CN103888005B - The offset voltage algorithm and interpolating method of Inverter Dead-time in electric machine control system - Google Patents
The offset voltage algorithm and interpolating method of Inverter Dead-time in electric machine control system Download PDFInfo
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Abstract
The invention discloses a kind of offset voltage algorithm of Inverter Dead-time in electric machine control system and interpolating method, this offset voltage algorithm calculates Inverter Dead-time effect errors time Terr, wherein including power tube in a PWM cycle and the equivalent error time T caused by Nave, calculate TaveEquivalent error time caused U phase output terminals voltage error V in a PWM cycleao_err, push away accordingly inverter three-phase phase voltage error, the offset voltage of Inverter Dead-time is obtained by phase voltage error.This interpolating method samples inverter three-phase current by current sensor and makees filtering process, make clark, park conversion respectively to three-phase current after filtering and inverse park, inverse clark are converted, three-phase current signal after being filtered, set the threshold value of zero crossing, when three-phase current absolute value is more than the threshold value after filtering, the interpolation of inverter offset voltage is carried out.This algorithm is compensated voltage, and Inverter Dead-time effect is avoided using this interpolating method.
Description
Technical Field
The invention relates to a compensation voltage algorithm and an interpolation method for a dead zone of an inverter in a motor control system.
Background
When the motor runs at low speed, particularly when the motor is in light load, phase current and phase voltage are distorted due to the dead zone effect of the inverter, and a zero current clamping phenomenon is generated, so that the current harmonic content output by the frequency converter is increased; this current harmonic content increases flux linkage distortion and torque ripple of the motor. In the existing motor control system, before Space Vector Pulse Width Modulation (SVPWM) control, how to obtain accurate three-phase voltage U by an inverter A 、U B 、U C To avoid the dead zone effect of the inverter, the following methods are mainly used: directly uses the PID regulation control to directly regulate i d 、i q Making pi adjustment to obtain u d 、u q Then obtaining the product through inverse park transformation and inverse clark transformationU A 、U B 、U C (ii) a However, this method cannot fully compensate the error voltage caused by the dead-time effect of the inverter, and the reasons include the following: firstly, due to the limitation of software or hardware of a motor control system, current sampling has certain bandwidth, the regulation speed is limited, secondly, the current regulation is a time delay or first-order link, and the frequency domain expression of the current PI regulation is usually as followsk p Is the proportionality coefficient, k, of a PID regulator i Is the integral coefficient of the PI regulator, T s For sampling time, z is a complex variable, the pull-type transformation of the sampled signal is transplanted to represent the z-transformation of the discrete-time signal, and the influence of the current regulation speed makes it impossible to fully compensate the dead-zone effect of the inverter.
As shown in fig. 1, a schematic diagram of the inverter dead zone effect is generated, and in actual operation of the motor, an output current of the inverter is affected by dead zone delay time, on-off time of a power device, conduction voltage drop between the power device and a diode, direct-current power supply pulsation, and the like. Wherein, T on For the power tube on-time, T off For the turn-off time of the power tube, T d For dead time delay, U T For power tube conduction voltage drop, U D Is the diode conduction voltage drop.
Disclosure of Invention
The invention aims to solve the technical problem of providing a compensation voltage algorithm and an interpolation method for a dead zone of an inverter in a motor control system, wherein the algorithm can obtain the compensation voltage of the dead zone of the inverter, the dead zone effect of the inverter is effectively avoided by using the interpolation method, the highest rotating speed which can be reached by the motor and the dynamic response of the motor at low speed can be improved, and the harmonic content of the motor control system is reduced.
In order to solve the technical problem, the compensation voltage algorithm of the inverter dead zone in the motor control system comprises the following steps:
step one, considering the dead zone delay time T of the inverter d Switching-on time T of inverter power tube on Off time T off Under the influence of the conduction voltage drop of the power tube and the conduction voltage drop of the diode, taking the U phase of the inverter as an example, in a PWM period, the dead zone effect error time T of the inverter is calculated according to the fact that the ideal volt-second area is equal to the actual volt-second area err Comprises the following steps:
T err ＝(T d +T on -T off +T ave )*sgn(i U ) (1)
wherein
In the formulae (1) and (2), T S Is the sampling time, U, within one PWM cycle d Is diode conduction voltage drop, U T For conducting the voltage drop, i, of the power tube U For the inverter U phase current, T ave Equivalent error time caused by the conduction voltage drop of a power tube and a diode in one PWM period;
step two, calculating T ave U-phase output voltage error U caused by equivalent error time in one PWM period ao_err ，
As can be seen from the expressions (3) and (2), the voltage error U at the output end of U phase ao_err Sampled time T s And DC bus voltage U dc The influence of (a);
step three, calculating voltage errors of the output end of the U phase of the inverter according to the voltage errors of the output end of the U phase of the inverter in the step one and the step two, and deducing that the phase voltage errors of the three phases of the inverter are as follows:
in the formulas (4), (5) and (6), U an_err Is the error voltage of the U-phase output terminal, U bn_err Is the error voltage of the V-phase output terminal, U cn_err Is the error voltage i of the W-phase output terminal U For the inverter U phase current, i V For inverter V phase current, i W For inverter W phase current, U dc Is a dc bus voltage;
step four, according to the error voltages of the output ends of the phases of the inverter of the formula (4), the formula (5) and the formula (6), the compensation voltages of the dead zone of the inverter can be obtained as follows:
U un_comp ＝-U an_err (7)
U vn_comp ＝-U bn_err (8)
U wn_comp ＝-U cn_err (9)
wherein: u shape un_comp For compensating voltage of inverter U phase, U vn_comp For compensation voltage of inverter V-phase, U wn_comp Is the compensation voltage of the inverter W phase.
The compensation voltage interpolation method of the inverter dead zone in the motor control system comprises the following steps:
step one, known by a compensation voltage algorithm, the compensation voltage is related to the polarity of three-phase current of the inverter, and the three-phase current i of the inverter is respectively obtained by sampling through a current sensor U 、i V And i W And for three-phase current i of inverter U 、i V And i W Performing clark and park conversion to obtain direct current i d 、i q ；
Step two, direct current i d 、i q Performing first-order low-pass filtering to obtain filtered three-phase current i U0 、i V0 、i W0 The filtered three-phase current i U0 、i V0 、i W0 Carrying out inverse park and inverse clark conversion to obtain three-phase current i U 、i V 、i W The three-phase current i obtained at this time U 、i V 、i W Is a filtered current signal;
step three, setting three-phase current i U 、i V 、i W The zero crossing point has a threshold value of i threshold ，
When | i U |>i threshold In time, the inverter interpolates the compensation voltage of the U phase,
when | i V |>i threshold When the inverter is in operation, the inverter interpolates the V-phase compensation voltage,
when | i W |>i threshold When the voltage is higher than the voltage threshold value, the inverter interpolates the W-phase compensation voltage;
step four, the inverter U/V/W phase compensation voltage is converted into U through clark an_comp And U bn_comp V obtained by PID regulation control d 、V q Output V via inverse park transform a 、V b ，U an_comp And U bn_comp Respectively with V a And V b Adding, and performing reverse click conversion on the voltage obtained by adding to obtain U-phase voltage U U V phase voltage U V W phase voltage U W ,U U U V U W The three-phase voltage is used as the input voltage of the inverter SVPWM control.
The compensation voltage algorithm and the interpolation method of the dead zone of the inverter in the motor control system adopt the technical scheme, namely, the compensation voltage algorithm calculates the error time T of the dead zone effect of the inverter according to the ideal and actual volt-second areas which are equal err The equivalent error time T caused by the conduction voltage drop of the power tube and the diode in one PWM period ave Calculating T ave U-phase output voltage error U caused by equivalent error time in one PWM period ao_err The phase voltage error of the three phases of the inverter is obtained by the estimation, the error of the phase current of the inverter is the ratio of the phase voltage error to the impedance, and the compensation voltage of the dead zone of the inverter is obtained by the phase voltage error. The interpolation method respectively obtains three-phase current of the inverter through sampling of the current sensor and carries out first-order low-pass filtering processingAnd performing clark and park conversion, inverse park and inverse clark conversion on the filtered three-phase current to obtain filtered three-phase current signals, setting a threshold of a zero crossing point of the filtered three-phase current, and interpolating the compensation voltage of the inverter when the absolute value of the filtered three-phase current is greater than the threshold. The compensation voltage of the dead zone of the inverter is obtained by the algorithm, the dead zone effect of the inverter is effectively avoided by adopting the interpolation method, the highest rotating speed which can be reached by the motor and the dynamic response of the motor at the low speed are improved, and the harmonic content of a motor control system is reduced.
Drawings
The invention is described in further detail below with reference to the following figures and embodiments:
FIG. 1 is a schematic diagram of inverter dead zone effect generation;
FIG. 2 is a flowchart of an interpolation method according to the present invention;
FIG. 3 is a comparison graph of external characteristic curves before and after dead-zone compensation of the inverter;
FIG. 4 is a phase current waveform without compensation voltage interpolation;
FIG. 5 is a phase current waveform with compensated voltage interpolation for a compensation time of 3.464 us;
fig. 6 is a waveform diagram of phase current interpolated by compensated voltage and having a compensation time of 6.5 us.
Detailed Description
The compensation voltage algorithm of the inverter dead zone in the motor control system comprises the following steps:
step one, considering the dead zone delay time T of the inverter d Switching-on time T of inverter power tube on Off time T off Under the influence of the conduction voltage drop of the power tube and the conduction voltage drop of the diode, taking the U phase of the inverter as an example, in a PWM period, the dead zone effect error time T of the inverter is calculated according to the fact that the ideal volt-second area is equal to the actual volt-second area err Comprises the following steps:
T err ＝(T d +T on -T off +T ave )*sgn(i U ) (1)
wherein
In the formulae (1) and (2), T S Is the sampling time, U, within one PWM cycle d Is diode conduction voltage drop, U T For conducting the voltage drop, i, of the power tube U For the inverter U phase current, T ave Sgn (i) is the equivalent error time caused by the conduction voltage drop of the power tube and the diode in one PWM cycle U ) Is i U When a sign function of i U >, 0 the value of the function sgn is 1, when i U &When lt is 0, the value of the function sgn is-1, when i U Function sgn value 0 when = 0;
step two, calculating T ave U-phase output voltage error U caused by equivalent error time in one PWM period ao_err ，
As can be seen from the expressions (3) and (2), the voltage error U at the output end of U phase ao_err Sampled time T s And DC bus voltage U dc The influence of (a);
step three, calculating voltage errors of the output end of the U phase of the inverter according to the voltage errors of the output end of the U phase of the inverter in the step one and the step two, and deducing that the phase voltage errors of the three phases of the inverter are as follows:
in the formulae (4), (5) and (6), U an_err Is the error voltage of the U-phase output terminal, U bn_err Is the error voltage of the V-phase output terminal, U cn_err Is the error voltage, i, of the W-phase output terminal U For the inverter U phase current, i V For inverter V phase current, i W For inverter W phase current, U dc Is a dc bus voltage;
step four, according to the error voltages of the output ends of the phases of the inverter of the formula (4), the formula (5) and the formula (6), the compensation voltages of the dead zone of the inverter can be obtained as follows:
U un_comp ＝-U an_err (7)
U vn_comp ＝-U bn_err (8)
U wn_comp ＝-U cn_err (9)
wherein: u shape un_comp For the compensation voltage of the U phase of the inverter, U vn_comp For compensation voltage of inverter V-phase, U wn_comp Is the compensation voltage of the inverter W phase.
As shown in fig. 2, the compensation voltage interpolation method for the dead zone of the inverter in the motor control system includes the following steps:
step one, known by a compensation voltage algorithm, the compensation voltage is related to the polarity of three-phase current of the inverter, and the three-phase current i of the inverter is respectively obtained by sampling through a current sensor U 、i V And i W And for three-phase current i of inverter U 、i V And i W Performing clark and park conversion to obtain direct current i d 、i q ；
Step two, because three-phase current obtained by sampling of a current sensor has burrs and high-frequency harmonic waves, misjudgment is easily caused, filtering processing is needed, delay is caused after first-order low-pass filtering is directly carried out on phase current, the compensated phase voltage is distorted, voltage compensation cannot be directly carried out according to the phase current, and therefore direct current i is subjected to direct current i d 、i q Performing first-order low-pass filtering to obtain filtered three-phase current i U0 、i V0 、i W0 The filtered three-phase current i U0 、i V0 、i W0 Carrying out inverse park and inverse clark conversion to obtain three-phase current i U 、i V 、i W The three-phase current i obtained at this time U 、i V 、i W Is a filtered current signal;
step three, i obtained in the way U 、i V 、i W The method cannot be directly used for judging the polarity of the phase current, is influenced by the direct current offset of a current sensor, the zero current clamping phenomenon, PWM noise, A/D conversion precision and the like, the phase current has certain fluctuation near a zero crossing point, the polarity of the phase current is difficult to judge correctly, and the compensation effect is reduced due to wrong judgment results, so that the three-phase current i is set in practical application U 、i V 、i W The threshold value of the zero crossing point is i threshold To enlarge the judgment area for detecting the zero crossing point polarity of the phase current,
when | i U |>i threshold In time, the inverter interpolates the compensation voltage of the U phase,
when | i V |>i threshold When the inverter is in use, the inverter interpolates the compensation voltage of V phase,
when | i W |>i threshold When the voltage is higher than the preset voltage, the inverter interpolates the W-phase compensation voltage;
step four, the inverter U/V/W phase compensation voltage is converted by clark to obtain U an_comp And U bn_comp V obtained by PID regulation control d 、V q V output by inverse park transform a 、V b ，U an_comp And U bn_comp Respectively with V a And V b Adding, and performing reverse click conversion on the voltage obtained by adding to obtain U-phase voltage U U V phase voltage U V W phase voltage U W ,U U U V U W The three-phase voltages are used as input voltages for the inverter SVPWM control.
The invention provides a compensation voltage algorithm and an interpolation method of an inverter dead zone, aiming at the problems that when a motor in a motor control system runs at low speed, particularly when the motor is in light load, the dead zone effect of the inverter causes the distortion of the phase current and the phase voltage of the motor and generates a zero current clamping phenomenon, the current harmonic content output by the inverter is increased, and the flux linkage distortion and the torque ripple of the motor are increased by the current harmonic content.
The torque ripple of the motor can be obtained by performing fourier function transformation on the expressions (4), (5) and (6) in the third step of the algorithm, respectively:
in the formulas (10), (11) and (12), k is a positive integer such as 1, 2, 3 or 4 \8230and \8230isused for calculating the harmonic frequency, wt is the current rotor angle, n is the harmonic frequency, and if n =5, the 5 th harmonic value of the current fundamental wave value is represented.
From the latter half of equations (10), (11) and (12), it can be known that the inverter dead zone effect will increase the content of the subharmonics such as phase voltage error values fundamental waves 5, 7, 11, 13, and from the circuit knowledge i = u/z (i is the current flowing through the impedance in the loop, u is the voltage at both ends of the impedance in the loop, and z is the impedance in the loop), it can be inferred that the inverter phase current error is the ratio of the phase voltage error to the phase impedance, and thus the inverter dead zone effect will also increase the content of the subharmonics such as phase current error values fundamental waves 5, 7, 11, 13. Represented by the formula T =3/2n p [ψi q +(l d -l q )i d i q ](T is motor output torque, n) p For the pole pair number of the motor, psi is the flux linkage of the motor rotor, l d l q For d-and q-axis inductance values, i, of the motor rotor d i q The value of the current flowing through the d-axis and q-axis of the motor), the harmonic wave of the phase current increase containsAfter the torque is input to the motor through the inverter, the torque pulsation of the driving motor is intensified.
The compensation voltage of the dead zone of the inverter is obtained through the algorithm, and a proper time is selected for interpolation, so that the voltage utilization rate is improved, as shown in fig. 3, the highest speed which can be reached by a system is improved through external characteristic curves of the motor before and after interpolation, such as the speed n1 is improved to the speed n2; as shown in fig. 4, the phase current waveform without compensation voltage interpolation has zero current clamp, and the sine of the waveform is poor; as shown in fig. 5 and 6, the zero current clamp of the phase current waveform interpolated by the compensation voltage disappears, and the waveform is closer to a sine wave, and the dynamic response of the motor at low speed is improved, and the harmonic content of the system is reduced, thereby reducing the torque ripple of the motor. In addition, through practical tests, when the line voltage Udc =336v and the inverter dead time is 7.5us of the motor control system, the following table is obtained before and after the compensation voltage interpolation under the same working condition of the motor:
from the table, it is known that the electric vdq value of the motor is reduced by about 5v under the same working condition before and after the compensation voltage interpolation, and therefore, the utilization rate of the bus voltage of the motor control system is improved.
Claims (2)
1. A compensation voltage algorithm of an inverter dead zone in a motor control system is characterized by comprising the following steps:
step one, considering the dead zone delay time T of the inverter d Inverter power tube on-time T on Off time T off Under the influence of the conduction voltage drop of the power tube and the conduction voltage drop of the diode, taking the U phase of the inverter as an example, in a PWM period, the dead zone effect error time T of the inverter is calculated according to the fact that the ideal volt-second area is equal to the actual volt-second area err Comprises the following steps:
T err ＝(T d +T on -T off +T ave )*sgn(i U ) (1)
wherein
In the formulae (1) and (2), T S Is the sampling time, U, within one PWM cycle d Is diode conduction voltage drop, U T For conducting the voltage drop, i, of the power tube U For the inverter U phase current, T ave Equivalent error time caused by conduction voltage drop of a power tube and a diode in a PWM period;
step two, calculating T ave U-phase output voltage error U caused by equivalent error time in one PWM period ao_err ，
As can be seen from the expressions (3) and (2), the voltage error U at the output end of U phase ao_err Sampled time T s And DC bus voltage U dc The influence of (c);
step three, calculating voltage errors of the output end of the U phase of the inverter in the step one and the step two to obtain phase voltage errors of three phases of the inverter as follows:
in the formulae (4), (5) and (6), U an_err Is the error voltage of the U-phase output terminal, U bn_err Is the error voltage of the V-phase output terminal, U cn_err Is W-phase output terminal errorVoltage, i U For inverter U phase current, i V For inverter V phase current, i W For inverter W phase current, U dc Is a dc bus voltage;
step four, according to the error voltages of the output ends of the phases of the inverter of the formula (4), the formula (5) and the formula (6), the compensation voltages of the dead zone of the inverter can be obtained as follows:
U un_comp ＝-U an_err (7)
U vn_comp ＝-U bn_err (8)
U wn_comp ＝-U cn_err (9)
wherein: u shape un_comp For compensating voltage of inverter U phase, U vn_comp For compensation voltage of inverter V-phase, U wn_comp Is the compensation voltage of the inverter W phase.
2. A compensation voltage interpolation method for a dead zone of an inverter in a motor control system is characterized by comprising the following steps:
step one, known by a compensation voltage algorithm, the compensation voltage is related to the polarity of the three-phase current of the inverter, and the three-phase current i of the inverter is respectively obtained by sampling through a current sensor U 、i V And i W And for three-phase current i of inverter U 、i V And i W Performing clark and park conversion to obtain direct current i d 、i q ；
Step two, direct current i d 、i q Performing first-order low-pass filtering to obtain filtered three-phase current i U0 、i V0 、i W0 The filtered three-phase current i U0 、i V0 、i W0 Inverse park and inverse clark conversion are carried out to obtain three-phase current i U 、i V 、i W The three-phase current i obtained at this time U 、i V 、i W Is a filtered current signal;
step three, setting three-phase current i U 、i V 、i W The threshold value of the zero crossing point isi threshold ，
When | i U |>i threshold In time, the inverter interpolates the compensation voltage of the U phase,
when | i V |>i threshold When the inverter is in use, the inverter interpolates the compensation voltage of V phase,
when | i W |>i threshold When the voltage is higher than the voltage threshold value, the inverter interpolates the W-phase compensation voltage;
step four, the inverter U/V/W phase compensation voltage is converted into U through clark an_comp And U bn_comp V obtained by PID regulation control d 、V q Output V after inverse park transformation a 、V b ，U an_comp And U bn_comp Respectively with V a And V b Adding, and performing reverse clark conversion on the voltage obtained by the addition to obtain U-phase voltage U U V phase voltage U V W-phase voltage U W ,U U U V U W The three-phase voltages are used as input voltages for the inverter SVPWM control.
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| CN111061330B (en) * | 2019-12-30 | 2021-07-23 | 上海新时达电气股份有限公司 | Frequency converter bus voltage correction method and device, electronic equipment and storage medium |
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