Dead zone compensation method and device, medium, inverter and servo driver

Abstract

The invention provides a dead-zone compensation method and device, a medium, an inverter and a servo driver, and the method comprises the steps: obtaining preset dead-zone time and the current direction of a drive bridge arm, the current direction of current flowing out of the drive bridge arm being positive, and the current direction of current flowing into the drive bridge arm being negative; obtaining conduction delay time and turn-off delay time of the bridge arm upper tube and the bridge arm lower tube; acquiring the bus voltage of the inverter; based on the current direction, the waveform of the carrier wave and the rising and falling trend of the carrier wave count value, the loss voltage of the driving bridge arm is determined according to the conduction delay time, the turn-off delay time, the preset dead zone time, the period of the carrier wave and the bus voltage; and compensating the voltage output by the driving bridge arm based on the loss voltage.

Description

Technical Field

[0001] The present invention relates to the field of control technology, and in particular to a dead zone compensation method, device, medium, inverter and servo driver. Background Art

[0002] Inverters usually use pulse width modulation (PWM) technology.

[0003] During the inverter control process, the upper and lower switch tubes located in the same driving bridge arm are turned on complementary to each other. The purpose is to prevent the upper and lower switch tubes from being turned on at the same time, causing the driving bridge arm to be directly turned on. A certain dead time will be artificially added to the upper and lower tube opening control process.

[0004] Among them, the addition of dead time can effectively prevent the upper and lower tubes in the same phase drive bridge arm from being directly connected. However, the addition of dead time will cause the voltage output by the inverter to be inconsistent with its expected voltage, resulting in current distortion. Current distortion will cause unnecessary losses and may cause torque pulsation, vibration, noise, and even oscillation. When the motor is at low speed and light load, the performance degradation caused by dead time is more obvious.

[0005] There are two main types of compensation strategies in the related technical solutions. One is based on the average error voltage compensation method, which has the advantage of being easy to implement. The other method is to change the duty cycle of the output pulse, but it increases the complexity of implementation.

[0006] like Figure 1 and Figure 2 It can be seen that no matter which method is used in the above two solutions, the PWM comparison value is updated at the peak or trough of the carrier, that is, the voltage output is updated once a PWM carrier cycle, and the voltage output by the inverter is still inconsistent with its expected voltage. Summary of the invention

[0007] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0008] To this end, a first aspect of the present invention is to provide a dead zone compensation method.

[0009] A second aspect of the present invention is to provide a dead zone compensation device.

[0010] A third aspect of the present invention is to provide another dead zone compensation device.

[0011] A fourth aspect of the present invention provides a readable storage medium.

[0012] A fifth aspect of the present invention provides an inverter.

[0013] A sixth aspect of the present invention provides a servo drive.

[0014] In view of this, according to a first aspect of the present invention, the present invention provides a dead zone compensation method for an inverter, the inverter comprising a three-phase driving bridge arm, each phase driving bridge arm comprising a bridge arm upper tube and a bridge arm lower tube connected in series, the dead zone compensation method comprising: obtaining a preset dead zone time and a current direction of the driving bridge arm, wherein the current direction of the current flowing out of the driving bridge arm is positive, and the current direction of the current flowing into the driving bridge arm is negative; obtaining a turn-on delay time and a turn-off delay time of the bridge arm upper tube and the bridge arm lower tube; obtaining a bus voltage of the inverter; based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value, determining the loss voltage of the driving bridge arm according to the turn-on delay time, the turn-off delay time, the preset dead zone time, the period of the carrier and the bus voltage; and compensating the voltage output by the driving bridge arm based on the loss voltage.

[0015] According to a second aspect of the present invention, the present invention provides a dead zone compensation device for an inverter, the inverter comprising a three-phase driving bridge arm, each phase driving bridge arm comprising a bridge arm upper tube and a bridge arm lower tube connected in series, the dead zone compensation device comprising: a first acquisition unit, used to obtain a preset dead zone time and a current direction of the driving bridge arm, wherein the current direction of the current flowing out of the driving bridge arm is positive, and the current direction of the current flowing into the driving bridge arm is negative; a second acquisition unit, used to obtain a turn-on delay time and a turn-off delay time of the bridge arm upper tube and the bridge arm lower tube; a third acquisition unit, used to obtain the bus voltage of the inverter; a processing unit, used to determine the loss voltage of the driving bridge arm based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value according to the turn-on delay time, the turn-off delay time, the preset dead zone time, the period of the carrier and the bus voltage; a compensation unit, used to compensate the voltage output by the driving bridge arm based on the loss voltage.

[0016] According to the third aspect of the present invention, the present invention provides a dead zone compensation device, including a processor and a memory, the memory storing a program or instruction that can be executed on the processor, and when the program or instruction is executed by the processor, the steps of any method in the first aspect are implemented.

[0017] According to a fourth aspect of the present invention, the present invention provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of any method in the first aspect are implemented.

[0018] According to a fifth aspect of the present invention, the present invention provides an inverter, comprising: any one of the dead zone compensation devices described above; and / or the readable storage medium described above.

[0019] According to a sixth aspect of the present invention, the present invention provides a servo drive, comprising: the inverter as described above.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0022] Figure 1 A schematic diagram showing a method of updating a PWM comparison value at a peak or trough of a carrier wave in a related technical solution is shown;

[0023] Figure 2 Another schematic diagram of updating at the peak or trough of the carrier wave based on the PWM comparison value in the related technical solution is shown;

[0024] Figure 3 A schematic diagram of the structure of an inverter in an embodiment of the present invention is shown;

[0025] Figure 4 A schematic flow chart of a dead zone compensation method in an embodiment of the present invention is shown;

[0026] Figure 5 A schematic diagram showing an update at the peak and trough of a carrier wave based on a PWM comparison value in an embodiment of the present invention is shown;

[0027] Figure 6 Another schematic diagram of updating at the peak and trough of the carrier wave based on the PWM comparison value in an embodiment of the present invention is shown;

[0028] Figure 7 One of the schematic diagrams of dead zone compensation in an embodiment of the present invention is shown;

[0029] Figure 8 FIG2 shows a second schematic diagram of dead zone compensation in an embodiment of the present invention;

[0030] Fig. 9 A third schematic diagram showing dead zone compensation in an embodiment of the present invention is shown;

[0031] Fig.10 A fourth schematic diagram showing dead zone compensation in an embodiment of the present invention is shown;

[0032] Fig.11 One of the schematic diagrams of the process of the dead zone compensation of the three-phase drive bridge arm in the embodiment of the present invention is shown;

[0033] Fig.12The second schematic diagram of the process of the dead zone compensation of the three-phase drive bridge arm in the embodiment of the present invention is shown;

[0034] Fig.13 The third schematic diagram of the process of the dead zone compensation of the three-phase drive bridge arm in the embodiment of the present invention is shown;

[0035] Fig.14 The fourth schematic diagram of the process of the dead zone compensation of the three-phase drive bridge arm in the embodiment of the present invention is shown;

[0036] Fig.15 The fifth flow chart of the dead zone compensation of the three-phase drive bridge arm in the embodiment of the present invention is shown;

[0037] Fig.16 The sixth flow chart of the dead zone compensation of the three-phase drive bridge arm in the embodiment of the present invention is shown;

[0038] Fig.17 A schematic diagram showing a current waveform output by an inverter before applying the technical solution of the present application;

[0039] Fig.18 A schematic diagram showing a current waveform output by an inverter after applying the technical solution of the present application;

[0040] Fig.19 A schematic block diagram of a dead zone compensation device in an embodiment of the present invention is shown;

[0041] Fig. 20 A schematic block diagram of another dead zone compensation device in an embodiment of the present invention is shown.

[0042] in, Figure 3 The corresponding relationship between the reference numerals and the component names is as follows:

[0043] 302U phase driving bridge arm, 304V phase driving bridge arm, 306W phase driving bridge arm, S1 bridge arm upper tube, S2 bridge arm lower tube, P positive bus, N negative bus. DETAILED DESCRIPTION

[0044] In order to more clearly understand the above aspects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0045] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0046] In one embodiment of the present application, Figure 3 and Figure 4 As shown, a dead zone compensation method is provided for an inverter, the inverter includes a three-phase driving bridge arm, each phase driving bridge arm includes a bridge arm upper tube S1 and a bridge arm lower tube S2 connected in series, and the dead zone compensation method includes:

[0047] Step 402, obtaining a preset dead time and a current direction of a driving bridge arm;

[0048] Step 404, obtaining the turn-on delay time and turn-off delay time of the upper tube of the bridge arm and the lower tube of the bridge arm;

[0049] Step 406, obtaining the bus voltage of the inverter;

[0050] Step 408, based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value, the loss voltage of the driving bridge arm is determined according to the turn-on delay time, the turn-off delay time, the preset dead time, the period of the carrier and the bus voltage;

[0051] Step 410 : Compensate the voltage output by the driving bridge arm based on the loss voltage.

[0052] Among them, the current direction of the current flowing out of the driving bridge arm is positive, and the current direction of the current flowing into the driving bridge arm is negative.

[0053] The embodiment of the present application proposes a dead zone compensation method. By running the above dead zone compensation method, it is possible to estimate the loss voltage of the driving bridge arm caused by the addition of the dead zone time, and then compensate the voltage output by the driving bridge arm according to the loss voltage, thereby reducing the impact of the dead zone time on the output voltage of the inverter. In this process, the degree of current distortion on the driving bridge arm of the inverter is reduced, the loss caused by current distortion is reduced, and the torque pulsation, vibration, noise and even oscillation are eliminated, so that when the motor is at low speed and light load, the performance deterioration caused by the dead zone time tends to be weakened.

[0054] like Figure 5 and Figure 6 As shown, in the above dead zone compensation process, the rising and falling trends of the carrier count value are combined, so that the peak and trough double updates can be achieved, so as to minimize the impact of the dead zone time on the inverter output voltage.

[0055] In the above embodiment, the turn-on delay time and the turn-off delay time can be used to characterize the property information of the switching tube. By obtaining the turn-on delay time and the turn-off delay time and using them as reference factors for the compensation voltage, the accuracy of the loss voltage estimation is maximized, thereby reducing the impact of the dead time on the inverter output voltage.

[0056] In the above embodiment, the turn-on delay time, that is, the turn-on delay time, takes IGBT as an example, which represents the time from when the gate voltage reaches 10% to when the collector current rises to 10% of the turn-on value when turned on.

[0057] Similarly, the turn-off delay time, also known as the turn-off delay time, represents the time from when the gate voltage drops to 90% of its turn-on value to when the collector current drops to 90% of the turn-on value when the device is turned off.

[0058] In the above embodiment, the three-phase driving bridge arm is respectively a U-phase driving bridge arm 302, a V-phase driving bridge arm 304 and a W-phase driving bridge arm 306, which are respectively connected to the positive bus P and the negative bus N, and output three-phase currents iu, iv and iw correspondingly. A bus voltage U is formed between the positive bus P and the negative bus N. dc .

[0059] The U-phase driving bridge arm 302, the V-phase driving bridge arm 304 and the W-phase driving bridge arm 306 have two switching tubes connected in series, the upper tube S1 of the bridge arm and the lower tube S2 of the bridge arm, and the V-phase driving bridge arm 304 and the W-phase driving bridge arm 306 are represented by S3, S4, S5 and S6 respectively, and their connection relationship is as follows: Figure 3 As shown, no further description is given here.

[0060] In the above embodiment, the carrier count value may be understood as a numerical value, which may gradually change with time, and then a carrier is formed according to the count value.

[0061] Specifically, taking the positive triangle wave as an example, the carrier count value increases continuously until it reaches the maximum value, then gradually decreases until it reaches the minimum value, and then gradually increases, repeating the above steps, wherein the maximum value corresponds to the peak of the positive triangle wave, and the minimum value corresponds to the trough of the positive triangle wave.

[0062] In some embodiments, optionally, the carrier count value increases by 1 every 1 millisecond, the maximum value is 10, and the minimum value is 1. By setting the target count threshold, 4 or 5 can be selected for chopping according to actual needs to obtain the corresponding pulse width modulation signal.

[0063] Specifically, when the carrier count value is greater than the target count threshold, the level flips from a low level to a high level. If the switch tube is at a high level and is effective, the switch tube is turned on. Similarly, when the carrier count value is less than the target count threshold, the level flips from a high level to a low level. At this time, the switch tube is turned off, thereby forming a pulse width modulation signal.

[0064] In addition, the dead zone compensation method proposed in this application also has the following additional technical features.

[0065] In some embodiments, optionally, based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value, the loss voltage of the driving bridge arm is determined according to the turn-on delay time, the turn-off delay time, the preset dead time, the period of the carrier and the bus voltage, including: based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value, the loss duration is determined according to the turn-on delay time, the turn-off delay time and the preset dead time; based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value, the loss voltage of the driving bridge arm is determined according to the loss duration, the period of the carrier and the bus voltage.

[0066] In this embodiment, the current direction, rising and falling trend and carrier waveform are used as scene division conditions to determine the loss duration in different scenes. The loss duration can be understood as the time difference between the pulse width time determined by the carrier count value and the target count threshold in the pulse width modulation cycle and the pulse width time in the pulse width modulation cycle under the ideal state. The loss duration is estimated so as to determine the loss voltage based on the loss duration, the carrier cycle and the bus voltage.

[0067] In this process, the loss voltage is calculated specifically for different scenarios, which improves the accuracy of the calculated loss voltage.

[0068] In the above embodiment, the period of the carrier wave can be understood as the time corresponding to the minimum repeating unit of the carrier wave.

[0069] In some embodiments, optionally, the loss duration includes a first duration and a second duration, the first duration being the sum of a preset dead time and a turn-on delay time; the second duration being the turn-off delay time; or the first duration being the sum of a proportional coefficient multiplied by a preset dead time and the turn-on delay time, and the second duration being the sum of a proportional coefficient multiplied by a preset dead time and the turn-off delay time.

[0070] In some embodiments, optionally, based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value, the loss duration is determined according to the turn-on delay time, the turn-off delay time and the preset dead time, including: when the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss duration is a first duration; when the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, When the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss time is the second time length; when the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss time is the second time length; when the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss time is the first time length.

[0071] In this embodiment, a calculation scheme for the loss duration in different scenarios is given. In this embodiment, different scenarios can be divided according to the waveform of the carrier, the current direction, and the rising and falling trends, and then the loss duration in the corresponding scenario is determined, that is, the first duration and the second duration are calculated.

[0072] In the above embodiment, the first duration and the second duration may also be calculated using different schemes. In this process, the dead zone compensation method proposed in the present application may be applicable to more scenarios.

[0073] In some embodiments, optionally, the proportionality coefficient can be set according to actual needs, such as selecting 1 / 2.

[0074] In some embodiments, optionally, when the first time length is the sum of the preset dead time and the turn-on delay time, and the second time length is the turn-off delay time, based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value, the loss voltage of the driving bridge arm is determined according to the loss time length, the period of the carrier and the bus voltage, including: when the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss voltage is a first voltage value; when the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward .... The voltage is a second voltage value; when the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss voltage is a negative value of the second voltage value; when the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss voltage is a negative value of the first voltage value; wherein the first voltage value is the product of the bus voltage and the first ratio, the first ratio is the ratio of the first time length to half of the carrier period, and the second voltage value is the product of the bus voltage and the second ratio, and the second ratio is the ratio of the second time length to half of the carrier period.

[0075] In this embodiment, after the first duration and the second duration are determined, the first voltage value and the second voltage value are calculated to determine that the loss voltages corresponding to different scenarios are the first voltage value and the second voltage value.

[0076] Specifically, the dead time between the switch on and off is t d The switch-on delay time is t on The turn-off delay time is represented by t off The equivalent dead time between the ideal output voltage and the actual output voltage is expressed as t err The PWM carrier period is represented by T PWM , bus voltage is expressed as U dc Based on this, the loss duration and loss voltage in different scenarios are expressed as follows:

[0077] like Figure 7 As shown, when the carrier is an equilateral triangle:

[0078] If the phase current > 0, if the current PWM cycle is on the left side of the carrier, the effective PWM loss time (i.e. the first duration) is: t err =t d +t on , the equivalent terminal voltage loss (that is, the first voltage value) is:

[0079]

[0080] If the phase current > 0, if the current PWM cycle is on the right side of the carrier, the output voltage loss time (i.e. the second duration) is: t err =t off , the equivalent terminal voltage loss (i.e. the second voltage value) is:

[0081]

[0082] If the phase current is less than 0, and if the current PWM cycle is on the left side of the carrier, the output voltage loss time (i.e., the second duration) is: t err =t off , the equivalent terminal voltage loss (that is, the second voltage value) is:

[0083]

[0084] If the phase current is <0, if the current PWM cycle is on the right side of the carrier, the output voltage loss time is: t err =t d +t on , the equivalent terminal voltage loss is:

[0085] like Figure 8 As shown, when the carrier is an inverse triangle:

[0086] If the phase current > 0, if the current PWM cycle is on the left side of the carrier, the effective PWM loss time (i.e. the first duration) is: t err =t d +t on , the equivalent terminal voltage loss (that is, the first voltage value) is:

[0087]

[0088] If the phase current > 0, if the current PWM cycle is on the right side of the carrier, the output voltage loss time (i.e. the second duration) is: t err =t off , the equivalent terminal voltage loss is:

[0089] If the phase current is <0, if the current PWM cycle is on the left side of the carrier, the output voltage loss time is: t err =t off, the equivalent terminal voltage loss (that is, the second voltage value) is:

[0090] If the phase current is <0, if the current PWM cycle is on the right side of the carrier, the output voltage loss time is: t err =t d +t on , the equivalent terminal voltage loss is:

[0091] Among them, U err Indicates loss voltage.

[0092] Among them, when the carrier is an equilateral triangle, the current PWM cycle is on the left side of the carrier, that is, the rising and falling trend is an upward trend, and the current PWM cycle is on the right side of the carrier, and the rising and falling trend is a downward trend. When the carrier is an inverted triangle, the judgment logic of the current PWM cycle on the left and right of the carrier is opposite to the case where the carrier is an equilateral triangle, that is, the current PWM cycle is on the left side of the carrier, that is, the rising and falling trend is a downward trend, and the current PWM cycle is on the right side of the carrier, and the rising and falling trend is an upward trend.

[0093] In some embodiments, optionally, when the first time length is the sum of the product of the proportional coefficient and the preset dead time and the turn-on delay time, and the second time length is the sum of the product of the proportional coefficient and the preset dead time and the turn-off delay time, based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value, the loss voltage of the driving bridge arm is determined according to the loss time length, the period of the carrier and the bus voltage, including: when the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss voltage is a third voltage value; when the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend When the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss voltage is the negative value of the fourth voltage value; when the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss voltage is the negative value of the third voltage value; wherein the third voltage value is the product of the bus voltage and the third ratio, the third ratio is the ratio of the first time length to half of the carrier period, and the fourth voltage value is the product of the bus voltage and the fourth ratio, and the fourth ratio is the ratio of the second time length to half of the carrier period.

[0094] In this embodiment, the dead time between the switch on and switch off is t d The switch-on delay time is t on The turn-off delay time is represented by t off The equivalent dead time between the ideal output voltage and the actual output voltage is expressed as t err The PWM carrier period is represented by T PWM , bus voltage is expressed as U dc Based on this, if the loss duration is generated in the form of dead time of multiples of the shutdown advance proportional coefficient and dead time of multiples of the opening delay proportional coefficient.

[0095] Specifically, the proportional coefficient is 1 / 2. When the carrier is an equilateral triangle, the loss duration and loss voltage in different scenarios are expressed as follows:

[0096] like Fig. 9 As shown, when the carrier is an equilateral triangle:

[0097] If the phase current>0, if the current PWM cycle is on the left side of the carrier, the effective PWM loss time (i.e. the first duration) is: The equivalent terminal voltage loss (also known as the third voltage value) is:

[0098]

[0099] If the phase current>0, if the current PWM cycle is on the right side of the carrier, the output voltage loss time (i.e. the second duration) is: The equivalent terminal voltage loss (ie, the fourth voltage value) is:

[0100]

[0101] If the phase current is <0, and if the current PWM cycle is on the left side of the carrier, the output voltage loss time is: The equivalent terminal voltage loss is:

[0102] If the phase current is <0, and if the current PWM cycle is on the right side of the carrier, the output voltage loss time is: The equivalent terminal voltage loss is:

[0103] Among them, U err Indicates the loss voltage. In the case where the carrier is an equilateral triangle, the current PWM cycle is on the left side of the carrier, that is, the rising and falling trend is an upward trend, and the current PWM cycle is on the right side of the carrier, and the rising and falling trend is a downward trend.

[0104] like Fig.10 As shown, when the carrier is an inverse triangle:

[0105] If the phase current>0, if the current PWM cycle is on the left side of the carrier, the effective PWM loss time (i.e. the first duration) is: The equivalent terminal voltage loss (also known as the third voltage value) is:

[0106]

[0107] If the phase current>0, if the current PWM cycle is on the right side of the carrier, the output voltage loss time (i.e. the second duration) is: The equivalent terminal voltage loss (ie, the fourth voltage value) is:

[0108]

[0109] If the phase current is <0, and if the current PWM cycle is on the left side of the carrier, the output voltage loss time is: The equivalent terminal voltage loss is:

[0110] If the phase current is <0, and if the current PWM cycle is on the right side of the carrier, the output voltage loss time is: The equivalent terminal voltage loss is:

[0111] Among them, U err Indicates loss voltage.

[0112] Among them, when the carrier is an equilateral triangle, the current PWM cycle is on the left side of the carrier, that is, the rising and falling trend is an upward trend, and the current PWM cycle is on the right side of the carrier, and the rising and falling trend is a downward trend. When the carrier is an inverted triangle, the judgment logic of the current PWM cycle on the left and right of the carrier is opposite to the case where the carrier is an equilateral triangle, that is, the current PWM cycle is on the left side of the carrier, that is, the rising and falling trend is a downward trend, and the current PWM cycle is on the right side of the carrier, and the rising and falling trend is an upward trend.

[0113] like Figure 3 It can be seen that the dead zone compensation of the three-phase drive bridge arm in the inverter is implemented in three phases, such as Fig.11 , Fig.12 and Fig.13 As shown, the control logic of each phase is the same as the above-mentioned technical solution of the present application, and will not be repeated here.

[0114] In some embodiments, optionally, the voltage output by the driving bridge arm is compensated based on the loss voltage, including: obtaining the terminal voltage output by the driving bridge arm; and superimposing the loss voltage with the terminal voltage to obtain the compensated terminal voltage.

[0115] In this embodiment, the terminal voltage is a three-phase voltage, and the terminal voltage can be directly compensated to reduce voltage loss, thereby reducing the impact of the dead time on the inverter output voltage. In this process, the current distortion degree on the drive bridge arm of the inverter is reduced, the loss caused by current distortion is reduced, and the torque ripple, vibration, noise and even oscillation are eliminated, so that the performance deterioration caused by the dead time tends to be weakened when the motor is at low speed and light load.

[0116] Specifically, the expression of the terminal voltage after compensation is as follows:

[0117] U cmp =U ref +U err

[0118] Among them, the terminal voltage before compensation is U ref Indicates that the terminal voltage after compensation is U cmp Indicates that U err Indicates loss voltage.

[0119] In this embodiment, the three-phase voltage output by the inverter can be directly compensated so as to achieve stable output of the three-phase power supply of the inverter and adapt to the applicable scenarios of the three-phase power supply.

[0120] Specifically, Fig.14 , Fig.15 and Fig.16 As shown, the control logic of each phase is the same as the above-mentioned technical solution of the present application, and will not be repeated here.

[0121] In some embodiments, optionally, the voltage output by the driving bridge arm is compensated based on the loss voltage, including: performing coordinate transformation on the three-phase loss voltage to obtain a two-phase static loss voltage in a two-phase static coordinate system; obtaining the two-phase static voltage output by the driving bridge arm; and superimposing the two-phase static loss voltage and the two-phase static voltage to obtain a compensated two-phase static voltage.

[0122] In this embodiment, coordinate transformation is performed through loss voltage so as to convert the control scheme of three-phase power supply control into a control scheme of a two-phase stationary coordinate system. In this process, the voltage output by the inverter can be compensated in the two-phase stationary coordinate system.

[0123] Through coordinate transformation, the dead zone compensation solution proposed in the present application can be applied to more application scenarios, such as being applied to a control system that only supports a two-phase stationary coordinate system.

[0124] Specifically, the voltage loss corresponding to the three-phase drive bridge arm on the inverter is U uerr , U verr , U werr, the three-phase terminal voltage loss is transformed into the two-phase stationary coordinate system through coordinate transformation, and the calculation is as follows:

[0125]

[0126] Among them, U αerr and U βerr is the two-phase static loss voltage.

[0127] The two-phase static voltage after compensation obtained by superimposing the two-phase static loss voltage and the two-phase static voltage is expressed as follows:

[0128] U αcmp =U αref +U αerr

[0129] U βcmp =U βref +U βerr

[0130] Among them, U αcmp and U βcmp is the two-phase static voltage after compensation, U αref and U βref is the two-phase static voltage before compensation.

[0131] like Fig.17 and Fig.18 As shown, Fig.17 A schematic diagram showing a current waveform output by the inverter before applying the technical solution of the present application, Fig.18 A schematic diagram showing the current waveform output by the inverter after applying the technical solution of the present application is shown. Fig.17 and Fig.18 By comparison, it can be seen that the waveform of the current is not smooth before the application. By applying the technical solution of the present application, the quality of the current output by the inverter can be improved.

[0132] In one embodiment, if Fig.19As shown, the present invention provides a dead zone compensation device 1900, which is used for an inverter. The inverter includes a three-phase driving bridge arm, and each phase driving bridge arm includes a bridge arm upper tube and a bridge arm lower tube connected in series. The dead zone compensation device 1900 includes: a first acquisition unit 1902, which is used to obtain a preset dead zone time and a current direction of the driving bridge arm, wherein the current direction of the current flowing out of the driving bridge arm is positive, and the current direction of the current flowing into the driving bridge arm is negative; a second acquisition unit 1904, which is used to obtain the turn-on delay time and the turn-off delay time of the bridge arm upper tube and the bridge arm lower tube; a third acquisition unit 1906, which is used to obtain the bus voltage of the inverter; a processing unit 1908, which is used to determine the loss voltage of the driving bridge arm based on the current direction, the waveform of the carrier and the rise and fall trend of the carrier count value according to the turn-on delay time, the turn-off delay time, the preset dead zone time, the period of the carrier and the bus voltage; a compensation unit 1910, which is used to compensate the voltage output by the driving bridge arm based on the loss voltage.

[0133] The embodiment of the present application proposes a dead zone compensation device 1900, which can estimate the loss voltage of the driving bridge arm caused by the addition of the dead zone time, and then compensate the voltage output by the driving bridge arm according to the loss voltage, thereby reducing the influence of the dead zone time on the output voltage of the inverter. In this process, the degree of current distortion on the driving bridge arm of the inverter is reduced, the loss caused by current distortion is reduced, and the problems such as torque pulsation, vibration, noise and even oscillation are eliminated, so that when the motor is at low speed and light load, the performance deterioration caused by the dead zone time tends to be weakened.

[0134] In the above dead zone compensation process, the rising and falling trends of the carrier count value are combined, so that the peak and trough double update can be achieved, so as to minimize the impact of the dead zone time on the inverter output voltage.

[0135] In the above embodiment, the turn-on delay time and the turn-off delay time can be used to characterize the property information of the switching tube. By obtaining the turn-on delay time and the turn-off delay time and using them as reference factors for the compensation terminal voltage, the accuracy of the loss voltage estimation is maximized, thereby reducing the impact of the dead time on the inverter output voltage.

[0136] In some embodiments, optionally, the processing unit 1908 is specifically used to: determine the loss duration based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value, according to the turn-on delay time, the turn-off delay time and the preset dead time; determine the loss voltage of the driving bridge arm based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value, according to the loss duration, the period of the carrier and the bus voltage.

[0137] In this embodiment, the current direction, rising and falling trend and carrier waveform are used as scene division conditions to determine the loss duration in different scenes. The loss duration can be understood as the time difference between the pulse width time determined by the carrier count value and the target count threshold in the pulse width modulation cycle and the pulse width time in the pulse width modulation cycle under the ideal state. The loss duration is estimated so as to determine the loss voltage based on the loss duration, the carrier cycle and the bus voltage.

[0138] In this process, the loss voltage is calculated specifically for different scenarios, which improves the accuracy of the calculated loss voltage.

[0139] In the above embodiment, the period of the carrier wave can be understood as the time corresponding to the minimum repeating unit of the carrier wave.

[0140] In some embodiments, optionally, the loss duration includes a first duration and a second duration, the first duration being the sum of a preset dead time and a turn-on delay time; the second duration being the turn-off delay time; or the first duration being the sum of a proportional coefficient multiplied by a preset dead time and the turn-on delay time, and the second duration being the sum of a proportional coefficient multiplied by a preset dead time and the turn-off delay time.

[0141] In some embodiments, optionally, the processing unit 1908 is specifically used to: when the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss duration is a first duration; when the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss duration is a second duration; when the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss duration is the second duration; when the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss duration is the first duration.

[0142] In some embodiments, optionally, when the first time length is the sum of the preset dead time and the turn-on delay time, and the second time length is the turn-off delay time, the processing unit 1908 is specifically used to: when the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss voltage is a first voltage value; when the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss voltage is a second voltage value; when the current is less than 0 and the waveform of the carrier is When the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss voltage is the negative value of the second voltage value; when the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss voltage is the negative value of the first voltage value; wherein the first voltage value is the product of the bus voltage and the first ratio, the first ratio is the ratio of the first time length to half of the period of the carrier, and the second voltage value is the product of the bus voltage and the second ratio, and the second ratio is the ratio of the second time length to half of the period of the carrier.

[0143] In some embodiments, optionally, the processing unit 1908, when the first time length is the sum of the product of the proportional coefficient and the preset dead time and the turn-on delay time, and the second time length is the sum of the product of the proportional coefficient and the preset dead time and the turn-off delay time, is specifically used to: when the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss voltage is a third voltage value; when the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss voltage is a fourth voltage value; When the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss voltage is the negative value of the fourth voltage value; when the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss voltage is the negative value of the third voltage value; wherein the third voltage value is the product of the bus voltage and the third ratio, the third ratio is the ratio of the first time length to half of the period of the carrier, and the fourth voltage value is the product of the bus voltage and the fourth ratio, and the fourth ratio is the ratio of the second time length to half of the period of the carrier.

[0144] In some embodiments, optionally, the compensation unit 1910 is used to: obtain the terminal voltage output by the driving bridge arm; and superimpose the loss voltage on the terminal voltage to obtain the compensated terminal voltage.

[0145] In this embodiment, the terminal voltage is a three-phase voltage, and the terminal voltage can be directly compensated to reduce voltage loss, thereby reducing the impact of the dead time on the inverter output voltage. In this process, the current distortion degree on the drive bridge arm of the inverter is reduced, the loss caused by current distortion is reduced, and the torque ripple, vibration, noise and even oscillation are eliminated, so that the performance deterioration caused by the dead time tends to be weakened when the motor is at low speed and light load.

[0146] Specifically, the expression of the terminal voltage after compensation is as follows:

[0147] U cmp =U ref +U err

[0148] Among them, the terminal voltage before compensation is U ref Indicates that the terminal voltage after compensation is U cmpIndicates that U err Indicates loss voltage.

[0149] In this embodiment, the three-phase voltage output by the inverter can be directly compensated so as to achieve stable output of the three-phase power supply of the inverter and adapt to the applicable scenarios of the three-phase power supply.

[0150] In some embodiments, optionally, the compensation unit 1910 is used to: perform coordinate transformation on the three-phase loss voltage to obtain a two-phase static loss voltage in a two-phase static coordinate system; obtain the two-phase static voltage output by the driving bridge arm; and superimpose the two-phase static loss voltage and the two-phase static voltage to obtain a compensated two-phase static voltage.

[0151] In one embodiment, if Fig. 20 As shown, the present invention provides a dead zone compensation device 2000, including a processor 2002 and a memory 2004, wherein the memory 2004 stores programs or instructions that can be run on the processor 2002, and when the programs or instructions are executed by the processor 2002, the steps of any of the above methods are implemented.

[0152] In one embodiment, the present invention provides a readable storage medium storing a program or instruction, and when the program or instruction is executed by a processor, the steps of any method in the first aspect are implemented.

[0153] In one of the embodiments, the present invention provides an inverter, comprising: any of the dead zone compensation devices described above; and / or the readable storage medium described above.

[0154] In one embodiment, the present invention provides a servo drive, comprising: the inverter as described above.

[0155] The term "first" or "second" in the specification and claims of the present application may include one or more of the features explicitly or implicitly. In the textual description of the present invention, unless otherwise specified, "plurality" means two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the objects connected before and after are in an "or" relationship.

[0156] In the claims, specification and drawings of the present invention, the term "multiple" refers to two or more than two. Unless otherwise clearly defined, the orientation or position relationship indicated by the terms "upper" and "lower" is based on the orientation or position relationship shown in the drawings, which is only for the purpose of more conveniently describing the present invention and making the description process simpler, rather than indicating or implying that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation, so these descriptions cannot be understood as limiting the present invention; the terms "connect", "install", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood based on the specific circumstances of the above data.

[0157] In the claims, specification and drawings of the present invention, the description of the terms "one embodiment", "some embodiments", "specific embodiments" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In the claims, specification and drawings of the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0158] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A dead zone compensation method for an inverter, characterized in that: The inverter includes a three-phase driving bridge arm, each phase of the driving bridge arm includes a bridge arm upper tube and a bridge arm lower tube connected in series, and the dead zone compensation method includes: Obtaining a preset dead time and a current direction of the driving bridge arm, wherein the current direction of the current flowing out of the driving bridge arm is positive, and the current direction of the current flowing into the driving bridge arm is negative; Obtaining the turn-on delay time and turn-off delay time of the upper tube of the bridge arm and the lower tube of the bridge arm; Obtaining a bus voltage of the inverter; Based on the current direction, the waveform of the carrier wave and the rising and falling trend of the carrier wave count value, the loss voltage of the driving bridge arm is determined according to the turn-on delay time, the turn-off delay time, the preset dead time, the period of the carrier wave and the bus voltage; The voltage output by the driving bridge arm is compensated based on the loss voltage.

2. The dead zone compensation method according to claim 1, characterized in that: The method of determining the loss voltage of the driving bridge arm based on the current direction, the waveform of the carrier wave and the rising and falling trend of the carrier wave count value according to the turn-on delay time, the turn-off delay time, the preset dead time, the period of the carrier wave and the bus voltage includes: Based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value, the loss duration is determined according to the turn-on delay time, the turn-off delay time and the preset dead time; Based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value, the loss voltage of the driving bridge arm is determined according to the loss duration, the period of the carrier and the bus voltage.

3. The dead zone compensation method according to claim 2, characterized in that: The loss duration includes a first duration and a second duration, wherein the first duration is the sum of the preset dead time and the turn-on delay time; and the second duration is the turn-off delay time; or The first duration is the sum of the product of the proportional coefficient and the preset dead time and the turn-on delay time, and the second duration is the sum of the product of the proportional coefficient and the preset dead time and the turn-off delay time.

4. The dead zone compensation method according to claim 3, characterized in that: The determining of the loss duration based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value according to the turn-on delay time, the turn-off delay time and the preset dead time includes: When the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss duration is the first duration; When the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss duration is the second duration; When the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss duration is the second duration; When the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss duration is the first duration.

5. The dead zone compensation method according to claim 3, characterized in that: In the case where the first time length is the sum of the preset dead time and the turn-on delay time, and the second time length is the turn-off delay time, the loss voltage of the driving bridge arm is determined based on the current direction, the waveform of the carrier, and the rise and fall trend of the carrier count value according to the loss time length, the period of the carrier, and the bus voltage, including: When the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss voltage is a first voltage value; When the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss voltage is a second voltage value; When the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss voltage is a negative value of the second voltage value; When the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss voltage is a negative value of the first voltage value; Among them, the first voltage value is the product of the bus voltage and a first ratio, the first ratio is the ratio of the first time length to half of the period of the carrier, and the second voltage value is the product of the bus voltage and a second ratio, and the second ratio is the ratio of the second time length to half of the period of the carrier.

6. The dead zone compensation method according to claim 3, characterized in that: In the case where the first time length is the sum of the product of the proportional coefficient and the preset dead time and the turn-on delay time, and the second time length is the sum of the product of the proportional coefficient and the preset dead time and the turn-off delay time, the loss voltage of the driving bridge arm is determined based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value, according to the loss time length, the period of the carrier and the bus voltage, including: When the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss voltage is a third voltage value; When the current is greater than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is greater than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss voltage is a fourth voltage value; When the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is an upward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is a downward trend, the loss voltage is a negative value of the fourth voltage value; When the current is less than 0, the waveform of the carrier is an equilateral triangle, and the rising and falling trend of the carrier count value is a downward trend, or when the current is less than 0, the waveform of the carrier is an inverse triangle, and the rising and falling trend of the carrier count value is an upward trend, the loss voltage is a negative value of the third voltage value; Among them, the third voltage value is the product of the bus voltage and a third ratio, the third ratio is the ratio of the first time length to half of the period of the carrier, and the fourth voltage value is the product of the bus voltage and a fourth ratio, and the fourth ratio is the ratio of the second time length to half of the period of the carrier.

7. The dead zone compensation method according to any one of claims 1 to 6, characterized in that: The compensating the voltage output by the driving bridge arm based on the loss voltage includes: Obtaining the terminal voltage output by the driving bridge arm; The loss voltage is superimposed on the terminal voltage to obtain a compensated terminal voltage.

8. The dead zone compensation method according to any one of claims 1 to 6, characterized in that: The compensating the voltage output by the driving bridge arm based on the loss voltage includes: Performing coordinate transformation on the three-phase loss voltage to obtain a two-phase static loss voltage in a two-phase static coordinate system; Obtaining a two-phase static voltage output by the driving bridge arm; The two-phase static loss voltage and the two-phase static voltage are superimposed to obtain a compensated two-phase static voltage.

9. A dead zone compensation device for an inverter, characterized in that: The inverter comprises a three-phase driving bridge arm, each phase of the driving bridge arm comprises a bridge arm upper tube and a bridge arm lower tube connected in series, and the dead zone compensation device comprises: A first acquisition unit, used to acquire a preset dead time and a current direction of the driving bridge arm, wherein the current direction of the current flowing out of the driving bridge arm is positive, and the current direction of the current flowing into the driving bridge arm is negative; A second acquisition unit, used to acquire the turn-on delay time and turn-off delay time of the upper tube of the bridge arm and the lower tube of the bridge arm; A third acquisition unit, used to acquire the bus voltage of the inverter; A processing unit, configured to determine the loss voltage of the driving bridge arm based on the current direction, the waveform of the carrier and the rising and falling trend of the carrier count value, according to the turn-on delay time, the turn-off delay time, the preset dead time, the period of the carrier and the bus voltage; A compensation unit is used to compensate the voltage output by the driving bridge arm based on the loss voltage.

10. A dead zone compensation device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

12. An inverter, characterized in that: include: The dead zone compensation device according to claim 9 or 10; and / or The readable storage medium as claimed in claim 11.

13. A servo driver, characterized in that: include: The inverter as claimed in claim 12.

Images