Three-phase modulation wave waveform adjustment method and device, equipment and storage medium

Abstract

The invention discloses a three-phase modulation wave waveform adjustment method and device, equipment and a storage medium. The method comprises the following steps: acquiring a target three-phase modulation wave and preset sampling time in a three-phase motor; determining a target three-phase modulation wave period, a non-zero voltage vector and non-zero voltage vector time corresponding to the non-zero voltage vector from the target three-phase modulation wave; under the condition that the non-zero voltage vector time is smaller than the preset sampling time, complementary non-zero voltage vectors are symmetrically inserted in front of and behind the middle moment of the target three-phase modulation wave period; adjusting the non-zero voltage vector time to obtain non-zero voltage vector adjustment time; and adjusting the target three-phase modulation wave based on the inserted complementary non-zero voltage vector and the non-zero voltage vector adjustment time to obtain a three-phase adjustment modulation wave. According to the invention, the problem of asymmetric periodic waveform of the three-phase modulation wave can be solved and the operation noise of the three-phase motor can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of motor sampling, and in particular, to a three-phase modulation wave waveform adjustment method, device, equipment, and storage medium. Background Technique

[0002] During the operation of a motor, it is usually necessary to sample the three-phase current of the motor to achieve control of the motor. Common current sampling methods include single-resistor sampling, double-resistor sampling, and triple-resistor sampling. Compared with the other two sampling methods, the single-resistor sampling method has a simpler hardware structure and lower implementation cost, and thus has been more widely used. At the same time, the phase-shifting strategy, as an important part of resistor sampling, realizes specific circuit performance and functions by adjusting the phase difference between voltage and current.

[0003] In the prior art, for the single-resistor sampling method of a three-phase motor, traditional phase-shifting strategies are usually used to sample the three-phase current, but this will lead to the problem of asymmetry of the three-phase modulation wave within the same pulse width modulation period. In this case, waveform adjustment usually solves the problem of asymmetric periodic waveforms by introducing current harmonics, but introducing current harmonics will increase the running noise of the three-phase motor, thereby affecting the operation effect of the three-phase motor. Summary of the Invention

[0004] To solve the above problems, the present application discloses a three-phase modulation wave waveform adjustment method, device, equipment, and storage medium. By obtaining the target three-phase modulation wave in the three-phase motor and the preset sampling time; determining the target three-phase modulation wave period, non-zero voltage vector, and the non-zero voltage vector time corresponding to the non-zero voltage vector from the target three-phase modulation wave; when the non-zero voltage vector time is less than the preset sampling time, symmetrically inserting complementary non-zero voltage vectors before and after the middle moment of the target three-phase modulation wave period; adjusting the non-zero voltage vector time to obtain the non-zero voltage vector adjustment time; based on the inserted complementary non-zero voltage vectors and the non-zero voltage vector adjustment time, adjusting the target three-phase modulation wave to obtain a three-phase adjusted modulation wave. By symmetrically inserting complementary non-zero voltage vectors before and after the middle moment of the target three-phase modulation wave period and adjusting the non-zero voltage vector time when the non-zero voltage vector time is less than the preset sampling time, a three-phase adjusted modulation wave is obtained, solving the problem of asymmetric periodic waveforms of the three-phase modulation wave during the phase-shifting process, and at the same time reducing the running noise of the three-phase motor.

[0005] To achieve the above invention objective, the present application provides a three-phase modulation wave waveform adjustment method, and the method includes:

[0006] Obtain the target three-phase modulation wave in the three-phase motor and the preset sampling time;

[0007] Determine the target three-phase modulation wave period, non-zero voltage vectors, and the non-zero voltage vector times corresponding to the non-zero voltage vectors from the target three-phase modulation wave;

[0008] When the non-zero voltage vector time is less than the preset sampling time, symmetrically insert complementary non-zero voltage vectors before and after the middle moment of the target three-phase modulation wave period; the voltage vector synthesized by the non-zero voltage vector and the complementary non-zero voltage vector is a zero voltage vector;

[0009] Adjust the non-zero voltage vector time to obtain an adjusted non-zero voltage vector time; the adjusted non-zero voltage vector time is equal to the preset sampling time;

[0010] Based on the inserted complementary non-zero voltage vectors and the adjusted non-zero voltage vector time, adjust the target three-phase modulation wave to obtain a three-phase adjusted modulation wave.

[0011] In some embodiments, the non-zero voltage vectors include a first non-zero voltage vector and a second non-zero voltage vector; the non-zero voltage vector times include a first non-zero voltage vector time and a second non-zero voltage vector time; the complementary non-zero voltage vectors include a first complementary non-zero voltage vector and a second complementary non-zero voltage vector;

[0012] The step of symmetrically inserting complementary non-zero voltage vectors before and after the middle moment of the target three-phase modulation wave period when the non-zero voltage vector time is less than the preset sampling time includes:

[0013] When the first non-zero voltage vector time is less than the preset sampling time and the second non-zero voltage vector time is greater than or equal to the preset sampling time, symmetrically insert the first complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period;

[0014] When the second non-zero voltage vector time is less than the preset sampling time and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is greater than or equal to twice the preset sampling time, symmetrically insert the second complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period;

[0015] When the second non-zero voltage vector time is less than the preset sampling time and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is less than twice the preset sampling time, symmetrically insert the first complementary non-zero voltage vector and the second complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period respectively.

[0016] In some embodiments, symmetrically inserting the first complementary non-zero voltage vectors before and after the middle moment of the target three-phase modulation wave period includes:

[0017] Setting a fourth comparison register and a fifth comparison register in the three-phase motor, and obtaining the value of the period register of the target three-phase modulation wave;

[0018] Determining the value of the fourth comparison register based on the value of the period register, the preset sampling time, and the first non-zero voltage vector time;

[0019] Based on the value of the fourth comparison register, symmetrically inserting the first complementary non-zero voltage vectors before and after the middle moment of the target three-phase modulation wave period;

[0020] Symmetrically inserting the second complementary non-zero voltage vectors before and after the middle moment of the target three-phase modulation wave period includes:

[0021] Determining the value of the fifth comparison register based on the value of the period register, the preset sampling time, and the second non-zero voltage vector time;

[0022] Based on the value of the fifth comparison register, symmetrically inserting the second complementary non-zero voltage vectors before and after the middle moment of the target three-phase modulation wave period;

[0023] Symmetrically inserting the first complementary non-zero voltage vectors and the second complementary non-zero voltage vectors before and after the middle moment of the target three-phase modulation wave period respectively includes:

[0024] Respectively determining the value of the fourth comparison register and the value of the fifth comparison register based on the value of the period register, the preset sampling time, the first non-zero voltage vector time, and the second non-zero voltage vector time;

[0025] Based on the value of the fourth comparison register and the value of the fifth comparison register, symmetrically inserting the first complementary non-zero voltage vectors and the second complementary non-zero voltage vectors before and after the middle moment of the target three-phase modulation wave period respectively.

[0026] In some embodiments, the non-zero voltage vectors include a first non-zero voltage vector and a second non-zero voltage vector; the non-zero voltage vector times include a first non-zero voltage vector time and a second non-zero voltage vector time; adjusting the non-zero voltage vector times to obtain non-zero voltage vector adjustment times includes:

[0027] When the first non-zero voltage vector time is less than the preset sampling time and the second non-zero voltage vector time is greater than or equal to the preset sampling time, adjust the first non-zero voltage vector time based on the preset sampling time and the first non-zero voltage vector time to obtain a first adjusted non-zero voltage vector time;

[0028] When the second non-zero voltage vector time is less than the preset sampling time and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is greater than or equal to twice the preset sampling time, adjust the second non-zero voltage vector time based on the preset sampling time and the second non-zero voltage vector time to obtain a second adjusted non-zero voltage vector time;

[0029] When the second non-zero voltage vector time is less than the preset sampling time and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is less than twice the preset sampling time, adjust the first non-zero voltage vector time and the second non-zero voltage vector time respectively based on the preset sampling time, the first non-zero voltage vector time and the second non-zero voltage vector time to obtain a first adjusted non-zero voltage vector time and a second adjusted non-zero voltage vector time.

[0030] In some embodiments, the adjusting the first non-zero voltage vector time based on the preset sampling time and the first non-zero voltage vector time to obtain a first adjusted non-zero voltage vector time includes:

[0031] Obtain the value of a first comparison register, the value of a second comparison register, and the value of a period register of the target three-phase modulation wave in the three-phase motor; the value of the first comparison register represents the starting time of the first non-zero voltage vector; the value of the second comparison register represents the starting time of the second non-zero voltage vector; the value of the period register represents the middle moment of the target three-phase modulation wave period;

[0032] Adjust the value of the first comparison register based on the value of the first comparison register, the preset sampling time, and the first non-zero voltage vector time to obtain an updated value of the first comparison register;

[0033] Determine a first adjusted non-zero voltage vector time based on the updated value of the first comparison register;

[0034] The adjusting the second non-zero voltage vector time based on the preset sampling time and the second non-zero voltage vector time to obtain a second adjusted non-zero voltage vector time includes:

[0035] Adjust the value of the second comparison register based on the value of the second comparison register, the preset sampling time, and the second non-zero voltage vector time to obtain an updated value of the second comparison register;

[0036] Determine the second non-zero voltage vector adjustment time based on the updated value of the second comparison register;

[0037] The adjusting the first non-zero voltage vector time and the second non-zero voltage vector time respectively based on the preset sampling time, the first non-zero voltage vector time, and the second non-zero voltage vector time to obtain a first non-zero voltage vector adjustment time and a second non-zero voltage vector adjustment time includes:

[0038] Adjust the values of the first comparison register and the second comparison register respectively based on the value of the first comparison register, the value of the second comparison register, the preset sampling time, the first non-zero voltage vector time, and the second non-zero voltage vector time to obtain an updated value of the first comparison register and an updated value of the second comparison register;

[0039] Determine the first non-zero voltage vector adjustment time and the second non-zero voltage vector adjustment time respectively based on the updated value of the first comparison register and the updated value of the second comparison register.

[0040] In some embodiments, the method further includes:

[0041] Obtain the rotor angle and the stator current polarity of the three-phase motor;

[0042] Determine a compensation voltage vector based on the rotor angle, the stator current polarity, and the inserted complementary non-zero voltage vector, and compensate the non-zero voltage vector and the corresponding complementary non-zero voltage vector based on the compensation voltage vector.

[0043] In some embodiments, the non-zero voltage vector includes a first non-zero voltage vector and a second non-zero voltage vector; the complementary non-zero voltage vector includes a first complementary non-zero voltage vector and a second complementary non-zero voltage vector;

[0044] The determining a compensation voltage vector based on the rotor angle, the stator current polarity, and the inserted complementary non-zero voltage vector, and compensating the non-zero voltage vector and the corresponding complementary non-zero voltage vector based on the compensation voltage vector includes:

[0045] When the inserted complementary non-zero voltage vector is the first complementary non-zero voltage vector, a first compensation voltage vector is determined based on the rotor angle, the stator current polarity, and the first complementary non-zero voltage vector; the first non-zero voltage vector and the first complementary non-zero voltage vector are compensated based on the first compensation voltage vector.

[0046] When the inserted complementary non-zero voltage vector is the second complementary non-zero voltage vector, a second compensation voltage vector is determined based on the rotor angle, the stator current polarity, and the second complementary non-zero voltage vector; the second non-zero voltage vector and the second complementary non-zero voltage vector are compensated based on the second compensation voltage vector.

[0047] This application also provides a three-phase modulation wave waveform adjustment device, which includes:

[0048] An acquisition module, configured to acquire a target three-phase modulation wave and a preset sampling time in a three-phase motor;

[0049] A data determination module, configured to determine a target three-phase modulation wave period, a non-zero voltage vector, and a non-zero voltage vector time corresponding to the non-zero voltage vector from the target three-phase modulation wave;

[0050] A complementary non-zero voltage vector insertion module, configured to symmetrically insert complementary non-zero voltage vectors before and after the middle moment of the target three-phase modulation wave period when the non-zero voltage vector time is less than the preset sampling time; the voltage vector synthesized by the non-zero voltage vector and the complementary non-zero voltage vector is a zero voltage vector;

[0051] A non-zero voltage vector time adjustment module, configured to adjust the non-zero voltage vector time to obtain a non-zero voltage vector adjustment time; the non-zero voltage vector adjustment time is equal to the preset sampling time;

[0052] A target three-phase modulation wave adjustment module, configured to adjust the target three-phase modulation wave based on the inserted complementary non-zero voltage vector and the non-zero voltage vector adjustment time to obtain a three-phase adjusted modulation wave.

[0053] This application also provides an electronic device, which includes a processor and a memory, and at least one instruction or at least one program segment is stored in the memory, and the at least one instruction or the at least one program segment is loaded and executed by the processor to perform the above three-phase modulation wave waveform adjustment method.

[0054] The present application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-mentioned three-phase modulation wave waveform adjustment method.

[0055] Implementing the embodiments of the present application can achieve the following beneficial effects:

[0056] In the embodiments of the present application, a target three-phase modulation wave and a preset sampling time in a three-phase motor are obtained; a target three-phase modulation wave period, non-zero voltage vectors, and non-zero voltage vector times corresponding to the non-zero voltage vectors are determined from the target three-phase modulation wave; when the non-zero voltage vector time is less than the preset sampling time, complementary non-zero voltage vectors are symmetrically inserted before and after the middle moment of the target three-phase modulation wave period; the non-zero voltage vector time is adjusted to obtain an adjusted non-zero voltage vector time; based on the inserted complementary non-zero voltage vectors and the adjusted non-zero voltage vector time, the target three-phase modulation wave is adjusted to obtain a three-phase adjusted modulation wave. By symmetrically inserting complementary non-zero voltage vectors before and after the middle moment of the target three-phase modulation wave period and adjusting the non-zero voltage vector time when the non-zero voltage vector time is less than the preset sampling time, a three-phase adjusted modulation wave is obtained, solving the problem of asymmetric periodic waveforms of the three-phase modulation wave during the phase shift process and reducing the operating noise of the three-phase motor at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] To more clearly illustrate the three-phase modulation wave waveform adjustment method, device, equipment, and storage medium described in the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments recorded in the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0058] Figure 1 is a schematic flowchart of a three-phase modulation wave waveform adjustment method provided by an embodiment of the present application;

[0059] Figure 2 is a schematic flowchart of a complementary non-zero voltage vector insertion method provided by an embodiment of the present application;

[0060] Figure 3 is a schematic flowchart of a method for determining an adjusted non-zero voltage vector time provided by an embodiment of the present application;

[0061] Figure 4 is a relationship diagram of a comparison register and a voltage vector time in a three-phase motor provided by an embodiment of the present application;

[0062] Figure 5It is a waveform diagram of a three-phase adjusted modulation wave provided by an embodiment of the present application;

[0063] Figure 6 It is a schematic structural diagram of a three-phase modulation wave waveform adjustment device provided by an embodiment of the present application. Detailed implementation manners

[0064] In order to enable those skilled in the art to better understand the technical solutions in the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0065] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the information used in this way can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or server including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0066] In the prior art, for the single-resistance sampling method of three-phase motors, the traditional phase-shifting strategy is usually used to sample the three-phase current, but this will lead to the problem of asymmetry of the three-phase modulation wave within the same pulse width modulation period. In this case, waveform adjustment usually uses the introduction of current harmonics to solve the problem of periodic waveform asymmetry, but the introduction of current harmonics will increase the running noise of the three-phase motor, thereby affecting the operation effect of the three-phase motor.

[0067] Please refer to Figure 1 , which shows a schematic flowchart of a three-phase modulation wave waveform adjustment method provided by an embodiment of the present application. This specification provides the method operation steps as described in the embodiment or flowchart. The order of steps listed in the embodiment is only one way among the execution orders of numerous steps and does not represent the only execution order. The three-phase modulation wave waveform adjustment method can be executed in the order of the method shown in the embodiment or the drawings.

[0068] Specifically, as Figure 1 shown, the method may include the following steps:

[0069] S101: Obtain the target three-phase modulation wave and the preset sampling time in the three-phase motor;

[0070] In this embodiment, the target three-phase modulation wave can be obtained by sampling the current signals on the three-phase bridge arms in the three-phase motor in the single-resistor sampling mode; the preset sampling time represents the minimum sampling time during single-resistor sampling, and this value is determined in advance according to the actual situation of the hardware unit. For example, the preset sampling time can be 1 us.

[0071] S103: Determine the target three-phase modulation wave period, non-zero voltage vectors, and the non-zero voltage vector time corresponding to the non-zero voltage vectors from the target three-phase modulation wave;

[0072] In this embodiment, specifically, based on the obtained target three-phase modulation wave, relevant data information of the target three-phase modulation wave can be obtained. The data information includes the target three-phase modulation wave period, non-zero voltage vectors, and the non-zero voltage vector time corresponding to the non-zero voltage vectors.

[0073] S105: When the non-zero voltage vector time is less than the preset sampling time, symmetrically insert complementary non-zero voltage vectors before and after the middle moment of the target three-phase modulation wave period; the voltage vector synthesized by the non-zero voltage vector and the complementary non-zero voltage vector is a zero voltage vector;

[0074] In this embodiment, first, determine the magnitude relationship between the non-zero voltage vector time and the preset sampling time. If the non-zero voltage sampling time is greater than or equal to the preset sampling time, no operation is taken; if the non-zero voltage vector time is less than the preset sampling time, complementary non-zero voltage vectors are symmetrically inserted into the target three-phase modulation wave; among them, the synthesized voltage vector of the non-zero voltage vector and the complementary non-zero voltage vector is a zero voltage vector.

[0075] In some exemplary embodiments, the relationship between the non-zero voltage vectors and the complementary non-zero voltage vectors is shown in Table 1, where the non-zero voltage vectors include a first non-zero voltage vector and a second non-zero voltage vector; the non-zero voltage vector time includes a first non-zero voltage vector time and a second non-zero voltage vector time; the complementary non-zero voltage vectors include a first complementary non-zero voltage vector and a second complementary non-zero voltage vector.

[0076] Table 1

[0077]

[0078] In the above exemplary embodiments, please refer to Figure 2 , which shows a schematic flowchart of a method for inserting complementary non-zero voltage vectors provided by an embodiment of the present application. Specifically, as shown in Figure 2As shown, when the non-zero voltage vector time is less than the preset sampling time, symmetrically inserting complementary non-zero voltage vectors before and after the middle moment of the target three-phase modulation wave period includes:

[0079] S201: When the first non-zero voltage vector time is less than the preset sampling time and the second non-zero voltage vector time is greater than or equal to the preset sampling time, symmetrically insert the first complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period;

[0080] Specifically, since the non-zero voltage vector includes a first non-zero voltage vector and a second non-zero voltage vector, four situations will occur during the comparison with the preset sampling time. The first situation is that the first non-zero voltage vector time is less than the preset sampling time, and at the same time the second non-zero voltage vector time is greater than or equal to the preset sampling time, that is, when only the first non-zero voltage vector time is less than the preset sampling time, insert the first complementary non-zero voltage vector into the target three-phase modulation wave.

[0081] S203: When the second non-zero voltage vector time is less than the preset sampling time and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is greater than or equal to twice the preset sampling time, symmetrically insert the second complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period;

[0082] Specifically, the second situation is that the second non-zero voltage vector time is less than the preset sampling time, and at the same time the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is greater than or equal to twice the preset sampling time, that is, when only the second non-zero voltage vector time is less than the preset sampling time, insert the second complementary non-zero voltage vector into the target three-phase modulation wave.

[0083] S205: When the second non-zero voltage vector time is less than the preset sampling time and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is less than twice the preset sampling time, symmetrically insert the first complementary non-zero voltage vector and the second complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period respectively.

[0084] Specifically, the third situation is that the second non-zero voltage vector time is less than the preset sampling time, and at the same time the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is less than twice the preset sampling time, that is, when both the first non-zero voltage vector time and the second non-zero voltage vector time are less than the preset sampling time, insert the first complementary non-zero voltage vector and the second complementary non-zero voltage vector into the target three-phase modulation wave respectively.

[0085] In addition, the fourth case is: the time of the first non-zero voltage vector is less than the preset sampling time, and the time of the second non-zero voltage vector is less than the preset sampling time. In this case, no operation is performed.

[0086] By analyzing the four cases of the non-zero voltage vector and the preset sampling time, and taking different corresponding operations in the four cases respectively, the waveform of the target three-phase modulation wave can be adaptively adjusted according to the specific actual situation, thereby improving the accuracy of the adjustment of the target three-phase modulation wave waveform.

[0087] In the above exemplary embodiment, the symmetrically inserting the first complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period includes:

[0088] A fourth comparison register and a fifth comparison register are set in the three-phase motor, and the value of the period register of the target three-phase modulation wave is obtained;

[0089] Based on the value of the period register, the preset sampling time, and the time of the first non-zero voltage vector, the value of the fourth comparison register is determined;

[0090] Based on the value of the fourth comparison register, the first complementary non-zero voltage vector is symmetrically inserted before and after the middle moment of the target three-phase modulation wave period.

[0091] Specifically, the value of the period register represents the middle moment of the target three-phase modulation wave period. For example, when the target three-phase modulation wave period is 2000, the value of the period register is 1000.

[0092] In the first case, that is, when the time of the first non-zero voltage vector is less than the preset sampling time and the time of the second non-zero voltage vector is greater than or equal to the preset sampling time, the specific calculation method of the value of the fourth comparison register is: the value of the fourth comparison register = the value of the period register - the preset sampling time + the time of the first non-zero voltage vector, which represents the insertion time of the first complementary non-zero voltage vector.

[0093] In the above exemplary embodiment, the symmetrically inserting the second complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period includes:

[0094] Based on the value of the period register, the preset sampling time, and the time of the second non-zero voltage vector, the value of the fifth comparison register is determined;

[0095] Based on the value of the fifth comparison register, the second complementary non-zero voltage vector is symmetrically inserted before and after the middle moment of the target three-phase modulation wave period;

[0096] Specifically, in the second case, that is, when the time of the second non-zero voltage vector is less than the preset sampling time, and at the same time, the sum of the time of the first non-zero voltage vector and the time of the second non-zero voltage vector is greater than or equal to twice the preset sampling time, the specific calculation method for the value of the fifth comparison register is: the value of the fifth comparison register = the value of the period register - the preset sampling time + the time of the second non-zero voltage vector, which represents the insertion time of the second complementary non-zero voltage vector.

[0097] Symmetrically inserting the first complementary non-zero voltage vector and the second complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period respectively includes:

[0098] Based on the value of the period register, the preset sampling time, the time of the first non-zero voltage vector, and the time of the second non-zero voltage vector, respectively determine the value of the fourth comparison register and the value of the fifth comparison register;

[0099] Based on the value of the fourth comparison register and the value of the fifth comparison register, symmetrically insert the first complementary non-zero voltage vector and the second complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period respectively.

[0100] Specifically, in the third case, that is, when the time of the second non-zero voltage vector is less than the preset sampling time, and at the same time, the sum of the time of the first non-zero voltage vector and the time of the second non-zero voltage vector is less than twice the preset sampling time, the specific calculation method for the value of the fourth comparison register is: the value of the fourth comparison register = the value of the period register - 2 × the preset sampling time + the time of the first non-zero voltage vector + the time of the second non-zero voltage vector; the specific calculation method for the value of the fifth comparison register is: the value of the fifth comparison register = the value of the period register - the preset sampling time + the time of the second non-zero voltage vector.

[0101] By setting two comparison registers, namely the fourth comparison register and the fifth comparison register, determining the values of the fourth comparison register and the fifth comparison register under different conditions, and respectively determining the insertion times of the corresponding first complementary non-zero voltage vector and the second complementary non-zero voltage vector based on the values of the fourth comparison register and the fifth comparison register, the accuracy of the complementary voltage vector insertion is ensured, and further the symmetry of the adjusted target three-phase modulation wave waveform is guaranteed.

[0102] In some exemplary embodiments, please refer to Figure 3 , which shows a schematic flowchart of a method for determining the adjustment time of a non-zero voltage vector provided by an embodiment of the present application. Specifically, as Figure 3 shown, adjusting the non-zero voltage vector time to obtain the non-zero voltage vector adjustment time includes:

[0103] S301: When the first non-zero voltage vector time is less than the preset sampling time and the second non-zero voltage vector time is greater than or equal to the preset sampling time, adjust the first non-zero voltage vector time based on the preset sampling time and the first non-zero voltage vector time to obtain the adjusted first non-zero voltage vector time;

[0104] Specifically, in the first case, only when the first non-zero voltage vector time is less than the preset sampling time, extend the first non-zero voltage vector time to make it equal to the preset sampling time. The adjusted first non-zero voltage vector time represents the starting time after the extension of the first non-zero voltage vector, which can also be understood as the insertion time of the first non-zero voltage vector.

[0105] S303: When the second non-zero voltage vector time is less than the preset sampling time and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is greater than or equal to twice the preset sampling time, adjust the second non-zero voltage vector time based on the preset sampling time and the second non-zero voltage vector time to obtain the adjusted second non-zero voltage vector time;

[0106] Specifically, in the second case, only when the second non-zero voltage vector time is less than the preset sampling time, extend the second non-zero voltage vector time to make it equal to the preset sampling time. The adjusted second non-zero voltage vector time represents the starting time after the extension of the second non-zero voltage vector, which can also be understood as the insertion time of the second non-zero voltage vector.

[0107] S305: When the second non-zero voltage vector time is less than the preset sampling time and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is less than twice the preset sampling time, adjust the first non-zero voltage vector time and the second non-zero voltage vector time respectively based on the preset sampling time, the first non-zero voltage vector time and the second non-zero voltage vector time to obtain the adjusted first non-zero voltage vector time and the adjusted second non-zero voltage vector time.

[0108] Specifically, in the third case, both the first non-zero voltage vector time and the second non-zero voltage vector time are less than the preset sampling time, then extend the first non-zero voltage vector time and the second non-zero voltage vector time respectively to make them both equal to the preset sampling time.

[0109] By adjusting the different non-zero voltage vector times in different cases to obtain the adjusted non-zero voltage vector time, it can ensure that the non-zero voltage vector time is the same as the preset sampling time, thereby improving the accuracy of subsequent current sampling of the three-phase motor using the single-resistor sampling method.

[0110] In the above exemplary embodiment, adjusting the first non-zero voltage vector time based on the preset sampling time and the first non-zero voltage vector time to obtain the first non-zero voltage vector adjustment time includes:

[0111] Obtain the value of the first comparison register, the value of the second comparison register, and the value of the period register of the target three-phase modulation wave in the three-phase motor; the value of the first comparison register represents the starting time of the first non-zero voltage vector; the value of the second comparison register represents the starting time of the second non-zero voltage vector; the value of the period register represents the middle moment of the target three-phase modulation wave period;

[0112] Based on the value of the first comparison register, the preset sampling time, and the first non-zero voltage vector time, adjust the value of the first comparison register to obtain the updated value of the first comparison register;

[0113] Based on the updated value of the first comparison register, determine the first non-zero voltage vector adjustment time;

[0114] Specifically, in the first case, that is, when the first non-zero voltage vector time is less than the preset sampling time and the second non-zero voltage vector time is greater than or equal to the preset sampling time, the specific calculation method of the value of the first comparison register is: updated value of the first comparison register = value of the first comparison register - preset sampling time + first non-zero voltage vector time, which represents the starting time after the extension of the first non-zero voltage vector, and can also be understood as the insertion time of the first non-zero voltage vector, and determine its value as the first non-zero voltage vector adjustment time.

[0115] In the above exemplary embodiment, adjusting the second non-zero voltage vector time based on the preset sampling time and the second non-zero voltage vector time to obtain the second non-zero voltage vector adjustment time includes:

[0116] Based on the value of the second comparison register, the preset sampling time, and the second non-zero voltage vector time, adjust the value of the second comparison register to obtain the updated value of the second comparison register;

[0117] Based on the updated value of the second comparison register, determine the second non-zero voltage vector adjustment time;

[0118] Specifically, in the second case, that is, when the time of the second non-zero voltage vector is less than the preset sampling time, and at the same time, the sum of the time of the first non-zero voltage vector and the time of the second non-zero voltage vector is greater than or equal to twice the preset sampling time, the specific calculation method for the value of the second comparison register is: updated value of the second comparison register = value of the second comparison register - preset sampling time + time of the second non-zero voltage vector, which represents the starting time after the extension of the second non-zero voltage vector, and can also be understood as the insertion time of the second non-zero voltage vector, and its value is determined as the adjustment time of the second non-zero voltage vector.

[0119] In the above exemplary embodiment, adjusting the time of the first non-zero voltage vector and the time of the second non-zero voltage vector respectively based on the preset sampling time, the time of the first non-zero voltage vector, and the time of the second non-zero voltage vector to obtain the adjusted time of the first non-zero voltage vector and the adjusted time of the second non-zero voltage vector includes:

[0120] Adjusting the value of the first comparison register and the value of the second comparison register respectively based on the value of the first comparison register, the value of the second comparison register, the preset sampling time, the time of the first non-zero voltage vector, and the time of the second non-zero voltage vector to obtain the updated value of the first comparison register and the updated value of the second comparison register;

[0121] Determining the adjusted time of the first non-zero voltage vector and the adjusted time of the second non-zero voltage vector respectively based on the updated value of the first comparison register and the updated value of the second comparison register.

[0122] Specifically, in the third case, that is, when the time of the second non-zero voltage vector is less than the preset sampling time, and at the same time, the sum of the time of the first non-zero voltage vector and the time of the second non-zero voltage vector is less than twice the preset sampling time, the specific calculation method for the updated value of the first comparison register is: updated value of the first comparison register = value of the first comparison register - 2 × preset sampling time + time of the first non-zero voltage vector + time of the second non-zero voltage vector; the specific calculation method for the updated value of the second comparison register is: updated value of the second comparison register = value of the second comparison register - preset sampling time + time of the second non-zero voltage vector; and the updated value of the first comparison register is determined as the adjusted time of the first non-zero voltage vector respectively, and the updated value of the second comparison register is determined as the adjusted time of the second non-zero voltage vector.

[0123] It should be noted that a third comparison register is also provided in the three-phase motor, and the value of the third comparison register can represent the end time of the second non-zero voltage vector, or can also represent the start time of the zero voltage vector immediately following the second non-zero voltage vector.

[0124] To illustrate in detail the specific adjustment method of the target three-phase modulation wave in a three-phase motor, please refer to Figure 4 , which shows a relationship diagram between a comparison register and a voltage vector time in a three-phase motor provided by an embodiment of the present application. Specifically, as shown in Figure 4 , phases a, b, and c are three-phase bridge arms in a three-phase motor. Within one pulse width modulation period, the values of the first comparison register, the second comparison register, and the third comparison register of the three-phase bridge arms are C 1 , C 2 , C 3 respectively, the value of the period register is PRD, the time of the first non-zero voltage vector is t 1 , the time of the second non-zero voltage vector is t 2 , the time of the zero voltage vector is t 0 , t 7 , and the period of the target three-phase modulation wave is t pwm . The preset sampling time is t s . They satisfy the following relational expressions:

[0125]

[0126] C 2 - C 1 = t 1

[0127] C 3 - C 2 = t 2

[0128] 0 ≤ C 1 ≤ C 2 ≤ C 3 ≤ PRD

[0129] Meanwhile, a fourth comparison register and a fifth comparison register are also set in the three-phase motor. For four different situations of the time of the first non-zero voltage vector and the time of the second non-zero voltage vector, the changes in the non-zero voltage vector adjustment time and the corresponding comparison registers after inserting the complementary non-zero voltage vector are shown in Table 2. Since the specific method has been described in detail in the embodiments related to this method, it will not be elaborated here.

[0130] Table 2

[0131]

[0132] By determining the first comparison register update and the second comparison register update values under different conditions, and respectively determining the corresponding first non-zero voltage vector adjustment time and the second non-zero voltage vector adjustment time based on the first comparison register update and the second comparison register update values, it is ensured that the adjusted non-zero voltage vector time is equal to the preset sampling time, and further improves the accuracy of subsequent current sampling of the three-phase motor using the single-resistance sampling method.

[0133] S107: Based on the inserted complementary non-zero voltage vector and the non-zero voltage vector adjustment time, adjust the target three-phase modulation wave to obtain a three-phase adjusted modulation wave.

[0134] In this embodiment, specifically, the target three-phase modulation wave corresponds to different complementary non-zero voltage vector insertions and different non-zero voltage vector adjustment times in three cases, and in the three cases, the corresponding adjusted target three-phase modulation wave is obtained based on the inserted complementary non-zero voltage vector and the non-zero voltage vector adjustment time, and the adjusted target three-phase modulation wave is determined as the three-phase adjusted modulation wave.

[0135] Please refer to Figure 5 , which shows a waveform diagram of a three-phase adjusted modulation wave provided by an embodiment of the present application. Specifically, for the four cases given in the table, the waveform diagrams of the obtained three-phase adjusted modulation waves are as Figure 4 shown. Among them, Figure 5 (1) shows the waveform diagram of the three-phase adjusted modulation wave obtained when the first non-zero voltage vector time is less than the preset sampling time and the second non-zero voltage vector time is greater than or equal to the preset sampling time; Figure 5 (2) shows the waveform diagram of the three-phase adjusted modulation wave obtained when the second non-zero voltage vector time is less than the preset sampling time and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is greater than or equal to twice the preset sampling time; Figure 5 (3) shows the waveform diagram of the three-phase adjusted modulation wave obtained when the second non-zero voltage vector time is less than the preset sampling time and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is less than twice the preset sampling time; Figure 5 (4) shows the waveform diagram of the three-phase adjusted modulation wave when the first non-zero voltage vector time is greater than or equal to the preset sampling time and the second non-zero voltage vector time is greater than or equal to the preset sampling time.

[0136] In some exemplary embodiments, the method further includes:

[0137] Obtain the rotor angle and the stator current polarity of the three-phase motor;

[0138] Determine a compensation voltage vector based on the rotor angle, the stator current polarity, and the inserted complementary non-zero voltage vector, and compensate the non-zero voltage vector and the corresponding complementary non-zero voltage vector based on the compensation voltage vector.

[0139] In the above exemplary embodiment, specifically, after obtaining the three-phase adjusted modulation wave, the three-phase bridge arm increases the on-off operations within one cycle, thereby introducing the dead-time effect. At this time, according to the rotor angle and the stator current polarity in the three-phase motor, additional dead-time compensation strategies are added in different situations to compensate the non-zero voltage vector and the corresponding complementary non-zero voltage vector.

[0140] By formulating a corresponding compensation strategy for the three-phase adjusted modulation wave according to the current rotor angle, stator current polarity, and the inserted complementary non-zero vector of the three-phase motor, and determining the compensation voltage vector based on the compensation strategy, it is possible to select a corresponding compensation strategy for the three-phase adjusted modulation wave according to the adjustment situation of the three-phase adjusted modulation wave, and prevent the upper and lower bridges of the three-phase bridge arm from being directly connected, thereby further improving the accuracy of subsequent current sampling based on the three-phase adjusted modulation wave.

[0141] In the above exemplary embodiment, the determining a compensation voltage vector based on the rotor angle, the stator current polarity, and the inserted complementary non-zero voltage vector, and compensating the non-zero voltage vector and the corresponding complementary non-zero voltage vector based on the compensation voltage vector includes:

[0142] When the inserted complementary non-zero voltage vector is the first complementary non-zero voltage vector, determine a first compensation voltage vector based on the rotor angle, the stator current polarity, and the first complementary non-zero voltage vector; compensate the first non-zero voltage vector and the first complementary non-zero voltage vector based on the first compensation voltage vector;

[0143] When the inserted complementary non-zero voltage vector is the second complementary non-zero voltage vector, determine a second compensation voltage vector based on the rotor angle, the stator current polarity, and the second complementary non-zero voltage vector; compensate the second non-zero voltage vector and the second complementary non-zero voltage vector based on the second compensation voltage vector.

[0144] Specifically, when the inserted complementary non-zero vector is the first complementary non-zero vector, determine the first compensation voltage vector according to the current rotor angle, stator current polarity, and the inserted complementary non-zero vector of the three-phase motor, and compensate the first non-zero voltage vector and the first complementary non-zero voltage vector based on the first compensation voltage vector.

[0145] Meanwhile, when the inserted complementary non-zero vector is the second complementary non-zero vector, the second compensation voltage vector is determined according to the current rotor angle, stator current polarity of the three-phase motor, and the inserted complementary non-zero vector, and the second non-zero voltage vector and the second complementary non-zero voltage vector are compensated based on the second compensation voltage vector. The specific compensation strategy is shown in Table 3, where t dead is the dead time, and t pwm is the three-phase adjusted modulation wave period.

[0146] Table 3

[0147]

[0148] By determining the first compensation voltage vector when inserting the first complementary non-zero vector to compensate the first non-zero voltage vector and the first complementary non-zero voltage vector, and determining the second compensation voltage vector when inserting the second complementary non-zero vector to compensate the second non-zero voltage vector and the second complementary non-zero voltage vector, it is possible to select the corresponding compensation strategy for the three-phase adjusted modulation wave according to different situations of the three-phase adjusted modulation wave, avoiding the dead time caused by the direct connection of the upper and lower bridges of the three-phase bridge arm, thereby further improving the accuracy of subsequent current sampling based on the three-phase adjusted modulation wave.

[0149] The embodiment of the present application also provides a three-phase modulation wave waveform adjustment device. Please refer to Figure 6 , which shows the structural schematic diagram of a three-phase modulation wave waveform adjustment device provided by the embodiment of the present application. Specifically, as Figure 6 shown, the three-phase modulation wave waveform adjustment device includes:

[0150] An acquisition module 601, configured to acquire a target three-phase modulation wave and a preset sampling time in the three-phase motor;

[0151] A data determination module 603, configured to determine a target three-phase modulation wave period, a non-zero voltage vector, and a non-zero voltage vector time corresponding to the non-zero voltage vector from the target three-phase modulation wave;

[0152] A complementary non-zero voltage vector insertion module 605, configured to symmetrically insert complementary non-zero voltage vectors before and after the middle moment of the target three-phase modulation wave period when the non-zero voltage vector time is less than the preset sampling time; the voltage vector synthesized by the non-zero voltage vector and the complementary non-zero voltage vector is a zero voltage vector;

[0153] A non-zero voltage vector time adjustment module 607, configured to adjust the non-zero voltage vector time to obtain a non-zero voltage vector adjustment time; the non-zero voltage vector adjustment time is equal to the preset sampling time;

[0154] The target three-phase modulation wave adjustment module 609 is used to adjust the target three-phase modulation wave based on the inserted complementary non-zero voltage vector and the adjustment time of the non-zero voltage vector, so as to obtain a three-phase adjusted modulation wave.

[0155] In an optional embodiment, the three-phase modulation wave waveform adjustment device further includes:

[0156] The first insertion module is used to symmetrically insert the first complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period when the time of the first non-zero voltage vector is less than the preset sampling time and the time of the second non-zero voltage vector is greater than or equal to the preset sampling time.

[0157] The second insertion module is used to symmetrically insert the second complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period when the time of the second non-zero voltage vector is less than the preset sampling time and the sum of the time of the first non-zero voltage vector and the time of the second non-zero voltage vector is greater than or equal to twice the preset sampling time.

[0158] The third insertion module is used to symmetrically insert the first complementary non-zero voltage vector and the second complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period respectively when the time of the second non-zero voltage vector is less than the preset sampling time and the sum of the time of the first non-zero voltage vector and the time of the second non-zero voltage vector is less than twice the preset sampling time.

[0159] In an optional embodiment, the first insertion module further includes:

[0160] The first acquisition sub-module is used to set a fourth comparison register and a fifth comparison register in the three-phase motor and acquire the value of the period register of the target three-phase modulation wave.

[0161] The fourth comparison register value determination sub-module is used to determine the value of the fourth comparison register based on the value of the period register, the preset sampling time, and the time of the first non-zero voltage vector.

[0162] The first insertion sub-module is used to symmetrically insert the first complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period based on the value of the fourth comparison register.

[0163] The second insertion module further includes:

[0164] The fifth comparison register value determination sub-module is configured to determine the value of the fifth comparison register based on the value of the period register, the preset sampling time, and the second non-zero voltage vector time;

[0165] The second insertion sub-module is configured to symmetrically insert the second complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period based on the value of the fifth comparison register;

[0166] The third insertion module further includes:

[0167] The comparison register value determination sub-module is configured to determine the value of the fourth comparison register and the value of the fifth comparison register respectively based on the value of the period register, the preset sampling time, the first non-zero voltage vector time, and the second non-zero voltage vector time;

[0168] The third insertion sub-module is configured to symmetrically insert the first complementary non-zero voltage vector and the second complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave period respectively based on the value of the fourth comparison register and the value of the fifth comparison register.

[0169] In an optional embodiment, the three-phase modulation wave waveform adjustment device further includes:

[0170] The first adjustment time module is configured to, when the first non-zero voltage vector time is less than the preset sampling time and the second non-zero voltage vector time is greater than or equal to the preset sampling time, adjust the first non-zero voltage vector time based on the preset sampling time and the first non-zero voltage vector time to obtain the first non-zero voltage vector adjustment time;

[0171] The second adjustment time module is configured to, when the second non-zero voltage vector time is less than the preset sampling time and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is greater than or equal to twice the preset sampling time, adjust the second non-zero voltage vector time based on the preset sampling time and the second non-zero voltage vector time to obtain the second non-zero voltage vector adjustment time;

[0172] The third adjustment time module is configured to, when the second non-zero voltage vector time is less than the preset sampling time and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is less than twice the preset sampling time, adjust the first non-zero voltage vector time and the second non-zero voltage vector time respectively based on the preset sampling time, the first non-zero voltage vector time, and the second non-zero voltage vector time to obtain the first non-zero voltage vector adjustment time and the second non-zero voltage vector adjustment time.

[0173] In an optional embodiment, the first adjustment time module further includes:

[0174] A second acquisition sub-module, configured to acquire the value of the first comparison register, the value of the second comparison register, and the value of the period register of the target three-phase modulation wave in the three-phase motor; the value of the first comparison register represents the starting time of the first non-zero voltage vector; the value of the second comparison register represents the starting time of the second non-zero voltage vector; the value of the period register represents the middle moment of the target three-phase modulation wave period;

[0175] A first comparison register updated value determination sub-module, configured to adjust the value of the first comparison register based on the value of the first comparison register, the preset sampling time, and the first non-zero voltage vector time, to obtain a first comparison register updated value;

[0176] A first adjustment time sub-module, configured to determine a first non-zero voltage vector adjustment time based on the first comparison register updated value;

[0177] The second adjustment time module further includes:

[0178] A second comparison register updated value determination sub-module, configured to adjust the value of the second comparison register based on the value of the second comparison register, the preset sampling time, and the second non-zero voltage vector time, to obtain a second comparison register updated value;

[0179] A second adjustment time sub-module, configured to determine a second non-zero voltage vector adjustment time based on the second comparison register updated value;

[0180] The third adjustment time module further includes:

[0181] A comparison register updated value determination sub-module, configured to adjust the value of the first comparison register and the value of the second comparison register respectively based on the value of the first comparison register, the value of the second comparison register, the preset sampling time, the first non-zero voltage vector time, and the second non-zero voltage vector time, to obtain a first comparison register updated value and a second comparison register updated value;

[0182] A third adjustment time sub-module, configured to determine a first non-zero voltage vector adjustment time and a second non-zero voltage vector adjustment time respectively based on the first comparison register updated value and the second comparison register updated value.

[0183] In an optional embodiment, the three-phase modulation wave waveform adjustment device further includes:

[0184] A third acquisition module, configured to acquire the rotor angle and the stator current polarity of a three-phase motor;

[0185] A compensation voltage vector determination module, configured to determine a compensation voltage vector based on the rotor angle, the stator current polarity, and the inserted complementary non-zero voltage vector, and compensate the non-zero voltage vector and the corresponding complementary non-zero voltage vector based on the compensation voltage vector.

[0186] In an optional embodiment, the compensation voltage vector determination module further includes:

[0187] A first compensation voltage vector determination sub-module, configured to determine a first compensation voltage vector based on the rotor angle, the stator current polarity, and the first complementary non-zero voltage vector when the inserted complementary non-zero voltage vector is the first complementary non-zero voltage vector; compensate the first non-zero voltage vector and the first complementary non-zero voltage vector based on the first compensation voltage vector;

[0188] A second compensation voltage vector determination sub-module, configured to determine a second compensation voltage vector based on the rotor angle, the stator current polarity, and the second complementary non-zero voltage vector when the inserted complementary non-zero voltage vector is the second complementary non-zero voltage vector; compensate the second non-zero voltage vector and the second complementary non-zero voltage vector based on the second compensation voltage vector.

[0189] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0190] An embodiment of the present application further provides a three-phase modulation wave waveform adjustment electronic device, where the electronic device includes a processor and a memory, and at least one instruction or at least one program segment is stored in the memory, and the at least one instruction or the at least one program segment is loaded and executed by the processor to perform the three-phase modulation wave waveform adjustment method as described in the above method embodiments.

[0191] An embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the three-phase modulation wave waveform adjustment method as described in the embodiments of the present application is implemented.

[0192] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0193] The above describes specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily have to be in the specific order or consecutive order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0194] The various embodiments in this application are described in a progressive manner. For the parts that are the same or similar among the various embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the electronic device and the computer-readable storage medium, since they are basically similar to the method embodiments, the description is relatively simple. For the relevant parts, reference can be made to the partial description of the method embodiments.

[0195] The electronic device and the computer-readable storage medium provided in the embodiments of this application correspond to the method. Therefore, the electronic device and the computer-readable storage medium also have beneficial technical effects similar to the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the corresponding electronic device and computer-readable storage medium will not be elaborated here.

[0196] The above is only for the embodiments of the present application and is not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A three-phase modulation waveform adjustment method, characterized in that: include: Obtaining a target three-phase modulation wave and a preset sampling time in a three-phase motor; Determine a target three-phase modulation wave period, a non-zero voltage vector, and a non-zero voltage vector time corresponding to the non-zero voltage vector from the target three-phase modulation wave; When the non-zero voltage vector time is less than the preset sampling time, a complementary non-zero voltage vector is symmetrically inserted before and after the middle moment of the target three-phase modulation wave cycle; A voltage vector synthesized by the non-zero voltage vector and the complementary non-zero voltage vector is a zero voltage vector; Adjusting the non-zero voltage vector time to obtain a non-zero voltage vector adjustment time; The non-zero voltage vector adjustment time is equal to the preset sampling time; Based on the inserted complementary non-zero voltage vector and the non-zero voltage vector adjustment time, the target three-phase modulation wave is adjusted to obtain a three-phase adjusted modulation wave.

2. The method according to claim 1, characterized in that The non-zero voltage vector includes a first non-zero voltage vector and a second non-zero voltage vector; The non-zero voltage vector time includes a first non-zero voltage vector time and a second non-zero voltage vector time; the complementary non-zero voltage vector includes a first complementary non-zero voltage vector and a second complementary non-zero voltage vector; When the non-zero voltage vector time is less than the preset sampling time, symmetrically inserting a complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave cycle includes: When the first non-zero voltage vector time is less than the preset sampling time, and the second non-zero voltage vector time is greater than or equal to the preset sampling time, the first complementary non-zero voltage vector is symmetrically inserted before and after the middle moment of the target three-phase modulation wave cycle; When the second non-zero voltage vector time is less than the preset sampling time, and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is greater than or equal to twice the preset sampling time, the second complementary non-zero voltage vector is symmetrically inserted before and after the middle moment of the target three-phase modulation wave cycle; When the second non-zero voltage vector time is less than the preset sampling time, and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is less than twice the preset sampling time, the first complementary non-zero voltage vector and the second complementary non-zero voltage vector are symmetrically inserted before and after the middle moment of the target three-phase modulation wave cycle.

3. The method according to claim 2, characterized in that The step of symmetrically inserting the first complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave cycle comprises: Setting a fourth comparison register and a fifth comparison register in the three-phase motor, and obtaining the value of the period register of the target three-phase modulation wave; Determining a value of the fourth comparison register based on the value of the period register, the preset sampling time, and the first non-zero voltage vector time; Based on the value of the fourth comparison register, symmetrically inserting the first complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave cycle; The step of symmetrically inserting the second complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave cycle comprises: determining a value of the fifth comparison register based on the value of the period register, the preset sampling time, and the second non-zero voltage vector time; Based on the value of the fifth comparison register, symmetrically inserting the second complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave cycle; The step of symmetrically inserting the first complementary non-zero voltage vector and the second complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave cycle comprises: Determine the value of the fourth comparison register and the value of the fifth comparison register based on the value of the period register, the preset sampling time, the first non-zero voltage vector time, and the second non-zero voltage vector time; Based on the value of the fourth comparison register and the value of the fifth comparison register, the first complementary non-zero voltage vector and the second complementary non-zero voltage vector are symmetrically inserted before and after the middle moment of the target three-phase modulation wave cycle.

4. The method according to claim 1, characterized in that: The non-zero voltage vector includes a first non-zero voltage vector and a second non-zero voltage vector; The non-zero voltage vector time includes a first non-zero voltage vector time and a second non-zero voltage vector time; The adjusting the non-zero voltage vector time to obtain the non-zero voltage vector adjustment time comprises: When the first non-zero voltage vector time is less than the preset sampling time, and the second non-zero voltage vector time is greater than or equal to the preset sampling time, adjusting the first non-zero voltage vector time based on the preset sampling time and the first non-zero voltage vector time to obtain a first non-zero voltage vector adjustment time; When the second non-zero voltage vector time is less than the preset sampling time, and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is greater than or equal to twice the preset sampling time, adjusting the second non-zero voltage vector time based on the preset sampling time and the second non-zero voltage vector time to obtain a second non-zero voltage vector adjustment time; When the second non-zero voltage vector time is less than the preset sampling time, and the sum of the first non-zero voltage vector time and the second non-zero voltage vector time is less than twice the preset sampling time, the first non-zero voltage vector time and the second non-zero voltage vector time are adjusted based on the preset sampling time, the first non-zero voltage vector time and the second non-zero voltage vector time to obtain a first non-zero voltage vector adjustment time and a second non-zero voltage vector adjustment time.

5. The method according to claim 4, characterized in that The adjusting the first non-zero voltage vector time based on the preset sampling time and the first non-zero voltage vector time to obtain the first non-zero voltage vector adjustment time comprises: Obtain the value of the first comparison register, the value of the second comparison register and the value of the period register of the target three-phase modulation wave in the three-phase motor; the value of the first comparison register represents the starting time of the first non-zero voltage vector; the value of the second comparison register represents the starting time of the second non-zero voltage vector; the value of the period register represents the middle moment of the target three-phase modulation wave period; Based on the value of the first comparison register, the preset sampling time and the first non-zero voltage vector time, adjusting the value of the first comparison register to obtain a first comparison register update value; determining a first non-zero voltage vector adjustment time based on the first comparison register update value; The adjusting the second non-zero voltage vector time based on the preset sampling time and the second non-zero voltage vector time to obtain the second non-zero voltage vector adjustment time comprises: Based on the value of the second comparison register, the preset sampling time and the second non-zero voltage vector time, adjusting the value of the second comparison register to obtain a second comparison register update value; determining a second non-zero voltage vector adjustment time based on the second comparison register update value; The adjusting the first non-zero voltage vector time and the second non-zero voltage vector time respectively based on the preset sampling time, the first non-zero voltage vector time and the second non-zero voltage vector time to obtain the first non-zero voltage vector adjustment time and the second non-zero voltage vector adjustment time comprises: Based on the value of the first comparison register, the value of the second comparison register, the preset sampling time, the first non-zero voltage vector time, and the second non-zero voltage vector time, respectively adjust the value of the first comparison register and the value of the second comparison register to obtain a first comparison register update value and a second comparison register update value; Based on the first comparison register update value and the second comparison register update value, a first non-zero voltage vector adjustment time and a second non-zero voltage vector adjustment time are determined respectively.

6. The method according to claim 1, characterized in that The method further comprises: Get the rotor angle and stator current polarity of the three-phase motor; A compensation voltage vector is determined based on the rotor angle, the stator current polarity and the inserted complementary non-zero voltage vector, and the non-zero voltage vector and the corresponding complementary non-zero voltage vector are compensated based on the compensation voltage vector.

7. The method according to claim 6, characterized in that The non-zero voltage vector includes a first non-zero voltage vector and a second non-zero voltage vector; the complementary non-zero voltage vector includes a first complementary non-zero voltage vector and a second complementary non-zero voltage vector; The determining of a compensation voltage vector based on the rotor angle, the stator current polarity and the inserted complementary non-zero voltage vector, and compensating the non-zero voltage vector and the corresponding complementary non-zero voltage vector based on the compensation voltage vector comprises: In a case where the inserted complementary non-zero voltage vector is the first complementary non-zero voltage vector, determining a first compensation voltage vector based on the rotor angle, the stator current polarity and the first complementary non-zero voltage vector; and compensating the first non-zero voltage vector and the first complementary non-zero voltage vector based on the first compensation voltage vector; When the inserted complementary non-zero voltage vector is the second complementary non-zero voltage vector, a second compensation voltage vector is determined based on the rotor angle, the stator current polarity and the second complementary non-zero voltage vector; and the second non-zero voltage vector and the second complementary non-zero voltage vector are compensated based on the second compensation voltage vector.

8. A three-phase modulation waveform adjustment device, characterized in that: The three-phase modulation waveform adjustment device comprises: An acquisition module is used to acquire a target three-phase modulation wave and a preset sampling time in a three-phase motor; A data determination module, used to determine a target three-phase modulation wave period, a non-zero voltage vector, and a non-zero voltage vector time corresponding to the non-zero voltage vector from the target three-phase modulation wave; A complementary non-zero voltage vector insertion module is used to symmetrically insert a complementary non-zero voltage vector before and after the middle moment of the target three-phase modulation wave cycle when the non-zero voltage vector time is less than the preset sampling time; the voltage vector synthesized by the non-zero voltage vector and the complementary non-zero voltage vector is a zero voltage vector; A non-zero voltage vector time adjustment module, used to adjust the non-zero voltage vector time to obtain a non-zero voltage vector adjustment time; the non-zero voltage vector adjustment time is equal to the preset sampling time; The target three-phase modulation wave adjustment module is used to adjust the target three-phase modulation wave based on the inserted complementary non-zero voltage vector and the non-zero voltage vector adjustment time to obtain a three-phase adjusted modulation wave.

9. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded by the processor and executed by the three-phase modulation waveform adjustment method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the three-phase modulation waveform adjustment method according to any one of claims 1 to 7 is implemented.

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