CN104052320A - PWM method and device - Google Patents
PWM method and device Download PDFInfo
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- CN104052320A CN104052320A CN201410271086.1A CN201410271086A CN104052320A CN 104052320 A CN104052320 A CN 104052320A CN 201410271086 A CN201410271086 A CN 201410271086A CN 104052320 A CN104052320 A CN 104052320A
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Abstract
The embodiment of the invention discloses a PWM method and device which are applied to each phase of branch circuit of an inverter circuit. The method comprises the steps of obtaining a phase shifting angle, carrying out phase shifting on a carrier wave according to the phase shifting angle, and carrying out PWM on a modulated wave through the carrier wave obtained after phase shifting is carried out and other carrier waves without phase shifting, wherein the step of obtaining the phase shifting angle comprises the step that a preset database is inquired according to a common mode voltage of an output end to obtain the phase shifting angle, or the phase shifting angle is obtained according to a common mode voltage vector of the output end and an expected common mode voltage vector, or the angle of 180 degrees serves as the phase shifting angle. According to the PWM method and device, due to the fact that phase shifting is carried out on the carrier wave in each phase of branch circuit, the phase position of an upper carrier wave and the phase position of a lower carrier wave are made to be staggered at an angle, the phase difference of the upper semi-circle and the lower semi-circle of a PWM waveform output after modulation can be reduced, and thus the problem that the common mode voltage at the output end is large when PMW is carried out is solved.
Description
Technical field
The embodiment of the present invention relates generally to PWM modulation technique field, especially relates to a kind of PWM modulator approach and device.
Background technology
Inverter circuit is a kind of circuit corresponding with rectification circuit, is mainly used in realizing the conversion from DC (direct current) to AC (interchange).PWM (Pulse Width Modulation, pulse width modulation) is a kind of by the break-make of switching device in inverter circuit is controlled, and makes output export the modulation system of the pulse that a series of amplitudes are equal.With (the Sinusoidal Pulse Width Modulation of the SPWM in PWM, Using Sinusoidal Pulse Width Modulation) be example, can make the pulse of output equate with the sinusoidal wave part area (being momentum) of expectation by arranging, SPWM waveform finally also just can be equivalent to the sine wave of expectation like this, thereby realizes the conversion from DC to AC.
Inventor finds realizing in process of the present invention, in current PWM technology, the common-mode voltage of output is larger, can bring the harmful effect such as Ground leakage current, electromagnetic interference in frequency converter, photovoltaic or other fields that common-mode voltage is had relatively high expectations, and in prior art, not yet have good way to solve this problem.
Summary of the invention
In view of this, the object of the embodiment of the present invention is to provide a kind of PWM modulator approach and device, the larger problem of common-mode voltage of output while modulation to solve PWM.
The embodiment of the invention discloses following technical scheme:
First aspect, provides a kind of PWM modulator approach, and for every phase branch road of inverter circuit, described method comprises:
Obtain phase shift angle;
According to described phase shift angle, one carrier wave is carried out to phase shift;
Carrier wave after use phase shift and other carrier waves of not phase shift carry out PWM modulation to modulating wave jointly;
Wherein, described in obtain phase shift angle, comprising:
Inquire about default database according to the common-mode voltage of output, to obtain described phase shift angle; Or,
Obtain described phase shift angle according to the common-mode voltage vector of output and expectation common-mode voltage vector; Or,
Using 180 degree as described phase shift angle.
In conjunction with first aspect, in the possible implementation of the first of first aspect, described according to the common-mode voltage vector of output and expect that common-mode voltage vector obtains described phase shift angle, comprising:
Obtain α cm;
Calculate the poor α err of α cm and α o;
Obtain described phase shift angle according to α err;
The deflection of the common-mode voltage vector that wherein α cm is described output, α o is the deflection of expecting common-mode voltage vector.
In conjunction with the possible implementation of the first of first aspect, in the possible implementation of the second of first aspect, described in obtain α cm, comprising:
Obtain carrier wave modulation voltage vector V aup and lower carrier wave modulation voltage vector V adn;
Obtain the mid-point voltage vector V o of output voltage;
Calculate between Vaup-Vo, Vadn-Vo angle using as α cm.
In conjunction with the possible implementation of the first of first aspect, in the third possible implementation of first aspect, obtain described phase shift angle according to α err, comprising:
Regulate and obtain described phase shift angle by α err being carried out to P, PI or PID.
Second aspect, provides a kind of PWM modulating device, and for every phase branch road of inverter circuit, described device comprises:
Phase shift angle acquiring unit, for inquiring about default database according to the common-mode voltage of output, to obtain phase shift angle, or, obtain phase shift angle according to the common-mode voltage vector of output and expectation common-mode voltage vector, or, using 180 degree as phase shift angle;
Phase-shifting carrier wave unit, for carrying out phase shift according to described phase shift angle to a carrier wave;
Modulating unit, for using carrier wave after phase shift and other carrier waves of not phase shift jointly modulating wave to be carried out to PWM modulation.
In conjunction with second aspect, in the possible implementation of the first of second aspect, when described phase shift angle acquiring unit is used for according to the common-mode voltage vector of output and expects that common-mode voltage vector obtains phase shift angle, for:
Obtain α cm;
Calculate the poor α err of α cm and α o;
Obtain described phase shift angle according to α err;
The deflection of the common-mode voltage vector that wherein α cm is described output, α o is the deflection of expecting common-mode voltage vector.
In conjunction with the possible implementation of the first of second aspect, in the possible implementation of the second of second aspect, when described phase shift angle acquiring unit is used for obtaining α cm, for:
Obtain carrier wave modulation voltage vector V aup and lower carrier wave modulation voltage vector V adn;
Obtain the mid-point voltage vector V o of output voltage;
Calculate between Vaup-Vo, Vadn-Vo angle using as α cm.
In conjunction with the possible implementation of the first of second aspect, in the third possible implementation of second aspect, when described phase shift angle acquiring unit is used for obtaining described phase shift angle according to α err, for:
Regulate and obtain described phase shift angle by α err being carried out to P, PI or PID.
The technical scheme that the embodiment of the present invention provides can comprise following beneficial effect:
The embodiment of the present invention is by carrying out phase shift to the carrier wave in every phase branch road, make this mutually in angles of phase shifting of upper and lower two carrier waves, can reduce the phase difference of the upper lower half of the PWM waveform of modulating rear output, thus the larger problem of common-mode voltage of output while having solved PWM modulation.
Should be understood that, it is only exemplary that above general description and details are hereinafter described, and can not limit the present invention.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the schematic diagram that traditional PWM modulates;
Fig. 2 is according to the flow chart of a kind of PWM modulator approach shown in an exemplary embodiment;
Fig. 3 is according to the phase-shifting carrier wave schematic diagram shown in an exemplary embodiment;
Fig. 4 is according to the flow chart of a kind of PWM modulator approach shown in an exemplary embodiment;
Fig. 5 is according to the flow chart of a kind of PWM modulator approach shown in an exemplary embodiment;
Fig. 6 is the control principle schematic diagram while generating modulating wave;
Fig. 7 is the comparand register state diagram that generates 180 degree carrier waves;
Fig. 8 is according to the block diagram of a kind of PWM modulating device shown in an exemplary embodiment.
By above-mentioned accompanying drawing, the embodiment that the present invention is clear and definite has been shown, will there is hereinafter more detailed description.These accompanying drawings and text description are not the scope in order to limit the present invention design by any mode, but by reference to specific embodiment for those skilled in the art illustrate concept of the present invention.
Embodiment
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 clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
For complete understanding the present invention, mention in the following detailed description numerous concrete details, but it should be appreciated by those skilled in the art that the present invention can realize without these details.In other embodiments, be not described in detail known method, process, assembly and circuit, in order to avoid unnecessarily cause embodiment fuzzy.
Fig. 1 is the schematic diagram that traditional PWM modulates.In Fig. 1 taking three-level SPWM modulation, carrier wave as triangular carrier is as example, the driving signal (Vx1, Vx2) that produces of comparing with two triangular carriers (Tr1, Tr2) by sinusoidal modulation signal Sx opening and turn-offing of switching device in control inverter circuit, thereby can modulate the impulse wave of equivalent sine wave.
Fig. 2 is according to the flow chart of a kind of PWM modulator approach shown in an exemplary embodiment, and the method can be in every phase branch road of inverter circuit.Shown in Figure 2, the method can comprise:
S201, obtain phase shift angle.
Inventor finds realizing in process of the present invention, in prior art, when PWM modulation, the carrier wave same-phase of every phase, causes exporting PWM common-mode voltage larger, can cause the harmful effect such as Ground leakage current, electromagnetic interference in frequency converter, photovoltaic or other fields that common-mode voltage is had relatively high expectations.Will be wherein in the present embodiment a carrier wave do phase shift processing so that homophase no longer between carrier wave, but differ certain angle, thereby can reduce common-mode voltage.
This phase shift angle can be determined according to concrete scene; for example; can go phase shift according to the experience angle value of storing in presetting database; also can preset a fixing angle value; etc.; the present embodiment does not limit, and these angle values that can use herein all do not deviate from spirit of the present invention and protection range.
S202, according to described phase shift angle, one carrier wave is carried out to phase shift.
As example, can be shown in Figure 3, Fig. 3 is according to the phase-shifting carrier wave schematic diagram shown in an exemplary embodiment.Fig. 3 shows the carrier case of the phase in three-phase, lower carrier wave original with upper carrier wave same-phase, lower carrier wave is carried out to after the phase shift of α angle lower carrier wave and the upper carrier wave α angle (can make 0 °≤α≤180 °) that just staggered.
Carrier wave after S203, use phase shift and other carrier waves of not phase shift carry out PWM modulation to modulating wave jointly.
Carrier wave is carried out after phase shift, still can use original method to use the carrier wave after phase shift to carry out PWM modulation, the present embodiment repeats no more, the driving signal (Vx1, Vx2) that for example still can use sinusoidal modulation signal Sx for example, to compare with two triangular carriers (not phase shift of Tr1, Tr2 have phase shift) and to produce opening and turn-offing of switching device in control inverter circuit, the low and high level rule of the driving signal only now producing can with phase shift before there is difference.
Hold intelligiblely, PWM modulation technique of the present invention is applicable to various inversion topologicals, as three level topologys, modulating wave can be triangular wave, sawtooth waveforms or other shapes, modulation system is except Sine Modulated, and also space vector modulation, does not limit this present embodiment.
Under a kind of scene in the present embodiment, obtain phase shift angle, i.e. step S201, can comprise:
Inquire about default database according to the common-mode voltage of output, to obtain described phase shift angle.In the present embodiment, consider that the target of phase shift reduces common-mode voltage exactly, so can according to direct measurement or the common-mode voltage indirectly measuring obtains phase shift angle.
For the situation of indirect measurement common-mode voltage, as example, can indirectly measure in the following manner: can first obtain Ground leakage current sampled value Icm, then, according to system spurious impedance characteristic Lg, be translated into common-mode voltage value.
In this default database, can be according to experiment or experience, the corresponding relation of pre-stored various common-mode voltage values and various phase shift angles, for example in the time that common-mode voltage is 5V, phase shifting angle degree should be 10 degree, etc.
In addition,, in the present invention some other embodiment, can also not rely on current common-mode voltage, but obtain phase shift angle by other parameters.For example, (or other can embody the sampled value of the signal of leakage current situation can to obtain Ground leakage current sampled value, also or other can embody the sampled value of the signal of common-mode voltage situation), when Ground leakage current Icm is during in certain limit (as Ia1<Icm<Ib1), phase shift angle be θ ', and for example, when Icm is when another scope (Ia2<Icm<Ib2), output phase shift angle θ 〞.
Under another kind of scene in the present embodiment, obtain phase shift angle, i.e. step S201, can comprise:
Obtain described phase shift angle according to the common-mode voltage vector of output and expectation common-mode voltage vector.
As example, can be shown in Figure 4, can obtain as follows this phase shift angle:
S401, obtain α cm;
The poor α err of S402, calculating α cm and α o;
S403, obtain described phase shift angle according to α err.
The deflection of the common-mode voltage vector that wherein α cm is described output, α o is the deflection of expecting common-mode voltage vector.
In the present embodiment or the present invention some other embodiment, described in obtain α cm, can comprise:
Obtain carrier wave modulation voltage vector V aup and lower carrier wave modulation voltage vector V adn;
Obtain the mid-point voltage vector V o of output voltage;
Calculate between Vaup-Vo, Vadn-Vo angle using as α cm.
Principle is as follows:
For common-mode voltage Vcm, have:
Vcm＝1/3(Vao+Vbo+Vco)
Wherein Vao, Vbo, Vco are respectively A, B, C three-phase output voltage Va, Vb, Vc deduct mid-point voltage Vo, i.e. Vao=Va – Vo, Vbo=Vb – Vo, Vco=Vc – Vo.
Have again:
Va＝Vaup+Vadn。
Wherein Vaup represents the upper carrier wave modulation voltage during A is mutually, the lower carrier wave modulation voltage of Vadn representative, and Vb, Vc are similar.So can obtain:
Vcm＝1/3(Vaup+Vadn+Vbup+Vbdn+Vcup+Vadn)-Vo
If regard voltage as vector, Vcm just equal 7 vectors computing and, again due to 120 ° of Va, Vb, Vc three-phase mutual deviations, can all be converted into Va, so above formula can be simplified the vector correlation of Vcm and Vaup-Vo, Vadn-Vo, α cm so, i.e. the deflection of Vcm, just can obtain according to the angle of these two vectors of Vaup-Vo, Vadn-Vo.
Obtain after angle [alpha] err, just can obtain based on this phase shift angle.For example, can be multiplied by after an empirical coefficient as phase shift angle.Again for example:
Describedly obtain described phase shift angle according to α err, can comprise:
Regulate and obtain described phase shift angle by α err being carried out to P, PI or PID.
Under another scene in the present embodiment, obtain phase shift angle, i.e. step S201, also can comprise:
Using 180 degree as described phase shift angle.
Which is more simple, does not need common-mode voltage etc. to detect, but remains that upper and lower carrier wave differs 180 degree.This mode also can obtain certain effect, reduces to a certain extent common-mode voltage.
The present embodiment is by carrying out phase shift to the carrier wave in every phase branch road, make this mutually in angles of phase shifting of upper and lower two carrier waves, can reduce the phase difference of the upper lower half of the PWM waveform of modulating rear output, thus the larger problem of common-mode voltage of output while having solved PWM modulation.
Modulate this scene as example to realize PWM by DSP below, the invention will be further described.
Fig. 5 is according to the flow chart of a kind of PWM modulator approach shown in an exemplary embodiment.
S501, DSP is carried out to initial configuration.Can configure the PWM peripheral module rolling counters forward pattern of DSP, set the value of the corresponding period register of counter according to carrier frequency, the then value of this counter of initialization, starts timer, as the generator of triangular carrier.
S502, generation modulating wave.Three-phase current sampling is converted into the electric current of d, q axle, then the current-order Idref, the Iqref that provide with Voltage loop respectively compare, the error signal producing produces voltage instruction Ud, Uq after PI controller regulates, then process computational transformation generation three-phase modulations ripple Ua, Ub, Uc (waveform of for example Ua can referring to the Sx in Fig. 1).
The control principle schematic diagram of this process can be shown in Figure 6, in Fig. 6, Iqref is q shaft current set-point, Dq/ α β represents that dq axle rest frame is converted to two rotating coordinate systems of α β, α β/abc represents that two rotating coordinate systems of α β are converted into abc tri-phase coordinate systems, and α β/dq represents that two rotating coordinate systems of α β are converted to dq axle rest frame, and Abc/ α β represents that abc tri-phase coordinate systems are converted to two rotating coordinate systems of α β, DC is DC power supply, and INVERTER is inverter.
S503, in interrupt service routine, obtain phase shift angle.In interrupt service routine or other programs (as task program or timer program etc.), can obtain phase shift angle according to the variety of way providing in embodiment above.
S504, according to obtaining phase shift angle, by the value of amendment DSP corresponding registers, make a carrier wave keep angle constant and another carrier wave is carried out to phase shift.
In addition,, for phase shift angle θ=180 ° this situation, also can directly realize in the following way phase shift:
In interrupt service routine, by receiving three-phase voltage instruction, in the time that the positive half period of each phase (below taking A mutually as example) modulating wave is Ua>0, with 1-Ua as modulating wave, standardization obtains duty ratio after processing, this duty ratio is multiplied by the value of period register, obtains corresponding clock periodicity, this clock periodicity is loaded into TxCMPRA (comparand register A).In the time that negative half-cycle is Ua<0, with 1+Ua, as modulating wave, standardization obtains duty ratio after processing, and this duty ratio is multiplied by the value of period register, obtain corresponding clock periodicity, this clock periodicity is loaded into TxCMPRB (comparand register B).The comparand register state diagram of this process can be shown in Figure 7, in Fig. 7, triangular waveform is carrier wave, and semicircle waveform is modulating wave, and TxPR is period register, TxCNT is the count value of counter, arrow to the right represents that count value increases, and EPWMxA is EPWMA Counter Value, and EPWMxB is EPWMB Counter Value, CA is comparand register A, and CB is comparand register B.
The present embodiment is by carrying out phase shift to the carrier wave in every phase branch road, make this mutually in angles of phase shifting of upper and lower two carrier waves, can reduce the phase difference of the upper lower half of the PWM waveform of modulating rear output, thus the larger problem of common-mode voltage of output while having solved PWM modulation.
Fig. 8 is according to the block diagram of a kind of PWM modulating device shown in an exemplary embodiment.This device 800 can be used for every phase branch road of inverter circuit.Shown in Figure 8, this device 800 can comprise:
Phase shift angle acquiring unit 801, for inquiring about default database according to the common-mode voltage of output, to obtain phase shift angle, or, obtain phase shift angle according to the common-mode voltage vector of output and expectation common-mode voltage vector, or, using 180 degree as phase shift angle;
Phase-shifting carrier wave unit 802, for carrying out phase shift according to described phase shift angle to a carrier wave;
Modulating unit 803, for using carrier wave after phase shift and other carrier waves of not phase shift jointly modulating wave to be carried out to PWM modulation.
In the present embodiment or the present invention some other embodiment, described phase shift angle acquiring unit 801 is for according to the common-mode voltage vector of output and while expecting that common-mode voltage vector obtains phase shift angle, for:
Obtain α cm;
Calculate the poor α err of α cm and α o;
Obtain described phase shift angle according to α err;
The deflection of the common-mode voltage vector that wherein α cm is described output, α o is the deflection of expecting common-mode voltage vector.
In the present embodiment or the present invention some other embodiment, described phase shift angle acquiring unit 801 when obtaining α cm, for:
Obtain carrier wave modulation voltage vector V aup and lower carrier wave modulation voltage vector V adn;
Obtain the mid-point voltage vector V o of output voltage;
Calculate between Vaup-Vo, Vadn-Vo angle using as α cm.
In the present embodiment or the present invention some other embodiment, described phase shift angle acquiring unit 801 when obtaining described phase shift angle according to α err, for:
Regulate and obtain described phase shift angle by α err being carried out to P, PI or PID.
About the device in above-described embodiment, wherein the concrete mode of unit executable operations have been described in detail in the embodiment about the method, will not elaborate explanation herein.
The present embodiment is by carrying out phase shift to the carrier wave in every phase branch road, make this mutually in angles of phase shifting of upper and lower two carrier waves, can reduce the phase difference of the upper lower half of the PWM waveform of modulating rear output, thus the larger problem of common-mode voltage of output while having solved PWM modulation.
Those skilled in the art, considering specification and putting into practice after invention disclosed herein, will easily expect other embodiment of the present invention.The present invention is intended to contain any modification of the present invention, purposes or adaptations, and these modification, purposes or adaptations are followed general principle of the present invention and comprised undocumented common practise or the conventional techniques means in the art of the present invention.Specification and embodiment are only regarded as exemplary, and true scope of the present invention and spirit are pointed out by claim below.
Should be understood that, the present invention is not limited to precision architecture described above and illustrated in the accompanying drawings, and can carry out various amendments and change not departing from its scope.Scope of the present invention is only limited by appended claim.
Claims (8)
1. a PWM modulator approach, is characterized in that, for every phase branch road of inverter circuit, described method comprises:
Obtain phase shift angle;
According to described phase shift angle, one carrier wave is carried out to phase shift;
Carrier wave after use phase shift and other carrier waves of not phase shift carry out PWM modulation to modulating wave jointly;
Wherein, described in obtain phase shift angle, comprising:
Inquire about default database according to the common-mode voltage of output, to obtain described phase shift angle; Or,
Obtain described phase shift angle according to the common-mode voltage vector of output and expectation common-mode voltage vector; Or,
Using 180 degree as described phase shift angle.
2. method according to claim 1, is characterized in that, described according to the common-mode voltage vector of output and expect that common-mode voltage vector obtains described phase shift angle, comprising:
Obtain α cm;
Calculate the poor α err of α cm and α o;
Obtain described phase shift angle according to α err;
The deflection of the common-mode voltage vector that wherein α cm is described output, α o is the deflection of expecting common-mode voltage vector.
3. method according to claim 2, is characterized in that, described in obtain α cm, comprising:
Obtain carrier wave modulation voltage vector V aup and lower carrier wave modulation voltage vector V adn;
Obtain the mid-point voltage vector V o of output voltage;
Calculate between Vaup-Vo, Vadn-Vo angle using as α cm.
4. method according to claim 2, is characterized in that, obtains described phase shift angle according to α err, comprising:
Regulate and obtain described phase shift angle by α err being carried out to P, PI or PID.
5. a PWM modulating device, is characterized in that, for every phase branch road of inverter circuit, described device comprises:
Phase shift angle acquiring unit, for inquiring about default database according to the common-mode voltage of output, to obtain phase shift angle, or, obtain phase shift angle according to the common-mode voltage vector of output and expectation common-mode voltage vector, or, using 180 degree as phase shift angle;
Phase-shifting carrier wave unit, for carrying out phase shift according to described phase shift angle to a carrier wave;
Modulating unit, for using carrier wave after phase shift and other carrier waves of not phase shift jointly modulating wave to be carried out to PWM modulation.
6. device according to claim 5, is characterized in that, when described phase shift angle acquiring unit is used for according to the common-mode voltage vector of output and expects that common-mode voltage vector obtains phase shift angle, for:
Obtain α cm;
Calculate the poor α err of α cm and α o;
Obtain described phase shift angle according to α err;
The deflection of the common-mode voltage vector that wherein α cm is described output, α o is the deflection of expecting common-mode voltage vector.
7. device according to claim 6, is characterized in that, when described phase shift angle acquiring unit is used for obtaining α cm, for:
Obtain carrier wave modulation voltage vector V aup and lower carrier wave modulation voltage vector V adn;
Obtain the mid-point voltage vector V o of output voltage;
Calculate between Vaup-Vo, Vadn-Vo angle using as α cm.
8. device according to claim 6, is characterized in that, when described phase shift angle acquiring unit is used for obtaining described phase shift angle according to α err, for:
Regulate and obtain described phase shift angle by α err being carried out to P, PI or PID.
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