WO2021115049A1 - 五相电机脉宽调制方法、装置及终端设备 - Google Patents

五相电机脉宽调制方法、装置及终端设备 Download PDF

Info

Publication number
WO2021115049A1
WO2021115049A1 PCT/CN2020/129489 CN2020129489W WO2021115049A1 WO 2021115049 A1 WO2021115049 A1 WO 2021115049A1 CN 2020129489 W CN2020129489 W CN 2020129489W WO 2021115049 A1 WO2021115049 A1 WO 2021115049A1
Authority
WO
WIPO (PCT)
Prior art keywords
vector
harmonic
modulation
reference voltage
fundamental wave
Prior art date
Application number
PCT/CN2020/129489
Other languages
English (en)
French (fr)
Inventor
龙凌辉
孙天夫
Original Assignee
中国科学院深圳先进技术研究院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Publication of WO2021115049A1 publication Critical patent/WO2021115049A1/zh

Links

Images

Classifications

    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • 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
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

Definitions

  • This application belongs to the field of motor technology, and in particular relates to a five-phase motor pulse width modulation method, device and terminal equipment.
  • Permanent magnet synchronous motors have the advantages of high power density, high efficiency, high torque density, etc., and have been widely used in aerospace, industrial automation, and electric vehicles. Although the industry is still mainly three-phase permanent magnet synchronous motors, due to the excellent performance of five-phase permanent magnet synchronous motors, it is gradually becoming a research hotspot. Because the angle between two adjacent vectors in the vector pulse width modulation of a five-phase motor is 36°, and the angle between two adjacent vectors in a three-phase motor is 60°, so in the modulation process, the five-phase permanent magnet synchronous The motor has a smaller torque ripple, in addition, the five-phase permanent magnet synchronous motor also has a greater energy density.
  • the five-phase permanent magnet synchronous motor is controlled based on the traditional adjacent four-vector pulse width modulation algorithm.
  • the traditional adjacent four-vector pulse width modulation algorithm cannot inject the third harmonic voltage, which will cause the motor to work under high torque conditions.
  • the change of inductance causes the back EMF of the third harmonic to increase, which leads to the deterioration of the harmonic characteristics of the motor current and affects the motor torque.
  • the embodiments of the present application provide a five-phase motor pulse width modulation method, device, and terminal equipment, which can solve the problem that the control of the five-phase motor cannot inject the third harmonic voltage.
  • an embodiment of the present application provides a pulse width modulation method for a five-phase motor, including:
  • the position of the fundamental wave reference voltage vector in the fundamental wave voltage space vector diagram and the position of the third harmonic reference voltage vector in the third harmonic voltage space vector diagram determine the preset number of fundamental wave vectors and predetermined A number of third harmonic vectors; where each fundamental wave vector corresponds to an action time;
  • the fundamental wave reference voltage vector determines the fundamental wave modulation vector, the third harmonic modulation vector sum and The modulation time corresponding to each of the fundamental modulation vectors;
  • the fundamental wave reference voltage vector and the third harmonic reference voltage vector are modulated.
  • the position of the fundamental reference voltage vector in the fundamental voltage space vector diagram and the third harmonic reference voltage vector in the third harmonic voltage space vector diagram To determine the preset number of fundamental wave vectors and the preset number of third harmonic vectors, including:
  • the corresponding third harmonic vector is determined according to each fundamental wave vector; wherein, each fundamental wave vector and each third harmonic vector are in a mapping relationship.
  • the reference voltage vector based on the fundamental wave, the reference voltage vector for the third harmonic, the fundamental wave vector, the third harmonic vector, and each of the functions Time, determining the fundamental modulation vector, the third harmonic modulation vector, and the modulation time corresponding to each fundamental modulation vector including:
  • the fundamental wave reference voltage vector, the third harmonic reference voltage vector, the fundamental wave vector and the third harmonic vector are orthogonally decomposed to obtain the fundamental wave reference voltage vector and the third harmonic wave vector.
  • the reference voltage vector, the fundamental wave vector, and the third harmonic vector respectively correspond to decomposition parameters, and a second relational expression is obtained according to the obtained decomposition parameters and the first relational expression;
  • the third relational expression is solved to determine the fundamental wave modulation vector, the third harmonic modulation vector, and the corresponding value of each fundamental wave modulation vector Modulation time, including:
  • the third harmonic modulation vector is determined based on the fundamental modulation vector.
  • the reference voltage vector based on the fundamental wave, the reference voltage vector for the third harmonic, the fundamental wave vector, the third harmonic vector, and each of the functions Time, determining the fundamental modulation vector, the third harmonic modulation vector, and the modulation time corresponding to each fundamental modulation vector also includes:
  • the third harmonic reference voltage vector is modulated.
  • the method further includes:
  • the preset vector value is used as the modulated third harmonic voltage vector.
  • an embodiment of the present application provides a pulse width modulation device for a five-phase motor, including:
  • the reference vector acquisition module is used to acquire the fundamental reference voltage vector and the third harmonic reference voltage vector
  • the vector determination module is used to determine the preset number according to the position of the fundamental reference voltage vector in the fundamental voltage space vector diagram and the position of the third harmonic reference voltage vector in the third harmonic voltage space vector diagram
  • the fundamental wave vector and a predetermined number of third harmonic vectors wherein each fundamental wave vector corresponds to an action time;
  • the modulation parameter determination module is configured to determine the fundamental wave modulation vector, the third harmonic reference voltage vector, the fundamental wave vector, the third harmonic vector, and each of the action times according to the fundamental wave reference voltage vector, the third harmonic reference voltage vector, A third harmonic modulation vector and a modulation time corresponding to each of the fundamental modulation vectors;
  • the modulation module is configured to modulate the fundamental wave reference voltage vector and the third harmonic reference voltage vector based on the fundamental wave modulation vector, the third harmonic modulation vector and the modulation time.
  • an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and running on the processor.
  • a terminal device including a memory, a processor, and a computer program stored in the memory and running on the processor.
  • the processor executes the computer program, The method described in any one of the foregoing first aspect is implemented.
  • an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program described in any one of the first aspects is implemented. method.
  • the embodiments of the present application provide a computer program product, which when the computer program product runs on a terminal device, causes the terminal device to execute the method described in any one of the above-mentioned first aspects.
  • the embodiment of this application obtains the fundamental reference voltage vector and the third harmonic reference voltage vector, according to the position of the fundamental reference voltage vector in the fundamental voltage space vector diagram and the third harmonic reference voltage vector in the third harmonic voltage space vector diagram Determine the preset number of fundamental wave vectors and the predetermined number of third harmonic vectors, and each fundamental wave vector corresponds to an action time; then according to the fundamental wave reference voltage vector, third harmonic reference voltage vector, Fundamental wave vector, third harmonic vector and each action time, determine the fundamental wave modulation vector, third harmonic modulation vector and the modulation time corresponding to each fundamental wave modulation vector, based on the fundamental wave modulation vector, third harmonic modulation vector and modulation Time, modulate the fundamental reference voltage vector and the third harmonic reference voltage vector.
  • the third harmonic and the fundamental wave are modulated.
  • the modulated signal drives the five-phase motor, and realizes the injection of the third harmonic.
  • the third harmonic current is used to increase the additional torque for the five-phase motor.
  • FIG. 1 is a schematic diagram of a five-phase motor pulse width modulation system provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a pulse width modulation method for a five-phase motor according to an embodiment of the present application
  • FIG. 3 is a schematic flowchart of a pulse width modulation method for a five-phase motor according to an embodiment of the present application
  • Fig. 4 is a space vector diagram of the fundamental voltage provided by an embodiment of the present application.
  • Fig. 5 is a space vector diagram of the third harmonic voltage provided by an embodiment of the present application.
  • FIG. 6 is a schematic flowchart of a pulse width modulation method for a five-phase motor according to an embodiment of the present application
  • FIG. 7 is a schematic diagram of orthogonal decomposition of a fundamental reference voltage vector provided by an embodiment of the present application.
  • FIG. 8 is a schematic diagram of orthogonal decomposition of the third harmonic reference voltage vector provided by an embodiment of the present application.
  • FIG. 9 is a schematic flowchart of a pulse width modulation method for a five-phase motor according to an embodiment of the present application.
  • FIG. 10 is a schematic flowchart of a pulse width modulation method for a five-phase motor according to an embodiment of the present application.
  • FIG. 11 is a schematic flowchart of a pulse width modulation method for a five-phase motor according to an embodiment of the present application.
  • FIG. 12 is a schematic diagram of a simulation model provided by an embodiment of the present application.
  • FIG. 13 is a simulation diagram when there is no third harmonic reference voltage vector injection provided by an embodiment of the present application.
  • FIG. 14 is a simulation diagram of a third harmonic reference voltage vector injection provided by an embodiment of the present application.
  • FIG. 16 is an analysis diagram of harmonic amplitude of a motor under no-load conditions provided by an embodiment of the present application.
  • Figure 17 is a harmonic phase analysis diagram of a motor under no-load conditions provided by an embodiment of the present application.
  • FIG. 19 is an analysis diagram of harmonic amplitude under a load condition of a motor provided by an embodiment of the present application.
  • Figure 20 is a harmonic phase analysis diagram of a motor under load conditions provided by an embodiment of the present application.
  • FIG. 21 is a vector position diagram of the d-axis and the q-axis of the fundamental wave and the third harmonic of the motor provided by an embodiment of the present application;
  • Fig. 22 is a simulation diagram of the on-off state of the motor A-phase switch after the injection of the third harmonic voltage vector is modulated by the traditional four-vector according to an embodiment of the present application;
  • FIG. 23 is a waveform diagram of the motor phase A voltage waveform after the injection of the third harmonic voltage vector provided by an embodiment of the present application is modulated by the traditional four-vector;
  • FIG. 24 is a waveform diagram of the motor A phase voltage after the injection of the third harmonic voltage vector is modulated by the five-phase motor pulse width modulation method according to an embodiment of the present application;
  • FIG. 25 is a simulation diagram of the on-off state of the A-phase switch of the motor after the injected third harmonic voltage vector is modulated by the five-phase motor pulse width modulation method according to an embodiment of the present application;
  • FIG. 26 is a structural block diagram of a pulse width modulation device for a five-phase motor provided by an embodiment of the present application.
  • FIG. 27 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.
  • the term “if” can be construed as “when” or “once” or “in response to determination” or “in response to detecting “.
  • the phrase “if determined” or “if detected [described condition or event]” can be interpreted as meaning “once determined” or “in response to determination” or “once detected [described condition or event]” depending on the context ]” or “in response to detection of [condition or event described]”.
  • a five-phase motor pulse width modulation system may include a signal input device 10, a signal modulation device 20 and a five-phase motor 30.
  • the signal input device 10 can input the fundamental wave reference voltage vector and the third harmonic reference voltage vector into the signal modulation device 20.
  • the signal modulation device 20 determines the preset number of fundamental wave vectors and the predetermined number according to the position of the fundamental wave reference voltage vector in the fundamental wave voltage space vector diagram and the position of the third harmonic reference voltage vector in the third harmonic voltage space vector diagram.
  • the number of third harmonic vectors then according to the fundamental wave reference voltage vector, third harmonic reference voltage vector, fundamental wave vector, third harmonic vector and each action time, determine the fundamental wave modulation vector, the third harmonic modulation vector and each The modulation time corresponding to the fundamental wave modulation vector, and finally based on the fundamental wave modulation vector, third harmonic modulation vector and modulation time, the fundamental wave reference voltage vector and the third harmonic reference voltage vector are modulated.
  • this signal modulation device 20 realizes common modulation of the fundamental wave reference voltage vector and the third harmonic reference voltage vector, so that the modulated fundamental wave reference voltage vector and the third harmonic reference voltage vector drive the five-phase motor 30 to rotate, and the third harmonic is realized.
  • the injection of the third harmonic current is used to add additional torque to the five-phase motor 30.
  • FIG. 2 shows a schematic flowchart of a pulse width modulation method for a five-phase motor provided by an embodiment of the present application.
  • the above method may include the following steps:
  • each fundamental wave vector corresponds to an action time.
  • step S202 may specifically include the following steps:
  • S2021 Determine the first target sector where the fundamental reference voltage vector is located in the fundamental voltage space vector diagram.
  • the sector where the fundamental reference voltage vector U a is located in the fundamental voltage space vector diagram shown in FIG. 4 is determined as the first target sector.
  • S2022 Determine the second target sector where the third harmonic reference voltage vector is located in the third harmonic voltage space vector diagram according to the first target sector.
  • the direction of the five-phase winding of the five-phase motor (direction A, B, C, D, E in Figure 5) and its reverse direction can divide the third harmonic voltage space into 10 regions, based on the figure
  • Based on the large vector in Figure 4 Medium vector And small vector Projection in the third harmonic voltage space to get the corresponding large vector Medium vector And small vector This forms the third harmonic voltage space vector diagram shown in Figure 5.
  • step S2021 it is determined in step S2021 that the first sector where the fundamental wave reference voltage vector U a is located, and the boundary closest to the fundamental wave reference voltage vector U a is Q y .
  • the boundary closest to the fundamental wave reference voltage vector U a is Q y .
  • the boundary Q y' region rotated counterclockwise 180 °, formed is A, sector; boundary Q y 'is rotated clockwise 180°, the area formed is sector B, and then the sector of the third harmonic reference voltage vector U′ a in the third harmonic voltage space vector diagram is determined as the second target sector.
  • S2023 Determine each fundamental wave vector according to the first target sector and the second target sector.
  • the number of fundamental wave vectors determined in step S2023 is at least five, and different numbers of fundamental wave vectors are selected, and the calculation method is the same.
  • the embodiment of the present application determines the number of fundamental wave vectors. The number is five for explanation.
  • the second target sector located in the third harmonic voltage space vector diagram is the A sector or the B sector. According to the first target sector and the second target sector, each fundamental wave vector is determined, and the corresponding relationship is shown in Table 1.
  • S 2y -A indicates that the first target sector is S 2y sector, and the second target sector is A sector
  • S 2y -B indicates that the first target sector is S 2y sector, and the second target sector is Sector B
  • S 2y-1 -A indicates that the first target sector is sector S 2y-1 , and the second target sector is sector A
  • S 2y-1 -B indicates that the first target sector is S 2y- 1 sector, the second target sector is sector B.
  • each fundamental wave vector and each third harmonic vector are mapping relationships.
  • the determined fundamental vector includes three large vectors And two medium vectors
  • the action times corresponding to the three large vectors and the two middle vectors are respectively After the fundamental wave vector is confirmed, map each vector in the third harmonic voltage space vector diagram to get the third harmonic vector as among them Is a small vector, Is the middle vector (as shown in Figure 5), and the action time of each third harmonic vector is
  • S203 Determine the fundamental wave modulation vector, the third harmonic modulation vector, and the corresponding fundamental wave modulation vector according to the fundamental wave reference voltage vector, the third harmonic reference voltage vector, the fundamental wave vector, the third harmonic vector and each action time. Modulation time.
  • step S203 may specifically include the following steps:
  • S2031 Establish a first relational expression including the fundamental wave reference voltage vector, the third harmonic reference voltage vector, the fundamental wave vector, the third harmonic vector, and each action time.
  • the fundamental wave reference voltage vector is U a
  • the third harmonic reference voltage vector is U′ a
  • the fundamental wave vector is respectively
  • the third harmonic vectors are The action time of each vector is Establish the first relationship based on the above parameters:
  • U dc is the DC bus voltage of the inverter
  • T s is a PWM modulation period.
  • S2032 respectively orthogonally decompose the fundamental wave reference voltage vector, third harmonic reference voltage vector, fundamental wave vector and third harmonic vector to obtain the fundamental wave reference voltage vector, third harmonic reference voltage vector, fundamental wave vector and third harmonic vector.
  • the wave vectors respectively correspond to the decomposition parameters
  • the second relational expression is obtained according to the obtained decomposition parameters and the first relational expression.
  • the fundamental wave reference voltage vector is U a and the closest boundary in the fundamental wave voltage space vector diagram is Q y
  • the fundamental wave reference voltage vector is U a and the angle between the boundary Q y is ⁇ 1 ,- 1/10 ⁇ 1 ⁇ 1/10 ⁇
  • the angle between the third harmonic reference voltage vector U′ a and the boundary Q y′ is ⁇ 3
  • the coordinate system is established based on the perpendicular line between the boundary Q y and the boundary Q y
  • the reference voltage vector is orthogonally decomposed by U a to obtain U ⁇ and U ⁇ (as shown in Fig.
  • a coordinate system is established by the perpendicular line between the boundary Q y and the boundary Q y , and each fundamental wave vector is orthogonally decomposed to obtain the corresponding Decompose parameters; establish a coordinate system based on the vertical line between the boundary Q y′ and the boundary Q y′ , and orthogonally decompose the third harmonic reference voltage vector U′ a to obtain U′ ⁇ and U′ ⁇ (as shown in Figure 8);
  • the boundary Q y′ and the vertical line of the boundary Q y′ establish a coordinate system, and orthogonally decompose each third harmonic vector to obtain the corresponding decomposition parameters.
  • the second relational expression is obtained as:
  • the second relation can also be simplified as:
  • the second relational expression obtained in step S2032 contains four equations and five unknowns, so the solution of the equations cannot be obtained, and because the simultaneous modulation of five voltage vectors in the five-phase inverter will not satisfy the central symmetry The principle of this will increase the switching times of the inverter switch. Therefore, based on the above two reasons, it is necessary to change the five unknowns in the second relational expression to four unknowns to obtain an analytical expression for the action time T.
  • the third relationship is:
  • T′ A*V a /U dc
  • T′ is the 4 ⁇ 1 dimensional matrix after T dimensionality reduction
  • A is a 4 ⁇ 4 dimensional full rank matrix
  • S2034 Solve the third relational expression to determine the fundamental modulation vector, the third harmonic modulation vector and the modulation time corresponding to each fundamental modulation vector.
  • step S2034 may specifically include the following steps:
  • S20341 Determine the first solution result of the third relational expression under the condition that each action time is zero.
  • a 4 has no solution, and A 1 , A 2 , A 3 and A 5 are the first solution results of the third relational expression.
  • S20342 Remove the solution result corresponding to the action time of less than zero in the first solution result, and obtain the second solution result.
  • the remaining solution is the second solution result, and then the solution result corresponding to the minimum switching frequency is selected from the second solution result, and the solution with the only action time can be obtained as the modulation time .
  • S20344 Determine the corresponding fundamental modulation vector according to the modulation time.
  • each fundamental wave vector corresponds to an action time, if the modulation time obtained in step S20343 is Then you can determine the corresponding As the fundamental modulation vector.
  • S20345 Determine the third harmonic modulation vector based on the fundamental wave modulation vector.
  • the third harmonic modulation vector is determined according to the fundamental wave modulation vector obtained in step S20344.
  • the fundamental modulation vector is The third harmonic modulation vector
  • step S203 may specifically include the following steps:
  • S20302 Correct each modulation time according to the product of each ratio and the preset time value.
  • the total value of the modulation time can be set as a PWM period T s .
  • the sum of the action time of each vector should be less than T s .
  • each modulation time is allocated according to the above formula to obtain the final modulation time.
  • S204 Based on the fundamental wave modulation vector, the third harmonic modulation vector and the modulation time, modulate the fundamental wave reference voltage vector and the third harmonic reference voltage vector.
  • step S204 may specifically further include the following steps:
  • the fundamental reference voltage vector is modulated through step S2041
  • the third harmonic reference voltage vector is modulated through step S2042.
  • the modulated fundamental reference voltage vector and third harmonic reference voltage vector simultaneously drive the five-phase motor .
  • the preset vector value is used as the modulated third harmonic voltage vector.
  • T′ may be a negative number in the calculated modulation time, and because the torque in the five-phase motor is mainly provided by the fundamental torque, in order to ensure the normal operation of the motor in the case of priority to ensuring the fundamental reference voltage vector U a normal modulation, as much as possible to prepare a third harmonic of the reference voltage, so the need for third harmonic voltage reference vector U 'a limitation.
  • the traditional four-vector pulse width modulation algorithm modulates by two adjacent large vectors and two middle vectors, because in the third harmonic space, the amplitude of the middle vector is 1.618 times the amplitude of the large vector, so the large vector is guaranteed
  • the action time is 1.618 times of the middle vector action time, which can offset the third harmonic voltage vector of the motor.
  • there will be a small amount of third-harmonic flux linkage for the body of a five-phase motor and when the motor is running under rated conditions, the third-harmonic voltage vector will be generated due to inductance saturation.
  • the traditional four-vector pulse width modulation algorithm cannot modulate the third-harmonic voltage vector, so it is difficult to guarantee the good harmonic characteristics of the five-phase motor when the motor is running under high load.
  • the pulse width modulation method of the five-phase motor of this embodiment can modulate the third harmonic voltage vector, which can ensure good harmonic characteristics when the motor is running under high load; and the five-phase motor injects the third harmonic voltage vector under the rated operating conditions
  • the modulation ratio of the fundamental voltage vector can be increased, and the power density of the five-phase motor can be effectively improved.
  • T k (1.80903U a cos( ⁇ 1 )+0.5878U a sin( ⁇ 1 )+0.6910U′ a cos( ⁇ 3 )+0.9517U′ a sin( ⁇ 3 ))/U dc *T s
  • T k is simplified to obtain:
  • the modulation ratio of the bus voltage of this algorithm is 0.526, which is equal to the traditional four-vector pulse width modulation ratio.
  • T k (1.80903U a cos( ⁇ 1 )+0.5878U a sin( ⁇ 1 )+1.1761U′ a cos( ⁇ 3 -3/10 ⁇ ))/U dc *T s
  • a simulation model (as shown in FIG. 12) is built using Simulink to verify the model.
  • the reference voltage input device inputs the reference voltage vector (including the fundamental voltage reference vector and the third harmonic reference voltage vector), the signal processor modulates the output reference voltage vector, and then outputs the modulated signal to control the motor.
  • the voltage waveform diagram of phase A of the five-phase motor is obtained (as shown in Figure 13). It can be obtained from the waveform diagram of the A-phase voltage in FIG. 13 that when there is no third-harmonic reference voltage vector injection, the modulation ratio of the bus voltage of the five-phase motor pulse width modulation method according to the embodiment of this application is compared with the traditional four-vector pulse width The modulation method has the same modulation ratio to the bus voltage. Because the bus voltage of the simulated motor is 100V, the maximum voltage that can be modulated is 52.6V when there is no third-harmonic reference voltage vector injection.
  • the duty ratio of the bus voltage of the motor will greatly affect the modulation ratio of the bus voltage.
  • the amplitude of the third harmonic of the back EMF of the five-phase motor will increase, and the third harmonic of the back EMF of the five-phase motor will increase. Compared with the no-load state, the phase lag has occurred.
  • the motor will generate a third harmonic current that is not conducive to the increase of the motor torque and reduce the motor efficiency, and cause the motor to work under high torque conditions. Lower ride comfort is reduced.
  • the following figure shows the finite element analysis of the back-EMF characteristics of the five-phase motor under no-load conditions and load conditions using Motor-CAD.
  • V A 1 *sin(x-18°)+A 3 *sin(3x-55°)
  • V A 1 *sin(y)+A 3 *sin(3y+1°)
  • V A 1 *sin(x-339.7°)+A 3 *sin(3x-114.6°)
  • V A 1 *sin(y)+A 3 *sin(y+184.5°)
  • the phase lag is about 184.5°.
  • FIG. 26 shows a structural block diagram of a pulse width modulation device for a five-phase motor provided in an embodiment of the present application. The relevant part.
  • the pulse width modulation device for a five-phase motor in the embodiment of the present application may include a reference vector acquisition module 261, a vector determination module 262, a modulation parameter determination module 263 and a modulation module 264.
  • the reference vector obtaining module 261 is used to obtain the fundamental wave reference voltage vector and the third harmonic reference voltage vector;
  • the vector determining module 262 is configured to determine a preset number according to the position of the fundamental reference voltage vector in the fundamental voltage space vector diagram and the position of the third harmonic reference voltage vector in the third harmonic voltage space vector diagram. A number of fundamental wave vectors and a predetermined number of third harmonic vectors; wherein each fundamental wave vector corresponds to an action time;
  • the modulation parameter determination module 263 is configured to determine the fundamental wave modulation vector according to the fundamental wave reference voltage vector, the third harmonic reference voltage vector, the fundamental wave vector, the third harmonic vector and each of the action times , The third harmonic modulation vector and the modulation time corresponding to each of the fundamental modulation vectors;
  • the modulation module 264 is configured to modulate the fundamental wave reference voltage vector and the third harmonic reference voltage vector based on the fundamental wave modulation vector, the third harmonic modulation vector and the modulation time.
  • the vector determining module 262 may include a first target sector determining module, a second target sector determining module, a fundamental wave vector determining module, and a third harmonic vector determining module.
  • the first target sector determining module is configured to determine the first target sector where the fundamental wave reference voltage vector is located in the fundamental wave voltage space vector diagram;
  • a second target sector determining module configured to determine a second target sector where the third harmonic reference voltage vector is located in the third harmonic voltage space vector diagram according to the first target sector;
  • a fundamental wave vector determining module configured to determine each fundamental wave vector according to the first target sector and the second target sector;
  • the third harmonic vector determining module is used to determine the corresponding third harmonic vector according to each fundamental wave vector; wherein, each fundamental wave vector and each third harmonic vector are in a mapping relationship.
  • the modulation parameter determining module 263 may further include a first relational expression determining module, a second relational expression determining module, a third relational expression determining module, and a modulation data determining module.
  • the first relational expression determining module is used to establish the first reference voltage vector including the fundamental wave reference voltage vector, the third harmonic reference voltage vector, the fundamental wave vector, the third harmonic vector, and each of the action times.
  • the second relational expression determining module is used for orthogonally decomposing the fundamental wave reference voltage vector, the third harmonic reference voltage vector, the fundamental wave vector and the third harmonic vector to obtain the fundamental wave
  • the reference voltage vector, the third harmonic reference voltage vector, the fundamental wave vector and the third harmonic vector respectively correspond to the decomposition parameters, and the second relationship is obtained according to the obtained decomposition parameters and the first relational expression formula;
  • the third relational expression determining module is configured to reduce the dimension of each of the action times in the second relational expression to obtain a third relational expression
  • the modulation data determination module is configured to solve the third relational expression and determine the fundamental modulation vector, the third harmonic modulation vector, and the modulation time corresponding to each fundamental modulation vector.
  • the modulation data determination module may include a first solution module, a second solution module, a modulation time determination module, a fundamental modulation vector determination module, and a third harmonic modulation vector determination module.
  • the first solution module is configured to determine the first solution result of the third relational expression under the condition that each of the action times is zero;
  • the second solution module is used to remove the solution result corresponding to the action time of the first solution result being less than zero to obtain the second solution result;
  • a modulation time determination module configured to select a solution result corresponding to the minimum switching frequency from the second solution result as the modulation time
  • a fundamental modulation vector determining module configured to determine the corresponding fundamental modulation vector according to the modulation time
  • the third harmonic modulation vector determining module is configured to determine the third harmonic modulation vector based on the fundamental modulation vector.
  • the modulation parameter determination module 263 may further include a comparison calculation module and a correction module.
  • the comparison calculation module is configured to calculate the ratio of each of the modulation time to the total value of the modulation time when the sum of each of the modulation times is greater than the preset time value; wherein, the total value of the modulation time is each The sum of the modulation time;
  • the correction module is used to correct each modulation time according to the product of each ratio and the preset time value.
  • the modulation module 264 may include a fundamental wave reference voltage vector modulation module and a third harmonic reference voltage vector modulation module.
  • the fundamental wave reference voltage vector modulation module is configured to modulate the fundamental wave reference voltage vector according to the product of the fundamental wave modulation vector and the corresponding modulation time;
  • the third-harmonic reference voltage vector modulation module is used to modulate the third-harmonic reference voltage vector according to the product of the third-harmonic modulation vector and the corresponding modulation time.
  • the five-phase motor pulse width modulation device may further include a third harmonic voltage vector limiting module.
  • the third harmonic voltage vector limiting module is used to use the preset vector value as the modulated third harmonic voltage vector when the modulated third harmonic voltage vector is greater than the preset vector value.
  • the five-phase motor pulse width modulation device shown in FIG. 26 can be a software unit, a hardware unit, or a combination of software and hardware built into an existing terminal device, or it can be integrated into the terminal device as an independent pendant. It can also exist as an independent terminal device.
  • FIG. 27 is a schematic structural diagram of a terminal device provided by an embodiment of this application.
  • the terminal device 27 of this embodiment may include: at least one processor 272 (only one processor 272 is shown in FIG. 27), a memory 271, and a memory 271 that is stored in the memory 271 and can be stored in the at least one processor 272.
  • the processor 51 executes the computer program 273, the functions of the modules/units in the above-mentioned five-phase motor pulse width modulation device embodiments, such as the functions of the modules 261 to 264 shown in FIG. 26, are realized.
  • the computer program 273 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 271 and executed by the processor 272 to complete this invention.
  • the one or more modules/units may be a series of computer program 273 instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 273 in the terminal device 27.
  • the terminal device 27 may be a computing device such as a desktop computer, a notebook, a palmtop computer, and a cloud server.
  • the terminal device 27 may include, but is not limited to, a processor 272 and a memory 271.
  • FIG. 27 is only an example of the terminal device 27, and does not constitute a limitation on the terminal device 27. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. , For example, can also include input and output devices, network access devices, and so on.
  • the so-called processor 272 may be a central processing unit (Central Processing Unit, CPU), and the processor 272 may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), and application specific integrated circuits (Application Specific Integrated Circuits). , ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the memory 271 may be an internal storage unit of the terminal device 27, such as a hard disk or a memory of the terminal device 27. In other embodiments, the memory 271 may also be an external storage device of the terminal device 27, for example, a plug-in hard disk equipped on the terminal device 27, a smart memory card (Smart Media Card, SMC), and a secure digital (Secure Digital, SD) card, Flash Card, etc. Further, the memory 271 may also include both an internal storage unit of the terminal device 27 and an external storage device.
  • the memory 271 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program 273. The memory 271 can also be used to temporarily store data that has been output or will be output.
  • the embodiments of the present application also provide a computer-readable storage medium, which stores a computer program 273, which when executed by the processor 272, can realize the steps in the above-mentioned various method embodiments. .
  • the embodiments of the present application provide a computer program product.
  • the steps in the foregoing method embodiments can be realized when the mobile terminal is executed.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the implementation of all or part of the processes in the above-mentioned embodiment methods in the present application can be completed by instructing relevant hardware through a computer program 273, which can be stored in a computer-readable storage medium.
  • the computer program 273 is executed by the processor 272, it can implement the steps of the foregoing method embodiments.
  • the computer program 273 includes computer program code, and the computer program code may be in the form of source code, object code, executable file, or some intermediate form.
  • the computer-readable medium may at least include: any entity or device capable of carrying the computer program code to the photographing device/terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), and random access memory (RAM, Random Access Memory), electric carrier signal, telecommunications signal and software distribution medium.
  • ROM read-only memory
  • RAM random access memory
  • electric carrier signal telecommunications signal and software distribution medium.
  • U disk mobile hard disk, floppy disk or CD-ROM, etc.
  • computer-readable media cannot be electrical carrier signals and telecommunication signals.
  • the disclosed apparatus/network equipment and method may be implemented in other ways.
  • the device/network device embodiments described above are only illustrative.
  • the division of the modules or units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units.
  • components can be combined or integrated into another system, or some features can be omitted or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

一种五相电机脉宽调制方法、装置及终端设备，五相电机脉宽调制方法包括获取基波参考电压矢量和三次谐波参考电压矢量（201）；根据基波参考电压矢量在基波电压空间矢量图中的位置和三次谐波参考电压矢量在三次谐波电压空间矢量图中的位置，确定预设个数的基波矢量和预定个数的三次谐波矢量（202）；根据基波参考电压矢量、三次谐波参考电压矢量、基波矢量、三次谐波矢量和各个作用时间，确定基波调制矢量、三次谐波调制矢量和与每个基波调制矢量对应的调制时间（203）；基于基波调制矢量、三次谐波调制矢量和调制时间，对基波参考电压矢量和三次谐波参考电压矢量进行调制（204）。解决了五相电机控制无法注入三次谐波电压的问题。

Description

五相电机脉宽调制方法、装置及终端设备 技术领域
本申请属于电机技术领域，尤其涉及一种五相电机脉宽调制方法、装置及终端设备。
背景技术
永磁同步电机具有高功率密度、高效率、高转矩密度等优点已经被广泛的应用于航空航天、工业自动化以及电动汽车等领域。虽然现在工业上主要还是三相永磁同步电机，但是由于五相永磁同步电机优异的性能，因此正逐渐成为了研究热点。因为五相电机的矢量脉宽调制中相邻两个矢量的夹角为36°，而三相电机中相邻两个矢量的夹角为60°，因此在调制过程中，五相永磁同步电机有更小的转矩波动，此外五相永磁同步电机还拥有更大的能量密度。
目前基于传统的邻近四矢量脉宽调制算法对五相永磁同步电机进行控制，传统的邻近四矢量脉宽调制算法无法注入三次谐波电压，这将使电机在高转矩工况下，因为电感变化，导致三次谐波的反电动势增加，从而导致电机电流的谐波特性变差，影响电机转矩。
发明内容
本申请实施例提供了一种五相电机脉宽调制方法、装置及终端设备，可以解决五相电机控制无法注入三次谐波电压的问题。
第一方面，本申请实施例提供了一种五相电机脉宽调制方法，包括：
获取基波参考电压矢量和三次谐波参考电压矢量；
根据所述基波参考电压矢量在基波电压空间矢量图中的位置和所述三次谐波参考电压矢量在三次谐波电压空间矢量图中的位置，确定预设个数的基波矢 量和预定个数的三次谐波矢量；其中，每个所述基波矢量均对应一个作用时间；
根据所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量、所述三次谐波矢量和各个所述作用时间，确定基波调制矢量、三次谐波调制矢量和与每个所述基波调制矢量对应的调制时间；
基于所述基波调制矢量、所述三次谐波调制矢量和所述调制时间，对所述基波参考电压矢量和所述三次谐波参考电压矢量进行调制。
在第一方面的一种可能的实现方式中，所述根据所述基波参考电压矢量在基波电压空间矢量图中的位置和所述三次谐波参考电压矢量在三次谐波电压空间矢量图中的位置，确定预设个数的基波矢量和预定个数的三次谐波矢量，包括：
在所述基波电压空间矢量图中，确定所述基波参考电压矢量所在的第一目标扇区；
根据所述第一目标扇区，在所述三次谐波电压空间矢量图中确定所述三次谐波参考电压矢量所在的第二目标扇区；
根据所述第一目标扇区和所述第二目标扇区，确定各个基波矢量；
根据各个基波矢量确定对应的三次谐波矢量；其中，各个所述基波矢量与各个所述三次谐波矢量为映射关系。
在第一方面的一种可能的实现方式中，所述根据所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量、所述三次谐波矢量和各个所述作用时间，确定基波调制矢量、三次谐波调制矢量和与每个所述基波调制矢量对应的调制时间，包括：
建立包含所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量、所述三次谐波矢量和各个所述作用时间的第一关系式；
分别对所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量和所述三次谐波矢量正交分解，得到与所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量和所述三次谐波矢量分别对应的分解参数，并 根据得到的各个分解参数和所述第一关系式，得到第二关系式；
对所述第二关系式中的各个所述作用时间进行降维，得到第三关系式；
对所述第三关系式求解，确定所述基波调制矢量、所述三次谐波调制矢量和每个所述基波调制矢量对应的调制时间。
在第一方面的一种可能的实现方式中，所述对所述第三关系式求解，确定所述基波调制矢量、所述三次谐波调制矢量和每个所述基波调制矢量对应的调制时间，包括：
在各个所述作用时间为零的条件下，确定所述第三关系式的第一求解结果；
去除所述第一求解结果中的作用时间小于零所对应的求解结果，得到第二求解结果；
在所述第二求解结果中选取最小开关频率对应的求解结果，作为调制时间；
根据所述调制时间，确定对应的所述基波调制矢量；
基于所述基波调制矢量确定所述三次谐波调制矢量。
在第一方面的一种可能的实现方式中，所述根据所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量、所述三次谐波矢量和各个所述作用时间，确定基波调制矢量、三次谐波调制矢量和与每个所述基波调制矢量对应的调制时间，还包括：
在各个所述调制时间之和大于预设时间值的情况下，计算各个所述调制时间和调制时间总值的比值；其中，所述调制时间总值为各个所述调制时间之和；
根据各个比值与所述预设时间值的乘积，修正各个所述调制时间。
在第一方面的一种可能的实现方式中，所述基于所述基波调制矢量、所述三次谐波调制矢量和所述调制时间，对所述基波参考电压矢量和所述三次谐波参考电压矢量进行调制，包括：
根据所述基波调制矢量与对应的调制时间的乘积，对所述基波参考电压矢量进行调制；
根据所述三次谐波调制矢量与对应的调制时间的乘积，对所述三次谐波参 考电压矢量进行调制。
在第一方面的一种可能的实现方式中，所述方法还包括：
在调制后的三次谐波电压矢量大于预设矢量值的情况下，将所述预设矢量值作为调制后的三次谐波电压矢量。
第二方面，本申请实施例提供了一种五相电机脉宽调制装置，包括：
参考矢量获取模块，用于获取基波参考电压矢量和三次谐波参考电压矢量；
矢量确定模块，用于根据所述基波参考电压矢量在基波电压空间矢量图中的位置和所述三次谐波参考电压矢量在三次谐波电压空间矢量图中的位置，确定预设个数的基波矢量和预定个数的三次谐波矢量；其中，每个所述基波矢量均对应一个作用时间；
调制参数确定模块，用于根据所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量、所述三次谐波矢量和各个所述作用时间，确定基波调制矢量、三次谐波调制矢量和与每个所述基波调制矢量对应的调制时间；
调制模块，用于基于所述基波调制矢量、所述三次谐波调制矢量和所述调制时间，对所述基波参考电压矢量和所述三次谐波参考电压矢量进行调制。
第三方面，本申请实施例提供了一种终端设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现上述第一方面任一项所述的方法。
第四方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现上述第一方面任一项所述的方法。
第五方面，本申请实施例提供了一种计算机程序产品，当计算机程序产品在终端设备上运行时，使得终端设备执行上述第一方面中任一项所述的方法。
本申请实施例与现有技术相比存在的有益效果是：
本申请实施例通过获取基波参考电压矢量和三次谐波参考电压矢量，根据基波参考电压矢量在基波电压空间矢量图中的位置和三次谐波参考电压矢量在 三次谐波电压空间矢量图中的位置，确定预设个数的基波矢量和预定个数的三次谐波矢量，且每个基波矢量均对应一个作用时间；然后根据基波参考电压矢量、三次谐波参考电压矢量、基波矢量、三次谐波矢量和各个作用时间，确定基波调制矢量、三次谐波调制矢量和与每个基波调制矢量对应的调制时间，基于基波调制矢量、三次谐波调制矢量和调制时间，对基波参考电压矢量和三次谐波参考电压矢量进行调制。通过上述方法，实现对三次谐波和基波进行调制，调制后的信号对五相电机进行驱动，实现了三次谐波的注入，利用三次谐波电流为五相电机增加附加转矩。
可以理解的是，上述第二方面至第五方面的有益效果可以参见上述第一方面中的相关描述，在此不再赘述。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请一实施例提供的五相电机脉宽调制系统的示意图；
图2是本申请一实施例提供的五相电机脉宽调制方法的流程示意图；
图3是本申请一实施例提供的五相电机脉宽调制方法的流程示意图；
图4是本申请一实施例提供的基波电压空间矢量图；
图5是本申请一实施例提供的三次谐波电压空间矢量图；
图6是本申请一实施例提供的五相电机脉宽调制方法的流程示意图；
图7是本申请一实施例提供的基波参考电压矢量正交分解示意图；
图8是本申请一实施例提供的三次谐波参考电压矢量正交分解示意图；
图9是本申请一实施例提供的五相电机脉宽调制方法的流程示意图；
图10是本申请一实施例提供的五相电机脉宽调制方法的流程示意图；
图11是本申请一实施例提供的五相电机脉宽调制方法的流程示意图；
图12是本申请一实施例提供的仿真模型示意图；
图13是本申请一实施例提供的无三次谐波参考电压矢量注入时的仿真图；
图14是本申请一实施例提供的有三次谐波参考电压矢量注入时的仿真图；
图15是本申请一实施例提供的电机空载工况下相电压反电势波形图；
图16是本申请一实施例提供的电机空载工况下谐波幅值分析图；
图17是本申请一实施例提供的电机空载工况下谐波相位分析图；
图18是本申请一实施例提供的电机负载工况下相电压反电势波形图；
图19是本申请一实施例提供的电机负载工况下谐波幅值分析图；
图20是本申请一实施例提供的电机负载工况下谐波相位分析图；
图21是本申请一实施例提供的电机基波与三次谐波的d轴、q轴的矢量位置图；
图22是本申请一实施例提供的注入三次谐波电压矢量经传统四矢量调制后电机A相开关的开断状态仿真图；
图23是本申请一实施例提供的注入三次谐波电压矢量经传统四矢量调制后电机A相电压波形图；
图24是本申请一实施例提供的注入三次谐波电压矢量经五相电机脉宽调制方法调制后电机A相电压波形图；
图25是本申请一实施例提供的注入三次谐波电压矢量经五相电机脉宽调制方法调制后电机A相开关的开断状态仿真图；
图26是本申请一实施例提供的五相电机脉宽调制装置的结构框图；
图27是本申请实施例提供的终端设备的结构示意图。
具体实施方式
以下描述中，为了说明而不是为了限定，提出了诸如特定系统结构、技术之类的具体细节，以便透彻理解本申请实施例。然而，本领域的技术人员应当 清楚，在没有这些具体细节的其它实施例中也可以实现本申请。在其它情况中，省略对众所周知的系统、装置、电路以及方法的详细说明，以免不必要的细节妨碍本申请的描述。
应当理解，当在本申请说明书和所附权利要求书中使用时，术语“包括”指示所描述特征、整体、步骤、操作、元素和/或组件的存在，但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。
还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
如在本申请说明书和所附权利要求书中所使用的那样，术语“如果”可以依据上下文被解释为“当...时”或“一旦”或“响应于确定”或“响应于检测到”。类似地，短语“如果确定”或“如果检测到[所描述条件或事件]”可以依据上下文被解释为意指“一旦确定”或“响应于确定”或“一旦检测到[所描述条件或事件]”或“响应于检测到[所描述条件或事件]”。
另外，在本申请说明书和所附权利要求书的描述中，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
在本申请说明书中描述的参考“一个实施例”或“一些实施例”等意味着在本申请的一个或多个实施例中包括结合该实施例描述的特定特征、结构或特点。由此，在本说明书中的不同之处出现的语句“在一个实施例中”、“在一些实施例中”、“在其他一些实施例中”、“在另外一些实施例中”等不是必然都参考相同的实施例，而是意味着“一个或多个但不是所有的实施例”，除非是以其他方式另外特别强调。术语“包括”、“包含”、“具有”及它们的变形都意味着“包括但不限于”，除非是以其他方式另外特别强调。
先介绍本申请中五相电机脉宽调制方法的一个应用场景。参见图1，为本申请实施例提供的五相电机脉宽调制系统的示意图。如图1所示，五相电机脉宽调制系统可以包括信号输入装置10、信号调制装置20和五相电机30。其中， 信号输入装置10可以将基波参考电压矢量和三次谐波参考电压矢量输入到信号调制装置20中。信号调制装置20根据基波参考电压矢量在基波电压空间矢量图中的位置和三次谐波参考电压矢量在三次谐波电压空间矢量图中的位置，确定预设个数的基波矢量和预定个数的三次谐波矢量；然后根据基波参考电压矢量、三次谐波参考电压矢量、基波矢量、三次谐波矢量和各个作用时间，确定基波调制矢量、三次谐波调制矢量和与每个基波调制矢量对应的调制时间，最后基于基波调制矢量、三次谐波调制矢量和调制时间，对基波参考电压矢量和三次谐波参考电压矢量进行调制。以此信号调制装置20实现对基波参考电压矢量和三次谐波参考电压矢量共同调制，使调制后基波参考电压矢量和三次谐波参考电压矢量驱动五相电机30转动，实现了三次谐波的注入，利用三次谐波电流为五相电机30增加附加转矩。
以下结合图1，对本申请实施例中的技术方案进行说明。
图2示出了本申请一实施例提供的五相电机脉宽调制方法的流程示意图，作为示例而非限定，上方法可以包括以下步骤：
S201，获取基波参考电压矢量和三次谐波参考电压矢量。
S202，根据基波参考电压矢量在基波电压空间矢量图中的位置和三次谐波参考电压矢量在三次谐波电压空间矢量图中的位置，确定预设个数的基波矢量和预定个数的三次谐波矢量。
在一个实施例中，每个基波矢量均对应一个作用时间，参照图3，步骤S202具体可以包括以下步骤：
S2021，在基波电压空间矢量图中，确定基波参考电压矢量所在的第一目标扇区。
在一个实施例中，五相电机五相绕组的方向(如图4中的A、B、C、D、E方向)及其反方向可将基波电压空间划分为10个区域，每个区域的边界标记为Q y，y＝1…10，每个边界上存在由不同开关状态下合成的大矢量
Figure PCTCN2020129489-appb-000001
中矢量
Figure PCTCN2020129489-appb-000002
和小矢量
Figure PCTCN2020129489-appb-000003
在上述基波电压空间的10个区域基础上，将每个区域等分 为两个扇区，以此将基波电压空间划分为20个扇区，对每个扇区进行编号，分别标记为S x，x＝1…20，每个扇区的角度为18°。再根据基波电压空间边界Q y的左右18°范围划分10个求解区域D y，y＝1…10，以此形成图4所示的基波电压空间矢量图。
示例性的，在图4所示的基波电压空间矢量图中确定基波参考电压矢量U a所在扇区作为第一目标扇区。
S2022，根据第一目标扇区，在三次谐波电压空间矢量图中确定三次谐波参考电压矢量所在的第二目标扇区。
在一个实施例中，五相电机五相绕组的方向(如图5中的A、B、C、D、E方向)及其反方向可将三次谐波电压空间划分为10个区域，基于图4中的边界Q y对应到三次谐波电压空间中的边界位置标记为Q y′，y＝1…10。基于图4中的大矢量
Figure PCTCN2020129489-appb-000004
中矢量
Figure PCTCN2020129489-appb-000005
和小矢量
Figure PCTCN2020129489-appb-000006
在三次谐波电压空间投影得到对应的大矢量
Figure PCTCN2020129489-appb-000007
中矢量
Figure PCTCN2020129489-appb-000008
和小矢量
Figure PCTCN2020129489-appb-000009
以此形成图5所示的三次谐波电压空间矢量图。
示例性的，步骤S2021中确定基波参考电压矢量U a所在的第一扇区，与基波参考电压矢量U a最接近的边界为Q y。在三次谐波电压空间矢量图中找到与边界为Q y对应的边界Q y′，然后以边界Q y′逆时针旋转180°，形成的区域为A扇区；以边界Q y′顺时针旋转180°，形成的区域为B扇区，然后确定三次谐波参考电压矢量U′ a在三次谐波电压空间矢量图中的扇区作为第二目标扇区。
S2023，根据第一目标扇区和第二目标扇区，确定各个基波矢量。
需要说明的是，步骤S2023中确定的基波矢量的个数至少为五个，选取不同个数的基波矢量，其计算方法相同，为了便于说明，本申请实施例以确定基波矢量的个数为五个进行说明。
示例性的，步骤S2021确定基波参考电压矢量位于基波电压空间矢量图中的第一目标扇区为S 2y扇区，y＝1…10，步骤S2022确定三次谐波参考电压矢量U′ a位于三次谐波电压空间矢量图中的第二目标扇区为A扇区或B扇区。根据第一目标扇区和第二目标扇区，确定各个基波矢量，其对应关系如表1所示。
表1
Figure PCTCN2020129489-appb-000010
其中，S 2y-A表示第一目标扇区为S 2y扇区，第二目标扇区为A扇区；S 2y-B表示第一目标扇区为S 2y扇区，第二目标扇区为B扇区；S 2y-1-A表示第一目标扇区为S 2y-1扇区，第二目标扇区为A扇区；S 2y-1-B表示第一目标扇区为S 2y-1扇区，第二目标扇区为B扇区。
S2024，根据各个基波矢量确定对应的三次谐波矢量。
其中，各个基波矢量与各个三次谐波矢量为映射关系。
示例性的，参见图4和图5，当第一目标扇区为S 2y扇区，第二目标扇区为A扇区时，确定的基波矢量包括三个大矢量
Figure PCTCN2020129489-appb-000011
和两个中矢量
Figure PCTCN2020129489-appb-000012
Figure PCTCN2020129489-appb-000013
三个大矢量和两个中矢量对应的作用时间分别为
Figure PCTCN2020129489-appb-000014
Figure PCTCN2020129489-appb-000015
当基波矢量确认后，将各个矢量在三次谐波电压空间矢量图中映射得到三次谐波矢量分别为
Figure PCTCN2020129489-appb-000016
其中
Figure PCTCN2020129489-appb-000017
为小矢量，
Figure PCTCN2020129489-appb-000018
为中矢量(如图5所示)，各个三次谐波矢量的作用时间分别为
Figure PCTCN2020129489-appb-000019
S203，根据基波参考电压矢量、三次谐波参考电压矢量、基波矢量、三次谐波矢量和各个作用时间，确定基波调制矢量、三次谐波调制矢量和与每个基波调制矢量对应的调制时间。
在一个实施例中，参照图6，步骤S203具体可以包括以下步骤：
S2031，建立包含基波参考电压矢量、三次谐波参考电压矢量、基波矢量、 三次谐波矢量和各个作用时间的第一关系式。
示例性的，基波参考电压矢量为U a，三次谐波参考电压矢量为U′ a，基波矢量分别为
Figure PCTCN2020129489-appb-000020
三次谐波矢量分别为
Figure PCTCN2020129489-appb-000021
Figure PCTCN2020129489-appb-000022
各个矢量的作用时间为
Figure PCTCN2020129489-appb-000023
基于以上的参数建立第一关系式：
Figure PCTCN2020129489-appb-000024
其中，
Figure PCTCN2020129489-appb-000025
U dc为逆变器的直流母线电压，T s为一个PWM的调制周期。
S2032，分别对基波参考电压矢量、三次谐波参考电压矢量、基波矢量和三次谐波矢量正交分解，得到与基波参考电压矢量、三次谐波参考电压矢量、基波矢量和三次谐波矢量分别对应的分解参数，并根据得到的各个分解参数和第一关系式，得到第二关系式。
示例性的，基波参考电压矢量为U a在基波电压空间矢量图中最靠近的边界为Q y，基波参考电压矢量为U a与边界Q y之间的夹角为θ 1，-1/10π<θ 1≤1/10π，三次谐波参考电压矢量U′ a与边界Q y′的夹角为θ 3，以边界Q y和边界Q y的垂线建立坐标系，对基波参考电压矢量为U a正交分解得到U α和U β(如图7所示)；以边界Q y和边界Q y的垂线建立坐标系，对各个基波矢量正交分解，得到对应的分解参数；以边界Q y′和边界Q y′的垂线建立坐标系，对三次谐波参考电压矢量U′ a正交分解得到U′ α和U′ β(如图8所示)；以边界Q y′和边界Q y′的垂线建 立坐标系，对各个三次谐波矢量进行正交分解，得到对应的分解参数。
将上述得到的各个分解参数代入到第一关系式中，得到第二关系式为：
Figure PCTCN2020129489-appb-000026
其中，
Figure PCTCN2020129489-appb-000027
也可以将第二关系式简化为：
Figure PCTCN2020129489-appb-000028
S2033，对第二关系式中的各个作用时间进行降维，得到第三关系式。
示例性的，步骤S2032得到的第二关系式中包含四个方程和五个未知量，所以无法得到方程的解，又因为在五相逆变器中同时调制五个电压矢量将不能满足中心对称的原则，会增加逆变器开关的开断次数。因此，基于上述两个原因需要将第二关系式中的五个未知量将为四个未知量，得到作用时间T的解析式。
对第二关系式中的各个作用时间进行降维，得到的第三关系式为：
T′＝A*V a/U dc
其中，T′为T降维后的4×1维矩阵，
Figure PCTCN2020129489-appb-000029
A为4×4维满秩矩阵，
Figure PCTCN2020129489-appb-000030
Figure PCTCN2020129489-appb-000031
S2034，对第三关系式求解，确定基波调制矢量、三次谐波调制矢量和每 个基波调制矢量对应的调制时间。
在一个实施例中，参照图9，步骤S2034具体可以包括以下步骤：
S20341，在各个作用时间为零的条件下，确定第三关系式的第一求解结果。
示例性的，令
Figure PCTCN2020129489-appb-000032
分别等于零，得到A的不同解析解，分别设为A 1、A 2、A 3、A 4和A 5，其中：
Figure PCTCN2020129489-appb-000033
Figure PCTCN2020129489-appb-000034
Figure PCTCN2020129489-appb-000035
Figure PCTCN2020129489-appb-000036
若
Figure PCTCN2020129489-appb-000037
等于零，A 4无解，A 1、A 2、A 3和A 5为第三关系式的第一求解结果。
S20342，去除第一求解结果中的作用时间小于零所对应的求解结果，得到第二求解结果。
示例性的，由于
Figure PCTCN2020129489-appb-000038
为各个基波矢量的作用时间，因此
Figure PCTCN2020129489-appb-000039
不会小于零。在步骤S20341中求到的解中，若出现作用时间小于零的情况，说明求出的解不正确，因此去除不正确的解。
S20343，在第二求解结果中选取最小开关频率对应的求解结果，作为调制时间。
示例性的，步骤S20342中去除不正确的解后，剩余的解为第二求解结果，然后在第二求解结果中选取最小开关频率对应的求解结果，可以得到作用时间 唯一的解，作为调制时间。
S20344，根据调制时间，确定对应的基波调制矢量。
示例性的，由于每个基波矢量对应一个作用时间，若步骤S20343中得到的调制时间为
Figure PCTCN2020129489-appb-000040
则可以基波矢量中确定对应的
Figure PCTCN2020129489-appb-000041
Figure PCTCN2020129489-appb-000042
作为基波调制矢量。
S20345，基于基波调制矢量确定三次谐波调制矢量。
示例性的，由于基波矢量和三次谐波矢量为映射关系，根据步骤S20344得到的基波调制矢量确定三次谐波调制矢量。例如基波调制矢量为
Figure PCTCN2020129489-appb-000043
Figure PCTCN2020129489-appb-000044
则三次谐波调制矢量
Figure PCTCN2020129489-appb-000045
在一个实施例中，参照图10，步骤S203具体还可以包括以下步骤：
S20301，在各个调制时间之和大于预设时间值的情况下，计算各个调制时间和调制时间总值的比值。
S20302，根据各个比值与预设时间值的乘积，修正各个调制时间。
示例性的，调制时间总值可以设为一个PWM周期T s，为了防止过调制现象，各矢量的作用时间之和应小于T s。当出现得到各个调制时间的总值大于预设时间值T s时，对调制时间做如下修订：
Figure PCTCN2020129489-appb-000046
即如果调制时间之和T′ 11+T′ 21+T′ 31+T′ 41>T s，则将各个调制时间按照上述公式进行时间的分配，得到最终的调制时间。
S204，基于基波调制矢量、三次谐波调制矢量和调制时间，对基波参考电压矢量和三次谐波参考电压矢量进行调制。
在一个实施例中，参照图11，步骤S204具体还可以包括以下步骤：
S2041，根据基波调制矢量与对应的调制时间的乘积，对基波参考电压矢量进行调制。
S2042，根据三次谐波调制矢量与对应的调制时间的乘积，对三次谐波参考电压矢量进行调制。
具体地，通过步骤S2041对基波参考电压矢量进行调制，通过步骤S2042对三次谐波参考电压矢量进行调制，调制后的基波参考电压矢量和三次谐波参考电压矢量同时对五相电机进行驱动。
在一个实施例中，在调制后的三次谐波电压矢量大于预设矢量值的情况下，将预设矢量值作为调制后的三次谐波电压矢量。
具体地，若调制后的三次谐波电压矢量过大，计算出的调制时间中T′可能为负数，又因为五相电机中的转矩主要由基波转矩提供，为了保证电机的正常运行，在优先保证基波参考电压矢量U a正常调制的情况下，尽可能多的调制出三次谐波参考电压，因此需要对三次谐波参考电压矢量U′ a进行限制。首先，令三次谐波参考电压矢量U′ a可调制的最大值为U′ max(预设矢量值)，将T′ 11，T′ 21，T′ 31，T′ 41≥0代入到第三关系式，得到：
Figure PCTCN2020129489-appb-000047
对上式化简得到：
Figure PCTCN2020129489-appb-000048
其中：
Figure PCTCN2020129489-appb-000049
Figure PCTCN2020129489-appb-000050
对三次谐波参考电压矢量U′ a进行限制如下：
若U a/U′ max>max(τ 1,τ 2,τ 3,τ 4)，则
Figure PCTCN2020129489-appb-000051
传统的四矢量脉宽调制算法通过相邻的两个大矢量和两个中矢量调制，因为在三次谐波空间中，中矢量的幅值是大矢量幅值的1.618倍，所以保证大矢量的作用时间是中矢量作用时间的1.618倍，就可以抵消到电机的三次谐波电压矢量。但是对于五相电机的本体就会存在少量的三次谐波的磁链，并且在电机额定工况下运转时，会因为电感饱和现象，所以产生三次谐波电压矢量。而传统的四矢量脉宽调制算法无法调制三次谐波电压矢量，所以在电机高负荷运转时，很难保证五相电机良好的谐波特性。
本实施例的五相电机脉宽调制方法可以调制出三次谐波电压矢量，在电机高负荷运转时，可以保证良好的谐波特性；并且五相电机在额定工况时注入三次谐波电压矢量可以增加基波电压矢量的调制比，可以有效的提升五相电机的功率密度。
下面对五相电机脉宽调制方法如何在增加三次谐波电压矢量的同时，提高母线电压的调制比进行分析，以第三关系式中A的解等于A 3为例，令T k＝T′ 11+T′ 21+T′ 31+T′ 41，T k的表达式如下：
T k＝(1.80903U a cos(θ 1)+0.5878U a sin(θ 1)+0.6910U′ a cos(θ 3)+0.9517U′ a sin(θ 3))/U dc*T s
若没有三次谐波电压矢量U′ a注入时，将T k化简得到：
Figure PCTCN2020129489-appb-000052
其中，-18°≤θ 1≤18°。
再令T k≤T s，将上式化简得：
U a≤U dc/(1.80903cos(θ 1)+0.5878sin(θ 1))
可以得到当没有三次谐波电压矢量注入时，该算法母线电压的调制比为0.526，与传统的四矢量脉宽调制比相等。
若有三次谐波电压矢量注入时，通过三角函数辅助角公式将T k的表达式变 形，得到：
T k＝(1.80903U a cos(θ 1)+0.5878U a sin(θ 1)+1.1761U′ a cos(θ 3-3/10π))/U dc*T s
当4/5π≤θ 3≤9/5π时，cos(θ 3-3/10π)<0，增加三次谐波参考电压矢量U′ a，则T k将减小，即在注入三次谐波电压矢量后，调制相同大小的基波电压矢量将需要更少的调制时间，相当于在相等的调制时间内，可以调制出更大的基波电压矢量，从而增大基波母线电压的调制比。若第三关系式中A的解为其他值时(即A为A 1、A 2或A 5)，同理可得θ 3在一定的角度范围内，增加三次谐波电压矢量U′ a可以增加基波的母线电压调制比。
为了验证本实施例五相电机脉宽调制方法对母线电压调制策略的有效性与正确性，使用Simulink搭建仿真模型(如图12所示)，对模型进行验证。
参考电压输入器输入参考电压矢量(包括基波电压参考矢量和三次谐波参考电压矢量)，信号处理器对输出的参考电压矢量进行调制，然后输出调制后的信号对电机进行控制。
当输入的基波电压参考矢量为52.7V，三次谐波参考电压矢量为0V时，得到五相电机A相的电压波形图(如图13所示)。由图13中的A相电压的波形图可以得到，在没有三次谐波参考电压矢量注入时，经过本申请实施例五相电机脉宽调制方法对母线电压的调制比与传统的四矢量脉宽调制方法对母线电压的调制比相等。因为本仿真电机的母线电压为100V，所以在无三次谐波参考电压矢量注入时，最大可以调制的电压为52.6V。
当基波电压参考矢量和三次谐波参考电压矢量的相位差
Figure PCTCN2020129489-appb-000053
时，注入三次谐波参考电压矢量可使母线电压调制比最大。接下来取相位差
Figure PCTCN2020129489-appb-000054
基波电压参考矢量U 3＝14.2V，三次谐波参考电压矢量U 1＝60.4V，母线电压U dc＝100V，进行仿真得到五相电机A相的电压波形图(如图14所示)，由图14中A相电压的波形图可以看出母线电压调制比达到0.604，相对于没有注入三次谐波参考电压矢量时，提高了母线电压调制比。
在电机低转矩、低功率运行中，满足电机的运转平顺性即可，但是在电机高转矩，高转速中，电机的母线电压占空比将很大的影响母线电压的调制比。此外，在电机高转矩工况下，因为电机的直轴和交轴的电感发生变化，所以将导致五相电机的反电动势三次谐波幅值增加，以及五相电机的反电动势三次谐波相比较于空载状态下发生了相位滞后的现象。基于该现象，若不能调制出三次谐波电压来对抗三次谐波反电动势，将会使电机产生不利于电机转矩提升以及降低电机效率的三次谐波电流，并造成电机在高转矩工况下平顺性降低。下图为用Motor-CAD对五相电机关于空载工况以及负载工况下反电动势特性的有限元分析。
由图15至图20可以看出，随着电机转矩增大，三次谐波特性也将跟随发生变化，在电机无负载转矩中，电机反电动势相位如下(因为转子的基波反电动势方向位于基波q轴上，因此下面以基波q轴为起始位置，逆时针旋转方向为正建立坐标系)：
V＝A 1*sin(x-18°)+A 3*sin(3x-55°)
令y＝x+18°，得到
V＝A 1*sin(y)+A 3*sin(3y+1°)
从上述表达式中可得，该电机三次谐波磁链几乎与基波磁链位于相同相位，如图21所示。
接下来在电机额定工况下，通入7.11A/mm 2电流，对五相电机有限元模型的反电动势特性进行分析，得到关系式：
V＝A 1*sin(x-339.7°)+A 3*sin(3x-114.6°)
令y＝x+20.3°，得到：
V＝A 1*sin(y)+A 3*sin(y+184.5°)
通过对比空载与额定工况下的有限元分析，可以得到在增大电机电流时，电机的三次谐波反电动势幅值将上升，并且三次谐波反电动势相位相对于基波的反电势出现了滞后现象，对比于空载状态下，滞后了大约184.5°相位。
接下来在基波电压幅值为59V的基础上注入幅值为13.8V，相位滞后184.5° 的三次谐波电压，并利用Simulink对模型进行仿真，分别利用传统的四矢量调制方法和本申请实施例中的五相电机脉宽调制方法对三次谐波电压进行调制，得到对应的仿真图，如图22至图25所示。
由图22至图25中可以看出，在注入滞后184.5°相位角的三次谐波电压矢量后，传统四矢量调制算法后的电机A相开关仍然可正常开断，而本申请实施例提供的五相电机脉宽调制算法在调制幅值为52.6V电压的情况下达到了饱和(该算法最大母线电压调制比为0.526)。因此，仿真验证了在该五相电机的额定工况下，三次谐波的注入促进了基波电压的调制比的提高。
应理解，上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
对应于上文实施例的五相电机脉宽调制方法，图26示出了本申请实施例提供的五相电机脉宽调制装置的结构框图，为了便于说明，仅示出了与本申请实施例相关的部分。
参见图26，本申请实施例中的五相电机脉宽调制装置可以包括参考矢量获取模块261、矢量确定模块262、调制参数确定模块263和调制模块264。
其中，参考矢量获取模块261，用于获取基波参考电压矢量和三次谐波参考电压矢量；
矢量确定模块262，用于根据所述基波参考电压矢量在基波电压空间矢量图中的位置和所述三次谐波参考电压矢量在三次谐波电压空间矢量图中的位置，确定预设个数的基波矢量和预定个数的三次谐波矢量；其中，每个所述基波矢量均对应一个作用时间；
调制参数确定模块263，用于根据所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量、所述三次谐波矢量和各个所述作用时间，确定基波调制矢量、三次谐波调制矢量和与每个所述基波调制矢量对应的调制时间；
调制模块264，用于基于所述基波调制矢量、所述三次谐波调制矢量和所 述调制时间，对所述基波参考电压矢量和所述三次谐波参考电压矢量进行调制。
在一个实施例中，所述矢量确定模块262可以包括第一目标扇区确定模块、第二目标扇区确定模块、基波矢量确定模块和三次谐波矢量确定模块。
其中，第一目标扇区确定模块，用于在所述基波电压空间矢量图中，确定所述基波参考电压矢量所在的第一目标扇区；
第二目标扇区确定模块，用于根据所述第一目标扇区，在所述三次谐波电压空间矢量图中确定所述三次谐波参考电压矢量所在的第二目标扇区；
基波矢量确定模块，用于根据所述第一目标扇区和所述第二目标扇区，确定各个基波矢量；
三次谐波矢量确定模块，用于根据各个基波矢量确定对应的三次谐波矢量；其中，各个所述基波矢量与各个所述三次谐波矢量为映射关系。
在一个实施例中，所述调制参数确定模块263还可以包括第一关系式确定模块、第二关系式确定模块、第三关系式确定模块和调制数据确定模块。
其中，第一关系式确定模块，用于建立包含所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量、所述三次谐波矢量和各个所述作用时间的第一关系式；
第二关系式确定模块，用于分别对所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量和所述三次谐波矢量正交分解，得到与所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量和所述三次谐波矢量分别对应的分解参数，并根据得到的各个分解参数和所述第一关系式，得到第二关系式；
第三关系式确定模块，用于对所述第二关系式中的各个所述作用时间进行降维，得到第三关系式；
调制数据确定模块，用于对所述第三关系式求解，确定所述基波调制矢量、所述三次谐波调制矢量和每个所述基波调制矢量对应的调制时间。
在一个实施例中，所述调制数据确定模块可以包括第一求解模块、第二求 解模块、调制时间确定模块、基波调制矢量确定模块和三次谐波调制矢量确定模块。
其中，第一求解模块，用于在各个所述作用时间为零的条件下，确定所述第三关系式的第一求解结果；
第二求解模块，用于去除所述第一求解结果中的作用时间小于零所对应的求解结果，得到第二求解结果；
调制时间确定模块，用于在所述第二求解结果中选取最小开关频率对应的求解结果，作为调制时间；
基波调制矢量确定模块，用于根据所述调制时间，确定对应的所述基波调制矢量；
三次谐波调制矢量确定模块，用于基于所述基波调制矢量确定所述三次谐波调制矢量。
在一个实施例中，所述调制参数确定模块263还可以包括比较计算模块和修正模块。
其中，比较计算模块，用于在各个所述调制时间之和大于预设时间值的情况下，计算各个所述调制时间和调制时间总值的比值；其中，所述调制时间总值为各个所述调制时间之和；
修正模块，用于根据各个比值与所述预设时间值的乘积，修正各个所述调制时间。
在一个实施例中，所述调制模块264可以包括基波参考电压矢量调制模块和三次谐波参考电压矢量调制模块。
其中，基波参考电压矢量调制模块，用于根据所述基波调制矢量与对应的调制时间的乘积，对所述基波参考电压矢量进行调制；
三次谐波参考电压矢量调制模块，用于根据所述三次谐波调制矢量与对应的调制时间的乘积，对所述三次谐波参考电压矢量进行调制。
在一个实施例中，所述五相电机脉宽调制装置还可以包括三次谐波电压矢 量限制模块。
其中，三次谐波电压矢量限制模块，用于在调制后的三次谐波电压矢量大于预设矢量值的情况下，将所述预设矢量值作为调制后的三次谐波电压矢量。
需要说明的是，上述装置/单元之间的信息交互、执行过程等内容，由于与本申请方法实施例基于同一构思，其具体功能及带来的技术效果，具体可参见方法实施例部分，此处不再赘述。
另外，图26所示的五相电机脉宽调制装置可以是内置于现有的终端设备内的软件单元、硬件单元、或软硬结合的单元，也可以作为独立的挂件集成到所述终端设备中，还可以作为独立的终端设备存在。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将所述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述系统中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
图27为本申请一实施例提供的终端设备的结构示意图。如图27所示，该实施例的终端设备27可以包括：至少一个处理器272(图27中仅示出一个处理器272)、存储器271以及存储在所述存储器271中并可在所述至少一个处理器272上运行的计算机程序273，所述处理器272执行所述计算机程序273时实现上述任意各个五相电机脉宽调制方法实施例中的步骤，例如图2所示实施例中的步骤S201至步骤S204。或者，处理器51执行所述计算机程序273时实现上述各个五相电机脉宽调制装置实施例中各模块/单元的功能，例如图26 所示模块261至264的功能。
示例性的，所述计算机程序273可以被分割成一个或多个模块/单元，所述一个或者多个模块/单元被存储在所述存储器271中，并由所述处理器272执行，以完成本发明。所述一个或多个模块/单元可以是能够完成特定功能的一系列计算机程序273指令段，该指令段用于描述所述计算机程序273在所述终端设备27中的执行过程。
所述终端设备27可以是桌上型计算机、笔记本、掌上电脑及云端服务器等计算设备。该终端设备27可包括，但不仅限于，处理器272、存储器271。本领域技术人员可以理解，图27仅仅是终端设备27的举例，并不构成对终端设备27的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如还可以包括输入输出设备、网络接入设备等。
所称处理器272可以是中央处理单元(Central Processing Unit，CPU)，该处理器272还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
所述存储器271在一些实施例中可以是所述终端设备27的内部存储单元，例如终端设备27的硬盘或内存。所述存储器271在另一些实施例中也可以是所述终端设备27的外部存储设备，例如所述终端设备27上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述存储器271还可以既包括所述终端设备27的内部存储单元也包括外部存储设备。所述存储器271用于存储操作系统、应用程序、引导装载程序(BootLoader)、数据以及其他程序等，例如所述计算机程序273的程序代码等。所述存储器271还可以用于暂时地存储已经输出或者将要输出的数据。
本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序273，所述计算机程序273被处理器272执行时实现可实现上述各个方法实施例中的步骤。
本申请实施例提供了一种计算机程序产品，当计算机程序产品在移动终端上运行时，使得移动终端执行时实现可实现上述各个方法实施例中的步骤。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请实现上述实施例方法中的全部或部分流程，可以通过计算机程序273来指令相关的硬件来完成，所述的计算机程序273可存储于一计算机可读存储介质中，该计算机程序273在被处理器272执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序273包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质至少可以包括：能够将计算机程序代码携带到拍照装置/终端设备的任何实体或装置、记录介质、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质。例如U盘、移动硬盘、磁碟或者光盘等。在某些司法管辖区，根据立法和专利实践，计算机可读介质不可以是电载波信号和电信信号。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
在本申请所提供的实施例中，应该理解到，所揭露的装置/网络设备和方法，可以通过其它的方式实现。例如，以上所描述的装置/网络设备实施例仅仅是示 意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口，装置或单元的间接耦合或通讯连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
以上所述实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种五相电机脉宽调制方法，其特征在于，包括：
    获取基波参考电压矢量和三次谐波参考电压矢量；
    根据所述基波参考电压矢量在基波电压空间矢量图中的位置和所述三次谐波参考电压矢量在三次谐波电压空间矢量图中的位置，确定预设个数的基波矢量和预定个数的三次谐波矢量；其中，每个所述基波矢量均对应一个作用时间；
    根据所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量、所述三次谐波矢量和各个所述作用时间，确定基波调制矢量、三次谐波调制矢量和每个所述基波调制矢量各自对应的调制时间；
    基于所述基波调制矢量、所述三次谐波调制矢量和所述调制时间，对所述基波参考电压矢量和所述三次谐波参考电压矢量进行调制。
  2. 根据权利要求1所述的五相电机脉宽调制方法，其特征在于，所述根据所述基波参考电压矢量在基波电压空间矢量图中的位置和所述三次谐波参考电压矢量在三次谐波电压空间矢量图中的位置，确定预设个数的基波矢量和预定个数的三次谐波矢量，包括：
    在所述基波电压空间矢量图中，确定所述基波参考电压矢量所在的第一目标扇区；
    根据所述第一目标扇区，在所述三次谐波电压空间矢量图中确定所述三次谐波参考电压矢量所在的第二目标扇区；
    根据所述第一目标扇区和所述第二目标扇区，确定各个基波矢量；
    根据各个基波矢量确定对应的三次谐波矢量；其中，各个所述基波矢量与各个所述三次谐波矢量为映射关系。
  3. 根据权利要求1所述的五相电机脉宽调制方法，其特征在于，所述根据所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量、所述三次谐波矢量和各个所述作用时间，确定基波调制矢量、三次谐波调制矢量和与 每个所述基波调制矢量对应的调制时间，包括：
    建立包含所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量、所述三次谐波矢量和各个所述作用时间的第一关系式；
    分别对所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量和所述三次谐波矢量正交分解，得到与所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量和所述三次谐波矢量分别对应的分解参数，并根据得到的各个分解参数和所述第一关系式，得到第二关系式；
    对所述第二关系式中的各个所述作用时间进行降维，得到第三关系式；
    对所述第三关系式求解，确定所述基波调制矢量、所述三次谐波调制矢量和每个所述基波调制矢量对应的调制时间。
  4. 根据权利要求3所述的五相电机脉宽调制方法，其特征在于，所述对所述第三关系式求解，确定所述基波调制矢量、所述三次谐波调制矢量和每个所述基波调制矢量对应的调制时间，包括：
    在各个所述作用时间为零的条件下，确定所述第三关系式的第一求解结果；
    去除所述第一求解结果中的作用时间小于零所对应的求解结果，得到第二求解结果；
    在所述第二求解结果中选取最小开关频率对应的求解结果，作为调制时间；
    根据所述调制时间，确定对应的所述基波调制矢量；
    基于所述基波调制矢量确定所述三次谐波调制矢量。
  5. 根据权利要求3或4所述的五相电机脉宽调制方法，其特征在于，所述根据所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量、所述三次谐波矢量和各个所述作用时间，确定基波调制矢量、三次谐波调制矢量和与每个所述基波调制矢量对应的调制时间，还包括：
    在各个所述调制时间之和大于预设时间值的情况下，计算各个所述调制时间和调制时间总值的比值；其中，所述调制时间总值为各个所述调制时间之和；
    根据各个比值与所述预设时间值的乘积，修正各个所述调制时间。
  6. 根据权利要求1所述的五相电机脉宽调制方法，其特征在于，所述基于所述基波调制矢量、所述三次谐波调制矢量和所述调制时间，对所述基波参考电压矢量和所述三次谐波参考电压矢量进行调制，包括：
    根据所述基波调制矢量与对应的调制时间的乘积，对所述基波参考电压矢量进行调制；
    根据所述三次谐波调制矢量与对应的调制时间的乘积，对所述三次谐波参考电压矢量进行调制。
  7. 根据权利要求1所述的五相电机脉宽调制方法，其特征在于，所述方法还包括：
    在调制后的三次谐波电压矢量大于预设矢量值的情况下，将所述预设矢量值作为调制后的三次谐波电压矢量。
  8. 一种五相电机脉宽调制装置，其特征在于，包括：
    参考矢量获取模块，用于获取基波参考电压矢量和三次谐波参考电压矢量；
    矢量确定模块，用于根据所述基波参考电压矢量在基波电压空间矢量图中的位置和所述三次谐波参考电压矢量在三次谐波电压空间矢量图中的位置，确定预设个数的基波矢量和预定个数的三次谐波矢量；其中，每个所述基波矢量均对应一个作用时间；
    调制参数确定模块，用于根据所述基波参考电压矢量、所述三次谐波参考电压矢量、所述基波矢量、所述三次谐波矢量和各个所述作用时间，确定基波调制矢量、三次谐波调制矢量和与每个所述基波调制矢量对应的调制时间；
    调制模块，用于基于所述基波调制矢量、所述三次谐波调制矢量和所述调制时间，对所述基波参考电压矢量和所述三次谐波参考电压矢量进行调制。
  9. 一种终端设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1至7任一项所述的方法。
  10. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程 序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至7任一项所述的方法。
PCT/CN2020/129489 2019-12-14 2020-11-17 五相电机脉宽调制方法、装置及终端设备 WO2021115049A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201911287235.2A CN110932628B (zh) 2019-12-14 2019-12-14 五相电机脉宽调制方法、装置及终端设备
CN201911287235.2 2019-12-14

Publications (1)

Publication Number Publication Date
WO2021115049A1 true WO2021115049A1 (zh) 2021-06-17

Family

ID=69863593

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/129489 WO2021115049A1 (zh) 2019-12-14 2020-11-17 五相电机脉宽调制方法、装置及终端设备

Country Status (2)

Country Link
CN (1) CN110932628B (zh)
WO (1) WO2021115049A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114465551A (zh) * 2022-03-03 2022-05-10 南京工业职业技术大学 一种五相无轴承薄片电机空间矢量脉宽调制优化控制策略

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110932628B (zh) * 2019-12-14 2021-07-09 中国科学院深圳先进技术研究院 五相电机脉宽调制方法、装置及终端设备
CN111541409B (zh) * 2020-04-09 2022-04-12 天津大学 基于调制函数的五相永磁同步电机单相开路故障svpwm控制方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102361433A (zh) * 2011-10-24 2012-02-22 乔鸣忠 一种谐波电压注入的多相感应电机直接转矩控制方法
US20120187876A1 (en) * 2011-01-26 2012-07-26 GM Global Technology Operations LLC Methods, systems and apparatus for controlling third harmonic voltage when operating a multi-phase machine in an overmodulation region
CN103715973A (zh) * 2014-01-03 2014-04-09 天津大学 一种五相电压源逆变桥空间电压矢量脉宽调制算法
CN110932628A (zh) * 2019-12-14 2020-03-27 中国科学院深圳先进技术研究院 五相电机脉宽调制方法、装置及终端设备

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103051273B (zh) * 2013-01-11 2015-01-07 哈尔滨工业大学 基于五相六线拓扑的相邻五矢量svpwm方法
CN106787918B (zh) * 2017-01-16 2019-05-14 南京航空航天大学 一种五相逆变器随机svpwm调制方法
CN106787919B (zh) * 2017-01-16 2019-07-09 南京航空航天大学 一种五相逆变器非正弦随机svpwm调制方法
DE102017212568A1 (de) * 2017-07-21 2019-01-24 Robert Bosch Gmbh Elektrische Maschine

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120187876A1 (en) * 2011-01-26 2012-07-26 GM Global Technology Operations LLC Methods, systems and apparatus for controlling third harmonic voltage when operating a multi-phase machine in an overmodulation region
CN102361433A (zh) * 2011-10-24 2012-02-22 乔鸣忠 一种谐波电压注入的多相感应电机直接转矩控制方法
CN103715973A (zh) * 2014-01-03 2014-04-09 天津大学 一种五相电压源逆变桥空间电压矢量脉宽调制算法
CN110932628A (zh) * 2019-12-14 2020-03-27 中国科学院深圳先进技术研究院 五相电机脉宽调制方法、装置及终端设备

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114465551A (zh) * 2022-03-03 2022-05-10 南京工业职业技术大学 一种五相无轴承薄片电机空间矢量脉宽调制优化控制策略

Also Published As

Publication number Publication date
CN110932628A (zh) 2020-03-27
CN110932628B (zh) 2021-07-09

Similar Documents

Publication Publication Date Title
WO2021115049A1 (zh) 五相电机脉宽调制方法、装置及终端设备
US20080169780A1 (en) Method and device for determining the duty-cycles of pwm control signals of an inverter
WO2021109861A1 (zh) 一种电机控制方法、装置、终端设备及存储介质
US9653920B2 (en) Method for calculating continuation power flow of electric power system
Wang et al. Modulated model-free predictive control with minimum switching losses for PMSM drive system
CA2587717A1 (en) Computing method of motor model, motor simulation method, motor simulation apparatus, motor-model computing program, simulation method and simulation program
CN112103998A (zh) Lcc-mmc混合直流输电系统稳态运行特性计算分析方法及装置
CN112600405B (zh) 单向pfc电路的控制方法、装置及终端设备
CN110429896A (zh) 一种电压调制方法及装置
CN109120176A (zh) 电流二倍频重构方法、装置及电子设备
CN116388177A (zh) 电力系统静态电压稳定性分析方法、装置、设备及介质
CN210958338U (zh) 基于fpga芯片的三相数字锁相环、svpwm调制器及电网谐波电流控制系统
CN109074759A (zh) 用于Cheon抗性的静态DIFFIE-HELLMAN安全性的方法和系统
WO2022021210A1 (zh) 一种温度的预测方法以及装置
WO2022166231A1 (zh) 电动机及其谐波噪声优化方法和装置
CN110855164B (zh) 控制方法、系统及终端设备
JP4500155B2 (ja) シミュレーション方法
CN112311263B (zh) 一种整流器pwm波调制方法及装置
CN113794222B (zh) 并网逆变器电流预测方法、装置、计算机设备和存储介质
Ngalamou et al. Digital SPWM synthesis for the design of single phase inverters
CN113572190B (zh) 一种直流输电系统的离散特征值分析方法及装置
Xu et al. Numerical Derivative-Based Flexible Integration Algorithm for Power Electronic Systems Simulation Considering Nonlinear Components
CN115765564A (zh) 电动汽车电机控制器的直流电流计算方法、系统及介质
CN114337431B (zh) 永磁同步电机磁链辨识方法、系统、介质及终端
CN115833699A (zh) 基于抑制共模电压的永磁同步电机脉宽调制方法及装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20900303

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20900303

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 16.01.2023)

122 Ep: pct application non-entry in european phase

Ref document number: 20900303

Country of ref document: EP

Kind code of ref document: A1