A voltage vector regulation method and device, motor controller and storage medium

Abstract

The application is suitable for the technical field of electric machines, and provides a voltage vector adjusting method and device, an electric machine controller and a storage medium. If the amplitude of a target voltage vector is smaller than the amplitude of a preset voltage vector, the sector where the target voltage vector is located is determined according to the phase angle of the target voltage vector, and the time when the preset voltage vector is in a sampling blind area and a sampleable area is the same when the preset voltage vector rotates in any sector of a space vector plane. The phase angle of the target voltage vector is adjusted according to the sector where the target voltage vector is located, so that the direction of the adjusted target voltage vector is the direction of the angular bisector of the sector where the target voltage vector is located. The amplitude of the target voltage vector is adjusted according to the amplitude of the target voltage vector and the sector where the target voltage vector is located, so that the fundamental amplitude of the adjusted target voltage vector is the same as the fundamental amplitude of the target voltage vector, and the electromagnetic noise in the starting process of the electric machine can be effectively reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of electric machines, and particularly relates to a voltage vector adjusting method and device, an electric machine controller and a storage medium. BACKGROUND

[0002] In the technical field of electric machines, in order to reduce the cost, a single bus current sampling technology is usually adopted. In the single bus current sampling technology, only a current sensor is arranged on a DC bus, and three-phase currents of an electric machine are reconstructed by sampling a bus current and combining the corresponding relationship between the bus current and the electric machine phase currents. The single bus current sampling technology reduces the number of current sensors required in the traditional phase current sampling technology, thereby reducing the cost.

[0003] The single bus current sampling technology has inherent limitations, that is, when the bus current is sampled, the voltage vector output by the inverter must be a non-zero vector, otherwise the corresponding relationship between the bus current and the electric machine phase currents cannot be effectively established. Due to the combined action of the switching action of the inverter and the stray parameters of the circuit, an oscillation process is introduced on the waveform of the bus current, thereby causing a sampling error. In order to avoid the oscillation process of the bus current, a common processing method in the prior art is to delay the current sampling action after the switching action for a period of time, and due to the introduction of the sampling delay, there is a minimum requirement for the pulse width length of the effective voltage vector output by the inverter at the bus current sampling time.

[0004] When the pulse width length of the voltage vector output by the inverter cannot meet the minimum delay requirement of the bus current sampling, it is defined as a sampling blind area. In the prior art, the common method for the sampling blind area is to adjust the pulse width length of the two effective voltage vectors in one of the half carrier periods within a complete carrier period, so as to meet the bus current sampling requirement; and to adjust the pulse width length of the two effective voltage vectors in the other half carrier period, so as to keep the comprehensive output voltage unchanged in the current carrier period.

[0005] During the starting process of the electric machine, since the speed and load are small, the voltage of the electric machine is low, and the voltage vector output by the inverter is located in the above-mentioned sampling blind area. After the sampling blind area processing method based on pulse width adjustment is adopted, the adjusted voltage deviates from the target voltage, which will cause an increase in current harmonics. These current harmonics are concentrated in the switching frequency and twice the switching frequency of the inverter, thereby generating electromagnetic noise of this frequency segment. During the starting process of the electric machine, the speed is low, and therefore the mechanical noise of the electric machine is low at this stage, and the electromagnetic noise occupies the main component in the overall noise, and the relatively obvious electromagnetic noise will cause discomfort to the user and a poor experience. SUMMARY

[0006] The embodiment of the present application provides a voltage vector adjusting method, device, motor controller and storage medium, and aims to solve the problem that the voltage vector pulse width adjusting method in the prior art causes the electromagnetic noise to be relatively obvious in the overall noise of the motor in the motor starting process.

[0007] The first aspect of the embodiment of the present application provides a voltage vector adjusting method, comprising:

[0008] If the amplitude of the target voltage vector is smaller than the amplitude of the preset voltage vector, the sector in which the target voltage vector is located is determined according to the phase angle of the target voltage vector, and the preset voltage vector is in the same time period of the sampling blind area and the sampleable area when rotating in any sector of the space vector plane.

[0009] The phase angle of the target voltage vector is adjusted according to the sector in which the target voltage vector is located, so that the direction of the adjusted target voltage vector is the angular bisector direction of the sector in which the target voltage vector is located.

[0010] The amplitude of the target voltage vector is adjusted according to the amplitude of the target voltage vector and the sector in which the target voltage vector is located, so that the fundamental amplitude of the adjusted target voltage vector is the same as the fundamental amplitude of the target voltage vector.

[0011] The second aspect of the embodiment of the present application provides a voltage vector adjusting device, comprising:

[0012] The sector determination unit is configured to, if the amplitude of the target voltage vector is smaller than the amplitude of the preset voltage vector, determine the sector in which the target voltage vector is located according to the phase angle of the target voltage vector, and the preset voltage vector is in the same time period of the sampling blind area and the sampleable area when rotating in any sector of the space vector plane.

[0013] The phase angle adjusting unit is configured to adjust the phase angle of the target voltage vector according to the sector in which the target voltage vector is located, so that the direction of the adjusted target voltage vector is the angular bisector direction of the sector in which the target voltage vector is located.

[0014] The amplitude adjusting unit is configured to adjust the amplitude of the target voltage vector according to the amplitude of the target voltage vector and the sector in which the target voltage vector is located, so that the fundamental amplitude of the adjusted target voltage vector is the same as the fundamental amplitude of the target voltage vector.

[0015] The third aspect of the embodiment of the present application provides a motor controller, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the voltage vector adjusting method of the first aspect of the embodiment of the present application when executing the computer program.

[0016] A fourth aspect of the embodiments of the present application provides a computer readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the voltage vector adjustment method according to the first aspect of the embodiments of the present application.

[0017] The voltage vector adjustment method provided by the first aspect of the embodiments of the present application can effectively reduce electromagnetic noise in the motor starting process, by determining the sector in which the target voltage vector is located according to the phase angle of the target voltage vector, when the amplitude of the target voltage vector is smaller than the amplitude of the preset voltage vector, the preset voltage vector has the same time in the sampling blind area and the sampleable area when rotating in any sector of the space vector plane; adjusting the phase angle of the target voltage vector according to the sector in which the target voltage vector is located, so that the direction of the adjusted target voltage vector is the angle bisector direction of the sector in which the target voltage vector is located; and adjusting the amplitude of the target voltage vector according to the amplitude of the target voltage vector and the sector in which the target voltage vector is located, so that the fundamental amplitude of the adjusted target voltage vector is the same as the fundamental amplitude of the target voltage vector.

[0018] It can be understood that the beneficial effects of the second aspect to the fourth aspect can be referred to the related description in the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0020] Figure 1 is a structural schematic diagram of the motor controller provided by the embodiments of the present application;

[0021] Figure 2 is a calculation formula table of three-phase comparison values of the target voltage vector in six sectors of the space vector plane provided by the embodiments of the present application;

[0022] Figure 3 is a waveform diagram of the triangular carrier, the PWM signal and the bus current in a half carrier period when the target voltage vector is located in the first sector of the space vector plane provided by the embodiments of the present application

[0023] Figure 4 is a schematic diagram of the space vector plane provided by the embodiments of the present application;

[0024] Figure 5 is a first target voltage vector adjustment principle diagram in the sampling blind area provided by the embodiments of the present application;

[0025] Figure 6 is a first flowchart of a voltage vector adjustment method provided by an embodiment of the present application;

[0026] Figure 7 is a second target voltage vector adjustment principle diagram in a sampling blind area provided by an embodiment of the present application;

[0027] Figure 8 is a second flowchart of a voltage vector adjustment method provided by an embodiment of the present application;

[0028] Figure 9 is a determination principle diagram of a magnitude of a preset voltage vector when the preset voltage vector rotates in a first sector of a space vector plane provided by an embodiment of the present application;

[0029] Figure 10 is a diagram of an endpoint trajectory of an adjusted target voltage vector when the target voltage vector rotates in the first sector of the space vector plane provided by an embodiment of the present application;

[0030] Figure 11 is a third flowchart of a voltage vector adjustment method provided by an embodiment of the present application;

[0031] Figure 12 is a structural diagram of a voltage vector adjustment device provided by an embodiment of the present application;

[0032] Figure 13 is a structural diagram of a motor controller provided by an embodiment of the present application. DETAILED DESCRIPTION

[0033] In the following description, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the present embodiments. However, persons skilled in the art will understand that the present application can be practiced without these specific details. In other instances, well-known structures, devices, circuits, and methods have not been described in detail in order to avoid obscuring the present application.

[0034] It should be understood that the term "comprises / comprising" when used in this specification and the appended claims indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0035] It should also be understood that the term "and / or" when used in this specification and the appended claims indicates that one or more of the associated listed items can be present, and, further, that one or more of such items can be implemented.

[0036] As used in the description of the application and the appended claims, the term "if' can be interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting." Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can be interpreted to mean "upon determining" or "in response to determining" or "upon detecting [the described condition or event]" or "in response to detecting [the described condition or event]."

[0037] In addition, in the description of the application and the appended claims, the terms "first", "second", "third", etc. are used only to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0038] Reference in the specification to "one embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" or "in some embodiments" in various places in the specification are not necessarily all referring to the same embodiment, although it can. The terms "including," "containing," "having," and variations thereof are meant to encompass the terms "including but not limited to." Unless otherwise noted, the terms "including" and "containing" are used in an inclusive sense and do not exclude the presence of unwanted elements.

[0039] The voltage vector adjustment method provided by the embodiments of the application can be executed by a processor of a motor controller when running a corresponding computer program, and is used for comparing the magnitude of the amplitude of a target voltage vector with the amplitude of a preset voltage vector during a motor starting process, determining the sector in which the target voltage vector is located according to the phase angle of the target voltage vector when the amplitude of the target voltage vector is smaller than the amplitude of the preset voltage vector, adjusting the phase angle of the target voltage vector according to the sector in which the target voltage vector is located, so that the direction of the adjusted target voltage vector is the direction of the angle bisector of the sector in which the target voltage vector is located, is perpendicular to the adjacent phase axis, and the projection on the adjacent phase axis is zero, thereby making the duty cycle of one phase in the three-phase voltage vector zero, so that the electromagnetic noise generated by the corresponding phase current harmonics can be effectively reduced, and adjusting the amplitude of the target voltage vector according to the amplitude of the target voltage vector and the sector in which the target voltage vector is located, so that the fundamental amplitude of the adjusted target voltage vector is the same as the fundamental amplitude of the target voltage vector, the voltage size output by the inverter to the motor can be kept unchanged, and the motor can be normally started under the condition of reducing electromagnetic noise. The voltage vector adjustment method provided by the embodiments of the application can not only be applied to the motor starting process, but also can be used to reduce electromagnetic noise in any process in which the motor runs slowly due to low motor voltage.

[0040] In applications, the motor controller can be applied to air conditioners, fans and washing machines for driving control of motors of air conditioners, fans and washing machines. The motor controller can be a frequency converter in particular.

[0041] As shown in Figure 1 , an exemplary structure diagram of a motor controller is shown;

[0042] The motor controller includes a processor, a current sensor and an inverter.

[0043] The current sensor is electrically connected to the negative pole of the DC bus for detecting the bus current on the DC bus. Figure 1 An exemplary current sensor is shown in

[0044] The first input end of the inverter is electrically connected to the positive pole of the DC bus, the second input end of the inverter is electrically connected to the negative pole of the DC bus, the six controlled ends of the inverter are electrically connected to the processor, and the three output ends of the inverter are respectively electrically connected to the three-phase current and phase voltage input ends of the motor. Figure 1 An exemplary inverter includes three-phase bridge arms (a-phase bridge arm, b-phase bridge arm and c-phase bridge arm), each phase bridge arm includes two switching tubes (upper switching tube and lower switching tube), the input ends of the upper switching tubes of the three-phase bridge arms are commonly connected to form the first input end of the inverter, the output ends of the lower switching tubes of the three-phase bridge arms are commonly connected to form the second input end of the inverter 3, the controlled end of each switching tube forms a controlled end of the inverter, and the output end of the upper switching tube and the input end of the lower switching tube of each phase bridge arm are commonly connected to form an output end of the inverter.

[0045] The processor is configured to:

[0046] According to the target rotor speed required by the motor, the target phase voltage (a-phase voltage, b-phase voltage and c-phase voltage) required to be applied to the stator is obtained to generate corresponding target phase current (a-phase current ia, b-phase current ib and c-phase current ic) in the stator.

[0047] According to the rotor angle and the target phase voltage, the target voltage vector is determined by using the space vector pulse width modulation (SVPWM) method, and the three-phase comparison values are obtained by using the comparison value calculation method based on the SVPWM method according to the target voltage vector amplitude and phase angle. Then, the triangular carrier is compared with the three-phase comparison values obtained by calculation to generate a pulse width modulation (PWM) signal for driving the switching tube of the corresponding phase, control the on-off state of the six switching tubes of the three-phase bridge arm of the inverter, and output three-phase voltage to the motor.

[0048] According to the on-off state of the six switch tubes of the three-phase bridge arm of the inverter controlled by the PWM signal, the actual voltage of the bus voltage acting on the stator is equivalent to the target phase voltage, and correspondingly, the actual current of the bus current acting on the stator is equivalent to the target phase current, and then the stator generates a corresponding magnetic field to drive the rotor to rotate at the target rotor speed;

[0049] In order to improve the motor control precision, the bus current on the DC bus needs to be collected by the current sensor to obtain the size of the bus current on the DC bus, so that the size of the actual phase current applied to the stator can be estimated according to the size of the bus current, by comparing the actual phase current and the target phase current, the target phase current can be adjusted according to the deviation between the actual phase current and the target phase current, and based on the adjusted target phase current, the adjusted target phase voltage can be obtained, combined with the space vector pulse width modulation method, the adjusted target voltage vector can be determined, and then the adjusted pulse width modulation signal is generated according to the adjusted target voltage vector, and the on-off state of the six switch tubes of the three-phase bridge arm of the inverter is controlled according to the adjusted pulse width modulation signal, and finally the feedback control of the motor is realized.

[0050] In application, the switch tube has the function of conduction or cut-off under the trigger of the electric signal (PWM signal), which is used as an electronic switch, which can be an Insulated Gate Bipolar Transistor (IGBT), and can also be a Bipolar Junction Transistor (BJT), a Field Effect Transistor (FET), a Thyristor, etc. The Insulated Gate Bipolar Transistor is a composite full-controlled voltage-driven power semiconductor device composed of a bipolar transistor and an insulated gate field effect transistor, which has the advantages of high input impedance of the insulated gate field effect transistor and low on-voltage drop of the bipolar transistor. The field effect transistor can be a Metal-Oxide Semiconductor FET (MOS-FET).

[0051] In application, a comparison value calculation method based on the SVPWM method is introduced in detail as follows:

[0052] If the amplitude of the target voltage vector is Uamp and the phase angle is θ1, the calculation method of the modulation coefficient m1 is:

[0053]

[0054] Wherein, Udc is the bus voltage.

[0055] If θ1> 0 and θ1≤ 1 / 3*π, the target voltage vector is located in the first sector of the space vector plane, and relative to the angle θm= θ1in the first sector;

[0056] If θ1> 1 / 3*π and θ1≤ 2 / 3*π, the target voltage vector is located in the second sector of the space vector plane, and relative to the angle θm= θ1- 1 / 3*π in the second sector;

[0057] If θ1> 2 / 3*π and θ1≤ 3 / 3*π, the target voltage vector is located in the third sector of the space vector plane, and relative to the angle θm= θ1- 2 / 3*π in the third sector;

[0058] If θ1> 3 / 3*π and θ1≤ 4 / 3*π, the target voltage vector is located in the fourth sector of the space vector plane, and relative to the angle θm= θ1- 3 / 3*π in the fourth sector;

[0059] If θ1> 4 / 3*π and θ1≤ 5 / 3*π, the target voltage vector is located in the fifth sector of the space vector plane, and relative to the angle θm= θ1- 4 / 3*π in the fifth sector;

[0060] If θ1> 5 / 3*π and θ1≤ 2*π, the target voltage vector is located in the sixth sector of the space vector plane, and relative to the angle θm= θ1- 5 / 3*π in the sixth sector;

[0061] Based on m1and θm, the duration ratios Tm1and Tm2of the two effective vectors in the carrier cycle are calculated:

[0062]

[0063]

[0064] Wherein, Tm is the maximum value of the carrier counter, that is, the maximum carrier cycle count value;

[0065] The calculation method of the duration ratio Tm0of the zero vector is:

[0066] Tm0= 0.5*(1-Tm1-Tm2)*Tm

[0067] As Figure 2As shown, an exemplary table of calculation formulas for the three-phase comparison values ​​of the target voltage vector within six sectors of the space vector plane is illustrated. Specifically, phase a has a comparison value of DDA0 at the carrier falling edge and DUA0 at the carrier rising edge; phase b has a comparison value of DDB0 at the carrier falling edge and DUB0 at the carrier rising edge; and phase c has a comparison value of DDC0 at the carrier falling edge and DUC0 at the carrier rising edge. In symmetrical sampling mode, the comparison values ​​at the carrier falling edge and rising edge are the same, i.e., DDA0 = DUA0, DDB0 = DUB0, and DDC0 = DUC0.

[0068] In applications, the single-bus current sampling method based on SVPWM divides the inverter output voltage into four segments within a half-carrier period. When the half-carrier period is the falling edge period of the carrier, the four segments of voltage output by the inverter are: first zero vector → first effective vector → second effective vector → second zero vector. When the half-carrier period is the rising edge period of the carrier, the four segments of voltage output by the inverter are: second zero vector → second effective vector → first effective vector → first zero vector.

[0069] like Figure 3 As shown, an exemplary diagram illustrates the waveforms of the triangular carrier wave, PWM signal, and bus current within a half-carrier period when the target voltage vector is located within the first sector of the space vector plane; where Ta, Tb, and Tc are three-phase comparison values, Tsh is the half-carrier period, the waveforms of phase a, phase b, and phase c are the waveforms of the PWM signal output to the three-phase bridge arm of the inverter, idc is the bus current, T1 is the duration of the first effective vector, T2 is the duration of the second effective vector, and Tad1 and Tad2 are the sampling times of the bus current.

[0070] In applications, single-bus current sampling technology estimates the corresponding motor phase current by sampling the bus current during the durations of two adjacent effective vectors (i.e., the first and second effective vectors). The relationship between bus current sampling, phase current, and space voltage vector is as follows:

[0071] If the output voltage at the time of bus current sampling is space voltage vector 100, then the bus current is equal to the phase a current;

[0072] If the output voltage at the time of bus current sampling is the space voltage vector 110, then the bus current is equal to the negative c-phase current.

[0073] If the output voltage at the time of bus current sampling is space voltage vector 101, then the bus current is equal to the negative b-phase current.

[0074] If the output voltage at the time of bus current sampling is the space voltage vector 010, then the bus current is equal to the b-phase current.

[0075] If the output voltage at the time of bus current sampling is the space voltage vector 011, then the bus current is equal to the negative a-phase current.

[0076] If the output voltage at the time of bus current sampling is the space voltage vector 001, then the bus current is equal to the c-phase current.

[0077] In applications, the two bus current sampling times, Tad1 and Tad2, within a half-carrier period need to lag behind the first carrier comparison action (i.e., time Ta) and the second carrier comparison action (i.e., time Tb), respectively, to prevent the bus current from still oscillating at the sampling time. Therefore, there is a minimum sampling time Tmin requirement for the duration T1 of the first effective vector and the duration T2 of the second effective vector. If either the duration T1 of the first effective vector or the duration T2 of the second effective vector is less than the minimum sampling time Tmin, the bus current sampling within that duration will be affected by the oscillating waveform, leading to a decrease in the accuracy of bus current sampling and subsequent motor phase current reconstruction. Due to the influence of the minimum sampling time Tmin, there is a sampling blind zone in the space vector plane. If the target voltage vector is located within the sampling blind zone, the bus current sampling will fail.

[0078] like Figure 4 As shown, an exemplary schematic diagram of a spatial vector plane is illustrated.

[0079] like Figure 5 As shown, an exemplary diagram illustrates the principle of target voltage vector adjustment within the sampling blind zone when the target voltage vector is located in the first sector of the space vector plane. The target voltage vector Vr is located within the sampling blind zone. A half-carrier period is selected within the carrier period, and the comparison value is adjusted within this half-carrier period to ensure that the duration T1 of the first effective vector and the duration T2 of the second effective vector are simultaneously greater than the minimum sampling time Tmin. The target voltage vector within this half-carrier period is defined as the sampling voltage vector Vs, and the adjusted sampling voltage vector Vs is located within the sampleable region. The target voltage vector within another half-carrier period is defined as the compensation voltage vector Vc. The comparison value is adjusted within the other half-carrier period so that the combined voltage vector of the sampling voltage vector Vs and the compensation voltage vector Vc is equivalent to the target voltage vector Vr.

[0080] In application, during the motor starting process, the deviation between the sampling voltage vector Vs and the target voltage vector Vr is large due to the low motor voltage, which also causes the large deviation between the compensation voltage vector Vc and the target voltage vector Vr. The voltage deviation introduces additional current harmonics, and the current harmonics will cause electromagnetic noise at the switching frequency and the switching frequency harmonic. Since the speed is low during the motor starting process, the mechanical noise is not obvious, and therefore the electromagnetic noise becomes the main noise at this stage. At the same time, due to the high frequency of the electromagnetic noise, the user comfort is significantly reduced.

[0081] As shown in Figure 6 The voltage vector adjusting method provided by the embodiment of the application includes the following steps S601 to S603:

[0082] Step S601, if the amplitude of the target voltage vector is less than the amplitude of the preset voltage vector, the sector in which the target voltage vector is located is determined according to the phase angle of the target voltage vector;

[0083] Step S602, the phase angle of the target voltage vector is adjusted according to the sector in which the target voltage vector is located;

[0084] Step S603, the amplitude of the target voltage vector is adjusted according to the amplitude of the target voltage vector and the sector in which the target voltage vector is located.

[0085] In one embodiment, before step S601, the following steps are included:

[0086] The α-axis component and the β-axis component of the target voltage vector in the two-phase stationary coordinate system are obtained according to the motor starting algorithm;

[0087] The amplitude of the target voltage vector is obtained according to the α-axis component and the β-axis component.

[0088] In application, when the motor has a position sensor, the motor starting algorithm can adopt the vector control starting algorithm in the context of the position sensor; when the motor has no position sensor, the motor starting algorithm can adopt the constant current frequency ratio control algorithm or the constant voltage frequency ratio control algorithm in the context of the position sensor. The calculation formula of the amplitude of the target voltage vector is: Wherein, u amp represents the amplitude of the target voltage vector, uα represents the α-axis component of the target voltage vector in the stationary coordinate system, and uβ represents the β-axis component of the target voltage vector in the stationary coordinate system.

[0089] In application, after step S603, the following steps are included:

[0090] If the amplitude of the target voltage vector is greater than or equal to the amplitude of the preset voltage vector, a new comparison value is obtained according to the amplitude and the phase angle of the target voltage vector, so that the duration of the two effective vectors constituting the adjusted target voltage vector in a half carrier cycle is greater than the minimum sampling time.

[0091] In one embodiment, the voltage vector adjusting method further comprises:

[0092] A new comparison value is obtained according to the amplitude and the phase angle of the adjusted target voltage vector, so that the duration of the two effective vectors constituting the adjusted target voltage vector in a half carrier cycle is greater than the minimum sampling time.

[0093] In application, after the amplitude of the target voltage vector is obtained, it is determined whether the amplitude of the target voltage vector is less than the amplitude of the preset voltage vector; if yes, it indicates that the time ratio of the target voltage vector in the sampling blind area is greater than or equal to the time ratio of the target voltage vector in the sampleable area when the target voltage vector rotates in the space vector plane, and the amplitude and the phase angle of the target voltage vector need to be adjusted first, and then a new three-phase comparison value is obtained based on the SVPWM and the target voltage vector adjusting method in the sampling blind area, the triangular carrier is compared with the new three-phase comparison value, and the PWM signal for controlling the inverter is generated to control the inverter to output three-phase voltage to the motor; if not, it indicates that the time ratio of the target voltage vector in the sampling blind area is less than the time ratio of the target voltage vector in the sampleable area when the target voltage vector rotates in the space vector plane, and the target voltage vector does not need to be adjusted, and a new three-phase comparison value is obtained directly based on the SVPWM and the target voltage vector adjusting method in the sampling blind area, the triangular carrier is compared with the new three-phase comparison value, and the PWM signal for controlling the inverter is generated to output three-phase voltage to the motor.

[0094] In application, the preset voltage vector is a voltage vector that has the same time in the sampling blind area and the sampleable area when rotating in any sector of the space vector plane, and is a critical threshold for comparing the time of the target voltage vector in the sampleable area and the sampling blind area when rotating in the space vector plane. The specific method for adjusting the amplitude and the phase angle of the target voltage vector is as follows: first, the sector of the space vector plane where the target voltage vector is located is determined according to the phase angle of the target voltage vector; then, the phase angle of the target voltage vector is adjusted according to the sector where the target voltage vector is located, so that the direction of the adjusted target voltage vector is the angle bisector direction of the sector where the target voltage vector is located, is perpendicular to the adjacent phase axis, and the projection on the adjacent phase axis is zero, so that the duty ratio of one phase of the three-phase voltage vector is zero, thereby effectively reducing the electromagnetic noise generated by the corresponding phase current harmonics; finally, the amplitude of the target voltage vector is adjusted according to the amplitude of the target voltage vector and the sector where the target voltage vector is located, so that the fundamental amplitudes of the target voltage vector before and after adjustment are the same, and the voltage output by the inverter to the motor can be kept unchanged, thereby normally starting the motor while reducing electromagnetic noise.

[0095] As Figure 7 shown, an exemplary schematic diagram of the target voltage vector adjustment principle in the sampling dead zone is shown when the target voltage vector is located in the first sector of the space vector plane, which is achieved based on the above-mentioned voltage vector adjustment method; wherein the direction of the adjusted target voltage vector Vr1 is the direction of the angle bisector of the first sector where it is located, which is perpendicular to the b-phase axis and has a zero projection on the b-phase axis.

[0096] As Figure 8 shown, in one embodiment, before step S601, the following steps S801 to S804 for determining the amplitude of the preset voltage vector are included:

[0097] Step S801, generating an end point trajectory of the preset voltage vector when rotating in any sector of the space vector plane, the end point trajectory having two first intersection points with the sampleable area in any sector;

[0098] Step S802, respectively making a line between the origin of the space vector plane and the two first intersection points, the line dividing the rotation angle of the preset voltage vector in any sector into a first angle, a second angle and a third angle, the first angle and the third angle corresponding to the sampling dead zone, and the second angle corresponding to the sampleable area;

[0099] Step S803, making an extension line of the boundary line where one of the first intersection points in the sampleable area is located, the extension line having a second intersection point with the adjacent space voltage vector;

[0100] Step S804, solving the triangle formed by the one first intersection point, the origin and the second intersection point to obtain the length of the line as the amplitude of the preset voltage vector.

[0101] In application, based on the symmetry of the six sectors of the space vector plane, the determination method of the amplitude of the preset voltage vector can be simplified to the first sector of the space vector plane.

[0102] As Figure 9As shown, an exemplary schematic diagram of the determination principle of the amplitude of the preset voltage vector when the preset voltage vector rotates in the first sector of the space vector plane is shown; wherein, the end point locus S1 of the preset voltage vector when the preset voltage vector rotates in the first sector of the space vector plane, the end point locus S1 and the first sector have two first intersection points (one of the first intersection points is R), the lines between the origin O of the space vector plane and the two first intersection points are drawn (one of the lines is OR), the lines divide the rotation angle of the preset voltage vector in the first sector into a first angle θm1, a second angle θm2 and a third angle θm3, the first angle θm1 and the third angle θm3 are the angle ranges corresponding to the sampling blind area, the second angle θm2 is the angle range corresponding to the sampleable area, the extension line of the boundary line of the first intersection point R is drawn, the extension line and the adjacent space voltage vector 110 have a second intersection point T, the triangle formed by the first intersection point R, the origin O and the second intersection point T is solved, the length of the line OR is obtained as the amplitude of the preset voltage vector.

[0103] In one embodiment, the calculation formula of the amplitude of the preset voltage vector is as follows:

[0104] θm2=θm1+θm3, θm1=θm3, θm1+θm2+θm3=π / 3

[0105]

[0106]

[0107]

[0108] Wherein, θm1 represents the first angle, θm2 represents the second angle, θm3 represents the third angle, LOR represents the length of the line, LOT represents the length of the line segment between the origin and the second intersection point, Tmin represents the minimum sampling time, Tsh represents the half carrier period, Udc represents the bus voltage, u mrg represents the amplitude of the preset voltage vector.

[0109] In application, since the preset voltage vector is in the sampling blind area and the sampleable area at the same time when the preset voltage vector rotates in any sector of the space vector plane, the following relationship is obtained:

[0110] θm2=θm1+θm3

[0111] Based on Figure 9 , it is known from symmetry that θm1=θm3;

[0112] In addition, it is known that the sum of θm1, θm2 and θm3 is the angle range π / 3 corresponding to the first sector;

[0113] From the above relationship, θm1=π / 12 can be obtained.

[0114] The triangle formed between the first intersection point R, the origin O and the second intersection point T is solved, and the calculation formula of the length LOR of the line OR is as follows:

[0115]

[0116] The length LOT of the line segment OT is related to the minimum sampling time Tmin, and the calculation formula of LOT is as follows:

[0117]

[0118] From the above relationship, the expression of the length LOR of the line OR is as follows:

[0119]

[0120] The length LOR of the line OR is equal to the amplitude u of the preset voltage vector mrg .

[0121] In an embodiment, the calculation formula of the sector in which the target voltage vector is located is as follows:

[0122]

[0123] wherein n represents the number of the sector in which the target voltage vector is located, ROUND() represents a down-rounding function, and φ represents the phase angle of the target voltage vector.

[0124] In application, n is the number of one sector of the six sectors of the space vector plane in which the target voltage vector is located, that is, when n=1, the target voltage vector is located in the first sector; when n=2, the target voltage vector is located in the second sector; and so on.

[0125] In an embodiment, the calculation formula of the phase angle of the adjusted target voltage vector is as follows:

[0126] θr1=n*π / 6

[0127] wherein θr1 represents the phase angle of the adjusted target voltage vector, and n represents the sector in which the target voltage vector is located.

[0128] In application, after the number of the sector in which the target voltage vector is located is determined, the phase angle of the target voltage vector can be adjusted according to the number of the sector, and the direction of the adjusted target voltage vector is the direction of the angle bisector of the sector in which the target voltage vector is located. When the target voltage vector rotates periodically in the space vector plane, the end point of the adjusted target voltage vector forms a regular hexagon trajectory in the space voltage vector plane.

[0129] As shown in FIG. 4, an exemplary schematic diagram showing the end point trajectory of the adjusted target voltage vector is shown when the target voltage vector rotates in the first sector of the space vector plane; wherein Vr represents the target voltage vector, Vr1 represents the adjusted target voltage vector, S2 represents the end point trajectory of the adjusted target voltage vector. Figure 10

[0130] In one embodiment, the calculation formula of the amplitude of the adjusted target voltage vector is as follows:

[0131]

[0132]

[0133]

[0134]

[0135] wherein ur1f represents the fundamental amplitude of the adjusted target voltage vector, ur1 represents the amplitude of the adjusted target voltage vector, ur represents the fundamental amplitude of the target voltage vector, uα1 represents the α-axis component of the adjusted target voltage vector in the stationary coordinate system, uβ1 represents the β-axis component of the adjusted target voltage vector in the stationary coordinate system, uα represents the α-axis component of the target voltage vector in the stationary coordinate system, uβ represents the β-axis component of the target voltage vector in the stationary coordinate system, and n represents the sector in which the target voltage vector is located.

[0136] In application, the fundamental component ur1f of the output voltage corresponding to the end point trajectory of the adjusted target voltage vector is:

[0137]

[0138] In order to make the fundamental of the output voltage corresponding to the adjusted target voltage vector equivalent to the fundamental of the target voltage vector, there is the following relationship:

[0139] ur1f = ur

[0140] Therefore, the calculation formula of the amplitude of the adjusted target voltage vector is:

[0141]

[0142] Therefore, the calculation formula of the α-axis component and the β-axis component of the adjusted target voltage vector in the two-phase stationary coordinate system is:

[0143]

[0144] ​

[0145] In application, after obtaining the α-axis component and the β-axis component of the adjusted target voltage vector in the two-phase stationary coordinate system, the new three-phase comparison values can be obtained based on the SVPWM and the target voltage vector adjustment method in the sampling blind area, the PWM signals for controlling the inverter are generated by comparing the triangular carrier with the new three-phase comparison values, so as to control the inverter to output three-phase voltage to the motor.

[0146] As shown in FIG. 11, in one embodiment, after step S603, the following steps S1101-S1104 are included: Figure 11

[0147] Step S1101, obtaining the original comparison values according to the amplitude and the phase angle of the adjusted target voltage vector.

[0148] In application, the original comparison values can be obtained by the comparison value calculation method based on the SVPWM method according to the amplitude and the phase angle of the adjusted target voltage vector.

[0149] Step S1102, determining the duration time of the first effective vector and the second effective vector constituting the adjusted target voltage vector in the half-carrier period according to the original comparison values.

[0150] In application, the duration time of the two effective vectors is obtained according to the duration time ratio Tm1 and Tm2 of the two effective vectors in the half-carrier period and the half-carrier period.

[0151] Step S1103, if the duration time of the first effective vector is less than the minimum sampling time, increasing the b-phase original comparison value by the minimum sampling time to obtain the a-phase new comparison value.

[0152] Step S1104, if the duration time of the second effective vector is less than the minimum sampling time, decreasing the b-phase original comparison value by the minimum sampling time to obtain the c-phase new comparison value.

[0153] In application, if the amplitude of the target voltage vector is greater than or equal to the amplitude of the preset voltage vector, the adjusted target voltage vector in the above steps S1101 and S1102 is replaced by the target voltage vector, and the new comparison values are directly obtained according to the amplitude and the phase angle of the target voltage vector.

[0154] In application, if at least one of the two effective vectors is less than the minimum sampling time Tmin, the sampling blind area adjustment is needed, and the b-phase comparison value is kept unchanged based on the waveform of the second switching action (b-phase) in the current half-carrier period.

[0155] In application, if at least one of the two effective vectors is less than the minimum sampling time Tmin, the sampling blind area adjustment is needed, and the b-phase comparison value is kept unchanged based on the waveform of the second switching action (b-phase) in the current half-carrier period. Figure 3 ​For example, if the duration T1 of the first effective vector is less than the minimum sampling time Tmin, the original comparison value Ta of the a-phase is adjusted to Tb+Tmin, i.e., Ta=Tb+Tmin;

[0156] If the duration T2 of the second effective vector is less than the minimum sampling time Tmin, the original comparison value Tc of the c-phase is adjusted to Tb-Tmin, i.e., Tc=Tb-Tmin.

[0157] If the duration T1 of the first effective vector and the duration T2 of the second effective vector are both less than the minimum sampling time Tmin, the original comparison value Ta of the a-phase is adjusted to Tb+Tmin, and the original comparison value Tc of the c-phase is adjusted to Tb-Tmin, i.e., Ta=Tb+Tmin and Tc=Tb-Tmin.

[0158] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application;

[0159] The voltage vector adjustment method when the target voltage vector is located in the first sector of the space vector plane is only exemplarily introduced in the above embodiment, and the voltage vector adjustment method when the target voltage vector is located in other sectors can be deduced according to the same principle, and the new comparison value calculation method when the half-carrier cycle is the carrier falling edge cycle is only exemplarily introduced in the above embodiment, and the new comparison value calculation method when the half-carrier cycle is the carrier rising edge cycle can be deduced according to the same principle, which will not be described herein.

[0160] The present application also provides a voltage vector adjustment device, which is applied to a motor controller and used to execute the steps in the above method embodiments. The device can be a virtual appliance in the motor controller, run by a processor of the motor controller, or can be the motor controller itself.

[0161] As shown in Figure 12 The voltage vector adjustment device 100 provided by the present application includes:

[0162] A sector determination unit 101 is configured to determine a sector in which a target voltage vector is located according to a phase angle of the target voltage vector if an amplitude of the target voltage vector is less than an amplitude of a preset voltage vector, and the preset voltage vector has the same time in a sampling blind area and a sampleable area when rotating in any sector of a space vector plane.

[0163] The phase angle adjusting unit 102 is configured to adjust the phase angle of the target voltage vector according to the sector in which the target voltage vector is located, so that the direction of the adjusted target voltage vector is the angle bisector direction of the sector in which the target voltage vector is located.

[0164] The amplitude adjusting unit 103 is configured to adjust the amplitude of the target voltage vector according to the amplitude of the target voltage vector and the sector in which the target voltage vector is located, so that the fundamental amplitude of the adjusted target voltage vector is the same as the fundamental amplitude of the target voltage vector.

[0165] In an embodiment, the voltage vector adjusting device further comprises an amplitude calculating unit configured to:

[0166] obtain the α-axis component and the β-axis component of the target voltage vector in the two-phase static coordinate system according to the motor starting algorithm;

[0167] obtain the amplitude of the target voltage vector according to the α-axis component and the β-axis component.

[0168] In an embodiment, the voltage vector adjusting device further comprises an amplitude determining unit configured to:

[0169] generate an end point trajectory of the preset voltage vector when rotating in any sector of the space vector plane, the end point trajectory having two first intersection points with a sampleable region in the any sector;

[0170] draw lines between the origin of the space vector plane and the two first intersection points, respectively, the lines dividing the rotation angle of the preset voltage vector in the any sector into a first angle, a second angle and a third angle, the first angle and the third angle corresponding to a sampling blind area, and the second angle corresponding to the sampleable region;

[0171] draw an extension line of a boundary line of the sampleable region in which one of the first intersection points is located, the extension line having a second intersection point with an adjacent space voltage vector;

[0172] solve a triangle formed by one of the first intersection points, the origin and the second intersection point to obtain the length of the line as the amplitude of the preset voltage vector.

[0173] In an embodiment, the voltage vector adjusting device further comprises a comparison value obtaining unit configured to:

[0174] obtain a new comparison value according to the amplitude and the phase angle of the target voltage vector or the adjusted target voltage vector, so that the duration of each of the two effective vectors constituting the adjusted target voltage vector in a half carrier cycle is greater than a minimum sampling time.

[0175] In applications, each component in the apparatus can be a software program unit, can be realized by different logic circuits integrated in the processor or independent physical components connected with the processor, and can also be realized by multiple distributed processors.

[0176] As shown in Figure 13 Embodiments of the present application also provide a motor controller 200, which comprises at least one processor 201 (only one processor is shown in the figure), a memory 202, and a computer program 203 stored in the memory 202 and executable on the at least one processor 201, wherein the processor 201 implements the steps in each of the above method embodiments when executing the computer program 203. Figure 13

[0177] In applications, the motor controller can include, but is not limited to, the processor and the memory, and can also include Figure 1 the current sensor and the inverter shown in the figure, and / or can also include filters, PWM drivers, analog-to-digital converters, etc. Those skilled in the art can understand that Figure 13 The motor controller is only an example and does not constitute a limitation on the motor controller, and can include more or fewer components than shown in the figure, or combine certain components, or different components, for example, can also include input and output devices, network access devices, etc. The input and output devices can include the aforementioned human-computer interaction devices, and can also include a display screen for displaying operating parameters of the motor controller. The network access device can include a communication module for communication between the motor controller and the client.

[0178] In applications, the processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or can also be any conventional processor.

[0179] ​In applications, the storage can be an internal storage unit of the motor controller, such as a hard disk or a memory of the motor controller, in some embodiments. The storage can also be an external storage device of the motor controller, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the motor controller, in other embodiments. The storage can also include both the internal storage unit and the external storage device of the motor controller. The storage is used to store an operating system, an application program, a boot loader, data, and other programs, such as program codes of computer programs, etc. The storage can also be used to temporarily store data that has been output or will be output.

[0180] In applications, the display can be a thin film transistor liquid crystal display (TFT-LCD), a liquid crystal display (LCD), an organic electroluminesence display (OLED), a quantum dot light emitting diodes (QLED) display, a seven-segment or eight-segment digital tube, etc.

[0181] In applications, the communication module can be set to any device capable of direct or indirect long-distance wired or wireless communication with the client according to actual needs, so that the user can control the working state of the motor by operating the client and using the motor controller to control the working state of the motor, and then control the working state of the air conditioner, fan and washing machine and other equipment to which the motor is applied. The communication module can provide a communication solution for network equipment, including Wireless Local Area Networks (WLAN) (such as Wi-Fi network), Bluetooth, Zigbee, mobile communication network, Global Navigation Satellite System (GNSS), Frequency Modulation (FM), Near Field Communication (NFC), Infrared (IR) and other communication technologies. The communication module can include an antenna, which can have only one element or an antenna array including multiple elements. The communication module can receive electromagnetic waves through the antenna, frequency modulate and filter the electromagnetic wave signals, and send the processed signals to the processor. The communication module can also receive signals to be sent from the processor, frequency modulate and amplify them, and convert them into electromagnetic wave radiation through the antenna.

[0182] It should be noted that the information interaction, execution process and the like between the above devices / modules are based on the same concept as the method embodiments of the present application, and the specific functions and technical effects brought about can be referred to the method embodiments part, which will not be repeated here.

[0183] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of functional modules is taken as an example, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. Each functional module in the embodiment can be integrated into one processing module, or each module can exist physically, or two or more modules can be integrated into one module. The above integrated module can be realized in the form of hardware or in the form of software functional module. In addition, the specific name of each functional module is only for easy distinction, and does not limit the protection scope of the present application. The specific working process of the modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0184] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in each of the above method embodiments can be implemented.

[0185] The embodiments of the present application provide a computer program product, when the computer program product runs on the motor controller, the motor controller can implement the steps in the various method embodiments.

[0186] The integrated module, if implemented in the form of a software function module and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application can implement all or part of the processes in the above-mentioned embodiments by a computer program to instruct related hardware, and the computer program can be stored in a computer readable storage medium, and the computer program can implement the steps of the various method embodiments when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the motor controller, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunications signal and a software distribution medium. For example, a U disk, a mobile hard disk, a magnetic disk or an optical disk.

[0187] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0188] Those skilled in the art can appreciate that the modules and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0189] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division, and actual implementation can have another division manner, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be indirect coupling or communication connection through some interfaces, devices or modules, and can be electrical, mechanical or other forms.

[0190] The modules described as separate components can or can not be physically separate, and the components shown as modules can or can not be physical modules, i.e. can be located in one place, or can be distributed over a plurality of network modules. Part or all of the modules can be selected as appropriate to achieve the purpose of the embodiments.

[0191] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent replacements; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A voltage vector regulation method, characterized by, The method comprises the following steps: If the amplitude of the target voltage vector is smaller than the amplitude of the preset voltage vector, the sector where the target voltage vector is located is determined according to the phase angle of the target voltage vector, and the preset voltage vector has the same time in the sampling blind area and the sampleable area when rotating in any sector of the space vector plane; The phase angle of the target voltage vector is adjusted according to the sector where the target voltage vector is located, so that the direction of the adjusted target voltage vector is the angle bisector direction of the sector where the target voltage vector is located; The amplitude of the target voltage vector is adjusted according to the amplitude of the target voltage vector and the sector where the target voltage vector is located, so that the fundamental amplitude of the adjusted target voltage vector is the same as the fundamental amplitude of the target voltage vector; If the amplitude of the target voltage vector is smaller than the amplitude of the preset voltage vector, the sector where the target voltage vector is located is determined according to the phase angle of the target voltage vector, and the preset voltage vector has the same time in the sampling blind area and the sampleable area when rotating in any sector of the space vector plane; Generating an end point trajectory of the preset voltage vector when rotating in any sector of the space vector plane, the end point trajectory has two first intersection points with the sampleable area in the any sector; Respectively drawing lines between the origin of the space vector plane and the two first intersection points, the lines divide the rotation angle of the preset voltage vector in the any sector into a first angle, a second angle and a third angle, the first angle and the third angle correspond to the sampling blind area, and the second angle corresponds to the sampleable area; Drawing an extension line of the boundary line where one of the first intersection points in the sampleable area is located, the extension line has a second intersection point with the adjacent space voltage vector; Solving the triangle formed by one of the first intersection points, the origin and the second intersection point to obtain the length of the line as the amplitude of the preset voltage vector.

2. The voltage vector regulation method of claim 1, wherein, The calculation formula of the amplitude of the preset voltage vector is as follows: θm2=θm1+θm3, θm1=θm3, θm1+θm2+θm3=π / 3 where θm1 represents the first angle, θm2 represents the second angle, θm3 represents the third angle, LOR represents the length of the line, LOT represents the length of the line segment between the origin and the second intersection point, Tmin represents the minimum sampling time, Tsh represents the half-carrier period, Udc represents the bus voltage, u mrg represents the amplitude of the preset voltage vector.

3. The voltage vector regulation method of claim 1, wherein, The calculation formula of the sector where the target voltage vector is located is as follows: wherein n represents the number of the sector in which the target voltage vector is located, ROUND() represents a down-rounding function, denotes the phase angle of the target voltage vector; The calculation formula of the phase angle of the adjusted target voltage vector is as follows: θr1=n*π / 6 Wherein, θr1 represents the phase angle of the adjusted target voltage vector, and n represents the sector where the target voltage vector is located.

4. The voltage vector regulation method of claim 1, wherein, The calculation formula of the amplitude of the adjusted target voltage vector is as follows: Wherein, ur1f represents the fundamental amplitude of the adjusted target voltage vector, ur1 represents the amplitude of the adjusted target voltage vector, ur represents the fundamental amplitude of the target voltage vector, uα1 represents the α-axis component of the adjusted target voltage vector in the stationary coordinate system, uβ1 represents the β-axis component of the adjusted target voltage vector in the stationary coordinate system, uα represents the α-axis component of the target voltage vector in the stationary coordinate system, uβ represents the β-axis component of the target voltage vector in the stationary coordinate system, and n represents the sector where the target voltage vector is located.

5. The voltage vector regulation method according to any one of claims 1 to 4, characterized in that, Further comprising: According to the amplitude and phase angle of the adjusted target voltage vector, a new comparison value is obtained, so that the duration of each of the two effective vectors constituting the adjusted target voltage vector in a half carrier cycle is greater than the minimum sampling time.

6. The voltage vector regulation method of claim 5, wherein, According to the amplitude and phase angle of the adjusted target voltage vector, a new comparison value is obtained, including: According to the amplitude and phase angle of the adjusted target voltage vector, an original comparison value is obtained; According to the original comparison value, the duration of the first effective vector and the second effective vector constituting the adjusted target voltage vector in a half carrier cycle is determined; If the duration of the first effective vector is less than the minimum sampling time, the original comparison value of the b phase is increased by the minimum sampling time to obtain a new comparison value of the a phase; If the duration of the second effective vector is less than the minimum sampling time, the original comparison value of the b phase is reduced by the minimum sampling time to obtain a new comparison value of the c phase.

7. A voltage vector regulating device, characterized by comprising: Including: The amplitude determination unit is configured to: generate an end point trajectory of the preset voltage vector when rotating in any sector of the space vector plane, the end point trajectory having two first intersection points with a sampleable region in the any sector; draw a line between the origin of the space vector plane and each of the two first intersection points, the line dividing the rotation angle of the preset voltage vector in the any sector into a first angle, a second angle and a third angle, the first angle and the third angle corresponding to a sampling blind area, and the second angle corresponding to the sampleable region; draw an extension line of the boundary line of the sampleable region where one of the first intersection points is located, the extension line having a second intersection point with an adjacent space voltage vector; solve a triangle formed by one of the first intersection points, the origin and the second intersection point to obtain the length of the line as the amplitude of the preset voltage vector; The sector determination unit is configured to, if the amplitude of the target voltage vector is less than the amplitude of the preset voltage vector, determine the sector where the target voltage vector is located according to the phase angle of the target voltage vector, the preset voltage vector being in the same time in the sampling blind area and the sampleable region when rotating in any sector of the space vector plane. The phase angle adjustment unit is configured to adjust the phase angle of the target voltage vector according to the sector where the target voltage vector is located, so that the direction of the adjusted target voltage vector is the direction of the angle bisector of the sector where the target voltage vector is located. The amplitude adjustment unit is configured to adjust the amplitude of the target voltage vector according to the amplitude of the target voltage vector and the sector where the target voltage vector is located, so that the fundamental amplitude of the adjusted target voltage vector is the same as the fundamental amplitude of the target voltage vector.

8. An electric machine controller characterized by The computer program is stored in the memory and executable on the processor, and the processor executes the computer program to implement the steps of the voltage vector adjustment method according to any one of claims 1 to 6.

9. A computer readable storage medium, the computer readable storage medium storing a computer program, the computer program being executable on a processor to implement the steps of the voltage vector adjustment method according to any one of claims 1 to 6.

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