CN115864923A - Open-winding permanent magnet synchronous motor multi-vector control method based on three-dimensional space division - Google Patents
Open-winding permanent magnet synchronous motor multi-vector control method based on three-dimensional space division Download PDFInfo
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Abstract
The invention relates to a multi-vector control method of an open winding permanent magnet synchronous motor based on three-dimensional space division, which belongs to the technical field of open winding permanent magnet synchronous motor control and comprises the following steps: obtaining rotor position angle of motorθAnd angular velocityωCalculating stator current in two-phase stationary coordinate systemi d 、i q 、i 0 (ii) a Obtaining a q-axis current reference value according to a rotating speed outer ring controller, and giving d-axis and 0-axis electricityA stream reference value; prediction of a reference control voltage; judging the region of the reference control voltage vector and selecting the voltage vector; calculating the action time of the voltage vector; and distributing and generating the switching pulse sequence of each group of bridge arms according to the action time of each space voltage vector. The invention reduces the calculated amount and complexity of a system control algorithm, effectively reduces the electromagnetic torque pulsation of the open-winding permanent magnet synchronous motor, and solves the problem of zero-sequence current suppression in a common direct current bus driving system.
Description
Technical Field
The invention relates to a multi-vector control method of an open winding permanent magnet synchronous motor based on three-dimensional space division, and belongs to the technical field of open winding permanent magnet synchronous motor control.
Background
The open-winding permanent magnet synchronous motor is characterized in that a neutral point of a traditional permanent magnet synchronous motor is opened, six leads are led out from two ends of a three-phase winding, every three leads are connected with an inverter, and the motor is driven to run by adopting a double-inverter topological structure. According to different power supply structures of the driving system, the driving system of the open-winding permanent magnet synchronous motor can be divided into two types, namely a common direct current bus topology and an independent direct current bus topology. The common direct current bus topological structure only needs one direct current source for power supply, so that the output power of the motor can be improved under the limited power supply capacity, the rotating speed operation range of the motor can be widened, and the application of the common direct current bus topological structure in a motor driving system is widely concerned.
The traditional vector control strategy based on PI, PR and other linear regulators is complex in structure, and has a poor effect of inhibiting zero sequence current problems in a common direct current bus type driving system. In recent years, model predictive control has received wide attention due to the advantages of simple control concept, fast dynamic response, strong processing capability of a multivariable nonlinear system and the like, and has good application potential in the aspects of solving the specific multi-constraint problem of an open-winding motor and the like.
However, the traditional model prediction control has the problems of large motor electromagnetic torque pulsation, large calculation amount of a control algorithm, complex engineering application and the like. In order to better inhibit the pulsation of the electromagnetic torque, students at home and abroad successively put forward multi-vector control strategies such as duty ratio control, double-vector control, three-vector control and the like; however, in the conventional multi-vector control, the voltage vectors need to be traversed for many times, and the open-winding motor driving system has a large number of voltage vectors, which inevitably increases the calculation amount of the algorithm, and brings great difficulty to the realization of the algorithm.
In the aspect of reducing the algorithm complexity of model predictive control, a document proposes that candidate voltage vectors are screened by using reference control voltage vector angle information, effective voltage vectors are reduced to 5, and the traversal times of the voltage vectors are greatly reduced; the learner divides the space by combining the zero sequence voltage and using a perpendicular bisector, so that the number of candidate voltage vectors is reduced to 3, and the calculated amount of the algorithm is effectively reduced; however, the above algorithm is mostly realized by adopting single vector control, the pulsation of the electromagnetic torque of the motor is large, the zero sequence current suppression effect is not good, and further improvement is needed.
Disclosure of Invention
The invention aims to provide a multi-vector control method of an open-winding permanent magnet synchronous motor based on three-dimensional space division, which can be used for rapidly screening effective voltage vectors, reducing the calculation amount and application complexity of an algorithm and inhibiting the electromagnetic torque pulsation and zero sequence current of the motor.
In order to achieve the purpose, the invention adopts the technical scheme that:
a multi-vector control method of an open winding permanent magnet synchronous motor based on three-dimensional space division comprises the following steps:
step 1: obtaining the rotor position angle theta and the angular speed omega of the motor, and calculating the stator current i under a two-phase static coordinate system d 、i q 、i 0 ；
Step 2: obtaining a q-axis current reference value according to a rotating speed outer ring controller, and setting d-axis and 0-axis current reference values;
and 3, step 3: prediction of a reference control voltage;
and 4, step 4: judging the region of the reference control voltage vector and selecting the voltage vector;
and 5: calculating the action time of the voltage vector;
step 6: and distributing and generating the switching pulse sequence of each group of bridge arms according to the action time of each space voltage vector.
The technical scheme of the invention is further improved in that the specific process of the step 1 is as follows:
the rotor position angle theta of the motor is obtained through an encoder, the rotor angular velocity omega is obtained after differentiation, and the three-phase stator current i is obtained through measurement of a current Hall sensor a 、i b 、i c Transforming the coordinate system into a two-phase rotating coordinate system through coordinate transformation to obtain i d 、i q 、i 0 。
The technical scheme of the invention is further improved in that the specific process of the step 2 is as follows:
will refer to the rotation speed omega ref The difference between the reference value and the angular speed omega obtained by the encoder is input into a PI controller, the difference is output as the reference value of q-axis current, and the reference value i of d-axis current is output dref Set to zero and simultaneously reference value i of 0-axis current for suppressing zero-sequence current 0ref Is also set to zero.
The technical scheme of the invention is further improved in that the specific process of the step 3 is as follows:
the discrete mathematical model of the open-winding permanent magnet synchronous motor is shown as follows:
wherein u is dq0 (k) Represents the stator voltage i in the coordinate system of dq0 at the time k dq0 (k) And i dq0 (k + 1) represents the stator current in the dq0 coordinate system at the k moment and the k +1 moment respectively; the matrices a, B, C are as follows:
the stator dq0 axis current i at the moment k +1 dq0 Reference current i for (k + 1) dq0ref (k) Alternatively, the reference control voltage u may be obtained dq0ref (k) The expression (c) of (a),as shown in the following formula:
the obtained reference control voltage u under the dq0 coordinate system is converted by coordinate dq0ref Converting the three-phase static coordinate system to obtain a reference control voltage vector U under the three-phase static coordinate system aref 、U bref 、U cref 。
The technical scheme of the invention is further improved in that the specific steps of the step 4 are as follows:
firstly, establishing a three-dimensional space coordinate system, selecting a zero voltage vector as an origin, taking an A-phase voltage vector as an x-axis, taking a B-phase voltage vector as a y-axis and taking a C-phase voltage vector as a z-axis, establishing a three-dimensional space coordinate system, and carrying out normalization processing on all voltage vectors to ensure that the coordinates of all voltage vectors only contain 0 or 1;
then, dividing a three-dimensional space region, and dividing the three-dimensional space into 8 cuboids with equal volumes by taking the origin as the center according to the quadrant in which the three-dimensional space region is located; each small cube is divided into 6 cones with equal volumes, and each cone area is composed of three non-coplanar non-zero space voltage vectors and a zero space voltage vector, so that multi-vector synthesis of the reference voltage vector is conveniently carried out in a three-dimensional space;
finally, determining a cone region to which the reference control voltage vector belongs; according to U aref 、U bref 、U cref Determining the quadrant to which the cone belongs, and taking a plane equation of 6 cone areas in the quadrant as a constraint condition for judging the area to which the cone belongs; the plane equation of each cone region is solved by adopting a point method, and the two direction vectors formed by 3 points are assumed to be s 1 And s 2 Then the normal vector s (a, b, c) for that plane can be cross-multiplied by s by two vectors 1 ×s 2 Obtaining, selecting any point (x) in the plane 0 ,y 0 ,z 0 ) The plane equation can be obtained as follows:
a(x-x 0 )+b(y-y 0 )+c(z+z 0 )＝0
after all plane equations of the 6 cones are obtained through calculation, all the plane equations of the area can be used as constraint conditions of the area, and the area to which the reference control voltage belongs is uniquely determined; selecting three non-zero space voltage vectors and one zero space voltage vector in the cone region for synthesizing a reference control voltage vector U aref 、U bref 、U cref And acts on the next control cycle.
The technical scheme of the invention is further improved in that the specific steps of the step 4 are as follows:
calculating the action time of each voltage vector based on a three-dimensional space coordinate algorithm for synthesizing reference control voltage; suppose the coordinates of three non-zero space voltage vectors in a certain area are respectively (m) 1 ,n 1 ,k 1 )、(m 2 ,n 2 ,k 2 )、(m 3 ,n 3 ,k 3 ) With the duration of action occupying the control period T s Are respectively d 1 、d 2 、d 3 And the coordinates of the reference control voltage are (x, y, z), the action time calculation formula of the three non-zero space voltage vectors is as follows:
d to be obtained 1 、d 2 、d 3 And control period T s The action time t of three non-zero space voltage vectors can be obtained by multiplication 1 、t 2 、t 3 When the sum of the three action times is less than the control period T s In time, the filling can be carried out by using a zero space voltage vector, and the action time of the zero space voltage vector is t 0 ＝T s -(t 1 +t 2 +t 3 )。
Due to the adoption of the technical scheme, the invention has the following technical effects:
the method mainly divides the vector area in the three-dimensional space coordinate system to realize the rapid positioning and screening of a plurality of effective voltage vectors; and a more concise voltage vector action time calculation method is provided by combining a vector coordinate algorithm, and a multi-vector model predictive control algorithm is further optimized. Compared with the traditional technology, the control method provided by the invention reduces the calculated amount and complexity of a system control algorithm, effectively reduces the electromagnetic torque pulsation of the open-winding permanent magnet synchronous motor, and solves the problem of zero-sequence current suppression in a common direct current bus driving system.
Drawings
FIG. 1 is a common DC bus open winding motor system architecture;
FIG. 2 is a spatial three-dimensional coordinate system established with the phase voltage vector A as the x-axis, the phase voltage vector B as the y-axis, and the phase voltage vector C as the z-axis;
FIG. 3 is a division structure of a small cube of a first quadrant and a specific shape of six cones formed after division;
FIG. 4 is a control block diagram of the present invention as a whole;
fig. 5 is a waveform of three phase current, rotational speed, electromagnetic torque and zero sequence current of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and specific embodiments, and it should be understood that the description is only a part of the implementation of the invention, and not all of the implementation. Based on the content of the present invention, those skilled in the art should obtain other research content without innovative labor, and all such content shall fall within the protection scope of the present invention.
The research content of the invention is an open winding permanent magnet synchronous motor driving system based on a common direct current bus type topological structure, and the structure of the open winding permanent magnet synchronous motor driving system is shown in figure 1. The open-winding permanent magnet synchronous motor driving system has the nonlinear characteristics of multiple space voltage vectors, multiple control constraint conditions and the like.
A multi-vector model predictive control method of an open winding permanent magnet synchronous motor based on three-dimensional space vector division is disclosed, the principle is shown in figure 4, and a control system of the open winding permanent magnet synchronous motor comprises the following modules: coordinate transformation module, rotating speed outer ring PI controller, reference voltage prediction module and areaThe device comprises a judgment and voltage vector selection module, an action time calculation module, a switching pulse generation module, an inverter module, an encoder and an open winding permanent magnet synchronous motor. The inverter module supplies power to the open-winding permanent magnet synchronous motor through a common direct current bus, and the control of the inverter module is controlled and generated by the switch pulse generation module. The encoder collects rotor position data of the open-winding permanent magnet synchronous motor and sends information to the coordinate transformation module and the rotating speed outer ring PI controller. The two coordinate transformation modules are respectively a stator current coordinate transformation module and a reference voltage coordinate transformation module, and the stator current coordinate transformation module is used for collecting current i in a three-phase static coordinate system collected by a current sensor a 、i b 、i c Conversion to current i in two-phase stationary frame d 、i q 、i 0 And sent to the reference voltage prediction module. Reference voltage coordinate transformation is used for predicting a reference voltage u under a two-phase rotating coordinate system dref 、u qref 、u 0ref Converting into voltage U under three-phase static coordinate system aref 、U bref 、U cref And sending the voltage vector to a region judgment and voltage vector selection module for voltage vector selection. And the action time calculation module calculates the action time of each voltage vector, and finally, the switching pulse generation module generates switching pulses according to the action sequence and the action time of each vector, controls the inverter and drives the motor to operate.
Firstly, a rotor position angle theta and an angular speed omega of a motor are obtained through an encoder, and a three-phase stator current i is obtained through measurement of a current Hall sensor a 、i b 、i c Converting the three-phase stator current to a two-phase rotating coordinate system by using coordinate conversion; secondly, setting the angular speed of the motor to be a given value omega ref Making difference with actual angular velocity omega, and obtaining reference value i of stator q-axis current by PI regulator qref Reference value i of stator d-axis current dref Is given zero, while for suppressing zero sequence currents, the stator 0 axis current reference value i is set 0ref Is also set to zero; then, based on the dead beat prediction control idea, a discrete mathematical model of the open winding permanent magnet synchronous motor is utilized to construct dead beat electricityA flow prediction controller which predicts a reference control voltage; further, judging and selecting the voltage vectors in the corresponding region to act on the next control period according to the reference voltage phase-entering region, and calculating the action time coordinate of each voltage vector; finally, according to the action sequence and the action time of the voltage vector, switching pulses are generated and act on the inverter.
The method specifically comprises the following steps:
step 1: obtaining the rotor position angle theta and the angular speed omega of the motor, and calculating the stator current i under a two-phase static coordinate system d 、i q 、i 0 。
The rotor position angle theta of the motor is obtained through an encoder, the rotor angular velocity omega is obtained after differentiation, and the three-phase stator current i is obtained through measurement of a current Hall sensor a 、i b 、i c Transforming the coordinate system into a two-phase rotating coordinate system through coordinate transformation to obtain i d 、i q 、i 0 。
Step 2: and obtaining a q-axis current reference value according to the rotating speed outer ring controller, and setting d-axis and 0-axis current reference values.
Will refer to the rotation speed omega ref The difference between the reference value and the angular speed omega obtained by the encoder is input into a PI controller, the difference is output as the reference value of q-axis current, and the reference value i of d-axis current is output dref Set to zero and simultaneously reference value i of 0-axis current for suppressing zero-sequence current 0ref Is also set to zero.
And step 3: prediction of the reference voltage vector.
Based on the dead-beat prediction control idea, a dead-beat current prediction controller is constructed by utilizing a discrete mathematical model of the open-winding permanent magnet synchronous motor to predict the reference control voltage.
The discrete mathematical model of the open-winding permanent magnet synchronous motor is shown as follows:
wherein u is dq0 (k) Represents the stator voltage i in the coordinate system of dq0 at the time k dq0 (k) And i dq0 (k + 1) represents the stator current in the coordinate system at time k and time dq0 at time k + 1, respectively. The matrices A, B, C are shown below;
the stator dq0 axis current i at the moment k +1 dq0 Reference current i for (k + 1) dq0ref (k) Alternatively, the reference control voltage u can be obtained dq0ref (k) Is represented by the following formula:
obtaining the reference control voltage u under the dq0 coordinate system through coordinate transformation dq0ref Converting the three-phase static coordinate system to obtain a reference control voltage vector U under the three-phase static coordinate system aref 、U bref 、U cref 。
And 4, step 4: and judging the region to which the reference control voltage vector belongs and selecting the voltage vector.
Firstly, a three-dimensional space coordinate system is established, a zero voltage vector is selected as an origin, an A-phase voltage vector is taken as an x-axis, a B-phase voltage vector is taken as a y-axis, and a C-phase voltage vector is taken as a z-axis, the three-dimensional space coordinate system is established, normalization processing is carried out on all voltage vectors, and the fact that the coordinates of all voltage vectors only contain 0 or 1 is guaranteed.
Then, the three-dimensional space area is divided into 8 cuboids with equal volume according to the quadrant of the three-dimensional space with the origin as the center, as shown in fig. 2. Each small cube is divided into 6 cones with equal volumes, and each cone area is composed of three non-coplanar non-zero space voltage vectors and a zero space voltage vector, so that multi-vector synthesis of the reference voltage vector is conveniently carried out in a three-dimensional space. Fig. 3 shows the division method of quadrant I by 6 cones.
And finally, determining the cone region to which the reference control voltage vector belongs. According to U aref 、U bref 、U cref Determining the quadrant to which the cone belongs, and taking the plane equation of 6 cone areas in the quadrant as a constraint condition for judging the area to which the cone belongs. The plane equation of each cone region can be solved by adopting a point method, and the two direction vectors formed by 3 points are assumed to be s respectively 1 And s 2 Then the normal vector s (a, b, c) of the plane can be cross-multiplied by s by two vectors 1 ×s 2 Obtaining, selecting any point (x) in the plane 0 ,y 0 ,z 0 ) The plane equation can be obtained as follows:
a(x-x 0 )+b(y-y 0 )+c(z+z 0 )＝0
after all the plane equations of the 6 cones are obtained through calculation, all the plane equations of the area can be used as constraint conditions of the area, and the area to which the reference control voltage belongs is uniquely determined. Selecting three non-zero space voltage vectors and one zero space voltage vector in the cone region for synthesizing a reference control voltage vector U aref 、U bref 、U cref And acts on the next control cycle.
And 5: and (4) calculating the action time.
And calculating the action time of each voltage vector based on a three-dimensional space coordinate algorithm for synthesizing the reference control voltage. Suppose the coordinates of three non-zero space voltage vectors in a certain area are respectively (m) 1 ,n 1 ,k 1 )、(m 2 ,n 2 ,k 2 )、(m 3 ,n 3 ,k 3 ) With an action time in the control period T s Are respectively d 1 、d 2 、d 3 And the coordinates of the reference control voltage are (x, y, z), the action time calculation formula of the three non-zero space voltage vectors is as follows:
d to be obtained 1 、d 2 、d 3 And control period T s The action time t of three non-zero space voltage vectors can be obtained by multiplication 1 、t 2 、t 3 When the sum of the three action times is less than the control period T s In time, the filling can be carried out by using a zero space voltage vector, and the action time of the zero space voltage vector is t 0 ＝T s -(t 1 +t 2 +t 3 )。
Step 6: a switching pulse is generated.
And distributing and generating a switching pulse sequence of each group of bridge arms according to the action time of each space voltage vector, controlling the on-off of a main power switching tube of the converter, and driving a motor to run.
Fig. 5 shows waveforms of three-phase current, rotational speed, electromagnetic torque and zero-sequence current according to the present invention. The simulated working condition is that the motor is given with the rotating speed of 500r/min, the torque is given with 3 N.m, and the step of the torque is given from 3 N.m to 6 N.m at 0.4 s. In simulation, pulsation of electromagnetic torque and zero sequence current is effectively inhibited, and feasibility and superiority of the open-winding permanent magnet synchronous motor multi-vector model prediction control method based on three-dimensional space vector division are demonstrated.
The invention provides a multi-vector model predictive control method of an open-winding permanent magnet synchronous motor based on the thought of three-dimensional space vector division, which not only ensures the rapidity of voltage vector selection, but also can effectively reduce electromagnetic torque pulsation and inhibit zero-sequence current. Meanwhile, a simpler voltage vector action time calculation method is provided by combining a vector coordinate algorithm, and the calculation amount and the application complexity of the algorithm are further reduced.
Claims (6)
1. A multi-vector control method of an open-winding permanent magnet synchronous motor based on three-dimensional space division is characterized by comprising the following steps:
step 1: obtaining the rotor position angle theta and the angular speed omega of the motor, and calculating the stator current i under a two-phase static coordinate system d 、i q 、i 0 ；
Step 2: obtaining a q-axis current reference value according to a rotating speed outer ring controller, and setting d-axis and 0-axis current reference values;
and step 3: prediction of a reference control voltage;
and 4, step 4: judging the region of the reference control voltage vector and selecting the voltage vector;
and 5: calculating the action time of the voltage vector;
step 6: and distributing and generating the switching pulse sequence of each group of bridge arms according to the action time of each space voltage vector.
2. The open-winding permanent magnet synchronous motor multi-vector control method based on three-dimensional space division according to claim 1, characterized in that the specific process of step 1 is as follows:
the rotor position angle theta of the motor is obtained through an encoder, the rotor angular velocity omega is obtained after differentiation, and the three-phase stator current i is obtained through measurement of a current Hall sensor a 、i b 、i c Transforming the coordinate system into a two-phase rotating coordinate system through coordinate transformation to obtain i d 、i q 、i 0 。
3. The open-winding permanent magnet synchronous motor multi-vector control method based on three-dimensional space division according to claim 1, characterized in that the specific process of step 2 is as follows:
will refer to the rotation speed omega ref The difference between the reference value and the angular speed omega obtained by the encoder is input into a PI controller, the difference is output as the reference value of q-axis current, and the reference value i of d-axis current is output dref Set to zero and simultaneously reference value i of 0-axis current for suppressing zero-sequence current 0ref Is also set to zero.
4. The open-winding permanent magnet synchronous motor multi-vector control method based on three-dimensional space division according to claim 1, characterized in that the specific process of step 3 is as follows:
the discrete mathematical model of the open-winding permanent magnet synchronous motor is shown as follows:
wherein u is dq0 (k) Represents the stator voltage i in the coordinate system of dq0 at the time k dq0 (k) And i dq0 (k + 1) represents the stator current in the dq0 coordinate system at the k moment and the k +1 moment respectively; the matrices a, B, C are as follows:
the stator dq0 axis current i at the moment k +1 dq0 Reference current i for (k + 1) dq0ref (k) Alternatively, the reference control voltage u may be obtained dq0ref (k) Is represented by the following formula:
the obtained reference control voltage u under the dq0 coordinate system is converted by coordinate dq0ref Converting the three-phase static coordinate system to obtain a reference control voltage vector U under the three-phase static coordinate system aref 、U bref 、U cref 。
5. The open-winding permanent magnet synchronous motor multi-vector control method based on three-dimensional space division according to claim 1, wherein the specific steps of the step 4 are as follows:
firstly, establishing a three-dimensional space coordinate system, selecting a zero voltage vector as an origin, taking an A-phase voltage vector as an x-axis, taking a B-phase voltage vector as a y-axis and taking a C-phase voltage vector as a z-axis, establishing a three-dimensional space coordinate system, and carrying out normalization processing on all voltage vectors to ensure that the coordinates of all voltage vectors only contain 0 or 1;
then, dividing a three-dimensional space region, and dividing the three-dimensional space into 8 small cubes with equal volume by taking the original point as the center according to the located quadrant; each small cube is divided into 6 cones with equal volumes, and each cone area is composed of three non-coplanar non-zero space voltage vectors and a zero space voltage vector, so that multi-vector synthesis of the reference voltage vector is conveniently carried out in a three-dimensional space;
finally, determining a cone region to which the reference control voltage vector belongs; according to U aref 、U bref 、U cref Determining the quadrant to which the cone belongs, and taking a plane equation of 6 cone areas in the quadrant as a constraint condition for judging the area to which the cone belongs; the plane equation of each cone region is solved by adopting a point method, and two direction vectors formed by 3 points are assumed to be s respectively 1 And s 2 Then the normal vector s (a, b, c) of the plane can be cross-multiplied by s by two vectors 1 ×s 2 Obtaining, selecting any point (x) in the plane 0 ,y 0 ,z 0 ) The plane equation can be obtained as follows:
a(x-x 0 )+b(y-y 0 )+c(z+z 0 )＝0
after all plane equations of the 6 cones are obtained through calculation, all the plane equations of the area can be used as constraint conditions of the area, and the area to which the reference control voltage belongs is uniquely determined; selecting three non-zero space voltage vectors and one zero space voltage vector in the cone region for synthesizing a reference control voltage vector U aref 、U bref 、U cref And acts on the next control cycle.
6. The open-winding permanent magnet synchronous motor multi-vector control method based on three-dimensional space division according to claim 1, wherein the specific steps of step 4 are as follows:
calculating the action time of each voltage vector based on a three-dimensional space coordinate algorithm for synthesizing reference control voltage; suppose the coordinates of three non-zero space voltage vectors in a certain area are respectively (m) 1 ,n 1 ,k 1 )、(m 2 ,n 2 ,k 2 )、(m 3 ,n 3 ,k 3 ) With the duration of action occupying the control period T s Are respectively d 1 、d 2 、d 3 And the coordinates of the reference control voltage are (x, y, z), the action time calculation formula of the three non-zero space voltage vectors is as follows:
d to be obtained 1 、d 2 、d 3 And control period T s The action time t of three non-zero space voltage vectors can be obtained by multiplication 1 、t 2 、t 3 When the sum of the three action times is less than the control period T s In time, the filling can be carried out by using a zero space voltage vector, and the action time of the zero space voltage vector is t 0 ＝T s -(t 1 +t 2 +t 3 )。
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| CN116827210B (en) * | 2023-08-24 | 2023-11-21 | 四川大学 | Three-dimensional space vector modulation method for open-winding motor |
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