CN112532144A - Multi-mode flexibly-switched motor driver and topology switching control method - Google Patents
Multi-mode flexibly-switched motor driver and topology switching control method Download PDFInfo
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- CN112532144A CN112532144A CN202011329273.2A CN202011329273A CN112532144A CN 112532144 A CN112532144 A CN 112532144A CN 202011329273 A CN202011329273 A CN 202011329273A CN 112532144 A CN112532144 A CN 112532144A
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0243—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being a broken phase
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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Abstract
The invention discloses a multi-mode flexible switching motor driver and a topology switching control method. By controlling the on and off of the four bidirectional thyristors in the switching circuit, the motor driver can switch four topological structures, which respectively correspond to a three-phase half-bridge topology, a three-phase four-leg topology, a single-phase reverse connection three-phase four-leg topology and a series winding topology. The motor driver can adopt different topological structures under different working condition requirements, so that the control freedom degree and the fault-tolerant capability of the motor driver are improved, and the maximization of the working range of the motor is realized. Meanwhile, the flexible switching circuit and the control method thereof realize flexible switching of four topologies, so that the process of switching the topologies of the motor driver is short and rapid, and the rotating speed and the torque of the motor are not influenced.
Description
Technical Field
The invention belongs to the field of alternating current motors and drive control, and particularly relates to a multi-mode flexibly-switched motor driver and a topology switching control method.
Background
The use of power electronic converters as motor drives to control ac motors is the primary method of modern electric drives. The topological structure of the power electronic converter has decisive influence on the key performances of the motor driving system, such as dynamic control capability, torque output capability, speed regulation range, fault-tolerant operation capability, reliability and the like. At present, a topological structure with perfect performance indexes does not exist. Therefore, for different types of motors and application field requirements, the industry selects different power electronic converter topologies according to important requirements. For example, the most widely used three-phase half-bridge topology in the industry at present has the performance advantages of low loss, strong low-speed torque output capability, narrow speed regulation range and no fault-tolerant capability. The three-phase four-bridge arm topology provides a zero-sequence current path for the motor, so that the fault tolerance of the motor can be realized, but other performances are not improved. The three-phase full-bridge topology structure has the advantages of wide speed regulation range and good fault-tolerant performance, but needs six bridge arms, and has high cost, large loss and low power density. In recent years, a three-phase series winding topology is proposed, which has the same advantages as a three-phase full-bridge topology, only needs four bridge arms, overcomes the defects of low power density and the like, but the topology causes the current stress of part of the bridge arms to be increased, and limits the torque output capacity of the motor at low speed.
Therefore, the existing motor driver topological structures have performance defects which are difficult to overcome, and especially the torque output capacity and the speed regulation range which are most important for an electric drive system cannot be optimized simultaneously in the same topology.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a multi-mode flexible switching motor driver and a topology switching control method, aiming at realizing switching of multiple topologies under the condition of not influencing the work of a motor, thereby simultaneously ensuring the torque output capacity at low speed and the rotating speed output capacity at high speed, realizing the maximization of the working range of the motor and improving the control freedom and fault tolerance of a motor driving system.
To achieve the above object, according to an aspect of the present invention, there is provided a multi-modal flexible switching motor driver, including a first bridge arm, a second bridge arm, a third bridge arm, and a fourth bridge arm for forming a topology of the motor driver, and a first triac, a second triac, a third triac, and a fourth triac for forming a switching circuit; each bridge arm comprises an upper bridge arm power switch device and a lower bridge arm power switch device, an upper node of the upper bridge arm power switch device of each bridge arm is connected with a direct current bus voltage, a lower node of the lower bridge arm power switch device is connected with a power ground, and a lower node of the upper bridge arm power switch device is connected with an upper node of the lower bridge arm power switch device and serves as an output node of the bridge arm;
the left node of the A-phase winding is connected with the output node of the first bridge arm, and the right node of the A-phase winding is connected with the right node of the first bidirectional thyristor, the left node of the second bidirectional thyristor and the right node of the fourth bidirectional thyristor;
the left node of the phase B winding is connected with the output node of the second bridge arm, and the right node of the phase B winding is connected with the right node of the third bidirectional thyristor and the left node of the fourth bidirectional thyristor;
the left node of the C-phase winding is connected with the output node of the third bridge arm, and the right node of the C-phase winding is connected with the output node of the fourth bridge arm;
the left node of the first bidirectional thyristor is connected with the output node of the second bridge arm, the left node of the third bidirectional thyristor is connected with the output node of the third bridge arm, and the right node of the second bidirectional thyristor is connected with the output node of the fourth bridge arm.
Further, four triacs that make up the switching circuit are used to switch the topology of the motor drive:
when the second bidirectional thyristor and the fourth bidirectional thyristor are switched on and the first bidirectional thyristor and the third bidirectional thyristor are switched off, the two topological structures can be divided according to the working state of the fourth bridge arm. When the fourth bridge arm does not work, the three-phase half-bridge topological structure can provide large current but cannot provide high direct-current voltage utilization rate, so that the three-phase half-bridge topological structure is suitable for the motor to operate under the working condition of low speed and large torque; when the fourth bridge arm works, the three-phase four-bridge arm topological structure is used for fault-tolerant operation at low speed;
when the first bidirectional thyristor and the third bidirectional thyristor are conducted and the second bidirectional thyristor and the fourth bidirectional thyristor are turned off, the three-phase bidirectional thyristor is a series winding topological structure and is used for improving reliability and providing high direct-current voltage utilization rate, so that the three-phase bidirectional thyristor is suitable for running of a motor under a high-speed working condition, but torque needs derating running;
when the third bidirectional thyristor and the fourth bidirectional thyristor are switched on and the first bidirectional thyristor and the second bidirectional thyristor are switched off, the three-phase four-leg topological structure is in a one-way reverse connection and can be used as an intermediate topology in the topological switching process to realize flexible switching of the topology. It can also be used as a topology in fault tolerant operation at high speed.
Preferably, the power switch device is a current fully controlled switch, such as a MOSFET or an IGBT with an anti-parallel diode.
According to another aspect of the present invention, a topology switching control method for the multi-mode flexible switching motor driver is provided, which aims to smoothly and arbitrarily switch the four topologies, so that the switching process is as short and rapid as possible, and the rotational speed and torque of the motor are not affected during the switching process, thereby avoiding affecting the user experience. The control method comprises the following steps:
the control method for switching the three-phase half-bridge topology to the single-phase reverse-connection three-phase four-bridge arm topology comprises the following steps: and removing the driving signal of the second bidirectional thyristor, and turning off the second bidirectional thyristor to drive the third bidirectional thyristor to be conducted when the phase-C current naturally crosses zero, so that the topological structure is switched into a single-phase reversely-connected three-phase four-leg topology.
The control method for switching the single-phase reverse connection three-phase four-bridge arm topology to the three-phase half-bridge topology comprises the following steps: removing the driving signal of the third bidirectional thyristor, and turning off the third bidirectional thyristor to drive the second bidirectional thyristor to be conducted when the phase-C current naturally crosses zero, so that the topological structure is switched into a three-phase half-bridge topology;
the control method for switching the single-phase reverse connection three-phase four-bridge arm topology to the three-phase series winding topology comprises the following steps: removing a driving signal of the fourth bidirectional thyristor, turning off the fourth bidirectional thyristor after the phase A current naturally crosses zero, driving the first bidirectional thyristor to be conducted, and switching the topological structure into a three-phase series winding topology;
the control method for switching the three-phase series winding topology to the single-phase reverse-connection three-phase four-bridge arm topology comprises the following steps: removing the driving signal of the first bidirectional thyristor, turning off the first bidirectional thyristor after the phase A current naturally crosses zero, driving the fourth bidirectional thyristor to be conducted, and switching the topological structure into a single-phase reverse connection three-phase four-bridge arm topology;
and the switching between the three-phase half-bridge topology and the three-phase four-bridge arm topology is realized by controlling the working state of the fourth bridge arm. When the fourth bridge arm does not work, the three-phase half-bridge topology is realized, and when the fourth bridge arm works, the three-phase four-bridge topology is realized.
Furthermore, the five control methods are combined with each other, so that any flexible switching of four topological structures can be realized.
According to a third aspect of the present invention, there is provided a topology switching control system of a multi-modal flexible switching motor driver, comprising: a computer-readable storage medium and a processor;
the computer-readable storage medium is used for storing executable instructions;
the processor is used for reading the executable instructions stored in the computer readable storage medium and executing the topology switching control method of the multi-mode flexible switching motor driver.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. the multi-mode flexible switching motor driver provided by the invention can switch four topological structures, and different topological structures work under different operating conditions, so that the maximum benefit is exerted. When the motor runs at a low speed, the motor is switched into a three-phase half-bridge topological structure, the maximum torque is output, and the running loss is reduced. When the motor runs at high speed, the three-phase series winding topology is switched, the speed regulation range is expanded by one time, and the reliability and the control freedom are improved. After the bridge arm or the phase winding is in fault open circuit, the three-phase four-bridge arm topology or the single-phase reverse connection three-phase four-bridge arm topology is switched to provide fault-tolerant operation capability after fault.
2. When the single-phase reverse connection three-phase four-bridge arm topology is used as an intermediate topology during topology switching, the direct-current voltage utilization rate is the same as that of a three-phase half-bridge topology, so that when a motor driver switches the topology under the limit operation working condition, no torque fluctuation is generated, and flexible topology switching under the complete working condition is realized.
3. The multi-mode flexible switching motor driver provided by the invention has the advantages of low cost, small volume, simple trigger circuit and high reliability, and has industrial application prospect. Compared with the method that only three-phase series winding topology is adopted, only the thyristor switching circuit with low cost is added, and the reliability, the torque output capability and the fault-tolerant capability are effectively improved. The proposed motor driver has full voltage current control freedom and is therefore suitable for a variety of ac motors, including permanent magnet motors, induction motors, reluctance motors, and the like.
4. The switching method of the invention can realize flexible switching between four topological structures at will, and the zero crossing point of two-phase current is utilized to ensure that the switching process is short and rapid, and the rotating speed and torque of the motor are not influenced in the switching process, thereby not influencing the experience of users.
Drawings
FIG. 1 is a block diagram of a multi-modal flexible switching motor drive provided by the present invention;
fig. 2(a) is a structural diagram of the motor driver provided by the present invention when switched to a half-bridge topology;
fig. 2(b) is a structural diagram of the motor driver provided by the present invention when switched to a three-phase four-leg topology;
fig. 3(a) is a structural diagram of the motor driver provided by the present invention when switched to a single-phase reverse-connected three-phase four-leg topology;
FIG. 3(b) is a simplified three-phase four-leg topology diagram of the single-phase reverse connection shown in FIG. 3 (a);
FIG. 4 is a diagram of the relationship between the bridge arm voltage and the phase voltage of the single-phase reverse-connection three-phase four-bridge arm topology provided by the invention;
FIG. 5(a) is a block diagram of the motor drive provided by the present invention when switched to a three-phase series winding topology;
FIG. 5(b) is a simplified topology of the three-phase series winding of FIG. 5 (a);
FIG. 6 illustrates the operation of the motor according to the present invention;
fig. 7 is a state machine diagram of topology switching provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, a multi-modal flexible switching motor driver is provided, which includes a first bridge arm, a second bridge arm, a third bridge arm, and a fourth bridge arm for forming a motor driver topology, and a first triac T1, a second triac T2, a third triac T3, and a fourth triac T4 for forming a switching circuit. Each bridge arm comprises an upper bridge arm power switch device and a lower bridge arm power switch device, an upper node of the upper bridge arm power switch device of each bridge arm is connected with a direct current bus voltage, a lower node of the lower bridge arm power switch device is connected with a power ground, and a lower node of the upper bridge arm power switch device is connected with an upper node of the lower bridge arm power switch device and serves as an output node of the bridge arm; in particular, the power switch device is a current fully controlled switch, such as a MOSFET or an IGBT with an anti-parallel diode.
The left node of the A-phase winding is connected with the output node of the first bridge arm, and the right node of the A-phase winding is connected with the right node of the first triac T1, the left node of the second triac T2 and the right node of the fourth triac T4;
the left node of the phase B winding is connected with the output node of the second bridge arm, and the right node of the phase B winding is connected with the right node of the third triac T3 and the left node of the fourth triac T4;
the left node of the C-phase winding is connected with the output node of the third bridge arm, and the right node of the C-phase winding is connected with the output node of the fourth bridge arm;
the left node of the first bidirectional thyristor T1 is connected with the output node of the second bridge arm, the left node of the third bidirectional thyristor T3 is connected with the output node of the third bridge arm, and the right node of the second bidirectional thyristor T2 is connected with the output node of the fourth bridge arm.
The four triacs that make up the switching circuit are used to switch the topology of the motor drive:
as shown in fig. 2(a) and 2(b), when the second triac and the fourth triac are turned on and the first triac and the third triac are turned off, the topology can be divided into two topologies according to the operating state of the fourth arm. When the fourth bridge arm does not work, the three-phase half-bridge topological structure can provide large current but cannot provide high direct-current voltage utilization rate, so that the three-phase half-bridge topological structure is suitable for the motor to operate under the working condition of low speed and large torque; when the fourth bridge arm works, the three-phase four-bridge arm topological structure is used for fault-tolerant operation at low speed.
As shown in fig. 3(a) and 3(b), when the third triac and the fourth triac are turned on and the first triac and the second triac are turned off, the three-phase four-leg topology structure is a unidirectional reverse connection three-phase four-leg topology structure, and the three-phase four-leg topology structure can be used as an intermediate topology in the topology switching process to realize flexible switching of the topology. It can also be used as a topology in fault tolerant operation at high speed.
As shown in FIG. 4, it can be seen that in the invented single-phase reverse-connected three-phase four-leg topology, the magnitude relation between the leg voltage and the phase voltage is
Therefore, the direct-current voltage utilization rate is the same as that of a three-phase half-bridge topology and can reach 1.15 times. Therefore, when the motor driver adopts the topology as the middle topology to perform topology switching under the limit operation working condition, torque fluctuation is not generated, and seamless smooth topology switching under all working conditions is realized.
As shown in fig. 5(a) and 5(b), when the first triac and the third triac are turned on and the second triac and the fourth triac are turned off, the series winding topology is adopted to improve reliability and provide high dc voltage utilization, so that the motor is suitable for operating under a high-speed working condition, but the torque needs to be derated.
According to another aspect of the present invention, a topology switching control method for the multi-mode flexible switching motor driver is provided, which aims to smoothly and arbitrarily switch the four topologies, so that the switching process is as short and rapid as possible, and the rotational speed and torque of the motor are not affected during the switching process, thereby avoiding affecting the user experience. The control method comprises the following steps:
the control method for switching the three-phase half-bridge topology to the single-phase reverse-connection three-phase four-bridge arm topology comprises the following steps: and removing the driving signal of the second bidirectional thyristor T2, and waiting for the phase-C current to naturally pass through zero, turning off the second bidirectional thyristor T2, driving the third bidirectional thyristor T3 to be conducted, and switching the topological structure into a single-phase reverse-connection three-phase four-leg topology.
The control method for switching the single-phase reverse connection three-phase four-bridge arm topology to the three-phase half-bridge topology comprises the following steps: and removing the driving signal of the third bidirectional thyristor T3, waiting for the phase-C current to naturally pass through zero, turning off the third bidirectional thyristor T3, driving the second bidirectional thyristor T2 to be conducted, and switching the topological structure into a three-phase half-bridge topology.
The control method for switching the single-phase reverse connection three-phase four-bridge arm topology to the three-phase series winding topology comprises the following steps: removing a driving signal of the fourth bidirectional thyristor T4, turning off the fourth bidirectional thyristor T4 after the phase current A naturally crosses zero, driving the first bidirectional thyristor T1 to be conducted, and switching the topological structure into a three-phase series winding topology;
the control method for switching the three-phase series winding topology to the single-phase reverse-connection three-phase four-bridge arm topology comprises the following steps: removing a driving signal of the first bidirectional thyristor T1, turning off the first bidirectional thyristor T1 after the phase A current naturally crosses zero, driving the fourth bidirectional thyristor T4 to be conducted, and switching the topological structure into a three-phase four-leg topology which is in opposite connection;
and the switching between the three-phase half-bridge topology and the three-phase four-bridge arm topology is realized by controlling the working state of the fourth bridge arm. When the fourth bridge arm does not work, the three-phase half-bridge topology is realized, and when the fourth bridge arm works, the three-phase four-bridge topology is realized.
Furthermore, the five control methods are combined with each other, so that any flexible switching of four topological structures can be realized.
Fig. 6 shows the working range that the multi-mode flexible switching motor driver can control the motor. It can be seen that, through topology switching, the three-phase motor is an operation interval corresponding to a three-phase half-bridge topology at a low speed and an operation interval of a three-phase series topology at a high speed. Therefore, the torque output of the motor at low speed is ensured, the high rotating speed range is doubled, and the running range of the motor is greatly expanded.
Another important advantage of a multi-modal flexible switching motor drive is that the switching process is smooth and fast. During the switching process, the current and the torque do not fluctuate or generate transient processes, so that the influence on a user is avoided. On one hand, the smooth switching process benefits from the fact that when the topological structure is switched, the connection mode of one phase winding is switched every time, and under the topological structure, the control of three phase windings is not influenced mutually, so that the smooth switching can be carried out when the phase current in the windings flows through zero, meanwhile, the direct current voltage utilization rate of the three-phase four-bridge arm topology which is in one-way reverse connection is 1.15 times of that of a three-phase half bridge, therefore, under the extreme condition of full amplitude output of a modulation wave, the switching process can be smoothly transited all the time, and the conditions of voltage distortion and torque fluctuation can not occur; on the other hand, it would also benefit from the use of the control characteristics of the triac. The bidirectional thyristor is controllable in turn-on and uncontrollable in turn-off, and needs to be turned off by natural zero-crossing of current when turned off, so that the driving signal of the bidirectional thyristor can be removed at any time without changing a control method, and the bidirectional thyristor can be turned off by waiting for natural zero-crossing of phase current. The specific mode switching state machine flowchart is shown in fig. 7.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. A multi-mode flexible switching motor driver is characterized by comprising a first bridge arm, a second bridge arm, a third bridge arm, a fourth bridge arm, a first bidirectional thyristor, a second bidirectional thyristor, a third bidirectional thyristor and a fourth bidirectional thyristor; each bridge arm comprises an upper bridge arm power switch device and a lower bridge arm power switch device, an upper node of the upper bridge arm power switch device of each bridge arm is connected with a direct current bus voltage, a lower node of the lower bridge arm power switch device is connected with a power ground, and a lower node of the upper bridge arm power switch device is connected with an upper node of the lower bridge arm power switch device and serves as an output node of the bridge arm;
the left node of the A-phase winding is connected with the output node of the first bridge arm, and the right node of the A-phase winding is connected with the right node of the first bidirectional thyristor, the left node of the second bidirectional thyristor and the right node of the fourth bidirectional thyristor;
the left node of the phase B winding is connected with the output node of the second bridge arm, and the right node of the phase B winding is connected with the right node of the third bidirectional thyristor and the left node of the fourth bidirectional thyristor;
the left node of the C-phase winding is connected with the output node of the third bridge arm, and the right node of the C-phase winding is connected with the output node of the fourth bridge arm;
the left node of the first bidirectional thyristor is connected with the output node of the second bridge arm, the left node of the third bidirectional thyristor is connected with the output node of the third bridge arm, and the right node of the second bidirectional thyristor is connected with the output node of the fourth bridge arm.
2. The motor drive of claim 1, wherein the four triacs are used to switch the topology of the motor drive:
when the second bidirectional thyristor and the fourth bidirectional thyristor are switched on and the first bidirectional thyristor and the third bidirectional thyristor are switched off, the three-phase three-way bridge is divided into two topological structures according to the working state of the fourth bridge arm: when the fourth bridge arm does not work, the three-phase half-bridge topological structure is adopted; when the fourth bridge arm works, the three-phase four-bridge arm topological structure is adopted;
when the first bidirectional thyristor and the third bidirectional thyristor are conducted and the second bidirectional thyristor and the fourth bidirectional thyristor are turned off, the structure is a series winding topological structure;
when the third bidirectional thyristor and the fourth bidirectional thyristor are conducted and the first bidirectional thyristor and the second bidirectional thyristor are turned off, the three-phase four-leg topological structure is formed.
3. The motor driver of claim 1, wherein the power switching device is a MOSFET or an IGBT with an anti-parallel diode.
4. A topology switching control method of a multi-modal flexible switching motor driver based on any one of claims 1 to 3, comprising:
the three-phase half-bridge topology is switched to a single-phase reverse-connection three-phase four-bridge arm topology: removing the driving signal of the second bidirectional thyristor, and turning off the second bidirectional thyristor to drive the third bidirectional thyristor to be conducted when the phase-C current naturally crosses zero, so that the topological structure is switched into a single-phase reversely-connected three-phase four-bridge arm topology;
the single-phase reverse connection three-phase four-bridge arm topology is switched to a three-phase half-bridge topology: removing the driving signal of the third bidirectional thyristor, and turning off the third bidirectional thyristor to drive the second bidirectional thyristor to be conducted when the phase-C current naturally crosses zero, so that the topological structure is switched into a three-phase half-bridge topology;
the control method for switching the single-phase reverse connection three-phase four-bridge arm topology to the three-phase series winding topology comprises the following steps: removing a driving signal of the fourth bidirectional thyristor, turning off the fourth bidirectional thyristor after the phase A current naturally crosses zero, driving the first bidirectional thyristor to be conducted, and switching the topological structure into a three-phase series winding topology;
the three-phase series winding topology is switched to a single-phase reverse connection three-phase four-bridge arm topology: removing the driving signal of the first bidirectional thyristor, turning off the first bidirectional thyristor after the phase A current naturally crosses zero, driving the fourth bidirectional thyristor to be conducted, and switching the topological structure into a single-phase reverse connection three-phase four-bridge arm topology;
when the fourth bridge arm does not work, the topological structure is switched into a three-phase half-bridge topology;
and when the fourth bridge arm works, the topological structure is switched into a three-phase four-bridge arm topology.
5. A topological switching control system for a multi-modal flexible switching motor drive, comprising: a computer-readable storage medium and a processor;
the computer-readable storage medium is used for storing executable instructions;
the processor is configured to read executable instructions stored in the computer readable storage medium and execute the topology switching control method of the multi-modal flexible switching motor driver of claim 4.
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