A multi-port motor driver power distribution control method based on double synchronous coordinate system

Abstract

The application discloses a kind of based on the power distribution control method of multi-port motor driver of double synchronous coordinate system, first decoupling modeling is carried out to multi-port motor driver, according to its output voltage, it is equivalent to two independent two-level sub-driver units, to decouple the power flow path of first and second DC source;Establish the port power relationship between multi-port motor driver and sub-driver unit;Then according to the first DC source port reference power, directly adjust the shaft reference voltage of two sub-driver units;Again based on interleaved clamping, constrain the switching times of each sub-driver unit, obtain the correlation expression of shaft reference voltage by constraint condition, and then obtain complete shaft reference voltage;After coordinate transformation and zero sequence voltage injection, generate the final three-phase modulation signal;Finally, the three-phase modulation signal is compared with triangular carrier, to generate drive signal, to control each bridge arm switch tube.

Description

Technical Field

[0001] This invention belongs to the field of motor control technology, and more specifically, relates to a power distribution control method for a multi-port motor driver based on a dual synchronous coordinate system. Background Technology

[0002] Electric vehicles are a viable solution to mitigate the depletion of fossil fuels and climate change. Among various types of electric vehicles, hybrid electric vehicles, which combine two or more energy sources to achieve complementary advantages, have become the preferred option due to their advanced characteristics (including initial investment cost, service life, reliability, and efficiency).

[0003] The power electronic interface is responsible for transmitting electrical energy from various energy sources to the motor drive unit, and is a key factor in the realization of hybrid electric vehicles. Currently, the power electronic interface of hybrid electric vehicles mostly adopts a two-stage structure, relying on an intermediate DC-DC converter to integrate multiple energy sources. However, these converters increase the system weight and size, while reducing power conversion efficiency. In contrast, multi-port motor drivers do not require any DC-DC converter and can directly connect the energy source to the motor, providing a lightweight, compact, low-cost, and high-efficiency motor drive solution for hybrid electric vehicles.

[0004] Despite the numerous advantages of multi-port motor drivers, their system design faces two major challenges: first, the inherent input voltage imbalance leads to asymmetrical voltage vector distribution, increasing design complexity; second, the omission of the intermediate DC-DC converter introduces coupling characteristics, requiring simultaneous implementation of AC-side motor drive control and DC-side power distribution. While existing control methods can achieve these dual-side control objectives, they all employ a hybrid coordinate system: AC-side motor drive control is implemented in a synchronous coordinate system, while DC-side power distribution is achieved in a two-phase or three-phase stationary coordinate system. This approach indirectly adjusts the ratio of redundant voltage vectors or zero-sequence components for power distribution, resulting in significant nonlinearity and substantial power ripple due to the inherent switching behavior of zero-sequence components during sector switching, thus impacting power distribution performance. Therefore, there is an urgent need for a control method that unifies the AC and DC control objectives within the same coordinate system and allows for direct adjustment of control degrees of freedom to achieve high-quality power distribution. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a power distribution control method for a multi-port motor driver based on a dual synchronous coordinate system, so as to solve the technical problems of large power ripple and slow instantaneous dynamic response when the prior art realizes DC-side power distribution based on a hybrid coordinate system.

[0006] To achieve the above-mentioned objectives, the present invention provides a power distribution control method for a multi-port motor driver based on a dual synchronous coordinate system, characterized by comprising the following steps:

[0007] (1) Obtain the multi-port motor driver in the synchronous coordinate system Shaft reference voltage , ;

[0008] (2) Decouple the multi-port motor driver and model it as two independent two-level sub-driver units; wherein, the reference voltage of sub-driver unit 1 in the synchronous coordinate system is , The reference voltage of sub-driver unit 2 in the synchronous coordinate system is , ;

[0009] (3) Based on the reference power of the first DC source port With multi-port motor drivers in synchronous coordinate system Shaft reference voltage The calculations obtained for sub-driver unit 1 and sub-driver unit 2 in the synchronization coordinate system Shaft reference voltage , ;

[0010] (4) Based on the interleaved clamping, the sub-driver unit 1 and sub-driver unit 2 are obtained in the synchronous coordinate system. The correlation expression for the shaft reference voltage, combined with the calculated value. , ,get Shaft reference voltage , ;

[0011] (5) The obtained sub-driver unit 1 and sub-driver unit 2 Shaft reference voltage and electrical angle Through respectively Coordinate transformation unit, and corresponding zero-sequence voltage injected. , The final three-phase modulation signal is obtained. , , Represents three phases;

[0012] (6) Compare the three-phase modulation signal with the triangular carrier wave to generate a switching signal to drive the multi-port motor driver, thereby controlling the action of each bridge arm switch tube, and then controlling the operation of the three-phase AC motor to realize the power distribution control of the multi-port motor driver.

[0013] The objective of this invention is achieved as follows:

[0014] This invention presents a power distribution control method for a multi-port motor driver based on a dual synchronous coordinate system. First, the multi-port motor driver is decoupled and modeled, and its output voltage is used to represent it as two independent two-level sub-driver units, thereby decoupling the power flow paths of the first and second DC sources. Then, the port power relationship between the multi-port motor driver and the sub-driver units is established. Next, based on the reference power of the first DC source port, the power distribution of the two sub-driver units is directly adjusted. Shaft reference voltage; then, based on interleaved clamping, constrain the switching count of each sub-driver unit, and obtain the result through the constraint conditions. The correlation expression for the shaft reference voltage is then used to obtain the complete... The reference voltage is then used to generate the final three-phase modulation signal through coordinate transformation and zero-sequence voltage injection. Finally, the three-phase modulation signal is compared with the triangular carrier wave to generate a drive signal to control the switching transistors of each bridge arm.

[0015] Meanwhile, the power distribution control method for multi-port motor drivers based on a dual synchronous coordinate system of the present invention also has the following beneficial effects:

[0016] (1) The present invention establishes an equivalent sub-driver unit model for a multi-port motor driver in a dual synchronous coordinate system, and calculates based on the model. The model-based power control method improves power distribution accuracy and reduces power ripple by using the model-based power control method. At the same time, the direct power distribution mechanism reduces intermediate control links, thereby improving the dynamic response performance of the system.

[0017] (2) The present invention utilizes The additional control degrees of freedom of the shaft are constrained by staggered clamping of the switching state of each sub-driver unit, so that each phase switch tube only performs a switching action once in a single switching cycle, thereby effectively reducing switching losses and improving the overall power conversion efficiency of the multi-port motor driver. Attached Figure Description

[0018] Figure 1 This is a flowchart of the power distribution control method for a multi-port motor driver based on a dual synchronous coordinate system according to the present invention.

[0019] Figure 2 This is an overall block diagram of the power distribution control method for a multi-port motor driver based on a dual synchronous coordinate system, as described in this invention.

[0020] Figure 3 This is a schematic diagram of decoupling modeling for a multi-port motor driver;

[0021] Figure 4 This is a schematic diagram of the switching signals corresponding to two different clamping methods when the two sub-driver units are in region S1.

[0022] Figure 5 These are experimental graphs showing the steady-state performance of a multi-port motor drive system under different DC port voltage ratios.

[0023] Figure 6 These are experimental graphs showing the steady-state performance of a multi-port motor drive system under different reference powers at the first DC source port.

[0024] Figure 7 The multi-port motor drive system references power at the first DC source port. Steady-state performance experimental diagram under W;

[0025] Figure 8 These are experimental diagrams showing the dynamic performance of a multi-port motor drive system under changes in motor speed or torque.

[0026] Figure 9 This is an experimental diagram showing the dynamic performance of a multi-port motor drive system under varying reference power at the first DC source port. Detailed Implementation

[0027] The specific embodiments of the present invention will now be described with reference to the accompanying drawings to enable those skilled in the art to better understand the invention. It should be particularly noted that in the following description, detailed descriptions of known functions and designs that might obscure the main content of the invention will be omitted here.

[0028] Example

[0029] In this embodiment, Figure 2 The overall block diagram of the multi-port motor driver power distribution control method based on a dual synchronous coordinate system of the present invention is shown. It can be seen that both AC-side motor drive control and DC-side power distribution control are implemented under a unified synchronous coordinate system. The following section will combine... Figure 2 The power distribution control method described in this invention will be described in detail, such as... Figure 1 As shown, the specific steps include:

[0030] (1) Obtain the reference voltage of the multi-port motor driver in the synchronous coordinate system , ;

[0031] (1.1) Given the reference speed of the three-phase AC motor ;

[0032] (1.2) Obtain the position angle of the three-phase AC motor through a position encoder. ,Will As input to the speed module, the output yields the actual speed of the three-phase AC motor. and electrical angle ;

[0033] (1.3) will and The difference is used as input, and the output is obtained through the speed PI control module. Shaft reference current In addition, Shaft reference current Set to 0;

[0034] (1.4) Acquire the three-phase AC current of the three-phase AC motor through the current sampling module. ,Will and pass The coordinate transformation unit outputs the result in the synchronous coordinate system. Axis current components and Axis current components ;

[0035] In this embodiment, The formula for the coordinate transformation unit is:

[0036] ;

[0037] (1.5) will , , and As the input to the current PI control module, the output is obtained Shaft reference voltage and Shaft reference voltage .

[0038] (2) Decouple the multi-port motor driver and model it as two independent two-level sub-driver units; wherein, the reference voltage of sub-driver unit 1 in the synchronous coordinate system is , The reference voltage of sub-driver unit 2 in the synchronous coordinate system is , ;

[0039] In this embodiment, the schematic diagram of the decoupling modeling of the multi-port motor driver is as follows: Figure 3 As shown, the specific decoupling modeling process is as follows:

[0040] (2.1) Based on the feasible power flow paths in the multi-port motor driver, the specific expression for the output voltage of the multi-port motor driver is obtained as follows:

[0041] ;

[0042] in, and These represent the first DC source voltage and the second DC source voltage, respectively. and These represent the three-phase duty cycles of the first and second switching transistors, respectively. Represents three phases;

[0043] (2.2) The output voltage of the multi-port motor driver is decomposed to obtain two independent voltage components. and These correspond to the output voltages of the two two-level sub-driver units after equivalent modeling, thereby decoupling the power flow paths of the first DC source and the second DC source and simplifying the controller design;

[0044] (3) Based on the reference power of the first DC source port With multi-port motor drivers in synchronous coordinate system Shaft reference voltage The calculations obtained for sub-driver unit 1 and sub-driver unit 2 in the synchronization coordinate system Shaft reference voltage , ;

[0045] (3.1) Establish the port power relationship between the multi-port motor driver and the sub-driver unit, so as to adjust the sub-driver unit's... Shaft voltage enables effective control of the port power of a multi-port motor driver. The specific relationship expression is as follows:

[0046] ;

[0047] in, The DC source port output power of sub-driver unit 1 is expressed as follows:

[0048] ;

[0049] Based on this, the initial calculation expression for the power at the first DC source port is:

[0050] ;

[0051] (3.2) Based on the steady-state operation of the multi-port motor driver, the following conditions are met: Given the conditions, the initial calculation expression for the power at the first DC source port is corrected to obtain the corrected expression for the port power calculation:

[0052] ;

[0053] (3.3) Based on the reference power of the first DC source port By combining the corrected port power calculation expression, the sub-driver unit 1 is obtained. Shaft reference voltage The specific expression is:

[0054] ;

[0055] Therefore, a sub-driver unit can be established. The decoupling and linear relationship between the shaft voltage component and the port power enables accurate power distribution, reduces power ripple, and improves the dynamic response performance of the system without the need for an additional controller.

[0056] (3.4) Based on the decoupling modeling principle described above, sub-driver unit 1 and sub-driver unit 2... The shaft reference voltage satisfies the following relationship:

[0057] ;

[0058] Based on this, we can obtain sub-driver unit 2. Shaft reference voltage .

[0059] (4) Based on the interleaved clamping, the sub-driver unit 1 and sub-driver unit 2 are obtained in the synchronous coordinate system. The correlation expression for the shaft reference voltage, combined with the calculated value. , ,get Shaft reference voltage , ;

[0060] (4.1) By and The voltage space vector constitutes the phase angle. Then according to The range of values ​​for divides the space vector plane into 6 regions S1-S6, with the specific division rules as follows:

[0061]

[0062] (4.2) Set up the interleaved clamping operation mode;

[0063] The interleaved clamping operation includes two clamping modes: Mode 1: Set the duty cycle of the phase in sub-driver unit 1 to 0; Mode 2: Set the duty cycle of the phase in sub-driver unit 2 to 1.

[0064] (4.3) Based on the phase angle Determine the area, then within the determined area, identify the phase corresponding to the two switching operations, and record it as a double-switch phase. Then, perform an interleaved clamping operation on the double-switch phase.

[0065] The specific execution process of the interleaved clamping operation is as follows:

[0066] (s1) Determine the dual-switch phases within the area:

[0067] Based on the established equivalent models of sub-driver unit 1 and sub-driver unit 2, their corresponding three-phase duty cycles are given respectively. and The expression:

[0068] ;

[0069] in, and These represent the three-phase reference voltages of driver unit 1 and sub-driver unit 2, respectively. and Let represent the injected zero-sequence voltages, respectively, and satisfy the following:

[0070] ;

[0071] Based on the duty cycle expression, determine the dual-switch phases within the region:

[0072] When phase angle Located within region S1, if the following conditions are met and Therefore, we can obtain , Therefore, phase b is determined to be a dual-switch phase;

[0073] When phase angle Located within region S2, if the following conditions are met and Therefore, we can obtain , Therefore, phase a is determined to be a dual-switch phase;

[0074] When phase angle Located within region S3, if the following conditions are met and Therefore, we can obtain , Therefore, phase c is determined to be a dual-switch phase;

[0075] When phase angle Located within region S4, if the following conditions are met and Therefore, we can obtain , Therefore, phase b is determined to be a dual-switch phase;

[0076] When phase angle Located within region S5, if the following conditions are met and Therefore, we can obtain , Therefore, phase a is determined to be a dual-switch phase;

[0077] When phase angle Located within region S6, if the following conditions are met and Therefore, we can obtain , Therefore, it can be determined that phase C is a dual-switch phase;

[0078] (s2) Determine the method for performing interleaved clamping operations within the specified area:

[0079] Within region S1, phase b is identified as a dual-switch phase, and an interleaved clamping operation is performed on this phase, specifically including:

[0080] Method 1: Set the duty cycle of phase b in sub-driver unit 1 to 0, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression:

[0081] ;

[0082] Method 2: Set the duty cycle of phase b in sub-driver unit 2 to 1, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression:

[0083] ;

[0084] Within region S2, phase a is identified as a dual-switch phase, and an interleaved clamping operation is performed on this phase, specifically including:

[0085] Method 1: Set the duty cycle of phase a in sub-driver unit 1 to 0, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression:

[0086] ;

[0087] Method 2: Set the duty cycle of phase a in sub-driver unit 2 to 1, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression:

[0088] ;

[0089] Within region S3, phase c is identified as a dual-switch phase, and an interleaved clamping operation is performed on this phase, specifically including:

[0090] Method 1: Set the duty cycle of phase c in sub-driver unit 1 to 0, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression:

[0091] ;

[0092] Method 2: Set the duty cycle of phase c in sub-driver unit 2 to 1, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression:

[0093] ;

[0094] Within region S4, phase b is identified as a dual-switch phase, and an interleaved clamping operation is performed on this phase, specifically including:

[0095] Method 1: Set the duty cycle of phase b in sub-driver unit 1 to 0, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression:

[0096] ;

[0097] Method 2: Set the duty cycle of phase b in sub-driver unit 2 to 1, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression:

[0098] ;

[0099] Within region S5, phase a is identified as a dual-switch phase, and an interleaved clamping operation is performed on this phase, specifically including:

[0100] Method 1: Set the duty cycle of phase a in sub-driver unit 1 to 0, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression:

[0101] ;

[0102] Method 2: Set the duty cycle of phase a in sub-driver unit 2 to 1, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression:

[0103] ;

[0104] Within region S6, phase c is identified as a dual-switch phase, and an interleaved clamping operation is performed on this phase, specifically including:

[0105] Method 1: Set the duty cycle of phase c in sub-driver unit 1 to 0, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression:

[0106] ;

[0107] Method 2: Set the duty cycle of phase c in sub-driver unit 2 to 1, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression:

[0108] ;

[0109] (s3) Determine the switching conditions for the two clamping methods in step (s2);

[0110] Define the switching boundary between the two clamping methods in different regions as follows: ;when When, method one is used; when In this case, method two shall be adopted;

[0111] Among them, the switching boundary between the two clamping methods in different areas satisfy:

[0112] Area S1: ;

[0113] Region S2: ;

[0114] Area S3: ;

[0115] Region S4: ;

[0116] Region S5: ;

[0117] Region S6: ;

[0118] in, The numbers representing the 6 areas, Indicates the first The duty cycle of two adjacent basic vectors within a region;

[0119] In this embodiment, the duty cycle of two adjacent basic vectors in each region As shown below:

[0120] Area S1: , ;

[0121] Region S2: , ;

[0122] Area S3: , ;

[0123] Region S4: , ;

[0124] Region S5: , ;

[0125] Region S6: , ;

[0126] in, , From reference voltage , With electrical angle through The coordinate transformation unit is obtained, in the form of:

[0127] ;

[0128] (4.4) Based on the above clamping operation The shaft reference voltage correlation expression, combined with the calculated... , Solving for the given information yields the following results. , Thus, the complete Shaft reference voltage.

[0129] In this example, taking region S1 as an example, the switching signals of the two sub-driver units under interleaved clamping operation are as follows: Figure 4 As shown; where phase b is a dual-switch phase, in mode one the duty cycle of phase b of sub-driver unit 1 is set to 0; in mode two the duty cycle of phase b of sub-driver unit 2 is set to 1;

[0130] Therefore, by utilizing the additional control degree of freedom of the d-axis, each phase switch can operate only once in a single switching cycle, thereby effectively reducing switching losses and improving the overall power conversion efficiency of the multi-port motor driver.

[0131] (5) Complete the obtained sub-driver unit 1 and sub-driver unit 2 Shaft reference voltage and electrical angle through respectively Coordinate transformation unit, and corresponding zero-sequence voltage injected. , The final three-phase modulation signal is obtained. , ;

[0132] In this embodiment, The general formula for coordinate transformation units applies to two sub-driver units and is in the form of:

[0133] ;

[0134] S6, Modulate the three-phase signal , Compared with triangular carrier waves, where Generate driving signal with carrier ratio , Used to control the switching transistor , ; Generate driving signal with carrier ratio , Used to control the switching transistor , This outputs three-phase current to the three-phase AC motor.

[0135] In this embodiment, the switch signal and , and They are complementary signals; and , , , The first, second, third, and fourth switches correspond to the first, second, third, and fourth switches of each bridge arm, respectively.

[0136] Instance verification

[0137] The following is a detailed explanation of this embodiment, using specific examples. Let's assume the voltage of the first DC source... V, the voltage of the second DC source And provide a reference speed for the three-phase AC motor. RPM, first DC source port output reference power Figure 5 shows the steady-state performance of the multi-port motor drive system under different DC port voltages. Figure 5 (a) V, Figure 5 (b) V, Figure 5 (c) V, by observing the rotational speed , shaft current , shaft current , Phase voltage and Phase current It can be seen that although the DC port voltages are unbalanced, The shaft current tracking is unaffected, and the required voltage can be synthesized in each phase, proving that the AC side motor drive control has good performance under the control scheme proposed in this embodiment;

[0138] Figure 6 This demonstrates the steady-state performance of the multi-port motor drive system under different reference powers at the first DC source port, assuming the voltage of the first DC source... V, the voltage of the second DC source V, reference speed RPM, first DC source port output reference power ,in Figure 6 (a) W, Figure 6 (b) W, Figure 6 (c) W, the results show that the output power of the first DC source port can track the reference value well, while the lower port supplements or absorbs the remaining power of the load; at the same time, the sub-driver units 1 and 2 The shaft voltage component changes synchronously with the output power reference value of the first DC source port. This result verifies the "based on a dual synchronous coordinate system" proposed in this embodiment. The feasibility of the control approach of "power distribution based on shaft voltage components"; Figure 7 The first DC source port output reference power was further demonstrated. The phase voltage waveform at time W verifies that the proposed scheme can limit the total number of switching operations of the multi-port motor driver to three, thereby generating a seven-segment switching sequence.

[0139] Figure 8 (a) Demonstrates the dynamic performance of the multi-port motor drive system under varying motor speeds, with a reference motor speed value. The speed increased from 500 RPM to 1000 RPM; Figure 8 (a) demonstrates the dynamic performance of the multi-port motor drive system under varying motor torque. from Jump to The results show that the rotational speed and The shaft current can be well controlled; and the output power of the first DC source port always stably tracks its constant reference value, unaffected by changes in speed or torque. The lower port automatically replenishes the remaining power to the load, indicating that the proposed scheme has stable control performance on both AC and DC sides.

[0140] Figure 9 The dynamic performance of the multi-port motor drive system was demonstrated under varying reference power at the first DC source port. The reference power setpoint at the first DC source port was changed. The output power jumped from 700W to 1300W and then back to 700W. The results show that the output power of the first DC source port can rapidly change to track its reference value, while the output power of the second DC source port can adapt to the total power demand and dynamically switch between charging and discharging modes; furthermore, the rotational speed and... The shaft current can still effectively track the corresponding reference value, indicating that the proposed scheme can simultaneously achieve fast power distribution control and stable motor drive control.

[0141] Although the illustrative specific embodiments of the present invention have been described above to enable those skilled in the art to understand the invention, it should be understood that the invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the invention as defined and determined by the appended claims, and all inventions utilizing the concept of the present invention are protected.

Claims

1. A power distribution control method for a multi-port motor driver based on a dual synchronous coordinate system, characterized in that, Includes the following steps: (1) Obtain the multi-port motor driver in the synchronous coordinate system Shaft reference voltage , ; (2) Decouple the multi-port motor driver and model it as two independent two-level sub-driver units; wherein, the reference voltage of sub-driver unit 1 in the synchronous coordinate system is , The reference voltage of sub-driver unit 2 in the synchronous coordinate system is , ; (3) Based on the reference power of the first DC source port With multi-port motor drivers in synchronous coordinate system Shaft reference voltage The calculations obtained for sub-driver unit 1 and sub-driver unit 2 in the synchronization coordinate system Shaft reference voltage , ; (4) Based on the interleaved clamping, the sub-driver unit 1 and sub-driver unit 2 are obtained in the synchronous coordinate system. The correlation expression for the shaft reference voltage, combined with the calculated value. , ,get Shaft reference voltage , ; (5) The obtained sub-driver unit 1 and sub-driver unit 2 Shaft reference voltage and electrical angle Through respectively Coordinate transformation unit, and corresponding zero-sequence voltage injected. , The final three-phase modulation signal is obtained. , , Represents three phases; (6) Compare the three-phase modulation signal with the triangular carrier wave to generate a switching signal to drive the multi-port motor driver, thereby controlling the action of each bridge arm switch tube, and then controlling the operation of the three-phase AC motor to realize the power distribution control of the multi-port motor driver.

2. The power distribution control method for a multi-port motor driver based on a dual synchronous coordinate system according to claim 1, characterized in that, In step (1) Shaft reference voltage , The specific method for obtaining it is as follows: (1.1) Given the reference speed of the three-phase AC motor ; (1.2) Obtain the position angle of the three-phase AC motor through a position encoder. ,Will As input to the speed module, the output yields the actual speed of the three-phase AC motor. and electrical angle ; (1.3) will and The difference is used as input, and the output is obtained through the speed PI control module. Shaft reference current In addition, Shaft reference current Set to 0; (1.4) Acquire the three-phase AC current of the three-phase AC motor through the current sampling module. ,Will and pass The coordinate transformation unit outputs the result in the synchronous coordinate system. Axis current components and Axis current components ; (1.5) will , , and As the input to the current PI control module, the output is obtained Shaft reference voltage and Shaft reference voltage .

3. The power distribution control method for a multi-port motor driver based on a dual synchronous coordinate system according to claim 1, characterized in that, The process of decoupling and modeling the multi-port motor driver in step (2) is as follows: (2.1) Based on the feasible power flow paths in the multi-port motor driver, the specific expression for the output voltage of the multi-port motor driver is obtained as follows: ； in, and These represent the first DC source voltage and the second DC source voltage, respectively. and These represent the three-phase duty cycles of the first and second switching transistors, respectively. Represents three phases; (2.2) The output voltage of the multi-port motor driver is decomposed to obtain two independent voltage components. and The output voltage of the two two-level sub-driver units corresponding to the equivalent model.

4. The power distribution control method for a multi-port motor driver based on a dual synchronous coordinate system according to claim 1, characterized in that, In step (3), sub-driver unit 1 and sub-driver unit 2 Shaft reference voltage , The specific calculation method is as follows: (3.1) Establish the port power relationship between the multi-port motor driver and the sub-driver unit. The specific relationship expression is as follows: ； in, The DC source port output power of sub-driver unit 1 is expressed as follows: ； Based on this, the initial calculation expression for the power at the first DC source port is: ； (3.2) Based on the steady-state operation of the multi-port motor driver, the following conditions are met: Given the conditions, the initial calculation expression for the power at the first DC source port is corrected to obtain the corrected expression for the port power calculation: ； (3.3) Based on the reference power of the first DC source port By combining the corrected port power calculation expression, we obtain the sub-driver unit 1. Shaft reference voltage The specific expression is: ； (3.4) According to the decoupling modeling principle, sub-driver unit 1 and sub-driver unit 2... The shaft reference voltage satisfies the following relationship: ； Based on this, we can obtain sub-driver unit 2. Shaft reference voltage .

5. The power distribution control method for a multi-port motor driver based on a dual synchronous coordinate system according to claim 1, characterized in that, In step (4) Shaft reference voltage and The specific steps for solving this problem include: (4.1) By and The voltage space vector constitutes the phase angle. Then according to The range of values ​​for divides the space vector plane into 6 regions S1-S6, with the specific division rules as follows: ； (4.2) Set up the interleaved clamping operation mode; The interleaved clamping operation includes two clamping modes: Mode 1: Set the duty cycle of the phase in sub-driver unit 1 to 0; Mode 2: Set the duty cycle of the phase in sub-driver unit 2 to 1. (4.3) Based on the phase angle Determine the area, then within the determined area, identify the phase corresponding to the two switching operations, and record it as a double-switch phase. Then, perform an interleaved clamping operation on the double-switch phase. The specific execution process of the interleaved clamping operation is as follows: (s1) Determine the dual-switch phases within the area: Based on the established equivalent models of sub-driver unit 1 and sub-driver unit 2, their corresponding three-phase duty cycles are given respectively. and The expression: ； in, and These represent the three-phase reference voltages of driver unit 1 and sub-driver unit 2, respectively. and Let represent the injected zero-sequence voltages, respectively, and satisfy the following: ； Based on the duty cycle expression, determine the dual-switch phases within the region: When phase angle Located within region S1, if the following conditions are met and Therefore, we can obtain , Therefore, phase b is determined to be a dual-switch phase; When phase angle Located within region S2, if the following conditions are met and Therefore, we can obtain , Therefore, phase a is determined to be a dual-switch phase; When phase angle Located within region S3, if the following conditions are met and Therefore, we can obtain , Therefore, phase c is determined to be a dual-switch phase; When phase angle Located within region S4, if the following conditions are met and Therefore, we can obtain , Therefore, phase b is determined to be a dual-switch phase; When phase angle Located within region S5, if the following conditions are met and Therefore, we can obtain , Therefore, phase a is determined to be a dual-switch phase; When phase angle Located within region S6, if the following conditions are met and Therefore, we can obtain , Therefore, it can be determined that phase C is a dual-switch phase; (s2) Determine the method for performing interleaved clamping operations within the specified area: Within region S1, phase b is identified as a dual-switch phase, and an interleaved clamping operation is performed on this phase, specifically including: Method 1: Set the duty cycle of phase b in sub-driver unit 1 to 0, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression: ； Method 2: Set the duty cycle of phase b in sub-driver unit 2 to 1, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression: ； Within region S2, phase a is identified as a dual-switch phase, and an interleaved clamping operation is performed on this phase, specifically including: Method 1: Set the duty cycle of phase a in sub-driver unit 1 to 0, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression: ； Method 2: Set the duty cycle of phase a in sub-driver unit 2 to 1, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression: ； Within region S3, phase c is identified as a dual-switch phase, and an interleaved clamping operation is performed on this phase, specifically including: Method 1: Set the duty cycle of phase c in sub-driver unit 1 to 0, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression: ； Method 2: Set the duty cycle of phase c in sub-driver unit 2 to 1, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression: ； Within region S4, phase b is identified as a dual-switch phase, and an interleaved clamping operation is performed on this phase, specifically including: Method 1: Set the duty cycle of phase b in sub-driver unit 1 to 0, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression: ； Method 2: Set the duty cycle of phase b in sub-driver unit 2 to 1, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression: ； Within region S5, phase a is identified as a dual-switch phase, and an interleaved clamping operation is performed on this phase, specifically including: Method 1: Set the duty cycle of phase a in sub-driver unit 1 to 0, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression: ； Method 2: Set the duty cycle of phase a in sub-driver unit 2 to 1, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression: ； Within region S6, phase c is identified as a dual-switch phase, and an interleaved clamping operation is performed on this phase, specifically including: Method 1: Set the duty cycle of phase c in sub-driver unit 1 to 0, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression: ； Method 2: Set the duty cycle of phase c in sub-driver unit 2 to 1, that is: Then through Coordinate transformation unit obtained Shaft reference voltage correlation expression: ； (s3) Determine the switching conditions for the two clamping methods in step (s2); Define the switching boundary between the two clamping methods in different regions as follows: ;when When, method one is used; when In this case, method two shall be adopted; Among them, the switching boundary between the two clamping methods in different areas satisfy: Area S1: ; Region S2: ; Area S3: ; Region S4: ; Region S5: ; Region S6: ; in, The numbers representing the 6 areas, Indicates the first The duty cycle of two adjacent basic vectors within a region; (4.4) Based on the above clamping operation The shaft reference voltage correlation expression, combined with the calculated... , Solving for the given information yields the following results. , Thus, the complete Shaft reference voltage.

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