Servo vector control PWM dead zone compensation method and device

Abstract

The present application relates to a servo vector control PWM dead zone compensation method and device, which obtains the sampled phase current and dq axis current instructions of the servo system, and calculates the current loop bandwidth value when the sampled phase current is less than the set threshold. The dq axis current instructions are filtered based on the current loop bandwidth value to obtain the dq axis current prediction value. The dq axis current prediction value is subjected to coordinate transformation to obtain the phase current value; based on the polarity of the phase current value, PWM dead zone compensation is performed. Among them, the current instruction based on the vector control thinking and the current prediction method based on the bandwidth identify the polarity of the small current signal, avoid the delay problem caused by the reliance on the current feedback scheme, and also avoid the noise problem of feedback sampling. At the same time, the algorithm has a small amount of calculation, can more accurately estimate the current zero crossing point, and thus achieve a better PWM dead zone compensation effect, and is also convenient for application on low-cost processors.

Description

Technical Field

[0001] The present application relates to the field of servo motor control, and in particular to a servo vector control PWM dead zone compensation method and device. Background Art

[0002] Servo vector control refers to the vector control technology of servo motors. It is one of the control methods based on the vector control principle in DC and AC motor control. It can achieve efficient and accurate control of motor torque, speed and position. For servo vector control occasions, the control accuracy is not only related to the hardware, but also greatly affected by the low-speed PWM (Pulse-width modulation) dead zone compensation performance. The servo PWM dead zone compensation algorithm usually determines the dead zone compensation amount based on the current polarity. However, due to the inevitable noise and hysteresis problems in current feedback sampling, the sampling of small signals near the zero crossing point may have large errors, the current polarity is also inaccurate, and the PWM dead zone compensation may be wrong, resulting in large abnormal fluctuations near the current zero crossing point.

[0003] There are currently two main methods in the industry to solve the above problems. One method is to combine the feedback dq axis current and the motor feedback position information to determine the current angle and ultimately determine the polarity of the dead zone compensation. This method uses the feedback current, and there is still a hysteresis problem. In general, the dq axis current is filtered to avoid noise influence, which will bring greater hysteresis, resulting in incorrect current zero point judgment and abnormal PWM dead zone compensation. Another method is to perform PWM dead zone compensation based on modern control theory methods such as current observers. This method has a certain dependence on motor and driver parameters, and has a large amount of calculation, which is not suitable for implementation on low-cost MCU chips. Summary of the invention

[0004] Based on this, in order to solve the shortcomings of the mainstream methods in the industry, the embodiments of the present application provide a servo vector control PWM dead zone compensation method and device.

[0005] At least one embodiment of the present disclosure provides a servo vector control PWM dead zone compensation method.

[0006] A servo vector control PWM dead zone compensation method comprises the steps of:

[0007] Obtain the sampled phase current and dq axis current instructions of the servo system;

[0008] When the sampled phase current is less than a set threshold, calculating a current loop bandwidth value;

[0009] Filtering the dq axis current command based on the current loop bandwidth value to obtain a dq axis current prediction value;

[0010] Performing coordinate transformation on the predicted dq-axis current values ​​to obtain phase current values;

[0011] Based on the polarity of the phase current value, PWM dead zone compensation is performed.

[0012] The servo vector control PWM dead zone compensation method of the disclosed embodiment obtains the sampled phase current and dq axis current command of the servo system, and calculates the current loop bandwidth value when the sampled phase current is less than the set threshold. The dq axis current command is filtered based on the current loop bandwidth value to obtain the dq axis current prediction value. The dq axis current prediction value is subjected to coordinate transformation to obtain the phase current value; based on the polarity of the phase current value, PWM dead zone compensation is performed. Among them, the current command based on the vector control thinking + the current prediction method based on the bandwidth identifies the polarity of the small current signal, avoids the delay problem caused by the reliance on the current feedback scheme, and also avoids the noise problem of feedback sampling. At the same time, the algorithm has a small amount of calculation, can more accurately estimate the current zero crossing point, and thus achieve a better PWM dead zone compensation effect, and is also convenient for application on low-cost processors.

[0013] As one of the disclosed embodiments, when the sampled phase current is less than the set threshold, before the process of calculating the current loop bandwidth value, the process further includes the following steps:

[0014] The sampled phase current is subjected to absolute value processing.

[0015] As one of the disclosed embodiments, the process of calculating the current loop bandwidth value when the sampled phase current is less than a set threshold value includes the steps of:

[0016] When the sampled phase current is less than a set threshold, the current loop bandwidth value is calculated based on the current loop PI gain.

[0017] As one of the disclosed embodiments, the process of calculating the current loop bandwidth value based on the current loop PI gain is as follows:

[0018] Kp=Ls*ω c ;

[0019] Ki=Rs*ω c ;

[0020] Among them, Kp represents the proportional gain of the PI regulator, Ki represents the integral gain of the PI regulator, Ls represents the motor stator inductance, Rs represents the motor stator resistance, ω c Indicates the current loop bandwidth value.

[0021] As one of the disclosed embodiments, the process of filtering the dq axis current command based on the current loop bandwidth value to obtain the dq axis current prediction value includes the steps of:

[0022] The current loop bandwidth value is used as the filter cutoff frequency, the dq axis current command is subjected to a first-order low-pass filter process, and the dq axis current prediction value is output.

[0023] As one of the disclosed embodiments, the process of performing coordinate transformation on the dq axis current prediction value to obtain the phase current value includes the steps of:

[0024] The dq axis current prediction value is subjected to vector control ipark+iclark transformation to obtain a phase current value.

[0025] As one of the disclosed embodiments, the process of performing PWM dead zone compensation based on the polarity of the phase current value includes the steps of:

[0026] When the phase current value is positive, the positive dead time value is compensated, otherwise the negative dead time value is compensated.

[0027] At least one embodiment of the present disclosure further provides a servo vector control PWM dead zone compensation device.

[0028] A servo vector control PWM dead zone compensation device, comprising:

[0029] A data acquisition module, used to obtain sampled phase current and dq axis current instructions of the servo system;

[0030] A bandwidth calculation module, used for calculating a current loop bandwidth value when the sampled phase current is less than a set threshold;

[0031] A filtering processing module, used for filtering the dq axis current command based on the current loop bandwidth value to obtain a dq axis current prediction value;

[0032] A coordinate transformation module, used for performing coordinate transformation on the dq axis current prediction value to obtain a phase current value;

[0033] The dead zone compensation module is used to perform PWM dead zone compensation based on the polarity of the phase current value.

[0034] The above-mentioned servo vector control PWM dead zone compensation device obtains the sampled phase current and dq axis current instructions of the servo system, and calculates the current loop bandwidth value when the sampled phase current is less than the set threshold. The dq axis current instruction is filtered based on the current loop bandwidth value to obtain the dq axis current prediction value. The dq axis current prediction value is transformed into a coordinate to obtain the phase current value; based on the polarity of the phase current value, PWM dead zone compensation is performed. Among them, the current instruction based on the vector control thinking + the current prediction method based on the bandwidth identifies the polarity of the small current signal, avoids the delay problem caused by the reliance on the current feedback scheme, and also avoids the noise problem of feedback sampling. At the same time, the algorithm has a small amount of calculation, can more accurately estimate the current zero crossing point, and thus achieve a better PWM dead zone compensation effect, and is also easy to apply on low-cost processors.

[0035] At least one embodiment of the present disclosure further provides a data control device, including:

[0036] one or more memories non-transitorily storing computer-executable instructions;

[0037] One or more processors are configured to execute computer executable instructions, wherein the computer executable instructions, when executed by the one or more processors, implement the servo vector control PWM dead zone compensation method according to any embodiment of the present disclosure.

[0038] The above-mentioned data control device obtains the sampled phase current and dq-axis current instructions of the servo system, and calculates the current loop bandwidth value when the sampled phase current is less than the set threshold. The dq-axis current instructions are filtered based on the current loop bandwidth value to obtain the dq-axis current prediction value. The dq-axis current prediction value is transformed into a coordinate to obtain the phase current value; based on the polarity of the phase current value, PWM dead zone compensation is performed. Among them, the current instruction based on the vector control thinking + the current prediction method based on the bandwidth identifies the polarity of the small current signal, avoids the delay problem caused by the reliance on the current feedback scheme, and also avoids the noise problem of feedback sampling. At the same time, the algorithm has a small amount of calculation, can more accurately estimate the current zero crossing point, and thus achieve a better PWM dead zone compensation effect, and is also easy to apply on low-cost processors.

[0039] At least one embodiment of the present disclosure further provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, a servo vector control PWM dead zone compensation method according to any embodiment of the present disclosure is implemented.

[0040] The above-mentioned non-transient computer-readable storage medium obtains the sampled phase current and dq-axis current instructions of the servo system, and calculates the current loop bandwidth value when the sampled phase current is less than the set threshold. The dq-axis current instructions are filtered based on the current loop bandwidth value to obtain the dq-axis current prediction value. The dq-axis current prediction value is transformed into a coordinate to obtain the phase current value; based on the polarity of the phase current value, PWM dead zone compensation is performed. Among them, the current instruction based on the vector control thinking + the current prediction method based on the bandwidth identifies the polarity of the small current signal, avoids the delay problem caused by the reliance on the current feedback scheme, and also avoids the noise problem of feedback sampling. At the same time, the algorithm has a small amount of calculation, can more accurately estimate the current zero crossing point, and thus achieve a better PWM dead zone compensation effect, and is also easy to apply on low-cost processors. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A flow chart of a servo vector control PWM dead zone compensation method based on an embodiment disclosed herein;

[0042] Figure 2 A flow chart of a servo vector control PWM dead zone compensation method according to a preferred disclosed embodiment;

[0043] Figure 3 A module structure diagram of a servo vector control PWM dead zone compensation device according to a disclosed embodiment;

[0044] Figure 4 A schematic block diagram of a data control device provided for at least one embodiment of the present disclosure;

[0045] Figure 5 A schematic diagram of a non-transitory computer-readable storage medium provided for at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0047] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0048] In order to keep the following description of the embodiments of the present disclosure clear and concise, the present disclosure omits detailed descriptions of some known functions and known components.

[0049] At least one embodiment of the present disclosure provides a servo vector control PWM dead zone compensation method.

[0050] Figure 1 The flowchart of the servo vector control PWM dead zone compensation method according to the disclosed embodiment is as follows: Figure 1 As shown, a servo vector control PWM dead zone compensation method of a disclosed embodiment includes steps S100 to S104:

[0051] S100, obtaining sampled phase current and dq axis current instructions of the servo system;

[0052] S101, when the sampled phase current is less than a set threshold, calculating a current loop bandwidth value;

[0053] S102, filtering the dq axis current command based on the current loop bandwidth value to obtain a dq axis current prediction value;

[0054] S103, performing coordinate transformation on the dq axis current prediction value to obtain a phase current value;

[0055] S104: Perform PWM dead zone compensation based on the polarity of the phase current value.

[0056] The servo vector control PWM dead zone compensation method of at least one embodiment of the present disclosure is applied in a servo system including a servo motor and a motor controller. The servo motor has a direct axis and a quadrature axis, the direct axis is the d axis, and the quadrature axis is the q axis. The motor controller controls the servo motor according to various software instructions, wherein the software matching calibration of the servo motor and the motor controller can calculate the dq axis current instruction in real time according to the changes of the torque instruction, the motor speed, and the bus voltage, as the basis for obtaining the dq axis current instruction in step S100.

[0057] The sampled phase current of the servo system is the sampling result of the phase current of the servo motor. Usually, the servo system itself has the capability of sampling the phase current according to the control requirements, which is used as the basis for obtaining the sampled phase current in step S100.

[0058] As a preferred implementation method, Figure 2 Flow chart of the servo vector control PWM dead zone compensation method of the preferred disclosed embodiment, as shown in FIG. Figure 2 As shown, before the process of calculating the current loop bandwidth value in step S101 when the sampled phase current is less than the set threshold, step S200 is also included:

[0059] S200, performing absolute value processing on the sampled phase current.

[0060] The absolute value of the sampled phase current feedback is processed to eliminate the influence of different phase current polarities, which is convenient for threshold comparison.

[0061] The threshold value is set to judge the current fluctuation, and the threshold value is set to 0.5%-1.5% of the rated current of the servo drive. As a preferred implementation, the threshold value is set to 1% of the rated current of the servo drive.

[0062] In one embodiment, if the sampled phase current is greater than or equal to the set threshold, the dead zone compensation of step S104 is directly performed.

[0063] When the sampled phase current is less than the set threshold, the current loop bandwidth value is calculated, wherein the current loop bandwidth value is based on the PI regulator calibrated by the motor controller software, and the PI regulator is calibrated with the current loop PI gain.

[0064] As a preferred implementation method, Figure 2 As shown, in step S101, when the sampled phase current is less than the set threshold, the process of calculating the current loop bandwidth value includes step S201:

[0065] S201, when the sampled phase current is less than a set threshold, calculating the current loop bandwidth value based on the current loop PI gain.

[0066] According to the setting relationship of the current loop PI gain, that is, according to the setting relationship between the servo motor resistance and inductance parameters and the bandwidth, the current loop bandwidth value is reversed. Based on this, the process of calculating the current loop bandwidth value based on the current loop PI gain is as follows:

[0067] Kp=Ls*ω c ;

[0068] Ki=Rs*ω c ;

[0069] Among them, Kp represents the proportional gain of the PI regulator, Ki represents the integral gain of the PI regulator, Ls represents the motor stator inductance, Rs represents the motor stator resistance, ω c Indicates the current loop bandwidth value.

[0070] The dq axis current command is filtered, and the output result after filtering is the dq axis current prediction value. As a preferred implementation method, Figure 2 As shown, the process of filtering the dq axis current command based on the current loop bandwidth value in step S102 to obtain the dq axis current prediction value includes step S202:

[0071] S202, using the current loop bandwidth value as the filter cutoff frequency, performing first-order low-pass filtering on the dq-axis current command, and outputting the dq-axis current prediction value.

[0072] The dq axis current command is processed by a first-order low-pass filter, the filter cutoff frequency is the current bandwidth value, and the filter output is the dq axis current prediction value.

[0073] The dq axis current prediction value is transformed into coordinates to obtain the phase current value. The coordinate transformation methods include park transformation, clark transformation, ipark transformation and iclark transformation, etc. The dq axis current prediction value is transformed into coordinates to obtain the phase current values ​​of different phases.

[0074] As a preferred implementation method, Figure 2 As shown, the process of performing coordinate transformation on the dq axis current prediction value in step S103 to obtain the phase current value includes step S203:

[0075] S203, performing ipark+iclark transformation of vector control on the dq axis current prediction value to obtain a phase current value.

[0076] Through the ipark+iclark transformation of vector control, the phase current value is transformed in two steps to convert the dq axis current prediction value of the rotating coordinate system into the phase current value of the stationary coordinate system, which is convenient for subsequent polarity judgment of the phase current value. Based on the polarity of the phase current value, PWM dead zone compensation is performed.

[0077] As a preferred implementation method, Figure 2 As shown, the process of performing PWM dead zone compensation based on the polarity of the phase current value in step S104 includes step S204:

[0078] S204, when the phase current value is positive, compensating the positive dead time value, otherwise compensating the negative dead time value.

[0079] Understanding step S204, taking the U phase as an example, it is stipulated that the current flowing from the motor controller to the U phase winding of the servo motor stator is a positive current, and the reverse direction is a negative current. When the U phase current is positive, the U phase output duty cycle compensates for a positive dead time value, and the reverse current compensates for a negative dead time value.

[0080] The servo vector control PWM dead zone compensation method of any embodiment of the present disclosure obtains the sampled phase current and dq axis current command of the servo system, and calculates the current loop bandwidth value when the sampled phase current is less than the set threshold. The dq axis current command is filtered based on the current loop bandwidth value to obtain the dq axis current prediction value. The dq axis current prediction value is subjected to coordinate transformation to obtain the phase current value; based on the polarity of the phase current value, PWM dead zone compensation is performed. Among them, the current command based on the vector control thinking + the current prediction method based on the bandwidth identifies the polarity of the small current signal, avoids the delay problem caused by the reliance on the current feedback scheme, and also avoids the noise problem of feedback sampling. At the same time, the algorithm has a small amount of calculation, can more accurately estimate the current zero crossing point, and thus achieve a better PWM dead zone compensation effect, and is also convenient for application on low-cost processors.

[0081] The embodiment of the present disclosure also provides a servo vector control PWM dead zone compensation device.

[0082] Figure 3 FIG. 1 is a block diagram of a servo vector control PWM dead zone compensation device according to a disclosed embodiment. Figure 3 As shown, a servo vector control PWM dead zone compensation device according to an embodiment includes:

[0083] The data acquisition module 100 is used to acquire the sampled phase current and dq axis current instructions of the servo system;

[0084] A bandwidth calculation module 101, used to calculate a current loop bandwidth value when the sampled phase current is less than a set threshold;

[0085] A filtering processing module 102, configured to filter the dq axis current command based on the current loop bandwidth value to obtain a dq axis current prediction value;

[0086] A coordinate transformation module 103 is used to perform coordinate transformation on the dq axis current prediction value to obtain a phase current value;

[0087] The dead zone compensation module 104 is configured to perform PWM dead zone compensation based on the polarity of the phase current value.

[0088] The above-mentioned servo vector control PWM dead zone compensation device obtains the sampled phase current and dq axis current instructions of the servo system, and calculates the current loop bandwidth value when the sampled phase current is less than the set threshold. The dq axis current instruction is filtered based on the current loop bandwidth value to obtain the dq axis current prediction value. The dq axis current prediction value is transformed into a coordinate to obtain the phase current value; based on the polarity of the phase current value, PWM dead zone compensation is performed. Among them, the current instruction based on the vector control thinking + the current prediction method based on the bandwidth identifies the polarity of the small current signal, avoids the delay problem caused by the reliance on the current feedback scheme, and also avoids the noise problem of feedback sampling. At the same time, the algorithm has a small amount of calculation, can more accurately estimate the current zero crossing point, and thus achieve a better PWM dead zone compensation effect, and is also easy to apply on low-cost processors.

[0089] At least one embodiment of the present disclosure further provides a data control device. Figure 4 A schematic block diagram of a data control device provided by at least one embodiment of the present disclosure. Figure 4 As shown, the data control device 20 may include one or more memories 200 and one or more processors 201. The memory 200 is used to store computer executable instructions non-transiently; the processor 201 is used to run the computer executable instructions, and when the computer executable instructions are run by the processor 201, the processor 201 may perform one or more steps in the servo vector control PWM dead zone compensation method according to any embodiment of the present disclosure.

[0090] The specific implementation and related explanation of each step of the servo vector control PWM dead zone compensation method can be found in the above-mentioned servo vector control PWM dead zone compensation method embodiment, which will not be repeated here. Figure 4 The components of the data control device 20 shown are merely exemplary and non-limiting. The data control device 20 may also have other components according to actual application requirements.

[0091] In one embodiment, the processor 201 and the memory 200 can communicate with each other directly or indirectly. For example, the processor 201 and the memory 200 can communicate via a network connection. The network may include a wireless network, a wired network, and / or any combination of a wireless network and a wired network, and the present disclosure does not limit the type and function of the network. For another example, the processor 201 and the memory 200 can also communicate via a bus connection. The bus may be a peripheral component interconnect standard (PCI) bus or an extended industrial standard architecture (EISA) bus, etc. For example, the processor 201 and the memory 200 may be arranged at a remote data server end (cloud) or a distributed energy system end (local end), or may be arranged at a client end (e.g., a mobile device such as a mobile phone). For example, the processor 201 may be a device having data processing capability and / or instruction execution capability such as a central processing unit (CPU), a tensor processor (TPU), or a graphics processor GPU, and may control other components in the data prediction device 20 to perform desired functions. The central processing unit (CPU) may be an X86 or ARM architecture, etc.

[0092] In one embodiment, the memory 200 may include any combination of one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, erasable programmable read-only memory (EPROM), portable compact disk read-only memory (CD-ROM), USB memory, flash memory, etc. One or more computer-executable instructions may be stored on the computer-readable storage medium, and the processor 201 may execute the computer-executable instructions to implement various functions of the data prediction device 20. Various applications and various data, as well as various data used and / or generated by the application, etc. may also be stored in the memory 200.

[0093] It should be noted that the data control device 20 can achieve technical effects similar to those of the aforementioned servo vector control PWM dead zone compensation method, and the repeated parts will not be repeated.

[0094] At least one embodiment of the present disclosure also provides a non-transitory computer-readable storage medium. Figure 5 A schematic diagram of a non-transitory computer-readable storage medium provided for at least one embodiment of the present disclosure. Figure 5As shown, one or more computer executable instructions 301 may be non-transitory stored on the non-transitory computer readable storage medium 30. For example, when the computer executable instructions 301 are executed by a computer, the computer may execute one or more steps in the servo vector control PWM dead zone compensation method according to any embodiment of the present disclosure.

[0095] In one embodiment, the non-transitory computer-readable storage medium 30 may be applied to the above-mentioned data control device 20 , for example, it may be the memory 200 in the data control device 20 .

[0096] In one embodiment, the description of the non-transitory computer-readable storage medium 30 may refer to the description of the memory 200 in the embodiment of the data control device 20, and the repeated parts will not be repeated.

[0097] It should be noted that the memory 200 stores different non-transiently stored computer executable instructions, and the data control device 20 corresponds to a servo vector controlled PWM dead zone compensation device. When the computer executable instructions are executed by the processor 201, the processor 201 can execute one or more steps in the servo vector controlled PWM dead zone compensation method according to any embodiment of the present disclosure.

[0098] There are a few points to note about this disclosure:

[0099] (1) The drawings of the embodiments of the present disclosure only relate to the structures related to the embodiments of the present disclosure, and other structures may refer to the general design.

[0100] (2) For the sake of clarity, the thickness and size of layers or structures are exaggerated in the drawings used to describe the embodiments of the present invention. It is understood that when an element such as a layer, film, region, or substrate is referred to as being "on" or "under" another element, the element may be "directly" "on" or "under" the other element, or there may be intervening elements.

[0101] (3) In the absence of conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other to obtain new embodiments. The above are only specific implementations of the present disclosure, but the protection scope of the present disclosure is not limited thereto. The protection scope of the present disclosure shall be subject to the protection scope of the claims.

[0102] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0103] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A servo vector control PWM dead zone compensation method, characterized in that: Includes steps: Obtain the sampled phase current and dq axis current instructions of the servo system; When the sampled phase current is less than a set threshold, calculating a current loop bandwidth value; Filtering the dq axis current command based on the current loop bandwidth value to obtain a dq axis current prediction value; Performing coordinate transformation on the predicted dq-axis current values ​​to obtain phase current values; Based on the polarity of the phase current value, PWM dead zone compensation is performed.

2. The servo vector control PWM dead zone compensation method according to claim 1, characterized in that: Before the process of calculating the current loop bandwidth value when the sampled phase current is less than the set threshold, the process further includes the following steps: The sampled phase current is subjected to absolute value processing.

3. The servo vector control PWM dead zone compensation method according to claim 1, characterized in that: The process of calculating the current loop bandwidth value when the sampled phase current is less than a set threshold value comprises the steps of: When the sampled phase current is less than a set threshold, the current loop bandwidth value is calculated based on the current loop PI gain.

4. The servo vector control PWM dead zone compensation method according to claim 3, characterized in that: The process of calculating the current loop bandwidth value based on the current loop PI gain is as follows: Kp=Ls*ω c ; Ki=Rs*ω c ; Among them, Kp represents the proportional gain of the PI regulator, Ki represents the integral gain of the PI regulator, Ls represents the motor stator inductance, Rs represents the motor stator resistance, ω c Indicates the current loop bandwidth value.

5. The servo vector control PWM dead zone compensation method according to claim 1, characterized in that: The process of filtering the dq axis current command based on the current loop bandwidth value to obtain the dq axis current prediction value comprises the steps of: The current loop bandwidth value is used as the filter cutoff frequency, the dq axis current command is subjected to a first-order low-pass filter process, and the dq axis current prediction value is output.

6. The servo vector control PWM dead zone compensation method according to claim 1, characterized in that: The process of performing coordinate transformation on the dq axis current prediction value to obtain the phase current value comprises the steps of: The dq axis current prediction value is subjected to vector control ipark+iclark transformation to obtain a phase current value.

7. The servo vector control PWM dead zone compensation method according to claim 1, characterized in that: The process of performing PWM dead zone compensation based on the polarity of the phase current value comprises the steps of: When the phase current value is positive, the positive dead time value is compensated, otherwise the negative dead time value is compensated.

8. A servo vector control PWM dead zone compensation device, characterized in that: include: A data acquisition module, used to obtain sampled phase current and dq axis current instructions of the servo system; A bandwidth calculation module, used for calculating a current loop bandwidth value when the sampled phase current is less than a set threshold; A filtering processing module, used for filtering the dq axis current command based on the current loop bandwidth value to obtain a dq axis current prediction value; A coordinate transformation module, used for performing coordinate transformation on the dq axis current prediction value to obtain a phase current value; The dead zone compensation module is used to perform PWM dead zone compensation based on the polarity of the phase current value.

9. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the servo vector control PWM dead zone compensation method according to any one of claims 1 to 7 is implemented.

10. A data control device, characterized in that: include: one or more memories non-transitorily storing computer-executable instructions; One or more processors are configured to run computer executable instructions, wherein the computer executable instructions, when executed by the one or more processors, implement the servo vector control PWM dead zone compensation method according to any one of claims 1 to 7.

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