Dead zone compensation method and related equipment for switching tube

Abstract

The present invention provides a dead-band compensation method for a switching tube and related equipment. The method includes: obtaining information about the switching tube's voltage loss under at least two currents; obtaining the compensation time of the switching tube based on the information about the voltage loss; and performing dead-band compensation on the switching tube based on the compensation time. Taking into account the fact that the relevant parameter information of the switching tube varies with load, the trend of its load variation can be analyzed using the voltage loss information of the switching tube under at least two currents. Based on this trend, the actual voltage loss under the current current and / or current voltage can be obtained to filter the impact of load changes on the voltage loss. This allows accurate compensation for voltage deviations caused by factors such as the dead-band time and switching delay of the switching tube under different load conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of drive motor systems, and more specifically, to a dead zone compensation method for a switching tube, a dead zone compensation device for a switching tube, an electronic device, and a storage medium. Background Art

[0002] At present, due to the delay phenomenon when the switching devices of the motor controller are turned on and off, in order to avoid the damage to the controller caused by the upper and lower switching tubes of the same bridge arm being turned on at the same time, a certain length of dead time needs to be set. The existence of dead time will cause voltage loss, which in turn leads to poor current quality. To solve the above problems, the existing technology generally adopts the method of compensating for the dead zone. The existing dead zone compensation methods are: one is divided into low-speed dead zone compensation strategy and high-speed dead zone compensation strategy according to the frequency of motor operation; the other is: determining the compensation voltage components of different sectors according to the sector, three-phase current polarity and voltage compensation depth coefficient. Both have the problem of low compensation accuracy.

[0003] Therefore, a new technical solution is urgently needed to solve the above technical problems. Summary of the Invention

[0004] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] In a first aspect, the present invention provides a dead zone compensation method for a switching tube, comprising:

[0006] Obtaining switch tube loss voltage information under at least two currents;

[0007] Based on the switch tube loss voltage information, the compensation time of the switch tube is obtained;

[0008] Based on the compensation time, dead zone compensation is performed on the switch tube.

[0009] Optionally, the switch tube loss voltage information includes the switch tube voltage drop, the anti-parallel diode tube voltage drop, and the switch tube turn-off time;

[0010] Based on the switch tube loss voltage information, the compensation time of the switch tube is obtained, including:

[0011] Based on the voltage drop of the switch tube and the voltage drop of the anti-parallel diode, the tube voltage drop compensation time is obtained, or based on the switch tube turn-off time, the delay compensation time is calculated;

[0012] Obtain the compensation time of the switching tube based on the tube voltage drop compensation time or delay compensation time.

[0013] Optionally, obtaining switch tube loss voltage information under at least two currents includes:

[0014] Under the rated voltage, obtaining actual switch-off time of the switch tube under multiple currents, wherein the multiple currents have a one-to-one correspondence with the actual switch-off time;

[0015] Based on the multiple currents and their corresponding actual switch-off times, a first functional relationship between the currents and the switch-off times is obtained;

[0016] Based on the first functional relationship, a current inflection point at which a change rate of the off-time is less than a preset change rate is determined to determine the off-time under the current current.

[0017] Optionally, the method further comprises:

[0018] Based on the current voltage and the rated voltage, obtain the turn-off time at the current voltage and current current;

[0019] The off time under the current voltage and current is limited.

[0020] Optionally, obtaining the switch tube loss voltage information under at least two currents further includes:

[0021] Obtaining a second functional relationship between the tube voltage drop and the current at at least two temperatures within the operating temperature range of the switching tube and the anti-parallel diode;

[0022] Based on the second functional relationship, the voltage drop of the switch tube and the voltage drop of the anti-parallel diode under the current current are obtained;

[0023] The method also includes:

[0024] Based on the switch tube voltage drop and the anti-parallel diode tube voltage drop under the current current, obtain the switch tube voltage drop and the anti-parallel diode tube voltage drop under the current temperature and current current.

[0025] Optionally, the method further comprises:

[0026] Obtain the dead zone compensation time based on the delay compensation time and the tube voltage drop compensation time.

[0027] Optionally, the method further comprises:

[0028] Obtaining a delay compensation voltage based on the delay compensation time, and / or obtaining a tube voltage drop compensation voltage based on the tube voltage drop compensation time;

[0029] Obtain the dead zone compensation voltage based on the compensation time of the switch tube;

[0030] Dead zone compensation is performed based on the delay compensation voltage, the tube voltage drop compensation voltage, or the dead zone compensation voltage.

[0031] Secondly, a dead zone compensation device for a switching tube is also proposed, comprising:

[0032] A first acquisition module is used to obtain switch tube loss voltage information under at least two currents;

[0033] A second acquisition module is used to acquire the compensation time of the switching tube based on the loss voltage information of the switching tube;

[0034] The execution module is used to perform dead zone compensation on the switch tube based on the compensation time.

[0035] Optionally, the switching tube loss voltage information includes the switching tube voltage drop, the anti-parallel diode tube voltage drop, and the switching tube turn-off time; the second acquisition module is also used to obtain the tube voltage drop compensation time based on the switching tube voltage drop and the anti-parallel diode tube voltage drop, or calculate the delay compensation time based on the switching tube turn-off time; obtain the compensation time of the switching tube based on the tube voltage drop compensation time or the delay compensation time.

[0036] Optionally, the first acquisition module includes a time acquisition module, a first functional relationship acquisition module and an inflection point determination module, wherein the time acquisition module is used to obtain the actual switch tube turn-off time under multiple currents under rated voltage, wherein the multiple currents and the actual switch tube turn-off time have a one-to-one correspondence; the first functional relationship acquisition module is used to obtain the first functional relationship between the current and the switch tube turn-off time based on the multiple currents and their corresponding actual switch tube turn-off times; the inflection point determination module is used to determine the current inflection point whose turn-off time change rate is less than the preset change rate based on the first functional relationship, so as to determine the turn-off time under the current current.

[0037] Optionally, the device may further include a limiting module for obtaining the turn-off time at the current voltage and the current current based on the current voltage and the rated voltage; and performing a limit processing on the turn-off time at the current voltage and the current current.

[0038] Optionally, the first acquisition module further includes a second functional relationship determination module and a second tube voltage drop acquisition module, wherein the second functional relationship determination module is configured to obtain a second functional relationship between the tube voltage drop and the current at at least two temperatures within the operating temperature range of the switching tube and the anti-parallel diode; and the second tube voltage drop acquisition module is configured to obtain the switching tube voltage drop and the anti-parallel diode voltage drop at the current current based on the second functional relationship. The device further includes a first tube voltage drop acquisition module configured to obtain the switching tube voltage drop and the anti-parallel diode voltage drop at the current temperature and current based on the switching tube voltage drop and the anti-parallel diode voltage drop at the current current.

[0039] Optionally, the device further includes a compensation time acquisition module, configured to acquire the dead zone compensation time based on the delay compensation time and the tube pressure drop compensation time.

[0040] Optionally, the device further includes: a first voltage acquisition module, configured to acquire a delay compensation voltage based on a delay compensation time, and / or acquire a tube voltage drop compensation voltage based on a tube voltage drop compensation time;

[0041] A second voltage acquisition module is used to obtain a dead zone compensation voltage based on the compensation time of the switch tube;

[0042] The compensation module is used to perform dead zone compensation based on the delay compensation voltage, the tube voltage drop compensation voltage or the dead zone compensation voltage.

[0043] In a third aspect, an electronic device is proposed, including a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are used by the processor to execute the dead zone compensation method described above when the processor is running.

[0044] In a fourth aspect, a storage medium is also proposed, on which program instructions are stored. The program instructions are used to execute the dead zone compensation method described above when running.

[0045] The dead zone compensation method proposed in the present invention obtains the loss voltage information of the switching tube under at least two currents; obtains the compensation time of the switching tube based on the loss voltage information of the switching tube; and performs dead zone compensation on the switching tube based on the compensation time. Taking into account the fact that the relevant parameter information of the switching tube changes with the load, the trend of its change with the load can be analyzed by the loss voltage information of the switching tube under at least two currents. Based on this trend, the actual voltage loss under the current current and / or current voltage can be obtained to filter the impact of the load change on the loss voltage, thereby realizing accurate compensation for the voltage deviation caused by the dead zone time, switching delay and other reasons of the switching tube under different load conditions.

[0046] The dead zone compensation method of the present invention, and other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present description. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0048] Figure 1 FIG2 shows a schematic flow chart of a dead zone compensation method according to an embodiment of the present invention;

[0049] Figure 2 A schematic flow chart of obtaining switch loss voltage information under at least two currents according to an embodiment of the present invention is shown;

[0050] Figure 3 An image showing a first functional relationship between the switch-off time and the current current according to an embodiment of the present invention is shown;

[0051] Figure 4 An embodiment of the present invention is shown =25 degrees, =125 degrees temperature condition, the switch tube voltage drop and the anti-parallel diode tube voltage drop and current The second functional relationship image of ;

[0052] Figure 5 A schematic block diagram showing a dead zone compensation device according to an embodiment of the present invention; and

[0053] Figure 6 A schematic block diagram of an electronic device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0054] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the embodiments described are only some embodiments of the present application, not all embodiments.

[0055] According to a first aspect of the present invention, the present invention provides a dead zone compensation method. Figure 1 FIG. 1 is a schematic flow chart of a dead zone compensation method 100 according to an embodiment of the present invention. Figure 1 As shown, the method 100 may include the following steps.

[0056] Step S110: Obtain switch tube loss voltage information under at least two currents.

[0057] Exemplarily, the above-mentioned switching tube can be a controllable power module, such as a Metal-Oxide-Semiconductor Field-Effect Transistor (MOS FET), a thyristor, such as a Silicon Controlled Rectifier (SC), an Insulated Gate Bipolar Transistor (IGBT), etc., which are not specifically limited here. It can be understood that the means for obtaining the switching tube loss voltage information can be any existing or future technical means that can realize the acquisition of the switching tube loss voltage information, which are not specifically limited here. Among them, the main factors causing the voltage loss of the switching tube may include parameters such as dead time, switching delay, and tube voltage drop. In addition, by obtaining the switching tube loss voltage information under at least two currents, the trend of the above parameter information changing with the load can be obtained.

[0058] Step S120: Obtain the compensation time of the switch tube based on the loss voltage information of the switch tube.

[0059] Specifically, the compensation time of the switch tube corresponding to the switch tube loss voltage value can be obtained based on the switch tube loss voltage value and the rated voltage value of the motor controller bus. It can be understood that since the rated voltage of the motor controller bus is a fixed value, the compensation time of the switch tube increases as the switch tube loss voltage value increases.

[0060] Step S130 : performing dead zone compensation on the switch tube based on the compensation time.

[0061] Specifically, dead-band compensation can be performed on the switch based on the dead-band compensation time obtained in step S120. In conjunction with the above, the dead-band compensation performed on the switch is compensation for the turn-off delay time at different current levels, i.e., the switch compensation time. It is understood that the voltage loss information of the switch can change dynamically with the load. By analyzing the voltage loss information of the switch under at least two currents, its load-dependent trend can be analyzed. Furthermore, the compensation time can be obtained based on information such as the current current and / or current voltage, thereby performing dead-band compensation on the switch.

[0062] Therefore, the dead zone compensation method proposed in the present application obtains the loss voltage information of the switching tube under at least two currents; based on the loss voltage information of the switching tube, obtains the compensation time of the switching tube; based on the compensation time, performs dead zone compensation on the switching tube. Taking into account the factor that the relevant parameter information of the switching tube changes with the load, its trend of change with the load can be analyzed, and then it can achieve accurate compensation for the voltage deviation caused by the dead zone time, switching delay and other reasons of the switching tube under different load conditions.

[0063] Optionally, the switch tube loss voltage information in step S120 may include the switch tube voltage drop, the anti-parallel diode tube voltage drop, and the switch tube turn-off time.

[0064] Wherein, step S120 obtains the compensation time of the switching tube based on the loss voltage information of the switching tube, and may include the following steps.

[0065] Step S121: Obtain the tube voltage drop compensation time based on the tube voltage drop of the switch tube and the tube voltage drop of the anti-parallel diode. Alternatively, the delay compensation time can also be calculated based on the switch off time.

[0066] Specifically, a preset number n1 of switch tube voltage drops under different currents and a preset number n2 of anti-parallel diode tube voltage drops under different currents can be obtained. The preset numbers n1 and n2 are positive integers greater than or equal to 2. n1 and n2 can be the same or different.

[0067] Specifically, based on the voltage drop of the switching tube and the voltage drop of the anti-parallel diode, the tube voltage drop compensation time is obtained. The tube voltage drop compensation time can be obtained based on a functional relationship curve between the tube voltage drop and the current of the switching tube at a known preset temperature combined with a linear equation, where the linear equation can be a straight line equation.

[0068] Specifically, based on the switch-off time, calculating the delay compensation time can be performed by obtaining the switch-off time of a preset number n2 of different current sizes under the rated voltage of the motor controller bus as n2 sets of current and corresponding switch-off time data, wherein the current is used as the independent variable and the switch-off time is used as the dependent variable. The n2 sets of data are fitted by data processing software to generate a functional relationship between the switch-off time and the current, and a corresponding function graph is generated based on the functional relationship between the switch-off time and the current. Based on the functional relationship, the turn-off time under different current sizes is calculated, and a data table containing more corresponding numerical relationships between the switch-off time and the current is generated, thereby inferring the current inflection point, and calculating the delay compensation time based on the switch-off time at the current inflection point. The data processing software can be data processing software such as MATLAB. It can be understood that all data processing software that can fit the relationship between the switch-off time and the current now and in the future is within the scope of protection of this application. It is understandable that the larger the value of the preset number n2 is, the more accurate the functional relationship between the switch off time and the current is, and the corresponding function graph generated based on the functional relationship between the switch off time and the current is also more accurate.

[0069] Step 122: Obtain the compensation time of the switching tube based on the tube voltage drop compensation time or the delay compensation time.

[0070] Specifically, the compensation time of the switching tube can be obtained based on the pulse width compensation formula under the delay compensation time or the pulse width compensation formula under the tube voltage drop compensation time. The compensation time of the switching tube can be numerically equal to the delay compensation time or the tube voltage drop compensation time, or can be obtained by combining the values ​​of the delay compensation time and the tube voltage drop compensation time with a parametric equation.

[0071] Figure 2 FIG. 1 is a schematic flow chart showing step S110 of obtaining switch tube loss voltage information under at least two currents according to an embodiment of the present invention. Figure 2 As shown, step S110 of acquiring the switch tube loss voltage information under at least two currents may include the following steps.

[0072] Step S111: Under the rated voltage, obtain the actual switch tube turn-off time under multiple currents, wherein the multiple currents have a one-to-one correspondence with the actual switch tube turn-off time.

[0073] Specifically, at rated voltage, actual switch off times at multiple currents are sampled. Simultaneously, the sampled data is input into data processing software. Data processing software, such as MATLAB, can generate a functional relationship and a graph of the corresponding switch off time and the given current based on the input current and switch off time data. Furthermore, based on this functional relationship between current and switch off time, a data table can be output that shows a one-to-one correspondence between current and switch off time. This data table can be used to retrieve the switch off time at the corresponding current, i, based on a given current value.

[0074] Specifically, the actual switch off time under a preset number n2 of currents can be obtained, wherein the preset number n2 can be preset according to the user's requirements for dead zone compensation accuracy, and is not specifically limited here.

[0075] Step S112: Based on the multiple currents and their corresponding actual switch-off times, a first functional relationship between the currents and the switch-off times is obtained.

[0076] For example, Figure 3 The switch off time of the switch according to one embodiment of the present invention is shown as follows: With current The first functional relationship image. The functional relationship image can be a function image of current and switch tube turn-off time fitted by data processing software based on multiple currents and the corresponding actual switch tube turn-off time. It can be understood that based on this function image, an equation of current and switch tube turn-off time can be constructed. The specific method of constructing the equation is not limited here. The vertical axis of the image is the switch tube turn-off time. , the horizontal axis is the current The three curves in the image are from top to bottom: Under voltage, Voltage and Voltage, switch off time With current The functional relationship graph between . > > .

[0077] Step S113: Based on the first functional relationship, determine the current inflection point where the off-time change rate is less than the preset change rate. To determine the turn-off time at the current .

[0078] Based on Figure 3 The first functional relationship image shown can determine the current inflection point where the off-time change rate is less than the preset change rate. The preset change rate can be set arbitrarily and reasonably according to actual conditions or experience, and is not limited here. Furthermore, after determining the current inflection point, the current current can be brought into the equation or function graph to determine the turn-off time under the current current. .

[0079] Thus, the switch off time based on the measured data and the switch off time is realized. With current The fitting function between the two circuits can accurately compensate for the dead zone voltage drop and ensure the sinusoidality of the current waveform.

[0080] Optionally, the method may further include: step S140, obtaining a turn-off time under the current voltage and the current current based on the current voltage and the rated voltage.

[0081] For example, the turn-off time under the current voltage and current can be obtained by the following formula: ,in, is the switch off time at the current voltage level, is the current voltage, is the rated voltage, is the current, is the current inflection point.

[0082] Step S150 , limiting the off time under the current voltage and current.

[0083] Since the control system is a strongly coupled, nonlinear system and its operating conditions are relatively complex, the off-time needs to be limited. Specifically, if the off-time at the current voltage and current exceeds the preset dead time, the off-time at the current voltage and current current is set to the preset dead time; if the off-time at the current voltage and current current does not exceed the preset dead time, the off-time at the current voltage and current current is maintained. The specific formula is as follows:

[0084] ,in, is the preset dead time; is the turn-off time under the current voltage and current; is the off time after limiting.

[0085] Therefore, by limiting the turn-off time under the current voltage and current, the damage to the motor controller caused by the simultaneous conduction of the upper and lower switching tubes of the same bridge arm can be avoided. At the same time, by accurately limiting the turn-off time under the current voltage and current current and the preset dead time, accurate compensation for the dead time can be achieved.

[0086] Optionally, step S110 of acquiring switch tube loss voltage information under at least two currents may further include:

[0087] Step S114 , obtaining a second functional relationship between the tube voltage drop and the current at at least two temperatures within the operating temperature range of the switch tube and the anti-parallel diode.

[0088] For example, to obtain the tube voltage drop and current at two temperatures within the operating temperature range of the switch tube and the anti-parallel diode The second functional relationship is described below as an example. For example, the two temperatures can be 、 ,in, > The voltage drop and current of the switch tube and the anti-parallel diode at two temperatures within the operating temperature range The second functional relationship can be determined according to the specifications of the switch tube or the anti-parallel diode. 、 Tube voltage drop and current at temperature The second functional relationship image is used to obtain the functional equation of the tube voltage drop and current at the corresponding temperature.

[0089] Specifically, =25 degrees, =125 degrees Celsius is used as an example for the following explanation. 25 degrees Celsius is the normal operating temperature of the switch tube or anti-parallel diode, and 125 degrees Celsius is the maximum operating temperature of the switch tube or anti-parallel diode. Figure 4An embodiment of the present invention is shown =25 degrees, =125 degrees temperature condition, the switch tube voltage drop and the anti-parallel diode tube voltage drop and current The second functional relationship graph, where the vertical axis is the current value, the horizontal axis is the tube voltage drop, and the dark gray curve above is =125 when the temperature of the switch tube and the anti-parallel diode tube voltage drop and current The second functional relationship image of =25 when the current The second functional relationship image of the voltage drop of the switch tube and the anti-parallel diode. The voltage drop of the switch tube at 125 degrees can be compared with the current The functional relationship curve AC is approximately equivalent to two straight lines AB and BC. Similarly, the curve at 25 degrees is equivalent to two straight lines AD and DC.

[0090] Based on the above relationship curve, the equations of the corresponding straight lines can be constructed, which are:

[0091] ,

[0092] ,

[0093] in, is the tube voltage drop of the switching tube at 25 degrees; is the tube voltage drop of the switching tube at 125 degrees; is the current value of the switch tube; is the current value of the switch tube at point B; is the current value of the switch tube at point E; is the current value of the switching tube at point D. 、 、 、 、 、 、 、 are all parameters in the constructed equation.

[0094] It is understandable that the anti-parallel diode voltage drop and current at 25 degrees and 125 degrees can be calculated based on the geometric algorithm. The function equations are:

[0095] ,

[0096] ,

[0097] in, is the tube voltage drop of the anti-parallel diode at 25 degrees, is the tube voltage drop of the anti-parallel diode at 125 degrees; is the current value of the anti-parallel diode; is the current value of the anti-parallel diode at point B, is the current value of the anti-parallel diode at point D, is the current value of the anti-parallel diode at point e.

[0098] Step S115: Based on the second functional relationship, the voltage drop of the switch tube and the voltage drop of the anti-parallel diode under the current current are obtained.

[0099] Specifically, the tube voltage drop and current in step S114 can be used to determine the The second functional relationship is used to compare the current current with the current values ​​at different points, and then the corresponding equation is selected to calculate the switch tube voltage drop and the anti-parallel diode tube voltage drop under the current current.

[0100] Therefore, the above method improves the calculation accuracy of the switch tube voltage drop and the anti-parallel diode tube voltage drop under the current current, thereby improving the compensation accuracy of the motor dead zone voltage.

[0101] Optionally, the method further includes: step S160, obtaining the switch tube voltage drop and the anti-parallel diode tube voltage drop at the current temperature and the current current based on the switch tube voltage drop and the anti-parallel diode tube voltage drop at the current current.

[0102] Specifically, the switch tube voltage drop and the anti-parallel diode tube voltage drop at the current temperature and current current can be obtained by linear weighting. =25 degrees, = 125 degrees Celsius, the voltage drop of the switch tube and the voltage drop of the anti-parallel diode at the current temperature and current are expressed as:

[0103] ,

[0104] ,in, is the current temperature.

[0105] Therefore, the above method comprehensively considers the impact of actual load changes on the switch tube voltage drop and the anti-parallel diode voltage drop by linearly weighting the switch tube voltage drop and the anti-parallel diode voltage drop at the current temperature and current current, thereby improving the scientific nature of the calculation method of the switch tube voltage drop and the anti-parallel diode voltage drop at the current temperature and current current, further improving the calculation accuracy of the switch tube voltage drop and the anti-parallel diode voltage drop at the current current, and thus improving the compensation accuracy of the motor dead zone voltage.

[0106] Optionally, the method may further include: step S170, obtaining the dead zone compensation time based on the delay compensation time and the tube voltage drop compensation time.

[0107] Specifically, the delay compensation time can be calculated based on the following formula:

[0108] ,in, To preset dead time, is the off time after limiting, is the on-time of the switch tube, which can be measured by double pulses. is the current value, The delay compensation time.

[0109] Specifically, the tube pressure drop compensation time can be calculated based on the following formula:

[0110] ,in, is the on-time of the upper arm switch tube in one switching cycle, is the off time of the upper arm switch tube in one switching cycle, is the tube voltage drop of the switching tube at the current temperature, is the tube voltage drop of the anti-parallel diode at the current temperature, is the pipe pressure drop compensation time, is the current value.

[0111] Specifically, the dead zone compensation time can be obtained by comprehensive calculation based on the delay compensation time and the tube pressure drop compensation time.

[0112] Therefore, the dead zone compensation time is calculated based on the delay compensation time and the tube voltage drop compensation time. The dead zone compensation time is calculated by comprehensively considering the actual turn-on time and turn-off time of the switch tube and the tube voltage drop factor of the switch tube and the anti-parallel diode, which improves the calculation accuracy of the dead zone compensation time. Therefore, the dead zone time of the motor can be accurately compensated, thereby improving the protection effect of the motor components.

[0113] Optionally, the method may further include: step S180, obtaining a delay compensation voltage based on the delay compensation time, and / or obtaining a tube voltage drop compensation voltage based on the tube voltage drop compensation time and the dead zone compensation time.

[0114] Specifically, the delay compensation voltage can be calculated based on the value of the three-phase current polarity variable. The polarity variable can be determined based on the current vector angle. For example, the current vector angle is the sum of the angle between the d-axis and the q-axis and the angle between the d-axis and the a-axis, where The value of the polarity variable can be 0 or 1, where the polarity variables of the three-phase current can be: Specifically, the polarity variables of the three-phase currents can be determined based on the following current vector angles:

[0115] exist or hour, =1, =0, =0;

[0116] exist hour, =1, =1, =0;

[0117] At 9 hour, =0, =1, =0;

[0118] exist hour, =0, =1, =1;

[0119] exist hour, =0, =0, =1;

[0120] exist hour, =1, =0, =1.

[0121] When the three-phase current polarity variables are known, the delay compensation voltage can be calculated based on the following formula:

[0122]

[0123] in, 、 、 are the delay compensation voltages of the switching tubes respectively; 、 、 are the polarity variables of the three-phase currents; is the delay compensation time, is the switching cycle; is the bus voltage.

[0124] Specifically, the voltage drop compensation time of the switch tube and the anti-parallel diode can be calculated based on the following formula:

[0125] ,in, It is the pipe pressure drop compensation time; is the on-time of the upper arm switch tube in one switching cycle; is the off time of the upper arm switch tube in one switching cycle; is the bus voltage; is the tube voltage drop of the switching tube at the current temperature; is the tube voltage drop of the anti-parallel diode at the current temperature.

[0126] Furthermore, the tube voltage drop compensation voltage can be calculated based on the following formula:

[0127]

[0128] in, It is the pipe pressure drop compensation time; 、 、 are the tube voltage drop compensation voltage respectively; 、 、 are the polarity variables of the three-phase currents; is the on-time of the upper arm switch tube in one switching cycle; is the off time of the upper arm switch tube in one switching cycle; is the bus voltage, It is the pipe pressure drop compensation time.

[0129] Step S190: Obtain the dead zone compensation voltage based on the compensation time of the switch tube. Specifically, when the compensation voltage of the switch tube and the compensation voltage of the switch tube are known, the dead zone compensation voltage of the switch tube can be obtained based on the following formula:

[0130]

[0131] in, 、 、 are the dead zone compensation voltages of the switching tubes respectively; 、 、 are the polarity variables of the three-phase currents; Compensation time for delay; It is the pipe pressure drop compensation time; is the switching cycle; is the bus voltage.

[0132] As a result, the calculation accuracy of the delay compensation voltage, the tube voltage drop compensation voltage and the dead zone compensation voltage are improved respectively, and the motor dead zone voltage can be accurately compensated.

[0133] Step S1100 , performing dead zone compensation based on the delay compensation voltage, the tube voltage drop compensation voltage or the dead zone compensation voltage.

[0134] For example, the compensation voltage in the preset coordinate system can be calculated to perform dead zone compensation on the switch tube, wherein the preset coordinate system can be 、 Coordinate system, the compensation voltage of the switch tube is transformed to obtain the wave compensation voltage. The specific change formula is as follows:

[0135]

[0136] Therefore, based on the delay compensation voltage, the tube voltage drop compensation voltage or the dead zone compensation voltage, dead zone compensation is performed on the switching tube, thereby improving the compensation accuracy.

[0137] According to a second aspect of the present invention, the present invention provides a dead zone compensation device. Figure 5 FIG. 5 shows a schematic block diagram of a dead zone compensation device 500 according to an embodiment of the present invention. Figure 5 As shown, the apparatus 500 may include: a first acquisition module 510 , a second acquisition module 520 , and an execution module 530 .

[0138] The first acquisition module 510 is configured to acquire switch tube loss voltage information under at least two currents.

[0139] The second acquisition module 520 is configured to acquire the compensation time of the switch tube based on the switch tube loss voltage information.

[0140] The execution module 530 is configured to perform dead zone compensation on the switch tube based on the compensation time.

[0141] According to a third aspect of the present invention, an electronic device is further provided. Figure 6 FIG. 6 shows a schematic block diagram of an electronic device 600 according to an embodiment of the present invention. Figure 6 As shown, the electronic device 600 may include a processor 610 and a memory 620. The memory 620 stores computer program instructions, which are used by the processor 610 to execute the dead zone compensation method described above when the computer program instructions are executed.

[0142] According to a fourth aspect of the present invention, a storage medium is further provided, on which program instructions are stored, which, when executed, are used to execute the dead zone compensation method described above. The storage medium may include, for example, a storage component of a tablet computer, a computer hard disk, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disc read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0143] A person skilled in the art can understand the specific details and beneficial effects of the dead zone compensation device, electronic device and storage medium of the switching tube by reading the above description of the dead zone compensation method of the switching tube, and will not be repeated here for the sake of brevity.

[0144] In the several embodiments provided in this application, it should be understood that the disclosed devices and / or equipment can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0145] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0146] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0147] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program code.

[0148] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A dead zone compensation method for a switching tube, characterized in that: include: Obtaining switch tube loss voltage information under at least two currents; the switch tube loss voltage information includes a switch tube voltage drop, an anti-parallel diode tube voltage drop, and a switch tube turn-off time; Based on the switch loss voltage information, a compensation time of the switch is obtained; obtaining the compensation time of the switch based on the switch loss voltage information includes: obtaining a voltage drop compensation time based on the switch voltage drop and the anti-parallel diode voltage drop, and calculating a delay compensation time based on the switch turn-off time; obtaining the compensation time of the switch based on the voltage drop compensation time and the delay compensation time; obtaining the switch loss voltage information under at least two currents includes: obtaining actual switch turn-off times under multiple currents at a rated voltage, wherein the multiple currents have a one-to-one correspondence with the actual switch turn-off times; obtaining a first functional relationship between current and switch turn-off time based on the multiple currents and their corresponding actual switch turn-off times; and determining, based on the first functional relationship, a current inflection point at which a rate of change of the switch turn-off time is less than a preset rate of change, so as to determine the switch turn-off time under the current current; Based on the compensation time, dead zone compensation is performed on the switch tube.

2. The dead zone compensation method according to claim 1, wherein: The method further comprises: Based on the current voltage and the rated voltage, obtaining a turn-off time at the current voltage and the current current; A limit process is performed on the off time under the current voltage and the current current.

3. The dead zone compensation method according to claim 1, wherein: The obtaining of the switch tube loss voltage information under at least two currents further includes: Obtaining a second functional relationship between the tube voltage drop and the current at at least two temperatures within the operating temperature range of the switching tube and the anti-parallel diode; Based on the second functional relationship, the voltage drop of the switch tube and the voltage drop of the anti-parallel diode under the current current are obtained; The method further comprises: Based on the switch tube voltage drop and the anti-parallel diode tube voltage drop under the current current, the switch tube voltage drop and the anti-parallel diode tube voltage drop under the current temperature and the current current are obtained.

4. The dead zone compensation method according to any one of claims 1 to 3, characterized in that: The method further comprises: Based on the delay compensation time, obtaining a delay compensation voltage; and based on the tube voltage drop compensation time, obtaining a tube voltage drop compensation voltage; Obtaining a dead zone compensation voltage based on the compensation time of the switch tube; The dead zone compensation is performed based on the delay compensation voltage, the tube voltage drop compensation voltage, or the dead zone compensation voltage.

5. A dead zone compensation device for a switching tube, applied to the dead zone compensation method for a switching tube according to any one of claims 1 to 4, characterized in that: include: A first acquisition module is configured to acquire switch tube loss voltage information under at least two currents; the switch tube loss voltage information includes a switch tube voltage drop, an anti-parallel diode tube voltage drop, and a switch tube turn-off time; a second acquisition module configured to acquire a compensation time of the switching tube based on the switching tube loss voltage information; acquiring the compensation time of the switching tube based on the switching tube loss voltage information, comprising: acquiring a tube voltage drop compensation time based on the switching tube voltage drop and the anti-parallel diode tube voltage drop, and calculating a delay compensation time based on the switching tube turn-off time; acquiring the compensation time of the switching tube based on the tube voltage drop compensation time and the delay compensation time; acquiring the switching tube loss voltage information under at least two currents, comprising: acquiring actual switch tube turn-off times under multiple currents at a rated voltage, wherein the multiple currents have a one-to-one correspondence with the actual switch tube turn-off times; acquiring a first functional relationship between current and switch tube turn-off time based on the multiple currents and their corresponding actual switch tube turn-off times; and determining, based on the first functional relationship, a current inflection point at which a rate of change of the switch tube turn-off time is less than a preset rate of change, to determine the switch tube turn-off time under the current current; An execution module is configured to perform dead zone compensation on the switch tube based on the compensation time.

6. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are used by the processor to execute the dead zone compensation method according to any one of claims 1 to 4 when the processor is running. 7 . A storage medium having program instructions stored thereon, wherein the program instructions are used to execute the dead zone compensation method according to claim 1 when running.

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