CN108199635A - A kind of double three-phase machine Five-phase inverter and its vector control method - Google Patents
A kind of double three-phase machine Five-phase inverter and its vector control method Download PDFInfo
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- CN108199635A CN108199635A CN201810055073.9A CN201810055073A CN108199635A CN 108199635 A CN108199635 A CN 108199635A CN 201810055073 A CN201810055073 A CN 201810055073A CN 108199635 A CN108199635 A CN 108199635A
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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
- 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
- H02P21/18—Estimation of position or speed
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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
- H02P21/22—Current control, e.g. using a current control loop
-
- 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
- H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The invention discloses a kind of double three-phase machine Five-phase inverter and its vector control methods, the speed error of two motors in control system is compared, so that it is determined that two phase windings being connected with public bridge arm are main phase or slave phase respectively, the actual switch state of public bridge arm is finally determined according to principal and subordinate's selection principle, and the actual switch state of independent bridge arm is equal to the theoretical on off state of its phase winding connected, finally Five-phase inverter is controlled with obtained actual switch state, substantially increase the accuracy of motor control, it realizes fast to the response of Five-phase inverter double three-phase machine system, control with high accuracy.
Description
Technical field
The present invention relates to motor control technology fields, and in particular to a kind of double three-phase machine Five-phase inverter and its vector control
Method processed.
Background technology
With the development of control theory, computer level and motor process manufacture level, permanent magnet synchronous motor (PMSM)
The extensive use increasingly obtained in the industrial circles such as household electrical appliances, electric vehicle.Wherein, dual-motor drive system is big with low pressure
Power output, high power density, suitable for fault-tolerant operation the advantages that, therefore earn widespread respect.Traditional multi-motors drive system
In most common control structure be every three phase electric machine by a three-phase inverter independent control.Relative to conventional single motor
Drive system, dual motors system can be by the output torques of two motors of control, so as to reach elimination drive gap and share
The purpose of load.Due to dual-motor drive system can load sharing, can effectively reduce the output work of single motor drive system
Rate.Therefore, polyphase machine drive system is exported with low-pressure high-power, and high power density, torque ripple are small, suitable for fault-tolerant operation
The features such as, obtain extensive concern.In dual-motor drive system, need to control two motors simultaneously for developer
Not only to handle higher complexity, it is necessary to ensure safe operation in any case, safety during including equipment fault.Closely
Nian Lai, it is that bi-motor drives that can keep original excellent control performance while reducing the hardware cost of dual-motor drive system again
Dynamic systematic research hot spot.Traditional dual-motor drive system is mostly topological using 12 six leg inverters of switch, the structure
Although system has preferable control performance, the hardware cost of system is higher.
Invention content
The purpose of the present invention is to provide a kind of double three-phase machine Five-phase inverter and its vector control methods, existing to overcome
There is the deficiency of technology.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of double three-phase machine Five-phase inverter, including controller, three phase electric machine M1, three phase electric machine M2 and five parallel connections
In the inverter leg of DC power supply；Five inverter legs include two series connection power switch pipes, three phase electric machine M1 and
A winding of three phase electric machine M2 is commonly connected among one of two power switch pipes of inverter leg, forms public bridge
Arm, other two winding of three phase electric machine M1 and three phase electric machine M2 other two winding are individually connected to other four inversions
Among two power switch pipes of device bridge arm；
Wherein controller includes current detection sensor, hall position sensor and the rotational speed regulation mould being sequentially connected
Block, PI controllers, reference current generation module, current regulating module, hystersis controller and PWM generate unit, and PWM generates unit
Inverter leg is connected to, for the control signal of delivering power switching tube；Hall sensor module is for two three-phases of detection
The hall signal of motor, the hall signal that Hall sensor module detects resolve to two three phase electric machines by middle control module
Rotor-position signal θ1、θ2With the actual speed ω of two three phase electric machines1、ω2, and the rotor-position of two three phase electric machines is believed
Number θ1、θ2Reference current generation module is sent to, by the actual speed ω of two three phase electric machines1、ω2It is sent to rotational speed regulation mould
Block；Current detection module is used to detect the three-phase current I of two three phase electric machinesA、IB、ICAnd IU、IV、IW, and it is sent to electric current tune
Save module.It will be between the current regulating module of wherein two groups windings for being commonly connected to same inverter leg and hystersis controller
It is connected by selecting switch.
Further, five inverter legs include inverter leg L1, inverter leg L2, inverter leg L3, inversion
Device bridge arm L4With inverter leg L5, the winding F of the winding C and three phase electric machine M2 of three phase electric machine M1 is all connected to inverter leg
L3Power switch pipe T5 and power switch pipe T6 among, the winding A of three phase electric machine M1 is connected to inverter leg L1Power open
It closes among pipe T1 and power switch pipe T2, the winding B of three phase electric machine M1 is connected to inverter leg L2Power switch pipe T3 and
Among power switch pipe T4, the winding E of three phase electric machine M2 is connected to inverter leg L4Power switch pipe T7 and power switch
Among pipe T8, the winding D of three phase electric machine M2 is connected to inverter leg L5Power switch pipe T9 and power switch pipe T10 in
Between.
Further, power switch pipe uses IGBT or MOSFET.
Further, two three phase electric machines use three-phase permanent magnet synchronous motor, three-phase brushless dc motor or three-phase alternating current
Asynchronous machine.
A kind of vector control method of double three-phase machine Five-phase inverter, includes the following steps：
Obtain the actual speed W of two three phase electric machines respectively first1、W2With rotor-position signal θ1、θ2, by two motors
Actual speed W1、W2With given rotating speed W1 *、W2 *Speed error e is obtained after speed is adjustedw1、ew2；Then by two three-phases
The speed error e of motorw1、ew2By PI controllers obtain two three phase electric machines to constant current I1 *、I2 *, it is given by what is obtained
Electric current I1 *、I2 *With rotor-position signal θ1、θ2The reference current I of two three phase electric machines is obtained by reference current generatinga *、
Ib *、Ic *、Id *、Ie *、If *, by reference current Ia *、Ib *、Ic *、Id *、Ie *、If *With actual current Ia、Ib、Ic、Id、Ie、IfBy electricity
Current error e is obtained after stream adjustment modulea、eb、ec、ed、ee、ef, by wherein four groups of windings individually being connect with inverter leg
Current error ea、eb、ed、eeDirectly as the input signal S of each road hystersis controller1、S2、S4、S5, selected according to principal and subordinate former
Then determine public bridge arm, that is, third bridge arm L3Actual switch state S3, i.e.,：Work as ew1＞ ew2, the C phases of three phase electric machine M1 are main phase,
The F phases of three phase electric machine M2 are slave phase, then S3=ec；Work as ew1＜ ew2, the F phases of three phase electric machine M2 are main phase, the C phases of three phase electric machine M1
For slave phase, S3=ef；The signal that hystersis controller generates generates unit by PWM, generates unit using PWM to realize to two
The control of three phase electric machine.
Further, following steps are specifically included：
Step 1), system are initialized, and obtain two three phase electric machine M1、M2Actual speed ω1、ω2And it is transmitted to speed
It spends in adjustment module, reference rotation velocity ω is determined by speed adjustment module1 *、ω2 *With actual speed ω1、ω2Obtain speed error
eω1、eω2, speed error e will be obtainedω1、eω2It is sent to PI controllers and obtains given reference current I1 *、I2 *And it is sent to reference to electricity
Flow-generator obtains two three phase electric machine M1、M2Rotor hall sensor signal θ1、θ2And it is sent to reference current generating；
Step 2), the three-phase current signal I that two three phase electric machines are obtained using current detection sensora、Ib、Ic、Id、Ie、
IfIt is respectively fed in current regulating module；
Obtained in step 3), step 1) to constant current I1 *、I2 *With two three phase electric machine M1、M2Rotor hall position letter
Number θ1、θ2The three-phase reference current I of two three phase electric machines M1, M2 are calculated by reference current generatinga *、Ib *、Ic *、Id *、
Ie *、If *；
The three-phase reference current I of step 4), two three phase electric machines M1, M2a *、Ib *、Ic *、Id *、Ie *、If *With it is actually detected
Electric current Ia、Ib、Ic、Id、Ie、IfIn current regulating module the correspondence of two motors M1, M2 are obtained after respective calculating current error
Current error ea、eb、ec、ed、ee、ef；
Step 5), the current error e by the wherein four groups windings individually being connect with inverter lega、eb、ed、eeDirectly make
Input signal S for each road hystersis controller1、S2、S4、S5, public bridge arm i.e. third bridge arm L is determined according to principal and subordinate's selection principle3
Actual switch state S3, i.e.,：Work as ew1＞ ew2, the C phases of three phase electric machine M1 are main phase, and the F phases of three phase electric machine M2 are slave phase, then S3
=ec；Work as ew1＜ ew2, the F phases of three phase electric machine M2 are main phase, and the C phases of three phase electric machine M1 are slave phase, S3=ef；Hystersis controller produces
Five raw input signal S1、S2、S3、S4、S5Unit is generated by PWM, generates unit using PWM to realize to two three-phase electricities
The control of machine.
Further, by the actual speed ω of obtained in step 1) two three phase electric machines M1, M21、ω2With given reference
Rotational speed omega1 *、ω2 *Speed error e is obtained after speed adjustment moduleω1、eω2：
Speed error eω1、eω2Given reference current I is obtained by PI controllers1 *、I2 *：
In formula, KpFor positive value proportionality constant, KIFor positive value integral constant.
Further, for three phase electric machine or threephase asynchronous, the three-phase reference current difference of two motors M1, M2
For Ia *、Ib *、Ic *、Id *、Ie *、If *：
In formula, I1 *For three phase electric machine M1Total input current；Ia *、Ib *、Ic *Respectively three phase electric machine M1The phase electricity of each winding
Stream；I2 *For three phase electric machine M2Total input current；Id *、Ie *、If *Respectively three phase electric machine M2The phase current of each winding.
Compared with prior art, the present invention has technique effect beneficial below：
A kind of double three-phase machine Five-phase inverter of the present invention, including controller, three phase electric machine M1, three phase electric machine M2 and five
A inverter leg for being parallel to DC power supply；The inverter being made of by using five power switch pipe of two series connection
Bridge arm connects two three phase electric machines simultaneously, realizes the Time-sharing control of two three phase electric machines, and double electricity are controlled using five leg inverters
The basic structure of machine system reduces the usage quantity of switching device, eliminate the coordinate transform of vector mode with calculate and
Simplify mathematical model of induction motor for decoupling, without common PWM pulse-duration modulation signal generators, control structure is simple,
Control the clear physical concept of signal processing, system torque response is rapid and non-overshoot, be a kind of there is Gao Jing, dynamic property
AC speed regulating control mode.
A kind of vector control method of double three-phase machine Five-phase inverter of the present invention, by turn of two motors in control system
Fast error is compared, so that it is determined that two phase windings being connected with public bridge arm are main phase or slave phase respectively, finally according to master
The actual switch state of public bridge arm is determined from selection principle, and the actual switch state of independent bridge arm is equal to the phase that it is connected
The theoretical on off state of winding finally controls Five-phase inverter with obtained actual switch state, substantially increases
The accuracy of motor control realizes, with high accuracy control fast to the response of Five-phase inverter double three-phase machine system.
Description of the drawings
Fig. 1 is present system structure diagram；
Fig. 2 is drive system control block diagram of the present invention；
Fig. 3 is the flow diagram of present system control method.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings：
As shown in Figure 1 and Figure 2, a kind of double three-phase machine Five-phase inverter, including controller, three phase electric machine M1, three phase electric machine
M2 and five inverter leg for being parallel to DC power supply；Five inverter legs include the power switch of two series connection
A winding of pipe, three phase electric machine M1 and three phase electric machine M2 are commonly connected to one of two power switch pipes of inverter leg
Centre, forms public bridge arm, and other two winding of three phase electric machine M1 and three phase electric machine M2 other two winding individually connect
It is connected among two power switch pipes of other four inverter legs.
Five inverter legs include inverter leg L1, inverter leg L2, inverter leg L3, inverter leg L4
With inverter leg L5, the winding F of the winding C and three phase electric machine M2 of three phase electric machine M1 is all connected to inverter leg L3Power
Among switch transistor T 5 and power switch pipe T6, the winding A of three phase electric machine M1 is connected to inverter leg L1Power switch pipe T1
Among power switch pipe T2, the winding B of three phase electric machine M1 is connected to inverter leg L2Power switch pipe T3 and power open
It closes among pipe T4, the winding E of three phase electric machine M2 is connected to inverter leg L4Power switch pipe T7 and power switch pipe T8 in
Between, the winding D of three phase electric machine M2 is connected to inverter leg L5Power switch pipe T9 and power switch pipe T10 among.
Power switch pipe uses IGBT or MOSFET.
Two three phase electric machines use three-phase permanent magnet synchronous motor, three-phase brushless dc motor or ac three-phase asynchronous motor.
Wherein controller includes current detection sensor, hall position sensor and the rotational speed regulation mould being sequentially connected
Block, PI controllers, reference current generation module, current regulating module, hystersis controller and PWM generate unit, and PWM generates unit
Inverter leg is connected to, for the control signal of delivering power switching tube；Hall sensor module is for two three-phases of detection
The hall signal of motor, the hall signal that Hall sensor module detects resolve to two three phase electric machines by middle control module
Rotor-position signal θ1、θ2With the actual speed ω of two three phase electric machines1、ω2, and the rotor-position of two three phase electric machines is believed
Number θ1、θ2Reference current generation module is sent to, by the actual speed ω of two three phase electric machines1、ω2It is sent to rotational speed regulation mould
Block；Current detection module is used to detect the three-phase current I of two three phase electric machinesA、IB、ICAnd IU、IV、IW, and it is sent to electric current tune
Save module.It will be between the current regulating module of wherein two groups windings for being commonly connected to same inverter leg and hystersis controller
It is connected by selecting switch；
It is described further below in conjunction with the accompanying drawings to structural principle of the invention and using step：
As shown in figure 3, a kind of double three-phase machine Five-phase inverter vector control method, includes the following steps：
Obtain the actual speed W of two three phase electric machines respectively first1、W2With rotor-position signal θ1、θ2, by two motors
Actual speed W1、W2With given rotating speed W1 *、W2 *Speed error e is obtained after speed is adjustedw1、ew2；Then by two three-phases
The speed error e of motorw1、ew2By PI controllers obtain two three phase electric machines to constant current I1 *、I2 *, it is given by what is obtained
Electric current I1 *、I2 *With rotor-position signal θ1、θ2The reference current I of two three phase electric machines is obtained by reference current generatinga *、
Ib *、Ic *、Id *、Ie *、If *, by reference current Ia *、Ib *、Ic *、Id *、Ie *、If *With actual current Ia、Ib、Ic、Id、Ie、IfBy electricity
Current error e is obtained after stream adjustment modulea、eb、ec、ed、ee、ef, by wherein four groups of windings individually being connect with inverter leg
Current error ea、eb、ed、eeDirectly as the input signal S of each road hystersis controller1、S2、S4、S5, selected according to principal and subordinate former
Then determine public bridge arm, that is, third bridge arm L3Actual switch state S3, i.e.,：Work as ew1＞ ew2, the C phases of three phase electric machine M1 are main phase,
The F phases of three phase electric machine M2 are slave phase, then S3=ec；Work as ew1＜ ew2, the F phases of three phase electric machine M2 are main phase, the C phases of three phase electric machine M1
For slave phase, S3=ef；The signal that hystersis controller generates generates unit by PWM, generates unit using PWM to realize to two
The control of three phase electric machine.
Specifically include following steps：
Step 1), system are initialized, using hall position sensor respectively by two three phase electric machine M1、M2Rotor
Hall sensor signal is collected in main control unit, and main control unit includes rotating speed computing module and position computation module, main control unit
Hall sensor signal is resolved to the rotor-position signal θ of two three phase electric machines1、θ2With actual speed ω1、ω2, by acquisition
The actual speed ω of two three phase electric machines1、ω2It is sent in speed adjustment module, by the rotor position of two three phase electric machines of acquisition
Confidence θ1、θ2It is sent in reference current generating, the biphase current of two three phase electric machines is obtained using current detection sensor
Signal Ia、Ib、Ic、Id、Ie、IfIt is respectively fed in current regulating module；
Step 2), the actual speed ω by obtained in step 1) two three phase electric machines M1, M21、ω2Turn with given reference
Fast ω1 *、ω2 *Speed error e is obtained after speed adjustment moduleω1、eω2：
Speed error eω1、eω2Given reference current I is obtained by PI controllers1 *、I2 *：
In formula, KpFor positive value proportionality constant, KIFor positive value integral constant；Respective three armature of two permanent magnet synchronous motors around
The difference of phase between group is all 120 °；
Step 3) will be obtained in step 2) to constant current I1 *、I2 *The rotor of two three phase electric machines obtained with step 1)
Position signal θ1、θ2The three-phase reference current I of two three phase electric machines M1, M2 are calculated by reference current generatinga *、Ib *、
Ic *、Id *、Ie *、If *；For three phase electric machine or threephase asynchronous, the three-phase reference current of two motors M1, M2 are respectively
Ia *、Ib *、Ic *、Id *、Ie *、If *：
In formula, I1 *For three phase electric machine M1Total input current；Ia *、Ib *、Ic *Respectively three phase electric machine M1The phase electricity of each winding
Stream；I2 *For three phase electric machine M2Total input current；Id *、Ie *、If *Respectively three phase electric machine M2The phase current of each winding；
Step 4), the three-phase reference current I by obtained in step 3) two three phase electric machines M1, M2a *、Ib *、Ic *、Id *、
Ie *、If *With the actually detected electric current I detected in step 1)a、Ib、Ic、Id、Ie、IfElectricity is respectively calculated in current regulating module
The corresponding current error e of two motors M1, M2 are obtained after stream errora、eb、ec、ed、ee、ef：
Step 5), the current error e by the wherein four groups windings individually being connect with inverter lega、eb、ed、eeDirectly make
Input signal S for each road hystersis controller1、S2、S4、S5, public bridge arm i.e. third bridge arm L is determined according to principal and subordinate's selection principle3
Actual switch state S3, i.e.,：Work as ew1＞ ew2, the C phases of three phase electric machine M1 are main phase, and the F phases of three phase electric machine M2 are slave phase, then S3
=ec；Work as ew1＜ ew2, the F phases of three phase electric machine M2 are main phase, and the C phases of three phase electric machine M1 are slave phase, S3=ef；Calculation formula is such as
Under：
Five input signal S that hystersis controller generates1、S2、S3、S4、S5Unit is generated by PWM, is generated using PWM single
Member realizes the control to two three phase electric machines.
Claims (8)
1. a kind of double three-phase machine Five-phase inverter, which is characterized in that including controller, three phase electric machine M1, three phase electric machine M2 with
And five inverter legs for being parallel to DC power supply；The power switch pipes that five inverter legs are connected including two, three
A winding of phase motor M1 and three phase electric machine M2 is commonly connected among one of two power switch pipes of inverter leg,
Form public bridge arm, other two winding of three phase electric machine M1 and three phase electric machine M2 other two winding are individually connected to it
Among two power switch pipes of his four inverter legs；
Wherein controller includes current detection sensor, hall position sensor and the rotational speed regulation module being sequentially connected, PI
Controller, reference current generation module, current regulating module, hystersis controller and PWM generate unit, and PWM generates unit connection
In inverter leg, for the control signal of delivering power switching tube；Hall sensor module is for two three phase electric machines of detection
Hall signal, the hall signal that Hall sensor module detects passes through middle control module and resolves to the rotors of two three phase electric machines
Position signal θ1、θ2With the actual speed ω of two three phase electric machines1、ω2, and by the rotor-position signal θ of two three phase electric machines1、
θ2Reference current generation module is sent to, by the actual speed ω of two three phase electric machines1、ω2It is sent to rotational speed regulation module；Electricity
Detection module is flowed for detecting the three-phase current I of two three phase electric machinesA、IB、ICAnd IU、IV、IW, and it is sent to current regulation mould
Block will pass through between the current regulating module of wherein two groups windings for being commonly connected to same inverter leg and hystersis controller
Selecting switch connects.
A kind of 2. double three-phase machine Five-phase inverter according to claim 1, which is characterized in that five inverter leg packets
Include inverter leg L1, inverter leg L2, inverter leg L3, inverter leg L4With inverter leg L5, three phase electric machine M1
Winding C and the winding F of three phase electric machine M2 be all connected to inverter leg L3Power switch pipe T5 and power switch pipe T6 in
Between, the winding A of three phase electric machine M1 is connected to inverter leg L1Power switch pipe T1 and power switch pipe T2 among, three-phase electricity
The winding B of machine M1 is connected to inverter leg L2Power switch pipe T3 and power switch pipe T4 among, three phase electric machine M2 around
Group E is connected to inverter leg L4Power switch pipe T7 and power switch pipe T8 among, the winding D of three phase electric machine M2 is connected to
Inverter leg L5Power switch pipe T9 and power switch pipe T10 among.
3. a kind of double three-phase machine Five-phase inverter according to claim 1, which is characterized in that power switch pipe uses
IGBT or MOSFET.
4. a kind of double three-phase machine Five-phase inverter according to claim 1, which is characterized in that two three phase electric machines use
Three-phase permanent magnet synchronous motor, three-phase brushless dc motor or ac three-phase asynchronous motor.
5. a kind of a kind of vector control method of double three-phase machine Five-phase inverter as described in claim 1, which is characterized in that
Include the following steps：
Obtain the actual speed W of two three phase electric machines respectively first1、W2With rotor-position signal θ1、θ2, by the reality of two motors
Rotating speed W1、W2With given rotating speed W1 *、W2 *Speed error e is obtained after speed is adjustedw1、ew2；Then by two three phase electric machines
Speed error ew1、ew2By PI controllers obtain two three phase electric machines to constant current I1 *、I2 *, will obtain to constant current
I1 *、I2 *With rotor-position signal θ1、θ2The reference current I of two three phase electric machines is obtained by reference current generatinga *、Ib *、
Ic *、Id *、Ie *、If *, by reference current Ia *、Ib *、Ic *、Id *、Ie *、If *With actual current Ia、Ib、Ic、Id、Ie、IfThrough overcurrent tune
Current error e is obtained after section modulea、eb、ec、ed、ee、ef, by the electricity of the wherein four groups windings individually being connect with inverter leg
Stream error ea、eb、ed、eeDirectly as the input signal S of each road hystersis controller1、S2、S4、S5, it is true according to principal and subordinate's selection principle
Fixed public bridge arm, that is, third bridge arm L3Actual switch state S3, i.e.,：Work as ew1＞ ew2, the C phases of three phase electric machine M1 are main phase, three-phase
The F phases of motor M2 are slave phase, then S3=ec；Work as ew1＜ ew2, the F phases of three phase electric machine M2 are main phase, the C phases of three phase electric machine M1 be from
Phase, S3=ef；The signal that hystersis controller generates generates unit by PWM, generates unit using PWM to realize to two three-phases
The control of motor.
A kind of 6. vector control method of double three-phase machine Five-phase inverter according to claim 5, which is characterized in that tool
Body includes the following steps：
Step 1), system are initialized, and obtain two three phase electric machine M1、M2Actual speed ω1、ω2And it is transmitted to speed tune
It saves in module, reference rotation velocity ω is determined by speed adjustment module1 *、ω2 *With actual speed ω1、ω2Obtain speed error eω1、
eω2, speed error e will be obtainedω1、eω2It is sent to PI controllers and obtains given reference current I1 *、I2 *And it is sent to reference current
Generator obtains two three phase electric machine M1、M2Rotor hall sensor signal θ1、θ2And it is sent to reference current generating；
Step 2), the three-phase current signal I that two three phase electric machines are obtained using current detection sensora、Ib、Ic、Id、Ie、IfPoint
It is not sent in current regulating module；
Obtained in step 3), step 1) to constant current I1 *、I2 *With two three phase electric machine M1、M2Rotor hall sensor signal θ1、
θ2The three-phase reference current I of two three phase electric machines M1, M2 are calculated by reference current generatinga *、Ib *、Ic *、Id *、Ie *、
If *；
The three-phase reference current I of step 4), two three phase electric machines M1, M2a *、Ib *、Ic *、Id *、Ie *、If *With actually detected electric current
Ia、Ib、Ic、Id、Ie、IfIn current regulating module the corresponding electricity of two motors M1, M2 are obtained after respective calculating current error
Stream error ea、eb、ec、ed、ee、ef；
Step 5), the current error e by the wherein four groups windings individually being connect with inverter lega、eb、ed、eeDirectly as each
The input signal S of road hystersis controller1、S2、S4、S5, public bridge arm i.e. third bridge arm L is determined according to principal and subordinate's selection principle3Reality
Border on off state S3, i.e.,：Work as ew1＞ ew2, the C phases of three phase electric machine M1 are main phase, and the F phases of three phase electric machine M2 are slave phase, then S3=
ec；Work as ew1＜ ew2, the F phases of three phase electric machine M2 are main phase, and the C phases of three phase electric machine M1 are slave phase, S3=ef；Hystersis controller generates
Five input signal S1、S2、S3、S4、S5Unit is generated by PWM, generates unit using PWM to realize to two three phase electric machines
Control.
7. the vector control method of a kind of double three-phase machine Five-phase inverter according to claim 6, which is characterized in that will
The actual speed ω of two three phase electric machines M1, M2 obtained in step 1)1、ω2With given reference rotation velocity ω1 *、ω2 *By speed
Speed error e is obtained after adjustment moduleω1、eω2：
Speed error eω1、eω2Given reference current I is obtained by PI controllers1 *、I2 *：
In formula, KpFor positive value proportionality constant, KIFor positive value integral constant.
8. the vector control method of a kind of double three-phase machine Five-phase inverter according to claim 6, which is characterized in that right
In three phase electric machine or threephase asynchronous, the three-phase reference current of two motors M1, M2 are respectively Ia *、Ib *、Ic *、Id *、Ie *、
If *：
In formula, I1 *For three phase electric machine M1Total input current；Ia *、Ib *、Ic *Respectively three phase electric machine M1The phase current of each winding；
I2 *For three phase electric machine M2Total input current；Id *、Ie *、If *Respectively three phase electric machine M2The phase current of each winding.
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