CN115589138A - Modulation method for inhibiting common mode voltage high frequency harmonic - Google Patents
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- CN115589138A CN115589138A CN202211507951.9A CN202211507951A CN115589138A CN 115589138 A CN115589138 A CN 115589138A CN 202211507951 A CN202211507951 A CN 202211507951A CN 115589138 A CN115589138 A CN 115589138A
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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
- 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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- 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
- H02M7/53—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 using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a modulation method for inhibiting common-mode voltage high-frequency harmonic waves, which synthesizes virtual voltage vectors again, adopts the virtual voltage vectors to synthesize reference vectors, and synthesizes zero vectors by using effective vectors with opposite phases, so that the common-mode voltage waveforms between carrier periods are completely the same, and the action time of positive and negative polarities is equally divided. According to the characteristics of the common mode voltage waveform, the modulation strategy can completely eliminate harmonics at the even-numbered times of the carrier frequency of the common mode voltage and sideband harmonics near each subcarrier frequency while reducing the amplitude of the common mode voltage, and effectively reduce the adverse effects caused by the amplitude of the common mode voltage and the high-frequency harmonics. The modulation method greatly reduces the high-frequency harmonic content of the common-mode voltage, reduces the harmonic loss and the adverse effect of the common-mode voltage on a motor system, and has high research value and application value.
Description
Technical Field
The invention relates to a common-mode voltage high-frequency harmonic suppression method for a three-phase two-level inverter system.
Background
The three-phase voltage source inverter driving motor system usually adopts the PWM technology, and the unbalance of the output end voltage can cause the generation of common mode voltage. Common mode voltage with high frequency and high amplitude acts on a common mode loop formed by a stray capacitor of the motor to the ground to generate common mode current, common mode electromagnetic interference is caused, the generated bearing current can damage a bearing of the motor, the service life of the bearing is shortened, the running reliability of the motor is reduced, and the caused leakage current can cause misoperation of a current relay protection device of system grounding, so that serious consequences are caused to the system.
The existing common-mode voltage suppression strategy for the traditional inverter-driven three-phase motor mainly avoids using a zero vector in the process of synthesizing a reference vector, and effectively reduces the amplitude of the common-mode voltage. For the high-frequency component of the common-mode voltage, the above idea cannot play a role in suppression, and the amplitude of the corresponding common-mode current is still large. At present, a common-mode voltage high-frequency harmonic suppression algorithm for a three-phase two-level inverter system mainly adopts a spread spectrum technology to suppress a high-frequency harmonic peak value of the common-mode voltage high-frequency harmonic suppression algorithm. In order to further reduce the adverse effect of the common mode voltage on the system (especially the motor system), it is necessary to research a common mode voltage high frequency harmonic suppression strategy, and suppress the high frequency harmonic while suppressing the amplitude thereof.
Disclosure of Invention
The invention aims to provide a modulation method for inhibiting common-mode voltage high-frequency harmonic waves, which synthesizes virtual voltage vectors again, adopts the virtual voltage vectors to synthesize reference vectors, and synthesizes zero vectors by using effective vectors with opposite phases, so that common-mode voltage waveforms among carrier periods are completely the same, and the action time of positive and negative polarities is equally divided. According to the characteristics of the common mode voltage waveform, the modulation strategy can completely eliminate harmonics at the even-numbered times of the carrier frequency of the common mode voltage and sideband harmonics near each subcarrier frequency while reducing the amplitude of the common mode voltage, and effectively reduce the adverse effects caused by the amplitude of the common mode voltage and the high-frequency harmonics.
The purpose of the invention is realized by the following technical scheme:
a modulation method for suppressing common-mode voltage high-frequency harmonic waves synthesizes virtual voltage vectors by means of effective voltage vectors and changes the vector sequence according to a volt-second balance principle, and comprises the following specific steps:
step one, six effective voltage vectors according to space vector modulation strategyV 1 ~V 6 Synthesizing two adjacent effective voltage vectors into a virtual voltage vector to obtain a virtual voltage vectorV 12 、V 23 、V 34 、V 45 、V 56 、V 61 Wherein: virtual voltage vectorV 12 By effective voltage vectorV 1 AndV 2 synthesizing; virtual voltage vectorV 23 From the effective voltage vectorV 2 And withV 3 Synthesizing; virtual voltage vectorV 34 From the effective voltage vectorV 3 AndV 4 synthesizing; virtual voltage vectorV 45 By effective voltage vectorV 4 AndV 5 synthesizing; virtual voltage vectorV 56 By effective voltage vectorV 5 AndV 6 synthesizing; virtual voltage vectorV 61 By effective voltage vectorV 6 AndV 1 synthesizing;
step two, obtaining the virtual voltage vector according to the step oneV 12 、V 23 、V 34 、V 45 、V 56 、V 61 Redefines six sectors: virtual vectorV 12 AndV 23 with a first sector, a virtual vectorV 23 AndV 34 between is a second sector, a virtual vectorV 34 And withV 45 In between are third sectors, virtual vectorsV 45 AndV 56 in between are the fourth sector, virtual vectorsV 56 AndV 61 in between are the fifth sector, virtual vectorsV 61 AndV 12 a sixth sector is arranged between the first sector and the second sector;
step three, two virtual voltage vectors synthesized in the step one are used as new effective voltage vectors to synthesize a reference vector, effective voltage vectors with opposite phases are used to synthesize a zero vector, and meanwhile, the upper bridge arm or the lower bridge arm of the three phases of the inverter are prevented from being conducted at the same time, and the common-mode voltage amplitude is restrained;
step four, the six effective voltage vectors respectively correspond to two polarities of the common-mode voltage, the sequence of the selected effective voltage vectors is changed according to the volt-second balance principle, the polarity of the common-mode voltage in each carrier period is only changed twice, the action time of the positive common-mode voltage is the same as that of the negative common-mode voltage, the action time of the positive common-mode voltage is half of the carrier period, and the common-mode voltage waveforms are completely the same between each carrier period in one fundamental wave period, wherein: the selection and specific sequence of action of the active voltage vectors when the reference voltage vectors are respectively located in the six sectors is as follows:
first intra-sector vector selection:V 1 andV 4 the zero-voltage vector is synthesized and,V 12 andV 23 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 1 →V 3 →V 4 →V 2 →V 4 →V 3 →V 1 。
second intra-sector vector selection:V 2 andV 5 the zero-voltage vector is synthesized and,V 23 andV 34 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 3 →V 5 →V 4 →V 2 →V 4 →V 5 →V 3 。
third intra-sector vector selection:V 3 and withV 6 The zero-voltage vector is synthesized and,V 34 andV 45 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 3 →V 5 →V 6 →V 4 →V 6 →V 5 →V 3 。
fourth intra-sector vector selection:V 1 andV 4 the zero-voltage vector is synthesized and,V 45 andV 56 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 5 →V 1 →V 6 →V 4 →V 6 →V 1 →V 5 。
vector selection in the fifth sector:V 2 andV 5 the vector of zero voltage is synthesized and,V 56 andV 61 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 5 →V 1 →V 2 →V 6 →V 2 →V 1 →V 5 。
vector selection in the sixth sector:V 3 andV 6 the zero-voltage vector is synthesized and,V 61 andV 12 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 1 →V 3 →V 2 →V 6 →V 2 →V 3 →V 1 。
compared with the prior art, the invention has the following advantages:
1. the method of the invention adopts the virtual voltage vector, synthesizes the zero voltage vector by using the effective voltage vector and changes the sequence of the effective voltage vector in the carrier period, thereby realizing the suppression of the common-mode voltage amplitude and the elimination of harmonic waves at the even-numbered times of the carrier frequency and sideband harmonic waves near the integral multiple of each sub-carrier frequency.
2. The modulation method can effectively eliminate even-number times carrier frequency harmonics and sideband harmonics near each sub-carrier frequency while inhibiting the common-mode voltage amplitude, greatly reduces the high-frequency harmonic content of the common-mode voltage, reduces the harmonic loss and adverse effects of the common-mode voltage on a motor system, and has high research value and application value.
Drawings
FIG. 1 is a schematic diagram of the combination of modulation strategy sector definition and reference vector according to the present invention;
FIG. 2 illustrates PWM waveforms and theoretical common mode voltage waveforms in each newly defined sector for the proposed modulation strategy;
FIG. 3 is a waveform of a common mode voltage within a carrier cycle using a modulation strategy of the present invention;
FIG. 4 shows the high-frequency harmonic spectrum of the common-mode voltage of the motor after an effective zero-state PWM1 (AZSPWM 1) modulation strategy is adopted;
FIG. 5 is a high-frequency harmonic spectrum of a common-mode voltage of a motor using the modulation strategy of the present invention.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings, but not limited thereto, and any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention shall be covered by the protection scope of the present invention.
As shown in FIG. 1, the 6 dashed arrows are virtual voltage vectors formed by combining 6 effective voltage vectorsV 12 By effective voltage vectorV 1 AndV 2 synthesizing; virtual voltage vectorV 23 By effective voltage vectorV 2 AndV 3 synthesizing; virtual voltage vectorV 34 By effective voltage vectorV 3 AndV 4 synthesizing; virtual voltage vectorV 45 From the effective voltage vectorV 4 AndV 5 synthesizing; virtual voltage vectorV 56 By effective voltage vectorV 5 AndV 6 synthesizing; virtual voltage vectorV 61 From the effective voltage vectorV 6 AndV 1 and (4) synthesizing. The regular hexagon shown by the dotted line is composed of 6 virtual voltage vectors, and the sectors are redefined according to the regular hexagon formed by the dotted line, wherein the virtual voltage vectorsV 12 AndV 23 a first sector is arranged between the first sector and the second sector; virtual voltage vectorV 23 AndV 34 a second sector is arranged between the first sector and the second sector; virtual voltage vectorV 34 AndV 45 a third sector is arranged between the first sector and the second sector; virtual voltage vectorV 45 AndV 56 the fourth sector is arranged between the first sector and the second sector; virtual voltage vectorV 56 AndV 61 the fifth sector is arranged in between; virtual electricityPressure vectorV 61 AndV 12 and a sixth sector in between.
Taking the reference voltage vector in the sixth sector as an example, the virtual voltage vector is selected during the synthesis processV 12 AndV 61 zero voltage vector selection of effective voltage vectorV 3 And withV 6 And (4) synthesizing. The calculation of the virtual voltage vector and the effective voltage vector action time for synthesizing the zero voltage vector is similar to the AZSPWM1 modulation strategy. Of the selected effective voltage vectors for synthesizing the zero-voltage vectorV 3 、V 6 Vector, synthesisV 12 Is/are as followsV 1 、V 2 Vector, synthesisV 61 IsV 6 、V 1 The action times of the vectors are respectively equal. As can be seen from the calculation formula of the common mode voltage,V 1 、V 3 the vector will generate a common mode voltage of negative polarity,V 2 、V 6 the vector generates a common-mode voltage with positive polarity, so that the acting time of the common-mode voltage with positive polarity in the carrier period is equal to that of the common-mode voltage with negative polarity, and is half of the carrier period. According to the volt-second balance principle, the final realization effect is not influenced by changing the action sequence of the vectors without changing the action time of the vectors. The effective vectors generating the negative polarity common mode voltage are put together in the first half of the carrier period, the effective vectors generating the positive polarity common mode voltage are put together, the second half of the carrier period is symmetrical to the first half of the carrier period, and the effective voltage vector action sequence is set to be the effective voltage vector action sequence in one carrier period by increasing the switching times as few as possibleV 1 →V 3 →V 2 →V 6 →V 2 →V 3 →V 1 The waveform of the common mode voltage in the carrier period is converted into a waveform which firstly lasts for a quarter of the carrier period with a negative polarity, then lasts for a half of the carrier period with the positive polarity, and finally lasts for a quarter of the carrier period with the negative polarity. The common mode voltage waveform is identical in each carrier period of this sector.
Similar to the above reference voltage vector located in the sixth sector, the selection and specific action sequence of the effective voltage vector when the reference voltage vector is located in the six sectors respectively are as follows:
effective voltage vector selection in the first sector:V 1 and withV 4 The zero-voltage vector is synthesized and,V 12 andV 23 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 1 →V 3 →V 4 →V 2 →V 4 →V 3 →V 1 。
selection of effective voltage vector in the second sector:V 2 andV 5 the zero-voltage vector is synthesized and,V 23 andV 34 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 3 →V 5 →V 4 →V 2 →V 4 →V 5 →V 3 。
effective voltage vector selection in the third sector:V 3 andV 6 the vector of zero voltage is synthesized and,V 34 andV 45 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 3 →V 5 →V 6 →V 4 →V 6 →V 5 →V 3 。
effective voltage vector selection in the fourth sector:V 1 andV 4 the vector of zero voltage is synthesized and,V 45 andV 56 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 5 →V 1 →V 6 →V 4 →V 6 →V 1 →V 5 。
and selecting an effective voltage vector in a fifth sector:V 2 andV 5 the zero-voltage vector is synthesized and,V 56 andV 61 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 5 →V 1 →V 2 →V 6 →V 2 →V 1 →V 5 。
selection of effective voltage vector in the sixth sector:V 3 andV 6 the zero-voltage vector is synthesized and,V 61 andV 12 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 1 →V 3 →V 2 →V 6 →V 2 →V 3 →V 1 。
ideally the PWM and common mode voltage waveforms in each sector are as shown in figure 2. As can be seen from fig. 2, the amplitude of the common mode voltage is suppressed, and the common mode voltage waveforms in each carrier period of one fundamental wave period are completely the same and are symmetric about the midpoint of the carrier period, and it can be known that, by performing fourier analysis on the common mode voltage waveforms, harmonics at even-numbered carrier frequencies can be completely eliminated and sideband harmonic components are not contained.
The common mode voltage waveform generated by the motor using the modulation strategy of the present invention when the carrier frequency was set at 10 kHz is shown in fig. 3. As can be seen from fig. 3, the acting time of the positive common mode voltage and the negative common mode voltage in each carrier period is 50 μ s, which proves that this strategy can be implemented. The high-frequency spectrum of the motor common-mode voltage adopting the AZSPWM1 modulation strategy is shown in fig. 4, and the high-frequency spectrum of the motor common-mode voltage adopting the modulation strategy of the invention is shown in fig. 5. By contrast, harmonics at even carrier frequencies and sideband harmonics near integer carrier frequencies are eliminated. The modulation strategy of the invention can effectively eliminate harmonic waves at even-number times carrier frequency and sideband harmonic waves near integer times carrier frequency while inhibiting the amplitude of common-mode voltage, and can further reduce the harm of common-mode voltage to a motor system.
Claims (2)
1. A modulation method for suppressing high frequency harmonics of a common mode voltage, said method comprising the steps of:
step one, six effective voltage vectors according to space vector modulation strategyV 1 ~V 6 Combining two adjacent effective voltage vectors into a virtual voltage vectorTo obtain a virtual voltage vectorV 12 、V 23 、V 34 、V 45 、V 56 、V 61 Wherein: virtual voltage vectorV 12 By effective voltage vectorV 1 And withV 2 Synthesizing; virtual voltage vectorV 23 From the effective voltage vectorV 2 AndV 3 synthesizing; virtual voltage vectorV 34 By effective voltage vectorV 3 AndV 4 synthesizing; virtual voltage vectorV 45 By effective voltage vectorV 4 AndV 5 synthesizing; virtual voltage vectorV 56 From the effective voltage vectorV 5 AndV 6 synthesizing; virtual voltage vectorV 61 By effective voltage vectorV 6 AndV 1 synthesizing;
step two, obtaining the virtual voltage vector according to the step oneV 12 、V 23 、V 34 、V 45 、V 56 、V 61 Redefines six sectors: virtual vectorV 12 And withV 23 With a first sector, a virtual vectorV 23 AndV 34 between is a second sector, a virtual vectorV 34 AndV 45 in between are third sectors, virtual vectorsV 45 AndV 56 in between is a fourth sector, virtual vectorV 56 AndV 61 in between are the fifth sector, virtual vectorsV 61 AndV 12 a sixth sector is arranged between the first sector and the second sector;
step three, using the two virtual voltage vectors synthesized in the step one as new effective voltage vectors to synthesize a reference vector, synthesizing a zero vector by using effective voltage vectors with opposite phases, simultaneously avoiding the upper bridge arm or the lower bridge arm of three phases of the inverter from being conducted at the same time, and inhibiting the common-mode voltage amplitude;
and step four, the six effective voltage vectors respectively correspond to two polarities of the common-mode voltage, the sequence of the selected effective voltage vectors is changed according to a volt-second balance principle, the polarity of the common-mode voltage in each carrier wave period is only changed twice, the action time of the positive common-mode voltage is the same as that of the negative common-mode voltage, the action time of the positive common-mode voltage is half of the carrier wave period, and the common-mode voltage waveforms are completely the same between each carrier wave period in one fundamental wave period.
2. The modulation method according to claim 1, wherein the selection and action sequence of the effective voltage vectors when the reference voltage vectors are located in six sectors respectively are as follows:
effective voltage vector selection in the first sector:V 1 andV 4 the vector of zero voltage is synthesized and,V 12 andV 23 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 1 →V 3 →V 4 →V 2 →V 4 →V 3 →V 1 ，
effective voltage vector selection in the second sector:V 2 andV 5 the zero-voltage vector is synthesized and,V 23 andV 34 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 3 →V 5 →V 4 →V 2 →V 4 →V 5 →V 3 ，
effective voltage vector selection in the third sector:V 3 andV 6 the zero-voltage vector is synthesized and,V 34 andV 45 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 3 →V 5 →V 6 →V 4 →V 6 →V 5 →V 3 ，
effective voltage vector selection in the fourth sector:V 1 andV 4 the zero-voltage vector is synthesized and,V 45 andV 56 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 5 →V 1 →V 6 →V 4 →V 6 →V 1 →V 5 ，
and selecting an effective voltage vector in a fifth sector:V 2 andV 5 the zero-voltage vector is synthesized and,V 56 andV 61 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 5 →V 1 →V 2 →V 6 →V 2 →V 1 →V 5 ，
selection of effective voltage vector in the sixth sector:V 3 andV 6 the zero-voltage vector is synthesized and,V 61 andV 12 synthesizing a reference voltage vector, wherein the action sequence is as follows:V 1 →V 3 →V 2 →V 6 →V 2 →V 3 →V 1 。
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| CN117650731A (en) * | 2023-11-17 | 2024-03-05 | 浙江大学 | Novel remote state pulse width modulation method and system |
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| CN117650731A (en) * | 2023-11-17 | 2024-03-05 | 浙江大学 | Novel remote state pulse width modulation method and system |
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