Method and device for pulse regulation and phase current reconstruction of a three-phase motor drive system

Abstract

The embodiment of the application discloses a three-phase motor driving system pulse regulation and phase current reconstruction method and device, the pulse regulation method comprises the following steps: in the three-phase motor driving control, moving all PWM pulses to the direction of the end of the PWM period in each pulse width regulation PWM period, so that the time interval between the falling edges of two adjacent PWM pulses meets the time length requirement of bus current collection. Through the embodiment scheme, the minimum sampling time required when the motor system uses the bus current to reconstruct the phase current is guaranteed, the sampling time point is determined in combination with the overall motor control, and a technical basis is provided for ensuring that the changed PWM has smaller influence on the motor control index.

Description

Technical Field

[0001] The embodiments of the present application relate to motor control technology, and in particular to a method and device for pulse regulation and phase current reconstruction of a three-phase motor drive system. Background Art

[0002] Three-phase motor drive systems are the most widely used in industrial production. Phase current feedback is essential for motor control. For three-phase motor control, the system must know the current values ​​of at least two phases, while the third phase current can be calculated by summing the three phase currents to zero. To save costs or reduce the size and weight of motor drive systems, a technique has been proposed to reconstruct the three-phase currents using busbar current sampling. This technique can also be applied to motor redundancy control, improving the redundancy and reliability of motor drive systems.

[0003] In normal PWM modulation, bus current sampling can reconstruct three-phase currents under most operating conditions. However, due to factors such as system dead time, switch conduction time, and AD minimum sampling time, the system requires a minimum sampling time. Under conditions such as light load, the effective PWM action time may not meet the minimum sampling time. To address this issue, two main technical solutions have been proposed: pulse insertion and pulse shifting.

[0004] Pulse insertion methods can be divided into two categories. One involves inserting a measurement pulse after the normal PWM cycle. The width of the inserted measurement pulse ensures the minimum sampling time for the bus current. This approach changes the original PWM cycle, reducing the system's effective operating range. The other type of pulse insertion method inserts pulses within the PWM cycle, extending the PWM effective operating time to ensure the minimum system sampling time. Although this approach does not change the original PWM cycle, it does change the PWM effective operating time, which can cause greater distortion in system indicators such as current and torque.

[0005] The pulse shifting method shifts the original PWM to ensure the minimum sampling time. Conventional pulse shifting typically shifts the wide pulses in the three-phase PWM forward and the narrow pulses backward. While this method can ensure the minimum sampling time, it fails to consider the impact of the sampling timing on motor control from the overall motor control perspective. Summary of the Invention

[0006] The embodiments of the present application provide a method and device for pulse regulation and phase current reconstruction of a three-phase motor drive system, which ensures the minimum sampling time required when the motor system uses bus current to reconstruct the phase current, and provides a technical basis for determining the sampling time point in combination with the overall control of the motor to ensure that the modified PWM has little impact on the motor control indicators.

[0007] The embodiment of the present application provides a pulse regulation method of a three-phase motor driving system, which can comprise the following steps:

[0008] In the three-phase motor driving control, all PWM pulses are moved to the direction of the end of a PWM period in each pulse width regulation PWM period, so that the time interval between the falling edges of two adjacent PWM pulses meets the time length requirement of bus current collection.

[0009] In the embodiment of the present application, the step of moving all PWM pulses to the direction of the end of a PWM period in each pulse width regulation PWM period, so that the time interval between the falling edges of two adjacent PWM pulses meets the time length requirement of bus current collection can comprise the following steps:

[0010] moving the whole of each PWM pulse to the direction of the end of the PWM period, and making the time interval between the falling edge of each PWM pulse and the end point of the PWM period or the falling edge of another PWM pulse meet the preset time length requirement according to the different widths of the PWM pulses.

[0011] In the embodiment of the present application, the step of making the time interval between the falling edge of each PWM pulse and the end point of the PWM period or the falling edge of another PWM pulse meet the preset time length requirement according to the different widths of the PWM pulses can comprise the following steps:

[0012] confirming a first pulse with the widest pulse width, a second pulse with the second widest pulse width and a third pulse with the third widest pulse width in all the PWM pulses;

[0013] moving the falling edge of the first pulse to a first time point which is a first preset time length away from the end point of the current PWM period;

[0014] moving the falling edge of the second pulse to a second time point which is a second preset time length away from the falling edge of the first pulse after the movement;

[0015] moving the falling edge of the third pulse to a third time point which is a third preset time length away from the falling edge of the second pulse after the movement.

[0016] In the embodiment of the present application, the first preset time length is less than or equal to a preset time length threshold.

[0017] The second preset time length and the third preset time length are the minimum effective action time lengths of each PWM pulse.

[0018] In the embodiment of the present application, the minimum effective action time length may meet the following requirements:

[0019] ;

[0020] in, It is the dead time between the driving signals of the upper and lower switches of the same phase bridge arm;

[0021] The time required for the switch itself to turn on;

[0022] It is the time required for the current in the motor winding to reach stability after the bus voltage is applied to the motor winding;

[0023] The minimum sampling hold time.

[0024] An embodiment of the present application provides a three-phase motor drive system pulse regulation device, which may include a first processor and a first computer-readable storage medium. The first computer-readable storage medium stores instructions. When the instructions are executed by the first processor, the three-phase motor drive system pulse regulation method is implemented.

[0025] The present application also provides a method for reconstructing phase current of a three-phase motor drive system. The method may include:

[0026] In each pulse width modulation (PWM) cycle of the three-phase motor drive control, the PWM pulse is adjusted using the pulse adjustment method of the three-phase motor drive system;

[0027] The bus current is collected as the phase current according to the pulse-regulated PWM pulse.

[0028] In an exemplary embodiment of the present application, collecting the bus current as the phase current according to the pulse-adjusted PWM pulse may include:

[0029] identifying a first pulse with the widest pulse width, a second pulse with the second widest pulse width, and a third pulse with the third widest pulse width among all the PWM pulses;

[0030] Starting a bus current sampling instruction at the falling edge of the second pulse, and using the collected bus current as the phase current of the bridge arm corresponding to the first pulse;

[0031] The bus current sampling instruction is started at the falling edge of the third pulse, and the collected bus current is used as the phase current of the bridge arm corresponding to the third pulse.

[0032] In an exemplary embodiment of the present application, the method may further include:

[0033] Calculate the third phase current based on the relationship between the three phase currents and the obtained two phase currents;

[0034] The two phase currents and the third phase current are used as three-phase currents for control calculation of the three-phase motor drive system and applied to the next round of motor control calculation.

[0035] An embodiment of the present application also provides a three-phase motor drive system phase current reconstruction device, which may include a second processor and a second computer-readable storage medium, wherein the second computer-readable storage medium stores instructions. When the instructions are executed by the second processor, the three-phase motor drive system phase current reconstruction method is implemented.

[0036] Compared to related technologies, the present embodiment can include: in three-phase motor drive control, within each pulse-width modulation (PWM) cycle, shifting all PWM pulses toward the end of the PWM cycle, ensuring that the duration between the falling edges of two adjacent PWM pulses meets the required duration for bus current acquisition. This embodiment ensures the minimum sampling time required for the motor system to reconstruct phase currents using bus current, providing a technical foundation for determining sampling time points in conjunction with overall motor control, ensuring that the modified PWM has minimal impact on motor control indicators.

[0037] Other features and advantages of the present application will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present application. Other advantages of the present application can be realized and obtained by the solutions described in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings are used to provide an understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0039] Figure 1 This is a flow chart of a pulse regulation method for a three-phase motor drive system according to an embodiment of the present application;

[0040] Figure 2 Schematic diagram of the current loop when the switch state is 100 in the related art;

[0041] Figure 3 Schematic diagram of the current loop when the switch state is 110 in the related art;

[0042] Figure 4 Schematic diagram of PWM pulses and switch states when a given reference voltage vector is located in the third sector in the related art;

[0043] Figure 5 A schematic diagram of current changes after the switch tube is turned on in the related art;

[0044] Figure 6Schematic diagram of the effective duration of the switch state 110 when the SVPWM modulation is at the sector boundary in the related art;

[0045] Figure 7 Schematic diagram of the effective duration of the switch states 100 and 110 when the motor system is in a light-load region in the related art;

[0046] Figure 8 A schematic diagram of a pulse regulation method for a three-phase motor drive system according to an embodiment of the present application;

[0047] Figure 9 This is a block diagram of the pulse regulation device of the three-phase motor drive system according to an embodiment of the present application;

[0048] Figure 10 This is a flow chart of a phase current reconstruction method for a three-phase motor drive system according to an embodiment of the present application;

[0049] Figure 11 This is a block diagram of a phase current reconstruction device for a three-phase motor drive system according to an embodiment of the present application. DETAILED DESCRIPTION

[0050] This application describes multiple embodiments, but this description is exemplary rather than restrictive, and it will be apparent to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described herein. Although many possible feature combinations are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.

[0051] This application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive solution defined by the claims. Any features or elements of any embodiment may also be combined with features or elements from other inventive solutions to form another unique inventive solution defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any appropriate combination. Therefore, except for the limitations made according to the appended claims and their equivalents, the embodiments are not subject to other limitations. In addition, various modifications and changes may be made within the scope of protection of the appended claims.

[0052] In addition, when describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, to the extent that the method or process does not rely on the specific order of the steps described herein, the method or process should not be limited to the steps in the specific order described. As will be understood by those skilled in the art, other orders of steps are also possible. Therefore, the specific order of the steps set forth in the specification should not be interpreted as a limitation to the claims. In addition, the claims for the method and / or process should not be limited to performing their steps in the order written, and those skilled in the art can readily understand that these orders can be changed and still remain within the spirit and scope of the embodiments of the present application.

[0053] The embodiment of the present application provides a pulse regulation method for a three-phase motor drive system, such as Figure 1 As shown, the method may include step S101:

[0054] S101. In three-phase motor drive control, in each pulse width modulation (PWM) cycle, all PWM pulses are moved toward the end of the PWM cycle so that the duration interval between the falling edges of two adjacent PWM pulses meets the duration requirement for bus current acquisition.

[0055] For a three-phase motor control system using the SVPWM vector control strategy, during the action of each basic voltage vector, the switching states of the upper and lower switches in the three arms of the control bridge (corresponding to phases A, B, and C, respectively) remain unchanged, and the current loop is fixed. At this time, the relationship between the bus current and the phase current of the motor winding is determined.

[0056] Here, the state of the upper switch tube of each phase bridge arm being on and the lower switch tube being off is defined as "1", and the state of the lower switch tube being on and the upper switch tube being off is defined as "0". Thus, the current loop when the switch state is (1 0 0) can be obtained as follows: Figure 2 As shown, the bus current is consistent with the phase A current at this time, so the phase A current at this time can be reconstructed by sampling the bus current at this time. Similarly, when the switch state is (1 1 0), the current loop is as follows Figure 3 At this time, the bus current amplitude is consistent with the C-phase current amplitude, so the C-phase current at this time can be reconstructed by sampling the bus current at this time.

[0057] Similarly, by analyzing the current loops under the eight basic voltage vector switching states of SVPWM, the corresponding relationship between the bus current and the phase current under all switching tube states can be obtained, as shown in Table 1.

[0058] Table 1

[0059]

[0060] In each PWM cycle of SVPWM, a voltage vector is selected from the first voltage vector in Table 1 according to different sectors, a voltage vector is selected from the second voltage vector, and then two voltage vectors are combined in the third voltage vector.

[0061] For example, Figure 4 As shown, the given reference voltage vector of this embodiment is located in the third sector. In each switching cycle, the reference voltage vector consists of four states: (0 0 0), (1 0 0), (1 1 0), and (1 1 1). The bus current is sampled at all times to obtain the A-phase winding current. When the switch state is (1 1 0) The bus current is detected to obtain the C phase winding current. The system usually calculates the current of phases A and C in the algorithm at the end of PWM counting. and ,use The B phase current is calculated by the relationship , and uses the obtained three-phase current to perform motor control operations. The EPWM (Enhanced Pulse Width Modulator) counter is a counting register of the PWM generation unit in the DSP (Digital Signal Processing) controller. Different controllers may have different PWM generation devices, but the basic principles are the same and do not exceed the scope of protection of the embodiments of this application.

[0062] When the PWM cycle is long, the current variation within one PWM cycle is large. Therefore, if the bus current sampling time point is not selected appropriately, the calculated third-phase current value may differ significantly from the actual value, resulting in a decrease in control performance.

[0063] like Figure 5 As shown in Figure 1, ideally, after the switch is turned on, the current rise and current sampling can be completed instantaneously. However, in actual circuit systems, many non-ideal factors exist, such as dead time, switch on / off time, and AD minimum sample-and-hold time. Therefore, bus current sampling cannot be completed within all valid voltage vectors.

[0064] In engineering implementation, in order to avoid the occurrence of bridge arm direct conduction and short circuit, the system usually introduces a certain dead time in the driving signal of the upper and lower switch tubes of the same bridge arm. In addition, when a switch tube (such as a power tube) is given a driving signal, there is also a certain delay in the opening and closing of the switch tube itself, which is recorded as and When the bus voltage is applied to the motor winding, due to the presence of inductance in the winding, the current cannot rise to a stable value instantaneously, and a certain amount of establishment and stabilization time is required. After the current reaches a stable value, the AD converter starts sampling and converting the current. A minimum sampling and holding time is required. Therefore, it is necessary to ensure that the effective action time of PWM is not less than a minimum time value. In order to complete the correct current sampling. .

[0065] like Figure 6 As shown, when SVPWM modulation is at the sector boundary, the effective duration of the (110) switch state is Less than .like Figure 7 As shown, when the motor system is in the light load area, the effective duration of the switch states (100) and (110) is and All less than This will cause the system to be unable to complete current sampling within the effective PWM action time.

[0066] In an exemplary embodiment of the present application, in order to solve the problem that the PWM effective action time cannot meet the sampling requirements when the SVPWM modulation is at the sector boundary and the motor system is in the light load area, while taking into account the selection of a suitable sampling time point to ensure the motor control performance, the embodiment of the present application proposes the following Figure 1 and Figure 8 The pulse shifting method shown is to shift all PWM pulses backward in each pulse width modulation (PWM) cycle.

[0067] In an exemplary embodiment of the present application, the step of shifting all PWM pulses toward the end of each pulse width modulation (PWM) cycle so that the duration between the falling edges of two adjacent PWM pulses meets the duration requirement for bus current acquisition may include:

[0068] Each PWM pulse is moved as a whole toward the end of the PWM cycle, and according to the different widths of the PWM pulses, the time interval between the falling edge of each PWM pulse and the end point of the PWM cycle or the falling edge of another PWM pulse meets the preset time requirement.

[0069] In an exemplary embodiment of the present application, the step of ensuring that the time interval between the falling edge of each PWM pulse and the end point of the PWM cycle or the falling edge of another PWM pulse meets a preset time requirement based on the different widths of the PWM pulses may include:

[0070] identifying a first pulse with the widest pulse width, a second pulse with the second widest pulse width, and a third pulse with the third widest pulse width among all the PWM pulses;

[0071] The falling edge of the first pulse moves to a first time point that is a first preset time length away from the end point of the current PWM cycle;

[0072] The falling edge of the second pulse moves to a second time point that is a second preset time length away from the falling edge of the first pulse after the movement;

[0073] The falling edges of the three pulses are moved to a third time point of a third preset time length from the falling edge of the second pulse after the distance is moved.

[0074] In the exemplary embodiments of the present application, Figure 8 As shown, in each PWM cycle, the first pulse with the widest pulse width can be pulse, the second widest pulse is pulse, the narrowest third pulse is pulse.

[0075] In an exemplary embodiment of the present application, it is possible to move Pulse to The distance between the falling edge of the pulse and the end point of this PWM cycle (that is, the time when the controller starts to collect data and start the next round of calculation) Time point) interval Duration (i.e. the first preset duration).

[0076] In an exemplary embodiment of the present application, it is possible to move Pulse to Pulse falling edge distance Pulse falling edge interval duration (i.e., the second preset duration).

[0077] In an exemplary embodiment of the present application, it is possible to move Pulse to Pulse falling edge distance Pulse falling edge interval duration (i.e., the third preset duration).

[0078] In an exemplary embodiment of the present application, the first preset duration is less than or equal to a preset duration threshold. ≤ε (i.e., time length threshold), where ε is a very small positive integer. The value of ε can be defined according to needs, and there is no limit on the specific value.

[0079] In an exemplary embodiment of the present application, the second preset duration and the third preset duration are the minimum effective duration of each PWM pulse. That is, the following conditions can be satisfied: , .

[0080] In an exemplary embodiment of the present application, the minimum effective duration Can satisfy:

[0081] ;

[0082] in, It is the dead time between the driving signals of the upper and lower switches of the same phase bridge arm;

[0083] The time required for the switch itself to turn on;

[0084] It is the time required for the current in the motor winding to reach stability after the bus voltage is applied to the motor winding;

[0085] The minimum sampling hold time.

[0086] The embodiment of the present application provides a three-phase motor drive system pulse adjustment device 1, such as Figure 9 As shown, it may include a first processor 11 and a first computer-readable storage medium 12, wherein the first computer-readable storage medium 12 stores instructions. When the instructions are executed by the first processor 11, the three-phase motor drive system pulse regulation method is implemented.

[0087] In the exemplary embodiments of the present application, any of the aforementioned embodiments of the three-phase motor drive system pulse regulation method are applicable to the three-phase motor drive system pulse regulation device 1, and will not be described in detail here.

[0088] The present application also provides a method for reconstructing phase current of a three-phase motor drive system. Figure 10 As shown, the method may include steps S201-S202:

[0089] S201, in each pulse width modulation (PWM) cycle in the three-phase motor drive control, adjusting the PWM pulse using the three-phase motor drive system pulse adjustment method;

[0090] S202 : Collect bus current as phase current according to the pulse-adjusted PWM pulse.

[0091] In an exemplary embodiment of the present application, collecting the bus current as the phase current according to the pulse-adjusted PWM pulse may include:

[0092] identifying a first pulse with the widest pulse width, a second pulse with the second widest pulse width, and a third pulse with the third widest pulse width among all the PWM pulses;

[0093] Starting a bus current sampling instruction at the falling edge of the second pulse, and using the collected bus current as the phase current of the bridge arm corresponding to the first pulse;

[0094] The bus current sampling instruction is started at the falling edge of the third pulse, and the collected bus current is used as the phase current of the bridge arm corresponding to the third pulse.

[0095] In the exemplary embodiments of the present application, Figure 8 As shown, the system can The falling edge of the pulse ( Time point) starts the sampling instruction, and the bus current sampled this time is for The pulse corresponds to the phase current of the bridge arm The system can be The falling edge of the pulse ( Time point) starts the sampling instruction, and the bus current sampled this time is for The pulse corresponds to the phase current of the bridge arm .

[0096] In an exemplary embodiment of the present application, the method may further include:

[0097] Calculate the third phase current based on the relationship between the three phase currents and the obtained two phase currents;

[0098] The two phase currents and the third phase current are used as three-phase currents for control calculation of the three-phase motor drive system and applied to the next round of motor control calculation.

[0099] In an exemplary embodiment of the present application, when the controller starts collecting data The time point can be based on Calculated The pulse corresponds to the phase current of the bridge arm , and 、 、 The three-phase current is used for the next round of motor control calculation.

[0100] The embodiment of the present application also provides a three-phase motor drive system phase current reconstruction device 2, such as Figure 11 As shown, it may include a second processor 21 and a second computer-readable storage medium 22, in which instructions are stored. When the instructions are executed by the second processor 21, the three-phase motor drive system phase current reconstruction method is implemented.

[0101] In the exemplary embodiments of the present application, any of the aforementioned embodiments of the three-phase motor drive system phase current reconstruction method are applicable to the three-phase motor drive system phase current reconstruction device 2, and will not be described in detail here.

[0102] In an exemplary embodiment of the present application, the embodiment of the present application reconstructs the phase current using the bus current based on the corresponding relationship between the bus current and the phase current in different switch states within the PWM cycle. The embodiment of the present application has at least the following advantages:

[0103] 1. The PWM pulse signals are classified according to different widths and the shifting method is unified to simplify the processing algorithm. This can cope with the vector commutation area in PWM modulation and the light-load condition of the motor system.

[0104] 2. The PWM processing method does not change the original PWM cycle, does not change the original PWM effective action time, and has little impact on the effective working range of the motor system.

[0105] 3. A clear and effective sampling time point for PWM is proposed to take into account the overall control of the motor, minimizing the impact of pulse shift on the motor control performance.

[0106] Those skilled in the art will appreciate that all or some of the steps, systems, and functional modules / units in the methods, systems, and devices disclosed above may be implemented as software, firmware, hardware, or any combination thereof. In hardware implementations, the division between functional modules / units described above does not necessarily correspond to the division between physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media encompasses both volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A pulse regulation method for a three-phase motor drive system, characterized in that: The method comprises: In three-phase motor drive control, all PWM pulses are shifted toward the end of each pulse width modulation (PWM) cycle, so that the duration between the falling edges of two adjacent PWM pulses meets the duration requirement for bus current acquisition when SVPWM modulation is at the sector boundary and the motor system is in the light load region. The method of moving all PWM pulses toward the end of each PWM cycle in each pulse width modulation (PWM) cycle so that the duration interval between the falling edges of two adjacent PWM pulses meets the duration requirement for bus current acquisition includes: Each PWM pulse is moved as a whole toward the end of the PWM cycle, and the time interval between the falling edge of each PWM pulse and the end point of the PWM cycle or the falling edge of another PWM pulse meets a preset time requirement according to the different widths of the PWM pulses; The method of ensuring that the time interval between the falling edge of each PWM pulse and the end point of the PWM cycle or the falling edge of another PWM pulse meets a preset time requirement according to the different widths of the PWM pulses includes: identifying a first pulse with the widest pulse width, a second pulse with the second widest pulse width, and a third pulse with the third widest pulse width among all the PWM pulses; The falling edge of the first pulse moves to a first time point that is a first preset time length away from the end point of the current PWM cycle; The falling edge of the second pulse moves to a second time point that is a second preset time length away from the falling edge of the first pulse after the movement; The falling edges of the three pulses are moved to a third time point that is a third preset time length from the falling edge of the second pulse after the movement; The first preset duration is less than or equal to a preset duration threshold; The second preset duration and the third preset duration are the minimum effective duration of each PWM pulse.

2. The pulse regulation method of a three-phase motor drive system according to claim 1, characterized in that: The minimum effective duration satisfy: ； in, It is the dead time between the driving signals of the upper and lower switches of the same phase bridge arm; The time required for the switch itself to turn on; It is the time required for the current in the motor winding to reach stability after the bus voltage is applied to the motor winding; The minimum sampling hold time.

3. A pulse regulation device for a three-phase motor drive system, comprising a first processor and a first computer-readable storage medium, wherein the first computer-readable storage medium stores instructions, characterized in that: When the instruction is executed by the first processor, the pulse regulation method of the three-phase motor drive system according to any one of claims 1-2 is implemented.

4. A phase current reconstruction method for a three-phase motor drive system, characterized in that: The method comprises: In each pulse width modulation (PWM) cycle in the three-phase motor drive control, the PWM pulse is adjusted using the pulse adjustment method for the three-phase motor drive system according to any one of claims 1 to 2; The bus current is collected as the phase current according to the pulse-regulated PWM pulse.

5. The phase current reconstruction method of a three-phase motor drive system according to claim 4, characterized in that: The collecting of the bus current as the phase current according to the pulse-adjusted PWM pulses includes: identifying a first pulse with the widest pulse width, a second pulse with the second widest pulse width, and a third pulse with the third widest pulse width among all the PWM pulses; Starting a bus current sampling instruction at the falling edge of the second pulse, and using the collected bus current as the phase current of the bridge arm corresponding to the first pulse; The bus current sampling instruction is started at the falling edge of the third pulse, and the collected bus current is used as the phase current of the bridge arm corresponding to the third pulse.

6. The phase current reconstruction method of a three-phase motor drive system according to claim 5, characterized in that: The method further comprises: Calculate the third phase current based on the relationship between the three phase currents and the obtained two phase currents; The two phase currents and the third phase current are used as three-phase currents for control calculation of the three-phase motor drive system and applied to the next round of motor control calculation.

7. A phase current reconstruction device for a three-phase motor drive system, comprising a second processor and a second computer-readable storage medium, wherein the second computer-readable storage medium stores instructions, characterized in that: When the instruction is executed by the second processor, the phase current reconstruction method of the three-phase motor drive system as described in any one of claims 4 to 6 is implemented.

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