WO2024066069A1 - Pulse width modulation index evaluation method, apparatus, device and storage medium - Google Patents

Pulse width modulation index evaluation method, apparatus, device and storage medium Download PDF

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WO2024066069A1
WO2024066069A1 PCT/CN2022/139088 CN2022139088W WO2024066069A1 WO 2024066069 A1 WO2024066069 A1 WO 2024066069A1 CN 2022139088 W CN2022139088 W CN 2022139088W WO 2024066069 A1 WO2024066069 A1 WO 2024066069A1
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relationship
harmonic
pwm
switching angle
motor
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张瑞峰
詹哲军
于森林
张巧娟
张啸宇
余卫龙
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中车永济电机有限公司
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • 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
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03K—PULSE TECHNIQUE
    • H03K7/00—Modulating pulses with a continuously-variable modulating signal
    • H03K7/08—Duration or width modulation ; Duty cycle modulation

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

Abstract

A pulse width modulation index evaluation method, an apparatus, a device and a storage medium. The method comprises: determining a first relationship between the harmonic voltage of a motor and a switching angle and a second relationship between the harmonic voltage of the motor and a harmonic current (S101); according to the first relationship and the second relationship, respectively performing evaluation processing on at least one pulse width modulation (PWM) index, so as to obtain a third relationship between the parameter of each PWM index and the switching angle (S102); and, on the basis of the third relationship, determining distribution conditions of a harmonic amplitude corresponding to each PWM index in different modulation ratios (S103).

Description

脉冲宽度调制指标的评估方法、装置、设备和存储介质Pulse width modulation index evaluation method, device, equipment and storage medium
相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS
本公开基于申请号为202211210302.2、申请日为2022年09月30日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此以引入方式并入本申请。This disclosure is based on the Chinese patent application with application number 202211210302.2 and application date September 30, 2022, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby incorporated into this application by introduction.
技术领域Technical Field
本公开涉及电机牵引系统领域，尤其涉及一种脉冲宽度调制(PWM，Pulse Width Modulation)指标的评估方法、装置、设备和存储介质。The present disclosure relates to the field of motor traction systems, and in particular to a method, device, equipment and storage medium for evaluating a pulse width modulation (PWM) indicator.
背景技术Background technique
牵引电机功率较大、逆变器开关功率较低是轨道交通牵引系统的特点之一，在轨道交通牵引系统中，多采用多种调制方法相结合的分段PWM调制方法，分段PWM调制将调制方法按频率分为多段，增加了调制方法的复杂性，同时增大了电机控制的难度。在电机牵引系统中，PWM调制方法是电机控制方法与电机之间的重要桥梁，研究开关频率受限的低载波比同步PWM调制方法是研究轨道交通大功率电机控制方法的基础。One of the characteristics of rail transit traction system is that the traction motor has high power and the inverter switching power is low. In rail transit traction system, segmented PWM modulation method combining multiple modulation methods is often used. Segmented PWM modulation divides the modulation method into multiple segments according to frequency, which increases the complexity of the modulation method and the difficulty of motor control. In the motor traction system, PWM modulation method is an important bridge between motor control method and motor. Studying low-carrier ratio synchronous PWM modulation method with limited switching frequency is the basis for studying rail transit high-power motor control method.
不同的PWM调制方法的性能是不一样的，其最关键的两个指标是对电机电流谐波和转矩脉动的影响。同时，电机的数学模型和参数也会影响电机电流谐波和转矩脉动。针对该问题，目前没有有效的解决方案。The performance of different PWM modulation methods is different. The two most critical indicators are the impact on motor current harmonics and torque ripple. At the same time, the mathematical model and parameters of the motor will also affect the motor current harmonics and torque ripple. There is currently no effective solution to this problem.
发明内容Summary of the invention
为解决现有存在的技术问题，本公开的主要目的在于提供一种指标的评估方法、装置、设备和存储介质。In order to solve the existing technical problems, the main purpose of the present invention is to provide an indicator evaluation method, device, equipment and storage medium.
为达到上述目的，本公开实施例的技术方案是这样实现的：To achieve the above objectives, the technical solution of the embodiment of the present disclosure is implemented as follows:
第一方面，本公开提供一种脉冲宽度调制指标的评估方法，应配置为电机牵引系统，所述方法包括：In a first aspect, the present disclosure provides a method for evaluating a pulse width modulation index, which should be configured as a motor traction system, and the method includes:
确定电机的谐波电压分别与开关角、谐波电流之间的第一关系和第二关系；Determine a first relationship and a second relationship between the harmonic voltage of the motor and the switching angle and the harmonic current, respectively;
根据所述第一关系和所述第二关系分别对至少一个脉冲宽度调制PWM指标进行评估处理，得到每个所述PWM指标的参数与所述开关角的第三关系；According to the first relationship and the second relationship, at least one pulse width modulation (PWM) indicator is evaluated and processed respectively to obtain a third relationship between a parameter of each PWM indicator and the switching angle;
基于所述第三关系确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况。Based on the third relationship, the distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios is determined.
在上述方案中，所述确定电机的谐波电压与开关角之间的第一关系，包括：In the above solution, determining the first relationship between the harmonic voltage and the switching angle of the motor includes:
根据所述开关角的数量、母线电压和谐波次数确定所述电机的谐波电压与开关角之间的第一关系。A first relationship between the harmonic voltage and the switching angle of the motor is determined according to the number of the switching angles, the bus voltage and the harmonic order.
在上述方案中，所述确定电机的谐波电压与谐波电流之间的第二关系，所述方法还包括：In the above solution, the method for determining the second relationship between the harmonic voltage and the harmonic current of the motor further includes:
获取电机电压与电机电流之间的第四关系；obtaining a fourth relationship between the motor voltage and the motor current;
根据所述第四关系与谐波次数确定所述电机的谐波电压与谐波电流之间的第二关系。A second relationship between the harmonic voltage and the harmonic current of the motor is determined according to the fourth relationship and the harmonic order.
在上述方案中，所述PWM指标包括电流谐波指标；所述根据所述第一关系和所述第二关系分别对至少一个所述PWM指标进行评估处理，得到每个所述PWM指标的参数与所述开关角的第三关系，包括：In the above solution, the PWM index includes a current harmonic index; and the step of evaluating and processing at least one of the PWM indexes according to the first relationship and the second relationship to obtain a third relationship between a parameter of each of the PWM indexes and the switching angle includes:
基于所述第一关系确定所述谐波电压的参数与所述开关角之间的第五关系；determining a fifth relationship between the parameter of the harmonic voltage and the switching angle based on the first relationship;
根据所述第二关系与所述调制比确定所述谐波电压的参数与所述谐波电流的参数之间的第六关系；determining a sixth relationship between the parameter of the harmonic voltage and the parameter of the harmonic current according to the second relationship and the modulation ratio;
基于所述第五关系和所述第六关系确定电流谐波的参数与所述开关角的第三关系。A third relationship between a parameter of the current harmonic and the switching angle is determined based on the fifth relationship and the sixth relationship.
在上述方案中，所述基于所述第三关系确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况，包括：In the above solution, the determining, based on the third relationship, the distribution of the harmonic amplitude corresponding to each PWM indicator at different modulation ratios includes:
基于所述第三关系中的所述开关角确定所述谐波电压的参数；determining a parameter of the harmonic voltage based on the switching angle in the third relationship;
根据所述谐波电压的参数确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况。The distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios is determined according to the parameters of the harmonic voltage.
在上述方案中，所述PWM指标包括转矩脉动指标；所述根据所述第一关系和所述第二关系分别对至少一个所述PWM指标进行评估处理，得到每个所述PWM指标的参数与所述开关角的第三关系，包括：In the above solution, the PWM index includes a torque pulsation index; the evaluation process of at least one of the PWM indexes according to the first relationship and the second relationship is performed to obtain a third relationship between a parameter of each of the PWM indexes and the switching angle, including:
基于所述第一关系确定所述谐波电压的参数与所述开关角之间的第七关系；determining a seventh relationship between the parameter of the harmonic voltage and the switching angle based on the first relationship;
根据所述第二关系与所述调制比确定所述谐波电压的参数与所述谐波电流的参数之间的第八关系；determining an eighth relationship between the parameter of the harmonic voltage and the parameter of the harmonic current according to the second relationship and the modulation ratio;
基于所述第七关系和所述第八关系确定转矩脉动的参数与所述开关角的第三关系。A third relationship between a parameter of the torque pulsation and the switching angle is determined based on the seventh relationship and the eighth relationship.
在上述方案中，所述基于所述第三关系确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况，包括：In the above solution, the determining, based on the third relationship, the distribution of the harmonic amplitude corresponding to each PWM indicator at different modulation ratios includes:
基于所述第三关系中的所述开关角确定所述谐波电压的参数；determining a parameter of the harmonic voltage based on the switching angle in the third relationship;
根据所述谐波电压的参数确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况。The distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios is determined according to the parameters of the harmonic voltage.
第二方面，本公开还提供一种脉冲宽度调制指标的评估装置，应配置为电机牵引系统，所述装置包括：确定单元，评估处理单元；其中，In a second aspect, the present disclosure further provides a pulse width modulation index evaluation device, which should be configured as a motor traction system, and the device includes: a determination unit, an evaluation processing unit; wherein,
所述确定单元，配置为确定电机的谐波电压分别与开关角、谐波电流之间的第一关系和第二关系；The determination unit is configured to determine a first relationship and a second relationship between the harmonic voltage of the motor and the switching angle and the harmonic current, respectively;
所述评估处理单元，配置为根据所述第一关系和所述第二关系分别对至少一个脉冲宽度调制PWM指标进行评估处理，得到每个所述PWM指标的参数与所述开关角的第三关系；The evaluation processing unit is configured to evaluate and process at least one pulse width modulation (PWM) indicator according to the first relationship and the second relationship, respectively, to obtain a third relationship between a parameter of each PWM indicator and the switching angle;
所述确定单元，还配置为基于所述第三关系确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况。The determining unit is further configured to determine, based on the third relationship, a distribution of harmonic amplitudes corresponding to each of the PWM indicators at different modulation ratios.
第三方面，本公开实施例提供一种存储介质，所述存储介质上存储有计算机程序；所述计算机程序被处理器执行时实现上述任一项所述方法的步骤。In a third aspect, an embodiment of the present disclosure provides a storage medium having a computer program stored thereon; when the computer program is executed by a processor, the steps of any of the above methods are implemented.
第四方面，本公开实施例提供一种脉冲宽度调制指标的评估设备，所述评估设备包括：处理器和配置为存储能够在处理器上运行的计算机程序的存储器，其中，所述处理器配置为运行所述计算机程序时，执行上述任一项所述方法的步骤。In a fourth aspect, an embodiment of the present disclosure provides an evaluation device for a pulse width modulation index, the evaluation device comprising: a processor and a memory configured to store a computer program that can be run on the processor, wherein the processor is configured to execute the steps of any one of the above methods when running the computer program.
本公开实施例提供一种脉冲宽度调制指标的评估方法、装置、设备和存储介质。其中，应用于电机牵引系统，所述方法包括：确定电机的谐波电压分别与开关角、谐波电流之间的第一关系和第二关系；根据所述第一关系和所述第二关系分别对至少一个所述PWM指标进行评估处理，得到每个所述PWM指标的参数与所述开关角的第三关系；基于所述第三关系确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况。采用本公开实施例的技术方案，能够确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况，用以量化的方法进行分析，为牵引系统的方案设计提供了有效依据。The embodiments of the present disclosure provide a method, device, equipment and storage medium for evaluating pulse width modulation indicators. Wherein, applied to a motor traction system, the method includes: determining the first relationship and the second relationship between the harmonic voltage of the motor and the switching angle and the harmonic current respectively; evaluating and processing at least one of the PWM indicators according to the first relationship and the second relationship, and obtaining the third relationship between the parameters of each PWM indicator and the switching angle; based on the third relationship, determining the distribution of the harmonic amplitude corresponding to each PWM indicator at different modulation ratios. By adopting the technical solution of the embodiments of the present disclosure, it is possible to determine the distribution of the harmonic amplitude corresponding to each PWM indicator at different modulation ratios, and to analyze it by quantitative methods, which provides an effective basis for the design of the traction system.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本公开实施例提供的一种脉冲宽度调制指标的评估方法的流程示意图；FIG1 is a schematic flow chart of a pulse width modulation index evaluation method provided by an embodiment of the present disclosure;
图2为本公开实施例提供的一种N是奇数时SHEPWM的典型波形的示意图；FIG2 is a schematic diagram of a typical waveform of SHEPWM when N is an odd number provided by an embodiment of the present disclosure;
图3为本公开实施例提供的一种N是偶数时SHEPWM的典型波形的示意图；FIG3 is a schematic diagram of a typical waveform of SHEPWM when N is an even number provided by an embodiment of the present disclosure;
图4为本公开实施例提供的一种PMSM等效电路的示意图；FIG4 is a schematic diagram of a PMSM equivalent circuit provided by an embodiment of the present disclosure;
图5为本公开实施例提供的一种简化后的PMSM谐波等效电路的示意图；FIG5 is a schematic diagram of a simplified PMSM harmonic equivalent circuit provided by an embodiment of the present disclosure;
图6为本公开实施例提供的一种载波比为5时SHEPWM的电流谐波的示意图；FIG6 is a schematic diagram of current harmonics of a SHEPWM when a carrier ratio is 5 provided by an embodiment of the present disclosure;
图7为本公开实施例提供的一种载波比为3时SHEPWM的电流谐波的示意图；FIG7 is a schematic diagram of current harmonics of SHEPWM when a carrier ratio is 3 provided by an embodiment of the present disclosure;
图8为本公开实施例提供的一种载波比为5时SHEPWM的转矩脉动的示 意图；FIG8 is a schematic diagram of torque pulsation of SHEPWM when the carrier ratio is 5 according to an embodiment of the present disclosure;
图9为本公开实施例提供的一种脉冲宽度调制指标的评估装置的结构示意图；FIG9 is a schematic diagram of the structure of a pulse width modulation index evaluation device provided by an embodiment of the present disclosure;
图10为本公开实施例PWM指标的评估设备的一种硬件结构示意图。FIG. 10 is a schematic diagram of a hardware structure of a PWM indicator evaluation device according to an embodiment of the present disclosure.
具体实施方式Detailed ways
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对发明的具体技术方案做进一步详细描述。以下实施例用于说明本公开，但不用来限制本公开的范围。To make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the specific technical solution of the invention will be further described in detail below in conjunction with the drawings in the embodiments of the present disclosure. The following embodiments are used to illustrate the present disclosure, but are not used to limit the scope of the present disclosure.
下面结合附图及具体实施例对本公开作进一步详细的说明。The present disclosure is further described in detail below with reference to the accompanying drawings and specific embodiments.
图1为本公开实施例提供的一种脉冲宽度调制指标的评估方法的流程示意图。如图1所示，应配置为电机牵引系统，所述方法包括：FIG1 is a flow chart of a pulse width modulation index evaluation method provided by an embodiment of the present disclosure. As shown in FIG1 , it should be configured as a motor traction system, and the method includes:
S101：确定电机的谐波电压分别与开关角、谐波电流之间的第一关系和第二关系。S101: Determine a first relationship and a second relationship between the harmonic voltage of the motor and the switching angle and the harmonic current, respectively.
需要说明的是，这里所说的电机可以为永磁同步电机(PMSM，Permanent Magnet Synchronous Motor)。本实施例中，需要说明的是，所述第一关系是基于特定次谐波消除脉冲宽带调制(SHEPWM，Selective Harmonic Elimination Pulse Width Modulation)方法，所述第一关系为谐波电压与开关角之间的对应关系，为一种映射关系，可以用公式来
Figure PCTCN2022139088-appb-000001
表示。所述电机的谐波电压与谐波电流之间的第二关系是基于简化后的永磁同步电机数学模型，所述第二关系为谐波电压与谐波电流之间的对应关系，是一种映射关系，可以用公式
Figure PCTCN2022139088-appb-000002
表示。 It should be noted that the motor mentioned here can be a permanent magnet synchronous motor (PMSM). In this embodiment, it should be noted that the first relationship is based on a specific harmonic elimination pulse width modulation (SHEPWM) method. The first relationship is the corresponding relationship between the harmonic voltage and the switching angle, which is a mapping relationship and can be expressed by the formula
Figure PCTCN2022139088-appb-000001
The second relationship between the harmonic voltage and harmonic current of the motor is based on a simplified mathematical model of the permanent magnet synchronous motor. The second relationship is the corresponding relationship between the harmonic voltage and the harmonic current, which is a mapping relationship and can be expressed by the formula
Figure PCTCN2022139088-appb-000002
express.
S102：根据所述第一关系和所述第二关系分别对至少一个脉冲宽度调制PWM指标进行评估处理，得到每个所述PWM指标的参数与所述开关角的第三关系。S102: Evaluate and process at least one pulse width modulation (PWM) indicator according to the first relationship and the second relationship respectively to obtain a third relationship between a parameter of each PWM indicator and the switching angle.
本实施例中，所述PWM指标可以为PWM调制方法中的任一指标，这里 不做限定。作为一种示例，所述PWM指标可以为电流谐波指标和转矩脉动指标。所述PWM指标的参数可以为所述PWM指标的标幺值。所述第三关系为每个所述PWM指标的参数与所述开关角对应的关系，是一种映射关系。In this embodiment, the PWM index may be any index in the PWM modulation method, which is not limited here. As an example, the PWM index may be a current harmonic index and a torque ripple index. The parameter of the PWM index may be a per-unit value of the PWM index. The third relationship is a relationship between the parameter of each PWM index and the switching angle, which is a mapping relationship.
S103：基于所述第三关系确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况。S103: Determine the distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios based on the third relationship.
本实施例中，所述PWM指标可以为PWM调制方法中的任一指标，这里不做限定。作为一种示例，所述PWM指标可以为电流谐波指标和转矩脉动指标。所述调制比的值可任意设定。In this embodiment, the PWM index may be any index in the PWM modulation method, which is not limited here. As an example, the PWM index may be a current harmonic index and a torque ripple index. The value of the modulation ratio may be set arbitrarily.
本公开实施例提供的脉冲宽度调制PWM指标的评估方法，能够确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况，用以量化的方法进行分析，为牵引系统的方案设计提供了有效依据。The pulse width modulation (PWM) index evaluation method provided in the embodiment of the present disclosure can determine the distribution of the harmonic amplitude corresponding to each PWM index at different modulation ratios, and use a quantitative method to analyze it, thereby providing an effective basis for the design of the traction system.
在本公开的一种可选实施例中，所述确定电机的谐波电压与开关角之间的第一关系，包括：根据所述开关角的数量、母线电压和谐波次数确定所述电机的谐波电压与开关角之间的第一关系。In an optional embodiment of the present disclosure, determining the first relationship between the harmonic voltage and the switching angle of the motor includes: determining the first relationship between the harmonic voltage and the switching angle of the motor according to the number of the switching angles, the bus voltage and the harmonic order.
本实施例中，所述第一关系的确定是基于SHEPWM调制方法的。需要说明的是，SHEPWM可以实现特定次谐波的消除，是一种典型的根据特定优化目标开展PWM调制的方法。SHEPWM不仅可以实现特定次谐波消除，而且能够对基波电压进行准确地控制。SHEPWM输出的电压波形具有半周期和四分之一周期对称的特性。图2和图3为本公开实施例提供的一种SHEPWM输出的典型波形的示意图，由于电压波形的对称特性，只需知道四分之一周期内的开关角就能得到在全周期内的开关角度，假设四分之一周期内的开关角度数量为N，每个基波周期内的脉冲数为2N+1。图2为本公开实施例提供的一种N是奇数时SHEPWM的典型波形的示意图，起始状态为低电平。图3为本公开实施例提供的一种N是偶数时SHEPWM的典型波形的示意图，起始状态为高电平。In this embodiment, the determination of the first relationship is based on the SHEPWM modulation method. It should be noted that SHEPWM can achieve the elimination of specific harmonics and is a typical method for carrying out PWM modulation according to a specific optimization target. SHEPWM can not only achieve the elimination of specific harmonics, but also accurately control the fundamental voltage. The voltage waveform output by SHEPWM has the characteristics of symmetry between half a cycle and a quarter cycle. Figures 2 and 3 are schematic diagrams of a typical waveform output by SHEPWM provided in an embodiment of the present disclosure. Due to the symmetric characteristics of the voltage waveform, the switching angle in the full cycle can be obtained by knowing the switching angle within a quarter cycle. Assuming that the number of switching angles within a quarter cycle is N, the number of pulses in each fundamental cycle is 2N+1. Figure 2 is a schematic diagram of a typical waveform of SHEPWM provided in an embodiment of the present disclosure when N is an odd number, and the starting state is a low level. Figure 3 is a schematic diagram of a typical waveform of SHEPWM provided in an embodiment of the present disclosure when N is an even number, and the starting state is a high level.
图2和图3中SHEPWM的输出波形可以用傅里叶级数统一表示为：The output waveforms of the SHEPWM in Figures 2 and 3 can be uniformly expressed by Fourier series as follows:
Figure PCTCN2022139088-appb-000003
Figure PCTCN2022139088-appb-000003
式中，n为谐波次数，w为基波角频率。由于SHEPWM的输出波形具有半周期和四分之一周期特性，因此a n始终为0。当n为偶数时，b n为0，当n为奇数时 Where n is the harmonic order and w is the fundamental angular frequency. Since the output waveform of SHEPWM has half-cycle and quarter-cycle characteristics, a n is always 0. When n is an even number, b n is 0, and when n is an odd number,
Figure PCTCN2022139088-appb-000004
Figure PCTCN2022139088-appb-000004
式中，u dc为母线电压，α k为[0,π/2]内N个开关角中的第k个，可依次表示为α 1,α 2...α N。 Wherein, u dc is the bus voltage, α k is the kth switching angle among N switching angles in [0,π/2], which can be expressed as α 1 ,α 2 ...α N in sequence.
对于三相对称系统，三的整数倍次谐波电压不会产生谐波电流，输出电压仅包含6k±1(k＝1,2,3......)次谐波，电压基波幅值U 1可表示为： For a three-phase symmetrical system, the harmonic voltage of integer multiples of three will not generate harmonic current, and the output voltage only contains 6k±1 (k＝1,2,3......) harmonics. The voltage fundamental amplitude U1 can be expressed as:
Figure PCTCN2022139088-appb-000005
Figure PCTCN2022139088-appb-000005
本实施例中，开关角的数量为N，母线电压为u dc，谐波次数为n，谐波电压为U n，开关角为α k。 In this embodiment, the number of switch angles is N, the bus voltage is u dc , the harmonic order is n, the harmonic voltage is Un , and the switch angle is α k .
所述根据所述开关角的数量、母线电压和谐波次数确定所述电机的谐波电压与开关角之间的第一关系用公式可表示为：The first relationship between the harmonic voltage and the switching angle of the motor determined according to the number of the switching angles, the bus voltage and the harmonic order can be expressed by a formula:
Figure PCTCN2022139088-appb-000006
Figure PCTCN2022139088-appb-000006
在本公开的一种可选实施例中，所述确定电机的谐波电压与谐波电流之间的第二关系，所述方法还包括：获取电机电压与电机电流之间的第四关系；根据所述第四关系与谐波次数确定所述电机的谐波电压与谐波电流之间的第二关系。In an optional embodiment of the present disclosure, the method for determining the second relationship between the harmonic voltage and the harmonic current of the motor further includes: acquiring a fourth relationship between the motor voltage and the motor current; and determining the second relationship between the harmonic voltage and the harmonic current of the motor based on the fourth relationship and the harmonic order.
本实施例中，所述电机的谐波电压与谐波电流之间的第二关系是基于简化后的永磁同步电机数学模型。In this embodiment, the second relationship between the harmonic voltage and the harmonic current of the motor is based on a simplified mathematical model of the permanent magnet synchronous motor.
本实施例中，所述获取电机电压与电机电流之间的第四关系，所述第四关系是电机电压与电机电流之间对应的关系，可以用公式
Figure PCTCN2022139088-appb-000007
表示。所述电机可以为永磁同步电机，需要说明是的，永磁同步电机作为被控对象，电机的电压电流谐波、转矩脉动等指标不 仅与PWM调制方法相关，也和永磁同步电机的数学模型和电机参数相关。为了方便理解，对所述永磁同步电机数学模型进行分析，永磁同步电机在稳态运行下的电压方程用向量形式可表示为： In this embodiment, the fourth relationship between the motor voltage and the motor current is obtained. The fourth relationship is the corresponding relationship between the motor voltage and the motor current, which can be expressed by the formula
Figure PCTCN2022139088-appb-000007
Indicates. The motor can be a permanent magnet synchronous motor. It should be noted that, as a controlled object, the voltage and current harmonics, torque pulsation and other indicators of the permanent magnet synchronous motor are not only related to the PWM modulation method, but also to the mathematical model and motor parameters of the permanent magnet synchronous motor. For ease of understanding, the mathematical model of the permanent magnet synchronous motor is analyzed, and the voltage equation of the permanent magnet synchronous motor in steady-state operation can be expressed in vector form as follows:
Figure PCTCN2022139088-appb-000008
Figure PCTCN2022139088-appb-000008
式中，
Figure PCTCN2022139088-appb-000009
为定子电压(V)，
Figure PCTCN2022139088-appb-000010
为定子电流(A)，
Figure PCTCN2022139088-appb-000011
为定子电流d轴分量(A)，
Figure PCTCN2022139088-appb-000012
为定子电流q轴分量(A)，
Figure PCTCN2022139088-appb-000013
为定子电感d轴分量(H)，
Figure PCTCN2022139088-appb-000014
为定子电感q轴分量(H)，
Figure PCTCN2022139088-appb-000015
为永磁体磁链产生的空载感应电动势(V)。 In the formula,
Figure PCTCN2022139088-appb-000009
is the stator voltage (V),
Figure PCTCN2022139088-appb-000010
is the stator current (A),
Figure PCTCN2022139088-appb-000011
is the d-axis component of the stator current (A),
Figure PCTCN2022139088-appb-000012
is the q-axis component of the stator current (A),
Figure PCTCN2022139088-appb-000013
is the d-axis component of the stator inductance (H),
Figure PCTCN2022139088-appb-000014
is the q-axis component of the stator inductance (H),
Figure PCTCN2022139088-appb-000015
It is the no-load induced electromotive force (V) generated by the permanent magnet flux.
上式(5)可以表示为：The above formula (5) can be expressed as:
Figure PCTCN2022139088-appb-000016
Figure PCTCN2022139088-appb-000016
上式(6)中
Figure PCTCN2022139088-appb-000017
与
Figure PCTCN2022139088-appb-000018
可分别表示为： In the above formula (6)
Figure PCTCN2022139088-appb-000017
and
Figure PCTCN2022139088-appb-000018
Can be expressed as:
Figure PCTCN2022139088-appb-000019
Figure PCTCN2022139088-appb-000019
Figure PCTCN2022139088-appb-000020
Figure PCTCN2022139088-appb-000020
上式(8)中的矢量
Figure PCTCN2022139088-appb-000021
可分解成两个分量，分别与电流
Figure PCTCN2022139088-appb-000022
平行和垂直 The vector in equation (8) is
Figure PCTCN2022139088-appb-000021
It can be decomposed into two components, respectively related to the current
Figure PCTCN2022139088-appb-000022
Parallel and perpendicular
U X1＝ω r(L d-L q)I dcosq i                      (9) U X1 =ω r (L d -L q )I d cosq i (9)
U X2＝ω r(L d-L q)I dsinq i                     (10) U X2 =ω r (L d -L q )I d sinq i (10)
上式中，q i是
Figure PCTCN2022139088-appb-000023
与q轴的夹角，因为 In the above formula, q i is
Figure PCTCN2022139088-appb-000023
The angle with the q-axis is
I d＝I ssinq i                         (11) I d =I s sinq i (11)
上式(5)可以表示为：The above formula (5) can be expressed as:
Figure PCTCN2022139088-appb-000024
Figure PCTCN2022139088-appb-000024
其中，L 1＝(L d-L q)sinq icosq i，L 2＝(L d-L q)sin 2q i。 Wherein, L 1 =(L d -L q )sin q i cos q i , L 2 =(L d -L q )sin 2 q i .
用电抗的形式表示，上式(12)可以表示为：Expressed in the form of reactance, the above equation (12) can be expressed as:
Figure PCTCN2022139088-appb-000025
Figure PCTCN2022139088-appb-000025
式中，X q＝ω rL q，X 1＝ω rL 1，X 2＝ω rL 2。 In the formula, X q ＝ω r L q , X 1 ＝ω r L 1 , X 2 ＝ω r L 2 .
根据上式(13)可以得出电机的等效电路，如图4所示，图4为本公开实施例提供的一种PMSM等效电路的示意图。According to the above formula (13), the equivalent circuit of the motor can be obtained, as shown in FIG4 , which is a schematic diagram of a PMSM equivalent circuit provided in an embodiment of the present disclosure.
本实施例中，所述电机电压为定子电压，所述电机电流为定子电流，所述第四关系可用上述公式来表示。In this embodiment, the motor voltage is the stator voltage, the motor current is the stator current, and the fourth relationship can be expressed by the above formula.
本实施例中，根据所述第四关系与谐波次数确定所述电机的谐波电压与谐波电流之间的第二关系是对永磁同步电机的等效电路进行简化处理，如图5所示，图5为本公开实施例提供的一种简化后的PMSM谐波等效电路的示意图。In this embodiment, determining the second relationship between the harmonic voltage and harmonic current of the motor according to the fourth relationship and the harmonic order is to simplify the equivalent circuit of the permanent magnet synchronous motor, as shown in Figure 5, which is a schematic diagram of a simplified PMSM harmonic equivalent circuit provided in an embodiment of the present disclosure.
图中，X eq＝R s+X 1+jX q+jX 2。 In the figure, Xeq = Rs + X1 + jXq + jX2 .
由图5可以看出，谐波电流I n中的谐波分量不仅与不同调制方法输出的U n相关，也与电机中永磁体产生的感应电动势有关。为了突出分析不同调制方法下电机的谐波特性，分析在相同运行工况和相同电机下SHEPWM在不同开关角和调制比M的谐波特性，忽略E 0项。 It can be seen from Figure 5 that the harmonic components in the harmonic current In are not only related to Un output by different modulation methods, but also to the induced electromotive force generated by the permanent magnet in the motor. In order to highlight the harmonic characteristics of the motor under different modulation methods, the harmonic characteristics of SHEPWM at different switching angles and modulation ratios M under the same operating conditions and the same motor are analyzed, and the E0 term is ignored.
谐波电压U n与谐波电流I n的关系可表示为： The relationship between harmonic voltage Un and harmonic current In can be expressed as:
Figure PCTCN2022139088-appb-000026
Figure PCTCN2022139088-appb-000026
其中，n为谐波次数，因为偶数谐波被消除，且本公开中为三相电机，因此3的倍数也被消除，因此谐波次数应去除偶数和3的倍数。对公式(13)进行简化处理与谐波次数即可得到公式(14)。Wherein, n is the harmonic order, because even harmonics are eliminated, and in the present disclosure, it is a three-phase motor, so multiples of 3 are also eliminated, so the harmonic order should remove even numbers and multiples of 3. Formula (14) can be obtained by simplifying formula (13) and the harmonic order.
在本公开的一种可选实施例中，所述PWM指标包括电流谐波指标；所述根据所述第一关系和所述第二关系分别对至少一个所述PWM指标进行评估处理，得到每个所述PWM指标的参数与所述开关角的第三关系，包括：基于所述第一关系确定所述谐波电压的参数与所述开关角之间的第五关系；根据所述第二关系与所述调制比确定所述谐波电压的参数与所述谐波电流的参数之间的第六关系；基于所述第五关系和所述第六关系确定电流谐波的参数与所述开关角的第三关系。In an optional embodiment of the present disclosure, the PWM index includes a current harmonic index; the evaluation and processing of at least one of the PWM indicators is performed according to the first relationship and the second relationship respectively to obtain a third relationship between the parameters of each of the PWM indicators and the switching angle, including: determining a fifth relationship between the parameters of the harmonic voltage and the switching angle based on the first relationship; determining a sixth relationship between the parameters of the harmonic voltage and the parameters of the harmonic current based on the second relationship and the modulation ratio; and determining a third relationship between the parameters of the current harmonics and the switching angle based on the fifth relationship and the sixth relationship.
本实施例中，所述PWM指标为电流谐波指标，所述参数为标幺值。所述 基于所述第一关系确定所述谐波电压的参数与所述开关角之间的第五关系，所述第五关系为谐波电压的标幺值与开关角之间的对应关系，可用公式
Figure PCTCN2022139088-appb-000027
来表示。为了方便理解，这里示例一种实际场景，用标幺值表示谐波电压U n与开关角α k之间的关系，谐波电压的标幺值为U n(pu)，公式(4)用标幺值可表示为： In this embodiment, the PWM index is a current harmonic index, and the parameter is a per-unit value. The fifth relationship between the harmonic voltage parameter and the switching angle is determined based on the first relationship. The fifth relationship is the corresponding relationship between the per-unit value of the harmonic voltage and the switching angle, which can be expressed by the formula
Figure PCTCN2022139088-appb-000027
To facilitate understanding, an actual scenario is illustrated here, where the per-unit value is used to represent the relationship between the harmonic voltage Un and the switching angle αk . The per-unit value of the harmonic voltage is Un(pu) , and formula (4) can be expressed in terms of per-unit value as follows:
Figure PCTCN2022139088-appb-000028
Figure PCTCN2022139088-appb-000028
其中，所述谐波电压标幺值的基值为：Wherein, the base value of the harmonic voltage per unit value is:
Figure PCTCN2022139088-appb-000029
Figure PCTCN2022139088-appb-000029
本实施例中，根据所述第二关系与所述调制比确定所述谐波电压的参数与所述谐波电流的参数之间的第六关系，所述第六关系为谐波电压的标幺值与谐波电流的标幺值之间的对应关系，可用公式
Figure PCTCN2022139088-appb-000030
来表示。为了方便理解，这里示例一种应用场景，为了便于分析，用调制比M表示电压基波幅值U 1和母线电压u dc的关系： In this embodiment, the sixth relationship between the parameter of the harmonic voltage and the parameter of the harmonic current is determined according to the second relationship and the modulation ratio. The sixth relationship is the corresponding relationship between the per-unit value of the harmonic voltage and the per-unit value of the harmonic current, which can be expressed by the formula
Figure PCTCN2022139088-appb-000030
To facilitate understanding, an application scenario is given here. To facilitate analysis, the modulation ratio M is used to represent the relationship between the voltage fundamental amplitude U1 and the bus voltage u dc :
Figure PCTCN2022139088-appb-000031
Figure PCTCN2022139088-appb-000031
可以得到该调制方法下调制比M和开关角α k之间的关系： The relationship between the modulation ratio M and the switching angle α k under this modulation method can be obtained:
Figure PCTCN2022139088-appb-000032
Figure PCTCN2022139088-appb-000032
结合调制比可以用标幺值表示谐波电压U n与谐波电流I n的关系，可得： Combined with the modulation ratio, the relationship between the harmonic voltage Un and the harmonic current In can be expressed by the per-unit value, and the following is obtained:
Figure PCTCN2022139088-appb-000033
Figure PCTCN2022139088-appb-000033
式中，n为谐波次数，I n(pu)和U n(pu)分别为谐波电流和谐波电压的标幺值，电流标幺值的基值可以表示为： Where n is the harmonic order, In (pu) and Un(pu) are the per-unit values of harmonic current and harmonic voltage respectively. The base value of the per-unit value of current can be expressed as:
Figure PCTCN2022139088-appb-000034
Figure PCTCN2022139088-appb-000034
公式(19)结合公式(15)可以得到所述电流谐波的标幺值与所述开关角 的第三关系。Formula (19) combined with formula (15) can obtain the third relationship between the per-unit value of the current harmonic and the switching angle.
在本公开的一种可选实施例中，所述基于所述第三关系确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况，包括：基于所述第三关系中的所述开关角确定所述谐波电压的参数；根据所述谐波电压的参数确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况。In an optional embodiment of the present disclosure, determining the distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios based on the third relationship includes: determining the parameters of the harmonic voltage based on the switching angle in the third relationship; determining the distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios according to the parameters of the harmonic voltage.
本实施例中，为了方便理解，这里示例说明，所述第三关系为所述电流谐波指标的参数与所述开关角之间的关系，而确定电流谐波的幅值在不同的调制比的分布情况，需要根据所述谐波电压的情况，而所述谐波电压与所述开关角之间存在关系，因此需要先根据开关角得到所述谐波电压，再得到所述谐波电流对应的谐波幅值与调制比的分布情况，如图6和图7所示，图6为本公开实施例提供的一种载波比为5时SHEPWM的电流谐波的示意图，图7为本公开实施例提供的一种载波比为3时SHEPWM的电流谐波的示意图，图中次数为谐波次数。In this embodiment, for ease of understanding, an example is given here to illustrate that the third relationship is the relationship between the parameters of the current harmonic index and the switching angle, and the distribution of the amplitude of the current harmonic at different modulation ratios needs to be determined based on the harmonic voltage. There is a relationship between the harmonic voltage and the switching angle, so it is necessary to first obtain the harmonic voltage based on the switching angle, and then obtain the distribution of the harmonic amplitude and the modulation ratio corresponding to the harmonic current, as shown in Figures 6 and 7. Figure 6 is a schematic diagram of current harmonics of SHEPWM when a carrier ratio of 5 is provided in an embodiment of the present disclosure, and Figure 7 is a schematic diagram of current harmonics of SHEPWM when a carrier ratio of 3 is provided in an embodiment of the present disclosure, and the order in the figure is the harmonic order.
在本公开的一种可选实施例中，所述PWM指标包括转矩脉动指标；所述根据所述第一关系和所述第二关系分别对至少一个所述PWM指标进行评估处理，得到每个所述PWM指标的参数与所述开关角的第三关系，包括：基于所述第一关系确定所述谐波电压的参数与所述开关角之间的第七关系；根据所述第二关系与所述调制比确定所述谐波电压的参数与所述谐波电流的参数之间的第八关系；基于所述第七关系和所述第八关系确定转矩脉动的参数与所述开关角的第三关系。In an optional embodiment of the present disclosure, the PWM index includes a torque pulsation index; at least one of the PWM indicators is evaluated and processed according to the first relationship and the second relationship, respectively, to obtain a third relationship between the parameters of each PWM indicator and the switching angle, including: determining a seventh relationship between the parameters of the harmonic voltage and the switching angle based on the first relationship; determining an eighth relationship between the parameters of the harmonic voltage and the parameters of the harmonic current based on the second relationship and the modulation ratio; and determining a third relationship between the parameters of the torque pulsation and the switching angle based on the seventh relationship and the eighth relationship.
本实施例中，所述PWM指标为转矩脉动指标，所述第七关系可以用上述公式
Figure PCTCN2022139088-appb-000035
来表示，所述第八关系可以用上述公式
Figure PCTCN2022139088-appb-000036
表示。 In this embodiment, the PWM index is a torque pulsation index, and the seventh relationship can be expressed by the above formula:
Figure PCTCN2022139088-appb-000035
To express, the eighth relationship can be expressed by the above formula
Figure PCTCN2022139088-appb-000036
express.
这里需要说明的是，不同永磁同步电机的感应电动势谐波分布不同，假设感应电动势为正弦波，感应电动势中只包含基波分量E 1，其余分量E 5、E 7、 E 11、E 13、E 17、E 19......为0，转矩脉动方程可以表示为： It should be noted here that the induced electromotive force harmonic distribution of different permanent magnet synchronous motors is different. Assuming that the induced electromotive force is a sine wave, the induced electromotive force only contains the fundamental component E1 , and the other components E5 , E7 , E11 , E13 , E17 , E19 ... are 0, the torque ripple equation can be expressed as:
Figure PCTCN2022139088-appb-000037
Figure PCTCN2022139088-appb-000037
Figure PCTCN2022139088-appb-000038
Figure PCTCN2022139088-appb-000038
Figure PCTCN2022139088-appb-000039
Figure PCTCN2022139088-appb-000039
由式(21)～(23)可知，6n次转矩脉动由(6n+1)次和(6n–1)次电流谐波产生，因E 1＝n pω mψ f，式(21)～(23)可表示为： From equations (21) to (23), it can be seen that the 6nth torque pulsation is generated by the (6n+1)th and (6n–1)th current harmonics. Since E 1 = n p ω m ψ f , equations (21) to (23) can be expressed as:
Figure PCTCN2022139088-appb-000040
Figure PCTCN2022139088-appb-000040
为了便于分析，用标幺值表示转矩脉动，设置转矩标幺值的基值为：In order to facilitate analysis, the torque ripple is expressed in per unit value, and the base value of the torque per unit value is set as:
Figure PCTCN2022139088-appb-000041
Figure PCTCN2022139088-appb-000041
转矩脉动的标幺值可表示为：The per-unit value of torque ripple can be expressed as:
Figure PCTCN2022139088-appb-000042
Figure PCTCN2022139088-appb-000042
将式(19)带入(26)，可得到转矩标幺值和电流标幺值的关系：Substituting equation (19) into equation (26), we can obtain the relationship between the torque per unit value and the current per unit value:
T 6n(pu)＝I 6n+1(pu)-I 6n-1(pu),n＝1,2,3...               (27) T 6n(pu) =I 6n+1(pu) -I 6n-1(pu) , n=1,2,3... (27)
从以上推导可以看出，在忽略感应电动势谐波的影响下，转矩脉动直接受到电机电流谐波的影响，6n次转矩脉动直接受(6n+1)次和(6n–1)次电流谐波的影响。From the above derivation, it can be seen that, ignoring the influence of the induced electromotive force harmonics, the torque ripple is directly affected by the motor current harmonics, and the 6nth torque ripple is directly affected by the (6n+1)th and (6n–1)th current harmonics.
根据公式(27)、(19)、(15)确定转矩脉动的参数与所述开关角的第三关系。The third relationship between the torque pulsation parameter and the switching angle is determined according to formulas (27), (19) and (15).
在本公开的一种可选实施例中，所述基于所述第三关系确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况，包括：基于所述第三关系中的所述开关角确定所述谐波电压的参数；根据所述谐波电压的参数确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况。In an optional embodiment of the present disclosure, determining the distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios based on the third relationship includes: determining the parameters of the harmonic voltage based on the switching angle in the third relationship; determining the distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios according to the parameters of the harmonic voltage.
本实施例中，为了方便理解，这里示例说明，所述第三关系为所述转矩脉动指标的参数与所述开关角之间的关系，而确定转矩脉动的幅值在不同的调制比的分布情况，需要根据所述谐波电压的情况，而所述谐波电压与所述开关角之间存在关系，因此需要先根据开关角得到所述谐波电压，再得到所述转矩脉动对应的谐波幅值与调制比的分布情况，如图8所示，图8为本公开实施例提供的一种载波比为5时SHEPWM的转矩脉动的示意图，图中次数为谐波次数，图8为载波比等于5时，SHEPWM的电机转矩脉动在不同调制比M的分布情况。从图8可以看出，随着载波比的减少，SHEPWM0-60已不能消除任意次转矩脉动，其中6次转矩脉动最大。In this embodiment, for the sake of ease of understanding, an example is given here, where the third relationship is the relationship between the parameters of the torque pulsation index and the switching angle, and the distribution of the amplitude of the torque pulsation at different modulation ratios is determined based on the harmonic voltage. There is a relationship between the harmonic voltage and the switching angle, so it is necessary to first obtain the harmonic voltage based on the switching angle, and then obtain the distribution of the harmonic amplitude and modulation ratio corresponding to the torque pulsation, as shown in Figure 8. Figure 8 is a schematic diagram of the torque pulsation of SHEPWM when the carrier ratio is 5 provided in an embodiment of the present disclosure, and the order in the figure is the harmonic order. Figure 8 is the distribution of the motor torque pulsation of SHEPWM at different modulation ratios M when the carrier ratio is equal to 5. It can be seen from Figure 8 that with the decrease of the carrier ratio, SHEPWM0-60 can no longer eliminate any order torque pulsation, among which the 6th order torque pulsation is the largest.
为了理解本公开实施例，本公开实施例示例一种评估方法的场景，基于永磁同步电机数学模型的PWM电流指标分析方法的实施步骤如下：In order to understand the embodiments of the present disclosure, the embodiments of the present disclosure illustrate a scenario of an evaluation method. The implementation steps of the PWM current index analysis method based on the mathematical model of the permanent magnet synchronous motor are as follows:
Step1：分析永磁同步电机的数学模型，通过公式(5)-(13)得到电机电压U s和电流I s的关系，如公式(13)，为PWM指标的分析提供基础； Step 1: Analyze the mathematical model of the permanent magnet synchronous motor, and obtain the relationship between the motor voltage U s and the current I s through formulas (5)-(13), as shown in formula (13), which provides a basis for the analysis of PWM indicators;
Step2：分析PWM调制方法，将其公式化，得到不同PWM调制方法中谐波电压的标幺值为U n(pu)和开关角α k之间的关系，如公式(15)； Step 2: Analyze the PWM modulation method and formulate it to obtain the relationship between the per-unit value of the harmonic voltage Un(pu) and the switching angle αk in different PWM modulation methods, as shown in formula (15);
Step3：基于Step1，简化永磁同步电机的数学模型，得到谐波电压U n与谐波电流I n的关系，如公式(14)； Step 3: Based on Step 1, simplify the mathematical model of the permanent magnet synchronous motor and obtain the relationship between the harmonic voltage Un and the harmonic current In , as shown in formula (14);
Step4：用标幺值简化处理，得到谐波电流I n的标幺值I n(pu)和表示谐波电压U n的标幺值U n(pu)关系，如公式(19)，由公式(19)和公式(15)可以得到谐波电流I n的标幺值I n(pu)和开关角α k之间的关系，因此可以分析PWM调制方法在当前调制度M下的各次电流谐波，分析的效果如图6和图7所示。 Step 4: Use per-unit value simplification to obtain the relationship between the per-unit value In of the harmonic current In and the per-unit value Un representing the harmonic voltage Un , as shown in formula (19). The relationship between the per-unit value In of the harmonic current In and the switching angle αk can be obtained from formula ( 19 ) and formula (15). Therefore, the current harmonics of the PWM modulation method under the current modulation index M can be analyzed. The analysis results are shown in Figures 6 and 7.
为了理解本公开实施例，本公开实施例示例一种评估方法的场景，基于永磁同步电机数学模型的PWM转矩脉动分析方法的实施步骤如下：In order to understand the embodiments of the present disclosure, the embodiments of the present disclosure illustrate a scenario of an evaluation method. The implementation steps of the PWM torque pulsation analysis method based on the mathematical model of the permanent magnet synchronous motor are as follows:
Step1：分析永磁同步电机的数学模型，通过公式(5)-(13)得到电机电压U s和电流I s的关系，如公式(13)，为PWM指标的分析提供基础； Step 1: Analyze the mathematical model of the permanent magnet synchronous motor, and obtain the relationship between the motor voltage U s and the current I s through formulas (5)-(13), as shown in formula (13), which provides a basis for the analysis of PWM indicators;
Step2：分析PWM调制方法，将其公式化，得到不同PWM调制方法中谐波电压的标幺值为U n(pu)和开关角α k之间的关系，如公式(15)； Step 2: Analyze the PWM modulation method and formulate it to obtain the relationship between the per-unit value of the harmonic voltage Un(pu) and the switching angle αk in different PWM modulation methods, as shown in formula (15);
Step3：基于Step1，简化永磁同步电机的数学模型，得到谐波电压U n与谐波电流I n的关系，如公式(14)； Step 3: Based on Step 1, simplify the mathematical model of the permanent magnet synchronous motor and obtain the relationship between the harmonic voltage Un and the harmonic current In , as shown in formula (14);
Step4：用标幺值简化处理，得到谐波电流I n的标幺值I n(pu)和表示谐波电压U n的标幺值U n(pu)关系，如公式(19)； Step 4: Use per-unit value simplification to obtain the relationship between the per-unit value In(pu) of the harmonic current In and the per-unit value Un(pu) representing the harmonic voltage Un , as shown in formula (19);
Step5：通过推导计算，得到转矩脉动的标幺值T 6n(pu)和谐波电压U n的标幺值U n(pu)关系，如公式(26)； Step 5: By deducing and calculating, the relationship between the per-unit value T 6n(pu) of the torque pulsation and the per-unit value Un (pu) of the harmonic voltage Un is obtained, as shown in formula (26);
Step6：结合公式(19)，得到转矩脉动的标幺值T 6n(pu)和谐波电流I n的标幺值关系，如公式(27)； Step 6: Combined with formula (19), the relationship between the per-unit value of torque pulsation T 6n(pu) and the per-unit value of harmonic current I n is obtained, as shown in formula (27);
Step7：由公式(19)和公式(15)可以得到谐波电流I n的标幺值I n(pu)和开关角α k之间的关系； Step 7: From formula (19) and formula (15), the relationship between the per-unit value In(pu) of the harmonic current In and the switching angle αk can be obtained;
Step8：结合Step7和Step6，可以得到转矩脉动的标幺值T 6n(pu)和开关角α k之间的关系，因此可以分析PWM调制方法在当前调制度M下的转矩脉动，分析的效果如图8所示。 Step 8: Combining Step 7 and Step 6, the relationship between the per-unit value T 6n(pu) of the torque pulsation and the switching angle αk can be obtained. Therefore, the torque pulsation of the PWM modulation method under the current modulation index M can be analyzed. The analysis result is shown in Figure 8.
基于与前述相同的发明构思，图9为本公开实施例提供的一种脉冲宽度调制指标的评估装置的结构示意图，所述装置900应配置为牵引电机系统，所述装置900包括：确定单元901，评估处理单元902；其中，Based on the same inventive concept as above, FIG. 9 is a schematic diagram of the structure of a pulse width modulation index evaluation device provided by an embodiment of the present disclosure. The device 900 should be configured as a traction motor system. The device 900 includes: a determination unit 901, an evaluation processing unit 902; wherein,
所述确定单元901，配置为确定电机的谐波电压分别与开关角、谐波电流之间的第一关系和第二关系；The determining unit 901 is configured to determine a first relationship and a second relationship between the harmonic voltage of the motor and the switching angle and the harmonic current, respectively;
所述评估处理单元902，配置为根据所述第一关系和所述第二关系分别对至少一个脉冲宽度调制PWM指标进行评估处理，得到每个所述PWM指标的参数与所述开关角的第三关系；The evaluation processing unit 902 is configured to evaluate at least one pulse width modulation (PWM) indicator according to the first relationship and the second relationship, respectively, to obtain a third relationship between a parameter of each PWM indicator and the switching angle;
所述确定单元901，还配置为基于所述第三关系确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况。The determining unit 901 is further configured to determine, based on the third relationship, the distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios.
在一些实施例中，所述确定单元901，还配置为根据所述开关角的数量、母线电压和谐波次数确定所述电机的谐波电压与开关角之间的第一关系。In some embodiments, the determination unit 901 is further configured to determine a first relationship between the harmonic voltage of the motor and the switching angle according to the number of the switching angles, the bus voltage and the harmonic order.
在一些实施例中，所述装置900还包括获取单元，配置为获取电机电压与电机电流之间的第四关系；根据所述第四关系与谐波次数确定所述电机的谐波 电压与谐波电流之间的第二关系。In some embodiments, the device 900 also includes an acquisition unit configured to acquire a fourth relationship between the motor voltage and the motor current; and determine a second relationship between the harmonic voltage and the harmonic current of the motor based on the fourth relationship and the harmonic order.
在一些实施例中，所述PWM指标包括电流谐波指标，所述确定单元901，还配置为基于所述第一关系确定所述谐波电压的参数与所述开关角之间的第五关系；根据所述第二关系与所述调制比确定所述谐波电压的参数与所述谐波电流的参数之间的第六关系；基于所述第五关系和所述第六关系确定电流谐波的参数与所述开关角的第三关系。In some embodiments, the PWM index includes a current harmonic index, and the determination unit 901 is further configured to determine a fifth relationship between the parameters of the harmonic voltage and the switching angle based on the first relationship; determine a sixth relationship between the parameters of the harmonic voltage and the parameters of the harmonic current based on the second relationship and the modulation ratio; and determine a third relationship between the parameters of the current harmonics and the switching angle based on the fifth relationship and the sixth relationship.
在一些实施例中，所述确定单元901，还配置为基于所述第三关系中的所述开关角确定所述谐波电压的参数；根据所述谐波电压的参数确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况。In some embodiments, the determination unit 901 is further configured to determine the parameters of the harmonic voltage based on the switching angle in the third relationship; and determine the distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios according to the parameters of the harmonic voltage.
在一些实施例中，所述PWM指标包括转矩脉动指标，所述确定单元901，还配置为基于所述第一关系确定所述谐波电压的参数与所述开关角之间的第七关系；根据所述第二关系与所述调制比确定所述谐波电压的参数与所述谐波电流的参数之间的第八关系；基于所述第七关系和所述第八关系确定转矩脉动的参数与所述开关角的第三关系。In some embodiments, the PWM index includes a torque pulsation index, and the determination unit 901 is further configured to determine the seventh relationship between the parameters of the harmonic voltage and the switching angle based on the first relationship; determine the eighth relationship between the parameters of the harmonic voltage and the parameters of the harmonic current according to the second relationship and the modulation ratio; and determine the third relationship between the parameters of the torque pulsation and the switching angle based on the seventh relationship and the eighth relationship.
在一些实施例中，所述确定单元901，还配置为基于所述第三关系中的所述开关角确定所述谐波电压的参数；根据所述谐波电压的参数确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况。In some embodiments, the determination unit 901 is further configured to determine the parameters of the harmonic voltage based on the switching angle in the third relationship; and determine the distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios according to the parameters of the harmonic voltage.
需要说明的是，本公开实施例提供的评估装置与前述的本公开实施例提供的评估方法属于同一发明构思，此处所出现的词语的含义在前述已经详细说明，在此不再赘述。It should be noted that the evaluation device provided in the embodiment of the present disclosure and the evaluation method provided in the aforementioned embodiment of the present disclosure belong to the same inventive concept, and the meanings of the terms appearing here have been described in detail above and will not be repeated here.
本公开实施例还提供一种存储介质，其上存储有计算机程序，所述计算机程序处理器被处理器执行时实现上述方法实施例的步骤，而前述的存储介质包括：移动存储设备、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。The embodiments of the present disclosure also provide a storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned method embodiments are implemented. The aforementioned storage medium includes: a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.
本公开实施例还提供一种评估设备，所述评估设备包括：处理器和配置为存储能够在处理器上运行的计算机程序的存储器，其中，所述处理器配置为运 行所述计算机程序时，执行存储在存储器中的上述方法实施例的步骤。An embodiment of the present disclosure also provides an evaluation device, which includes: a processor and a memory configured to store a computer program that can be run on the processor, wherein when the processor is configured to run the computer program, it executes the steps of the above-mentioned method embodiment stored in the memory.
图10为本公开实施例PWM指标的评估设备的一种硬件结构示意图，该评估设备1000包括：至少一个处理1001、存储器1002，可选的，评估设备1000还可进一步包括至少一个通信接口1003，评估设备1000中的各个组件通过总线系统1004耦合在一起，可理解，总线系统1004配置为实现这些组件之间的连接通信。总线系统1004除包括数据总线之外，还包括电源总线、控制总线和状态信号总线。但是为了清楚说明起见，在图10中将各种总线都标为总线系统1004。FIG10 is a schematic diagram of a hardware structure of an evaluation device for PWM indicators according to an embodiment of the present disclosure. The evaluation device 1000 includes: at least one processor 1001, a memory 1002, and optionally, the evaluation device 1000 may further include at least one communication interface 1003. The various components in the evaluation device 1000 are coupled together through a bus system 1004. It can be understood that the bus system 1004 is configured to achieve connection and communication between these components. In addition to the data bus, the bus system 1004 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, various buses are labeled as bus system 1004 in FIG10.
可以理解，存储器1002可以是易失性存储器或非易失性存储器，也可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(ROM，Read Only Memory)、可编程只读存储器(PROM，Programmable Read-Only Memory)、可擦除可编程只读存储器(EPROM，Erasable Programmable Read-Only Memory)、电可擦除可编程只读存储器(EEPROM，Electrically Erasable Programmable Read-Only Memory)、磁性随机存取存储器(FRAM，Ferromagnetic Random Access Memory)、快闪存储器(Flash Memory)、磁表面存储器、光盘、或只读光盘(CD-ROM，Compact Disc Read-Only Memory)；磁表面存储器可以是磁盘存储器或磁带存储器。易失性存储器可以是随机存取存储器(RAM，Random Access Memory)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(SRAM，Static Random Access Memory)、同步静态随机存取存储器(SSRAM，Synchronous Static Random Access Memory)、动态随机存取存储器(DRAM，Dynamic Random Access Memory)、同步动态随机存取存储器(SDRAM，Synchronous Dynamic Random Access Memory)、双倍数据速率同步动态随机存取存储器(DDRSDRAM，Double Data Rate Synchronous Dynamic Random Access Memory)、增强型同步动态随机存取存储器(ESDRAM，Enhanced Synchronous Dynamic Random Access Memory)、同步连接动态随机存取存储器(SLDRAM，Sync Link Dynamic Random Access Memory)、直接内存总线随机存取存储器 (DRRAM，Direct Rambus Random Access Memory)。本公开实施例描述的存储器1002旨在包括但不限于这些和任意其它适合类型的存储器。It can be understood that the memory 1002 can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), direct rambus random access memory (DRRAM). The memory 1002 described in the embodiments of the present disclosure is intended to include, but is not limited to, these and any other suitable types of memory.
本公开实施例中的存储器1002配置为存储各种类型的数据以支持评估设备1000的操作。这些数据的示例包括：配置为在评估设备1000上操作的任何计算机程序，实现本公开实施例方法的程序可以包含在存储器1002中。The memory 1002 in the embodiment of the present disclosure is configured to store various types of data to support the operation of the evaluation device 1000. Examples of such data include: any computer program configured to operate on the evaluation device 1000. The program implementing the method of the embodiment of the present disclosure may be included in the memory 1002.
上述本公开实施例揭示的方法可以应配置为处理器1001中，或者由处理器1001实现。处理器可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器、数字信号处理器(DSP，Digital Signal Processor)，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。处理器可以实现或者执行本公开实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本公开实施例所公开的方法的步骤，可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于存储介质中，该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成前述方法的步骤。The method disclosed in the above-mentioned embodiment of the present disclosure may be configured in the processor 1001, or implemented by the processor 1001. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above-mentioned method may be completed by an integrated logic circuit of hardware in the processor or instructions in the form of software. The above-mentioned processor may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor may implement or execute the various methods, steps and logic block diagrams disclosed in the embodiment of the present disclosure. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiment of the present disclosure may be directly embodied as being executed by a hardware decoding processor, or may be executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, which is located in a memory, and the processor reads the information in the memory and completes the steps of the above-mentioned method in combination with its hardware.
在示例性实施例中，评估设备1000可以被一个或多个应用专用集成电路(ASIC，Application Specific Integrated Circuit)、DSP、可编程逻辑器件(PLD，Programmable Logic Device)、复杂可编程逻辑器件(CPLD，Complex Programmable Logic Device)、现场可编程门阵列(FPGA，Field-Programmable Gate Array)、通用处理器、控制器、微控制器(MCU，Micro Controller Unit)、微处理器(Microprocessor)、或其他电子元件实现，配置为执行上述方法。In an exemplary embodiment, the evaluation device 1000 can be implemented by one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components, and configured to execute the above-mentioned method.
在本公开所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，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，如：多个单元或组件可以结合，或可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的各组成部分相互之间的耦合、或直接耦 合、或通信连接可以是通过一些接口，设备或单元的间接耦合或通信连接，可以是电性的、机械的或其它形式的。上述作为分离部件说明的单元可以是、或也可以不是物理上分开的，作为单元显示的部件可以是、或也可以不是物理单元，即可以位于一个地方，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全部单元来实现本实施例方案的目的。In the several embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms. The units described above 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 distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.
另外，在本公开各实施例中的各功能单元可以全部集成在一个处理单元中，也可以是各单元分别单独作为一个单元，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，也可以采用硬件加软件功能单元的形式实现。In addition, all functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may be separately configured as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.
以上所述，仅为本公开的具体实施方式，但本公开的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本公开的保护范围之内。因此，本公开的保护范围应以所述权利要求的保护范围为准。The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims (10)

  1. 一种脉冲宽度调制指标的评估方法，应用于电机牵引系统，所述方法包括：A pulse width modulation index evaluation method is applied to a motor traction system, the method comprising:
    确定电机的谐波电压分别与开关角、谐波电流之间的第一关系和第二关系；Determine a first relationship and a second relationship between the harmonic voltage of the motor and the switching angle and the harmonic current, respectively;
    根据所述第一关系和所述第二关系分别对至少一个脉冲宽度调制PWM指标进行评估处理，得到每个所述PWM指标的参数与所述开关角的第三关系；According to the first relationship and the second relationship, at least one pulse width modulation (PWM) indicator is evaluated and processed respectively to obtain a third relationship between a parameter of each PWM indicator and the switching angle;
    基于所述第三关系确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况。Based on the third relationship, the distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios is determined.
  2. 根据权利要求1所述的方法，其中，所述确定电机的谐波电压与开关角之间的第一关系，包括：The method according to claim 1, wherein determining a first relationship between a harmonic voltage and a switching angle of the motor comprises:
    根据所述开关角的数量、母线电压和谐波次数确定所述电机的谐波电压与开关角之间的第一关系。A first relationship between the harmonic voltage and the switching angle of the motor is determined according to the number of the switching angles, the bus voltage and the harmonic order.
  3. 根据权利要求1所述的方法，其中，所述确定电机的谐波电压与谐波电流之间的第二关系，所述方法还包括：The method according to claim 1, wherein the determining the second relationship between the harmonic voltage and the harmonic current of the motor further comprises:
    获取电机电压与电机电流之间的第四关系；obtaining a fourth relationship between the motor voltage and the motor current;
    根据所述第四关系与谐波次数确定所述电机的谐波电压与谐波电流之间的第二关系。A second relationship between the harmonic voltage and the harmonic current of the motor is determined according to the fourth relationship and the harmonic order.
  4. 根据权利要求1所述的方法，其中，所述PWM指标包括电流谐波指标；所述根据所述第一关系和所述第二关系分别对至少一个所述PWM指标进行评估处理，得到每个所述PWM指标的参数与所述开关角的第三关系，包括：The method according to claim 1, wherein the PWM index includes a current harmonic index; and the evaluating and processing at least one of the PWM indexes according to the first relationship and the second relationship to obtain a third relationship between a parameter of each of the PWM indexes and the switching angle comprises:
    基于所述第一关系确定所述谐波电压的参数与所述开关角之间的第五关系；determining a fifth relationship between the parameter of the harmonic voltage and the switching angle based on the first relationship;
    根据所述第二关系与所述调制比确定所述谐波电压的参数与所述谐波电流的参数之间的第六关系；determining a sixth relationship between the parameter of the harmonic voltage and the parameter of the harmonic current according to the second relationship and the modulation ratio;
    基于所述第五关系和所述第六关系确定电流谐波的参数与所述开关角的第 三关系。A third relationship between the parameter of the current harmonic and the switching angle is determined based on the fifth relationship and the sixth relationship.
  5. 根据权利要求4所述的方法，其中，所述基于所述第三关系确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况，包括：The method according to claim 4, wherein determining the distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios based on the third relationship comprises:
    基于所述第三关系中的所述开关角确定所述谐波电压的参数；determining a parameter of the harmonic voltage based on the switching angle in the third relationship;
    根据所述谐波电压的参数确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况。The distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios is determined according to the parameters of the harmonic voltage.
  6. 根据权利要求1所述的方法，其中，所述PWM指标包括转矩脉动指标；所述根据所述第一关系和所述第二关系分别对至少一个所述PWM指标进行评估处理，得到每个所述PWM指标的参数与所述开关角的第三关系，包括：The method according to claim 1, wherein the PWM index includes a torque ripple index; and the step of evaluating at least one of the PWM indexes according to the first relationship and the second relationship to obtain a third relationship between a parameter of each of the PWM indexes and the switching angle comprises:
    基于所述第一关系确定所述谐波电压的参数与所述开关角之间的第七关系；determining a seventh relationship between the parameter of the harmonic voltage and the switching angle based on the first relationship;
    根据所述第二关系与所述调制比确定所述谐波电压的参数与所述谐波电流的参数之间的第八关系；determining an eighth relationship between the parameter of the harmonic voltage and the parameter of the harmonic current according to the second relationship and the modulation ratio;
    基于所述第七关系和所述第八关系确定转矩脉动的参数与所述开关角的第三关系。A third relationship between a parameter of the torque pulsation and the switching angle is determined based on the seventh relationship and the eighth relationship.
  7. 根据权利要求6所述的方法，其中，所述基于所述第三关系确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况，包括：The method according to claim 6, wherein determining the distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios based on the third relationship comprises:
    基于所述第三关系中的所述开关角确定所述谐波电压的参数；determining a parameter of the harmonic voltage based on the switching angle in the third relationship;
    根据所述谐波电压的参数确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况。The distribution of the harmonic amplitude corresponding to each of the PWM indicators at different modulation ratios is determined according to the parameters of the harmonic voltage.
  8. 一种脉冲宽度调制指标的评估装置，其中，应配置为电机牵引系统，所述装置包括：确定单元，评估处理单元；其中，A pulse width modulation index evaluation device, which should be configured as a motor traction system, the device comprises: a determination unit, an evaluation processing unit; wherein,
    所述确定单元，配置为确定电机的谐波电压分别与开关角、谐波电流之间的第一关系和第二关系；The determination unit is configured to determine a first relationship and a second relationship between the harmonic voltage of the motor and the switching angle and the harmonic current, respectively;
    所述评估处理单元，配置为根据所述第一关系和所述第二关系分别对至少一个脉冲宽度调制PWM指标进行评估处理，得到每个所述PWM指标的参数与所述开关角的第三关系；The evaluation processing unit is configured to evaluate and process at least one pulse width modulation (PWM) indicator according to the first relationship and the second relationship, respectively, to obtain a third relationship between a parameter of each PWM indicator and the switching angle;
    所述确定单元，还配置为基于所述第三关系确定每个所述PWM指标对应的谐波幅值在不同调制比的分布情况。The determining unit is further configured to determine, based on the third relationship, a distribution of harmonic amplitudes corresponding to each of the PWM indicators at different modulation ratios.
  9. 一种存储介质，其中，所述存储介质上存储有计算机程序；所述计算机程序被处理器执行时实现权利要求1至7任一项所述方法的步骤。A storage medium, wherein a computer program is stored on the storage medium; when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.
  10. 一种脉冲宽度调制指标的评估设备，其中，所述评估设备包括：处理器和配置为存储能够在处理器上运行的计算机程序的存储器，其中，所述处理器配置为运行所述计算机程序时，执行权利要求1至7任一项所述方法的步骤。A pulse width modulation index evaluation device, wherein the evaluation device comprises: a processor and a memory configured to store a computer program that can be run on the processor, wherein the processor is configured to execute the steps of the method described in any one of claims 1 to 7 when running the computer program.
PCT/CN2022/139088 2022-09-30 2022-12-14 Pulse width modulation index evaluation method, apparatus, device and storage medium WO2024066069A1 (en)

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