单相全桥逆变原理及仿真实验

前言

 一、单相全桥逆变器组成原理

1.全桥逆变电路拓扑结构

 2.单相逆变器的SPWM调制方式

 二、单相全桥逆变器仿真

1.SPWM调制波仿真

2.全桥逆变仿真

  三、SPWM单片机程序实现

1.CubeMX配置

2.SPWM正弦表数据生成

3.Keil5代码

4.protues仿真观测波形

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前言

        通常把直流电变成交流电的过程叫做逆变，完成逆变功能的电路称为逆变电路。本文主要介绍全桥逆变电路的拓扑结构、逆变原理及控制方法、单相逆变的软件实现思路，并结合simulink、proteus仿真软件进行仿真验证。

 一、单相全桥逆变器组成原理

1.全桥逆变电路拓扑结构

​

全桥逆变电路拓扑结构

         逆变电路工作时，单极性调制和双极性调制时主要有以下两种工作状态：

  

         在单极倍频调制时，还存在如下两工作状态

 

 2.单相逆变器的SPWM调制方式

 (1)SPWM调制的基本原理

        如果对于交流电，如50HZ的正弦波，我们把它看成是有许许多多的呈阶梯状的直流信号组成 ，这样我们就可以用许许多多的宽窄不等的脉冲来等效这个正弦波了，从而实现了功率管工作在开关状态。如果在一个正弦波周期内的脉冲个数比较多，就能精度比较高地通过 LC滤波网络还原成正弦波，这就是SPWM调制的基本原理。

​

(2)SPWM调制波的实现方式

        SPWM调制波实现方式：在模拟电路里，我们常常用调制基波（正弦波）和载波 （三角波或锯齿波）的幅值来做比较，幅值高时就输出高电平或低电平产生SPWM调制波，具体实现方法就是把基波和载波分别输入到比较器的正反相输入端

​

        比较器输出的是占空比变化的矩形波，通过控制全桥电路4个功率管的导通顺序以及后级的LC滤波可得到正弦波形。

(3)单相全桥逆变器调制方式

        单相全桥逆变器中根据调制策略不同分为单极性调制、双极性调制和单极性倍频调制。

​

全桥逆变电路拓扑结构

      ①单极性调制

​

单极性调制原理

​

功率管导通时序图

         一般情况下，功率管驱动芯片上管和下管是互补导通的，因此导通时序也可如下图：

​

         从上面的驱动时序可以看出典型的单极性调制有如下特点:高频臂Q1,Q2两个功率管工作在高频状态，低频臂Q3,Q4两个功率管工作在低频状态，只有一半的功率管有开关损耗，和其它4个功率管都工作在高频状态的调制方式相比，总的开关损耗只有一半。由此可以知道，高频臂Q1,Q2两个功率管工作在高频状态，损耗比低频臂Q3,Q4两个功率管工作在低频状态要高，因发热比较大，寿命要短。

 ②双极性调制    

​

双极性调制原理

​

功率管导通时序图

         双极性可以看出，SPWM调制4个功率管都工作在高频载波频率，因而开关损耗比较大。但其实现方式比较容易，大部分半桥功率管驱动芯片自带上下管互补导通功能，所以只要给左右桥臂分别通以一对互补的SPWM信号即可实现。 
③单极倍频调制  

        单极性倍频调制的原理和双极性调制有类似的地方，只是全桥输出在没有滤波之前的波形和功率管的工作频率变了。它来用采用正弦波和两路互为反相三角波相比较的方式，当然也可以是两路互为反相的正弦波和三角波相比较。

​

单极倍频调制 

​

功率管导通时序图

      从UAB的波形可以看出，两路双极性调制经过全桥功率管的叠加之后最终的UAB波形变成了单极性，而且频率加倍，这就是这种调制方式称为单极性倍频调制的原因。这种调制方式波形完美，对各种负载的适应性好，因为倍频输出，LC的体积和成本可以比较小，缺点是4个功率管都工作在高频状态,因而开关损耗比较大。

 二、单相全桥逆变器仿真

         仿真采用双极性调制方式，因为实现方式较其它两调制方式种更为简单。

1.SPWM调制波仿真

         要实现逆变，首先要有SPWM波形，SPWM波形正弦波和三角波通过比较器得到。在similink中仿真模型如下：

​

 示波器观测得到：

​

         黄色部分是得到的SPWM调制波形，占空比随正弦幅值变化，仿真成功。

2.全桥逆变仿真

总体仿真模型如下：

        调制产生的路互补SPWM波形为SPWM1和SPWM2，两路调制波又分别连接同侧桥臂的上下管，模拟半桥驱动芯片的上下管互补。

​

        在逆变器中通常采用滤波器来消除逆变器输出电流谐波，滤波器通常存在三种形式：L 滤波器、LC 滤波器和 LCL 滤波器。本文在此采用 LC 滤波器，LC 滤波器是一种二阶滤波器，其滤波效果比 L 型滤波器好，并且在设计和控制上不像LCL 存在固有谐振问题，更加易于稳定。此处逆变器的开关频率设置为 10k Hz，因此选取 LC 谐振频率为：

              

式中：为基波频率； 为开关频率；为 LC 滤波器的谐振频率

        在滤波器电感设计中，当电感选取较大时，能够有效的抑制电流谐波，但是会影响系统的动态特性，导致电流闭环跟踪缓慢；当电感选取较小时，电流闭环控制跟踪性能较好，但是滤除电流谐波能力较弱，因此在电感设计中通常需要折衷考虑两个方面，电感通常选取几mH，电容十几或几十uf，具体数值需要结合设计参数计算出来。

 运行仿真得到：

        逆变波形为50HZ的正弦波

​

  三、SPWM单片机程序实现

        通常，逆变电路需要单片机参与进行闭环控制，第一个问题就是如何用单片机产生SPWM波形，下面介绍使用STM32产生SPWM波形。

        设计目标为载波10Khz，目标正弦波形为50hz。主要思路是利用定时器产生10Khz的PWM波形，每个PWM周期改变一次占空比，从而模拟出SPWM波形。

        因为无示波器和实物单片机，所以以下操作是基于proteus仿真出来的，实际原理一样的。

1.CubeMX配置

        ①配置定时器及中断

        定时器使用高级定时器1，高级定时器带互补输出功能。由于我使用的是proteus仿真，单片机主频设置为了8Mhz。因此定时器配置如下：

        计数周期：8Mhz  /  10Khz = 800 ，因此为800-1=799；72M主频下同理计算

​

      ②开启定时器1更新中断

​

2.SPWM正弦表数据生成

        SPWM表格生成工具下载链接：点击跳转

        周期点数 ：10Khz  /  50 Hz  = 200 ，每个正弦波由200个调制PWM波形组成

​

3.Keil5代码

 ①定义查表数据

#define SPWM_N 200
uint16_t SPWM_Cnt = 0;
uint16_t SPWM_List[SPWM_N] = {
400,412,425,437,450,462,474,487,499,511,523,535,547,558,570,581,
592,603,614,624,635,645,654,664,673,682,691,700,708,716,723,730,
737,744,750,756,761,767,771,776,780,784,787,790,792,795,796,798,
799,799,800,799,799,798,796,795,792,790,787,784,780,776,771,767,
761,756,750,744,737,730,723,716,708,700,691,682,673,664,654,645,
635,624,614,603,592,581,570,558,547,535,523,511,499,487,474,462,
450,437,425,412,400,387,374,362,349,337,325,312,300,288,276,264,
252,241,229,218,207,196,185,175,164,154,145,135,126,117,108,99,
91,83,76,69,62,55,49,43,38,32,28,23,19,15,12,9,7,4,3,1,0,0,0,0,0,
1,3,4,7,9,12,15,19,23,28,32,38,43,49,55,62,69,76,83,91,99,108,117,
126,135,145,154,164,175,185,196,207,218,229,241,252,264,276,288,
300,312,325,337,349,362,374,387
};

②定时器初始化

HAL_TIM_Base_Start_IT(&htim1);  //开启定时器中断
HAL_TIM_PWM_Start_IT(&htim1,TIM_CHANNEL_1); //开启PWM输出
HAL_TIMEx_PWMN_Start_IT(&htim1,TIM_CHANNEL_1);  //开启互补PWM输出

③中断回调函数设置

        主要功能是每次定时器溢出时，更新比较值，从而改变下一次PWM的占空比。

  void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
  {
    if(htim == &htim1)
  {
    TIM1->CCR1 = SPWM_List[SPWM_Cnt++];
    if(SPWM_Cnt >= SPWM_N)
    {
      SPWM_Cnt = 0;
    }
  }   
  }

4.protues仿真观测波形

        仿真模型如下：

         波形观测如下：

          黄色波形与蓝色波形为调制SPWM波形，两者电平互补，粉色波形为黄色波形的单位面积等效。实际要得到粉色50HZ正弦波需要将SPWM通过全桥电路和LC滤波后得到。

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       以下是2023年电赛电源题的经验分享，采用的逆变硬件电路与上文介绍不一致，因为当时备赛期间准备了三相逆变，为了灵活化，方便三相改单相，采用的方法是两路半桥SPWM调制得到两路带直流偏置正弦波，最后合成得到没有直流偏置的正弦波，实现逆变。示意图如下：

​

 1.硬件

实际采用的硬件电路如下： 

​

       调制方法还是双极性SPWM调制，STM32单片机产生的两路互补波形分别控制两个IR2104，示波器地线端子和信号线端子直接夹上述原理图U、V的位置即可观测逆变波形。

2.仿真

        考虑到很多人实际上手做硬件实操的机会不多，把仿真过程也分享出来吧。  仿真使用的是软件protues（版本8.17）。如果按照前文能仿真出极性互补的SPWM波形，则不用管下面这一步。

       在8.17版本中，定时器的时钟分频系数不能是0，我也不懂为啥，所以按照前文产生SPWM的方法，需要修改一下，在Cubemx定时器配置界面，如下：

​

        这里将分频系数设置为8，时钟树那边不用配置，默认即可，后续在protues软件直接设置其主频为72M，再分频 72 /（8+1）= 8 M，得到最终8Mhz的定时器时钟源，与前文一致。

​

       好了，经过上述步骤，如果在protues中已经能仿真出了SPWM波形，那么继续绘制仿真原理图，如下：

​

        仿真结果如下图，如果运行仿真，没图像，鼠标点一下那个one-shot按钮。

​

       这个仿真结果是与实际理论有些误差的，一个正弦波的周期应该是20ms，出现误差的原因尚未清楚。

3.软件

3.1 双极性SPWM调制算法

       虽然前文已经介绍了SPWM产生的软件代码，但是仅仅是产生了这个波形，如果涉及到调频、调幅则不止这么简单。

       算法原理将用当时比赛的代码进行解释，比赛的指标逆变频率是50hz，我使用的是STM32F103C8T6主控，最大主频72Mhz，如前文所述直接使用定时器1产生互补SPMW波，也是采用查表法更新定时器的比较值。
        定时器配置如下：

​

       这里设置了分频系数为1，则定时器时钟源频率为72M / (1+1) = 36 M，计数周期为2048，则载波频率为 36M / 2048 = 17578 hz 。这里为什么不直接使用72M，是因为实际中发现载波频率是17.578Khz还是其两倍，对最终的逆变波形影响不大，为了减小开关损耗提高效率，所以采用36M。分频系数和计数周期可以设置成别的，但最终得到的载波频率最好是十几Khz。

3.1.1 确定表格数据

      首先是表格的点数，在载波频率一定的情况下，不同的逆变频率需要的点数不一样。假设载波是20khz，如果我需要50hz的逆变频率，则一个正弦周期的需要的查表点数是400个；那如果我需要20hz的逆变频率，则一个正弦周期需要的查表点数是1000个。所以这个表格需要多少点数决定了调频的范围，表格的点数我也是采用2048个，如果载波频率是20Khz，一个正弦周期内2048个点数全部用完，逆变频率大约是10hz。表格数据生成如下所示：                

​

        这样生成的2048个数据点，注意数值范围为[-1024  1024]，不是[0  2048]。上面软件中SPWM的幅值是定时器计数周期的一半。

3.1.2 SPWM算法代码

        主要是spwm.c和spwm.h两个文件。

spwm.h如下：

#ifndef _SPWM_H_
#define _SPWM_H_
#include "main.h"
#include "tim.h"
#define SPWM_N 2048  //表格点数

extern uint16_t SPWM_Cnt;
extern const int  SPWM_List[SPWM_N];
//extern uint32_t result; 
//extern uint32_t inputNum;

void Para_calculate(void);
void Para_calibration(char adj);


#endif

spwm.c如下：

#include "spwm.h"

const int SPWM_List[SPWM_N] = {
0,3,6,9,12,15,18,21,25,28,31,34,37,40,43,47,
50,53,56,59,62,65,69,72,75,78,81,84,87,90,94,97,
100,103,106,109,112,115,119,122,125,128,131,134,137,140,144,147,
150,153,156,159,162,165,168,171,175,178,181,184,187,190,193,196,
199,202,205,209,212,215,218,221,224,227,230,233,236,239,242,245,
248,251,254,257,260,264,267,270,273,276,279,282,285,288,291,294,
297,300,303,306,309,312,315,318,321,324,327,330,333,336,339,342,
344,347,350,353,356,359,362,365,368,371,374,377,380,383,386,388,
391,394,397,400,403,406,409,412,414,417,420,423,426,429,432,434,
437,440,443,446,449,451,454,457,460,463,466,468,471,474,477,479,
482,485,488,491,493,496,499,501,504,507,510,512,515,518,521,523,
526,529,531,534,537,539,542,545,547,550,553,555,558,561,563,566,
568,571,574,576,579,581,584,587,589,592,594,597,599,602,604,607,
609,612,615,617,620,622,625,627,629,632,634,637,639,642,644,647,
649,652,654,656,659,661,664,666,668,671,673,675,678,680,683,685,
687,690,692,694,696,699,701,703,706,708,710,712,715,717,719,721,
724,726,728,730,732,735,737,739,741,743,745,748,750,752,754,756,
758,760,762,765,767,769,771,773,775,777,779,781,783,785,787,789,
791,793,795,797,799,801,803,805,807,809,811,813,814,816,818,820,
822,824,826,828,829,831,833,835,837,839,840,842,844,846,847,849,
851,853,854,856,858,860,861,863,865,866,868,870,871,873,875,876,
878,879,881,883,884,886,887,889,890,892,894,895,897,898,900,901,
903,904,906,907,908,910,911,913,914,916,917,918,920,921,922,924,
925,927,928,929,930,932,933,934,936,937,938,939,941,942,943,944,
946,947,948,949,950,951,953,954,955,956,957,958,959,960,962,963,
964,965,966,967,968,969,970,971,972,973,974,975,976,977,978,978,
979,980,981,982,983,984,985,986,986,987,988,989,990,990,991,992,
993,994,994,995,996,997,997,998,999,999,1000,1001,1001,1002,1003,1003,
1004,1004,1005,1006,1006,1007,1007,1008,1008,1009,1009,1010,1010,1011,1011,1012,
1012,1013,1013,1014,1014,1015,1015,1015,1016,1016,1017,1017,1017,1018,1018,1018,
1019,1019,1019,1019,1020,1020,1020,1020,1021,1021,1021,1021,1022,1022,1022,1022,
1022,1022,1023,1023,1023,1023,1023,1023,1023,1023,1023,1023,1023,1023,1023,1023,
1024,1023,1023,1023,1023,1023,1023,1023,1023,1023,1023,1023,1023,1023,1023,1022,
1022,1022,1022,1022,1022,1021,1021,1021,1021,1020,1020,1020,1020,1019,1019,1019,
1019,1018,1018,1018,1017,1017,1017,1016,1016,1015,1015,1015,1014,1014,1013,1013,
1012,1012,1011,1011,1010,1010,1009,1009,1008,1008,1007,1007,1006,1006,1005,1004,
1004,1003,1003,1002,1001,1001,1000,999,999,998,997,997,996,995,994,994,
993,992,991,990,990,989,988,987,986,986,985,984,983,982,981,980,
979,978,978,977,976,975,974,973,972,971,970,969,968,967,966,965,
964,963,962,960,959,958,957,956,955,954,953,951,950,949,948,947,
946,944,943,942,941,939,938,937,936,934,933,932,930,929,928,927,
925,924,922,921,920,918,917,916,914,913,911,910,908,907,906,904,
903,901,900,898,897,895,894,892,890,889,887,886,884,883,881,879,
878,876,875,873,871,870,868,866,865,863,861,860,858,856,854,853,
851,849,847,846,844,842,840,839,837,835,833,831,829,828,826,824,
822,820,818,816,814,813,811,809,807,805,803,801,799,797,795,793,
791,789,787,785,783,781,779,777,775,773,771,769,767,765,762,760,
758,756,754,752,750,748,745,743,741,739,737,735,732,730,728,726,
724,721,719,717,715,712,710,708,706,703,701,699,696,694,692,690,
687,685,683,680,678,675,673,671,668,666,664,661,659,656,654,652,
649,647,644,642,639,637,634,632,629,627,625,622,620,617,615,612,
609,607,604,602,599,597,594,592,589,587,584,581,579,576,574,571,
568,566,563,561,558,555,553,550,547,545,542,539,537,534,531,529,
526,523,521,518,515,512,510,507,504,501,499,496,493,491,488,485,
482,479,477,474,471,468,466,463,460,457,454,451,449,446,443,440,
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//

float frequency = 50; // 目标频率
//uint16_t pwmFrequency = 35156; // PWM频率  72M / 2048   （定时器时钟频率 / 计数周期）
uint16_t pwmFrequency = 17578; // PWM频率  36M / 2048
uint16_t totalPoints=0; //根据需要的频率取点  totalPoints = pwmFrequency / frequency;
float increment=0;      //增量，每次索引的步进值 （浮点型数据）
uint16_t integerPart=0; //取整数
float decimalPart=0;    //取小数
uint32_t highBits=0;    //高位
uint32_t lowBits=0;     //低位
uint32_t result=0;      //最后的增量结果（32位整型数据）
uint32_t indexNum=0;    //查表轮询值
uint32_t TIM_Value=0; 	//定时器最终装载值
float  V_Factor=1;    //幅度衰减因子，调幅用，取值0-1
/**********************************************************************************
  * 函数功能: 计算步进值
  * 输入参数: 无
  * 返 回 值: 无
  * 说    明：无
  */
void Para_calculate( )
{ 
    totalPoints = pwmFrequency / frequency;     // 需要选择的总点数
    increment = (float)SPWM_N / totalPoints;    // 频率字的增量,大部分情况下是小数
    
    integerPart = (uint32_t)increment;          // 取整数部分
    decimalPart = increment - integerPart;      // 取小数部分

    highBits = integerPart << 21;       // 将整数部分左移21位，得到高11位整数
    lowBits = (uint32_t)(decimalPart * (1 << 21)); // 将小数部分乘以2的21次方，转换为整数表示

    result = highBits | lowBits;        // 结合高11位和低21位     
}

/**********************************************************************************
  * 函数功能: 定时器1
  * 输入参数: 无
  * 返 回 值: 无
  * 说    明：无
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{  
    if(htim == &htim1)
  {
      TIM_Value = 1027 + ((SPWM_List[indexNum>>21])*V_Factor);  //乘以衰减因子
      TIM1->CCR1 = TIM_Value;  //装载
			indexNum += result;   //索引步进
  }      
}

        这里需要解释一下spwm.c的Para_calculate( )函数的作用，这个函数主要是计算特定频率下，一个正弦波需要从表格均匀地取多少个点，且称为查表点数。 然后又有 表格点数 / 查表点数 = 步进增量 （每次在表格上间隔多少取一个点），一般情况下这个 步进增量不是整数，如果忽略小数部分，就会出现误差，得不到所需的频率（当然，你可以将点数变量设置为浮点型，但是单片机做浮点运算的能力是不如整型数据运算的）。所以这个函数的另一个作用是将计算的步进增量(为浮点型数据，即小数)转为整型数据（即代码里的参数result）。

       讲一下怎么调频，Para_calculate( )函数运行后可以得到该频率下所需的步进增量，如果调频，直接改变步进增量值即可。比如通过按键控制频率快慢，直接改变步进增量result即可。这里的自加或自减是1000还是其它数值，取决于实际要实现的频率分辨率。

//调频
void Frequency(int8_t Key)    
{   
   if(Key == 1 ) result+=1000;
    else if(Key == 0) result-=1000; 
}

       讲一下怎么调幅，调幅实质是改变定时器装载的比较值大小，在代码中是下面的语句，1027是定时器计数周期2048一半的数值，计数周期不一样的话需要修改。

TIM_Value = 1027 + ((SPWM_List[indexNum>>21])*V_Factor);  //乘以衰减因子

        TIM_Value是装载定时器的比较值，SPWM_List[indexNum>>21]是从表格取到的数据，V_Factor是衰减因子，调幅就是改变V_Factor衰减因子的大小，从0-1，假如想通过按键修改波形幅度，可以参考如下：

//调幅
void Amplitude(int8_t Key)    
{   
   if(Key == 1 ) V_Factor += 0.01;
    else if(Key == 0) V_Factor -= 0.01; 
}

        针对以上代码，也去protues跑了个仿真，结果如下：

         这里的波形周期是20ms，即50hz。我所使用的protues（8.17版本）中定时器分配系数不能小于2，我在代码中设置是2，在tim.c中设置如下：

        但是要注意，现实中要是1才能得到50hz。protues中的分频计算跟STM32理论好像不一样。
        实际STM32的定时器时钟源计算是 = 主频 /（分频系数+1），如果在protues中仿真，那么时钟源计算是 = 主频 /（分频系数），仅针对我所使用的8.17版本。

3.2 三相逆变

        这里分享一下从单相实现三相逆变的软件思路，单相是两路半桥，三相是三路半桥，所以三相逆变就需要三路SPWM波。这三路波形不需要互补，但是相差需要是120度。可以这样实现，定时器设置三路PWM输出，假设某一逆变频率下所需的查表点数是300，在定时器更新中断中，第一路PWM装载的值在表格索引位置是X，那第二路即为100+X，第三路为200+X，也就是说每次更新装载值，三路装载值都保持1/3的点数间距，就实现相差控制了。

 3.3 程序及仿真资料

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