CN110768553B - Combined zero-vector-free overmodulation method for electric vehicle inverter - Google Patents

Combined zero-vector-free overmodulation method for electric vehicle inverter Download PDF

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CN110768553B
CN110768553B CN201911032749.3A CN201911032749A CN110768553B CN 110768553 B CN110768553 B CN 110768553B CN 201911032749 A CN201911032749 A CN 201911032749A CN 110768553 B CN110768553 B CN 110768553B
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CN110768553A (en
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吴平仿
黄洪剑
陈双
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Shanghai Dajun Technologies Inc
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0003—Details of control, feedback or regulation circuits
    • H02M1/0038—Circuits or arrangements for suppressing, e.g. by masking incorrect turn-on or turn-off signals, e.g. due to current spikes in current mode control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • H02M1/123—Suppression of common mode voltage or current

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Abstract

The invention discloses a combined zero-free vector overmodulation method for an electric vehicle inverter1、MI2、MI3、MI4When the modulation ratio is in the range of 0 ≦ MI<MI1Run zero vector instead of PWM modulation, when the modulation ratio is in range MI1≤MI<MI2Running a modified zero vector instead of PWM modulation when the modulation ratio is in range MI2≤MI<MI3Running the nearest non-zero vector composite PWM modulation when the modulation ratio is in range MI3≤MI<MI4Operating the nearest non-zero vector composite PWM first overmodulation region method when the modulation ratio range MI4≤MI<1, the nearest non-zero vector composite PWM second overmodulation region method is operated. The method can reduce the common-mode voltage peak value 2/3 in the full modulation ratio range, effectively improve the output voltage by about 10%, realize the inhibition of the common-mode voltage peak value, improve the output voltage and peak power capability of the inverter, reduce the vibration and noise of the system and improve the NVH quality of the whole vehicle.

Description

Combined zero-vector-free overmodulation method for electric vehicle inverter
Technical Field
The invention relates to the technical field of motor control, in particular to a combined zero-free vector overmodulation method for an electric vehicle inverter.
Background
The common-mode voltage output by the electric automobile motor driving inverter can generate shaft voltage on a rotating shaft of the permanent magnet synchronous motor through a coupling capacitor in the motor, and shaft current is generated at the same time to carry out electric corrosion on the bearing, so that the abrasion of the bearing is increased, the fault rate of the bearing is improved, and the service life of the bearing is reduced; and the common-mode interference phenomenon is accompanied, so that the vibration and noise output of the motor inverter system are increased. In order to reduce the peak value of the common-mode voltage and improve the reliability of the motor inverter system, the zero vector-free PWM modulation technology is utilized, the peak value of the common-mode voltage is restrained, and meanwhile, the common-mode interference can be reduced. On the premise, the instantaneous power peak value output by the inverter driven by the permanent magnet synchronous motor of the electric automobile needs to be improved as much as possible, and the short-time acceleration performance of the automobile is met, so that the maximum output voltage of the inverter needs to be improved, and the zero-vector PWM overmodulation technology can be used for solving the problem.
Disclosure of Invention
The invention aims to solve the technical problem of providing a combined zero-free vector overmodulation method for an electric vehicle inverter, which can effectively realize the suppression of a common-mode voltage peak value in a full modulation ratio range, improve the capacity of the output voltage and the peak power of the inverter, reduce the vibration and the noise of a system and improve the NVH quality of a whole vehicle.
In order to solve the technical problem, the combined zero-free vector overmodulation method for the electric vehicle inverter comprises the following steps:
step one, setting a reference voltage vector V of PWM modulationsLocated in the first sector, the synthesis of which is obtained according to equation (1),
Figure BDA0002250615390000011
wherein, T1、T2、T3、T6Are respectively a voltage vector V1、V2、V3、V6Time of action of (T)zIs a PWM modulation period;
step two, adopting a synthetic voltage sequence and a PWM pulse action mode of a zero vector substitution PWM modulation method to realize PWM modulation output of zero vector substitution PWM modulation;
step three, replacing action time T of PWM modulation by zero vector1、T2、T3、T6Correcting to set the effective dead time of the inverter as TdDefining a minimum correction time Tmin＝2TdThe corrected action times are respectively expressed by the formula (2) and the formula (3),
Figure BDA0002250615390000021
wherein, the position area of the voltage vector is 0-30 degrees in the formula (2), the position area of the voltage vector is 30-60 degrees in the formula (3), and u issα、usβIs a two-phase stationary frame voltage, UDCIs a dc bus voltage;
step four, obtaining a constraint modulation ratio parameter MI while correcting the action time of the voltage vector1And MI2In which MI2>MI1When the modulation ratio is in the range of MI1≤MI<MI2The modified zero vector is adopted to replace PWM modulation, and MI is more than or equal to 0 when the modulation ratio range is<MI1Adopting the original zero vector to replace PWM modulation;
step five, when the modulation ratio range exceeds MI2Then, entering the nearest non-zero vector synthesis PWM modulation region, and setting a reference voltage vector VsLocated in the second sector, the synthesis of which is obtained according to equation (4),
Figure BDA0002250615390000022
wherein, T1、T2、T3Are respectively a voltage vector V1、V2、V3Time of action of (T)zIs a PWM modulation period;
step six, adopting a synthetic voltage sequence and a PWM pulse action mode of the latest non-zero vector synthetic PWM modulation method to realize the PWM modulation output of the latest non-zero vector synthetic PWM modulation method;
step seven, acting time T of PWM modulation method for latest non-zero vector synthesis1、T2、T3Correcting to obtain the action time after correction as an expression (5),
Figure BDA0002250615390000031
wherein, the position area of the voltage vector is 30-60 degrees in the formula (5), and the PWM modulation is synthesized by the nearest non-zero vector under the condition of meeting the constraint conditionModulation ratio range of MI2≤MI<MI3，MI3Is the linear modulation ratio boundary;
step eight, when the modulation ratio range of the recent non-zero vector synthesis PWM exceeds MI3When the voltage vector crosses into the overmodulation region from the linear modulation region, dividing the recent non-zero vector synthesis PWM overmodulation into a first overmodulation region and a second overmodulation region, wherein the first overmodulation region adopts a stator voltage vector angle following strategy, and the second overmodulation region adopts a stator voltage vector angle progressive following strategy, so that the reference voltage vector angle is corrected;
the voltage vector angle of the first overmodulation region reference voltage vector in the first sector is corrected as:
Figure BDA0002250615390000032
wherein, V's1Reference voltage vector for the first overmodulation region, theta is the reference voltage vector angle, alpharIs a control angle;
the first overmodulation region control angle has the following relation with the modulation ratio:
Figure BDA0002250615390000033
the voltage vector angle of the second overmodulation region reference voltage vector in the first sector is corrected as:
Figure BDA0002250615390000034
wherein, V's2For the second overmodulation region reference voltage vector, αhTo maintain angle, θ'rTo correct reference voltage vector angle, for θ'rThe correction of (1) is as follows:
Figure BDA0002250615390000041
the holding angle of the second overmodulation region has the following relationship with the modulation ratio:
Figure BDA0002250615390000042
as can be seen from the equations (7) and (10), the control angle αrMaintaining the angle alpha in decreasing relation to the modulation ratio MIhIn increasing relation to the modulation ratio MI when alpha isrWhen the angle is 30 °, formula (7) is substituted, and modulation ratio MI is calculated3When is alphahWhen the angle is 0 °, formula (10) is substituted, and modulation ratio MI is calculated4，MI4The boundary point of the first overmodulation region and the second overmodulation region is obtained;
step nine, calculating the sector where the voltage vector is located and the modulation ratio of the voltage vector according to the sector division rule by the latest non-zero vector synthesis PWM overmodulation, and if the modulation ratio is MI3≤MI<MI4Range according to a prestored control angle alpharRelation f (alpha) with modulation ratio MIr) Calculating the control angle alpha in real timerCalculating a current voltage vector angle theta, and combining the current voltage vector angle theta with a path plan V 'of a voltage vector track in each sector's1Calculating the quadrature correction voltage fα(θ)＝V's1cosθ、fβ(θ)＝V's1sin theta, calling a space voltage vector modulation algorithm to carry out three-phase duty ratio operation; if the modulation ratio is at MI4≤MI<1 range according to a pre-stored hold angle alphahRelation f (alpha) to modulation ratio MIh) Calculating the hold angle alpha in real timehCalculating a corrected voltage vector angle θ'rPlanning V 'of path in each sector by combining voltage vector tracks's2Calculating the quadrature correction voltage fα(θ)＝V's2cosθ'r、fβ(θ)＝V's2sinθ'rAnd calling a space voltage vector modulation algorithm to carry out three-phase duty ratio operation.
The combined zero-free vector overmodulation method for the electric automobile inverter adopts the technical scheme that the method adopts the modulation ratioThe index combination type zero-free vector PWM overmodulation strategy calculates the modulation ratio parameter MI1、MI2、MI3、MI4When the modulation ratio is in the range of 0 ≦ MI<MI1Run zero vector instead of PWM modulation, when the modulation ratio is in range MI1≤MI<MI2Running a modified zero vector instead of PWM modulation when the modulation ratio is in range MI2≤MI<MI3Running the nearest non-zero vector composite PWM modulation when the modulation ratio is in range MI3≤MI<MI4Operating the nearest non-zero vector composite PWM first overmodulation region method when the modulation ratio range MI4≤MI<1, the nearest non-zero vector composite PWM second overmodulation region method is operated. The method can reduce the common-mode voltage peak value 2/3 in the full modulation ratio range, effectively improve the output voltage by about 10%, realize the inhibition of the common-mode voltage peak value, improve the output voltage and peak power capability of the inverter, reduce the vibration and noise of the system and improve the NVH quality of the whole vehicle.
Drawings
The invention is described in further detail below with reference to the following figures and embodiments:
FIG. 1 is a schematic diagram of sector division of zero vector replacement PWM modulation in the method;
FIG. 2 is a schematic diagram of the zero vector replacement PWM modulation of the first sector pulse action mode and common mode voltage in the present method;
FIG. 3 is a schematic diagram of the sector division of the nearest non-zero vector synthesis PWM modulation in the present method;
FIG. 4 is a schematic diagram of the pulse mode and common mode voltage of the nearest non-zero vector synthesized PWM modulated first sector in the method;
FIG. 5 is a schematic diagram of a voltage vector trajectory of a most recent non-zero vector synthesized PWM overmodulation first overmodulation region in the present method;
FIG. 6 is a schematic diagram of a voltage vector trajectory for a second overmodulation region of recent non-zero vector synthesis PWM overmodulation in the present method;
fig. 7 is a schematic diagram of the relationship between the recent non-zero vector composite PWM overmodulation control angle/hold angle and the modulation ratio in the present method.
Fig. 8 is a flow chart of the PWM modulation strategy of the present method.
Detailed Description
The invention relates to a combined zero-free vector overmodulation method for an electric automobile inverter, which comprises the following steps:
step one, as shown in fig. 1, setting a reference voltage vector V of PWM modulationsLocated in the first sector, the synthesis of which is obtained according to equation (1),
Figure BDA0002250615390000051
wherein, T1、T2、T3、T6Are respectively a voltage vector V1、V2、V3、V6Time of action of (T)zIs a PWM modulation period;
step two, adopting a synthetic voltage sequence and a PWM pulse action mode of a zero vector substitution PWM modulation method to realize PWM modulation output of zero vector substitution PWM modulation;
the method of voltage vector synthesis according to equation (1) is called zero vector replacement PWM, i.e. two non-zero opposite voltage vectors (e.g. V adjacent to the first sector) adjacent to the sector where the reference voltage vector is located are selected3And V6) Instead of the zero vector, the other resultant voltage vector of the sector in which the reference voltage vector is located is maintained (e.g., V of the first sector)1And V2)；
As shown in fig. 2, in the zero vector replacement PWM modulation, the PWM1, PWM3, PWM5 are the PWM of the inverter three-phase upper bridge; u. ofao、ubo、ucoThe voltage from the midpoint of the inverter to the negative of the direct current bus; u. ofab、ubc、ucaFor the output line voltage of the inverter, it can be seen from the figure that the common mode voltage peak ucmvCan be reduced to +/-U DC6, the common mode voltage peak value of the traditional space voltage vector modulation method is +/-U DC2, compared with the traditional SVPWM modulation method, the common-mode voltage is reduced by 2/3;
step three, to avoid T in FIG. 22Smaller, simultaneous switching of the inverter U, V phases PWM may exist,the common mode voltage inhibition failure phenomenon is caused, and the zero vector is substituted for the action time T of PWM modulation1、T2、T3、T6Performing a correction, called correcting zero vector to replace PWM, and setting the effective dead time of the inverter to be TdDefining a minimum correction time Tmin＝2TdThe corrected action times are respectively expressed by the formula (2) and the formula (3),
Figure BDA0002250615390000061
Figure BDA0002250615390000062
wherein, the position area of the voltage vector is 0-30 degrees in the formula (2), the position area of the voltage vector is 30-60 degrees in the formula (3), and u issα、usβIs a two-phase stationary frame voltage, UDCIs a dc bus voltage;
step four, obtaining a constraint modulation ratio parameter MI while correcting the action time of the voltage vector1And MI2In which MI2>MI1When the modulation ratio is in the range of MI1≤MI<MI2The modified zero vector is adopted to replace PWM modulation, and MI is more than or equal to 0 when the modulation ratio range is<MI1Adopting the original zero vector to replace PWM modulation;
step five, when the modulation ratio range exceeds MI2Then, enter the nearest non-zero vector synthesis PWM modulation region, as shown in FIG. 3, set the reference voltage vector VsLocated in the second sector, the synthesis of which is obtained according to equation (4),
Figure BDA0002250615390000063
wherein, T1、T2、T3Are respectively a voltage vector V1、V2、V3Time of action of (T)zIs a PWM modulation period;
step six, adopting a synthetic voltage sequence and a PWM pulse action mode of the latest non-zero vector synthetic PWM modulation method to realize the PWM modulation output of the latest non-zero vector synthetic PWM modulation method;
the method of voltage vector synthesis according to equation (4) is called the nearest non-zero vector synthesis PWM, i.e. three non-zero vectors are selected to synthesize the reference voltage vector, one being the non-zero vector of the sector in which the reference voltage vector is located (e.g. the second sector V)2) And one each of the left and right non-zero voltage vectors (e.g., V) nearest to the non-zero vector1And V3)；
As shown in fig. 4, its common mode voltage peak ucmvReduced to + -U DC6, compared with the traditional SVPWM modulation method, the common-mode voltage is also reduced by 2/3;
step seven, avoiding T in figure 42Too small, the V, W phase bridge arm PWM of the inverter may be switched simultaneously, which causes the phenomenon of common mode voltage inhibition failure, and the action time T of the recent non-zero vector synthesis PWM modulation method1、T2、T3Correcting to obtain the action time after correction as an expression (5),
Figure BDA0002250615390000071
wherein, the position area of the voltage vector is 30-60 degrees in the formula (5), and the modulation ratio range of the latest non-zero vector synthesis PWM modulation meeting the constraint condition is MI2≤MI<MI3，MI3Is the linear modulation ratio boundary;
step eight, when the modulation ratio range of the recent non-zero vector synthesis PWM exceeds MI3When the voltage vector crosses into the overmodulation region from the linear modulation region, the recent non-zero vector synthesis PWM overmodulation is divided into a first overmodulation region and a second overmodulation region, the first overmodulation region adopts a stator voltage vector angle following strategy, the second overmodulation region adopts a stator voltage vector angle progressive following strategy, and the overmodulation region is shown in figures 5 and 6, wherein thick solid lines show thatA trajectory of the voltage vector, whereby a reference voltage vector angle is corrected;
the voltage vector angle of the first overmodulation region reference voltage vector in the first sector is corrected as:
Figure BDA0002250615390000072
wherein, V's1Reference voltage vector for the first overmodulation region, theta is the reference voltage vector angle, alpharIs a control angle;
the first overmodulation region control angle has the following relation with the modulation ratio:
Figure BDA0002250615390000081
the voltage vector angle of the second overmodulation region reference voltage vector in the first sector is corrected as:
Figure BDA0002250615390000082
wherein, V's2For the second overmodulation region reference voltage vector, αhTo maintain angle, θ'rTo correct reference voltage vector angle, for θ'rThe correction of (1) is as follows:
Figure BDA0002250615390000083
the holding angle of the second overmodulation region has the following relationship with the modulation ratio:
Figure BDA0002250615390000084
as can be seen from the equations (7) and (10), the control angle α is shown in FIG. 7rMaintaining the angle alpha in decreasing relation to the modulation ratio MIhIn increasing relation to the modulation ratio MI when alpha isrWhen the angle is 30 °, formula (7) is substituted, and modulation ratio MI is calculated3When is alphahWhen the angle is 0 °, formula (10) is substituted, and modulation ratio MI is calculated4，MI4The boundary point of the first overmodulation region and the second overmodulation region is obtained;
step nine, calculating the voltage vector located sector and the modulation ratio of the voltage vector according to the sector division rule shown in figure 2 by the latest non-zero vector synthesis PWM overmodulation, and if the modulation ratio is MI3≤MI<MI4Range according to a prestored control angle alpharRelation f (alpha) with modulation ratio MIr) Calculating the control angle alpha in real timerCalculating the current voltage vector angle theta, and planning the path V of each sector by combining the voltage vector tracks'1Calculating the quadrature correction voltage fα(θ)＝V's1cosθ、fβ(θ)＝V's1sin theta, calling a space voltage vector modulation algorithm to carry out three-phase duty ratio operation; if the modulation ratio is at MI4≤MI<1 range according to a pre-stored hold angle alphahRelation f (alpha) to modulation ratio MIh) Calculating the hold angle alpha in real timehCalculating a corrected voltage vector angle θ'rPlanning V 'of path in each sector by combining voltage vector tracks's2Calculating the quadrature correction voltage fα(θ)＝V's2cosθ'r、fβ(θ)＝V's2sinθ'rAnd calling a space voltage vector modulation algorithm to carry out three-phase duty ratio operation.
As shown in FIG. 8, the method adopts a combined zero-vector-free PWM overmodulation strategy and a low modulation ratio stage (MI is more than or equal to 0)<MI1And MI1≤MI<MI2) PWM modulation strategy using zero vector substitution and modified zero vector substitution, medium modulation ratio phase (MI)2≤MI<MI3) PWM modulation strategy using recent non-zero vector synthesis, high modulation ratio stage (MI)3≤MI<MI4And MI4≤MI<1) An overmodulation strategy using the most recent non-zero vector composite PWM includes a first overmodulation region and a second overmodulation region. Since zero vector replacement PWM and the recent zero vector composite PWM technology both avoid the use of zero voltage vectorTherefore, the common-mode voltage peak value output by the inverter can be effectively restrained, meanwhile, the inverter power loss can be reduced by the recent non-zero vector synthesis PWM technology, and the zero voltage vector is not used by the recent non-zero vector synthesis PWM overmodulation technology, so that the common-mode voltage can be effectively restrained, and the inverter output phase voltage peak value can be effectively improved. The formed combined zero-free vector PWM overmodulation method can realize the suppression of common-mode voltage in the full modulation ratio range and simultaneously improve the capacity of the output voltage of the inverter.
The method is applied to the motor inverter driving system of the electric automobile, can effectively realize the inhibition of the common-mode voltage peak value in the full modulation ratio range, and can also improve the capacity of the controller for outputting voltage and peak power. When the common-mode voltage is effectively suppressed, the common-mode current is reduced, the common-mode interference of a suppression system is obviously suppressed, the vibration and noise of the system are reduced, and the NVH quality of the whole vehicle is improved. Meanwhile, the shaft voltage and the shaft current of the motor are also reduced, thereby reducing the failure rate of the motor bearing. The over-modulation technology can realize the over-modulation function only by correcting the orthogonal voltage, and effectively improve the output voltage and the instantaneous power peak value of the motor controller, thereby improving the acceleration performance of the vehicle.

Claims (1)

1. A combined zero-free vector overmodulation method for an electric vehicle inverter is characterized by comprising the following steps:
step one, setting a reference voltage vector V of PWM modulationsLocated in the first sector, the synthesis of which is obtained according to equation (1),
Figure FDA0003142327320000011
wherein, T1、T2、T3、T6Are respectively a voltage vector V1、V2、V3、V6Time of action of (T)zIs a PWM modulation period;
step two, adopting a synthetic voltage sequence and a PWM pulse action mode of a zero vector substitution PWM modulation method to realize PWM modulation output of zero vector substitution PWM modulation;
the zero vector replacing PWM modulation method is to select a non-zero opposite voltage vector V of a sector where two adjacent reference voltage vectors are positioned3And V6Instead of the action of the zero vector, maintaining the other resultant voltage vector V of the sector in which the reference voltage vector is located1And V2The change is not changed;
step three, replacing action time T of PWM modulation by zero vector1、T2、T3、T6Correcting to set the effective dead time of the inverter as TdDefining a minimum correction time Tmin＝2TdThe corrected action times are respectively expressed by the formula (2) and the formula (3),
Figure FDA0003142327320000012
Figure FDA0003142327320000013
wherein, the position area of the voltage vector is 0-30 degrees in the formula (2), the position area of the voltage vector is 30-60 degrees in the formula (3), and u issα、usβIs a two-phase stationary frame voltage, UDCIs a dc bus voltage;
step four, obtaining a constraint modulation ratio parameter MI while correcting the action time of the voltage vector1And MI2In which MI2>MI1When the modulation ratio is in the range of MI1≤MI<MI2The modified zero vector is adopted to replace PWM modulation, and MI is more than or equal to 0 when the modulation ratio range is<MI1Adopting the original zero vector to replace PWM modulation;
step five, when the modulation ratio range exceeds MI2Then, entering the nearest non-zero vector synthesis PWM modulation region and setting parametersReference voltage vector VsLocated in the second sector, the synthesis of which is obtained according to equation (4),
Figure FDA0003142327320000021
wherein, T1、T2、T3Are respectively a voltage vector V1、V2、V3Time of action of (T)zIs a PWM modulation period;
step six, adopting a synthetic voltage sequence and a PWM pulse action mode of the latest non-zero vector synthetic PWM modulation method to realize the PWM modulation output of the latest non-zero vector synthetic PWM modulation method;
step seven, acting time T of PWM modulation method for latest non-zero vector synthesis1、T2、T3Correcting to obtain the action time after correction as an expression (5),
Figure FDA0003142327320000022
wherein, the position area of the voltage vector is 30-60 degrees in the formula (5), and the modulation ratio range of the latest non-zero vector synthesis PWM modulation meeting the constraint condition is MI2≤MI<MI3，MI3Is the linear modulation ratio boundary;
step eight, when the modulation ratio range of the recent non-zero vector synthesis PWM exceeds MI3When the voltage vector crosses into the overmodulation region from the linear modulation region, dividing the recent non-zero vector synthesis PWM overmodulation into a first overmodulation region and a second overmodulation region, wherein the first overmodulation region adopts a stator voltage vector angle following strategy, and the second overmodulation region adopts a stator voltage vector angle progressive following strategy, so that the reference voltage vector angle is corrected;
the voltage vector angle of the first overmodulation region reference voltage vector in the first sector is corrected as:
Figure FDA0003142327320000031
wherein, V's1Reference voltage vector for the first overmodulation region, theta is the reference voltage vector angle, alpharIs a control angle;
the first overmodulation region control angle has the following relation with the modulation ratio:
Figure FDA0003142327320000032
the voltage vector angle of the second overmodulation region reference voltage vector in the first sector is corrected as:
Figure FDA0003142327320000033
wherein, V's2For the second overmodulation region reference voltage vector, αhTo maintain angle, θ'rTo correct reference voltage vector angle, for θ'rThe correction of (1) is as follows:
Figure FDA0003142327320000034
the holding angle of the second overmodulation region has the following relationship with the modulation ratio:
Figure FDA0003142327320000035
as can be seen from the equations (7) and (10), the control angle αrMaintaining the angle alpha in decreasing relation to the modulation ratio MIhIn increasing relation to the modulation ratio MI when alpha isrWhen the angle is 30 °, formula (7) is substituted, and modulation ratio MI is calculated3When is alphahWhen the angle is 0 °, formula (10) is substituted, and modulation ratio MI is calculated4，MI4Is the firstA demarcation point of the overmodulation region and the second overmodulation region;
step nine, calculating the sector where the voltage vector is located and the modulation ratio of the voltage vector according to the sector division rule by the latest non-zero vector synthesis PWM overmodulation, and if the modulation ratio is MI3≤MI<MI4Range according to a prestored control angle alpharRelation f (alpha) with modulation ratio MIr) Calculating the control angle alpha in real timerCalculating a current voltage vector angle theta, and combining the current voltage vector angle theta with a path plan V 'of a voltage vector track in each sector's1Calculating the quadrature correction voltage fα(θ)＝V′s1cosθ、fβ(θ)＝V′s1sin theta, calling a space voltage vector modulation algorithm to carry out three-phase duty ratio operation; if the modulation ratio is at MI4≤MI<1 range according to a pre-stored hold angle alphahRelation f (alpha) to modulation ratio MIh) Calculating the hold angle alpha in real timehCalculating a corrected voltage vector angle θ'rPlanning V 'of path in each sector by combining voltage vector tracks's2Calculating the quadrature correction voltage fα(θ)＝V′s2cosθ′r、fβ(θ)＝V′s2sinθ′rAnd calling a space voltage vector modulation algorithm to carry out three-phase duty ratio operation.
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