CN103401460A - Method and device for PWM (pulse width modulation) of three-phase carrier waves - Google Patents
Method and device for PWM (pulse width modulation) of three-phase carrier waves Download PDFInfo
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Abstract
The invention provides a method and a device for PWM (pulse width modulation) of three-phase carrier waves. The method for PWM of the three-phase carrier waves comprises the steps of: producing sinusoidal modulation signals and three-wave carrier waves, wherein each phase of carrier waves of the three-phase carrier waves comprises two carrier waves which are stacked in the forward direction, and each two phases of carrier waves are provided with a phase difference with a preset phase angle therebetween; carrying out modulation on the sinusoidal modulation signals through the three-phase carrier waves, generating pulse width modulation (PWM) signals, and outputting the PWM signals to an electronic switch of an inverter so as to control on-off of the electronic switch. The method and the device provided by the embodiment of the invention for PWM of the three-phase carrier waves reduce common-mode voltage and common-mode leakage current outputted by the inverter, and improve the characteristic of electronic interference resistance of the inverter.
Description
Technical field
The embodiment of the present invention relates to control technology, relates in particular to a kind of Three Phase Carrier Based PWM modulator approach and device.
Background technology
Pulse width modulation (Pulse Width Modulation is called for short PWM) technology, namely modulate by the width to a series of pulses, carrys out the needed waveform of equivalent acquisition.The PWM technology is widely used in measurement, communication and power conversion control.
In prior art, the pwm signal of three-level inverter adopts Sine Wave Pulse Width Modulation (Sinusoidal Pulse Width Modulation usually, abbreviation SPWM) method realizes, the method is generally sinusoidal modulation signal is compared with two triangular carriers and produces drive switching device IGBT(Insulated Gate Bipolar Transistor, opening and turn-offing insulated gate bipolar transistor), with the impulse wave equivalent sine that modulates or the modulation signal of other shapes.This PWM modulation three-phase triangular carrier same-phase, the PWM common-mode voltage of its output is larger, easily causes the harmful effects such as Ground leakage current and electromagnetic interference.
Summary of the invention
The embodiment of the present invention provides a kind of Three Phase Carrier Based PWM modulator approach and device,, to reduce common-mode voltage and the common mode leakage current of inverter output, improves the anti-electronic jamming characteristic of inverter.
First aspect, the embodiment of the present invention provide a kind of Three Phase Carrier Based PWM modulator approach, comprising:
Produce sinusoidal modulation signal and Three Phase Carrier Based, wherein, the every phase carrier wave in described Three Phase Carrier Based comprises two carrier waves that forward is stacked, and has the phase difference at preset phase angle between every two-phase carrier wave;
By described Three Phase Carrier Based, described sinusoidal modulation signal is modulated, produced the pulse width modulation (PWM) signal, described pwm signal is exported to the electronic switch of inverter, to control the break-make of described electronic switch.
In the possible implementation of the first, describedly by described Three Phase Carrier Based, described sinusoidal modulation signal is modulated, be specially:
By described Three Phase Carrier Based, described sinusoidal modulation signal is carried out sine wave pulse width modulated; Perhaps,
By described Three Phase Carrier Based, described sinusoidal modulation signal is carried out space vector pulse width modulation.
In the possible implementation of the second, described carrier wave is isosceles triangle wave or sawtooth waveforms.
In conjunction with the possible implementation of first or the second of first aspect or first aspect, in the third possible implementation, described preset phase angle is 120 degree.
In the 4th kind of possible implementation, described inverter is three-phase two-level inverter, the T-shaped three-level inverter of three-phase, three-phase I type three-level inverter or three-phase multi-electrical level inverter.
In the 5th kind of possible implementation, before described generation sinusoidal modulation signal and Three Phase Carrier Based, described method also comprises:
Three-phase alternating current to described inverter output carries out respectively current sample, obtain the three-phase sample rate current, amplitude to the three-phase voltage of electrical network is sampled, obtain the phase angle of line voltage, according to the phase angle of described line voltage, described three-phase sample rate current is converted to d shaft current and q shaft current;
Described d shaft current and described q shaft current are compared the generation error signal with the first current-order and the second current-order that Voltage loop provides respectively, described error signal is produced the first voltage instruction and second voltage instruction after proportional plus integral control;
The coordinate three-phase voltage instruction that becomes is carried out in described the first voltage instruction and described second voltage instruction;
Correspondingly, described generation sinusoidal modulation signal is specially:
Produce described sinusoidal modulation signal according to described three-phase voltage instruction.
Second aspect, the embodiment of the present invention provide a kind of Three Phase Carrier Based PWM modulating device, comprising:
The signal generation unit, for generation of sinusoidal modulation signal and Three Phase Carrier Based, wherein, the every phase carrier wave in described Three Phase Carrier Based comprises two carrier waves that forward is stacked, and has the phase difference at preset phase angle between every two-phase carrier wave;
Modulating unit, be used for by described Three Phase Carrier Based, described sinusoidal modulation signal being modulated, and produces the pulse width modulation (PWM) signal, described pwm signal exported to the electronic switch of inverter, to control the break-make of described electronic switch.
In the possible implementation of the first, described modulating unit specifically is used for:
By described Three Phase Carrier Based, described sinusoidal modulation signal is carried out sine wave pulse width modulated; Perhaps,
By described Three Phase Carrier Based, described sinusoidal modulation signal is carried out space vector pulse width modulation.
In the possible implementation of the second, described carrier wave is isosceles triangle wave or sawtooth waveforms.
In conjunction with the possible implementation of first or the second of second aspect or second aspect, in the third possible implementation, described preset phase angle is 120 degree.
In the 4th kind of possible implementation, described Three Phase Carrier Based PWM modulating device, is characterized in that, also comprises:
control unit, be used for the three-phase alternating current of described inverter output is carried out respectively current sample, obtain the three-phase sample rate current, amplitude to the three-phase voltage of electrical network is sampled, obtain the phase angle of line voltage, according to the phase angle of described line voltage, described three-phase sample rate current is converted to d shaft current and q shaft current, described d shaft current and described q shaft current are compared the generation error signal with the first current-order and the second current-order that Voltage loop provides respectively, described error signal is produced the first voltage instruction and second voltage instruction after proportional plus integral control, the coordinate three-phase voltage instruction that becomes is carried out in described the first voltage instruction and described second voltage instruction,
Described signal generation unit also is used for producing described sinusoidal modulation signal according to described three-phase voltage instruction.
As shown from the above technical solution, Three Phase Carrier Based PWM modulator approach and device that embodiment provided by the invention provides, Three Phase Carrier Based PWM modulating device produces sinusoidal modulation signal and Three Phase Carrier Based, wherein, every phase carrier wave in Three Phase Carrier Based comprises two carrier waves that forward is stacked, and the phase difference that has the preset phase angle between every two-phase carrier wave, modulate by Three Phase Carrier Based offset of sinusoidal modulation signal, produce the pulse width modulation (PWM) signal, pwm signal is exported to the electronic switch of inverter, to control the break-make of electronic switch.Owing to having the phase difference at preset phase angle in Three Phase Carrier Based between every two-phase carrier wave, can reduce thus the common-mode voltage of inverter output, can further reduce the common mode leakage current of inverter, improve the anti-electronic jamming characteristic of inverter.
Description of drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
A kind of Three Phase Carrier Based PWM modulator approach flow chart that Fig. 1 provides for the embodiment of the present invention;
A kind of carrier wave schematic diagram that Fig. 2 provides for the embodiment of the present invention;
A kind of simulation result schematic diagram that Fig. 3 provides for the embodiment of the present invention;
The another kind of simulation result schematic diagram that Fig. 4 provides for the embodiment of the present invention;
The another kind of Three Phase Carrier Based PWM modulator approach flow chart that Fig. 5 provides for the embodiment of the present invention;
A kind of Three Phase Carrier Based PWM modulating device structural representation that Fig. 6 provides for the embodiment of the present invention;
The another kind of Three Phase Carrier Based PWM modulating device structural representation that Fig. 7 provides for the embodiment of the present invention.
Embodiment
For the purpose, technical scheme and the advantage that make the embodiment of the present invention clearer, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills, not making under the creative work prerequisite the every other embodiment that obtains, belong to the scope of protection of the invention.
A kind of Three Phase Carrier Based PWM modulator approach flow chart that Fig. 1 provides for the embodiment of the present invention.As shown in Figure 1, the Three Phase Carrier Based PWM modulator approach that provides of the present embodiment specifically can be applied to the PWM modulated process in inverter.The Three Phase Carrier Based PWM modulator approach that the present embodiment provides can be carried out by Three Phase Carrier Based PWM modulating device, this Three Phase Carrier Based PWM modulating device can pass through DSP(Digital Signal Processor, digital signal processor), FPGA(Field Programmable Gate Array, field programmable gate array) or by the hardware circuit that comparator is built, realize.The Three Phase Carrier Based PWM modulator approach that the present embodiment provides specifically comprises:
Particularly, Three Phase Carrier Based PWM modulating device produces sinusoidal modulation signal and Three Phase Carrier Based, and for convenience, three-phase is respectively A phase, B phase and C phase, and Three Phase Carrier Based is respectively A phase carrier wave, B phase carrier wave and C phase carrier wave.Every phase carrier wave all comprises two carrier waves, and these two carrier wave forwards are stacked, and specifically as shown in Figure 2, Fig. 2 shows six carrier waves, and wherein, carrier wave ZA1 and carrier wave ZA2 are A phase carrier wave, and carrier wave ZB1 and carrier wave ZB2 are B phase carrier wave, and carrier wave ZC1 and carrier wave ZC2 are C phase carrier wave.Take A mutually as example, carrier wave ZA1 and stacked being specially of carrier wave ZA2 forward, the maximum with the amplitude of the downward translation carrier wave of carrier wave ZA1 ZA1, can obtain carrier wave ZA2.Carrier wave shown in Figure 2 is isosceles triangle wave, and in actual implementation procedure, the carrier wave of all right non-isosceles triangle wave of carrier wave or sawtooth waveforms or other shapes, be not limited with the present embodiment.
In actual application, in order to improve modulation effect, the frequency of carrier wave is higher than the frequency of sinusoidal modulation signal.The detailed process of by Three Phase Carrier Based offset of sinusoidal modulation signal, modulating can be, two carrier waves for every phase, a carrier wave and sinusoidal modulation signal are compared, when the amplitude of this carrier wave during greater than the amplitude of sinusoidal modulation signal, output low level, during less than the amplitude of sinusoidal modulation signal, the output high level, produce pwm control signal thus when the amplitude of this carrier wave.Another carrier wave and sinusoidal modulation signal are compared, when the amplitude of this carrier wave is adjusted the amplitude of signal less than sine, output low level, when the amplitude of this carrier wave during greater than the amplitude of sinusoidal modulation signal, the output high level.Therefore, can the amount of obtaining after comparing by every phase Three Phase Carrier Based and sinusoidal modulation signal a pwm control signal, correspondingly, after comparing, Three Phase Carrier Based and sinusoidal modulation signal can obtain six pwm control signals, be input to respectively the control end of the respective electronic switch of inverter,, to control the break-make of electronic switch by pwm control signal, realize the inversion processing procedure.
The Three Phase Carrier Based PWM modulator approach that the present embodiment provides, Three Phase Carrier Based PWM modulating device produces sinusoidal modulation signal and Three Phase Carrier Based, wherein, every phase carrier wave in Three Phase Carrier Based comprises two carrier waves that forward is stacked, and the phase difference that has the preset phase angle between every two-phase carrier wave, modulate by Three Phase Carrier Based offset of sinusoidal modulation signal, produces the pulse width modulation (PWM) signal, pwm signal is exported to the electronic switch of inverter, to control the break-make of electronic switch.Owing to having the phase difference at preset phase angle in Three Phase Carrier Based between every two-phase carrier wave, can reduce thus the common-mode voltage of inverter output, can further reduce the common mode leakage current of inverter, improve the anti-electronic jamming characteristic of inverter.
In the present embodiment, described preset phase angle is 120 degree.By simulating, verifying, if same-phase between the every two-phase carrier wave of Three Phase Carrier Based, the common-mode voltage of inverter output by ± 1/3Vdc, ± 1/6Vdc and 0 five level form, as shown in Figure 3.If the phase difference between the every two-phase carrier wave of Three Phase Carrier Based is 120 degree, the common-mode voltage of inverter output by ± 1/3Vdc, ± 1/6Vdc and 0 five level form, as shown in Figure 4.As can be known, common-mode voltage obviously reduces in contrast by Fig. 4 and Fig. 3.
In the present embodiment, step 20, modulate described sinusoidal modulation signal by described Three Phase Carrier Based, is specifically as follows:
By described Three Phase Carrier Based, described sinusoidal modulation signal is carried out sine wave pulse width modulated; Perhaps,
By described Three Phase Carrier Based, described sinusoidal modulation signal is carried out space vector pulse width modulation.
The method of by described Three Phase Carrier Based, described sinusoidal modulation signal being modulated particularly, can adopt SPWM method or SVPWM(Space Vector Pulse Width Modulation, space vector pulse width modulation) method realizes.
In the present embodiment, described carrier wave is isosceles triangle wave or sawtooth waveforms.
In the present embodiment, described inverter is three-phase two-level inverter, the T-shaped three-level inverter of three-phase, three-phase I type three-level inverter or three-phase multi-electrical level inverter.
In actual application, the topological structure of this inverter can, for the inverter of two level, three level or many level, not be limited with the present embodiment.
The another kind of Three Phase Carrier Based PWM modulator approach flow chart that Fig. 5 provides for the embodiment of the present invention.As shown in Figure 5, further, in the present embodiment, step 10, before described generation sinusoidal modulation signal and Three Phase Carrier Based, described method can also comprise the steps:
Step 30, the three-phase alternating current that described inverter is exported carry out respectively current sample, obtain the three-phase sample rate current, amplitude to the three-phase voltage of electrical network is sampled, obtain the phase angle of line voltage, according to the phase angle of described line voltage, described three-phase sample rate current is converted to d shaft current and q shaft current;
Step 40, described d shaft current and described q shaft current are compared the generation error signal with the first current-order and the second current-order that Voltage loop provides respectively, described error signal is produced the first voltage instruction and second voltage instruction after proportional plus integral control;
Step 50, the coordinate three-phase voltage instruction that becomes is carried out in described the first voltage instruction and described second voltage instruction;
Correspondingly, step 10, described generation sinusoidal modulation signal is specifically as follows:
Produce described sinusoidal modulation signal according to described three-phase voltage instruction.
Particularly, in the process that generates sinusoidal modulation signal, according to controlling parameter, the acquisition process of this control parameter is specially, three-phase alternating current to inverter output carries out respectively current sample, obtains the three-phase sample rate current, and the amplitude of the three-phase voltage of electrical network is sampled, obtain the phase angle of line voltage, according to the phase angle of line voltage, the three-phase sample rate current is converted to d shaft current and q shaft current.The first current-order I that d shaft current and q shaft current are provided with Voltage loop respectively
DrefWith the second current-order I
QrefCompare and produce two error signals, two error signals are passed through respectively after proportional integral (Proportion Integration Differentiation is called for short PI) is controlled and produced the first voltage instruction U
dWith second voltage instruction U
qTo the first voltage instruction U
dWith second voltage instruction U
qCarry out the coordinate three-phase voltage instruction that becomes, according to this three-phase voltage instruction, produce sinusoidal modulation signal.
A kind of Three Phase Carrier Based PWM modulating device structural representation that Fig. 6 provides for the embodiment of the present invention, as shown in Figure 6, the Three Phase Carrier Based PWM modulating device that the present embodiment provides can be realized each step of the Three Phase Carrier Based PWM modulator approach that any embodiment of the present invention provides, and the specific implementation process does not repeat them here.The Three Phase Carrier Based PWM modulating device that the present embodiment provides specifically comprises signal generation unit 11 and modulating unit 12.Described signal generation unit 11 is for generation of sinusoidal modulation signal and Three Phase Carrier Based, and wherein, the every phase carrier wave in described Three Phase Carrier Based comprises two carrier waves that forward is stacked, and has the phase difference at preset phase angle between every two-phase carrier wave.Described modulating unit 12 is used for by described Three Phase Carrier Based, described sinusoidal modulation signal being modulated, and produces the pulse width modulation (PWM) signal, described pwm signal is exported to the electronic switch of inverter, to control the break-make of described electronic switch.
The Three Phase Carrier Based PWM modulating device that the present embodiment provides, owing to having the phase difference at preset phase angle in the Three Phase Carrier Based that produces between every two-phase carrier wave, can reduce thus the common-mode voltage of inverter output, can further reduce the common mode leakage current of inverter, improve the anti-electronic jamming characteristic of inverter.
In the present embodiment, described modulating unit 12 specifically is used for:
By described Three Phase Carrier Based, described sinusoidal modulation signal is carried out sine wave pulse width modulated; Perhaps,
By described Three Phase Carrier Based, described sinusoidal modulation signal is carried out space vector pulse width modulation.
In the present embodiment, described carrier wave is isosceles triangle wave or sawtooth waveforms.
In the present embodiment, described preset phase angle is 120 degree.
the another kind of Three Phase Carrier Based PWM modulating device structural representation that Fig. 7 provides for the embodiment of the present invention, as shown in Figure 7, in the present embodiment, this Three Phase Carrier Based PWM modulating device can also comprise control unit 13, described control unit 13 specifically can be used for the three-phase alternating current of described inverter output is carried out respectively current sample, obtain the three-phase sample rate current, amplitude to the three-phase voltage of electrical network is sampled, obtain the phase angle of line voltage, according to the phase angle of described line voltage, described three-phase sample rate current is converted to d shaft current and q shaft current, described d shaft current and described q shaft current are compared the generation error signal with the first current-order and the second current-order that Voltage loop provides respectively, described error signal is produced the first voltage instruction and second voltage instruction after proportional plus integral control, the coordinate three-phase voltage instruction that becomes is carried out in described the first voltage instruction and described second voltage instruction.Correspondingly, described signal generation unit 11 can also be used for producing described sinusoidal modulation signal according to described three-phase voltage instruction.
The Three Phase Carrier Based PWM modulating device that the present embodiment provides can realize by DSP, and detailed process is as follows:
DSP general purpose timer Tx is configured to increase and decrease count mode, sets the value of the TxPR of corresponding period register according to carrier frequency.According to the value that TxCNT is composed in initial value and the initialization of three-phase misphase angle and switching frequency count register, initial value=phase shift angle/cycle angle * clock periodicity.Then start timer, as the generator of triangular carrier.
In interrupt service routine, by receiving the three-phase voltage instruction, at positive half period, be Ua(b, c)〉0, with Ua(b, c) as modulating wave, standardization obtains duty ratio after processing, and this duty ratio be multiply by the value of period register, obtain corresponding clock periodicity, this clock periodicity is loaded into TxCMPRA.At negative half-cycle, i.e. Ua(b, c)＜0, with 1+Ua(b, c) as modulating wave, standardization obtains duty ratio after processing, and this duty ratio be multiply by the value of period register, obtains corresponding clock periodicity, and clock periodicity is loaded into TxCMPRB.
At positive half period, output low level when the counter rising edge relatively occurs, output high level when trailing edge relatively occurs.At negative half-cycle, output high level when the counter rising edge relatively occurs, output low level when trailing edge relatively occurs.
One of ordinary skill in the art will appreciate that: all or part of step that realizes said method embodiment can be completed by the hardware that program command is correlated with, aforesaid program can be stored in a computer read/write memory medium, this program when carrying out, is carried out the step that comprises said method embodiment; And aforesaid storage medium comprises: the various media that can be program code stored such as ROM, RAM, magnetic disc or CD.
It should be noted that finally: above embodiment only, in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment, the present invention is had been described in detail, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme that aforementioned each embodiment puts down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the scope of various embodiments of the present invention technical scheme.
Claims (11)
1. a Three Phase Carrier Based PWM modulator approach, is characterized in that, comprising:
Produce sinusoidal modulation signal and Three Phase Carrier Based, wherein, the every phase carrier wave in described Three Phase Carrier Based comprises two carrier waves that forward is stacked, and has the phase difference at preset phase angle between every two-phase carrier wave;
By described Three Phase Carrier Based, described sinusoidal modulation signal is modulated, produced the pulse width modulation (PWM) signal, described pwm signal is exported to the electronic switch of inverter, to control the break-make of described electronic switch.
2. Three Phase Carrier Based PWM modulator approach according to claim 1, is characterized in that, describedly by described Three Phase Carrier Based, described sinusoidal modulation signal modulated, and is specially:
By described Three Phase Carrier Based, described sinusoidal modulation signal is carried out sine wave pulse width modulated; Perhaps,
By described Three Phase Carrier Based, described sinusoidal modulation signal is carried out space vector pulse width modulation.
3. Three Phase Carrier Based PWM modulator approach according to claim 1, is characterized in that, described carrier wave is isosceles triangle wave or sawtooth waveforms.
4. according to claim 1-3 arbitrary described Three Phase Carrier Based PWM modulator approaches, is characterized in that, described preset phase angle is 120 degree.
5. Three Phase Carrier Based PWM modulator approach according to claim 1, is characterized in that, described inverter is three-phase two-level inverter, the T-shaped three-level inverter of three-phase, three-phase I type three-level inverter or three-phase multi-electrical level inverter.
6. Three Phase Carrier Based PWM modulator approach according to claim 1, is characterized in that, before described generation sinusoidal modulation signal and Three Phase Carrier Based, described method also comprises:
Three-phase alternating current to described inverter output carries out respectively current sample, obtain the three-phase sample rate current, amplitude to the three-phase voltage of electrical network is sampled, obtain the phase angle of line voltage, according to the phase angle of described line voltage, described three-phase sample rate current is converted to d shaft current and q shaft current;
Described d shaft current and described q shaft current are compared the generation error signal with the first current-order and the second current-order that Voltage loop provides respectively, described error signal is produced the first voltage instruction and second voltage instruction after proportional plus integral control;
The coordinate three-phase voltage instruction that becomes is carried out in described the first voltage instruction and described second voltage instruction;
Correspondingly, described generation sinusoidal modulation signal is specially:
Produce described sinusoidal modulation signal according to described three-phase voltage instruction.
7. a Three Phase Carrier Based PWM modulating device, is characterized in that, comprising:
The signal generation unit, for generation of sinusoidal modulation signal and Three Phase Carrier Based, wherein, the every phase carrier wave in described Three Phase Carrier Based comprises two carrier waves that forward is stacked, and has the phase difference at preset phase angle between every two-phase carrier wave;
Modulating unit, be used for by described Three Phase Carrier Based, described sinusoidal modulation signal being modulated, and produces the pulse width modulation (PWM) signal, described pwm signal exported to the electronic switch of inverter, to control the break-make of described electronic switch.
8. Three Phase Carrier Based PWM modulating device according to claim 7, is characterized in that, described modulating unit specifically is used for:
By described Three Phase Carrier Based, described sinusoidal modulation signal is carried out sine wave pulse width modulated; Perhaps,
By described Three Phase Carrier Based, described sinusoidal modulation signal is carried out space vector pulse width modulation.
9. Three Phase Carrier Based PWM modulating device according to claim 7, is characterized in that, described carrier wave is isosceles triangle wave or sawtooth waveforms.
10. according to claim 7-9 arbitrary described Three Phase Carrier Based PWM modulating devices, is characterized in that, described preset phase angle is 120 degree.
11. Three Phase Carrier Based PWM modulating device according to claim 7, is characterized in that, also comprises:
control unit, be used for the three-phase alternating current of described inverter output is carried out respectively current sample, obtain the three-phase sample rate current, amplitude to the three-phase voltage of electrical network is sampled, obtain the phase angle of line voltage, according to the phase angle of described line voltage, described three-phase sample rate current is converted to d shaft current and q shaft current, described d shaft current and described q shaft current are compared the generation error signal with the first current-order and the second current-order that Voltage loop provides respectively, described error signal is produced the first voltage instruction and second voltage instruction after proportional plus integral control, the coordinate three-phase voltage instruction that becomes is carried out in described the first voltage instruction and described second voltage instruction,
Described signal generation unit also is used for producing described sinusoidal modulation signal according to described three-phase voltage instruction.
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