CN109672381A - A kind of the ovennodulation control method and its device of motor - Google Patents
A kind of the ovennodulation control method and its device of motor Download PDFInfo
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- CN109672381A CN109672381A CN201811453518.5A CN201811453518A CN109672381A CN 109672381 A CN109672381 A CN 109672381A CN 201811453518 A CN201811453518 A CN 201811453518A CN 109672381 A CN109672381 A CN 109672381A
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Classifications
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention discloses a kind of ovennodulation control method of motor, it is related to motor modulation technique, the following steps are included: the error signal and current feedback signal of acquisition motor feedback revolving speed and given rotating speed, obtain the command voltage signal U of motor by the coordinate transform of two-phase rotating coordinate system to two-phase stationary coordinate systemα *、Uβ *, by space vector pulse width modulation SVPWM, angle is obtained to (θh, θr) binary function F (θh, θr), it obtains modulation ratio MI and calculates modulation ratio MI；The modulation ratio MI and angle are to (θh, θr) correspond, according to the value of modulation ratio MI, angle is obtained to (θh, θr) value；According to angle to (θh, θr) value, calculate motor needed for voltage vector and corresponding duty ratio, then obtain six tunnel driving signal of inverter, the present invention need to only obtain angle to (θh, θr) numerical information, can determine the fundamental wave size to be exported, ovennodulation can be realized, principle is simple, easy to operate.
Description
Technical field
The present invention relates to motor modulation techniques, particularly relate to the ovennodulation control method and its device of a kind of motor.
Background technique
The output voltage of usual inverter will receive the limitation of DC bus-bar voltage size, in the case of constant busbar voltage,
Its utilization rate will will affect the torque and power output of motor in weak magnetic area, such as in the drive system of electric car, usually
DC bus-bar voltage is not high, simultaneously as, with the increase of output power, DC bus-bar voltage can also subtract there are the internal resistance of source
Small, this situation is very unfavorable to the high-power output of motor under high speed weak magnetic.And it rationally can be improved directly using Overmodulation Method
Voltage utilization is flowed, the stable operation range of motor is extended.
In two level three-phase inversion systems, the regular hexagon region that basic voltage vectors are constituted is space vector pulse width tune
Making the region in the voltage space inscribed circle of (SVPWM) is linear modulation area.It, can but in order to further increase voltage utilization
So that output voltage vector expands to except inscribed circle within hexagon.Overmodulation technique has clear advantage: it is female to improve direct current
Line voltage utilization rate improves speed output area to improve the fundamental voltage of inverter output, improves load capacity.Especially
Under six-step mode, the maximum fundamental voltage of output can be improved into 10.27% (under conditions of SVPWM).But it also can band
Carry out some problems, current harmonic content becomes larger, and torque pulsation and noise are big etc..At the same time, traditional Holtz double mode toning
The defects of system is in the presence of that cannot make the fundamental voltage of output be equal to the fundamental wave value of demand, lack stringent theoretical proof.And it passes
For the Bolognani single mode ovennodulation of system in identical modulation depth, the harmonic wave of output is larger.
Summary of the invention
In view of this, the present invention propose it is a kind of with angle to being control target based on space vector pulse width modulation,
To the ovennodulation control method and its device of motor.
Ovennodulation control method based on above-mentioned purpose motor provided by the invention, comprising the following steps:
The error signal and current feedback signal for acquiring motor feedback revolving speed and given rotating speed, pass through two-phase rotating coordinate system
Coordinate transform to two-phase stationary coordinate system obtains the command voltage signal U of motorα *、Uβ *, by space vector pulse width modulation
SVPWM obtains angle to (θh, θr) binary function F (θh, θr), it obtains modulation ratio MI and calculates modulation ratio MI, whereinUrefFor modulating wave fundamental wave, that is, F (θh, θr), UdcFor DC bus-bar voltage；
The modulation ratio MI and angle are to (θh, θr) correspond, according to the value of modulation ratio MI, angle is obtained to (θh, θr)
Value；
According to angle to (θh, θr) value, calculate motor needed for voltage vector and corresponding duty ratio, by voltage vector
And corresponding duty ratio is input in dsp controller and is handled, then dsp controller output digit signals to inverter
In, obtain six tunnel driving signal of inverter.
Coordinate transform described in this method the following steps are included:
Acquire motor feedback revolving speed and given rotating speed error signal and current feedback signal, according to motor feedback revolving speed with
The error signal of given rotating speed obtains the reference current feedback signal i under d, q axis coordinate systemd *、iq *；
According to the reference current feedback signal i gotd *、iq *D, q are obtained compared with the current feedback signal
Reference voltage signal U under coordinate systemd *、Uq *；
According to the reference voltage signal U gotd *、Uq *Obtain command voltage signal Uα *、Uβ *；
According to command voltage signal Uα *、Uβ *, it obtains modulation ratio MI and calculates modulation ratio MI, judge the value of modulation ratio MI,
When modulation ratio MI is less than 1, then obtain six path switching signal of inverter with Traditional Space Vector Pulse Width Modulation method, otherwise sequentially into
The following step of row.
The i of reference current feedback signal described in this methodd *、iq *It is that the error signal of motor feedback revolving speed is passed through into PI tune
Device is saved, to obtain the reference current feedback signal i under d, q axis coordinate systemd *、iq *。
Reference voltage signal i described in this methodd *、iq *Compared with the current feedback signal relatively after, equally pass through PI tune
Device is saved, to obtain the reference voltage signal U under d, q coordinate systemd *、Uq *。
The U of command voltage signal described in this methodd *、Uq *By coordinate transform formula (1), command voltage signal U is obtainedα *、
Uβ *, the formula (1) are as follows:
Wherein, θ is the angle of voltage vector and α axis.
The U of command voltage signal described in this methodα *、Uβ *, angle is obtained to (θ according to formula (2) by SVPWMh, θr)
Binary function F (θh, θr), and modulation ratio MI is calculated, the formula (2) are as follows:
Wherein, UdcFor DC bus-bar voltage,
The range of modulation ratio MI described in this method is 1-1.1027, and as modulation ratio MI=1.1027, fundamental voltage is
When modulation ratio MI is between 1-1.1027 range in this method, angle is to (θh, θr) function trace be hexagon and
Hexagon Inner arc；When modulation ratio MI is equal to 1.1027, angle is to (θh, θr) function trace be hexagon.
Based on above-mentioned purpose, the present invention discloses a kind of device of the ovennodulation control method of motor, described devices
Include:
Permanent magnet synchronous motor: for obtaining the given rotating speed of motor, the error signal of motor feedback revolving speed and given rotating speed
And current feedback signal；
Inverter: the three-phase input electric energy of the permanent magnet synchronous motor is provided；
Signal acquisition and coordinate transformation module: it is used for acquisition instruction voltage signal Uα *、Uβ *；
Modulation operation module: the command voltage signal U that will be obtainedα *、Uβ *Carry out Overmodulation Method, command voltage signal Uα *、
Uβ *Enter dsp controller after signal conditioning circuit and is transformed to digital signal；
Pulse output module: digital signal output is six way switch pulses by the dsp controller, then by driving
The final driving signal of six switching tubes of the inverter is obtained after dynamic circuit.
Signal acquisition described in the device and coordinate transformation module include:
Current feedback signal obtains module: according to the error signal of motor feedback revolving speed and given rotating speed, obtaining d, q axis and sits
Reference current feedback signal i under mark systemd *、iq *；
Voltage signal obtains module: according to reference current feedback signal id *、iq *Relatively come compared with the current feedback signal
Obtain the reference voltage signal U under d, q axis coordinate systemd *、Uq *；
Command voltage signal acquisition module: according to reference voltage signal Ud *、Uq *The finger being transformed under two-phase stationary coordinate system
Enable voltage signal Uα *、Uβ *。
From the above it can be seen that a kind of ovennodulation control method of motor provided by the invention, by acquiring motor
The error signal of given rotating speed and machine feedback revolving speed, is obtained by the coordinate transform of two-phase rotating coordinate system to two-phase stationary coordinate system
To the command voltage signal U of motorα *、Uβ *, by space vector pulse width modulation SVPWM, angle is obtained to (θh, θr) binary letter
Number F (θh, θr), it defines modulation ratio MI and calculates modulation ratio MI and obtain angle to (θ further according to the value of modulation ratio MIh, θr)
Value, according to angle to (θh, θr) value, calculate motor needed for voltage vector and corresponding duty ratio, finally obtain inverter six
Road driving signal.Relative to Bolognani single mode overmodulation method, solve in identical modulation depth, output harmonic wave
Larger problem；Opposite Holtz double mode overmodulation method, there is stringent theoretical proof, and it is big to solve torque pulsation, deposits
The noise the problems such as；Subregion is not needed, it is only necessary to control angle to (θh, θr), it can realize ovennodulation, principle is simple, operation
It is convenient.
Detailed description of the invention
Fig. 1 is the structure principle chart of the embodiment of the present invention；
Fig. 2 is the method schematic of the embodiment of the present invention；
Fig. 3 is the vector locus of ovennodulation in the embodiment of the present invention；
Fig. 4 is simulation result diagram of the modulation ratio M1 between 1.08-1.1027 range in the embodiment of the present invention；
Fig. 5 is experimental waveform of the motor operation under six-step mode in the embodiment of the present invention；
Fig. 6 is the structural block diagram in the embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings to invention is more fully described, wherein illustrating exemplary embodiment of the present invention.
For the problems such as current harmonic content existing for traditional overmodulation method becomes larger, torque pulsation and noise are big, originally
The solution that invention proposes is the ovennodulation control method using a kind of motor, only need to obtain angle to (θh, θr) numerical value letter
Breath, can determine the fundamental wave size to be exported, ovennodulation can be realized, principle is simple, easy to operate.
The ovennodulation control method of motor provided by the invention, comprising the following steps:
The error signal and current feedback signal for acquiring motor feedback revolving speed and given rotating speed, pass through two-phase rotating coordinate system
Coordinate transform to two-phase stationary coordinate system obtains the command voltage signal U of motorα *、Uβ *, by space vector pulse width modulation
SVPWM obtains modulation ratio MI and calculates modulation ratio MI, whereinUrefFor modulating wave fundamental wave, that is, F (θh, θr),
UdcFor DC bus-bar voltage；
The modulation ratio MI and angle are to (θh, θr) correspond, according to the value of modulation ratio MI, angle is obtained to (θh, θr)
Value；
According to angle to (θh, θr) value, calculate motor needed for voltage vector and corresponding duty ratio, by voltage vector
And corresponding duty ratio is input in dsp controller and is handled, then dsp controller output digit signals to inverter
In, obtain six tunnel driving signal of inverter.
A kind of ovennodulation control method of motor provided by the invention feeds back revolving speed by acquisition motor given rotating speed and machine
Error signal, the command voltage signal of motor is obtained by the coordinate transform of two-phase rotating coordinate system to two-phase stationary coordinate system
Uα *、Uβ *, by space vector pulse width modulation SVPWM, angle is obtained to (θh, θr) binary function F (θh, θr), define modulation ratio
MI simultaneously calculates modulation ratio MI, further according to the value of modulation ratio MI, obtains angle to (θh, θr) value, according to angle to (θh, θr)
Value, calculate motor needed for voltage vector and corresponding duty ratio, finally obtain six tunnel driving signal of inverter.Relative to
Bolognani single mode overmodulation method, solves in identical modulation depth, the larger problem of output harmonic wave；Relatively
Holtz double mode overmodulation method, there is stringent theoretical proof, and solves the problems such as torque pulsation is big, and there are noises；No
Need subregion, it is only necessary to control angle to (θh, θr), it can realize ovennodulation, principle is simple, easy to operate.
Relatively good implementation of the present invention is described in detail below.In the examples below, motor is using permanent magnetism
Synchronous motor, the present invention have made the correctness of experimental verification this method of permanent magnet synchronous motor, can similarly be transplanted to it
On his motor.
Referring to Fig. 1, coordinate transform described in this method the following steps are included:
Believed according to the error signal and current feedback of permanent magnet synchronous motor given rotating speed and permanent magnet synchronous motor feedback revolving speed
Number, wherein the given rotating speed fixation of permanent magnet synchronous motor will not change, and the error of permanent magnet synchronous motor Real-time Feedback is believed
Number (error value between given rotating speed) is variation, obtains the reference current under d, q axis coordinate system according to the two values
Feedback signal id *、iq *；
According to the reference current feedback signal i got befored *、iq *Compared with the current feedback signal
Reference voltage signal U under to d, q coordinate systemd *、Uq *, wherein reference voltage signal Ud *、Uq *It is to obtain d, q by pi regulator
Reference voltage signal U under coordinate systemd *、Uq *, pi regulator is a kind of linear controller, it is defeated according to given value and reality
Value constitutes control deviation out, and the ratio of deviation and integral are constituted control amount by linear combination, controlled controlled device；
According to the reference voltage signal U got befored *、Uq *The instruction electricity being transformed under two-phase stationary coordinate system
Press signal Uα *、Uβ *, wherein reference voltage signal Ud *、Uq *It is also by pi regulator, by the signal under two-phase stationary coordinate system
Acquisition and coordinate transform formula (1), the formula (1) are as follows:
Wherein, θ is the angle of voltage vector and α axis, obtains command voltage signal Uα *、Uβ *；
According to command voltage signal Uα *、Uβ *, obtain modulation ratio MI and calculate modulation ratio MI, wherein
UrefFor modulating wave fundamental wave, that is, F (θh, θr), UdcFor DC bus-bar voltage；The value for judging modulation ratio MI, when modulation ratio MI is less than 1,
Six path switching signal of inverter then is obtained with Traditional Space Vector Pulse Width Modulation method, otherwise sequentially carries out following step.This
In the Traditional Space Vector Pulse Width Modulation method mentioned be Holtz two-mode method and Bolognani single mode overmodulation method；
When modulation ratio MI is not less than 1, then by space vector pulse width modulation (Space Vector Pulse Width
Modulation), the main thought of SVPWM is with three-phase symmetrical motor stator sub-ideal when the power supply of three-phase symmetrical sine voltage
Magnetic linkage circle is reference standard, makees switching appropriate with three-phase inverter difference switching mode, so that PWM wave is formed, to be formed
Practical flux linkage vector track its accurate magnetic linkage circle.The command voltage signal U that will be obtainedα *、Uβ *By Overmodulation Method, adopt
The command voltage signal U collectedα *、Uβ *Dsp controller is entered back into after signal conditioning circuit is transformed to digital signal, DSP control
Device, that is, DSP (Digital Signal Process) chip, that is, Digital Signal Processing processed, dsp chip refer to realize number
The chip of word signal processing technology.According to formula (2), the formula (2) are as follows:
Wherein, UdcFor DC bus-bar voltage,And then angle is obtained to (θh, θr) binary
Function F (θh, θr)；
The modulation ratio MI and angle are to (θh, θr) correspond, according to the value of modulation ratio MI, angle is obtained to (θh, θr)
Value modulated angle can be obtained to (θ by the function trace of modulation ratio MIh, θr) function trace, then in institute
It asks and keeps corner position vector in angular range, then the voltage vector of other angles effect is one section of hexagon side, toning
The entire scope of system is exactly from starting pointIt is final available to the process of terminal (0,0)
Then according to the angle got to (θh, θr) value, calculate motor needed for voltage vector and corresponding duty
Than then obtaining the driving signal of six way switch pipe of inverter.
The range of modulation ratio MI described in this method is 1-1.1027, and as modulation ratio MI=1.1027, fundamental voltage is
When modulation ratio MI is between 1-1.1027 range in this method, angle is to (θh, θr) function trace be hexagon and
Hexagon Inner arc；When modulation ratio MI is equal to 1.1027, angle is to (θh, θr) function trace be hexagon, i.e., so-called six
Step mode.
Referring to Fig. 2, need to only obtain angle to (θh, θr) numerical information, can determine the fundamental wave size to be exported.
Referring to Fig. 3, being the angle after ovennodulation of the present invention to (θh, θr) function trace, the similar sinusoidal rail in the track
Mark is from track starting pointTo the process of terminal (0,0).
Referring to Fig. 4, being the simulation result diagram that modulation ratio MI is 1.08-1.1027, wherein channel 1 indicates speed, channel 2
For electromagnetic torque, channel 3 is a phase current, and channel 4 is a phase voltage, from simulation result it can be seen that even if without weak magnetic, originally
Invention can improve fundamental voltage very well still to improve revolving speed.
Referring to Fig. 5, being experimental waveform of the motor operation under six-step mode, under this state modulation ratio MI=1.Channel 1,
2 be respectively given revolving speed and actual revolving speed, and channel 3 is phase voltage, and channel 4 is electric machine phase current.No matter emulate or real
It tests all consistent with theory analysis.
A kind of ovennodulation control method of motor provided by the invention feeds back revolving speed by acquisition motor given rotating speed and machine
Error signal, the command voltage signal of motor is obtained by the coordinate transform of two-phase rotating coordinate system to two-phase stationary coordinate system
Uα *、Uβ *, by space vector pulse width modulation SVPWM, angle is obtained to (θh, θr) binary function F (θh, θr), define modulation ratio
MI simultaneously calculates modulation ratio MI, further according to the value of modulation ratio MI, obtains angle to (θh, θr) value, according to angle to (θh, θr)
Value, calculate motor needed for three sections of voltage vectors and corresponding duty ratio, finally obtain six tunnel driving signal of inverter.Relatively
It in Bolognani single mode overmodulation method, solves in identical modulation depth, the larger problem of output harmonic wave；Relatively
Holtz double mode overmodulation method, there is stringent theoretical proof, and solves the problems such as torque pulsation is big, and there are noises；No
Need subregion, it is only necessary to control angle to (θh, θr), it can realize ovennodulation, principle is simple, easy to operate.
Based on above-mentioned purpose, the present invention discloses a kind of device of the ovennodulation control method of motor,
Fig. 6 is please referred to, described device includes:
Permanent magnet synchronous motor 1: for obtaining the given rotating speed of motor, the error signal of motor feedback revolving speed and given rotating speed
And current feedback signal；
Inverter 2: the three-phase input electric energy of the permanent magnet synchronous motor is provided；
Signal acquisition and coordinate transformation module 3: it is used for acquisition instruction voltage signal Uα *、Uβ *；
Modulation operation module 4: the command voltage signal U that will be obtainedα *、Uβ *Carry out Overmodulation Method, command voltage signal
Uα *、Uβ *Enter dsp controller after signal conditioning circuit and is transformed to digital signal；
Pulse output module 5: digital signal output is six way switch pulses by the dsp controller, is then passed through
The final driving signal of six switching tubes of the inverter is obtained after driving circuit.
Signal acquisition described in the device and coordinate transformation module include:
Current feedback signal obtains module 31: according to the error signal of motor feedback revolving speed and given rotating speed, obtaining d, q axis
Reference current feedback signal i under coordinate systemd *、iq *；
Voltage signal obtains module 32: according to reference current feedback signal id *、iq *Compared with the current feedback signal
Obtain the reference voltage signal U under d, q axis coordinate systemd *、Uq *；
Command voltage signal acquisition module 33: according to reference voltage signal Ud *、Uq *It is transformed under two-phase stationary coordinate system
Command voltage signal Uα *、Uβ *。
A kind of ovennodulation control method of motor provided by the invention feeds back revolving speed by acquisition motor given rotating speed and machine
Error signal, the command voltage signal of motor is obtained by the coordinate transform of two-phase rotating coordinate system to two-phase stationary coordinate system
Uα *、Uβ *, by space vector pulse width modulation SVPWM, angle is obtained to (θh, θr) binary function F (θh, θr), define modulation ratio
MI simultaneously calculates modulation ratio MI, further according to the value of modulation ratio MI, obtains angle to (θh, θr) value, according to angle to (θh, θr)
Value, calculate motor needed for three sections of voltage vectors and corresponding duty ratio, finally obtain six tunnel driving signal of inverter.Relatively
It in Bolognani single mode overmodulation method, solves in identical modulation depth, the larger problem of output harmonic wave；Relatively
Holtz double mode overmodulation method, there is stringent theoretical proof, and solves the problems such as torque pulsation is big, and there are noises；No
Need subregion, it is only necessary to control angle to (θh, θr), it can realize ovennodulation, principle is simple, easy to operate.
Description of the invention is provided for the sake of example and explanation, and is not exhaustively or will be of the invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
It states embodiment and is to more preferably illustrate the principle of the present invention and practical application, and those skilled in the art is enable to manage
The solution present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (10)
1. a kind of ovennodulation control method of motor, it is characterised in that: the following steps are included:
The error signal and current feedback signal for acquiring motor feedback revolving speed and given rotating speed, pass through two-phase rotating coordinate system to two
The coordinate transform of phase rest frame obtains the command voltage signal U of motorα *、Uβ *, by space vector pulse width modulation SVPWM,
Angle is obtained to (θh, θr) binary function F (θh, θr), it obtains modulation ratio MI and calculates modulation ratio MI, wherein wherein,UrefFor modulating wave fundamental wave, that is, F (θh, θr), UdcFor DC bus-bar voltage；
The modulation ratio MI and angle are to (θh, θr) correspond, according to the value of modulation ratio MI, angle is obtained to (θh, θr) value；
According to angle to (θh, θr) value, voltage vector and corresponding duty ratio needed for calculating motor, by voltage vector and
Corresponding duty ratio, which is input in dsp controller, to be handled, and then dsp controller output digit signals are obtained into inverter
To six tunnel driving signal of inverter.
2. the ovennodulation control method of motor according to claim 1, it is characterised in that:
The error signal and current feedback signal for acquiring motor feedback revolving speed and given rotating speed according to motor feedback revolving speed and give
The error signal of revolving speed obtains the reference current feedback signal i under d, q axis coordinate systemd *、iq *；
According to the reference current feedback signal i gotd *、iq *D, q coordinate are obtained compared with the current feedback signal
Reference voltage signal U under systemd *、Uq *；
According to the reference voltage signal U gotd *、Uq *Obtain command voltage signal Uα *、Uβ *；
According to command voltage signal Uα *、Uβ *, modulation ratio MI at modulation ratio MI and calculating is obtained, the value of modulation ratio MI is judged, works as tune
System less than 1, then obtains six path switching signal of inverter with Traditional Space Vector Pulse Width Modulation method, otherwise counts and sequentially carry out than MI
Following step.
3. the ovennodulation control method of motor according to claim 2, it is characterised in that: the reference current feedback signal
id *、iq *It is by the error of motor feedback revolving speed by pi regulator, to obtain the reference current feedback letter under d, q axis coordinate system
Number id *、iq *。
4. the ovennodulation control method of motor according to claim 2, it is characterised in that: the reference voltage signal id *、
iq *Compared with the current feedback signal relatively after, equally by pi regulator, to obtain the reference voltage signal under d, q coordinate system
Ud *、Uq *。
5. the ovennodulation control method of motor according to claim 2, it is characterised in that: described instruction voltage signal Ud *、
Uq *By coordinate transform formula (1), command voltage signal U is obtainedα *、Uβ *, the formula (1) are as follows:
Wherein, θ is the angle of voltage vector and α axis.
6. the ovennodulation control method of motor according to claim 1, it is characterised in that: described instruction voltage signal Uα *、
Uβ *, angle is obtained to (θ according to formula (2) by SVPWMh, θr) binary function F (θh, θr), and modulation ratio MI is calculated, institute
State formula (2) are as follows:
Wherein, UdcFor DC bus-bar voltage,
7. the ovennodulation control method of motor according to claim 1, it is characterised in that: the range of the modulation ratio MI is
1-1.1027, as modulation ratio MI=1.1027, fundamental voltage is
8. the ovennodulation control method of motor according to claim 7, it is characterised in that: when modulation ratio MI is in 1-1.1027
Between range, angle is to (θh, θr) function trace be hexagon and hexagon Inner arc；When modulation ratio MI is equal to 1.1027,
Angle is to (θh, θr) function trace be hexagon.
9. a kind of device of the ovennodulation control method of motor described in any one of -8 according to claim 1, feature exist
In: described device includes:
Permanent magnet synchronous motor: for obtaining the revolving speed of motor and the error signal of motor feedback revolving speed；
Inverter: the three-phase input electric energy of the permanent magnet synchronous motor is provided；
Signal acquisition and coordinate transformation module: it is used for acquisition instruction voltage signal Uα *、Uβ *；
Modulation operation module: the command voltage signal U that will be obtainedα *、Uβ *Carry out Overmodulation Method, command voltage signal Uα *、Uβ *Through
It crosses after signal conditioning circuit and is transformed to digital signal into dsp controller；
Pulse output module: digital signal output is six way switch pulses by the dsp controller, then through electricity of overdriving
The final driving signal of six switching tubes of the inverter is obtained behind road.
10. the device of the ovennodulation control method of motor according to claim 9, it is characterised in that: the signal acquisition
And coordinate transformation module includes:
Current feedback signal obtains module: according to the error signal of motor feedback revolving speed and given rotating speed, obtaining d, q axis coordinate system
Under reference current feedback signal id *、iq *；
Voltage signal obtains module: according to reference current feedback signal id *、iq *D, q are obtained compared with the current feedback signal
Reference voltage signal U under axis coordinate systemd *、Uq *；
Command voltage signal acquisition module: according to reference voltage signal Ud *、Uq *The instruction electricity being transformed under two-phase stationary coordinate system
Press signal Uα *、Uβ *。
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| CN110266236A (en) * | 2019-06-24 | 2019-09-20 | 珠海格力电器股份有限公司 | A kind of voltage vector ovennodulation control method, device and permanent magnet synchronous motor |
| CN110380657A (en) * | 2019-07-24 | 2019-10-25 | 凡己科技(苏州）有限公司 | A kind of torque magnification method when electri forklift motor weak magnetic works |
| CN112448634A (en) * | 2019-09-03 | 2021-03-05 | 博世华域转向系统有限公司 | Improved space vector modulation method |
| CN113472267A (en) * | 2020-03-31 | 2021-10-01 | 安徽威灵汽车部件有限公司 | Overmodulation control method and device, motor drive system, and storage medium |
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