CN104052320B - PWM method and device - Google Patents
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- CN104052320B CN104052320B CN201410271086.1A CN201410271086A CN104052320B CN 104052320 B CN104052320 B CN 104052320B CN 201410271086 A CN201410271086 A CN 201410271086A CN 104052320 B CN104052320 B CN 104052320B
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Abstract
The embodiment of the invention discloses a PWM method and device which are applied to each phase of branch circuit of an inverter circuit. The method comprises the steps of obtaining a phase shifting angle, carrying out phase shifting on a carrier wave according to the phase shifting angle, and carrying out PWM on a modulated wave through the carrier wave obtained after phase shifting is carried out and other carrier waves without phase shifting, wherein the step of obtaining the phase shifting angle comprises the step that a preset database is inquired according to a common mode voltage of an output end to obtain the phase shifting angle, or the phase shifting angle is obtained according to a common mode voltage vector of the output end and an expected common mode voltage vector, or the angle of 180 degrees serves as the phase shifting angle. According to the PWM method and device, due to the fact that phase shifting is carried out on the carrier wave in each phase of branch circuit, the phase position of an upper carrier wave and the phase position of a lower carrier wave are made to be staggered at an angle, the phase difference of the upper semi-circle and the lower semi-circle of a PWM waveform output after modulation can be reduced, and thus the problem that the common mode voltage at the output end is large when PMW is carried out is solved.
Description
Technical field
The embodiment of the present invention relates generally to PWM modulation technology field, especially relates to a kind of PWM method and device.
Background technology
Inverter circuit is a kind of circuit corresponding with rectification circuit, is mainly used in realizing from DC (direct current) to AC (exchange)
Conversion.PWM (Pulse Width Modulation, pulse width modulation) is a kind of by inverter circuit breaker in middle device
Break-make be controlled, make output end export a series of modulation system of the equal pulse of amplitudes.With the SPWM in PWM
As a example (Sinusoidal Pulse Width Modulation, Sinusoidal Pulse Width Modulation), output can be made by setting
Pulse is equal with desired sinusoidal waveform portion area (i.e. momentum), such SPWM waveform finally also just can be equivalent to desired just
String ripple, thus realize the conversion from DC to AC.
Inventor finds during realizing the present invention, and in current PWM technology, the common-mode voltage of output end is larger,
The bad shadow such as Ground leakage current, electromagnetic interference can be brought in frequency converter, photovoltaic or other fields higher to common-mode voltage requirement
Ring, and in prior art, not yet have preferable method to solve this problem.
Content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of PWM method and device, to solve PWM
When output end the larger problem of common-mode voltage.
The embodiment of the invention discloses following technical scheme：
In a first aspect, providing a kind of PWM method, for every phase branch road of inverter circuit, methods described includes：
Obtain phase shift angle；
Phase shift is carried out to a carrier wave according to described phase shift angle；
Other carrier waves using the carrier wave after phase shift and non-phase shift carry out PWM to modulating wave jointly；
Wherein, described acquisition phase shift angle, including：
Common-mode voltage according to output end inquires about default database, to obtain described phase shift angle；Or,
Common-mode voltage vector according to output end and expectation common-mode voltage vector obtain described phase shift angle；Or,
Using 180 degree as described phase shift angle.
In conjunction with a first aspect, in the first possible implementation of first aspect, the described common mode according to output end
Voltage vector and expectation common-mode voltage vector obtain described phase shift angle, including：
Obtain α cm；
Calculate the poor α err of α cm and α o；
Described phase shift angle is obtained according to α err；
Wherein α cm is the deflection of the common-mode voltage vector of described output end, and α o is the direction of expectation common-mode voltage vector
Angle.
In conjunction with the first possible implementation of first aspect, in the possible implementation of the second of first aspect
In, described acquisition α cm, including：
Carrier wave modulation voltage vector Vaup and lower carrier wave modulation voltage vector Vadn in acquisition；
Obtain the mid-point voltage vector Vo of output voltage；
Calculate between Vaup-Vo, Vadn-Vo angle using as α cm.
In conjunction with the first possible implementation of first aspect, in the third possible implementation of first aspect
In, described phase shift angle is obtained according to α err, including：
Obtain described phase shift angle by α err is carried out with P, PI or PID regulation.
Second aspect, provides a kind of PWM device, and for every phase branch road of inverter circuit, described device includes：
Phase shift angle acquiring unit, inquires about default database for the common-mode voltage according to output end, to obtain phase shift
Angle, or, the common-mode voltage vector according to output end and expectation common-mode voltage vector obtain phase shift angle, or, by 180 degree
As phase shift angle；
Phase-shifting carrier wave unit, for carrying out phase shift according to described phase shift angle to a carrier wave；
Modulating unit, carries out PWM tune to modulating wave jointly for other carrier waves using the carrier wave after phase shift and non-phase shift
System.
In conjunction with second aspect, in the first possible implementation of second aspect, described phase shift angle acquiring unit
When obtaining phase shift angle for the common-mode voltage vector according to output end and expectation common-mode voltage vector, it is used for：
Obtain α cm；
Calculate the poor α err of α cm and α o；
Described phase shift angle is obtained according to α err；
Wherein α cm is the deflection of the common-mode voltage vector of described output end, and α o is the direction of expectation common-mode voltage vector
Angle.
In conjunction with the first possible implementation of second aspect, in the possible implementation of the second of second aspect
In, when described phase shift angle acquiring unit is used for obtaining α cm, it is used for：
Carrier wave modulation voltage vector Vaup and lower carrier wave modulation voltage vector Vadn in acquisition；
Obtain the mid-point voltage vector Vo of output voltage；
Calculate between Vaup-Vo, Vadn-Vo angle using as α cm.
In conjunction with the first possible implementation of second aspect, in the third possible implementation of second aspect
In, when described phase shift angle acquiring unit is used for obtaining described phase shift angle according to α err, it is used for：
Obtain described phase shift angle by α err is carried out with P, PI or PID regulation.
Technical scheme provided in an embodiment of the present invention can include following beneficial effect：
The embodiment of the present invention, by carrying out phase shift to the carrier wave in every phase branch road, makes the phase of upper and lower two carrier waves in this phase
Dislocation opens an angle, the phase difference of the upper lower half of PWM waveform exporting after can reducing modulation, thus solve PWM adjusting
The common-mode voltage of output end larger problem when processed.
It should be appreciated that above general description and detailed description hereinafter are only exemplary, can not be limited this
Invention.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of traditional PWM；
Fig. 2 is a kind of flow chart of the PWM method according to an exemplary embodiment；
Fig. 3 is the phase-shifting carrier wave schematic diagram according to an exemplary embodiment；
Fig. 4 is a kind of flow chart of the PWM method according to an exemplary embodiment；
Fig. 5 is a kind of flow chart of the PWM method according to an exemplary embodiment；
Fig. 6 is control principle schematic diagram when generating modulating wave；
Fig. 7 is the comparand register state diagram generating 180 degree carrier wave；
Fig. 8 is a kind of block diagram of the PWM device according to an exemplary embodiment.
By above-mentioned accompanying drawing it has been shown that the clear and definite embodiment of the present invention, hereinafter will be described in more detail.These accompanying drawings
It is not intended to limit the scope of present inventive concept by any mode with word description, but by reference to specific embodiment be
Those skilled in the art illustrate idea of the invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
For the comprehensive understanding present invention, refer to numerous concrete details in the following detailed description, but this area skill
Art personnel are it should be understood that the present invention can realize without these details.In other embodiments, known in being not described in detail
Method, process, assembly and circuit, in order to avoid undesirably result in embodiment obscuring.
Fig. 1 is the schematic diagram of traditional PWM.In Fig. 1 so that three-level SPWM modulation, carrier wave are as triangular carrier as a example,
To be controlled by the drive signal (Vx1, Vx2) that sinusoidal modulation signal Sx is produced compared with two triangular carriers (Tr1, Tr2)
The opening and turning off, such that it is able to modulate the impulse wave of equivalent sine wave of inverter circuit breaker in middle device processed.
Fig. 2 is a kind of flow chart of the PWM method according to an exemplary embodiment, and the method can be used for inverse
Become in every phase branch road of circuit.Shown in Figure 2, the method can include：
S201, acquisition phase shift angle.
Inventor finds during realizing the present invention, in prior art, the carrier wave same-phase of every phase during PWM,
Lead to output PWM common-mode voltage larger, can cause over the ground in frequency converter, photovoltaic or other fields higher to common-mode voltage requirement
The harmful effects such as leakage current, electromagnetic interference.In the present embodiment, wherein one carrier wave is done phase shift process, so that no longer same between carrier wave
Phase, but difference certain angle, such that it is able to reduce common-mode voltage.
This phase shift angle can determine according to concrete scene, for example, it is possible to the experience according to storage in presetting database
Angle value goes phase shift it is also possible to preset the angle value of a fixation, etc., the present embodiment is simultaneously not limited, can be herein
These angle values using are all without departing from the spirit and scope of the present invention.
S202, phase shift is carried out to a carrier wave according to described phase shift angle.
As an example, can be found in shown in Fig. 3, Fig. 3 is the phase-shifting carrier wave schematic diagram according to an exemplary embodiment.Figure
3 carrier case showing the phase in three-phase, lower carrier wave original with upper carrier wave same-phase, lower carrier wave is carried out with the shifting of α angle
Xiang Hou, lower carrier wave and upper carrier wave have just staggered α angle (can make 0 °≤α≤180 °).
S203, jointly PWM is carried out to modulating wave using other carrier waves of the carrier wave after phase shift and non-phase shift.
Carrier wave is carried out after phase shift, still can carry out PWM using original method using the carrier wave after phase shift, this
Embodiment repeats no more, for example, still can use sinusoidal modulation signal Sx and two triangular carriers (the non-phase shift of such as Tr1, Tr2
Have phase shift) drive signal (Vx1, Vx2) that compares and produce controlling opening and turning off of inverter circuit breaker in middle device,
The low and high level rule of the drive signal only now producing can with phase shift before there is difference.
It is easily understood that the PWM modulation technology of the present invention is applied to various inversion topologicals, such as three-level topology, modulation
Ripple can be triangular wave, sawtooth waveforms or other shapes, and modulation system, in addition to Sine Modulated, may also be space vector modulation, right
This present embodiment is simultaneously not limited.
Under a kind of scene in the present embodiment, obtain phase shift angle, i.e. step S201, can include：
Common-mode voltage according to output end inquires about default database, to obtain described phase shift angle.In the present embodiment,
Target in view of phase shift is exactly to reduce common-mode voltage it is possible to according to direct measurement or the common-mode voltage indirectly measuring
To obtain phase shift angle.
When indirect measurement common-mode voltage, as an example, can indirectly measure in the following manner：Can first obtain
Take Ground leakage current sampled value Icm, then according to system parasitic impedance operator Lg, be translated into common-mode voltage value.
In this default database, various common-mode voltage values and various shiftings can be prestored according to experiment or experience
The corresponding relation of phase angle, for example when common-mode voltage is for 5V, phase shift angle should be 10 degree, etc..
Additionally, in some other embodiments in the present invention, can also be without relying on current common-mode voltage, but by other ginsengs
Amount obtains phase shift angle.For example, it is possible to acquisition Ground leakage current sampled value (or other can embody the signal of leakage current situation
Sampled value, also or other can embody the sampled value of the signal of common-mode voltage situation), when Ground leakage current Icm is in necessarily
(as Ia1 during scope<Icm<Ib1), then phase shift angle is θ ', and works as Icm in another scope (such as Ia2<Icm<When Ib2), defeated
Go out phase shift angle θ.
Under another kind of scene in the present embodiment, obtain phase shift angle, i.e. step S201, can include：
Common-mode voltage vector according to output end and expectation common-mode voltage vector obtain described phase shift angle.
As an example, can be found in shown in Fig. 4, this phase shift angle can be obtained as follows：
S401, acquisition α cm；
S402, the poor α err of calculating α cm and α o；
S403, according to α err obtain described phase shift angle.
Wherein α cm is the deflection of the common-mode voltage vector of described output end, and α o is the direction of expectation common-mode voltage vector
Angle.
In the present embodiment or the present invention some other embodiments, described acquisition α cm, can include：
Carrier wave modulation voltage vector Vaup and lower carrier wave modulation voltage vector Vadn in acquisition；
Obtain the mid-point voltage vector Vo of output voltage；
Calculate between Vaup-Vo, Vadn-Vo angle using as α cm.
Principle is as follows：
For common-mode voltage Vcm, have：
Vcm=1/3 (Vao+Vbo+Vco)
Wherein Vao, Vbo, Vco are respectively A, B, C three-phase output voltage Va, Vb, Vc and deduct mid-point voltage Vo, i.e. Vao=
Va Vo, Vbo=Vb Vo, Vco=Vc Vo.
Have again：
Va=Vaup+Vadn.
Wherein Vaup represents the upper carrier wave modulation voltage in A phase, and Vadn represents lower carrier wave modulation voltage, and Vb, Vc are similar to.Institute
Obtaining：
Vcm=1/3 (Vaup+Vadn+Vbup+Vbdn+Vcup+Vadn)-Vo
If voltage is regarded as vector, Vcm be equal to 7 vectors computing and, and due to Va, Vb, Vc three-phase mutual deviation
120 °, can all be converted into Va, institute's above formula can simplify the vector correlation of Vcm and Vaup-Vo, Vadn-Vo, then α cm, that is,
The deflection of Vcm is it is possible to obtain according to the angle of this two vectors of Vaup-Vo, Vadn-Vo.
After having obtained angle [alpha] err, just can obtain phase shift angle based on this.For example, it is possible to be multiplied by a warp
Test after coefficient as phase shift angle.Again for example：
Described according to α err obtain described phase shift angle, can include：
Obtain described phase shift angle by α err is carried out with P, PI or PID regulation.
Under another scene in the present embodiment, obtain phase shift angle, that is, step S201 is it is also possible to include：
Using 180 degree as described phase shift angle.
Which more simple it is not necessary to detect to common-mode voltage etc., but remain upper and lower carrier phase difference 180
Degree.This mode also can obtain certain effect, reduces common-mode voltage to a certain extent.
The present embodiment, by carrying out phase shift to the carrier wave in every phase branch road, makes the phase dislocation of upper and lower two carrier waves in this phase
Open an angle, the phase difference of the upper lower half of PWM waveform exporting after can reducing modulation, thus when solving PWM
The larger problem of the common-mode voltage of output end.
Below taking realize this scene of PWM by DSP as a example, the invention will be further described.
Fig. 5 is a kind of flow chart of the PWM method according to an exemplary embodiment.
S501, initial configuration is carried out to DSP.The PWM peripheral module counter counts digital modeling of DSP can be configured, according to
Carrier frequency sets the value of the corresponding period register of counter, then initializes the value of this counter, starts timer, as
The generator of triangular carrier.
S502, generation modulating wave.Three-phase current sampling is converted into the electric current of d, q axle, is then given with Voltage loop respectively
Current-order Idref, Iqref be compared, the error signal of generation generation voltage instruction after PI controller is adjusted
Ud, Uq, then generate three-phase modulations ripple Ua, Ub, Uc (waveform of such as Ua may refer to the Sx in Fig. 1) through calculating conversion.
The control principle schematic diagram of this process can be found in shown in Fig. 6, and in figure 6, Iqref is q shaft current set-point, Dq/ α
β represents dq axle rest frame and is converted to two rotating coordinate systems of α β, and α β/abc represents two rotating coordinate systems of α β and is converted into abc
Three phase coordinate systems, α β/dq represents two rotating coordinate systems of α β and is converted to dq axle rest frame, and Abc/ α β represents abc three-phase and sits
Mark system is converted to two rotating coordinate systems of α β, and DC is dc source, and INVERTER is inverter.
S503, in interrupt service routine obtain phase shift angle.In interrupt service routine or other programs (as task program
Or timer program etc.) in, phase shift angle can be obtained according to the various modes provided in foregoing embodiments.
S504, basis obtain phase shift angle, by changing the value of DSP corresponding registers, make a carrier wave keep angle constant
And phase shift is carried out to another carrier wave.
Additionally, for phase shift angle θ=180 ° this situation, also can be directly realized by phase shift in the following way：
In interrupt service routine, by receiving three-phase voltage command, in each phase (below taking A phase as a example), modulating wave is just
Half period is Ua>When 0, with 1-Ua as modulating wave, standardization obtains dutycycle after processing, this dutycycle cycle of being multiplied by is deposited
The value of device, obtains corresponding clock periodicity, and this clock periodicity is loaded into TxCMPRA (comparand register A).In negative half period
Phase is Ua<When 0, with 1+Ua as modulating wave, standardization obtains dutycycle after processing, this dutycycle is multiplied by period register
Value, obtains corresponding clock periodicity, this clock periodicity is loaded into TxCMPRB (comparand register B).The comparison of this process
Buffer status figure can be found in shown in Fig. 7, and in the figure 7, triangular waveform is carrier wave, and semicircle waveform is modulating wave, and TxPR is
Period register, TxCNT is the count value of counter, and arrow to the right represents that count value increases, and EPWMxA is EPWMA counter
Value, EPWMxB is EPWMB Counter Value, and CA is comparand register A, and CB is comparand register B.
The present embodiment, by carrying out phase shift to the carrier wave in every phase branch road, makes the phase dislocation of upper and lower two carrier waves in this phase
Open an angle, the phase difference of the upper lower half of PWM waveform exporting after can reducing modulation, thus when solving PWM
The larger problem of the common-mode voltage of output end.
Fig. 8 is a kind of block diagram of the PWM device according to an exemplary embodiment.This device 800 can be used for inverse
Become every phase branch road of circuit.Shown in Figure 8, this device 800 can include：
Phase shift angle acquiring unit 801, inquires about default database for the common-mode voltage according to output end, to obtain shifting
Phase angle, or, the common-mode voltage vector according to output end and expectation common-mode voltage vector obtain phase shift angle, or, by 180
Degree is as phase shift angle；
Phase-shifting carrier wave unit 802, for carrying out phase shift according to described phase shift angle to a carrier wave；
Modulating unit 803, carries out PWM to modulating wave jointly for other carrier waves using the carrier wave after phase shift and non-phase shift
Modulation.
In the present embodiment or the present invention some other embodiments, described phase shift angle acquiring unit 801 is used for according to defeated
When going out the common-mode voltage vector at end and expecting that common-mode voltage vector obtains phase shift angle, it is used for：
Obtain α cm；
Calculate the poor α err of α cm and α o；
Described phase shift angle is obtained according to α err；
Wherein α cm is the deflection of the common-mode voltage vector of described output end, and α o is the direction of expectation common-mode voltage vector
Angle.
In the present embodiment or the present invention some other embodiments, described phase shift angle acquiring unit 801 is used for obtaining α cm
When, it is used for：
Carrier wave modulation voltage vector Vaup and lower carrier wave modulation voltage vector Vadn in acquisition；
Obtain the mid-point voltage vector Vo of output voltage；
Calculate between Vaup-Vo, Vadn-Vo angle using as α cm.
In the present embodiment or the present invention some other embodiments, described phase shift angle acquiring unit 801 is used for according to α
When err obtains described phase shift angle, it is used for：
Obtain described phase shift angle by α err is carried out with P, PI or PID regulation.
With regard to the device in above-described embodiment, wherein the concrete mode of unit execution operation is in relevant the method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
The present embodiment, by carrying out phase shift to the carrier wave in every phase branch road, makes the phase dislocation of upper and lower two carrier waves in this phase
Open an angle, the phase difference of the upper lower half of PWM waveform exporting after can reducing modulation, thus when solving PWM
The larger problem of the common-mode voltage of output end.
Those skilled in the art, after considering specification and putting into practice invention disclosed herein, will readily occur to its of the present invention
Its embodiment.It is contemplated that covering any modification, purposes or the adaptations of the present invention, these modifications, purposes or
Person's adaptations are followed the general principle of the present invention and are included the undocumented common knowledge in the art of the present invention
Or conventional techniques.Description and embodiments are considered only as exemplary, and true scope and spirit of the invention are by following
Claim is pointed out.
It is described above and precision architecture illustrated in the accompanying drawings it should be appreciated that the invention is not limited in, and
And various modifications and changes can carried out without departing from the scope.The scope of the present invention only to be limited by appended claim.
Claims (8)
1. it is characterised in that being used for every phase branch road of inverter circuit, methods described includes a kind of PWM method：
Obtain phase shift angle；
Phase shift is carried out to a carrier wave according to described phase shift angle；
Other carrier waves using the carrier wave after phase shift and non-phase shift carry out PWM to modulating wave jointly；
Wherein, described acquisition phase shift angle, including：
Common-mode voltage according to output end inquires about default database, to obtain described phase shift angle；Or,
Common-mode voltage vector according to output end and expectation common-mode voltage vector obtain described phase shift angle；Or,
Using 180 degree as described phase shift angle.
2. method according to claim 1 is it is characterised in that the described common-mode voltage vector according to output end and expectation are common
Mode voltage vector obtains described phase shift angle, including：
Obtain α cm；
Calculate the poor α err of α cm and α o；
Described phase shift angle is obtained according to α err；
Wherein α cm is the deflection of the common-mode voltage vector of described output end, and α o is the deflection of expectation common-mode voltage vector.
3. method according to claim 2 is it is characterised in that described acquisition α cm, including：
Carrier wave modulation voltage vector Vaup and lower carrier wave modulation voltage vector Vadn in acquisition；
Obtain the mid-point voltage vector Vo of output voltage；
Calculate between Vaup-Vo, Vadn-Vo angle using as α cm.
4. method according to claim 2 it is characterised in that according to α err obtain described phase shift angle, including：
Obtain described phase shift angle by α err is carried out with P, PI or PID regulation.
5. it is characterised in that being used for every phase branch road of inverter circuit, described device includes a kind of PWM device：
Phase shift angle acquiring unit, inquires about default database for the common-mode voltage according to output end, to obtain phase shift angle,
Or, the common-mode voltage vector according to output end and expectation common-mode voltage vector obtain phase shift angle, or, using 180 degree as
Phase shift angle；
Phase-shifting carrier wave unit, for carrying out phase shift according to described phase shift angle to a carrier wave；
Modulating unit, carries out PWM to modulating wave jointly for other carrier waves using the carrier wave after phase shift and non-phase shift.
6. device according to claim 5 is it is characterised in that described phase shift angle acquiring unit is used for according to output end
When common-mode voltage vector and expectation common-mode voltage vector obtain phase shift angle, it is used for：
Obtain α cm；
Calculate the poor α err of α cm and α o；
Described phase shift angle is obtained according to α err；
Wherein α cm is the deflection of the common-mode voltage vector of described output end, and α o is the deflection of expectation common-mode voltage vector.
7. device according to claim 6 is it is characterised in that when described phase shift angle acquiring unit is used for obtaining α cm, use
In：
Carrier wave modulation voltage vector Vaup and lower carrier wave modulation voltage vector Vadn in acquisition；
Obtain the mid-point voltage vector Vo of output voltage；
Calculate between Vaup-Vo, Vadn-Vo angle using as α cm.
8. device according to claim 6 is it is characterised in that described phase shift angle acquiring unit is used for being obtained according to α err
During described phase shift angle, it is used for：
Obtain described phase shift angle by α err is carried out with P, PI or PID regulation.
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| CN108011563B (en) * | 2017-12-22 | 2020-03-31 | 燕山大学 | Control method for multiphase motor driver |
| CN110011581B (en) * | 2019-01-28 | 2020-11-24 | 华中科技大学 | Method and system for suppressing common-mode noise of asymmetric six-phase alternating-current motor |
| CN114094803B (en) * | 2020-06-29 | 2024-03-12 | 中兴通讯股份有限公司 | Ripple current control method and apparatus, electronic device, and computer-readable storage medium |
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| CN113285636B (en) * | 2021-05-17 | 2022-08-30 | 南京工程学院 | Voice coil motor control method and control system |
| CN114257114A (en) * | 2021-12-11 | 2022-03-29 | 中科华士电气科技南京有限公司 | Three-level converter control method and system based on carrier phase shift modulation |
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