CN107681936A - Open winding electric machine drive system and its power distribution method in automobile-used dual energy source - Google Patents

Abstract

Winding permanent magnet Synchromous machine drive system is opened the invention provides a kind of automobile-used dual energy source, including controller, opens winding permanent magnet synchronous motor, main energy source, main energy source inventer, auxiliary energy source, auxiliary energy source inventer, motor rotor position sensor, current sensor group and voltage sensor.Present invention also offers the power distribution method that winding permanent magnet Synchromous machine drive system is opened in a kind of automobile-used dual energy source.The present invention passes through the formulation to main energy source expectation power and the distribution to twin inverter voltage vector, realize the reasonable distribution of dual energy source power, between main energy source is operated in high efficient area in the case that operating mode allows as far as possible, the devices switch frequency of inverter is reduced simultaneously, to reduce inverter losses.

Description

Open winding electric machine drive system and its power distribution method in automobile-used dual energy source

Technical field

The present invention relates to motor control technology field, and winding permanent magnet synchronization is opened more particularly to a kind of automobile-used dual energy source Motor driven systems and its power distribution method.

Background technology

In recent years, the change with world energy sources structure and the requirement more and more higher to vehicle discharge, environmental protection, with electricity The Development of Electric Vehicles of motivation driving is swift and violent.Most of electric automobiles all employ the permanent magnetism that power density is high, peak torque is big Synchronous motor uses battery as energy source as power source.But this single battery energizes and by permanent-magnet synchronous Motor-driven pure electric vehicle has following two distinct disadvantages：One be due to motor by permanent magnet excitation, can not directly adjust Excitation field intensity is saved, so weak-magnetic speed-regulating difficulty is higher, to ensure enough max. speed, it usually needs higher bus Voltage, which increase the difficulty of matching and manufacturing cost of power accumulator and power drive system；Second, using battery as single The pure electric vehicle in energy source is limited by relatively low energy densities and the life-span of current battery, has that continual mileage is short, performance declines Move back the shortcomings of fast, the charging interval is long.Carry the dual energy source electricity of internal combustion engine distance increasing unit or fuel cell as the second energy source Electrical automobile can effectively make up disadvantages mentioned above.However, current dual energy source electric car still using it is single it is DC bus powered, Single inverter drives the mode of traditional permagnetic synchronous motor.To realize the different energy source of two output voltages simultaneously to direct current Bussed supply simultaneously realizes power distribution, it is necessary to sets up a DC/DC converter, adds system cost, and can cause extra Power attenuation, drive-train efficiency is reduced, the configuration stills need higher busbar voltage and just can guarantee that enough highest cars in addition Speed.

Open winding permanent magnet Synchromous machine drive system using what twin inverter drove and can solve the above problems.Twin inverter Respectively powered by an energy source, common motor.Under the configuration, compared to the configuration of single energy source power supply, reaching phase In the case of with max. speed, two respective busbar voltages of energy source can be reduced suitably；In addition, dual energy source can be straight The voltage vector distribution for connecting twin inverter realizes power distribution via driving winding permanent magnet synchronous motor, is converted without DC/DC Device, system cost is reduced, improve efficiency.But the research that winding electric machine drive system is opened currently for twin inverter is main Zero-sequence current suppression, faults-tolerant control of monoergic source configuration etc. are concentrated on, the research for dual energy source configuration is also main Common-mode voltage suppression, switching frequency reduction etc. are concentrated on, the power point of winding electric machine drive system is opened for dual energy source Match somebody with somebody and the research of voltage vector distribution method is more short of.

Chinese patent literature CN106059408A discloses a kind of based on the open winding permanent magnet synchronous motor of dual power supply Driving control system and its control method, but the system can only realize the qualitative distribution of dual power supply power, main power source can not be real Now to it is expected that the accurate of power follows.

The content of the invention

The purpose of the present invention is that at least solution one of drawbacks described above and deficiency, the purpose are real by the following technical programs Existing.

The invention provides a kind of automobile-used dual energy source to open winding permanent magnet Synchromous machine drive system, it is characterised in that bag Include controller, to open winding permanent magnet synchronous motor, main energy source, main energy source inventer, auxiliary energy source, auxiliary energy source inverse Become device, motor rotor position sensor, current sensor group and voltage sensor, the winding permanent magnet synchronous motor of opening The top of three-phase windings is connected with the output end of the main energy source inventer, the input of the main energy source inventer with The both positive and negative polarity output end of the main energy source is in parallel, is the main energy source inverter power supply, described to open the synchronous electricity of winding permanent magnet The end of the three-phase windings of machine is connected with the output end of the auxiliary energy source inventer, the auxiliary energy source inventer Input is in parallel with the both positive and negative polarity output end in the auxiliary energy source, is powered for the auxiliary energy source inventer, the motor Rotor-position sensor is connected with the winding permanent magnet synchronous motor of opening, and the current sensor group, which is connected on, described opens winding The top of the three-phase windings of permagnetic synchronous motor, the voltage sensor are connected in parallel on the main energy source and the auxiliary respectively The both positive and negative polarity output end of energy source；The controller respectively with the motor rotor position sensor, current sensor group, electricity Pressure sensor, main energy source inventer and the communication connection of auxiliary energy source inventer, the controller receive the motor and turned The signal of sub- position sensor, current sensor group and voltage sensor, it is computed processing and carries out life after voltage vector distribution The main energy source inventer and the auxiliary energy source inventer are respectively sent into gate-control signal.

In addition, the controller includes：

Expectation electric current computing module, the expectation electric current computing module receive the expectation torque letter that entire car controller is sent Number, calculate and export the expectation electric current component for it is expected stator current vector under rotor coordinate；

First coordinate transformation module, first coordinate transformation module receive the motor that the current sensor group is sent The rotor angle position signal that stator three-phase current signal and the motor rotor position sensor are sent, carries out coordinate change Change current component of the rear output motor stator current vector under rotor coordinate；

Subtracter, the subtracter is by the expectation electric current component signal exported through the expectation electric current computing module and institute State the current component signal after the conversion of the first coordinate transformation module and obtain motor stator current phasor deviation signal and defeated as difference Go out；

It is expected voltage generation module, it is inclined that the expectation voltage generation module receives the current phasor that the subtracter is sent Difference signal simultaneously carries out proportional plus integral control respectively to it, obtains total expectation voltage for it is expected voltage vector under rotor coordinate Component；

Second coordinate transformation module, second coordinate transformation module receive the expectation voltage generation module output It is expected the rotor angle position signal that component of voltage signal and the motor rotor position sensor are sent, carry out coordinate Total expectation component of voltage for it is expected voltage vector under stator coordinate is exported after conversion；

3rd coordinate transformation module, the 3rd coordinate transformation module receive the first coordinate transformation module output Current component signal and the motor rotor position sensor of the motor stator current phasor under rotor coordinate are sent Rotor angle position signal, carry out the output motor stator current vector electric current under stator coordinate point after coordinate transform Amount；

Energy source gross output computing module, the energy source gross output computing module receive the electric current and passed The motor stator three-phase current signal and main energy source voltage signal, the auxiliary of voltage sensor transmission that sensor group is sent Energy source voltage signal, calculate and export energy source gross output signal；

Main energy source it is expected power control module, and the main energy source it is expected that power control module receives the energy source The optimal work(of main energy source that the energy source gross output signal and entire car controller that gross output computing module is sent are sent Rate signal, and export main energy source and it is expected power signal；

Voltage vector distribute module, the voltage vector distribute module receive the main energy source voltage signal, described auxiliary Energy source voltage signal, the main energy source is helped it is expected that power signal, the 3rd coordinate transformation module output become through coordinate Current component signal, the component of voltage signal after coordinate transform of second coordinate transformation module output after changing, through place Voltage vector distribution is carried out after reason and is exported；

First space vector pulse width modulation module, the first space vector pulse width modulation module receive the voltage arrow The voltage signal for measuring distribute module distribution generates main energy source inventer gate-control signal, and by the main energy source inventer door Control signal is sent to the main energy source inventer；

Second space Vector Pulse Width Modulation module, the second space Vector Pulse Width Modulation module receive the voltage arrow The voltage signal generation auxiliary energy source inventer gate-control signal of distribute module distribution is measured, and by auxiliary energy source inversion Device gate-control signal is sent to the auxiliary energy source inventer.

In addition, the main energy source is instant TRT, the auxiliary energy source is apparatus for storing electrical energy.

In addition, first coordinate transformation module is stator three-phase to the conversion module of rotor two-phase, second coordinate Conversion module is conversion module of the rotor two-phase to stator two-phase with the 3rd coordinate transformation module.

Present invention also offers the power distribution side that winding permanent magnet synchronous motor system is opened in a kind of above-mentioned automobile-used dual energy source Method, the top of three-phase windings of the main energy source inventer powered by main energy source with driving winding permanent magnet synchronous motor are connected, The end of three-phase windings of the auxiliary energy source inventer powered by auxiliary energy source with driving winding permanent magnet synchronous motor is connected Connect, the power distribution method includes：

Main energy source it is expected Power Control：

The threephase stator current signal i of winding permanent magnet synchronous motor is opened using the collection of current sensor group_A、i_B、 i_C, utilize Voltage sensor gathers main energy source voltage signal U respectively_dc1With auxiliary energy source voltage signal U_dc2, utilize formula P_dc= (U_dc1-U_dc2)(i_A+i_B+i_C) calculate energy source gross output P_dc；

By energy source gross output P_dcWith main energy source optimal power P_dc1optIt is poor to make, and obtains main energy source power deviation ΔP_dc1, i.e. Δ P_dc1=P_dc-P_dc1opt；

With main energy source power deviation delta P_dc1As the input of first order inertial loop, led by a section inertial element Energy source it is expected power back-off

Main energy source it is expected into power back-offWith main energy source optimal power P_dc1optSummation, obtains the main energy source phase Hope powerAnd export, i.e.,

The voltage vector distribution of main energy source inventer and auxiliary energy source inventer：

Read total component for it is expected voltage vector D, Q axle under stator DQ coordinate systemsMain energy source it is expected work( RateAnd the component i of motor stator current phasor D, Q axle under stator DQ coordinate systems_D、 i_Q, main energy source voltage signal U_dc1With auxiliary energy source voltage signal U_dc2；

The distribution of low switching frequency mode voltage vector is carried out, the main energy source inventer of low switching frequency mode is obtained and it is expected D, Q axis component of the voltage vector under stator DQ coordinate systemsAnd low switching frequency mode master Energy source it is expected power deviation D_{Pdc1_LowFre}With low switching frequency mode effective marker position F_LowFre；

Carrying out power accurately follows mode voltage vector to distribute, and obtains power and accurately follows the main energy source inventer of mode It is expected D, Q axis component of the voltage vector under stator DQ coordinate systemsAnd the accurate side of following of power The main energy source of formula it is expected power deviation D_{Pdc1_AccFow}Mode effective marker position F is accurately followed with power_AccFow；

The distribution of voltage straight line method of salary distribution voltage vector is carried out, obtains the main energy source inventer of the voltage straight line method of salary distribution It is expected D, Q axis component of the voltage vector under stator DQ coordinate systems

Voltage vector method of salary distribution selection is carried out, main energy source inventer is obtained and it is expected voltage vector in stator DQ coordinates D, Q axis component under system

According to formulaCalculate auxiliary energy source inventer and it is expected voltage vector D, Q axis component under stator DQ coordinate systemsAnd exportWith

In addition, the algorithm of the low switching frequency mode voltage vector distribution includes：

Step A1,4 × 7 matrix M are defined_us1；

Step A2, to matrix M_us11st, 2 row assignment, make M_us1The behavior of each column the 1st corresponds to alternative voltage vector in stator DQ D axis components under coordinate system, the behavior of each column the 2nd correspond to D axis component of the alternative voltage vector under stator DQ coordinate systems, i.e.,

Step A3, to matrix M_us13rd row assignment, makes M_us1The behavior of each column the 3rd main energy under corresponding alternative voltage vector The power output in source, i.e.,

M_us1(3,:)=M_us1([1,2],:)^T×[i_D,i_Q]^T；

Step A4, to matrix M_us14th row assignment, makes M_us1The behavior of each column the 4th main energy under corresponding alternative voltage vector The power output in source it is expected power with main energy sourceThe absolute value of difference, i.e.,

Step A5, to M_us14th row is M_us1(4,:) be ranked up, obtain M_us1(4,:) ascending sort row number sequence ord；

Wherein, " M_us1(n,:) " representing matrix M_us1Line n row vector, " ° " is Hadamard product signs, represent two Matrix or vectorial correspondence position element multiplication；

Step A6, i=1 is made；I is circulation flag bit, represents the alternative voltage vector sequence sequence number currently attempted；

Step A7, the alternative voltage vector by this circulation distributes to main energy source inventer, even

Step A8, expectation voltage vector that this circulatory assit energy source inventer is distributed is calculated in stator DQ coordinates D, Q axis component under system, even

Step A9, the main energy source of low switching frequency mode for calculating this circulation it is expected power deviation D_{Pdc1_LowFre}, i.e., D_{Pdc1_LowFre}=M_us1(4,ord(i))；

Step A10, adjacent basic voltage vectors proportional algorithm S is performed, input is respectively U_dc2, obtain the adjacent basic voltage vectors scale parameter a of this circulatory assit energy source₂、b₂；

Step A11, judge whether the expectation voltage vector that this circulatory assit energy source inventer is distributed exceeds modulation Scope：If a₂+b₂>1, then the expectation voltage vector that auxiliary energy source inventer is distributed exceeds modulation range, performs step A12；Otherwise step A13 is performed；

Step A12, low switching frequency mode effective marker position 0, even F_LowFre=0；

Execution circulates next time, even i=i+1, goes to step A7；

Step A13, low switching frequency mode effective marker position 1, even F_LowFre=1, exit circulation；

Step A14, exporting the main energy source inventer of low switching frequency mode it is expected voltage vector under stator DQ coordinate systems D, Q axis componentAnd the main energy source of low switching frequency mode it is expected power deviation D_{Pdc1_LowFre}With low switching frequency mode effective marker position F_LowFre。

In addition, the algorithm that the power accurately follows mode voltage vector to distribute includes：

Step B1, basisCalculate motor stator current phasor amplitude i_{s_Amp}；

Step B2, power it is expected by main energy sourceCalculate main energy source and it is expected voltage vector magnitudeI.e.

Step B3, withFor amplitude, provide power by motor stator current phasor direction and accurately follow the main energy of mode Measure source inventer and it is expected voltage vector, i.e.,

Step B4, adjacent basic voltage vectors proportional algorithm S is performed, input is respectively U_dc1, obtain the adjacent basic voltage vectors scale parameter a of main energy source₁、b₁；

Step B5, judge that currently given main energy source inventer it is expected whether voltage vector exceeds modulation range：If a₁ +b₁>1, then perform step B6~B7；Otherwise, step B6~B7 is skipped, performs step B8；

Step B6, main energy source inventer is calculated it is expected to make main energy source inventer it is expected electricity on the direction of voltage vector The main energy source of the lucky saturation of vector is pressed it is expected voltage vector magnitude, even

The adjacent basic voltage vectors scale parameter of main energy source

Then revised main energy source it is expected voltage vector magnitude

Step B7, withFor amplitude, provide power by motor stator current phasor direction and accurately follow the main energy of mode Measure source inventer and it is expected voltage vector, i.e.,

Step B8, D, the Q of the expectation voltage vector that calculating auxiliary energy source inventer is distributed under stator DQ coordinate systems Axis component, even

Step B9, basisIt is accurate to calculate power The main energy source of mode is followed it is expected power deviation D_{Pdc1_AccFow}；

Step B10, adjacent basic voltage vectors proportional algorithm S is performed, input is respectively U_dc2, obtain the adjacent basic voltage vectors scale parameter a in auxiliary energy source₂、b₂；

Step B11, judge whether the expectation voltage vector that auxiliary energy source inventer is distributed exceeds modulation range：If a₂+b₂>1, then perform step B12；Otherwise, step B13 is performed；

Step B12, power accurately follows mode effective marker position 0, even F_AccFow=0；

Step B13, power accurately follows mode effective marker position 1, even F_AccFow=1；

Step B14, power output accurately follows the main energy source inventer of mode it is expected voltage vector in stator DQ coordinate systems Under D, Q axis componentAnd power accurately follows the main energy source of mode it is expected power deviation D_{Pdc1_AccFow}Mode effective marker position F is accurately followed with power_AccFow。

In addition, the algorithm of the voltage vector distribution of the voltage straight line method of salary distribution includes：

Step C1, directly it is expected that voltage vector gives main energy source inventer and it is expected voltage vector according to total, i.e.,

Step C2, adjacent basic voltage vectors proportional algorithm S is performed, input is respectively U_dc1, Obtain the adjacent basic voltage vectors scale parameter a of main energy source₁、b₁；

Step C3, judge that currently given main energy source inventer it is expected whether voltage vector exceeds modulation range：If a₁ +b₁>1, then perform step C4~C6；Otherwise, step C4~C6 is skipped, performs step C7；

Step C4, main energy source inventer is calculated it is expected to make main energy source inventer it is expected electricity on the direction of voltage vector The main energy source of the lucky saturation of vector is pressed it is expected voltage vector magnitude, even

The adjacent basic voltage vectors scale parameter of main energy source

Then revised main energy source it is expected voltage vector magnitude

Step C5, basisCalculate total expectation voltage vector magnitude

Step C6, withFor amplitude, it is inverse to provide the main energy source of the straight line method of salary distribution by total expectation voltage vector direction Become device and it is expected voltage vector, i.e.,

Step C7, the main energy source inventer of the output voltage straight line method of salary distribution it is expected voltage vector in stator DQ coordinate systems Under D, Q axis component

In addition, the algorithm of the voltage vector method of salary distribution selection includes：

Judge low switching frequency mode effective marker position F_LowFreWhether it is 1, if F_LowFre=1, judge whether meet with Lower condition F_AccFow=0, D_{Pdc1_LowFre}≤D_{Pdc1_max}、D_{Pdc1_LowFre}≤D_{Pdc1_AccFow}Any one in 3 conditions；If Meet any one in 3 conditions, then distributed using low switching frequency mode voltage vector, even main energy source inventer It is expected D, Q axis component of the voltage vector under stator DQ coordinate systemsIt is if discontented Any one in 3 conditions enough, then accurately follow mode voltage vector to distribute, even main energy source inventer using power It is expected D, Q axis component of the voltage vector under stator DQ coordinate systems

If F_LowFre=0, judge that power accurately follows mode effective marker position F_AccFowWhether it is 1；If F_AccFow= 1, accurately follow mode voltage vector to distribute using power, even main energy source inventer it is expected that voltage vector is sat in stator DQ D, Q axis component under mark systemOtherwise, using voltage straight line method of salary distribution voltage Vector distributes, even main energy source inventer it is expected D, Q axis component of the voltage vector under stator DQ coordinate systems

In addition, the adjacent basic voltage vectors proportional algorithm S includes：

Step S1, read unilateral inverter and it is expected D, Q axis component of the voltage vector under stator DQ coordinate systemsAnd corresponding busbar voltage U_dcs；

Step S2, basisCome calculate projective parameter J, K、L；

Step S3, acquisition J, K, L positive and negative flag bit sign (J), sign (K), sign (L)；

Step S4, sector number N is calculated according to N=sign (J)+2sign (K)+4sign (L)；

Step S5, basisTo calculate ratio ginseng Number X, Y, Z；

Step S6, calculated according to N value condition and export adjacent basic voltage vectors scale parameter a_s、b_s。

Advantages of the present invention is as follows：(1) present invention, can be according to current working by it is expected Power Control to main energy source Formulate rational main energy source and it is expected power, while ensureing that vehicle dynamic property demand is met, make main energy as far as possible Source is operated in high efficient area and slows down power swing；(2) low switching frequency mode of the invention, power accurately follow mode with These three voltage vector methods of salary distribution of the voltage straight line method of salary distribution can realize different power distribution effects, be sweared by voltage Measure the method for salary distribution reasonable selection with flexibly switching, can make main energy source power well follow it is expected work rate while, as far as possible The devices switch frequency of inverter is reduced, to reduce inverter losses, improves system effectiveness.

Brief description of the drawings

By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is general for this area Logical technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to this hair Bright limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.

Fig. 1 is that structure and the control of winding permanent magnet Synchromous machine drive system are opened in the automobile-used dual energy source of the embodiment of the present invention Device structured flowchart processed.

Fig. 2 is that the main energy source of said system it is expected the algorithm flow chart of Power Control.

Fig. 3 is the algorithm flow chart that the twin inverter voltage vector of said system distributes.

Fig. 4 is the twin inverter voltage vector distribution method schematic diagram of said system.

Fig. 5 is the algorithm flow chart that the low switching frequency mode voltage vector of said system distributes.

Fig. 6 is that the power of said system provided in an embodiment of the present invention accurately follows the algorithm that mode voltage vector distributes Flow chart.

Fig. 7 is the algorithm flow chart that the voltage straight line method of salary distribution voltage vector of said system distributes.

Fig. 8 is the algorithm flow chart that the voltage vector method of salary distribution of said system selects.

Fig. 9 is the adjacent basic voltage vectors proportional algorithm S flow charts of said system.

Figure 10 is that the motor speed of said system follows curve.

Figure 11 is the motor torque change curve of said system.

Figure 12 is the main energy source power change curve of said system.

Figure 13 is the inverter device master switch frequency variation curve of said system.

Embodiment

The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although this is shown in accompanying drawing Disclosed illustrative embodiments, it being understood, however, that may be realized in various forms the disclosure without that should be illustrated here Embodiment is limited.Conversely, there is provided these embodiments are to be able to be best understood from the disclosure, and can incite somebody to action The scope of the present disclosure is completely communicated to those skilled in the art.

Fig. 1 shows that the drive of winding permanent magnet synchronous motor is opened in the automobile-used dual energy source provided according to the embodiment of the present invention The structure and controller architecture block diagram of dynamic system.As shown in figure 1, the motor driven systems include controller 2, open winding permanent magnet Synchronous motor 3, main energy source 6, main energy source inventer 4, auxiliary energy source 7, auxiliary energy source inventer 5, rotor position Put sensor 8, current sensor group 9 and voltage sensor 10,11.

Open winding permanent magnet synchronous motor 3, main energy source 6, main energy source inventer 4, auxiliary energy source 7, auxiliary energy source Inverter 5, motor rotor position sensor 8, current sensor group 9 and voltage sensor 10,11 form motor driven systems Circuit structure 1, electrically connect between each part.

The top for opening the three-phase windings of winding permanent magnet synchronous motor 3 is connected with the output end of main energy source inventer 4, by Main energy source inventer 4 drives, and the main energy source inventer gate-control signal that the controller 2 for receiving motor driven systems is sent GatesL.The dc bus input of main energy source inventer 4 is in parallel with the both positive and negative polarity output end of main energy source 6, main energy source 6 be that main energy source inventer 4 is powered.Open end and the auxiliary energy source inventer of the three-phase windings of winding permanent magnet synchronous motor 3 5 output end connection, is driven, and receive the auxiliary energy that motor drive system controller 2 is sent by auxiliary energy source inventer 5 Measure source inventer gate-control signal GatesR.The dc bus input of auxiliary energy source inventer 5 and auxiliary energy source 7 are just Cathode output end is in parallel, and auxiliary energy source 7 powers for auxiliary energy source inverter 5.

In specific implementation, main energy source 6 includes but is not limited to the instant TRTs such as internal combustion engine distance increasing unit, fuel cell, Auxiliary energy source 7 includes but is not limited to the apparatus for storing electrical energy such as battery or super capacitor.Main energy source inventer 4 and auxiliary The type of energy source inventer 5 is the double electrical level inverters of voltage-type three-phase.

Motor rotor position sensor 8 is arranged on and opened on the stator of winding permanent magnet synchronous motor 3, for measuring and to electricity The output motor rotor angle location signal θ of machine driving system controller 2_r；Current sensor group 9 includes 3 independent current senses Device, the three-phase windings top of winding permanent magnet synchronous motor 3 is connected on out, measures and export electricity to motor drive system controller 2 Machine stator three-phase current signal i_A、i_B、i_C；Voltage sensor 10 is connected in parallel on the both positive and negative polarity output end of main energy source 6, measure and to Motor drive system controller 2 exports main energy source voltage signal U_dc1；Voltage sensor 11 is being connected in parallel on auxiliary energy source 7 just Cathode output end, measure and export auxiliary energy source voltage signal U to motor drive system controller 2_dc2。

Controller 2 respectively with motor rotor position sensor 8, current sensor group 9, voltage sensor 10, voltage sensor Device 11, main energy source inventer 4 and auxiliary energy source inventer 5 communicate to connect, and controller 2 includes expectation electric current and calculates mould Block 12, it is expected that voltage generation module 13, energy source gross output computing module 14, main energy source it is expected power control module 15th, voltage vector distribute module 16, the first space vector pulse width modulation module 17, second space Vector Pulse Width Modulation module 18, First coordinate transformation module 19, the second coordinate transformation module 20, the 3rd coordinate transformation module 21 and subtracter 22.

Expectation electric current computing module 12 receives the expectation dtc signal that entire car controller is sentAnd according to torque capacity D, q axis component for it is expected stator current vector under rotor dq coordinate systems is calculated in electric current ratio or other control laws

First coordinate transformation module 19 is conversion module of the stator three-phase to rotor two-phase, i.e. ABC to dq coordinate system transformations Module, converted using constant power.First coordinate transformation module 19 receives the electricity that motor driven systems current sensor group 9 is sent Machine stator three-phase current signal i_A、i_B、i_CThe rotor angle position signal θ sent with motor rotor position sensor 8_r, enter D, q axis component i of the output motor stator current vector under rotor dq coordinate systems after row coordinate transform_d、i_q；

Subtracter 22 willRespectively with i_d、i_qMotor stator current phasor deviation is obtained in rotor dq coordinates after making difference D, q axis component Δ i under system_d、Δi_q；

It is expected that voltage generation module 13 receives the Δ i that subtracter 22 is sent_d、Δi_qSignal simultaneously carries out ratio product respectively to it Sub-control system, obtain total d, q axis component for it is expected voltage vector under rotor dq coordinate systems

Second coordinate transformation module 20 and the 3rd coordinate transformation module 21 are that the change of rotor two-phase to stator two-phase changes the mold Block, i.e. dq to DQ coordinate system transformations module.Second coordinate transformation module 20, which receives, it is expected what voltage generation module 13 was sentThe rotor angle position signal θ that signal and motor rotor position sensor 8 are sent_r, it is defeated after progress coordinate transform Go out total D, Q axis component for it is expected voltage vector under stator DQ coordinate systems3rd coordinate transformation module 21 receives the The i that one coordinate transformation module 19 is sent_d、i_qThe rotor Angle Position letter that signal and motor rotor position sensor 8 are sent Number θ_r, carry out D, Q axis component i of the output motor stator current vector under stator DQ coordinate systems after coordinate transform_D、i_Q；

Energy source gross output computing module 14, which receives the motor that motor driven systems current sensor group 9 is sent, to be determined Sub- three-phase current signal i_A、i_B、i_CThe main energy source voltage signal U sent with voltage sensor 10_dc1, voltage sensor 11 sends out The auxiliary energy source voltage signal U come_dc2, according to formula P_dc=(U_dc1-U_dc2)(i_A+i_B+i_C), it is total that energy source is exported after calculating Power output signal P_dc；

Main energy source it is expected that power control module 15 receives the P that energy source gross output computing module 14 is sent_dcSignal The main energy source optimal power signal P sent with entire car controller_dc1opt, export main energy source and it is expected power signal

Voltage vector distribute module 16 receives what the second coordinate transformation module 20 was sentSignal, main energy source phase Hope what power control module 15 was sentThe i that signal, the 3rd coordinate transformation module 21 are sent_D、 i_QSignal and voltage sensor The 10 main energy source voltage signal U sent_dc1The auxiliary energy source voltage signal U sent with voltage sensor 11_dc2, carry out electricity Main energy source inventer, which is exported, after pressure vector distribution it is expected D, Q axis component of the voltage vector under stator DQ coordinate systemsAnd auxiliary energy source inventer it is expected D, Q axis component of the voltage vector under stator DQ coordinate systems

The receiving voltage vector distribute module 16 of first space vector pulse width modulation module 17 is sentSignal, it is raw Into main energy source inventer gate-control signal GatesL and it is sent to main energy source inventer 4；

The receiving voltage vector distribute module 16 of second space Vector Pulse Width Modulation module 18 is sentSignal, it is raw Into auxiliary energy source inventer gate-control signal GatesR and it is sent to auxiliary energy source inventer 5.

Present invention also offers a kind of dual energy source to open winding electric machine drive system power distribution method, including following step Suddenly：

1) main energy source it is expected Power Control

Main energy source it is expected that Power Control it is expected power control in energy source gross output computing module 14 and main energy source Carried out in molding block 15, the main energy source phase is calculated according to present energy sources gross output and main energy source optimal power Hope power；Main energy source it is expected that power follows main energy source optimal power but by energy source gross output to a certain extent Influence, avoid big ups and downs by introducing first order inertial loop so that main energy source as far as possible be operated in high efficient area.Main energy Amount source it is expected that Power Control performs once per controlling cycle, as shown in Fig. 2 specifically comprising the steps of：

(1) motor stator three-phase current signal i is read_A、i_B、i_CWith main energy source voltage signal U_dc1, auxiliary energy source electricity Press signal U_dc2, and calculate energy source gross output P_dc；

Energy source gross output P_dcCalculation formula is P_dc=(U_dc1-U_dc2)(i_A+i_B+i_C)；

(2) by energy source gross output P_dcWith main energy source optimal power P_dc1optIt is poor to make, and obtains main energy source power Deviation delta P_dc1, i.e. Δ P_dc1=P_dc-P_dc1opt；

(3) with main energy source power deviation delta P_dc1As the input of first order inertial loop, obtained by a section inertial element It is expected power back-off to main energy source

Even controlling cycle is Δ T, and the main energy source that current control period is calculated by following formula it is expected power back-off：T is current control period start time in formula, P_dc1(t) it is current Controlling cycle with main energy source power deviation,It is expected power back-off for the main energy source of current control period,It is expected power back-off for the main energy source of a upper controlling cycle.

(4) main energy source it is expected into power back-offWith main energy source optimal power P_dc1optSummation, obtains main energy It is expected power in sourceAnd export, i.e.,

In specific implementation, because main energy source 4 is the instant TRT such as internal combustion engine distance increasing unit or fuel cell, power There is delay in response, therefore introduce first order inertial loop and avoid main energy source from it is expected powerBig ups and downs, for main energy source work( Rate response is set aside some time.

Power signal has on frequency domain

Meet the differential equation in time domainS is Laplace operator in formula.

First order inertial loop gain K is determinedTo Δ P_dc1Response amplitude：

Have as K=0Give no thought to energy source gross output P_dcInfluence, now main energy It is expected power in sourceIt is main energy source optimal power P always_dc1opt, but auxiliary energy source will undertake larger power swing；And As K=1P will be followed completely as far as possible_dc, the power swing that now auxiliary energy source undertakes is smaller, but main energy source power Fluctuate larger, operating point ratio can reduce in high efficient area.

First order inertial loop time constant T is determinedTo Δ P_dc1Response speed, should by main energy source power respond prolong Slow situation rational.

2) twin inverter voltage vector distributes

The distribution of twin inverter voltage vector is carried out in voltage vector distribute module 16, and effect is will it is expected voltage vector Distribute to main 5 two inverters of energy source inventer 4 and auxiliary energy source inventer, as far as possible meet main energy source power with With the devices switch frequency for reducing main energy source inventer 4 while requirement as far as possible, to reduce inverter losses.Double inversions The distribution of device voltage vector performs once per controlling cycle, as shown in figure 3, comprising the following steps that：

(1) total D, Q axis component for it is expected voltage vector under stator DQ coordinate systems is readMain energy source it is expected PowerAnd D, Q axis component i of the motor stator current phasor under stator DQ coordinate systems_D、i_Q, main energy source voltage letter Number U_dc1With auxiliary energy source voltage signal U_dc2；

(2) distribution of low switching frequency mode voltage vector is carried out, obtains the low switching frequency mode main energy source inventer phase Hope D, Q axis component of the voltage vector under stator DQ coordinate systemsAnd low switching frequency mode Main energy source it is expected power deviation D_{Pdc1_LowFre}With low switching frequency mode effective marker position F_LowFre；

(3) carrying out power accurately follows mode voltage vector to distribute, and obtains power and accurately follows the main energy source inversion of mode Device it is expected D, Q axis component of the voltage vector under stator DQ coordinate systemsAnd power accurately follows The main energy source of mode it is expected power deviation D_{Pdc1_AccFow}Mode effective marker position F is accurately followed with power_AccFow；

(4) distribution of voltage straight line method of salary distribution voltage vector is carried out, obtains the main energy source inversion of the voltage straight line method of salary distribution Device it is expected D, Q axis component of the voltage vector under stator DQ coordinate systems

(5) voltage vector method of salary distribution selection is carried out, i.e., accurately follows mode and electricity in low switching frequency mode, power A kind of voltage vector method of salary distribution is selected in the straightening line method of salary distribution, main energy source inventer is obtained and it is expected voltage vector fixed D, Q axis component under sub- DQ coordinate systems

(6) according to formulaCalculate auxiliary energy source inventer and it is expected voltage arrow Measure D, Q axis component under stator DQ coordinate systemsAnd exportWith

Wherein, low switching frequency mode, power accurately follow mode and the voltage straight line method of salary distribution is 3 kinds of voltage vectors The method of salary distribution.As shown in figure 4, under stator DQ coordinate systems, O₁R is motor stator current phasorO₁O₂It is expected voltage arrow to be total AmountIf with O₁It is expected voltage vector as main energy source inventerStarting point, with O₂As auxiliary energy source inventer It is expected voltage vectorStarting point, then hexagon A₁B₁C₁D₁E₁F₁ForMaximum modulation scope, hexagon A₂B₂C₂D₂E₂F₂ ForMaximum modulation scope；Voltage vector distribution meetsThe part that then two hexagons overlap is voltage The feasible zone of vector distribution, i.e.,WithSummit allow to overlap in the region.

The main energy source inventer of low switching frequency mode it is expected voltage vectorOnly with zero vector or hexagon A₁B₁C₁D₁E₁F₁Basic voltage vectors representated by summit, the devices switch frequency of main energy source inventer can be significantly reduced, most Use eventuallyTo make main energy source power output it is expected power closest to main energy source in feasible zoneAlternative voltage arrow Amount, the voltage vector allocation result of which is by figureWithIt is shown.

Power accurately follows the main energy source inventer of mode it is expected voltage vectorBy motor stator current phasor's Direction provides,Amplitude it is expected power by main energy sourceIt is accurate to calculate, as long as thereforeSaturation, main energy source does not occur Power output can be followed accuratelyThe voltage vector allocation result of which is by figureWith It is shown.

The main energy source inventer of the voltage straight line method of salary distribution it is expected voltage vectorDirectly it is expected voltage vector by total Direction provide, thereforeWithDistributed along straight line, which gives no thought to main energy source power output pairFollow Demand, but be easiest to appear in the feasible zone of voltage vector distribution, the voltage vector allocation result of which is by figureWithIt is shown.

As shown in figure 5, the algorithm of above-mentioned low switching frequency mode voltage vector distribution specifically comprises the steps of：

Step A1,4 × 7 matrix M are defined_us1, the matrix each column represents a main alternative voltage vector of energy source inventer, Including 1 zero vector and 6 basic voltage vectors；

Step A2, to matrix M_us11st, 2 row assignment, make M_us1The behavior of each column the 1st corresponds to alternative voltage vector in stator DQ D axis components under coordinate system, the behavior of each column the 2nd correspond to D axis component of the alternative voltage vector under stator DQ coordinate systems, i.e.,

Wherein, " M_us1(n,:) " representing matrix M_us1Line n row vector, " ° " is Hadamard product signs, represent two Matrix or vectorial correspondence position element multiplication, similarly hereinafter；

Step A3, to matrix M_us13rd row assignment, makes M_us1The behavior of each column the 3rd main energy under corresponding alternative voltage vector The power output in source, i.e. M_us1(3,:)=M_us1([1,2],:)^T×[i_D,i_Q]^T；

Step A4, to matrix M_us14th row assignment, makes M_us1The behavior of each column the 4th main energy under corresponding alternative voltage vector The power output in source it is expected power with main energy sourceThe absolute value of difference, i.e.,

Step A5, to M_us14th row is M_us1(4,:) be ranked up, obtain M_us1(4,:) ascending sort row number sequence ord；

Step A6, i=1 is made；I is circulation flag bit, represents the alternative voltage vector sequence sequence number currently attempted；

Step A7, the alternative voltage vector by this circulation distributes to main energy source inventer 4, even

Step A8, expectation voltage vector that this circulatory assit energy source inventer 5 is distributed is calculated in stator DQ coordinates D, Q axis component under system, even

Step A9, the main energy source of low switching frequency mode for calculating this circulation it is expected power deviation D_{Pdc1_LowFre}, i.e., D_{Pdc1_LowFre}=M_us1(4,ord(i))；

Step A10, adjacent basic voltage vectors proportional algorithm S is performed, input is respectively U_dc2, obtain the adjacent basic voltage vectors scale parameter a of this circulatory assit energy source₂、b₂；

Step A11, judge whether the expectation voltage vector that this circulatory assit energy source inventer 5 is distributed exceeds tune Scope processed：If a₂+b₂>1, illustrate that the expectation voltage vector that auxiliary energy source inventer is distributed exceeds modulation range, perform step Rapid A12；Otherwise step A13 is performed；

Step A12, the expectation voltage vector that this circulatory assit energy source inventer 5 is distributed exceeds modulation range, main 4 alternative voltage vector of energy source inventer can not use；Low switching frequency mode effective marker position 0, even F_LowFre=0； Execution circulates next time, even i=i+1, goes to step A7；

Step A13, the expectation voltage vector that this circulatory assit energy source inventer 5 is distributed is without departing from modulation range, The alternative voltage vector of main energy source inventer 4 can use；Low switching frequency mode effective marker position 1, even F_LowFre =1, exit circulation；

Step A14, exporting the main energy source inventer of low switching frequency mode it is expected voltage vector under stator DQ coordinate systems D, Q axis componentAnd the main energy source of low switching frequency mode it is expected power deviation D_{Pdc1_LowFre}With low switching frequency mode effective marker position F_LowFre。

As shown in fig. 6, the algorithm that above-mentioned power accurately follows mode voltage vector to distribute specifically comprises the steps of：

Step B1, motor stator current phasor amplitude i is calculated_{s_Amp}, i.e.,

Step B2, power it is expected by main energy sourceCalculate main energy source and it is expected voltage vector magnitudeI.e.

Step B3, withFor amplitude, provide power by motor stator current phasor direction and accurately follow the main energy of mode Measure source inventer and it is expected voltage vector, i.e.,

Step B4, adjacent basic voltage vectors proportional algorithm S is performed, input is respectively U_dc1, obtain the adjacent basic voltage vectors scale parameter a of main energy source₁、b₁；

Step B5, judge that currently given main energy source inventer 4 it is expected whether voltage vector exceeds modulation range：If a₁+b₁>1, illustrate that currently given main energy source inventer it is expected that voltage vector exceeds modulation range, perform step B6~B7； Otherwise step B6~B7 is skipped, performs step B8；

Step B6, main energy source inventer is calculated it is expected to make main energy source inventer it is expected electricity on the direction of voltage vector The main energy source of the lucky saturation of vector is pressed it is expected voltage vector magnitude, even

The adjacent basic voltage vectors scale parameter of main energy source

Then revised main energy source it is expected voltage vector magnitude

Step B7, withFor amplitude, provide power by motor stator current phasor direction and accurately follow the main energy of mode Measure source inventer and it is expected voltage vector, i.e.,

Step B8, calculate D under stator DQ coordinate systems of expectation voltage vector that auxiliary energy source inventer 5 is distributed, Q axis components, even

Step B9, calculating power accurately follows the main energy source of mode it is expected power deviation D_{Pdc1_AccFow}, i.e.,

Step B10, adjacent basic voltage vectors proportional algorithm S is performed, input is respectively U_dc2, obtain the adjacent basic voltage vectors scale parameter a in auxiliary energy source₂、b₂；

Step B11, judge whether the expectation voltage vector that auxiliary energy source inventer 5 is distributed exceeds modulation range：If a₂+b₂>1, illustrate that the expectation voltage vector that auxiliary energy source inventer 5 is distributed exceeds modulation range, perform step B12；It is no Then perform step B13；

Step B12, the expectation voltage vector that auxiliary energy source inventer 5 is distributed exceeds modulation range, work(under the operating mode Rate accurately follows mode to use；Power accurately follows mode effective marker position 0, even F_AccFow=0；

Step B13, the expectation voltage vector that auxiliary energy source inventer 5 is distributed is without departing from modulation range, under the operating mode Power accurately follows mode to use；Power accurately follows mode effective marker position 1, even F_AccFow=1；

Step B14, power output accurately follows the main energy source inventer of mode it is expected voltage vector in stator DQ coordinate systems Under D, Q axis componentAnd power accurately follows the main energy source of mode it is expected power deviation D_{Pdc1_AccFow}Mode effective marker position F is accurately followed with power_AccFow。

As shown in fig. 7, the algorithm of above-mentioned voltage straight line method of salary distribution voltage vector distribution specifically comprises the steps of：

Step C1, directly it is expected that voltage vector gives main energy source inventer and it is expected voltage vector according to total, i.e.,

Step C2, adjacent basic voltage vectors proportional algorithm S is performed, input is respectively U_dc1, Obtain the adjacent basic voltage vectors scale parameter a of main energy source₁、b₁；

Step C3, judge that currently given main energy source inventer 4 it is expected whether voltage vector exceeds modulation range：If a₁+b₁>1, illustrate that currently given main energy source inventer 4 it is expected that voltage vector exceeds modulation range, perform step C4~C6； Otherwise step C4~C6 is skipped, performs step C7；

Step C4, main energy source inventer is calculated it is expected to make main energy source inventer it is expected electricity on the direction of voltage vector The main energy source of the lucky saturation of vector is pressed it is expected voltage vector magnitude, even

The adjacent basic voltage vectors scale parameter of main energy source

Then revised main energy source it is expected voltage vector magnitude

Step C5, total expectation voltage vector magnitude is calculatedI.e.

Step C6, withFor amplitude, it is inverse to provide the main energy source of the straight line method of salary distribution by total expectation voltage vector direction Become device and it is expected voltage vector, i.e.,

Step C7, the main energy source inventer of the output voltage straight line method of salary distribution it is expected voltage vector in stator DQ coordinate systems Under D, Q axis component

Low switching frequency mode, power accurately follow mode and these three voltage vectors distribution of the voltage straight line method of salary distribution Mode can realize different power distribution effects, can be made by reasonable selection and the flexibly switching voltage vector method of salary distribution While main energy source power well follows expectation work rate, the devices switch frequency of inverter is reduced as far as possible, to reduce inversion Device is lost, and improves system effectiveness.

As shown in figure 8, the algorithm of three kinds of voltage vector method of salary distribution selections comprises the following steps：

Step D1, low switching frequency mode effective marker position F is judged_LowFreWhether it is 1；If F_LowFre=1, perform step Rapid D2；Otherwise step D5 is performed；

Step D2, judge whether following condition meets：

1、F_AccFow=0,

2、D_{Pdc1_LowFre}≤D_{Pdc1_max},

3、D_{Pdc1_LowFre}≤D_{Pdc1_AccFow}；

As long as 3 conditions of the above meet any one, step D3 is performed；If 3 conditions are unsatisfactory for, step is performed D4；

Step D3, distributed using low switching frequency mode voltage vector, even main energy source inventer it is expected voltage vector D, Q axis component under stator DQ coordinate systems

Step D4, mode voltage vector is accurately followed to distribute using power, even main energy source inventer it is expected voltage arrow Measure D, Q axis component under stator DQ coordinate systems

Step D5, judge that power accurately follows mode effective marker position F_AccFowWhether it is 1；If F_AccFow=1, perform Step D6；Otherwise step D7 is performed；

Step D6, mode voltage vector is accurately followed to distribute using power, even main energy source inventer it is expected voltage arrow Measure D, Q axis component under stator DQ coordinate systems

Step D7, distributed using voltage straight line method of salary distribution voltage vector, even main energy source inventer it is expected voltage arrow Measure D, Q axis component under stator DQ coordinate systems

Wherein, D_{Pdc1_max}It is expected power maximum deviation for main energy source, be default definite value；D_{Pdc1_max}It is bigger, expression pair Following for main energy source power output requires lower, and it is bigger to distribute proportion using low switching frequency mode voltage vector.

Mode and the voltage straight line method of salary distribution these three voltage vectors point are accurately followed in low switching frequency mode, power With in mode, adjacent basic voltage vectors proportional algorithm S effect be according to the unilateral inverter of offer it is expected voltage vector and Corresponding busbar voltage calculates the adjacent basic voltage vectors accounting needed for space vector pulse width modulation, as shown in figure 9, specifically Comprise the steps of：

Step S1, read unilateral inverter and it is expected D, Q axis component of the voltage vector under stator DQ coordinate systemsAnd corresponding busbar voltage U_dcs；

Step S2, projective parameter J, K, L are calculated；

Even

Step S3, J, K, L positive and negative flag bit sign (J), sign (K), sign (L) are respectively obtained；

The operation rule of sign functions is：If X>0, sign (X)=1；Otherwise, sign (X)=0；

Step S4, sector number N is calculated；N=sign even (J)+2sign (K)+4sign (L)；

Step S5, scale parameter X, Y, Z are calculated；

Even

Step S6, calculated by N value condition and export adjacent basic voltage vectors scale parameter a_s、b_s：

If N=0, make a_s=0, b_s=0；

If N=1, make a_s=Z, b_s=Y；

If N=2, make a_s=Y, b_s=-X；

If N=3, make a_s=-Z, b_s=X；

If N=4, make a_s=-X, b_s=Z；

If N=5, make a_s=X, b_s=-Y；

If N=6, make a_s=-Y, b_s=-Z.

Hereinafter, the present embodiment is tested, the present embodiment carried out using Matlab/Simulink platforms Emulation, der Geschwindigkeitkreis adoption rate integration control, used control parameter and the open winding electric machine circuit parameter such as institute of table 1 Show.

Table 1

This emulation makes system operation 0.9s, and motor it is expected that rotating speed at the uniform velocity rises to 6000r/min in 0~0.3s, and protects The value is held to 0.6s, then in 0.6~0.9s uniform descents to 0；Load torque, from 0 step to 60Nm, and is protected in 0.05s The value is held to emulation to terminate.Main energy source optimal power P_dc1optIt is constant to be set to 20kW.

Figure 10 to Figure 13 is the control effect oscillogram of present embodiment.As shown in Figure 10, motor actual speed can be with good Expectation rotating speed is followed well, only has slight jitter in 0.05s offered load torques.

As shown in figure 11, under the blessing of twin inverter space vector pulse width modulation, motor electromagnetic direct torque is accurate, turns Square ripple is controlled within 3Nm.

Main energy source in Figure 12 it is expected that power curve reflects the effect that main energy source it is expected power control algorithm, can To find out, main energy source it is expected that changed power is smooth, without the situation of frequent fluctuation, is meeting the situation of current working demand It is lower to try one's best close to main energy source optimal power P_dc1opt；Main energy source actual power curve reflects twin inverter voltage vector point Effect with algorithm, it can be seen that except 0~0.05s and 0.86~0.9s motor torques are extremely low and the extremely low operating mode of rotating speed, Main energy source actual power can well follow main energy source it is expected power under other most operating modes, and power follows deviation Within 5kW；Motor torque is extremely low and the extremely low operating mode of rotating speed is because stator current vector amplitude is too low, can not meet power The demand of distribution.

As shown in figure 13, due to main energy source inventer 4 operating mode allow in the case of employ as far as possible zero vector, Basic voltage vectors and saturation voltage vector, its inverter device master switch frequency are substantially less than the auxiliary energy of normal modulation Source inventer 5, the main device master switch frequency of energy source inventer 4 is only the inversion of auxiliary energy source especially in stabilization of speed The 10% of device, this causes the inverter device master switch frequency sum of twin inverter to be remarkably decreased, reduces inverter device Switching loss, improve system effectiveness.

Winding electric machine drive system power point is opened in the simulation result explanation of the present embodiment, the dual energy source that the present invention is carried Method of completing the square makes main energy source be operated in high efficient area and slows down power as far as possible while vehicle dynamic property demand is ensured Fluctuation, and the devices switch loss of inverter is reduced, improve system effectiveness.

Winding electric machine drive system is opened in automobile-used dual energy source provided by the invention, can be applied to internal combustion engine distance increasing unit or Fuel cell is main energy source, and battery is in the dual energy source electric car of auxiliary energy source.By it is expected main energy source The formulation of power and the distribution to twin inverter voltage vector, the reasonable distribution of dual energy source power is realized, allowed in operating mode In the case of main energy source is operated between high efficient area as far as possible, while reduce the devices switch frequency of inverter, it is inverse to reduce Become device loss.

Claims (10)

1. winding permanent magnet Synchromous machine drive system is opened in a kind of automobile-used dual energy source, it is characterised in that including controller, opens winding Permagnetic synchronous motor, main energy source, main energy source inventer, auxiliary energy source, auxiliary energy source inventer, motor rotor position Sensor, current sensor group and voltage sensor, the top of the three-phase windings for driving winding permanent magnet synchronous motor and institute State the output end connection of main energy source inventer, the input of the main energy source inventer and the both positive and negative polarity of the main energy source Output end is in parallel, be the main energy source inverter power supply, the end of the three-phase windings for driving winding permanent magnet synchronous motor and The output end connection of the auxiliary energy source inventer, the input of the auxiliary energy source inventer and the auxiliary energy source Both positive and negative polarity output end it is in parallel, powered for the auxiliary energy source inventer, the motor rotor position sensor is opened with described Winding permanent magnet synchronous motor connects, and the current sensor group is connected on the three-phase windings for driving winding permanent magnet synchronous motor Top, the voltage sensor are connected in parallel on the both positive and negative polarity output end in the main energy source and the auxiliary energy source respectively；It is described Controller respectively with the motor rotor position sensor, current sensor group, voltage sensor, main energy source inventer and Auxiliary energy source inventer communicates to connect, the controller receive the motor rotor position sensor, current sensor group with And the signal of voltage sensor, it is computed generation gate-control signal after processing carries out voltage vector distribution and is respectively sent to the main energy Measure source inventer and the auxiliary energy source inventer.

2. winding permanent magnet Synchromous machine drive system is opened in automobile-used dual energy source according to claim 1, it is characterised in that institute Stating controller includes：

Expectation electric current computing module, the expectation electric current computing module receive the expectation dtc signal that entire car controller is sent, meter Calculate and export the expectation electric current component for it is expected stator current vector under rotor coordinate；

First coordinate transformation module, first coordinate transformation module receive the motor stator three that the current sensor group is sent The rotor angle position signal that phase current signal and the motor rotor position sensor are sent, is exported after carrying out coordinate transform Current component of the motor stator current phasor under rotor coordinate；

Subtracter, the expectation electric current component signal and described first that the subtracter will export through the expectation electric current computing module Current component signal after coordinate transformation module conversion obtains motor stator current phasor deviation signal as difference and exported；

It is expected voltage generation module, it is described it is expected that voltage generation module receives the current phasor deviation signal that the subtracter is sent And proportional plus integral control is carried out respectively to it, obtain total expectation component of voltage for it is expected voltage vector under rotor coordinate；

Second coordinate transformation module, second coordinate transformation module receive the expectation electricity for it is expected output of voltage generation module The rotor angle position signal for pressing component signal and the motor rotor position sensor to send, it is defeated after progress coordinate transform Go out total expectation component of voltage for it is expected voltage vector under stator coordinate；

3rd coordinate transformation module, the motor that the 3rd coordinate transformation module receives the first coordinate transformation module output are determined The motor that current component signal and the motor rotor position sensor of the electron current vector under rotor coordinate are sent turns Sub- angle position signal, carry out current component of the output motor stator current vector under stator coordinate after coordinate transform；

Energy source gross output computing module, the energy source gross output computing module receive the current sensor group The motor stator three-phase current signal of transmission and the main energy source voltage signal of voltage sensor transmission, auxiliary energy source electricity Signal is pressed, calculates and exports energy source gross output signal；

Main energy source it is expected power control module, and the main energy source it is expected that power control module receives the energy source and always exported The main energy source optimal power signal that the energy source gross output signal and entire car controller that power computation module is sent are sent, And export main energy source and it is expected power signal；

Voltage vector distribute module, the voltage vector distribute module receive the main energy source voltage signal, the auxiliary energy Amount source voltage signal, the main energy source it is expected power signal, the 3rd coordinate transformation module output after coordinate transform Current component signal, second coordinate transformation module output the component of voltage signal after coordinate transform, after processing Carry out voltage vector distribution and export；

First space vector pulse width modulation module, the first space vector pulse width modulation module receive the voltage vector distribution The voltage signal of module assignment generates main energy source inventer gate-control signal, and the main energy source inventer gate-control signal is sent out Deliver to the main energy source inventer；

Second space Vector Pulse Width Modulation module, the second space Vector Pulse Width Modulation module receive the voltage vector distribution The voltage signal generation auxiliary energy source inventer gate-control signal of module assignment, and the auxiliary energy source inventer is gated and believed Number send to the auxiliary energy source inventer.

3. winding permanent magnet Synchromous machine drive system is opened in automobile-used dual energy source according to claim 1, it is characterised in that institute It is instant TRT to state main energy source, and the auxiliary energy source is apparatus for storing electrical energy.

4. winding permanent magnet Synchromous machine drive system is opened in automobile-used dual energy source according to claim 2, it is characterised in that institute State the conversion module that the first coordinate transformation module arrives rotor two-phase for stator three-phase, second coordinate transformation module and described the Three coordinate transformation modules are conversion module of the rotor two-phase to stator two-phase.

5. the power distribution method of winding permanent magnet synchronous motor system, the master to be powered by main energy source are opened in a kind of automobile-used dual energy source The top of three-phase windings of the energy source inventer with driving winding permanent magnet synchronous motor is connected, the auxiliary powered by auxiliary energy source The end of three-phase windings of the energy source inventer with driving winding permanent magnet synchronous motor is connected, it is characterised in that the power point Method of completing the square includes：

Main energy source it is expected Power Control：

The threephase stator current signal i of winding permanent magnet synchronous motor is opened using the collection of current sensor group_A、i_B、i_C, utilize voltage Sensor gathers main energy source voltage signal U respectively_dc1With auxiliary energy source voltage signal U_dc2, utilize formula P_dc=(U_dc1- U_dc2)(i_A+i_B+i_C) calculate energy source gross output P_dc；

By energy source gross output P_dcWith main energy source optimal power P_dc1optIt is poor to make, and obtains main energy source power deviation delta P_dc1, i.e. Δ P_dc1=P_dc-P_dc1opt；

With main energy source power deviation delta P_dc1As the input of first order inertial loop, main energy is obtained by a section inertial element It is expected power back-off in source

Main energy source it is expected into power back-offWith main energy source optimal power P_dc1optSummation, obtain main energy source and it is expected work( RateAnd export, i.e.,

The voltage vector distribution of main energy source inventer and auxiliary energy source inventer：

Read total component for it is expected voltage vector D, Q axle under stator DQ coordinate systemsMain energy source it is expected power And the component i of motor stator current phasor D, Q axle under stator DQ coordinate systems_D、i_Q, main energy source voltage signal U_dc1And auxiliary Energy source voltage signal U_dc2；

The distribution of low switching frequency mode voltage vector is carried out, the main energy source inventer of low switching frequency mode is obtained and it is expected voltage arrow Measure D, Q axis component under stator DQ coordinate systemsAnd the low switching frequency mode main energy source phase Hope power deviation D_{Pdc1_LowFre}With low switching frequency mode effective marker position F_LowFre；

Carrying out power accurately follows mode voltage vector to distribute, and obtains power and accurately follows the main energy source inventer of mode it is expected electricity Press D, Q axis component of the vector under stator DQ coordinate systemsAnd power accurately follows the main energy of mode It is expected power deviation D in amount source_{Pdc1_AccFow}Mode effective marker position F is accurately followed with power_AccFow；

The distribution of voltage straight line method of salary distribution voltage vector is carried out, the main energy source inventer of the voltage straight line method of salary distribution is obtained and it is expected electricity Press D, Q axis component of the vector under stator DQ coordinate systems

Voltage vector method of salary distribution selection is carried out, main energy source inventer is obtained and it is expected voltage vector under stator DQ coordinate systems D, Q axis components

According to formulaCalculating auxiliary energy source inventer it is expected voltage vector in stator D, Q axis component under DQ coordinate systemsAnd exportWith

6. the power distribution method of winding permanent magnet synchronous motor system is opened in automobile-used dual energy source according to claim 5, its It is characterised by, the algorithm of the low switching frequency mode voltage vector distribution includes：

Step A1,4 × 7 matrix M are defined_us1；

Step A2, to matrix M_us11st, 2 row assignment, make M_us1The behavior of each column the 1st corresponds to alternative voltage vector in stator DQ coordinates D axis components under system, the behavior of each column the 2nd correspond to D axis component of the alternative voltage vector under stator DQ coordinate systems, i.e.,

Step A3, to matrix M_us13rd row assignment, makes M_us1The behavior of each column the 3rd main energy source under corresponding alternative voltage vector Power output, i.e.,

M_us1(3,:)=M_us1([1,2],:)^T×[i_D,i_Q]^T；

Step A4, to matrix M_us14th row assignment, makes M_us1The behavior of each column the 4th main energy source under corresponding alternative voltage vector Power output it is expected power with main energy sourceThe absolute value of difference, i.e.,

<mrow> <msub> <mi>M</mi> <mrow> <mi>u</mi> <mi>s</mi> <mn>1</mn> </mrow> </msub> <mrow> <mo>(</mo> <mn>4</mn> <mo>,</mo> <mo>:</mo> <mo>)</mo> </mrow> <mo>=</mo> <mo>|</mo> <msub> <mi>M</mi> <mrow> <mi>u</mi> <mi>s</mi> <mn>1</mn> </mrow> </msub> <mrow> <mo>(</mo> <mn>3</mn> <mo>,</mo> <mo>:</mo> <mo>)</mo> </mrow> <mo>-</mo> <msubsup> <mi>P</mi> <mrow> <mi>d</mi> <mi>c</mi> <mn>1</mn> </mrow> <mo>*</mo> </msubsup> <mo>|</mo> <mo>;</mo> </mrow>

Step A5, to M_us14th row is M_us1(4,:) be ranked up, obtain M_us1(4,:) ascending sort row number sequence ord；

Wherein, " M_us1(n,:) " representing matrix M_us1Line n row vector,For Hadamard product signs, two matrixes are represented Or vectorial correspondence position element multiplication；

Step A6, i=1 is made；I is circulation flag bit, represents the alternative voltage vector sequence sequence number currently attempted；

Step A7, the alternative voltage vector by this circulation distributes to main energy source inventer, even

<mrow> <msubsup> <mi>u</mi> <mrow> <mi>D</mi> <mn>1</mn> <mo>_</mo> <mi>L</mi> <mi>o</mi> <mi>w</mi> <mi>F</mi> <mi>r</mi> <mi>e</mi> </mrow> <mo>*</mo> </msubsup> <mo>=</mo> <msub> <mi>M</mi> <mrow> <mi>u</mi> <mi>s</mi> <mn>1</mn> </mrow> </msub> <mrow> <mo>(</mo> <mn>1</mn> <mo>,</mo> <mi>o</mi> <mi>r</mi> <mi>d</mi> <mo>(</mo> <mi>i</mi> <mo>)</mo> <mo>)</mo> </mrow> <mo>,</mo> <msubsup> <mi>u</mi> <mrow> <mi>Q</mi> <mn>1</mn> <mo>_</mo> <mi>L</mi> <mi>o</mi> <mi>w</mi> <mi>F</mi> <mi>r</mi> <mi>e</mi> </mrow> <mo>*</mo> </msubsup> <mo>=</mo> <msub> <mi>M</mi> <mrow> <mi>u</mi> <mi>s</mi> <mn>1</mn> </mrow> </msub> <mrow> <mo>(</mo> <mn>2</mn> <mo>,</mo> <mi>o</mi> <mi>r</mi> <mi>d</mi> <mo>(</mo> <mi>i</mi> <mo>)</mo> <mo>)</mo> </mrow> <mo>;</mo> </mrow>

Step A8, expectation voltage vector that this circulatory assit energy source inventer is distributed is calculated under stator DQ coordinate systems D, Q axis components, even

<mrow> <msubsup> <mi>u</mi> <mrow> <mi>D</mi> <mn>2</mn> <mo>_</mo> <mi>L</mi> <mi>o</mi> <mi>w</mi> <mi>F</mi> <mi>r</mi> <mi>e</mi> </mrow> <mo>*</mo> </msubsup> <mo>=</mo> <msubsup> <mi>u</mi> <mrow> <mi>D</mi> <mn>1</mn> <mo>_</mo> <mi>L</mi> <mi>o</mi> <mi>w</mi> <mi>F</mi> <mi>r</mi> <mi>e</mi> </mrow> <mo>*</mo> </msubsup> <mo>-</mo> <msubsup> <mi>u</mi> <mi>D</mi> <mo>*</mo> </msubsup> <mo>,</mo> <msubsup> <mi>u</mi> <mrow> <mi>Q</mi> <mn>2</mn> <mo>_</mo> <mi>L</mi> <mi>o</mi> <mi>w</mi> <mi>F</mi> <mi>r</mi> <mi>e</mi> </mrow> <mo>*</mo> </msubsup> <mo>=</mo> <msubsup> <mi>u</mi> <mrow> <mi>Q</mi> <mn>1</mn> <mo>_</mo> <mi>L</mi> <mi>o</mi> <mi>w</mi> <mi>F</mi> <mi>r</mi> <mi>e</mi> </mrow> <mo>*</mo> </msubsup> <mo>-</mo> <msubsup> <mi>u</mi> <mi>Q</mi> <mo>*</mo> </msubsup> <mo>;</mo> </mrow>

Step A9, the main energy source of low switching frequency mode for calculating this circulation it is expected power deviation

D_{Pdc1_LowFre}, i.e. D_{Pdc1_LowFre}=M_us1(4,ord(i))；

Step A10, adjacent basic voltage vectors proportional algorithm S is performed, input is respectively U_dc2, obtain To the adjacent basic voltage vectors scale parameter a of this circulatory assit energy source₂、b₂；

Step A11, judge whether the expectation voltage vector that this circulatory assit energy source inventer is distributed exceeds modulation range： If a₂+b₂>1, then the expectation voltage vector that auxiliary energy source inventer is distributed exceeds modulation range, performs step A12；Otherwise Perform step A13；

Step A12, low switching frequency mode effective marker position 0, even F_LowFre=0；

Execution circulates next time, even i=i+1, goes to step A7；

Step A13, low switching frequency mode effective marker position 1, even F_LowFre=1, exit circulation；

Step A14, export the main energy source inventer of low switching frequency mode and it is expected D, the Q of voltage vector under stator DQ coordinate systems Axis componentAnd the main energy source of low switching frequency mode it is expected power deviation D_{Pdc1_LowFre}With it is low Switching frequency mode effective marker position F_LowFre。

7. the power distribution method of winding permanent magnet synchronous motor system is opened in automobile-used dual energy source according to claim 5, its It is characterised by, the algorithm that the power accurately follows mode voltage vector to distribute includes：

Step B1, basisCalculate motor stator current phasor amplitude i_{s_Amp}；

Step B2, power it is expected by main energy sourceCalculate main energy source and it is expected voltage vector magnitudeI.e.

Step B3, withFor amplitude, provide power by motor stator current phasor direction and accurately follow the main energy source of mode Inverter it is expected voltage vector, i.e.,

<mrow> <msubsup> <mi>u</mi> <mrow> <mi>D</mi> <mn>1</mn> <mo>_</mo> <mi>A</mi> <mi>c</mi> <mi>c</mi> <mi>F</mi> <mi>o</mi> <mi>w</mi> </mrow> <mo>*</mo> </msubsup> <mo>=</mo> <msubsup> <mi>u</mi> <mrow> <mi>s</mi> <mn>1</mn> <mo>_</mo> <mi>A</mi> <mi>m</mi> <mi>p</mi> </mrow> <mo>*</mo> </msubsup> <mfrac> <msub> <mi>i</mi> <mi>D</mi> </msub> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mo>_</mo> <mi>A</mi> <mi>m</mi> <mi>p</mi> </mrow> </msub> </mfrac> <mo>,</mo> <msubsup> <mi>u</mi> <mrow> <mi>Q</mi> <mn>1</mn> <mo>_</mo> <mi>A</mi> <mi>c</mi> <mi>c</mi> <mi>F</mi> <mi>o</mi> <mi>w</mi> </mrow> <mo>*</mo> </msubsup> <mo>=</mo> <msubsup> <mi>u</mi> <mrow> <mi>s</mi> <mn>1</mn> <mo>_</mo> <mi>A</mi> <mi>m</mi> <mi>p</mi> </mrow> <mo>*</mo> </msubsup> <mfrac> <msub> <mi>i</mi> <mi>Q</mi> </msub> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mo>_</mo> <mi>A</mi> <mi>m</mi> <mi>p</mi> </mrow> </msub> </mfrac> <mo>;</mo> </mrow>

Step B4, adjacent basic voltage vectors proportional algorithm S is performed, input is respectively U_dc1, obtain To the adjacent basic voltage vectors scale parameter a of main energy source₁、b₁；

Step B5, judge that currently given main energy source inventer it is expected whether voltage vector exceeds modulation range：If a₁+b₁>1, Then perform step B6~B7；Otherwise, step B6~B7 is skipped, performs step B8；

Step B6, main energy source inventer is calculated it is expected to make main energy source inventer it is expected voltage vector on the direction of voltage vector The main energy source of lucky saturation it is expected voltage vector magnitude, even

The adjacent basic voltage vectors scale parameter of main energy source

Then revised main energy source it is expected voltage vector magnitude

Step B7, withFor amplitude, provide power by motor stator current phasor direction and accurately follow the main energy source of mode Inverter it is expected voltage vector, i.e.,

<mrow> <msubsup> <mi>u</mi> <mrow> <mi>D</mi> <mn>1</mn> <mo>_</mo> <mi>A</mi> <mi>c</mi> <mi>c</mi> <mi>F</mi> <mi>o</mi> <mi>w</mi> </mrow> <mo>*</mo> </msubsup> <mo>=</mo> <mfrac> <msub> <mi>i</mi> <mi>D</mi> </msub> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mo>_</mo> <mi>A</mi> <mi>m</mi> <mi>p</mi> </mrow> </msub> </mfrac> <msubsup> <mi>u</mi> <mrow> <mi>s</mi> <mn>1</mn> <mo>_</mo> <mi>A</mi> <mi>m</mi> <mi>p</mi> </mrow> <mo>*</mo> </msubsup> <mo>,</mo> <msubsup> <mi>u</mi> <mrow> <mi>Q</mi> <mn>1</mn> <mo>_</mo> <mi>A</mi> <mi>c</mi> <mi>c</mi> <mi>F</mi> <mi>o</mi> <mi>w</mi> </mrow> <mo>*</mo> </msubsup> <mo>=</mo> <mfrac> <msub> <mi>i</mi> <mi>Q</mi> </msub> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mo>_</mo> <mi>A</mi> <mi>m</mi> <mi>p</mi> </mrow> </msub> </mfrac> <msubsup> <mi>u</mi> <mrow> <mi>s</mi> <mn>1</mn> <mo>_</mo> <mi>A</mi> <mi>m</mi> <mi>p</mi> </mrow> <mo>*</mo> </msubsup> <mo>;</mo> </mrow>

Step B8, D, Q axle point of the expectation voltage vector that calculating auxiliary energy source inventer is distributed under stator DQ coordinate systems Amount, even

<mrow> <msubsup> <mi>u</mi> <mrow> <mi>D</mi> <mn>2</mn> <mo>_</mo> <mi>A</mi> <mi>c</mi> <mi>c</mi> <mi>F</mi> <mi>o</mi> <mi>w</mi> </mrow> <mo>*</mo> </msubsup> <mo>=</mo> <msubsup> <mi>u</mi> <mrow> <mi>D</mi> <mn>1</mn> <mo>_</mo> <mi>A</mi> <mi>c</mi> <mi>c</mi> <mi>F</mi> <mi>o</mi> <mi>w</mi> </mrow> <mo>*</mo> </msubsup> <mo>-</mo> <msubsup> <mi>u</mi> <mi>D</mi> <mo>*</mo> </msubsup> <mo>,</mo> <msubsup> <mi>u</mi> <mrow> <mi>Q</mi> <mn>2</mn> <mo>_</mo> <mi>A</mi> <mi>c</mi> <mi>c</mi> <mi>F</mi> <mi>o</mi> <mi>w</mi> </mrow> <mo>*</mo> </msubsup> <mo>=</mo> <msubsup> <mi>u</mi> <mrow> <mi>Q</mi> <mn>1</mn> <mo>_</mo> <mi>A</mi> <mi>c</mi> <mi>c</mi> <mi>F</mi> <mi>o</mi> <mi>w</mi> </mrow> <mo>*</mo> </msubsup> <mo>-</mo> <msubsup> <mi>u</mi> <mi>Q</mi> <mo>*</mo> </msubsup> <mo>;</mo> </mrow>

Step B9, basisPower is calculated accurately to follow The main energy source of mode it is expected power deviation D_{Pdc1_AccFow}；

Step B10, adjacent basic voltage vectors proportional algorithm S is performed, input is respectively U_dc2, obtain To the adjacent basic voltage vectors scale parameter a in auxiliary energy source₂、b₂；

Step B11, judge whether the expectation voltage vector that auxiliary energy source inventer is distributed exceeds modulation range：If a₂+b₂> 1, then perform step B12；Otherwise, step B13 is performed；

Step B12, power accurately follows mode effective marker position 0, even F_AccFo_w=0；

Step B13, power accurately follows mode effective marker position 1, even F_AccFo_w=1；

Step B14, power output accurately follows the main energy source inventer of mode it is expected voltage vector under stator DQ coordinate systems D, Q axis componentsAnd power accurately follows the main energy source of mode it is expected power deviation D_Pdc1__AccFo_wMode effective marker position F is accurately followed with power_AccFo_w。

8. the power distribution method of winding permanent magnet synchronous motor system is opened in automobile-used dual energy source according to claim 5, its It is characterised by, the algorithm of the voltage vector distribution of the voltage straight line method of salary distribution includes：

Step C1, directly it is expected that voltage vector gives main energy source inventer and it is expected voltage vector according to total, i.e.,

<mrow> <msubsup> <mi>u</mi> <mrow> <mi>D</mi> <mn>1</mn> <mo>_</mo> <mi>L</mi> <mi>i</mi> <mi>n</mi> <mi>D</mi> <mi>i</mi> <mi>s</mi> </mrow> <mo>*</mo> </msubsup> <mo>=</mo> <msubsup> <mi>u</mi> <mi>D</mi> <mo>*</mo> </msubsup> <mo>,</mo> <msubsup> <mi>u</mi> <mrow> <mi>Q</mi> <mn>1</mn> <mo>_</mo> <mi>L</mi> <mi>i</mi> <mi>n</mi> <mi>D</mi> <mi>i</mi> <mi>s</mi> </mrow> <mo>*</mo> </msubsup> <mo>=</mo> <msubsup> <mi>u</mi> <mi>Q</mi> <mo>*</mo> </msubsup> <mo>;</mo> </mrow>

Step C2, adjacent basic voltage vectors proportional algorithm S is performed, input is respectively U_dc1, obtain The adjacent basic voltage vectors scale parameter a of main energy source₁、b₁；

Step C3, judge that currently given main energy source inventer it is expected whether voltage vector exceeds modulation range：If a₁+b₁>1, Then perform step C4~C6；Otherwise, step C4~C6 is skipped, performs step C7；

Step C4, main energy source inventer is calculated it is expected to make main energy source inventer it is expected voltage vector on the direction of voltage vector The main energy source of lucky saturation it is expected voltage vector magnitude, even

The adjacent basic voltage vectors scale parameter of main energy source

Then revised main energy source it is expected voltage vector magnitude

Step C5, basisCalculate total expectation voltage vector magnitude

Step C6, withFor amplitude, it is expected that voltage vector direction provides the main energy source inventer of the straight line method of salary distribution by total It is expected voltage vector, i.e.,

<mrow> <msubsup> <mi>u</mi> <mrow> <mi>D</mi> <mn>1</mn> <mo>_</mo> <mi>L</mi> <mi>i</mi> <mi>n</mi> <mi>D</mi> <mi>i</mi> <mi>s</mi> </mrow> <mo>*</mo> </msubsup> <mo>=</mo> <mfrac> <msubsup> <mi>u</mi> <mi>D</mi> <mo>*</mo> </msubsup> <msub> <mi>u</mi> <mrow> <mi>s</mi> <mo>_</mo> <mi>A</mi> <mi>m</mi> <mi>p</mi> </mrow> </msub> </mfrac> <msubsup> <mi>u</mi> <mrow> <mi>s</mi> <mn>1</mn> <mo>_</mo> <mi>A</mi> <mi>m</mi> <mi>p</mi> </mrow> <mo>*</mo> </msubsup> <mo>,</mo> <msubsup> <mi>u</mi> <mrow> <mi>Q</mi> <mn>1</mn> <mo>_</mo> <mi>L</mi> <mi>i</mi> <mi>n</mi> <mi>D</mi> <mi>i</mi> <mi>s</mi> </mrow> <mo>*</mo> </msubsup> <mo>=</mo> <mfrac> <msubsup> <mi>u</mi> <mi>Q</mi> <mo>*</mo> </msubsup> <msub> <mi>u</mi> <mrow> <mi>s</mi> <mo>_</mo> <mi>A</mi> <mi>m</mi> <mi>p</mi> </mrow> </msub> </mfrac> <msubsup> <mi>u</mi> <mrow> <mi>s</mi> <mn>1</mn> <mo>_</mo> <mi>A</mi> <mi>m</mi> <mi>p</mi> </mrow> <mo>*</mo> </msubsup> <mo>;</mo> </mrow>

Step C7, the main energy source inventer of the output voltage straight line method of salary distribution it is expected D of the voltage vector under stator DQ coordinate systems, Q axis components

9. the power distribution method of winding permanent magnet synchronous motor system is opened in automobile-used dual energy source according to claim 5, its It is characterised by, the algorithm of the voltage vector method of salary distribution selection includes：

Judge low switching frequency mode effective marker position F_LowFreWhether it is 1, if F_LowFre=1, judge whether to meet following bar Part F_AccFow=0, D_{Pdc1_LowFre}≤D_{Pdc1_max}、D_{Pdc1_LowFre}≤D_{Pdc1_AccFow}Any one in 3 conditions；If meet 3 Any one in individual condition, then distributed using low switching frequency mode voltage vector, even main energy source inventer it is expected electricity Press D, Q axis component of the vector under stator DQ coordinate systemsIf it is unsatisfactory for 3 bars Any one in part, then mode voltage vector is accurately followed to distribute using power, even main energy source inventer it is expected voltage D, Q axis component of the vector under stator DQ coordinate systems

If F_LowFre=0, judge that power accurately follows mode effective marker position F_AccFowWhether it is 1；If F_AccFow=1, use Power accurately follows mode voltage vector to distribute, even main energy source inventer it is expected voltage vector under stator DQ coordinate systems D, Q axis componentsOtherwise, distributed using voltage straight line method of salary distribution voltage vector, Even main energy source inventer it is expected D, Q axis component of the voltage vector under stator DQ coordinate systems

10. the work(of winding permanent magnet synchronous motor system is opened in the automobile-used dual energy source according to any one of claim 6 to 8 Rate distribution method, it is characterised in that the adjacent basic voltage vectors proportional algorithm S includes：

Step S1, read unilateral inverter and it is expected D, Q axis component of the voltage vector under stator DQ coordinate systemsAnd Corresponding busbar voltage U_dcs；

Step S2, basisTo calculate projective parameter J, K, L；

Step S3, acquisition J, K, L positive and negative flag bit sign (J), sign (K), sign (L)；

Step S4, sector number N is calculated according to N=sign (J)+2sign (K)+4sign (L)；

Step S5, basisCome calculate scale parameter X, Y, Z；

Step S6, calculated according to N value condition and export adjacent basic voltage vectors scale parameter a_s、b_s。