback one to one believe
Breath, and record the moment T4 every time receiving described synchro feedback informationi, each described synchronous feedback is believed
Breath comprises a described upper node and receives the moment T2 of corresponding synchronization request informationiWith a described upper joint
Point sends the moment T3 of described synchro feedback informationi。
See Fig. 7, main frame in n-th interaction by the T2 (n) recorded, two moment of T3 (n)
Feed back to from machine, record moment T4 (n) receiving this feedback from machine；Main frame is mutual at (n+1)th time
During the T2 (n+1) recorded, two moment of T3 (n+1) are fed back to from machine, record reception from machine
Moment T4 (n+1) to this feedback.The most just two groups of timestamps can be obtained.
S603, for every time request and feedback procedure, according to the one group of T1 obtainedi、T2i、T3i、T4i,
Obtain time deviation information offset of a present node and a described upper nodei。
Concrete, can be according to offseti={T2i-T1i-(T4i-T3i)/2, obtain one group of T1i、T2i、
T3i、T4iCorresponding offseti。
It is easily understood that each offset of above-mentioned acquisitioniStep, can complete repeatedly mutual after system
One is carried out, it is also possible to i.e. carry out after obtaining one group of timestamp.
S604, according to obtain multiple offseti, obtain generalized time deviation information.
In the present embodiment or the present invention some other embodiments, can be by multiple offsetiAdd
Power summation, obtains described generalized time deviation information, to reduce the mistake that single offset may exist
Difference or other uncertain factors.
Many groups T1 that S605, basis obtaini、T2i、T3i、T4i, obtain present node and a described upper joint
The collective frequency different information of point.
When synchronizing two clocks, only need to be by arranging side-play amount, offset i.e. completes this function.But
It is to improve the precision that two clocks synchronize further, the frequency of two clocks, frequency can be corrected again
Different information i.e. completes this function.
In the present embodiment or the present invention some other embodiments, many groups T1 that described basis obtainsi、T2i、
T3i、T4i, acquisition present node and the collective frequency different information of a described upper node, i.e. step S605,
May include that
According to Fcoe=(T1'T1''+T4'T4'')/(T2'T2''+T3'T3''),
Obtain frequency difference information Fcoe of adjacent Twice requests and feedback procedure, wherein T1', T2', T3',
T4' and T1'', T2'', T3'', T4'' are respectively in adjacent Twice requests and feedback procedure one obtained
Group T1i、T2i、T3i、T4i；
According to the average of the multiple Fcoe obtained, obtain collective frequency different information.
It is easily understood that above-mentioned acquisition collective frequency different information and the step of generalized time deviation information
Can be without sequencing.
S606, according to described generalized time deviation information and described collective frequency different information, adjust current
The synchronised clock of node is with Tong Bu with a described upper node.
It is when being embodied as, described according to described generalized time deviation information and described collective frequency different information,
The synchronised clock of adjustment present node, with Tong Bu with a described upper node, may include that
The side-play amount of present node synchronised clock is set according to described generalized time deviation information；
The clock frequency of present node synchronised clock is adjusted according to described collective frequency different information.
S607, according to described synchronised clock, produce and synchronize PWM.
Above step is all to stand in the angle from machine to describe, if accounting for the angle at main frame, then includes such as figure
Step shown in 8:
Multiple synchronization request information that S801, reception next node are sent.
S802, to described next node send successively and synchronization request information synchronous feedback one to one letter
Breath, each described synchro feedback information comprises present node receive corresponding synchronization request information time
Carve T2iWith the moment T3 that present node sends described synchro feedback informationi。
When needs realize PWM synchronization between each node, for each node, in the embodiment of the present invention
PWM is generated, the most no longer by special synchronous control signal line not in use by node this locality inherent clock
PWM is carried out Synchronization Control, but by the way of the most mutual between node, makes next node know
Its time deviation with a upper node, thus keep Tong Bu with a upper node.Just can between the most each node
Form unified synchronised clock, generate PWM further according to this synchronised clock, be just capable of high-precision
PWM synchronizes；Additionally, because the present invention need not dispose special synchronous control signal line, it is only necessary to
By each internodal line (such as ethernet line), also make each node networking more flexible.
In conjunction with concrete scene, the present invention is described further below.
Frequency conversion motor has a wide range of applications in productive life, by adding merit between power supply and motor
Rate module (or claiming frequency-variable module), thus it is possible to vary the frequency of motor, thus regulate rotating speed, control power.
In some industry, the industry such as such as mining, boats and ships, generally require and use powerful motor, now
Single power model typically cannot tackle the biggest power, therefore need to use multiple power model altogether simultaneously
It is all motor and electric current is provided, and now in order to ensure each power model current-sharing, reduce circulation, need order each
Power model keeps clock to synchronize.Power model mainly includes rectification module and inversion module.
Fig. 9 is the embodiment of the present invention three current block Clock Synchronization Procedure schematic diagram.In fig .9, front mould is worked as
Block (i.e. present node) and a upper module (i.e. go up a node) carried out repeatedly alternately after, according to collection
To multiple timestamps be calculated three offset and three Fcoe, respectively Offset-n,
Offset-(n-1), Offset-(n-2), Fcoe-n, Fcoe-(n-1), Fcoe-(n-2).
SynCounter is coincidence counter, is core content to be obtained in the present embodiment.As long as having
SynCounter, then it is compared after (Compare) just with default Counter Value (such as 1000)
Exportable final synchronised clock Tsys-syn-clk.This Tsys-syn-clk is i.e. for generating on present node
PWM, so that it is guaranteed that the PWM of present node keeps high-precision synchronization with a upper node.
Obtain it is critical only that of SynCounter and obtain its count frequency and side-play amount, continue with
Bright:
For three side-play amounts offset, summation can be weighted, to obtain the side-play amount of SynCounter.
Specifically may refer to shown in Fig. 9, Offset-n is multiplied by weights 0.8, by Offset-(n-1) and Offset-(n-2)
Average be multiplied by weights 0.2.Certainly, in the present invention some other embodiments, could be arranged to other weightings
The mode of summation, the present invention does not limit.
500MHz is the local inherent clock frequency of present node, LCounter be local enumerator (when in
Frequency divider), 500Hz is available initial synchronisation count frequency after LCounter.
Averaging three Fcoe after (AVG) processes and obtain collective frequency different information, this is combined
Close frequency difference information and be equivalent to a frequency compensation coefficient, by this coefficient and initial synchronisation count frequency phase
After taking advantage of, i.e. obtain the count frequency of SynCounter.Certainly in the present invention some other embodiments, also
Frequency compensation coefficient can be obtained by other means, such as, be weighted average, will historical results and
This result of calculation is weighted obtaining this coefficient, not limits this present invention.
Can determine that the SynCounter(side-play amount+count frequency of present node by the way), enter
And obtain synchronised clock Tsys-syn-clk.
In this scene, present node, as from machine, obtains T2, T3 time from the upper i.e. main frame of a node
Stamp, the most just can keep Tong Bu with main frame.In other scenes, present node can be made again
For main frame, provide T2, T3 for next node, so that next node keeps synchronization with present node.
So, the numerous nodes connected by Ethernet can be realized clock and synchronize.
After each node obtains synchronised clock Tsys-syn-clk, just can realize the synchronization of PWM accordingly,
Shown in Figure 10, the corresponding power model of each square frame in figure, each module is according to synchronised clock
Tsys-syn-clk generates the parameter value of PWM.Such as:
Assume that Tsys-syn-clk is 20ns equal to 50MHz, i.e. count frequency,
So PWM cycle counting number=PWM cycle/20ns.
For PWM duty cycle enumerator and PWM deadzone parameter, it is also possible to be converted into meter in the same fashion
The value of number device.
When needs realize PWM synchronization between each node, for each node, in the embodiment of the present invention not
Re-use node this locality inherent clock and generate PWM, the most no longer by special synchronous control signal line pair
PWM carries out Synchronization Control, but by the way of the most mutual between node, make next node know its with
The time deviation of a upper node, thus keep Tong Bu with a upper node.Just can be formed between the most each node
Unified synchronised clock, generates PWM further according to this synchronised clock, is just capable of high-precision PWM
Synchronize；Additionally, because the present invention need not dispose special synchronous control signal line, it is only necessary to by respectively
Internodal line (such as ethernet line), also makes each node networking more flexible.
Figure 11 is the schematic diagram of the embodiment of the present invention four device.
The present embodiment is based on said method embodiment, it is provided that a kind of PWM synchronizer, for working as prosthomere
Point, described device includes:
First synchronization request transmitting element 1101, sends synchronization request information for a upwards node, and remembers
Record sends the moment T1 of described synchronization request information；
First synchronous feedback receives unit 1102, for receiving the synchronous feedback letter that a described upper node sends
Breath, and record the moment T4 receiving described synchro feedback information, described synchro feedback information comprises institute
State a node and receive the moment T2 of described synchronization request information and a described upper node described synchronization of transmission
The moment T3 of feedback information；
Very first time deviation acquiring unit 1103, for according to described T1, T2, T3, T4, obtains current
Node and time deviation information offset of a described upper node；
First clock adjustment unit 1104, for according to described offset adjust present node synchronised clock with
Tong Bu with a described upper node；
PWM signal generating unit 1105, for according to described synchronised clock, produces and synchronizes PWM.
Figure 12 is the schematic diagram of the embodiment of the present invention five device.
The present embodiment is based on said method embodiment, it is provided that a kind of PWM synchronizer, for working as prosthomere
Point, described device includes:
First synchronization request receives unit 1201, for receiving the synchronization request information that next node is sent；
First synchronous feedback transmitting element 1202, is used for according to described synchronization request information to next joint described
Point sends synchro feedback information, comprises present node and receive described synchronization request in described synchro feedback information
The moment T2 of information and present node send the moment T3 of described synchro feedback information.
Figure 13 is the schematic diagram of the embodiment of the present invention six device.
The present embodiment is based on said method embodiment, it is provided that a kind of PWM synchronizer, for working as prosthomere
Point, described device includes:
Second synchronization request transmitting element 1301, for by multiple synchronization request information the most upwards nodes
Send, and record the moment T1 every time sending described synchronization request informationi；
Second synchronous feedback receives unit 1302, for receiving a described upper node sends and synchronization request
Information synchro feedback information one to one, and record the moment every time receiving described synchro feedback information
T4i, comprises a described upper node and receives corresponding synchronization request information in each described synchro feedback information
Moment T2i and described upper one node send described synchro feedback information moment T3i；
Second time deviation acquiring unit 1303, for for request and feedback procedure every time, according to obtaining
One group of T1i、T2i、T3i、T4i, obtain the time deviation letter of a present node and a described upper node
Breath offseti；
Generalized time deviation acquiring unit 1304, for according to the multiple offset obtainedi, obtain generalized time
Deviation information；
Collective frequency difference acquiring unit 1305, for according to the many groups T1 obtainedi、T2i、T3i、T4i,
Obtain the collective frequency different information of present node and a described upper node；
Second clock adjustment unit 1306, for according to described generalized time deviation information and described comprehensive frequency
Rate different information, adjusts the synchronised clock of present node with Tong Bu with a described upper node；
PWM signal generating unit 1307, for according to described synchronised clock, produces and synchronizes PWM.
Preferably, described second clock adjustment unit includes:
Side-play amount adjusts subelement, synchronizes for arranging present node according to described generalized time deviation information
The side-play amount of clock；
Clock frequency adjusts subelement, same for adjusting present node according to described collective frequency different information
The clock frequency of step clock.
Figure 14 is the schematic diagram of the embodiment of the present invention seven device.
The present embodiment is based on said method embodiment, it is provided that a kind of PWM synchronizer, for working as prosthomere
Point, described device includes:
Second synchronization request receives unit 1401, for receiving multiple synchronization request letter that next node is sent
Breath；
Second synchronous feedback transmitting element 1402, for sending successively and synchronization request to described next node
Information synchro feedback information one to one, comprises present node in each described synchro feedback information and receives
The moment T2 of corresponding synchronization request informationiWith the moment that present node sends described synchro feedback information
T3i。
For each device embodiment, owing to it corresponds essentially to embodiment of the method, so relevant part
The part seeing embodiment of the method illustrates.Device embodiment described above is only schematically,
The wherein said unit illustrated as separating component can be or may not be physically separate, makees
The parts shown for unit can be or may not be physical location, i.e. may be located at a place,
Or can also be distributed on multiple NE.Can select according to the actual needs part therein or
The whole module of person realizes the purpose of the present embodiment scheme.Those of ordinary skill in the art are not paying creation
Property work in the case of, be i.e. appreciated that and implement.
The present invention can described in the general context of computer executable instructions,
Such as program module.Usually, program module includes performing particular task or realizing specific abstract data class
The routine of type, program, object, assembly, data structure etc..Can also be in a distributed computing environment
Put into practice the present invention, in these distributed computing environment, by by communication network connected remotely
Reason equipment performs task.In a distributed computing environment, program module may be located at and includes storage device
In interior local and remote computer-readable storage medium.
One of ordinary skill in the art will appreciate that all or part of step realizing in said method embodiment
Suddenly the program that can be by completes to instruct relevant hardware, and described program can be stored in computer
In read/write memory medium, the storage medium obtained designated herein, such as: ROM, RAM, magnetic disc, light
Dish etc..
Also, it should be noted in this article, the relational terms of such as first and second or the like is only used
One entity or operation are separated with another entity or operating space, and not necessarily requires or secretly
Show relation or the order that there is any this reality between these entities or operation.And, term " bag
Include ", " comprising " or its any other variant be intended to comprising of nonexcludability, so that bag
Include the process of a series of key element, method, article or equipment and not only include those key elements, but also include
Other key elements being not expressly set out, or also include for this process, method, article or equipment
Intrinsic key element.In the case of there is no more restriction, statement " including ... " limit
Key element, it is not excluded that there is also additionally in including the process of described key element, method, article or equipment
Identical element.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the protection model of the present invention
Enclose.Specific case used herein has carried out lock stated principle and the embodiment of the present invention, above reality
The explanation executing example is only intended to help to understand method and the core concept thereof of the present invention；Simultaneously for ability
The those skilled in the art in territory, according to the thought of the present invention, the most all can
Change part.In sum, this specification content should not be construed as limitation of the present invention.All at this
Any modification, equivalent substitution and improvement etc. made within the spirit of invention and principle, are all contained in this
In bright protection domain.
Claims (5)
1. a PWM synchronization method, it is characterised in that for present node, described method includes:
Multiple synchronization request information the most upwards node is sent, and record sends described synchronization every time and asks
Seek the moment T1 of informationi；
Receive described upper one node send with synchronization request information synchro feedback information one to one, and
Record receives the moment T4 of described synchro feedback information every timei, each described synchro feedback information wraps
The moment T2 of corresponding synchronization request information is received containing a described upper nodeiSend with a described upper node
The moment T3 of described synchro feedback informationi；
For request and feedback procedure every time, according to the one group of T1 obtainedi、T2i、T3i、T4i, obtain one
Individual described present node and time deviation information offset of a described upper nodei；
According to the multiple offset obtainedi, obtain generalized time deviation information；
According to the many groups T1 obtainedi、T2i、T3i、T4i, obtain described present node and a described upper node
Collective frequency different information；
According to described generalized time deviation information and described collective frequency different information, adjust described in work as prosthomere
The synchronised clock of point is with Tong Bu with a described upper node；
According to described synchronised clock, produce and synchronize PWM；
Wherein, many groups T1 that described basis obtainsi、T2i、T3i、T4i, obtain described present node and institute
State the collective frequency different information of a node, including:
According to Fcoe=(T1'T1 "+T4'T4 ")/(T2'T2 "+T3'T3 "),
Obtain frequency difference information Fcoe of adjacent Twice requests and feedback procedure, wherein T1', T2', T3',
T4' and T1 ", T2 ", T3 ", T4 " be respectively in adjacent Twice requests and feedback procedure one obtained
Group T1i、T2i、T3i、T4i；
According to the average of the multiple Fcoe obtained, obtain collective frequency different information.
Method the most according to claim 1, it is characterised in that:
Described for request and feedback procedure every time, according to the one group of T1 obtainedi、T2i、T3i、T4i, obtain
Take time deviation information offset of a described present node and a described upper nodei, including:
According to offseti={ T2i-T1i-(T4i-T3i)/2, obtain one group of T1i、T2i、T3i、T4iInstitute
Corresponding offseti；
Described according to the multiple offset obtainedi, obtain generalized time deviation information, including:
To multiple offsetiIt is weighted summation, obtains generalized time deviation information.
Method the most according to claim 1 and 2, it is characterised in that described according to described comprehensive time
Between deviation information and described collective frequency different information, adjust the synchronised clock of described present node with institute
State a node to synchronize, including:
The side-play amount of described present node synchronised clock is set according to described generalized time deviation information；
The clock frequency of described present node synchronised clock is adjusted according to described collective frequency different information.
4. a PWM synchronizer, it is characterised in that for present node, described device includes:
Second synchronization request transmitting element, for multiple synchronization request information the most upwards node is sent,
And record the moment T1 every time sending described synchronization request informationi；
Second synchronous feedback receive unit, for receive described upper one node transmission with synchronization request information
Synchro feedback information one to one, and record the moment T4i every time receiving described synchro feedback information,
Each described synchro feedback information comprises a described upper node receive corresponding synchronization request information time
Carve T2i and the moment T3 of a described upper node described synchro feedback information of transmissioni；
Second time deviation acquiring unit, for for request and feedback procedure every time, according to obtained
Group T1i、T2i、T3i、T4i, obtain the time deviation letter of a described present node and a described upper node
Breath offseti；
Generalized time deviation acquiring unit, for according to the multiple offset obtainedi, obtain generalized time inclined
Difference information；
Collective frequency difference acquiring unit, for according to the many groups T1 obtainedi、T2i、T3i、T4i, obtain
Described present node and the collective frequency different information of a described upper node；
Second clock adjustment unit, for poor according to described generalized time deviation information and described collective frequency
Different information, adjusts the synchronised clock of described present node with Tong Bu with a described upper node；
PWM signal generating unit, for according to described synchronised clock, produces and synchronizes PWM；
Wherein, according to the many groups T1 obtainedi、T2i、T3i、T4i, obtain described present node with described on
The collective frequency different information of one node, including:
According to Fcoe=(T1'T1 "+T4'T4 ")/(T2'T2 "+T3'T3 "),
Obtain frequency difference information Fcoe of adjacent Twice requests and feedback procedure, wherein T1', T2', T3',
T4' and T1 ", T2 ", T3 ", T4 " be respectively in adjacent Twice requests and feedback procedure one obtained
Group T1i、T2i、T3i、T4i；
According to the average of the multiple Fcoe obtained, obtain collective frequency different information.
Device the most according to claim 4, it is characterised in that described second clock adjustment unit bag
Include:
Side-play amount adjusts subelement, for arranging described present node according to described generalized time deviation information
The side-play amount of synchronised clock；
Clock frequency adjusts subelement, works as prosthomere described in adjusting according to described collective frequency different information
The clock frequency of some synchronised clock.
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| CN103986601B (en) * | 2014-05-16 | 2017-10-10 | 北京东土科技股份有限公司 | A kind of message transmissions time delay acquisition methods and device |
| CN106656397B (en) * | 2017-03-01 | 2019-04-05 | 广州广哈通信股份有限公司 | Clock synchronizing method and device |
| CN110971818A (en) * | 2019-11-19 | 2020-04-07 | 北京奇艺世纪科技有限公司 | Time calibration method and device, auxiliary slave equipment and auxiliary master equipment |
| CN114235128B (en) * | 2021-11-09 | 2024-07-12 | 珠海市蓝衡科技有限公司 | Sound velocity measuring method, circuit, device and storage medium |
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