CN115833699A - Pulse width modulation method and device of permanent magnet synchronous motor based on common-mode voltage suppression - Google Patents
Pulse width modulation method and device of permanent magnet synchronous motor based on common-mode voltage suppression Download PDFInfo
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Abstract
The invention discloses a pulse width modulation method and device of a permanent magnet synchronous motor based on common mode voltage suppression. The pulse width modulation method of the permanent magnet synchronous motor based on the common mode voltage suppression comprises the following steps: acquiring current triaxial voltage information at the current moment; acquiring reference voltage angle information at the current moment; acquiring a TV-PWM basic voltage vector selection table generated based on three adjacent vectors; acquiring a three-phase duty ratio of the current moment according to the TV-PWM basic voltage vector selection table, the reference vector of the current moment, the reference voltage angle information and the current three-axis voltage information; and generating PWM control signals according to the three-phase duty ratio. According to the pulse width modulation method of the permanent magnet synchronous motor based on the common-mode voltage suppression, three adjacent basic voltage vectors are selected to generate a three-phase duty ratio, so that the occurrence of a zero vector can be avoided.
Description
Technical Field
The application relates to the technical field of permanent magnet motors, in particular to a pulse width modulation method of a permanent magnet synchronous motor based on common mode voltage suppression, a pulse width modulation device of the permanent magnet synchronous motor based on common mode voltage suppression, a control system of the permanent magnet synchronous motor and a vehicle.
Background
In order to relieve the increasingly severe problems of environmental pollution and energy exhaustion, electric automobiles are brought with the help of the characteristics of environmental protection and are widely concerned, and the permanent magnet synchronous motor has extremely important significance for replacing other motors to become a core part of the electric automobiles due to the advantages of good control performance, high power density and energy conservation. Through the analysis of the motor reliability data, the motor damage caused by the damage of the motor bearing accounts for 40% of the damage total number, and 25% of the motor bearing damage is caused by the inverter, and the damage of the inverter to the bearing is caused by the shaft voltage and the shaft current, so that the shaft voltage and the shaft current are necessary to be restrained.
The common mode voltage can generate shaft voltage, a shaft current can be formed by breaking an oil film of a motor shaft in a severe case, and then the shaft current can be generated, a shaft current path flows into the ground from an inverter end to a rotor through a winding and a bearing to a stator shell, the bearing of the motor is damaged, and the service life of the motor is shortened, so that the common mode voltage is particularly important to be restrained.
Referring to fig. 1 and 8, the common mode voltage Ucom, i.e. the voltage of the neutral point of the motor to the midpoint of the power supply, is defined as Ucom = (ua + ub + uc)/3 (3-1)
In the formula, ua, ub and uc are phase voltages of A, B and C phases respectively.
From the three-phase inverter topology of fig. 2, the magnitude of the common mode voltage of the three-phase inverter in different switching states can be obtained, as shown in fig. 1, udc is the inverter bus voltage.
As can be seen from fig. 1, the common mode voltage of the zero vector is significantly larger than the non-zero vector, so reducing the common mode voltage is essential to reduce the presence of the zero vector.
Accordingly, a solution is desired to solve or at least mitigate the above-mentioned deficiencies of the prior art.
Disclosure of Invention
It is an object of the present invention to overcome or at least mitigate at least one of the above-mentioned drawbacks of the prior art by providing a pm synchronous machine pulse width modulation method based on rejection of common mode voltages.
In one aspect of the present invention, a pulse width modulation method for a permanent magnet synchronous motor based on common mode voltage suppression is provided, and the pulse width modulation method for the permanent magnet synchronous motor based on common mode voltage suppression includes:
acquiring current triaxial voltage information at the current moment;
acquiring reference voltage angle information at the current moment;
acquiring a TV-PWM basic voltage vector selection table generated based on three adjacent vectors;
acquiring a three-phase duty ratio at the current moment according to the TV-PWM basic voltage vector selection table, a reference vector at the current moment, reference voltage angle information and current three-axis voltage information;
and generating PWM control signals according to the three-phase duty ratio.
Optionally, the obtaining current triaxial voltage information at the current moment includes:
acquiring a direct axis reference voltage and a quadrature axis reference voltage;
and obtaining current triaxial voltage information at the current moment according to the direct axis reference voltage and the quadrature axis reference voltage.
Optionally, the obtaining d-axis and q-axis voltage direct-axis reference voltages and d-axis and q-axis quadrature-axis reference voltages includes:
acquiring a d-axis current instruction value and a q-axis current instruction value at the current moment;
acquiring a d-axis current actual value and a q-axis current actual value at the previous moment of the current moment;
and acquiring a direct-axis reference voltage and a quadrature-axis reference voltage according to the d-axis current instruction value and the q-axis current instruction value at the current moment, and the d-axis current actual value and the q-axis current actual value at the last moment at the current moment.
Optionally, the obtaining the d-axis current command value and the q-axis current command value at the current moment includes:
acquiring the rotating speed of a motor at the current moment;
and looking up a table according to the rotating speed, the voltage and the torque to obtain a d-axis current instruction value and a q-axis current instruction value at the current moment.
Optionally, the reference voltage angle information at the current time is obtained.
Optionally, the obtaining the three-phase duty ratio of the current time according to the TV-PWM basic voltage vector selection table, the reference voltage angle information of the current time, and the current triaxial voltage information includes:
acquiring three adjacent voltage vector information according to the reference voltage angle information;
respectively calculating the respective action time of the three voltage vectors according to the information of the three adjacent voltage vectors;
and acquiring the three-phase duty ratio at the current moment according to the respective action time of the three voltage vectors and the current three-axis voltage information.
Optionally, the obtaining the three-phase duty ratio of the current moment according to the acting time of each of the three voltage vectors and the current triaxial voltage information includes:
acquiring a preset PWM waveform;
the duty ratios of the three phases A, B and C can be obtained through the action time of each of the three voltage vectors.
The application also provides a PMSM pulse width modulation device based on restrain common mode voltage, PMSM pulse width modulation device based on restrain common mode voltage includes:
the current triaxial voltage information acquisition module is used for acquiring current triaxial voltage information at the current moment;
the reference voltage angle information acquisition module is used for acquiring reference voltage angle information at the current moment;
the TV-PWM basic voltage vector selection table acquisition module is used for acquiring a TV-PWM basic voltage vector selection table generated based on three adjacent loss quantities;
and the three-phase duty ratio acquisition module is used for acquiring the three-phase duty ratio at the current moment according to the TV-PWM basic voltage vector selection table, the reference vector at the current moment, the reference voltage angle information and the current three-axis voltage information.
The application also provides a permanent magnet synchronous motor control system, permanent magnet synchronous motor control system includes:
a permanent magnet synchronous motor;
the pulse width modulation device of the permanent magnet synchronous motor based on the common mode voltage suppression is the pulse width modulation device of the permanent magnet synchronous motor based on the common mode voltage suppression, and the pulse width modulation device of the permanent magnet synchronous motor based on the common mode voltage suppression adopts the pulse width modulation method of the permanent magnet synchronous motor based on the common mode voltage suppression to provide PWM control signals for the permanent magnet synchronous motor so that the permanent magnet synchronous motor works according to the obtained PWM control signals.
The application also provides a vehicle comprising the permanent magnet synchronous motor control system.
Advantageous effects
This application has following advantage:
according to the pulse width modulation method for the permanent magnet synchronous motor based on the common-mode voltage suppression, three adjacent basic voltage vectors are selected to generate the three-phase duty ratio, any one reference voltage vector can be synthesized by adopting the three adjacent basic voltage vectors, and the states of 000 and 111 can be avoided, so that the zero vector can be avoided.
Drawings
Fig. 1 is a schematic diagram of common mode voltages in different switching states in the prior art.
Fig. 2 is a schematic flowchart of a pulse width modulation method of a permanent magnet synchronous motor based on common mode voltage rejection according to a first embodiment of the present application.
Fig. 3 is an electronic device for implementing the common mode voltage rejection-based pwm method of the permanent magnet synchronous motor shown in fig. 2.
Fig. 4 is a schematic diagram of selection of three adjacent vectors in an embodiment of the present application.
Fig. 5 is a TV-PWM basic voltage vector selection table in an embodiment of the present application.
Fig. 6 is a PWM waveform diagram in an embodiment of the present application.
Fig. 7 is a system diagram of a permanent magnet synchronous motor system in an embodiment of the present application.
Fig. 8 is a prior art three-phase inverter topology.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present application and should not be construed as limiting the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Fig. 2 is a schematic flowchart of a pulse width modulation method of a permanent magnet synchronous motor based on common mode voltage rejection according to a first embodiment of the present application.
The pulse width modulation method of the permanent magnet synchronous motor based on the common mode voltage suppression as shown in fig. 2 comprises the following steps:
step 1: acquiring current triaxial voltage information at the current moment;
step 2: acquiring reference voltage angle information at the current moment;
and step 3: acquiring a TV-PWM basic voltage vector selection table generated based on three adjacent vectors;
and 4, step 4: acquiring a three-phase duty ratio of the current moment according to the TV-PWM basic voltage vector selection table, the reference vector of the current moment, the reference voltage angle information and the current three-axis voltage information;
and 5: and generating PWM control signals according to the three-phase duty ratio.
According to the pulse width modulation method of the permanent magnet synchronous motor based on the common-mode voltage suppression, three adjacent basic voltage vectors are selected to generate a three-phase duty ratio, so that the occurrence of a zero vector can be avoided.
In this embodiment, the obtaining current triaxial voltage information at the current moment includes:
acquiring a direct axis reference voltage and a quadrature axis reference voltage;
and obtaining current triaxial voltage information at the current moment according to the direct axis reference voltage and the quadrature axis reference voltage.
In this embodiment, the obtaining the d-axis and q-axis voltage direct-axis reference voltages and the d-axis and q-axis quadrature-axis reference voltages includes:
acquiring a d-axis current instruction value and a q-axis current instruction value at the current moment;
acquiring a d-axis current actual value and a q-axis current actual value at the previous moment of the current moment;
and acquiring a direct-axis reference voltage and a quadrature-axis reference voltage according to the d-axis current instruction value and the q-axis current instruction value at the current moment, and the d-axis current actual value and the q-axis current actual value at the last moment at the current moment.
In this embodiment, the obtaining the d-axis current command value and the q-axis current command value at the current time includes:
acquiring the rotating speed of a motor at the current moment;
and looking up a table according to the rotating speed, the voltage and the torque to obtain a d-axis current instruction value and a q-axis current instruction value at the current moment.
In this embodiment, the reference voltage angle information at the current time is obtained.
In this embodiment, the obtaining the three-phase duty ratio at the current time according to the TV-PWM basic voltage vector selection table, the reference voltage angle information at the current time, and the current triaxial voltage information includes:
acquiring three adjacent voltage vector information according to the reference voltage angle information;
respectively calculating the respective action time of the three voltage vectors according to the information of the three adjacent voltage vectors;
and acquiring the three-phase duty ratio at the current moment according to the respective action time of the three voltage vectors and the current three-axis voltage information.
In this embodiment, the obtaining the three-phase duty ratio at the current moment according to the acting time of each of the three voltage vectors and the current triaxial voltage information includes:
acquiring a preset PWM waveform;
the duty ratios of the three phases A, B and C can be obtained through the action time of each of the three voltage vectors.
The present application is described in further detail below by way of examples, it being understood that the examples do not constitute any limitation to the present application.
Firstly, looking up a table according to the rotating speed, the voltage and the torque to obtain a d-axis current instruction value
And q-axis current command value
The actual three-phase current i of the permanent magnet synchronous motor a 、i b 、i c Obtaining d-axis current actual value i of d-q rotating coordinate system through coordinate transformation d And the actual value of q-axis current i q Obtaining d and q axis voltage direct axis reference voltage u d And d, q-axis quadrature reference voltage u q Obtaining a-b-c axis voltage u through coordinate transformation a 、u b And u c Let u stand for a 、u b And u c And the time of each phase switch of the inverter is calculated as the input of the pulse width modulation TV-PWM module, and the inverter is controlled to output current and torque which accord with the instruction.
Referring to fig. 4 and 5, in the present embodiment, a TV-PWM (Three Vector Pulse Width Modulation) basic voltage Vector selection table is obtained by a TV-PWM Three-Vector Pulse Width Modulation technique, and the common mode voltage is reduced by eliminating the presence of a zero Vector by using the TV-PWM basic voltage Vector selection table.
In this embodiment, the current triaxial voltage information at the current moment is obtained according to the direct axis reference voltage and the quadrature axis reference voltage by using the following formula:
wherein psi f Is a permanent magnet flux linkage, omega is the rotor electrical angular velocity, and Rs is the motor winding resistance.
d. q-axis voltage direct axis reference voltage is u d D, q-axis quadrature reference voltage is u q (ii) a The actual value of the d-axis current of the d-q rotating coordinate system is i d And the actual value of the q-axis current is i q ；。
In this embodiment, a table look-up is performed based on the rotational speed, the voltage and the torque to obtain a d-axis current command value and a q-axis current command value at the current time, where the rotational speed refers to the rotational speed of the motor at the current time, the voltage is the actually measured bus voltage of the inverter, and the torque command is from a torque request input by an upper computer or a torque request of a driver.
In this embodiment, the reference voltage angle information at the current time is obtained by using the following formula:
in this embodiment, U s For reference voltage vector magnitude, i.e., uref is a rotation vector determined by magnitude and angle, the magnitude is calculated by the above formula, and the reference voltage angle information is arctan (U) d /U q )。
In this embodiment, the current triaxial voltage information is obtained by using the following formula:
in this embodiment, the direct-axis reference voltage and the quadrature-axis reference voltage are obtained by the following formulas:
The instruction values and the actual values of the d-axis current and the q-axis current are subjected to PI control, namely, direct-axis voltage and quadrature-axis voltage are output, because the PI outputs the quantity of the controlled actual values, and ud controls id and uq controls iq.
Specifically, how to select the three basic voltage vectors is determined by the range determination of the voltage angle θ, and the correspondence is as shown in fig. 5.
Decomposing the reference voltage on a phase voltage coordinate axis to calculate the action time of each vector: by referring to fig. 5, it can be obtained which three valid voltage vectors the reference voltage vector is composed of, and the action time of the three voltage vectors can be calculated.
Taking the reference voltage vector Uref of the region 1 shown in fig. 4 as an example, it can be seen that three vectors U1, U2 and U6 are required to be synthesized, and the action time of the three basic voltage vectors can be calculated by only knowing the magnitudes of the three basic voltage vectors.
Referring to fig. 4, fig. 4 is a space voltage vector distribution diagram, and the inverter is composed of six switching devices, which are combined to have 8 safe switching states (000/001/010/011/100/101/110/111), 0 represents off, and 1 represents on. The two switch states 000 and 111 do not generate effective current in the motor drive, and are called zero vectors, and the other 6 switch states are six effective vectors respectively, which divide the 360-degree voltage space into one sector of 60 degrees and six sectors, and any vector in 360 degrees can be synthesized by using the six basic effective vectors and two zero quantities.
Acquisition of fig. 6: in the first sector, vectors U6 (101) -U1 (100) -U2 (110) -U1 (100) -U6 (101) are selected to be synthesized, three digits respectively represent the switching states of three phases A, B and C, 101 represents the high level of the phase A, the low level of the phase B and the high level of the phase C, so that the first part of the graph six is arranged from top to bottom, the high level and the low level are arranged by analogy with the U1, and five switching states of one period formed by five vectors are obtained in the graph six.
Taking fig. 6 as an example, all phases a are in an on state, so the duty ratio is 1, the on time of phase B is the action time of U2, the PWM duty ratio of phase B is T2/Ts, the PWM duty ratio of phase C is 1- (T1 + T2)/Ts, and Ts is a PWM cycle time. (the duty cycle is the time of the high level divided by the total time of one cycle Ts)
Reference voltage can be decomposed on phase voltage coordinate axes a, b and c to obtain the action time T1 of U1 as Ua/U0, the action time T2 of U2 as-Uc/U0, the action time T6 of U6 as-Ub/U0, and the action time of three basic vectors in each area can be found by analogy.
The duty ratios of the PWM of the three phases a, B, and C are calculated, taking the reference voltage vector Uref in the area 1 of fig. 4 as an example, the order of action of the three basic voltage vectors is U6 (101) -U1 (100) -U2 (110) -U1 (100) -U6 (101), and the duty ratios of the three phases a, B, and C can be obtained by calculating T1, T2, and T6 as shown in fig. 6 corresponding to the PWM waveforms of the three phases.
From fig. 6 it can be derived that: the A-phase PWM duty ratio is 1, the B-phase PWM duty ratio is T2/Ts, the C-phase PWM duty ratio is (T1 + T2)/Ts, and Ts is one PWM period time.
It can be seen from fig. 6 that the reference voltage vector is synthesized by selecting three adjacent vectors, which belongs to five-segment PWM modulation, so that the occurrence of zero vector is effectively avoided, and the peak-to-peak value of common mode voltage is reduced from Udc to 1/3Udc.
The application also provides a pulse width modulation device of the permanent magnet synchronous motor based on common mode voltage suppression, the pulse width modulation device of the permanent magnet synchronous motor based on common mode voltage suppression comprises a current triaxial voltage information acquisition module, a reference voltage angle information acquisition module, a TV-PWM (television-pulse width modulation) basic voltage vector selection table acquisition module and a three-phase duty ratio acquisition module, wherein the current triaxial voltage information acquisition module is used for acquiring current triaxial voltage information at the current moment; the reference voltage angle information acquisition module is used for acquiring reference voltage angle information at the current moment; the TV-PWM basic voltage vector selection table acquisition module is used for acquiring a TV-PWM basic voltage vector selection table generated based on three adjacent vectors; and the three-phase duty ratio acquisition module is used for acquiring the three-phase duty ratio at the current moment according to the TV-PWM basic voltage vector selection table, the reference vector at the current moment, the reference voltage angle information and the current three-axis voltage information.
Referring to fig. 7, the present application further provides a control system of a permanent magnet synchronous motor, where the control system of the permanent magnet synchronous motor includes a permanent magnet synchronous motor and a pulse width modulation device of the permanent magnet synchronous motor based on common mode suppression voltage, the pulse width modulation device of the permanent magnet synchronous motor based on common mode suppression voltage is the above pulse width modulation device of the permanent magnet synchronous motor based on common mode suppression voltage, and the pulse width modulation device of the permanent magnet synchronous motor based on common mode suppression voltage adopts the above pulse width modulation method of the permanent magnet synchronous motor based on common mode suppression voltage to provide a PWM control signal for the permanent magnet synchronous motor, so that the permanent magnet synchronous motor operates according to the obtained PWM control signal.
The application also provides a vehicle comprising the permanent magnet synchronous motor control system.
It should be noted that the foregoing explanation of the method embodiment is also applicable to the system of this embodiment, and is not repeated here.
The application further provides an electronic device, in this embodiment, the electronic device is an edge server, and includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the above method for pulse width modulation of a permanent magnet synchronous motor based on common mode voltage suppression is implemented.
The application also provides a computer readable storage medium, which stores a computer program, and the computer program can realize the above pulse width modulation method based on the common mode voltage suppression when being executed by a processor.
Fig. 3 is an exemplary block diagram of an electronic device capable of implementing a pm synchronous motor pulse width modulation method based on common mode voltage rejection according to an embodiment of the present application.
As shown in fig. 3, the electronic device includes an input device 501, an input interface 502, a central processor 503, a memory 504, an output interface 505, and an output device 506. The input interface 502, the central processing unit 503, the memory 504 and the output interface 505 are connected to each other through a bus 507, and the input device 501 and the output device 506 are connected to the bus 507 through the input interface 502 and the output interface 505, respectively, and further connected to other components of the electronic device. Specifically, the input device 504 receives input information from the outside and transmits the input information to the central processor 503 through the input interface 502; the central processor 503 processes input information based on computer-executable instructions stored in the memory 504 to generate output information, temporarily or permanently stores the output information in the memory 504, and then transmits the output information to the output device 506 through the output interface 505; the output device 506 outputs the output information to the outside of the electronic device for use by the user.
That is, the electronic device shown in fig. 3 may also be implemented to include: a memory storing computer-executable instructions; and one or more processors that when executing the computer executable instructions may implement the common mode voltage rejection based permanent magnet synchronous motor pulse width modulation method described in connection with fig. 2.
In one embodiment, the electronic device shown in fig. 3 may be implemented to include: a memory 504 configured to store executable program code; one or more processors 503 configured to execute executable program code stored in the memory 504 to perform the pm synchronous motor pulse width modulation method based on the suppressed common mode voltage in the above embodiments.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media include both non-transitory and non-transitory, removable and non-removable media that implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Furthermore, it will be obvious that the term "comprising" does not exclude other elements or steps. A plurality of units, modules or devices recited in the device claims may also be implemented by one unit or overall device by software or hardware. The terms first, second, etc. are used to identify names, but not any particular order.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks identified in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The Processor in this embodiment may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the apparatus/terminal device by executing or performing the computer programs and/or modules stored in the memory, as well as invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
In this embodiment, the module/unit integrated with the apparatus/terminal device may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by hardware related to instructions of a computer program, which may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like.
It should be noted that the computer readable medium may contain content that is appropriately increased or decreased as required by legislation and patent practice in the jurisdiction. Although the present application has been described with reference to the preferred embodiments, it is not intended to limit the present application, and those skilled in the art can make variations and modifications without departing from the spirit and scope of the present application.
Although the invention has been described in detail hereinabove with respect to a general description and specific embodiments thereof, it will be apparent to those skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. The pulse width modulation method of the permanent magnet synchronous motor based on the common mode voltage suppression is characterized by comprising the following steps of:
acquiring current triaxial voltage information at the current moment;
acquiring reference voltage angle information at the current moment;
acquiring a TV-PWM basic voltage vector selection table generated based on three adjacent vectors;
acquiring a three-phase duty ratio of the current moment according to the TV-PWM basic voltage vector selection table, the reference vector of the current moment, the reference voltage angle information and the current three-axis voltage information;
and generating PWM control signals according to the three-phase duty ratio.
2. The method for pulse width modulation of a permanent magnet synchronous motor based on common mode voltage suppression as claimed in claim 1, wherein the obtaining current triaxial voltage information at the current moment comprises:
acquiring a direct axis reference voltage and a quadrature axis reference voltage;
and obtaining current triaxial voltage information at the current moment according to the direct axis reference voltage and the quadrature axis reference voltage.
3. The method for pulse width modulation of a permanent magnet synchronous motor based on common mode voltage suppression as claimed in claim 2, wherein the obtaining d-axis and q-axis voltage direct-axis reference voltages and d-axis and q-axis quadrature-axis reference voltages comprises:
acquiring a d-axis current instruction value and a q-axis current instruction value at the current moment;
acquiring a d-axis current actual value and a q-axis current actual value at the previous moment of the current moment;
and acquiring a direct-axis reference voltage and a quadrature-axis reference voltage according to the d-axis current instruction value and the q-axis current instruction value at the current moment, and the d-axis current actual value and the q-axis current actual value at the last moment at the current moment.
4. The pulse width modulation method for the permanent magnet synchronous motor based on the common mode voltage suppression as claimed in claim 3, wherein the obtaining of the d-axis current command value and the q-axis current command value at the current moment comprises:
acquiring the rotating speed of a motor at the current moment;
and looking up a table according to the rotating speed, the voltage and the torque to obtain a d-axis current instruction value and a q-axis current instruction value at the current moment.
5. The method for pulse width modulation of a permanent magnet synchronous motor based on common mode voltage suppression as claimed in claim 4, wherein the reference voltage angle information of the current time is obtained.
6. The common-mode voltage rejection-based pulse width modulation method for the permanent magnet synchronous motor according to claim 5, wherein the obtaining of the three-phase duty ratio at the current time according to the TV-PWM basic voltage vector selection table, the reference voltage angle information at the current time and the current triaxial voltage information comprises:
acquiring three adjacent voltage vector information according to the reference voltage angle information;
respectively calculating the respective action time of the three voltage vectors according to the information of the three adjacent voltage vectors;
and acquiring the three-phase duty ratio at the current moment according to the respective action time of the three voltage vectors and the current three-axis voltage information.
7. The method for pulse width modulation of a permanent magnet synchronous motor based on common-mode voltage suppression as claimed in claim 6, wherein the obtaining of the three-phase duty ratio at the current moment according to the action time of each of the three voltage vectors and the current triaxial voltage information comprises:
acquiring a preset PWM waveform;
the duty ratios of the three phases A, B and C can be obtained through the action time of each of the three voltage vectors.
8. The pulse width modulation device of the permanent magnet synchronous motor based on the common mode voltage suppression is characterized by comprising the following components:
the current triaxial voltage information acquisition module is used for acquiring current triaxial voltage information at the current moment;
the reference voltage angle information acquisition module is used for acquiring reference voltage angle information at the current moment;
the TV-PWM basic voltage vector selection table acquisition module is used for acquiring a TV-PWM basic voltage vector selection table generated based on three adjacent loss quantities;
and the three-phase duty ratio acquisition module is used for acquiring the three-phase duty ratio at the current moment according to the TV-PWM basic voltage vector selection table, the reference vector at the current moment, the reference voltage angle information and the current three-axis voltage information.
9. A permanent magnet synchronous motor control system, comprising:
a permanent magnet synchronous motor;
the pulse width modulation device for the permanent magnet synchronous motor based on the common mode voltage suppression is the pulse width modulation device for the permanent magnet synchronous motor based on the common mode voltage suppression according to claim 8, and the pulse width modulation device for the permanent magnet synchronous motor based on the common mode voltage suppression adopts the pulse width modulation method for the permanent magnet synchronous motor based on the common mode voltage suppression according to any one of claims 1 to 7 to provide a PWM control signal for the permanent magnet synchronous motor, so that the permanent magnet synchronous motor operates according to the obtained PWM control signal.
10. A vehicle characterized in that the vehicle comprises a permanent magnet synchronous motor control system according to claim 9.
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