CN106533306B - Permanent magnet synchronous motor system and its ovennodulation control method and device - Google Patents
Permanent magnet synchronous motor system and its ovennodulation control method and device Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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Abstract
The invention discloses a kind of permanent magnet synchronous motor system and its ovennodulation control method and devices, comprising the following steps: obtains the DC bus-bar voltage and desired output voltage of the permanent magnet synchronous motor；Expectation voltage modulated degree is obtained according to the DC bus-bar voltage and desired output voltage；Corresponding amendment voltage modulated degree is obtained according to the expectation voltage modulated degree and the corresponding expectation voltage modulated degree of selected Overmodulation Method-amendment voltage modulated degree table；Amendment output voltage is obtained according to the amendment voltage modulated degree, and ovennodulation control is carried out to the permanent magnet synchronous motor according to the amendment output voltage, so that this method is simple, is easily achieved, and operand is few.Moreover, the voltage linear degree of overmodulation can be fully considered, it is ensured that control performance.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to an overmodulation control method of a permanent magnet synchronous motor, an overmodulation control device of the permanent magnet synchronous motor and a permanent magnet synchronous motor system.
Background
Permanent magnet synchronous motors have been widely used in various industries due to their characteristics of good control performance, high power density, energy saving, etc. In some applications, the permanent magnet synchronous motor is required to operate in a high frequency range and then in a weak magnetic range, such as a variable frequency compressor based on the permanent magnet synchronous motor, a fan based on the permanent magnet synchronous motor, and the like.
In the related art, when the overmodulation algorithm is adopted to control the permanent magnet synchronous motor, the flux weakening current in high-speed operation can be reduced, and the overall efficiency is improved. However, in the related art, overmodulation algorithms are mostly complex to operate, and voltage linearity of an overmodulation region, influence on control performance, and the like are not sufficiently considered.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide an overmodulation control method for a permanent magnet synchronous motor, which is simple, easy to implement, and requires a small amount of computation.
Another object of the present invention is to provide an overmodulation control apparatus for a permanent magnet synchronous motor. It is a further object of the present invention to provide a permanent magnet synchronous motor system.
In order to achieve the above object, an embodiment of an aspect of the present invention provides an overmodulation control method for a permanent magnet synchronous motor, including the following steps: acquiring direct-current bus voltage and expected output voltage of the permanent magnet synchronous motor; acquiring an expected voltage modulation degree according to the direct current bus voltage and an expected output voltage; acquiring a corresponding correction voltage modulation degree according to the expected voltage modulation degree and an expected voltage modulation degree-correction voltage modulation degree table corresponding to the selected overmodulation algorithm; and acquiring a correction output voltage according to the correction voltage modulation degree, and carrying out overmodulation control on the permanent magnet synchronous motor according to the correction output voltage.
According to the overmodulation control method of the permanent magnet synchronous motor provided by the embodiment of the invention, the direct current bus voltage and the expected output voltage of the permanent magnet synchronous motor are firstly obtained, the expected voltage modulation degree is obtained according to the direct current bus voltage and the expected output voltage, the corresponding correction voltage modulation degree is obtained according to the expected voltage modulation degree and the expected voltage modulation degree-correction voltage modulation degree table corresponding to the selected overmodulation algorithm, the correction output voltage is obtained according to the correction voltage modulation degree, and the overmodulation control is carried out on the permanent magnet synchronous motor according to the correction output voltage, so that the overmodulation control method is simple and easy to implement, and has less calculation amount.
According to one embodiment of the invention, obtaining a desired voltage modulation degree according to the dc bus voltage and a desired output voltage comprises: according to said desired output voltage and said DC bus voltageThe ratio of the multiples yields the desired voltage modulation degree.
According to one embodiment of the invention, the obtaining of the expected output voltage of the permanent magnet synchronous motor comprises obtaining α shaft output voltage and β shaft output voltage of the permanent magnet synchronous motor under two-phase static coordinates and obtaining the expected output voltage of the permanent magnet synchronous motor according to the α shaft output voltage and β shaft output voltage, or obtaining d shaft output voltage and q shaft output voltage of the permanent magnet synchronous motor under two-phase rotation coordinates and obtaining the expected output voltage of the permanent magnet synchronous motor according to the d shaft output voltage and the q shaft output voltage.
According to one embodiment of the invention, the desired voltage modulation degree-modified voltage modulation degree table corresponding to each overmodulation algorithm is obtained by respectively inverting the corresponding relation between the voltage modulation degree and the basic amplitude value under at least one overmodulation algorithm. This makes it possible to sufficiently consider the voltage linearity of the overmodulation region and ensure the control performance.
According to one embodiment of the invention, the overmodulation algorithm comprises a minimum phase error overmodulation algorithm, a minimum amplitude error overmodulation algorithm and a minimum component error overmodulation algorithm.
In order to achieve the above object, according to another aspect of the present invention, an overmodulation control device for a permanent magnet synchronous motor includes: the acquisition module is used for acquiring the direct-current bus voltage and the expected output voltage of the permanent magnet synchronous motor; and the control module is used for acquiring an expected voltage modulation degree according to the direct-current bus voltage and an expected output voltage, acquiring a corresponding correction voltage modulation degree according to the expected voltage modulation degree and an expected voltage modulation degree-correction voltage modulation degree table corresponding to the selected overmodulation algorithm, acquiring a correction output voltage according to the correction voltage modulation degree, and performing overmodulation control on the permanent magnet synchronous motor according to the correction output voltage.
According to the overmodulation control device of the permanent magnet synchronous motor provided by the embodiment of the invention, the direct current bus voltage and the expected output voltage of the permanent magnet synchronous motor are firstly obtained through the obtaining module, the control module further obtains the expected voltage modulation degree according to the direct current bus voltage and the expected output voltage, obtains the corresponding correction voltage modulation degree according to the expected voltage modulation degree and the expected voltage modulation degree-correction voltage modulation degree table corresponding to the selected overmodulation algorithm, obtains the correction output voltage according to the correction voltage modulation degree, and performs overmodulation control on control on the permanent magnet synchronous motor according to the correction output voltage, so that the overmodulation control is simple and easy to realize, and the operation amount is small.
According to an embodiment of the invention, the control module is configured to control the dc bus voltage according to the desired output voltage and the dc bus voltageThe ratio of the multiples yields the desired voltage modulation degree.
According to an embodiment of the invention, the obtaining module is used for obtaining α axis output voltage and β axis output voltage of the permanent magnet synchronous motor under two-phase static coordinates and obtaining expected output voltage of the permanent magnet synchronous motor according to the α axis output voltage and β axis output voltage, or the obtaining module is used for obtaining d axis output voltage and q axis output voltage of the permanent magnet synchronous motor under two-phase rotation coordinates and obtaining expected output voltage of the permanent magnet synchronous motor according to the d axis output voltage and the q axis output voltage.
According to one embodiment of the invention, the desired voltage modulation degree-modified voltage modulation degree table corresponding to each overmodulation algorithm is obtained by respectively inverting the corresponding relation between the voltage modulation degree and the basic amplitude value under the at least one overmodulation algorithm. This makes it possible to sufficiently consider the voltage linearity of the overmodulation region and ensure the control performance.
According to one embodiment of the invention, the overmodulation algorithm comprises a minimum phase error overmodulation algorithm, a minimum amplitude error overmodulation algorithm and a minimum component error overmodulation algorithm.
In order to achieve the above object, according to another embodiment of the present invention, a permanent magnet synchronous motor system is provided, which includes the above overmodulation control device for a permanent magnet synchronous motor.
According to the permanent magnet synchronous motor system provided by the embodiment of the invention, the overmodulation control is simple and easy to realize and the calculation amount is small through the overmodulation control device of the permanent magnet synchronous motor of the embodiment. In addition, the overmodulation control can sufficiently consider the voltage linearity of the overmodulation region and ensure the control performance.
Drawings
Fig. 1 is a flowchart of an overmodulation control method of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 2 is a topological schematic of a control circuit of a permanent magnet synchronous machine according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a rotating coordinate system in relation to a stationary coordinate system in accordance with one embodiment of the present invention;
fig. 4 is a flowchart of an overmodulation control method of a permanent magnet synchronous machine according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a space voltage vector according to one embodiment of the present invention;
FIG. 6 is a schematic diagram of spatial voltage overmodulation according to one embodiment of the invention, where a degree of voltage modulation is desiredIn the vicinity of the base vector vkThe first half sector of (a);
FIG. 7 is a schematic diagram of spatial voltage overmodulation according to one embodiment of the invention, where a desired degree of voltage modulationIn the vicinity of the base vector vk+1The second half sector of (a);
fig. 8 is a correspondence relationship of a voltage modulation degree and a fundamental component in an overmodulation control method of a synchronous magnet motor according to an embodiment of the present invention;
fig. 9 is a correspondence relationship of a desired voltage modulation degree and a corrected voltage modulation degree in the overmodulation control method of the synchronous magnet motor according to an embodiment of the present invention;
fig. 10 is a vector control block diagram of a permanent magnet synchronous motor system according to an embodiment of the present invention, wherein the permanent magnet synchronous motor is a surface mount permanent magnet synchronous motor;
fig. 11 is a vector control block diagram of a permanent magnet synchronous motor system according to an embodiment of the present invention, wherein the permanent magnet synchronous motor is an in-line permanent magnet synchronous motor; and
fig. 12 is a block schematic diagram of a field weakening control arrangement of a permanent magnet synchronous motor system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
An overmodulation control method of a permanent magnet synchronous motor, an overmodulation control apparatus of a permanent magnet synchronous motor, and a permanent magnet synchronous motor system according to embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of an overmodulation control method of a permanent magnet synchronous motor according to an embodiment of the present invention. As shown in fig. 1, the overmodulation control method of the permanent magnet synchronous motor includes the following steps:
s1: and acquiring the direct current bus voltage and the expected output voltage of the permanent magnet synchronous motor.
According to an embodiment of the present invention, as shown in fig. 2, a permanent magnet synchronous motor system may include a control chip, a driving unit, an electrolytic capacitor, and a permanent magnet synchronous motor. The electrolytic capacitor is connected in parallel with the input end of the driving unit, the output end of the driving unit is connected with the permanent magnet synchronous motor, and the driving unit is used for driving the permanent magnet synchronous motor; the control chip is used for detecting the phase current of the permanent magnet synchronous motor through the current detection unit and outputting a driving signal to the driving unit according to the phase current of the permanent magnet synchronous motor so as to control the operation of the permanent magnet synchronous motor through the driving unit. According to a specific example of the present invention, the current detection unit may include three (or two) current sensors. The driving unit can be a three-phase bridge inverter circuit composed of 6 IGBTs, or a three-phase bridge inverter circuit composed of 6 MOSFETs, or an intelligent power module IPM, with each IGBT or MOSFET having a corresponding anti-parallel diode.
According to one embodiment of the invention, the obtaining of the expected output voltage of the permanent magnet synchronous motor comprises obtaining α axis output voltage and β axis output voltage of the permanent magnet synchronous motor under two-phase static coordinates and obtaining the expected output voltage of the permanent magnet synchronous motor according to α axis output voltage and β axis output voltage, or obtaining d axis output voltage and q axis output voltage of the permanent magnet synchronous motor under two-phase rotation coordinates and obtaining the expected output voltage of the permanent magnet synchronous motor according to the d axis output voltage and the q axis output voltage.
Wherein, as shown in fig. 3, the rotating coordinate system may have d-axis (direct axis) and q-axis (quadrature axis), and the d-axis output voltage u on the d-axisdAnd q-axis output voltage u on q-axisqCan be synthesized to a desired output voltage vectorIn addition, the estimated angle theta of the rotor of the permanent magnet synchronous motor is usedeFor d-axis output voltage udAnd q-axis output voltage uqInverse park coordinate conversion is performed to obtain α -axis output voltage u in a stationary coordinate systemαAnd β Axis output Voltage uβThe output voltage u of α axis and β axis can be obtained under the static coordinate system, and the output voltage u of α axis can be obtainedαAnd β axis output voltage uβOr may be combined into a desired output voltage vectorSpecifically, the output voltage u is output according to a rotating coordinate systemd/uqOr the output voltage u in a stationary coordinate systemα/uβCalculating the expected output voltageAmplitude u ofsIn order to realize the purpose,
in addition, according to an embodiment of the present invention, the dc bus voltage may be obtained by detecting an input dc voltage of the driving unit. Taking a three-phase bridge inverter circuit composed of 6 IGBTs as an example, the dc bus voltage is the input dc voltage applied to each bridge arm.
S2: and acquiring a desired voltage modulation degree according to the direct current bus voltage and the desired output voltage.
The voltage modulation degree is 1/3 of the root of the dc bus voltageIs the per unit value of the output voltage amplitude when being the reference.
According to one embodiment of the invention, obtaining a desired voltage modulation degree according to a direct current bus voltage and a desired output voltage comprises: according to desired output voltage and DC bus voltageThe ratio of the multiples yields the desired voltage modulation.
Specifically, as shown in fig. 3, it is assumed that the input dc voltage of the drive unit, i.e., the dc bus voltage, is vdcOf the basic voltage vectorAmplitude ofBy vector of basic voltageThe voltage space of the structure has an inscribed circle radius ofIf per-unit operation is performed with the inscribed circle radius as a reference, the output voltage vector is expectedIs the amplitude u of the desired voltage modulationrComprises the following steps:
wherein,
s3: and acquiring a corresponding correction voltage modulation degree according to the desired voltage modulation degree and a desired voltage modulation degree-correction voltage modulation degree table corresponding to the selected overmodulation algorithm.
It should be noted that different overmodulation algorithms may be selected for overmodulation, and different overmodulation algorithms correspond to different desired voltage modulation degree-corrected voltage modulation degree tables, so that a plurality of desired voltage modulation degree-corrected voltage modulation degree tables may be prestored to correspond to a plurality of overmodulation algorithms. Thus, after the overmodulation algorithm is determined, the corresponding desired voltage modulation-modified voltage modulation table is looked up.
S4: and acquiring a correction output voltage according to the correction voltage modulation degree, and carrying out overmodulation control on the permanent magnet synchronous motor according to the correction output voltage.
Wherein, according to an embodiment of the present invention, after the correction voltage modulation degree is acquired, the correction voltage modulation degree is multiplied byThe corrected output voltage can be obtained. In other words, the per-unit amplitude of the modified output voltage is the modified voltage modulation degree.
Specifically, a table look-up link can be added in the space vector modulation method, the correction voltage modulation degree corresponding to the selected overmodulation algorithm can be obtained through table look-up, then the correction output voltage is obtained according to the correction voltage modulation degree, overmodulation output is carried out according to the correction output voltage so as to output a corresponding driving signal, and therefore the driving unit controls the permanent magnet synchronous motor to operate according to the driving signal.
Specifically, as shown in fig. 4, the overmodulation method of the embodiment of the present invention includes the steps of:
s101: and calculating the expected voltage modulation degree according to the expected output voltage output by the controller and the direct-current bus voltage.
S102: and inquiring the desired voltage modulation degree-correction voltage modulation degree table according to the desired voltage modulation degree to obtain the correction voltage modulation degree.
S103: and calculating the correction output voltage according to the modulation degree of the correction voltage.
S104: an overmodulation output is performed using an overmodulation algorithm to generate a drive signal.
According to one embodiment of the invention, the desired voltage modulation degree-modified voltage modulation degree table corresponding to each over-modulation algorithm is obtained by respectively inverting the corresponding relation between the voltage modulation degree and the basic amplitude value under at least one over-modulation algorithm. Thus, by modifying the voltage modulation degree by the desired voltage modulation degree, the voltage linearity of the overmodulation region can be sufficiently considered, and the control performance can be ensured.
Wherein, according to one embodiment of the invention, the overmodulation algorithm comprises a minimum phase error overmodulation algorithm, a minimum amplitude error overmodulation algorithm and a minimum component error overmodulation algorithm.
It should be noted that when the amplitude u of the desired voltage modulation degree is determinedrWhen the modulation frequency is less than or equal to 1, judging the modulation frequency as a linear modulation area; when the amplitude u of the voltage modulation degree is expectedr>When 1, it is determined as an overmodulation region.
As shown in fig. 5, with the basic voltage vector magnitudeVoltage space constructed in the overmodulation region when voltage modulation degree is desiredWhen in voltage space, the desired voltage modulation degreeCan be directly output, i.e. can be directly modulated according to the desired voltageModulating to generate a drive signal; when the desired voltage modulation degreeWhen the voltage space is out, the desired voltage modulation degreeCannot be directly output, and has to adjust the desired voltageLimiting to within the voltage space and according to the desired voltage modulation degree after limitingModulating to generate a driveAnd (4) a dynamic signal.
Based on space vector modulation, voltage limitation output can be performed through the following three overmodulation algorithms, namely a minimum phase error method, a minimum amplitude error method and a minimum component error method. The three overmodulation algorithms described above are described below in conjunction with fig. 6 and 7. Wherein, FIG. 6 shows the modulation degree of the desired voltageIn the vicinity of the base vector vkFirst half sector, fig. 7 desired voltage modulation degreeIn the vicinity of the base vector vk+1The second half of the sector.
Minimum phase error method, i.e. maintaining a desired voltage modulationThe phase of (a) is unchanged and the amplitude is compressed to the voltage space boundary. As shown in fig. 6 and 7, the desired voltage modulation degreeThe actual voltage modulation degree vector after modulation by the minimum phase error method isThe realization mode is as follows:
wherein, t1And t2Synthesizing desired voltage modulation degree vectors for each PWM period before modulationTwo basis vectors v ofkAnd vk+1Time ratio of (t)11And t21Respectively synthesizing actual voltage modulation degree vectors in each PWM period after modulationTwo basis vectors v ofkAnd vk+1Is a ratio of time.
Minimum amplitude error method, i.e. modulation from desired voltageThe vertex of (a) is taken as the vertical line segment of the voltage space boundary, the intersection point is the modulated actual output voltage, and the error between the actual output voltage and the amplitude value of the output voltage vector is minimum. As shown in fig. 6 and 7, the desired voltage modulation degreeThe actual voltage modulation degree vector after modulation by the minimum amplitude error method isThe realization mode is as follows:
wherein, t1And t2Synthesizing desired voltage modulation degree vectors for each PWM period before modulationTwo basis vectors v ofkAnd vk+1Time ratio of (t)11And t21Respectively synthesizing actual voltage modulation degree vectors in each PWM period after modulationTwo basis vectors v ofkAnd vk+1Is a ratio of time.
Minimum component error method, i.e. vector of desired output voltageAnd synthesizing two adjacent basic vectors, keeping the basic vector with larger amplitude completely unchanged, and obtaining the modulated actual output voltage as the intersection point of the basic vector with smaller amplitude and the voltage space boundary. As shown in fig. 6 and 7, the desired voltage modulation degreeCan be composed ofAndsynthesizing the raw materials,the amplitude of (a) is relatively large,the amplitude is small and the amplitude is small,the point of intersection with the voltage space boundary being the actual output voltage after modulation, i.e. the desired voltage modulationThe actual voltage modulation degree vector after modulation by the minimum component error method isThe realization mode is as follows:
wherein, t1And t2Synthesizing desired voltage modulation degree vectors for each PWM period before modulationTwo basis vectors v ofkAnd vk+1Time ratio of (t)11And t21Respectively synthesizing actual voltage modulation degree vectors in each PWM period after modulationTwo basis vectors v ofkAnd vk+1Is a ratio of time.
Comparing the three overmodulation algorithms in fig. 6 and 7, it can be seen that the phase error of the minimum phase error method is less than or equal to the phase error of the minimum amplitude error method is less than or equal to the phase error of the minimum component error method, and the amplitude of the minimum phase error method is less than or equal to the amplitude of the minimum amplitude error method is less than or equal to the amplitude of the minimum component error method.
According to the three overmodulation algorithms, the voltage modulation degree and the expected output voltage under each overmodulation algorithm can be respectively calculated or simulatedAs shown in fig. 8, the solid line is a curve of the correspondence between the voltage modulation degree and the fundamental amplitude value in the minimum phase error method, the dotted line is a curve of the correspondence between the voltage modulation degree and the fundamental amplitude value in the minimum amplitude error method, and the dotted line is a curve of the correspondence between the voltage modulation degree and the fundamental amplitude value in the minimum component error method.
The corresponding relation between the fundamental wave amplitude and the voltage modulation degree under each over-modulation algorithm can be obtained by taking the inverse function of the corresponding relation between the voltage modulation degree and the fundamental wave amplitude, namely the expected output voltageThe amplitude of the fundamental wave (desired voltage modulation degree) and the correction voltage modulation degree. As shown in figure 8 of the drawings,the solid line is a corresponding relation curve of the expected voltage modulation degree and the correction voltage modulation degree under the minimum phase error method, the dotted line is a corresponding relation curve of the expected voltage modulation degree and the correction voltage modulation degree under the minimum amplitude error method, and the dotted line is a corresponding relation curve of the expected voltage modulation degree and the correction voltage modulation degree under the minimum component error method.
Based on the above correspondence, if a desired fundamental wave amplitude (desired voltage modulation degree) is output, the voltage modulation degree needs to be corrected, that is, after the desired voltage modulation degree is obtained and the overmodulation algorithm used is determined, the corresponding corrected voltage modulation degree can be obtained. For example, when overmodulation is performed by the minimum phase error method, the desired voltage modulation degree and the corrected voltage modulation degree table corresponding to the minimum phase error method may be searched for, that is, the corrected voltage modulation degree corresponding to any desired voltage modulation degree under the minimum phase error method may be acquired.
The control principle of the permanent magnet synchronous motor system is described in detail with reference to fig. 10 to 11, and in the present embodiment, sensorless vector control of the permanent magnet synchronous motor is taken as an example for description.
In vector control of a permanent magnet synchronous motor, a speed correction unit corrects a speed of the permanent magnet synchronous motor based on a given rotation speedAnd to the estimated rotation speedSpeed correction, e.g. proportional-integral adjustment, to achieve a given torqueThe flux weakening control unit generates flux weakening current i according to α axis output voltage and β axis output voltage under the two-phase static coordinatefwc。
As shown in fig. 10, in the surface-mount permanent magnet synchronous motor, according to a given torqueAnd the torque current coefficient KtCalculating a given torque current (i.e. a given Q-axis current)Given direct axis current (i.e. given D axis current)By a field weakening current ifwcTo decide, for exampleAs shown in fig. 11, in the interior permanent magnet synchronous motor, the torque control unit is based on a given torqueCoefficient of torque current KtAnd a weak magnetic current ifwcCalculating to obtain a given quadrature axis current (a given Q axis current) through maximum torque current control (MTPA)And given direct axis current (given D axis current)
The current correction unit is based on a given D-axis currentAnd a given Q-axis currentRespectively to the direct-axis feedback current idAnd quadrature axis feedback current iqCurrent correction to obtain a direct axis voltage udAnd quadrature axis voltage uq. Then, the inverse park coordinate conversion unit estimates the angle based on the estimated angleTo direct axis voltage udAnd quadrature axis voltage uqInverse park coordinate conversion was performed to obtain α axis voltage uαAnd β axis voltage uβThe space vector modulation unit then couples α axis voltages uαAnd β axis voltage uβPerforming SVM (Space vector Modulation) Modulation to generate a PWM driving signal, wherein in an overmodulation region, the Space vector Modulation unit may perform overmodulation output using the overmodulation method of the above-described embodiment to output the PWM driving signal; the driving unit drives the permanent magnet synchronous motor according to the PWM driving signal.
The three-phase current of the permanent magnet synchronous motor is collected through the current detection unit, and the clarke coordinate conversion unit carries out clarke coordinate conversion on the three-phase current to obtain two-phase current iα/iβ(ii) a The park coordinate conversion unit estimates the angle based on the angleFor two-phase current iα/iβPerforming park coordinate conversion to obtain a direct-axis (D-axis) feedback current idQuadrature axis (Q-axis) feedback current iq. The position estimation unit, e.g. a speed flux observer, is based on the output voltage uα/uβAnd two-phase current iα/iβAnd motor parameters (motor resistance R)sStraight axis inductor LdAnd quadrature axis inductance Lq) Estimating the position and speed of the rotor by a sensorless estimation algorithm to obtain an estimated rotational speedAnd estimating the electrical angle
In summary, according to the overmodulation control method of the permanent magnet synchronous motor provided by the embodiment of the present invention, the dc bus voltage and the desired output voltage of the permanent magnet synchronous motor are obtained, the desired voltage modulation degree is obtained according to the dc bus voltage and the desired output voltage, the corresponding modified voltage modulation degree is obtained according to the desired voltage modulation degree and the desired voltage modulation degree-modified voltage modulation degree table, the modified output voltage is obtained according to the modified voltage modulation degree, and the overmodulation control is performed on the permanent magnet synchronous motor according to the modified output voltage. Furthermore, the voltage linearity of the overmodulation region can be sufficiently considered, and the control performance can be ensured.
Fig. 12 is a block schematic diagram of an overmodulation control device of a permanent magnet synchronous machine according to an embodiment of the present invention. According to an embodiment of the present invention, as shown in fig. 2, the permanent magnet synchronous motor system may include a control chip 1, a driving unit 2, an electrolytic capacitor EC, and a permanent magnet synchronous motor 3. The electrolytic capacitor EC is connected in parallel with the input end of the driving unit 2, the output end of the driving unit 2 is connected with the permanent magnet synchronous motor 3, and the driving unit 2 is used for driving the permanent magnet synchronous motor 3; the control chip 1 is used for detecting the phase current of the permanent magnet synchronous motor 3 through the current detection unit 4, and outputting a driving signal to the driving unit 2 according to the phase current of the permanent magnet synchronous motor 3 so as to control the operation of the permanent magnet synchronous motor 3 through the driving unit 2. According to a specific example of the present invention, the current detection unit 4 may include three (or two) current sensors. The driving unit 2 may be a three-phase bridge driving circuit composed of 6 IGBTs, or a three-phase bridge driving circuit composed of 6 MOSFETs, or an intelligent power module IPM, with each IGBT or MOSFET having a corresponding anti-parallel diode.
As shown in fig. 12, an overmodulation control device for a permanent magnet synchronous motor according to an embodiment of the present invention includes: an acquisition module 10 and a control module 20.
The acquiring module 10 is used for acquiring a direct-current bus voltage and an expected output voltage of the permanent magnet synchronous motor; the control module 20 is configured to obtain a desired voltage modulation degree according to the dc bus voltage and the desired output voltage, obtain a corresponding modified voltage modulation degree according to the desired voltage modulation degree and a desired voltage modulation degree-modified voltage modulation degree table corresponding to the selected overmodulation algorithm, obtain a modified output voltage according to the modified voltage modulation degree, and perform overmodulation control on the permanent magnet synchronous motor according to the modified output voltage.
It should be noted that different overmodulation algorithms may be selected for overmodulation, and different overmodulation algorithms correspond to different desired voltage modulation degree-corrected voltage modulation degree tables, so that a plurality of desired voltage modulation degree-corrected voltage modulation degree tables may be prestored to correspond to a plurality of overmodulation algorithms. Thus, after the overmodulation algorithm is determined, the corresponding desired voltage modulation-modified voltage modulation table is looked up.
Specifically, a table look-up link may be added in the space vector modulation method, and the control module 20 may obtain a correction voltage modulation degree corresponding to the selected overmodulation algorithm through table look-up, then obtain a correction output voltage according to the correction voltage modulation degree, and perform overmodulation output according to the correction output voltage to output a corresponding driving signal, so that the driving unit 2 controls the operation of the permanent magnet synchronous motor according to the driving signal.
In addition, according to an embodiment of the present invention, the obtaining module 10 may obtain the dc bus voltage by detecting the input dc voltage of the driving unit 2. Taking a three-phase bridge inverter circuit composed of 6 IGBTs as an example, the dc bus voltage is the input dc voltage applied to each bridge arm.
According to an embodiment of the invention, the obtaining module 10 is configured to obtain α -axis output voltage and β -axis output voltage of the permanent magnet synchronous motor in two-phase stationary coordinates and obtain a desired output voltage of the permanent magnet synchronous motor according to α -axis output voltage and β -axis output voltage, or the obtaining module 10 is configured to obtain d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor in two-phase rotating coordinates and obtain a desired output voltage of the permanent magnet synchronous motor according to the d-axis output voltage and the q-axis output voltage.
Wherein, as shown in fig. 3, the rotating coordinate system may have d-axis (direct axis) and q-axis (quadrature axis), and the d-axis output voltage u on the d-axisdAnd q-axis output voltage u on q-axisqCan be synthesized to a desired output voltage vectorIn addition, the estimated angle theta of the rotor of the permanent magnet synchronous motor is usedeFor d-axis output voltage udAnd q-axis output voltage uqInverse park coordinate conversion is performed to obtain α -axis output voltage u in a stationary coordinate systemαAnd β Axis output Voltage uβThe output voltage u of α axis and β axis can be obtained under the static coordinate system, and the output voltage u of α axis can be obtainedαAnd β axis output voltage uβOr may be combined into a desired output voltage vectorSpecifically, the output voltage u is output according to a rotating coordinate systemd/uqOr the output voltage u in a stationary coordinate systemα/uβCalculating the expected output voltageAmplitude u ofsIn order to realize the purpose,
the voltage modulation degree is 1/3 of the root of the dc bus voltageIs the per unit value of the output voltage amplitude when being the reference.
According to one embodiment of the invention, the control module 20 is adapted to vary the output voltage from the DC bus voltage according to the desired output voltageThe ratio of the multiples yields the desired voltage modulation.
Specifically, as shown in fig. 3, it is assumed that the input dc voltage of the drive unit, i.e., the dc bus voltage, is vdcThen the magnitude of the fundamental voltage vector isBy vector of basic voltageThe voltage space of the structure has an inscribed circle radius ofIf per-unit operation is performed with the inscribed circle radius as a reference, the output voltage vector is expectedIs the amplitude u of the desired voltage modulationrComprises the following steps:
wherein,
according to an embodiment of the present invention, after the correction voltage modulation degree is acquired, the correction voltage modulation degree is multiplied byThe corrected output voltage can be obtained. In other words, the per-unit amplitude of the modified output voltage is the modified voltage modulation degree.
According to one embodiment of the invention, the desired voltage modulation degree-modified voltage modulation degree table corresponding to each overmodulation algorithm is obtained by respectively inverting the corresponding relation between the voltage modulation degree and the basic amplitude value under at least one overmodulation algorithm. Thus, by modifying the voltage modulation degree by the desired voltage modulation degree, the voltage linearity of the overmodulation region can be sufficiently considered, and the control performance can be ensured.
Wherein, according to one embodiment of the invention, the overmodulation algorithm comprises a minimum phase error overmodulation algorithm, a minimum amplitude error overmodulation algorithm and a minimum component error overmodulation algorithm.
It should be noted that when the amplitude u of the desired voltage modulation degree is determinedrWhen the modulation frequency is less than or equal to 1, judging the modulation frequency as a linear modulation area; when the amplitude u of the voltage modulation degree is expectedr>When 1, it is determined as an overmodulation region.
As shown in fig. 5, with the basic voltage vector magnitudeVoltage space constructed in the overmodulation region when voltage modulation degree is desiredWhen in voltage space, the desired voltage modulation degreeThe driving signal can be directly output, namely the driving signal can be directly generated by modulating according to the expected output voltage; when the desired voltage modulation degreeWhen the voltage space is out, the desired voltage modulation degreeCannot be directly output, and needs to adjust the desired voltageLimiting to within the voltage space and modulating according to the limited desired output voltage to generate the drive signal.
Based on space vector modulation, voltage limitation output can be performed through the following three overmodulation algorithms, namely a minimum phase error method, a minimum amplitude error method and a minimum component error method. The foregoing three are described below in conjunction with fig. 6 and 7An overmodulation algorithm. Wherein FIG. 6 is a diagram of a vector near a base vector vkIn the first half of the sector, fig. 7 is a sector located close to the base vector vk+1The second half of the sector.
Minimum phase error method, i.e. maintaining a desired voltage modulationThe phase of (a) is unchanged and the amplitude is compressed to the voltage space boundary. As shown in fig. 6 and 7, the desired voltage modulation degreeThe actual voltage modulation degree vector after modulation by the minimum phase error method isThe realization mode is as follows:
wherein, t1And t2Synthesizing desired voltage modulation degree vectors for each PWM period before modulationTwo basis vectors v ofkAnd vk+1Time ratio of (t)11And t21Respectively synthesizing actual voltage modulation degree vectors in each PWM period after modulationTwo basis vectors v ofkAnd vk+1Is a ratio of time.
Minimum amplitude error method, i.e. modulation from desired voltageThe vertex of (a) is taken as a perpendicular segment of the voltage space boundary,the crossing point is the modulated actual output voltage, which is modulated with the desired voltageThe error in the magnitude of (c) is minimal. Desired voltage modulation degree as shown in fig. 6 and 7The actual voltage modulation degree vector after modulation by the minimum amplitude error method isThe realization mode is as follows:
wherein, t1And t2Synthesizing desired voltage modulation degree vectors for each PWM period before modulationTwo basis vectors v ofkAnd vk+1Time ratio of (t)11And t21Respectively synthesizing actual voltage modulation degree vectors in each PWM period after modulationTwo basis vectors v ofkAnd vk+1Is a ratio of time.
Minimum component error method, i.e. desired voltage modulationAnd synthesizing two adjacent basic vectors, keeping the basic vector with larger amplitude completely unchanged, and obtaining the modulated actual output voltage as the intersection point of the basic vector with smaller amplitude and the voltage space boundary. As shown in fig. 6 and 7, the desired voltage modulation degreeCan be composed ofAndsynthesizing the raw materials,the amplitude of (a) is relatively large,the amplitude is small and the amplitude is small,the point of intersection with the voltage space boundary being the actual output voltage after modulation, i.e. the desired voltage modulationThe actual voltage modulation degree vector after modulation by the minimum component error method isThe realization mode is as follows:
wherein, t1And t2Synthesizing desired voltage modulation degree vectors for each PWM period before modulationTwo basis vectors v ofkAnd vk+1Time ratio of (t)11And t21Respectively synthesizing actual voltage modulation degree vectors in each PWM period after modulationTwo basis vectors v ofkAnd vk+1Is a ratio of time.
Comparing the three overmodulation algorithms in fig. 6 and 7, it can be seen that the phase error of the minimum phase error method is less than or equal to the phase error of the minimum amplitude error method is less than or equal to the phase error of the minimum component error method, and the amplitude of the minimum phase error method is less than or equal to the amplitude of the minimum amplitude error method is less than or equal to the amplitude of the minimum component error method.
According to the three overmodulation algorithms, the voltage modulation degree and the expected output voltage under each overmodulation algorithm can be respectively calculated or simulatedAs shown in fig. 8, the solid line is a curve of the correspondence between the voltage modulation degree and the fundamental amplitude value in the minimum phase error method, the dotted line is a curve of the correspondence between the voltage modulation degree and the fundamental amplitude value in the minimum amplitude error method, and the dotted line is a curve of the correspondence between the voltage modulation degree and the fundamental amplitude value in the minimum component error method.
The corresponding relation between the fundamental wave amplitude and the voltage modulation degree under each over-modulation algorithm can be obtained by taking the inverse function of the corresponding relation between the voltage modulation degree and the fundamental wave amplitude, namely the expected output voltageThe amplitude of the fundamental wave (desired voltage modulation degree) and the correction voltage modulation degree. As shown in fig. 9, the solid line is a corresponding relationship curve of the desired voltage modulation degree and the correction voltage modulation degree under the minimum phase error method, the dotted line is a corresponding relationship curve of the desired voltage modulation degree and the correction voltage modulation degree under the minimum amplitude error method, and the dotted line is a corresponding relationship curve of the desired voltage modulation degree and the correction voltage modulation degree under the minimum component error method.
Based on the above correspondence, if a desired fundamental amplitude (desired voltage modulation degree) is output, the voltage modulation degree needs to be corrected, that is, the control module 20 may obtain the corresponding corrected voltage modulation degree after obtaining the desired voltage modulation degree and determining the overmodulation algorithm to be used. For example, when overmodulation is performed by the minimum phase error method, the desired voltage modulation degree and the corrected voltage modulation degree table corresponding to the minimum phase error method may be searched for, that is, the corrected voltage modulation degree corresponding to any desired voltage modulation degree under the minimum phase error method may be acquired.
The control principle of the permanent magnet synchronous motor system is described in detail with reference to fig. 10 to 11, and in the present embodiment, sensorless vector control of the permanent magnet synchronous motor is taken as an example for description.
In the vector control of the permanent magnet synchronous motor, the speed correction unit 101 corrects the speed according to a given rotation speedAnd to the estimated rotation speedSpeed correction, e.g. proportional-integral adjustment, to achieve a given torqueThe flux weakening control unit 100 generates a flux weakening current i according to the α axis output voltage and the β axis output voltage under the two-phase static coordinatefwc。
As shown in fig. 10, in the surface-mount permanent magnet synchronous motor, according to a given torqueAnd the torque current coefficient KtCalculating a given torque current (i.e. a given Q-axis current)Given direct axis current (i.e. given D axis current)By a field weakening current ifwcTo decide, for exampleAs shown in fig. 11, in the interior permanent magnet synchronous motor, the torque control unit 102 sets the torque according to a given torqueCoefficient of torque current KtAnd a weak magnetic current ifwcCalculating to obtain a given quadrature axis current (a given Q axis current) through maximum torque current control (MTPA)And given direct axis current (given D axis current)
The current correction unit 103 corrects the current according to the given D-axis currentAnd a given Q-axis currentRespectively to the direct-axis feedback current idAnd quadrature axis feedback current iqCurrent correction to obtain a direct axis voltage udAnd quadrature axis voltage uq. Then, the inverse park coordinate conversion unit 104 converts the angle based on the estimated angleTo direct axis voltage udAnd quadrature axis voltage uqInverse park coordinate conversion was performed to obtain α axis voltage uαAnd β axis voltage uβThe space vector modulation unit 105 then couples α axis voltages uαAnd β axis voltage uβPerforming SVM (Space vector modulation) modulation to generate the PWM driving signal, wherein in an overmodulation region, the Space vector modulation unit may employ the overmodulation of the above-described embodimentThe method performs overmodulation output to output a PWM driving signal; the driving unit 2 drives the permanent magnet synchronous motor 3 according to the PWM driving signal.
The three-phase current of the permanent magnet synchronous motor 3 is collected through the current detection unit 4, and the clarke coordinate conversion unit 106 performs clarke coordinate conversion on the three-phase current to obtain a two-phase current iα/iβ(ii) a park coordinate conversion unit 107 from the estimated angleFor two-phase current iα/iβPerforming park coordinate conversion to obtain a direct-axis (D-axis) feedback current idQuadrature axis (Q-axis) feedback current iq. The position estimation unit 108, e.g. a speed flux linkage observer, is based on the output voltage uα/uβAnd two-phase current iα/iβAnd motor parameters (motor resistance R)sStraight axis inductor LdAnd quadrature axis inductance Lq) Estimating the position and speed of the rotor by a sensorless estimation algorithm to obtain an estimated rotational speedAnd estimating the electrical angle
In summary, according to the overmodulation control device of the permanent magnet synchronous motor provided by the embodiment of the invention, the obtaining module is used for obtaining the dc bus voltage and the expected output voltage of the permanent magnet synchronous motor, the control module is further used for obtaining the expected voltage modulation degree according to the dc bus voltage and the expected output voltage, obtaining the corresponding correction voltage modulation degree according to the expected voltage modulation degree and the expected voltage modulation degree-correction voltage modulation degree table, obtaining the correction output voltage according to the correction voltage modulation degree, and performing overmodulation control on the permanent magnet synchronous motor according to the correction output voltage, so that the overmodulation control is simple and easy to implement, and the amount of computation is small. In addition, the overmodulation control can sufficiently consider the voltage linearity of the overmodulation region and ensure the control performance.
Finally, the embodiment of the invention also provides a permanent magnet synchronous motor system which comprises the overmodulation control device of the permanent magnet synchronous motor of the embodiment.
According to the permanent magnet synchronous motor system provided by the embodiment of the invention, the overmodulation control is simple and easy to realize and the calculation amount is small through the overmodulation control device of the permanent magnet synchronous motor of the embodiment. In addition, the overmodulation control can sufficiently consider the voltage linearity of the overmodulation region and ensure the control performance.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (11)
1. An overmodulation control method of a permanent magnet synchronous motor is characterized by comprising the following steps:
acquiring direct-current bus voltage and expected output voltage of the permanent magnet synchronous motor;
acquiring an expected voltage modulation degree according to the direct current bus voltage and an expected output voltage, wherein a plurality of expected voltage modulation degree-correction voltage modulation degree tables are prestored, and the plurality of expected voltage modulation degree-correction voltage modulation degree tables respectively correspond to a plurality of overmodulation algorithms;
when the amplitude of the expected voltage modulation degree is larger than 1, judging the voltage to be an overmodulation region;
in the overmodulation region, acquiring a corresponding correction voltage modulation degree according to the desired voltage modulation degree and a desired voltage modulation degree-correction voltage modulation degree table corresponding to the selected overmodulation algorithm;
acquiring a correction output voltage according to the correction voltage modulation degree, and performing overmodulation control on the permanent magnet synchronous motor according to the correction output voltage, wherein the correction voltage modulation degree is multiplied by the direct current bus voltageMultiplying to obtain the corrected output voltage.
2. The overmodulation control method for a permanent magnet synchronous motor according to claim 1, wherein obtaining a desired voltage modulation degree from the dc bus voltage and a desired output voltage includes:
according to said desired output voltage and said DC bus voltageThe ratio of the multiples yields the desired voltage modulation degree.
3. The overmodulation control method of a permanent magnet synchronous motor according to claim 1, wherein obtaining a desired output voltage of the permanent magnet synchronous motor includes:
acquiring α shaft output voltage and β shaft output voltage of the permanent magnet synchronous motor under a two-phase static coordinate, and acquiring expected output voltage of the permanent magnet synchronous motor according to the α shaft output voltage and the β shaft output voltage;
or acquiring d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor under the two-phase rotation coordinate, and acquiring expected output voltage of the permanent magnet synchronous motor according to the d-axis output voltage and the q-axis output voltage.
4. The overmodulation control method for a permanent magnet synchronous motor according to claim 1, wherein a desired voltage modulation degree-modified voltage modulation degree table corresponding to each overmodulation algorithm is obtained by inverting a correspondence relationship between a voltage modulation degree and a fundamental wave amplitude in at least one overmodulation algorithm, respectively.
5. The overmodulation control method of a permanent magnet synchronous motor according to claim 4, wherein the overmodulation algorithm includes a minimum phase error overmodulation algorithm, a minimum amplitude error overmodulation algorithm and a minimum component error overmodulation algorithm.
6. An overmodulation control device of a permanent magnet synchronous motor, comprising:
the acquisition module is used for acquiring the direct-current bus voltage and the expected output voltage of the permanent magnet synchronous motor;
a control module for obtaining a desired voltage modulation degree according to the DC bus voltage and a desired output voltage, wherein a plurality of desired voltage modulation degree-correction voltage modulation degree tables are prestored, the desired voltage modulation degree-correction voltage modulation degree tables respectively correspond to a plurality of overmodulation algorithms, and determining an overmodulation region when the amplitude of the desired voltage modulation is greater than 1, and in the overmodulation region, acquiring a corresponding correction voltage modulation degree according to the desired voltage modulation degree and a desired voltage modulation degree-correction voltage modulation degree table corresponding to the selected overmodulation algorithm, and acquiring a correction output voltage according to the correction voltage modulation degree, and performing overmodulation control on the permanent magnet synchronous motor according to the correction output voltage, wherein the correction voltage modulation degree is multiplied by the direct-current bus voltage.Multiplying to obtain the corrected output voltage.
7. The overmodulation control device of a permanent magnet synchronous machine according to claim 6, the control module being configured to control the overmodulation of the permanent magnet synchronous machine according to the desired output voltage and the dc bus voltageThe ratio of the multiples yields the desired voltage modulation degree.
8. The overmodulation control device of a permanent magnet synchronous motor according to claim 6,
the acquisition module is used for acquiring α shaft output voltage and β shaft output voltage of the permanent magnet synchronous motor under a two-phase static coordinate, and acquiring expected output voltage of the permanent magnet synchronous motor according to the α shaft output voltage and the β shaft output voltage;
or the obtaining module is used for obtaining d-axis output voltage and q-axis output voltage of the permanent magnet synchronous motor under two-phase rotation coordinates, and obtaining expected output voltage of the permanent magnet synchronous motor according to the d-axis output voltage and the q-axis output voltage.
9. The overmodulation control apparatus for a permanent magnet synchronous motor according to claim 6, wherein a desired voltage modulation degree-modified voltage modulation degree table corresponding to each overmodulation algorithm is obtained by inverting a correspondence relationship between the voltage modulation degree and the amplitude of the fundamental wave in the at least one overmodulation algorithm, respectively.
10. The overmodulation control device of a permanent magnet synchronous motor according to claim 9, wherein the overmodulation algorithm includes a minimum phase error overmodulation algorithm, a minimum amplitude error overmodulation algorithm and a minimum component error overmodulation algorithm.
11. A permanent magnet synchronous motor system, characterized by comprising an overmodulation control device of a permanent magnet synchronous motor according to any of claims 6-10.
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