CN108459655A - A kind of SPWM pulse signal implementation methods based on MCU - Google Patents
A kind of SPWM pulse signal implementation methods based on MCU Download PDFInfo
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- CN108459655A CN108459655A CN201810049765.2A CN201810049765A CN108459655A CN 108459655 A CN108459655 A CN 108459655A CN 201810049765 A CN201810049765 A CN 201810049765A CN 108459655 A CN108459655 A CN 108459655A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/02—Digital function generators
- G06F1/025—Digital function generators for functions having two-valued amplitude, e.g. Walsh functions
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
- H02M1/081—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters wherein the phase of the control voltage is adjustable with reference to the AC source
- H02M1/082—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters wherein the phase of the control voltage is adjustable with reference to the AC source with digital control
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Abstract
The SPWM pulse signal implementation methods based on MCU that the invention discloses a kind of use symmetric regular-sampled method to determine the generating mode of SPWM waves first.Then, one containing SIN function that can't change in follow-up practical control is first calculated, and is stored in array.The SPWM Bobbis that A 1/4 sine wave period of phase is calculated according to SPWM waveform duty cycle calculation formula are stored in A phase SPWM Bobbis compared with 1/4 part before time array compared with the time.According to the symmetry of sine wave, obtain the comparison time of 3/4 part after A phases, further according to the phase difference characteristics of Three-phase SPWM wave, B phase SPWM Bobbis are obtained compared with time array and C phase SPWM Bobbis compared with time array, intercept to obtain the square wave that duty ratio sinusoidally changes finally by triangular wave.The method of the present invention can reduce the operand generated during SPWM waveforms, accelerate calculating process, reduce the consumption of processor and memory source, improve the precision under equal conditions generating SPWM waveforms.
Description
Technical field
Technical field is controlled or regulated the invention belongs to dynamo-electric converter, and in particular to a kind of SPWM arteries and veins based on MCU
Signal implementation method is rushed, SPWM digit pulses are provided especially for industrial quick control.
Background technology
Sinusoidal Pulse Width Modulation (Sinusoidal Pulse Width Modulation, SPWM) method is a kind of comparison
Ripe, wide PWM methods are used at present.This method is that nature or rule are made in multiple pulses in each sinusoidal cycles
Width modulated, so that it is sequentially modulated out the phase angle for being equivalent to sine function and area, be equivalent to the pulse sequence of sine wave
Row form the not wide sinusoidal galvanic current output of constant amplitude.
Currently, there are many method for generating SPWM waveforms, SPWM analog circuits can be formed with operational amplifier；It can also use
Digital circuit or Analog-digital circuit form multistage gradient triangular wave or sine wave to generate SPWM waves；Can also use MCU,
The chips such as FPGA or processor generate SPWM waveforms by the method for programming.
But when generating SPWM waveforms using the analog circuit of operational amplifier or Digital Analog Hybrid Circuits, due to component itself
Precision it is not high, can cause generate SPWM waveforms there are distortion phenomenon, precision is not high.And with computer or chip microcontroller
SPWM is controlled, and by limitations such as system dominant frequency, processor resource, memory sources, production is recalculated needing the when of changing control parameter
The speed of raw SPWM waveforms is limited, and being limited by arithmetic speed causes precision poor；It is then debugged using dedicated logic circuit tired
Difficulty can cause the waste of a large amount of manpowers and economic cost.
Generally speaking, otherwise current SPWM waveform generation techniques using operational amplifier analog circuit or digital-to-analogue
Hybrid circuit, obtained waveform quality is poor, precision is low；Using computer or chip microcontroller SPWM controls, algorithm
Not by optimization, the speed that generation SPWM waveforms are recalculated after parameter change is limited, and being limited by arithmetic speed causes
Precision is poor；It needs to use dedicated logic circuit, debugging is difficult, and can cause a large amount of manpowers and the wave of economic cost
Take.These shortcoming and defect so that core of the invention is become to the synthesis improvement of SPWM Waveform generating methods.
Invention content
In order to solve the problems, such as conventional sinusoidal pulse width modulated waveform production method and deficiency, present invention design
A kind of SPWM pulse signal implementation methods based on MCU are accelerated to calculate to reduce the operand during generating SPWM waveforms
Process reduces the consumption of processor and memory source, improves the precision under equal conditions generating SPWM waveforms, and applied to low
The purpose of performance processor or microcontroller.
The purpose of the present invention is achieved through the following technical solutions：
A kind of SPWM pulse signal implementation methods based on MCU are to use symmetric regular-sampled method, determine SPWM wave duties
Than the Fundamentals of Mathematics of calculating, one in the Fundamentals of Mathematics containing SIN function is first determined, and only calculate 1/4 sine before this
Wave period, according to the symmetry of sine wave, the SPWM waves for obtaining a phase completely compare time array, further according to Three-phase SPWM wave
Phase difference characteristics, the SPWM waves for obtaining another two-phase completely compare time array, generate SPWM pulse signals.
Specifically include following steps：
Step 1：The generating mode of SPWM waves is determined using symmetric regular-sampled method；The mathematical table of A phase SPWM wave duty ratios
It is up to formula：
DutyA [i]=(0.25-a_m*sin (2 π i/M)) * CLOCK/Fc
Wherein DutyA is the comparison time array of A phase SPWM waves, and i is array element serial number, and value range is from 0~(M-
1), a_m is modulation degree, and M is carrier wave ratio, and CLOCK is master clock frequency, and unit Hz, Fc are what microcontroller timer generated
Triangular wave (i.e. carrier wave) frequency, unit Hz；
Step 2：Ranging from 0~(M-1)/4 of array element serial number i is first taken, is calculated in above-mentioned formula containing sinusoidal letter
A several sin (2 π i/M)；
Step 3：1/4 sine wave of A phase SPWM wavefront is calculated according to the mathematic(al) representation for calculating A phase SPWM wave duty ratios
The comparison time in period, and A phase SPWM Bobbis are stored in compared with 1/4 part before time array；
Step 4：According to the symmetry of sine wave, 3/4 part after A phases is obtained by Mathematical Symmetry transformation and sign reversing
Compare the time, and is stored in rear 3/4 part of the A phase SPWM Bobbis compared with time array；
Step 5：According to the phase difference characteristics of Three-phase SPWM wave, by mathematics translation transformation, by A phase SPWM Bobbis compared with the time
Array makees cycle spinning processing, obtains B phase SPWM Bobbis compared with time array；
Step 6：According to the phase difference characteristics of Three-phase SPWM wave, by mathematics translation transformation, by A phase SPWM Bobbis compared with the time
Array make cycle spinning processing to get to C phase SPWM Bobbis compared with time array；
Step 7：The SPWM being calculated is compared into the incoming MCU timers of time array and corresponds to register, passes through triangular wave
Interception obtains the square wave that duty ratio sinusoidally changes.
In order to solve the problems, such as interim card, the method that this method simulates multithreads computing using MCU softwares.The MCU
The method that software simulates multithreads computing is realized based on timer interruption, is only calculated when entering timer interruption each time
5-10 sampled point, until completing the calculating of all sampled points.
In above-mentioned technical proposal, the cycle spinning processing described in step 5 is：A phase SPWM Bobbis are obtained compared with time array
Afterwards, to array end by the array length of all array elements translation 1/3, the array element of spilling fills into array head in order
End to get to B phase SPWM Bobbis compared with time array.
Cycle spinning described in step 6, which is handled, is：It, will to array end after A phase SPWM Bobbis are obtained compared with time array
The array length of all array elements translation 2/3, the array element of spilling fill into array head end to get to C phases SPWM in order
Bobbi is compared with time array.
The beneficial effects of the invention are as follows：
1. SPWM waveforms are generated using the less symmetric regular-sampled method of operand, for the operand for reducing in calculating process
It lays the foundation.
2. using the SPWM waveform generating algorithms of optimization, the calculating of part coefficient is completed when program initialization, is joined in control
After number changes, the SPWM waveform comparison coefficients in 1/4 period in a phase are only calculated, are obtained by Mathematical Symmetry transformation and sign reversing
It is left the coefficient of comparisons of this 3/4 part of phase, further according to the phase difference characteristics of Three-phase SPWM wave, by mathematics translation transformation, by this
Phase SPWM Bobbis make cycle spinning processing compared with time array, accelerate the calculating speed in SPWM wave calculating processes, reduce money
Source consumes, and improves real-time control capability.
3. using the algorithm of MCU softwares simulation multithreading, 5-10 are only calculated when entering timer interruption each time and is adopted
Sampling point improves operation efficiency and in real time control repeatedly into the calculating that can be completed after timer interruption for all sampled points
Ability processed.
Description of the drawings
Fig. 1 is the SPWM algorithm of average symmetric regular sampling method schematic diagrames of the embodiment of the present invention；
Fig. 2 is the symmetry according to sine wave of the embodiment of the present invention, passes through Mathematical Symmetry transformation calculations A phase SPWM Bobbis
Compared with the schematic diagram of second 1/4 cycle portions of time array；
Fig. 3 is the symmetry according to sine wave of the embodiment of the present invention, passes through mathematic sign transformation calculations A phase SPWM Bobbis
Compared with the schematic diagram of 1/2 cycle portions after time array；
Fig. 4 is the SPWM waveforms of the embodiment of the present invention and the MATLAB procedure simulation result figures of original sine wave；
Fig. 5 is the program flow diagram that the SPWM pulse signal waveforms based on MCU of the embodiment of the present invention generate.
Specific implementation mode
Understand for the ease of those of ordinary skill in the art and implement the invention, with reference to the accompanying drawings and embodiments to this hair
It is bright to be described in further detail, it should be understood that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
The present invention is one and uses symmetric regular-sampled method, is generated using the SPWM waveforms of optimization during programming
Algorithm, and the method for multithreading is simulated to generate the scheme of SPWM waveforms using MCU softwares in being actually embedded in formula exploitation.
The present invention uses symmetric regular-sampled method, it is determined that the Fundamentals of Mathematics that SPWM waves calculate are reduced in mathematics level
Calculation amount.
The optimization SPWM waveform generating algorithms that the present invention uses are converted according to the symmetry of sine wave by Mathematical Symmetry
The SPWM waves that a phase is obtained with sign reversing completely compare time array, further according to the phase difference characteristics of Three-phase SPWM wave, pass through
The SPWM waves that mathematics translation transformation obtains another two-phase completely compare time array, improve the efficiency of program operation, accelerate
Calculating speed in SPWM wave calculating processes, reduces resource consumption, improves real-time control capability.
The method that the MCU softwares that the present invention uses in being actually embedded in formula exploitation simulate multithreading, improves parallel computation
Ability, operation efficiency and real-time control capability ensure that the continuity in program operation process.
The present invention is described in detail with the generation process of bipolar SPWM wave for the present embodiment.
See Fig. 5, a kind of SPWM pulse signal implementation methods based on MCU provided by the invention include the following steps：
Step 1：Referring to Fig.1, using the less symmetric regular-sampled method of operand, determines the generating mode of SPWM waves, obtain
The mathematic(al) representation of A phase SPWM wave duty ratios must be used to calculate.It is described calculate A phase SPWM wave duty ratios mathematic(al) representation be：
DutyA [i]=(0.25-a_m*sin (2 π i/M)) * CLOCK/Fc
Wherein DutyA is the comparison time array of A phase SPWM waves, and i is array element serial number, and value range is from 0~(M-
1), a_m is modulation degree, and M is carrier wave ratio, and CLOCK is master clock frequency, and unit Hz, Fc are what microcontroller timer generated
Triangular wave (i.e. carrier wave) frequency, unit Hz.
Step 2：When program initialization, one containing SIN function that can't change in follow-up practical control is first calculated
Item sin (2 π i/M), and store in array in case later using ranging from 0~(M-1)/4 for taking array element serial number i.
Step 3：1/4 sine wave of A phase SPWM wavefront is calculated according to the mathematic(al) representation for calculating A phase SPWM wave duty ratios
The comparison time in period, and A phase SPWM Bobbis are stored in compared with 1/4 part before time array.
Step 4：According to the symmetry of sine wave, 3/4 is obtained after A phases by Mathematical Symmetry transformation and mathematics sign reversing
The comparison time divided, and it is stored in rear 3/4 part of the A phase SPWM Bobbis compared with time array.The Mathematical Symmetry converts specific
Embodiment is as follows：See Fig. 2, by 1/4 period corresponding array element before array by being filled into second shown in arrow in figure
1/4 period, symbol remain unchanged.The specific embodiment of the mathematic sign transformation is as follows：See Fig. 3, by before array 1/2
Period corresponding array element is changed on the contrary by the corresponding position for being filled into rear 1/2 period shown in arrow in figure, symbol.
Step 5：According to the phase difference characteristics of Three-phase SPWM wave, by mathematics translation transformation, by A phase SPWM Bobbis compared with the time
Array makees cycle spinning processing, and to array end by the array length of all array elements translation 1/3, the array element of spilling is pressed
Sequence fill into array head end to get to B phase SPWM Bobbis compared with time array.
Step 6：According to the phase difference characteristics of Three-phase SPWM wave, by mathematics translation transformation, by A phase SPWM Bobbis compared with the time
Array makees cycle spinning processing, and to array end by the array length of all array elements translation 2/3, the array element of spilling is pressed
Sequence fill into array head end to get to C phase SPWM Bobbis compared with time array.
Step 7：Generate triangular wave carrier by the timer of MCU, using compare in setting value, low and high level automatic turning
Function, enable SPWM waveforms export six ports in numerical value in reaching SPWM and comparing array level automatic turning, to
To the square-wave signal of variable duty ratio.When each timer overflows, is i.e. when a triangular wave end cycle, six can be changed and posted
The fiducial value of storage, to generate a series of different square-wave signal of pulse widths.If SPWM Bobbis are compared with the integer in array
Variation sinusoidally changes, then output duty cycle square wave is also sinusoidally to change.
Step 8：Further to solve the problems, such as that interim card, a kind of SPWM pulse signal implementation methods based on MCU can adopt
The method for simulating multithreads computing with MCU softwares.5-10 sampled point is only calculated when entering timer interruption each time,
In the calculating that can repeatedly complete all sampled points after entering the interrupt, other tasks are not interfered in calculating process in this way,
Improve operation efficiency.
The present embodiment SPWM can be generated during triangular wave frequency Fc, modulation degree a_m, carrier wave ratio M and when dead zone
Between DeadTime etc. be configured, adapt to the waveform demand for SPWM waves under different control conditions.By being compiled in MATLAB
It programs and carries out emulation experiment (see Fig. 4) and carry out being actually embedded in formula exploitation on MSP430F5438A microcontrollers, generate three
Phase bipolar SPWM waveform, it can be seen that in the case where carrier wave ratio M is to be set as 10ms in 249, timer interruption period, work as control
After parameter change processed, it is only necessary to which the assignment again that the time less than 0.3s can complete a SPWM calculates, then change meter
Complement mark position is calculated, to actual U, V, W array again assignment, so that it may to complete the function that change SPWM frequencies realize control.
And traditional SPWM Bobbis are used compared with the computational methods of time array, it is carried out on the MSP430F5438A microcontrollers practical embedding
Enter formula exploitation, generates three-phase bipolar SPWM waveform, it is identical in all control parameters, according to Three-phase SPWM wave duty
The mathematic(al) representation of ratio completely calculates A, B, C Three-phase SPWM Bobbi compared with time array, and needing could by the time of 5s or so
Calculating of the Three-phase SPWM Bobbi compared with time array is completed, and after control parameter change, it is also desirable to just by the equally long time
Calculating of the Three-phase SPWM Bobbi compared with time array can be completed, the efficiency of calculating is greatly reduced.
By experimental analysis, use the SPWM calculation procedures operational efficiency of innovatory algorithm and multithreading high, the reality of control
When property is greatly improved.Moreover, as a result of optimization algorithm in calculating process, in calculating process for processor and
The consumption of memory source substantially reduces, suitable for using the SPWM illustrated the present embodiment on low performance processor or microcontroller
Waveform generates algorithm.
It should be understood that the part that this specification does not elaborate belongs to the prior art.
It should be understood that the above-mentioned description for embodiment is more detailed, can not therefore be considered to the present invention
The limitation of scope of patent protection, those skilled in the art under the inspiration of the present invention, are not departing from the claims in the present invention institute
Under the ambit of protection, replacement or deformation can also be made, is each fallen within protection scope of the present invention, request of the invention
Protection domain should be determined by the appended claims.
Claims (6)
1. a kind of SPWM pulse signal implementation methods based on MCU, which is characterized in that use symmetric regular-sampled method, determine
The Fundamentals of Mathematics that SPWM wave duty ratios calculate first determine one in the Fundamentals of Mathematics containing SIN function, and only calculate this
Preceding 1/4 sine wave period, according to the symmetry of sine wave, the SPWM waves for obtaining a phase completely compare time array, further according to
The phase difference characteristics of Three-phase SPWM wave, the SPWM waves for obtaining another two-phase completely compare time array, generate SPWM pulse signals.
2. the SPWM pulse signal implementation methods according to claim 1 based on MCU, which is characterized in that specifically include with
Lower step：
Step 1：The generating mode of SPWM waves, the mathematic(al) representation of A phase SPWM wave duty ratios are determined using symmetric regular-sampled method
For：
DutyA [i]=(0.25-a_m*sin (2 π i/M)) * CLOCK/Fc
Wherein DutyA is the comparison time array of A phase SPWM waves, and i is array element serial number, and value range is from 0~(M-1), a_m
For modulation degree, M is carrier wave ratio, and CLOCK is master clock frequency, and unit Hz, Fc are the triangular wave that microcontroller timer generates
(i.e. carrier wave) frequency, unit Hz；
Step 2：Ranging from 0~(M-1)/4 of array element serial number i, calculating is first taken to contain SIN function in above-mentioned formula
One sin (2 π i/M)；
Step 3：1/4 sine wave period of A phase SPWM wavefront is calculated according to the mathematic(al) representation for calculating A phase SPWM wave duty ratios
The comparison time, and be stored in A phase SPWM Bobbis compared with 1/4 part before time array；
Step 4：According to the symmetry of sine wave, the comparison of 3/4 part after A phases is obtained by Mathematical Symmetry transformation and sign reversing
Time, and it is stored in rear 3/4 part of the A phase SPWM Bobbis compared with time array；
Step 5：According to the phase difference characteristics of Three-phase SPWM wave, by mathematics translation transformation, by A phase SPWM Bobbis compared with time array
Make cycle spinning processing, obtains B phase SPWM Bobbis compared with time array；
Step 6：According to the phase difference characteristics of Three-phase SPWM wave, by mathematics translation transformation, by A phase SPWM Bobbis compared with time array
Make cycle spinning processing to get to C phase SPWM Bobbis compared with time array；
Step 7：The SPWM being calculated is compared into the incoming MCU timers of time array and corresponds to register, is intercepted by triangular wave
Obtain the square wave that duty ratio sinusoidally changes.
3. the SPWM pulse signal implementation methods according to claim 1 or 2 based on MCU, which is characterized in that this method is adopted
The method for simulating multithreads computing with MCU softwares.
4. the SPWM pulse signal implementation methods according to claim 3 based on MCU, which is characterized in that the MCU is soft
The method that part simulates multithreads computing is realized based on timer interruption, and 5- is only calculated when entering timer interruption each time
10 sampled points, until completing the calculating of all sampled points.
5. the SPWM pulse signal implementation methods according to claim 2 based on MCU, which is characterized in that described in step 5
Cycle spinning processing be：After A phase SPWM Bobbis are obtained compared with time array, all array elements are translated 1/3 to array end
Array length, the array element of spilling fill into order array head end to get to B phase SPWM Bobbis compared with time array.
6. the SPWM pulse signal implementation methods according to claim 2 based on MCU, which is characterized in that described in step 6
Cycle spinning processing be：After A phase SPWM Bobbis are obtained compared with time array, all array elements are translated 2/3 to array end
Array length, the array element of spilling fill into order array head end to get to C phase SPWM Bobbis compared with time array.
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