A motor harmonic suppression method based on SVPWM control and related equipment

Abstract

The present invention provides a motor harmonic suppression method based on SVPWM control and related equipment. The scheme uses a random frequency conversion cycle to adjust the switching cycle and sampling cycle of the power tube based on SVPWM control, controls the power tube with the adjusted switching cycle, and uses the adjusted sampling cycle for sampling. The harmonics in the motor based on SVPWM control are suppressed by randomly changing the switching cycle and sampling cycle, so that the harmonic signals in the motor can be effectively suppressed.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a motor harmonic suppression method based on SVPWM control and related equipment. Background Art

[0002] Voltage space vector pulse width modulation (SVPWM) technology is widely used in permanent magnet synchronous motor control. This technology generates a pulse width modulation wave by a specific switching mode composed of six power switch tubes of a three-phase power inverter. The output current waveform is controlled to be as close to an ideal sine wave as possible. Compared with other modulation algorithms, SVPWM can improve the utilization rate of the DC bus voltage and enable the permanent magnet synchronous motor to obtain a larger power output.

[0003] The modulation of SVPWM carrier adopts fixed switching frequency, which will cause the three-phase current output by the motor to be seriously distorted at its switching frequency and its multiples, that is, to generate large higher harmonics. Higher harmonics will cause the motor to produce obvious mechanical vibration and electromagnetic noise, which will have a serious impact on the human ear. In particular, in recent years, SVPWM-controlled permanent magnet synchronous motors have been increasingly used in new energy electric vehicles. The vibration and noise of the motor will reduce the user experience of electric vehicles.

[0004] Random SVPWM changes the switching cycle of the power tube from a periodic signal to a non-periodic signal, that is, randomly changes the SVPWM carrier cycle within a certain range, disperses the noise energy at the original switching frequency and its multiples, and reduces the vibration and noise of the motor. Due to the problem of the actual program code calculation amount of the sampling frequency, the selection range of the SVPWM random cycle will be relatively narrow, affecting the harmonic suppression effect of random SVPWM in the full speed range of the motor.

[0005] In the prior art, patent CN202010856533 discloses a method for vibration reduction and noise reduction of a permanent magnet synchronous motor based on random SVPWM with selective harmonic elimination. It utilizes the duty cycle of the current control cycle, the duty cycle in the previous control cycle, and the switching cycle to not only disperse the harmonic content at the switching frequency and its multiples, but also further eliminate the harmonics at the natural frequency of the permanent magnet synchronous motor, thereby avoiding strong resonance of the motor and effectively reducing electromagnetic noise.

[0006] The applicant further studied the above scheme and found that the random number selection range of the above scheme is relatively narrow. Although the harmonics at the natural frequency of the permanent magnet synchronous motor are further eliminated, the harmonic suppression effect at other natural frequencies is not good. Summary of the invention

[0007] In view of this, an embodiment of the present invention provides a motor harmonic suppression method based on SVPWM control and related equipment to achieve harmonic suppression in the motor.

[0008] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0009] A motor harmonic suppression method based on SVPWM control, comprising:

[0010] Generate random frequency-varying cycles;

[0011] Calculating the turn-on time and turn-off time of the power switch based on the random frequency conversion cycle;

[0012] Adjusting the function operation amount of the sampling function according to the frequency conversion cycle;

[0013] The switching cycle of the power switch tube is controlled based on the turn-on time and the turn-off time, and sampling control is performed based on the adjusted sampling cycle.

[0014] Optionally, in the motor harmonic suppression method based on SVPWM control, generating a random frequency conversion cycle includes:

[0015] Generate random frequency-varying cycles by linear congruential method.

[0016] Optionally, in the above-mentioned motor harmonic suppression method based on SVPWM control, the function operation amount of the sampling function adjusted following the frequency conversion cycle includes:

[0017] Determine whether the period length of the random frequency conversion period corresponding to the current period is greater than a preset threshold;

[0018] If it is greater than the preset threshold, the speed and angle of the motor at the current moment are obtained, the system timestamp at the current moment is read, and the speed, angular velocity and system timestamp of the motor at the current moment are used as the function operation of the sampling function;

[0019] If it is less than the preset threshold, obtain the speed and angle of the motor at the previous moment, read the system timestamp of the current moment, and calculate the angle of the motor at the current moment based on the system timestamp of the previous moment, the system timestamp of the previous moment, and the speed and angle of the motor at the previous moment. Use the speed of the motor at the previous moment, the angular velocity of the motor at the current moment, and the system time at the current moment as the function operation of the sampling function.

[0020] Optionally, in the above-mentioned motor harmonic suppression method based on SVPWM control, the generating of random frequency conversion cycles by linear congruential method includes:

[0021] Get the motor speed;

[0022] Obtaining variable parameters of the linear congruential method corresponding to the motor speed;

[0023] A random frequency conversion period is generated based on the translinear congruential method.

[0024] Optionally, in the above-mentioned motor harmonic suppression method based on SVPWM control, obtaining variable parameters of the linear congruential method corresponding to the motor speed includes:

[0025] The variable parameters of the linear congruential method corresponding to the motor speed are acquired based on a preset mapping table, wherein the variable parameters of the linear congruential method matching the motor speed are recorded in the preset mapping parameters.

[0026] A motor harmonic suppression device based on SVPWM control, comprising:

[0027] A random frequency conversion cycle generating unit, used for generating a random frequency conversion cycle;

[0028] A switch time calculation unit, used for calculating the switch-on time and switch-off time of the power switch based on the random frequency conversion cycle;

[0029] A sampling function adjustment unit, used to adjust the function operation amount of the sampling function according to the frequency conversion cycle;

[0030] A motor control unit is used to control the switching cycle of the power switch tube based on the turn-on time and the turn-off time, and to perform sampling control based on the adjusted sampling cycle.

[0031] Optionally, in the above SVPWM motor harmonic suppression device, the random frequency conversion period generating unit is specifically used for:

[0032] Generate random frequency-varying cycles by linear congruential method.

[0033] Optionally, in the above SVPWM motor harmonic suppression device, the sampling function adjustment unit is specifically used for:

[0034] Determine whether the period length of the random frequency conversion period corresponding to the current period is greater than a preset threshold;

[0035] If it is greater than the preset threshold, the speed and angle of the motor at the current moment are obtained, the system timestamp at the current moment is read, and the speed, angular velocity and system timestamp of the motor at the current moment are used as the function operation of the sampling function;

[0036] If it is less than the preset threshold, obtain the speed and angle of the motor at the previous moment, read the system timestamp of the current moment, and calculate the angle of the motor at the current moment based on the system timestamp of the previous moment, the system timestamp of the previous moment, and the speed and angle of the motor at the previous moment. Use the speed of the motor at the previous moment, the angular velocity of the motor at the current moment, and the system time at the current moment as the function operation of the sampling function.

[0037] Optionally, in the above-mentioned motor harmonic suppression device based on SVPWM control, the random frequency conversion period generation unit is specifically used for:

[0038] Get the motor speed;

[0039] Obtaining variable parameters of the linear congruential method corresponding to the motor speed;

[0040] A random frequency conversion period is generated based on the translinear congruential method.

[0041] A storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded by a processor to execute the steps in any one of the above-mentioned methods for suppressing motor harmonics based on SVPWM control.

[0042] Based on the above technical scheme, the above scheme provided by the embodiment of the present invention adjusts the power tube switching period and sampling period of the motor based on SVPWM control by adopting a random frequency conversion period, controls the power tube with the adjusted switching period, and performs sampling with the adjusted sampling period. By suppressing the harmonics in the motor based on SVPWM control through randomly changing the switching period and sampling period, the harmonic signals in the motor can be effectively suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0044] Figure 1 A schematic flow chart of a motor harmonic suppression method based on SVPWM control disclosed in an embodiment of the present application;

[0045] Figure 2 A schematic flow chart of a motor harmonic suppression method based on SVPWM control disclosed in another embodiment of the present application;

[0046] Figure 3A schematic flow chart of a motor harmonic suppression method based on SVPWM control disclosed in another embodiment of the present application;

[0047] Figure 4 It is a structural schematic diagram of a motor harmonic suppression device based on SVPWM control disclosed in an embodiment of the present application;

[0048] Figure 5 This is a schematic diagram of the structure of the motor harmonic suppression device disclosed in the embodiment of the present application. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] In order to suppress harmonics at various frequencies in a motor based on SVPWM control as widely as possible, the present application discloses a motor harmonic suppression method based on SVPWM control, see Figure 1 , the method may include:

[0051] Step S101: Generate a random frequency conversion period.

[0052] Before executing the technical solution disclosed in the embodiment of the present application, the power tube switching period and sampling period are fixed period values ​​before frequency conversion, and the switching time of the power tube and the sampling function are fixed.

[0053] Step S102: Calculating the turn-on time and turn-off time of the power switch based on the random frequency conversion cycle.

[0054] In this step, after the random frequency conversion period is determined, the motor will calculate the turn-on and turn-off times of the power tube according to the random frequency conversion period when performing SVPWM control, thereby achieving random adjustment of the switching period of the power tube.

[0055] To facilitate subsequent control, in this scheme, the calculated turn-on and turn-off times of the power tube can be stored in relevant registers. When the turn-on and turn-off times of the power tube are needed, the data can be directly read from the registers. After the reading is completed, the read data is deleted, and the turn-on and turn-off times of the power tube calculated based on the random frequency change cycle at the next moment are stored.

[0056] Step S103: adjusting the function operation amount of the sampling function according to the frequency conversion cycle.

[0057] In this step, the function operation amount of the sampling function used in the sampling period is adjusted. In this step, when the sampling period is controlled by the variable frequency cycle, the sampling function of each sampling period will adjust the function operation amount according to the variable frequency cycle, thereby realizing random adjustment of the sampling period.

[0058] Step S104: controlling the switching cycle of the power switch tube based on the turn-on time and the turn-off time, and performing sampling control based on the adjusted sampling cycle.

[0059] In this step, after the turn-on time and turn-off time of the power tube are determined, the switching state of the power switch tube is controlled based on the turn-on time and turn-off time, thereby realizing the variable frequency control of the switching cycle of the power tube. After the sampling function is adjusted, sampling is performed based on the adjusted sampling function, thereby realizing the variable frequency control of the sampling cycle.

[0060] In the technical solution disclosed in the above-mentioned embodiment of the present application, the switching period and sampling period of the motor power tube based on SVPWM control are adjusted by adopting a random frequency conversion cycle, the power tube is controlled by the adjusted switching period, and sampling is performed using the adjusted sampling period. The harmonics of the motor based on SVPWM control are suppressed by randomly changing the switching period and sampling period, which can effectively suppress the harmonic signals in the motor.

[0061] In the technical solution disclosed in the embodiment of the present application, the method for generating the random frequency conversion period can be selected based on user needs. For example, in the technical solution disclosed in the embodiment of the present application, the random frequency conversion period can be generated by the linear congruential method.

[0062] The reason why the linear congruential method is used in the present application to generate random frequency conversion cycles is that the random numbers generated by the linear congruential method have a high degree of freedom, and the linear congruential method only includes one multiplication and one addition operation, which is easy to implement for a microprocessor and has a low implementation cost.

[0063] Specifically, the linear congruential method formula is as follows:

[0064] x n+1 =Mod(a*x n +c,m)

[0065] o=x n+1 / m

[0066] y=(o+0.5)*t s

[0067] In the above formula, a, c, m, x, and ts are all variable parameters of the linear congruential method, wherein a is the multiplier, c is the increment, m is the modulus, x is the initial value, and ts is the center point. In the above scheme, y is the random frequency conversion period required by this application.

[0068] The variable parameters in the above linear congruential method formula are adjusted dynamically in real time according to the running state of the motor. For example, in this solution, the variable parameters in the linear congruential method formula can change with the speed of the motor. That is, in this solution, see Figure 2 , the generating of random frequency conversion period by linear congruential method may specifically include:

[0069] Step S201: Obtain the motor speed.

[0070] In this solution, the motor speed of the motor can be obtained through a speed sensor or other methods.

[0071] Step S202: Obtain variable parameters of the linear congruential method corresponding to the motor speed.

[0072] In the present scheme, in order to improve the harmonic suppression effect, the random frequency variation period can be made to change with the change of the motor speed based on the SVPWM control. To this end, the present application can pre-establish a mapping relationship between the motor speed and the variable parameters of the linear congruential method, and obtain the variable parameters of the linear congruential method that are compatible with the motor speed based on the mapping relationship. Specifically, the mapping relationship can be stored in the storage unit of the motor in the form of a preset mapping table, and the preset mapping table stores the variable parameters of the linear congruential method corresponding to different motor speeds. On the basis of knowing the motor speed, the variable parameters of the linear congruential method that are compatible with the motor speed can be found based on the preset mapping table.

[0073] Step S203: Generate a random frequency conversion period based on the translinear congruential method.

[0074] In this step, a random frequency conversion cycle is generated based on the linear congruential method using the above variable parameters, so that the harmonic suppression effect can be better achieved in the full frequency band of the motor.

[0075] In the technical solution disclosed in the present embodiment, in order to broaden the selection range of random numbers of the frequency conversion cycle on the basis of ensuring normal control of the motor, when the random frequency conversion cycle is small, angle-related code operations are prohibited, and the motor speed and system time are used to calculate the angle required for motor control. When the random frequency conversion cycle is normal, the angle-related code is operated, and the sampling function receives the motor speed w and angle θ sent by the angle decoding unit, thereby ensuring normal control of the motor on the basis of reducing the amount of sampling function code operations, thereby broadening the selection range of random numbers of the frequency conversion cycle and making the harmonic dispersion more uniform.

[0076] For details, see Figure 3 In the above solution, the function operation amount of the sampling function adjusted following the frequency conversion period may specifically include:

[0077] Step S301: determine whether the period length of the random frequency variation period corresponding to the current period is greater than a preset threshold.

[0078] In the technical solution disclosed in the embodiment of the present application, a preset threshold can be optionally set, and the cycle duration of the random frequency variation cycle corresponding to the current cycle is compared with the preset threshold, and the subsequent execution steps are selected based on the comparison result, that is, when the cycle duration of the random frequency variation cycle is greater than the preset threshold, step S302 is executed, and when the cycle duration of the random frequency variation cycle is less than the preset threshold, step S303 is executed.

[0079] Step S302: If it is greater than the preset threshold, obtain the current motor speed and angle, read the current system timestamp, and use the current motor speed, angular velocity and system timestamp as the function operation of the sampling function.

[0080] When the period length of the random frequency conversion cycle is greater than the preset threshold, the angle-related code operation is executed, and the sampling function corresponding to the sampling period receives the motor speed w and angle θ sent by the angle decoding unit. At the same time, when the angle decoding unit completes the motor speed calculation, the system timestamp time1 is read, and the motor speed, angular velocity and system timestamp at the current moment are used as the function operation amount of the sampling function, and sampling is performed based on the sampling function.

[0081] Step S303: If it is less than the preset threshold, obtain the speed and angle of the motor at the previous moment, read the system timestamp of the current moment, and calculate the angle of the motor at the current moment based on the system timestamp of the previous moment, the system timestamp of the previous moment, and the speed and angle of the motor at the previous moment. Use the speed of the motor at the previous moment, the angular velocity of the motor at the current moment, and the system time at the current moment as the function operation of the sampling function.

[0082] In the technical solution disclosed in the embodiment of the present application, if the period length of the random frequency conversion period is less than the preset threshold, the sampling function prohibits the operation of the angle-related code, and only reads the system timestamp time2 when the operation of the prohibited angle-related code is performed, and uses the motor speed w and angle θ at the previous moment of the operation of the prohibited angle-related code, as well as the two system timestamps time1 and time2, and uses the formula θ new =θ+(time2-time1)*w Calculate the motor angle θ at the current moment new , based on the motor speed at the previous moment, the angular velocity of the motor at the current moment and the system time at the current moment as the function operation amount of the sampling function, the motor control is performed based on the sampling function.

[0083] This embodiment discloses a motor harmonic suppression device based on SVPWM control. For the specific working contents of each unit in the device, please refer to the contents of the above method embodiment.

[0084] The following is a description of a motor harmonic suppression device based on SVPWM control provided by an embodiment of the present invention. The motor harmonic suppression device described below and the motor harmonic suppression method described above can be referenced to each other.

[0085] This application discloses a motor harmonic suppression device based on SVPWM control, see Figure 4 , the device may include:

[0086] Random frequency conversion cycle generating unit 1, switching time calculating unit 2, sampling function adjusting unit 3, motor control unit 4;

[0087] Corresponding to step S101 in the above method, the random frequency conversion period generating unit 1 is used to generate a random frequency conversion period;

[0088] Corresponding to step S102 in the above method, the switching time calculation unit 2 is used to calculate the turn-on time and turn-off time of the power switch based on the random frequency conversion cycle;

[0089] Corresponding to step S103 in the above method, the sampling function adjustment unit 3 is used to adjust the function operation amount of the sampling function according to the frequency conversion cycle;

[0090] Corresponding to step S104 in the above method, the motor control unit 4 is used to control the switching cycle of the power switch tube based on the turn-on time and the turn-off time, and perform sampling control based on the adjusted sampling cycle.

[0091] Corresponding to the above method, the random frequency conversion period generating unit 1 is specifically used for:

[0092] Generate random frequency-varying cycles by linear congruential method.

[0093] Corresponding to the above method, the sampling function adjustment unit 3 is specifically used for:

[0094] Determine whether the period length of the random frequency conversion period corresponding to the current period is greater than a preset threshold;

[0095] If it is greater than the preset threshold, the speed and angle of the motor at the current moment are obtained, the system timestamp at the current moment is read, and the speed, angular velocity and system timestamp of the motor at the current moment are used as the function operation of the sampling function;

[0096] If it is less than the preset threshold, obtain the speed and angle of the motor at the previous moment, read the system timestamp of the current moment, and calculate the angle of the motor at the current moment based on the system timestamp of the previous moment, the system timestamp of the previous moment, and the speed and angle of the motor at the previous moment. Use the speed of the motor at the previous moment, the angular velocity of the motor at the current moment, and the system time at the current moment as the function operation of the sampling function.

[0097] Corresponding to the above method, the random frequency conversion period generating unit 1 is specifically used for:

[0098] Get the motor speed;

[0099] Obtaining variable parameters of the linear congruential method corresponding to the motor speed;

[0100] A random frequency conversion period is generated based on the translinear congruential method.

[0101] Corresponding to the above method, the present application also discloses a storage medium, wherein the storage medium stores a plurality of instructions, wherein the instructions are suitable for loading by a processor to execute the steps in any of the above-mentioned SVPWM motor harmonic suppression methods.

[0102] Corresponding to the above method, the present application also discloses a motor harmonic suppression device, Figure 5 For a hardware structure diagram of the server provided in the embodiment of the present invention, see Figure 5 As shown, it includes: it may include: at least one processor 100, at least one communication interface 200, at least one memory 300 and at least one communication bus 400;

[0103] In the embodiment of the present invention, the number of the processor 100, the communication interface 200, the memory 300, and the communication bus 400 is at least one, and the processor 100, the communication interface 200, and the memory 300 communicate with each other through the communication bus 400; obviously, Figure 5The communication connections shown for the processor 100, the communication interface 200, the memory 300, and the communication bus 400 are merely optional;

[0104] Optionally, the communication interface 200 may be an interface of a communication module, such as an interface of a GSM module;

[0105] The processor 100 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0106] The memory 300 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0107] The processor 100 is specifically configured to:

[0108] Generate random frequency-varying cycles;

[0109] Calculating the turn-on time and turn-off time of the power switch based on the random frequency conversion cycle;

[0110] Adjusting the function operation amount of the sampling function according to the frequency conversion cycle;

[0111] The switching cycle of the power switch tube is controlled based on the turn-on time and the turn-off time, and sampling control is performed based on the adjusted sampling cycle.

[0112] For the convenience of description, the above system is described as being divided into various modules according to their functions. Of course, when implementing the present invention, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0113] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0114] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0115] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0116] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0117] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A motor harmonic suppression method based on SVPWM control, characterized in that: include: Generate random frequency-varying cycles; Calculating the turn-on time and turn-off time of the power switch tube based on the random frequency conversion cycle; Adjusting the function operation amount of the sampling function according to the frequency conversion cycle; Controlling the switching cycle of the power switch tube based on the turn-on time and the turn-off time, and performing sampling control based on the adjusted sampling cycle; The function operation amount of the sampling function adjusted following the frequency conversion period includes: Determine whether the period length of the random frequency conversion period corresponding to the current period is greater than a preset threshold; If it is greater than the preset threshold, the speed and angle of the motor at the current moment are obtained, the system timestamp at the current moment is read, and the speed, angular velocity and system timestamp of the motor at the current moment are used as the function operation of the sampling function; If it is less than the preset threshold, obtain the speed and angle of the motor at the previous moment, read the system timestamp of the current moment, and calculate the angle of the motor at the current moment based on the system timestamp of the previous moment, the system timestamp of the current moment, and the speed and angle of the motor at the previous moment. Use the speed of the motor at the previous moment, the angular velocity of the motor at the current moment, and the system time at the current moment as the function operation of the sampling function.

2. The motor harmonic suppression method based on SVPWM control according to claim 1 is characterized in that: Generate random frequency-varying cycles, including: Generate random frequency-varying cycles by linear congruential method.

3. The motor harmonic suppression method based on SVPWM control according to claim 2 is characterized in that: The method of generating a random frequency conversion cycle by a linear congruential method comprises: Get the motor speed; Obtaining variable parameters of the linear congruential method corresponding to the motor speed; A random frequency conversion period is generated based on the translinear congruential method.

4. The motor harmonic suppression method based on SVPWM control according to claim 3 is characterized in that: Obtaining variable parameters of the linear congruential method corresponding to the motor speed includes: The variable parameters of the linear congruential method corresponding to the motor speed are acquired based on a preset mapping table, wherein the variable parameters of the linear congruential method matching the motor speed are recorded in the preset mapping table.

5. A motor harmonic suppression device based on SVPWM control, characterized in that: include: A random frequency conversion cycle generating unit, used for generating a random frequency conversion cycle; A switch time calculation unit, used to calculate the turn-on time and turn-off time of the power switch tube based on the random frequency conversion cycle; A sampling function adjustment unit, used to adjust the function operation amount of the sampling function according to the frequency conversion cycle; A motor control unit, used to control the switching cycle of the power switch tube based on the switch-on time and the switch-off time, and perform sampling control based on the adjusted sampling cycle; Wherein, the sampling function adjustment unit is specifically used for: Determine whether the period length of the random frequency conversion period corresponding to the current period is greater than a preset threshold; If it is greater than the preset threshold, the speed and angle of the motor at the current moment are obtained, the system timestamp at the current moment is read, and the speed, angular velocity and system timestamp of the motor at the current moment are used as the function operation of the sampling function; If it is less than the preset threshold, obtain the speed and angle of the motor at the previous moment, read the system timestamp of the current moment, and calculate the angle of the motor at the current moment based on the system timestamp of the previous moment, the system timestamp of the current moment, and the speed and angle of the motor at the previous moment. Use the speed of the motor at the previous moment, the angular velocity of the motor at the current moment, and the system time at the current moment as the function operation of the sampling function.

6. The motor harmonic suppression device based on SVPWM control according to claim 5, characterized in that: The random frequency-changing period generating unit is specifically used for: Generate random frequency-varying cycles by linear congruential method.

7. The motor harmonic suppression device based on SVPWM control according to claim 6, characterized in that: The random frequency conversion period generating unit is specifically used for: Get the motor speed; Obtaining variable parameters of the linear congruential method corresponding to the motor speed; A random frequency conversion period is generated based on the translinear congruential method.

8. A storage medium, characterized in that: The storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the steps in the motor harmonic suppression method based on SVPWM control as described in any one of claims 1 to 4.

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