Method and device for synchronous modulation of an electric drive system, motor control system and medium

Abstract

The application discloses a synchronous modulation method and device of an electric drive system, a motor control system and a medium, wherein the electric drive system comprises a motor, and the synchronous modulation method comprises the following steps: acquiring current actual voltage angle information of the motor; acquiring voltage angle optimization information of the motor; confirming frequency compensation information of the motor according to the current actual voltage angle information and the voltage angle optimization information; acquiring synchronous control frequency information of the motor; and determining duty cycle modulation information of the motor according to the frequency compensation information and the synchronous control frequency information, so as to control the motor to work. The voltage angle is taken as a control target to perform synchronous modulation control, and the torque precision of motor control and the efficiency of the electric drive system are improved.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a synchronous modulation method, device, motor control system, and medium for electric drive systems. Background Technology

[0002] In existing motor drive systems, as motor speed increases, the switching frequency becomes too high due to limitations in the processing speed of the main control chip or the significant switching losses of power devices. This leads to increased switching losses and reduced efficiency of the motor drive system. Asynchronous modulation results in a large number of high-amplitude low-order harmonics. In such cases, synchronous modulation strategies are generally used to eliminate low-frequency harmonics. Current synchronous modulation control methods utilize a global current control strategy. However, in the constant power region of high-speed applications, the constant changes in speed, limited by factors such as the accuracy of carrier modulation in the main control chip and truncation errors in angle calculations, cause a certain deviation in the phase angle of each fundamental cycle. The continuous accumulation of this deviation leads to continuous changes in the phase angle, making it impossible to achieve angle synchronization, difficult to ensure the symmetry of the three-phase output, causing unstable motor operation, and increasing harmonics in the current output, resulting in increased harmonic losses. Summary of the Invention

[0003] This invention provides a synchronous modulation method, device, motor control system, and medium for an electric drive system, which effectively improves the efficiency of the electric drive system.

[0004] In a first aspect, the present invention provides a synchronization modulation method for an electric drive system, the electric drive system including a motor.

[0005] The synchronization modulation method includes:

[0006] Obtain the current actual voltage angle information of the motor;

[0007] Obtain the voltage angle optimization information of the motor;

[0008] The frequency compensation information of the motor is confirmed based on the current actual voltage angle information and the voltage angle optimization information.

[0009] Obtain the synchronous control frequency information of the motor;

[0010] The duty cycle modulation information of the motor is determined based on the frequency compensation information and the synchronization control frequency information to control the operation of the motor.

[0011] Optionally, before obtaining the current actual voltage angle information of the motor, the method further includes:

[0012] Obtain the motor rotor position information and current voltage angle information of the motor;

[0013] Obtain the target voltage angle information of the motor;

[0014] The current actual voltage angle information of the motor is determined based on the motor rotor position information, the current voltage angle information, and the target voltage angle information.

[0015] Optionally, before obtaining the voltage angle optimization information of the motor, the method further includes:

[0016] Obtain the target voltage angle information of the motor;

[0017] Obtain the angular offset information of the motor;

[0018] The voltage angle optimization information is determined based on the target voltage angle information and the angle offset information.

[0019] Optionally, before obtaining the target voltage angle information of the motor, the method further includes:

[0020] Obtain the preset voltage angle value of the motor;

[0021] Obtain the synchronization modulation synchronization number of the motor;

[0022] The target voltage angle information is determined based on the preset voltage angle value and the synchronization modulation synchronization number.

[0023] Optionally, the frequency compensation information of the motor is determined based on the current actual voltage angle information and the voltage angle optimization information, including:

[0024] The frequency compensation information of the motor is determined by subtracting the current actual voltage angle information from the voltage angle optimization information.

[0025] Optionally, determining the motor's duty cycle modulation information based on the frequency compensation information and the synchronization control frequency information to control the motor's operation includes:

[0026] The frequency compensation information and the synchronization control frequency information are summed to determine the duty cycle modulation information of the motor, so as to control the operation of the motor.

[0027] Optionally, the synchronization control frequency information f satisfies:

[0028]

[0029] Where N is the synchronization modulation number, θ is the voltage angle, ε is a positive number, c is the adjustment parameter, and P is the number of electrode pairs. Let be the symbolic parameter for the sliding surface s.

[0030] In a second aspect, the present invention provides a synchronous modulation device for an electric drive system, the electric drive system comprising an electrically connected three-phase inverter and a motor;

[0031] The synchronization modulation device includes:

[0032] The current actual voltage angle information acquisition module is used to acquire the current actual voltage angle information of the motor;

[0033] A voltage angle optimization information acquisition module is used to acquire the voltage angle optimization information of the motor.

[0034] The frequency compensation information confirmation module is used to confirm the frequency compensation information of the motor based on the current actual voltage angle information and the voltage angle optimization information.

[0035] A synchronization control frequency information acquisition module is used to acquire the synchronization control frequency information of the motor;

[0036] The duty cycle modulation information acquisition module is used to determine the duty cycle modulation information of the motor based on the frequency compensation information and the synchronization control frequency information, so as to control the operation of the motor.

[0037] Thirdly, the present invention provides a motor control system, including an electric drive system and a controller, wherein the controller is used to execute the synchronization modulation method of the electric drive system described in any of the first aspects.

[0038] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a processor to execute and implement a synchronous modulation method for an electrically driven system as described in any of the first aspects.

[0039] The technical solution of this invention provides a synchronization modulation method, apparatus, motor control system, and medium for an electric drive system. The electric drive system includes a motor. The synchronization modulation method includes: acquiring the current actual voltage angle information of the motor; acquiring voltage angle optimization information of the motor; confirming the frequency compensation information of the motor based on the current actual voltage angle information and the voltage angle optimization information; acquiring the synchronization control frequency information of the motor; and determining the duty cycle modulation information of the motor based on the frequency compensation information and the synchronization control frequency information to control the motor operation. Synchronization modulation control with voltage angle as the control target improves the torque accuracy of motor control and the efficiency of the electric drive system.

[0040] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 A schematic flowchart of a synchronization modulation method for an electric drive system provided in an embodiment of the present invention;

[0043] Figure 2 A graph showing the relationship between motor speed and motor torque is provided in an embodiment of the present invention.

[0044] Figure 3 This is a schematic diagram of the structure of an electric drive system provided in an embodiment of the present invention;

[0045] Figure 4 A schematic diagram of the flow structure of another synchronous modulation method for an electric drive system provided in an embodiment of the present invention;

[0046] Figure 5 A schematic diagram of the flow structure of another synchronous modulation method for an electric drive system provided in an embodiment of the present invention;

[0047] Figure 6 A schematic diagram of the flow structure of another synchronous modulation method for an electric drive system provided in an embodiment of the present invention;

[0048] Figure 7 This is a schematic diagram of a motor synchronization modulation structure provided in an embodiment of the present invention;

[0049] Figure 8 A schematic diagram of the flow structure of another synchronous modulation method for an electric drive system provided in an embodiment of the present invention;

[0050] Figure 9 A schematic diagram of the flow structure of another synchronous modulation method for an electric drive system provided in an embodiment of the present invention;

[0051] Figure 10 A schematic diagram of the structure of a synchronous modulation device for an electric drive system provided by the present invention;

[0052] Figure 11 This is a schematic diagram of a motor control system provided by the present invention. Detailed Implementation

[0053] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0054] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0055] Figure 1 This is a schematic flowchart illustrating a synchronization modulation method for an electric drive system according to an embodiment of the present invention. This embodiment is applicable to motor control situations. The method can be executed by a synchronization modulation device of the electric drive system, which can be implemented in hardware and / or software and can be configured in the motor drive system. Figure 1 As shown, the electric drive system includes a motor;

[0056] Synchronization modulation methods include:

[0057] S101, obtain the current actual voltage and angle information of the motor.

[0058] Among them, the voltage angle information is the angle of the output voltage vector on the sector. It obtains the actual voltage angle information of the motor at the current motor speed. Since the motor speed changes in real time, the corresponding actual voltage angle information of the motor also changes.

[0059] S102, obtain the voltage and angle optimization information of the motor.

[0060] The voltage angle optimization information refers to the predicted voltage angle information for the next output, ensuring smooth switching of the voltage angle during motor modulation. The voltage angle changes as the motor speed changes. Figure 2This invention provides a graph showing the relationship between motor speed and motor torque in an embodiment of the invention. Figure 2 In this context, Spd represents the motor speed, and Trq represents the motor torque. In the constant power region, the higher the motor speed, the lower the corresponding motor torque, resulting in a slower response speed. Consequently, there is a certain deviation between the next output voltage angle and the expected output voltage angle, making it difficult to ensure that the motor operates in steady state according to the preset voltage angle.

[0061] S103, confirm the motor frequency compensation information based on the current actual voltage angle information and voltage angle optimization information.

[0062] Among them, based on the current actual voltage angle information and voltage angle optimization information, the frequency compensation information of the motor can be calculated using the sliding diaphragm control principle. That is, the deviation between the current actual voltage angle and the next expected output voltage angle is compensated by the frequency quantity.

[0063] S104, obtain the synchronous control frequency information of the motor.

[0064] Among them, the electric drive system can be based on the sliding mode formula. ; ; Voltage angle - angular velocity formula Angular velocity-control frequency formula Where θ is the voltage angle, ω is the motor electrical angular velocity, f is the synchronization control frequency information, N is the synchronization modulation synchronization number, ε is a positive number, c is the adjustment parameter, and P is the number of electrode pairs. The sign parameter of the sliding surface s can be determined according to the above formula to determine the synchronous control frequency. By introducing sliding diaphragm control, which has fewer adjustment parameters, fast response speed, and strong suppression capability for disturbances, it can purposefully and continuously change according to the current state of the electric drive system during the dynamic operation of the motor, such as the deviation and its derivatives, so that the electric drive system can work according to the predetermined state, that is, reduce the torque fluctuation of the motor, ensure the working efficiency of the system, and reduce losses.

[0065] Optionally, the synchronization control frequency information f satisfies:

[0066]

[0067] Where N is the synchronization modulation number, θ is the voltage angle, ε is a positive number, c is the adjustment parameter, and P is the number of electrode pairs. Let be the symbolic parameter for the sliding surface s.

[0068] The synchronous control frequency information can be confirmed by using the correspondence between the sliding diaphragm control and the voltage angle, and thus the synchronous control frequency information can be used to ensure the normal operation of the motor.

[0069] S105 determines the motor's duty cycle modulation information based on frequency compensation information and synchronous control frequency information in order to control the motor's operation.

[0070] in, Figure 3 This is a schematic diagram of the structure of an electric drive system provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the electric drive system 100 includes a torque-to-current conversion module 101, a current processor 102, a first coordinate conversion module 103, a pulse width modulation circuit 104, a three-phase inverter 105, a motor 106, a current sensor 107, and a second coordinate conversion module 108, which are connected in sequence. The motor 106 operates as follows: when a torque Te is input to the electric drive system, the torque-to-current conversion module 101 outputs currents in the rotating coordinate system (i.e., q-axis current Iq and d-axis current Id) to the current processor 102 based on the torque Te. The current processor 102 outputs Uq and Ud to the first coordinate conversion module based on Iq and Id, respectively. The first coordinate conversion module 103 converts the voltages in the rotating coordinate system (i.e., q-axis voltage Uq and d-axis voltage Ud) into voltages in the stationary coordinate system (i.e., α-axis voltage Uα and β-axis voltage Uβ) and outputs them to the pulse width modulation circuit 104. The control circuit 104 adjusts the pulse widths of Uα and Uβ. The three-phase inverter receives the external bus voltage Ude and outputs three-phase voltage signals to the input terminal of the motor 106 according to the adjusted pulse widths of Uα and Uβ through the three-phase inverter 105. The current sensor 107 collects the three-phase current output by the motor and converts the three-phase current (Ia, Ib, Ic) into current signals in the rotating coordinate system (i.e., q-axis current Iq-ref and d-axis current Id-ref) through the second coordinate transformation module 108. This current signal is transmitted to the current processor as a feedback signal. The current processor 102 adjusts the output signal according to the feedback current signal (q-axis current Iq-ref and d-axis current Id-ref) and the input current signal (i.e., the q-axis current Iq and d-axis current Id output according to the input torque Te) so that the feedback current signal is equal to the input current signal, thereby enabling the motor 106 to work normally. In this invention, the electric drive system 100 analyzes and calculates the frequency compensation information and the synchronization control frequency information to determine the duty cycle modulation information of the motor 106, so that the three-phase inverter 105 receives the new duty cycle modulation information. The three-phase inverter 105 adjusts the three-phase voltage output to the motor 106 according to the duty cycle modulation information, thereby adjusting the working state of the motor 106 and ensuring that the motor 106 operates with voltage angle optimization information, thus enabling the motor 106 to operate normally.

[0071] This invention confirms the motor's frequency compensation information and determines the synchronization control frequency information by analyzing the current actual voltage angle information and voltage angle optimization information. Then, it determines the motor's duty cycle modulation information using the frequency compensation information and the synchronization control frequency information, so that the duty cycle modulation information controls the motor's operation, reduces motor torque fluctuations, ensures the synchronous modulation effect of the motor in the constant power region, and thus improves the efficiency of the electric drive system.

[0072] Optional, Figure 4 A schematic diagram of the flow structure of another synchronous modulation method for an electric drive system provided in an embodiment of the present invention is shown below. Figure 4 As shown, the synchronization modulation method includes:

[0073] S201, obtain the motor rotor position information and current voltage angle information of the motor.

[0074] This involves acquiring the rotor position information and corresponding voltage and angle information of the motor during its current operation. Since the motor speed is constantly changing, this information is useful for reflecting the current operating status of the motor and ensuring the effectiveness of subsequent adjustments.

[0075] S202, Obtain the target voltage and angle information of the motor.

[0076] This involves obtaining the target voltage angle information of the motor under the current motor operating state, which is the expected output voltage angle of the motor in the next cycle based on the previous motor voltage angle and motor speed.

[0077] S203, determine the current actual voltage angle information of the motor based on the motor rotor position information, current voltage angle information and target voltage angle information.

[0078] Specifically, the actual voltage angle information of the motor at the current motor speed is obtained by using the current motor rotor position information, the current voltage angle information, and the preset target voltage angle information. Since the motor speed changes in real time, the corresponding actual voltage angle information of the motor also changes. The actual angle of the motor is confirmed by using the target voltage angle information, thereby ensuring the accuracy of subsequent motor synchronization modulation.

[0079] S204, obtain the current actual voltage and angle information of the motor.

[0080] S205, obtain the voltage and angle optimization information of the motor.

[0081] S206, confirm the motor frequency compensation information based on the current actual voltage angle information and voltage angle optimization information.

[0082] S207, Obtain the synchronous control frequency information of the motor.

[0083] S208 determines the motor's duty cycle modulation information based on frequency compensation information and synchronous control frequency information in order to control the motor's operation.

[0084] This invention, through obtaining the motor rotor position information, current voltage angle information, and target voltage angle information of the motor, determines the current actual voltage angle information. Based on the current actual voltage angle information and voltage angle optimization information, it confirms the frequency compensation information of the motor and determines the synchronization control frequency information. Then, it determines the duty cycle modulation information of the motor through the frequency compensation information and the synchronization control frequency information, so that the duty cycle modulation information controls the operation of the motor, ensuring the synchronous modulation effect of the motor, thereby improving the efficiency of the electric drive system.

[0085] Optional, Figure 5 A schematic diagram of the flow structure of another synchronous modulation method for an electric drive system provided in an embodiment of the present invention is shown below. Figure 5 As shown, the synchronization modulation method includes:

[0086] S301, obtain the current actual voltage and angle information of the motor.

[0087] S302, obtain the target voltage and angle information of the motor.

[0088] This involves acquiring the target voltage angle information of the motor under the current motor operating state. That is, given the previous motor voltage angle and motor speed, the expected output voltage angle of the next motor is obtained. This facilitates the subsequent determination of the angle deviation between the current voltage angle and the next output voltage angle based on the target voltage angle information and the current time voltage angle information. Then, corresponding compensation is made based on the angle deviation to ensure the synchronous adjustment of the motor.

[0089] S303, obtain the motor's angle offset information.

[0090] Among them, the angle offset information is a preset angle value. The voltage angle value in the angle offset information is less than the voltage angle value in the voltage angle optimization information. The angle offset information changes with the rotation speed of the electrode machine. Appropriate angle offset information can be used to properly correct the target voltage angle information.

[0091] S304 determines voltage angle optimization information based on target voltage angle information and angle offset information.

[0092] Specifically, the angle offset information is used to compensate for the target voltage angle information, thereby obtaining voltage angle optimization information. At the same time, the introduction of angle deviation information improves the effect of motor synchronization modulation and ensures the robustness of motor control.

[0093] S305, obtains voltage and angle optimization information for the motor.

[0094] S306, confirm the motor frequency compensation information based on the current actual voltage angle information and voltage angle optimization information.

[0095] S307, obtain the synchronous control frequency information of the motor.

[0096] S308 determines the motor's duty cycle modulation information based on frequency compensation information and synchronous control frequency information in order to control the motor's operation.

[0097] This invention improves motor control robustness by introducing angle deviation information to optimize target voltage angle information and determine voltage angle optimization information. Based on the current actual voltage angle information and voltage angle optimization information, the frequency compensation information of the motor is confirmed, and the synchronization control frequency information is determined. Then, the duty cycle modulation information of the motor is determined through the frequency compensation information and the synchronization control frequency information to control the motor operation, ensuring the synchronous modulation effect of the motor and thus improving the efficiency of the electric drive system.

[0098] Optional, Figure 6 A schematic diagram of the flow structure of another synchronous modulation method for an electric drive system provided in an embodiment of the present invention is shown below. Figure 6 As shown, the synchronization modulation method includes:

[0099] S401, obtain the current actual voltage and angle information of the motor.

[0100] S402, obtain the preset values ​​of the motor voltage and angle.

[0101] During the change of motor speed, it is necessary to determine the next voltage angle of the motor based on the current voltage angle. The preset voltage angle is the expected voltage angle of the motor next time based on the current voltage angle, so as to ensure the synchronous modulation effect of the motor.

[0102] S403, obtain the synchronous modulation synchronization number of the motor.

[0103] Specifically, different synchronous modulation synchronization numbers are selected according to the different speeds of the motor. The synchronous modulation synchronization number is the number of adjustments required within one synchronous modulation cycle of the motor. Figure 7 This is a schematic diagram of a motor synchronization modulation structure provided in an embodiment of the present invention, as shown below. Figure 7 As shown, for example, when the synchronization modulation number is 9 and the number of sectors is 6, the number of adjustments required in one sector is 1.5; when the synchronization modulation number is 12 and the number of sectors is 6, the number of adjustments required in one sector is 2.

[0104] S404 determines the target voltage angle information based on the preset voltage angle value and the synchronization modulation synchronization number.

[0105] Specifically, the target voltage angle information is determined based on the preset voltage angle value and the synchronization modulation synchronization number to ensure the accuracy of the target angle information as much as possible, thereby ensuring the accuracy of subsequent motor adjustment.

[0106] S405, obtain the target voltage and angle information of the motor.

[0107] S406, obtain the motor's angle offset information.

[0108] S407 determines voltage angle optimization information based on target voltage angle information and angle offset information.

[0109] S408, obtains voltage and angle optimization information for the motor.

[0110] S409 confirms the motor's frequency compensation information based on the current actual voltage angle information and voltage angle optimization information.

[0111] S410: Obtain the synchronous control frequency information of the motor.

[0112] S411 determines the motor's duty cycle modulation information based on frequency compensation information and synchronous control frequency information in order to control the motor's operation.

[0113] In this embodiment of the invention, the target voltage angle information is determined by a preset voltage angle value and a synchronous modulation number. Different synchronous modulation numbers are selected according to different preset voltage angle values ​​to ensure the accuracy of the target voltage angle information determination, thereby ensuring the operation of the control motor, ensuring the synchronous modulation effect on the motor, and thus improving the efficiency of the electric drive system.

[0114] Optional, Figure 8 A schematic diagram of the flow structure of another synchronous modulation method for an electric drive system provided in an embodiment of the present invention is shown below. Figure 8 As shown, the synchronization modulation method includes:

[0115] S501, obtain the current actual voltage and angle information of the motor.

[0116] S502, obtains voltage and angle optimization information for the motor.

[0117] S503, the current actual voltage angle information and the voltage angle optimization information are subtracted to determine the frequency compensation information of the motor.

[0118] Among them, the voltage angle optimization information is the voltage angle of the next output, which ensures the synchronous modulation effect of the motor under the change of motor speed. The frequency compensation information of the motor is determined by subtracting the current actual voltage angle information and the voltage angle optimization information. That is, the voltage angle information that needs to be adjusted according to the current actual voltage angle information is obtained, which ensures the accuracy of the voltage angle of the next output, reduces the adjustment error, and ensures that the duty cycle of the three-phase voltage of the output motor is determined according to the frequency compensation information in the subsequent sliding diaphragm control process, thus ensuring the synchronous modulation effect of the motor with voltage angle as the control target.

[0119] S504 obtains the synchronous control frequency information of the motor.

[0120] S505 determines the motor's duty cycle modulation information based on frequency compensation information and synchronous control frequency information in order to control the motor's operation.

[0121] This invention embodiment performs subtraction based on the current actual voltage angle information and voltage angle optimization information, and determines the frequency compensation information of the motor by combining it with sliding diaphragm control, and determines the synchronization control frequency information. Then, the duty cycle modulation information of the motor is determined by the frequency compensation information and the synchronization control frequency information, and the motor is controlled to work, ensuring the synchronous modulation effect of the motor, thereby improving the efficiency of the electric drive system.

[0122] Optional, Figure 9 A schematic diagram of the flow structure of another synchronous modulation method for an electric drive system provided in an embodiment of the present invention is shown below. Figure 9 As shown, the synchronization modulation method includes:

[0123] S601, obtain the current actual voltage and angle information of the motor.

[0124] S602, obtains voltage and angle optimization information for the motor.

[0125] S603, the current actual voltage angle information and the voltage angle optimization information are subtracted to determine the frequency compensation information of the motor.

[0126] S604, obtains the synchronous control frequency information of the motor.

[0127] S605 sums the frequency compensation information and the synchronization control frequency information to determine the motor's duty cycle modulation information in order to control the motor's operation.

[0128] The process involves summing the frequency compensation information and the synchronization control frequency information to determine the motor's duty cycle modulation information. This determines the voltage angle to match the next output and outputs the corresponding duty cycle modulation information to control the motor to operate with a new three-phase voltage duty cycle.

[0129] This invention determines the motor's duty cycle modulation information by summing frequency compensation information and synchronization control frequency information, controlling the motor's operation, ensuring effective synchronization modulation of the motor, and thus improving the efficiency of the electric drive system.

[0130] Figure 10 This is a schematic diagram of the structure of a synchronous modulation device for an electric drive system provided by the present invention, as shown below. Figure 2 and 10 As shown, the electric drive system 100 includes a three-phase inverter 105 and a motor 106 that are electrically connected.

[0131] The synchronization modulation device includes:

[0132] The current actual voltage angle information acquisition module 201 is used to acquire the current actual voltage angle information of the motor;

[0133] Voltage angle optimization information acquisition module 202 is used to acquire voltage angle optimization information of the motor;

[0134] The frequency compensation information confirmation module 203 is used to confirm the frequency compensation information of the motor based on the current actual voltage angle information and voltage angle optimization information.

[0135] Synchronous control frequency information acquisition module 204 is used to acquire the synchronous control frequency information of the motor;

[0136] The duty cycle modulation information acquisition module 205 is used to determine the duty cycle modulation information of the motor based on the frequency compensation information and the synchronization control frequency information, so as to control the motor operation.

[0137] The synchronization modulation device provided in the embodiments of the present invention can execute the synchronization modulation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0138] Figure 11 A schematic diagram of a motor control system provided by the present invention is shown below. Figure 11 As shown, the motor control system 200 includes an electric drive system 301 and a controller 302. The controller is used to execute the synchronization modulation method of the electric drive system described in any of the above embodiments.

[0139] The present invention provides a computer-readable storage medium storing computer instructions for causing a processor to execute and implement a synchronous modulation method for an electrically driven system as described in any of the first aspects.

[0140] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0141] It is worth noting that in the embodiments of the above-mentioned synchronous modulation device, the modules included are divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy distinction between each other and are not used to limit the scope of protection of the present invention.

[0142] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A synchronization modulation method for an electric drive system, characterized in that, The electric drive system includes a motor. The synchronization modulation method includes: Obtain the current actual voltage angle information of the motor; Obtain the voltage angle optimization information of the motor; The frequency compensation information of the motor is confirmed based on the current actual voltage angle information and the voltage angle optimization information. Obtain the synchronous control frequency information of the motor; The duty cycle modulation information of the motor is determined based on the frequency compensation information and the synchronization control frequency information in order to control the operation of the motor. The synchronization control frequency information f satisfies: ； Where N is the synchronization number of the synchronous modulation, θ is the voltage angle, ε is a positive number, c is the adjustment parameter, P is the number of electrode pairs, and sgn(s) is the sign parameter with respect to the sliding surface s.

2. The synchronization modulation method according to claim 1, characterized in that, Before obtaining the current actual voltage angle information of the motor, the process also includes: Obtain the motor rotor position information and current voltage angle information of the motor; Obtain the target voltage angle information of the motor; The current actual voltage angle information of the motor is determined based on the motor rotor position information, the current voltage angle information, and the target voltage angle information.

3. The synchronization modulation method according to claim 1, characterized in that, Before obtaining the voltage angle optimization information of the motor, the process also includes: Obtain the target voltage angle information of the motor; Obtain the angular offset information of the motor; The voltage angle optimization information is determined based on the target voltage angle information and the angle offset information.

4. The synchronization modulation method according to claim 2 or 3, characterized in that, Before obtaining the target voltage angle information of the motor, the process also includes: Obtain the preset voltage angle value of the motor; Obtain the synchronization modulation synchronization number of the motor; The target voltage angle information is determined based on the preset voltage angle value and the synchronization modulation synchronization number.

5. The synchronization modulation method according to claim 1, characterized in that, Based on the current actual voltage angle information and the voltage angle optimization information, the frequency compensation information of the motor is confirmed, including: The frequency compensation information of the motor is determined by subtracting the current actual voltage angle information from the voltage angle optimization information.

6. The synchronization modulation method according to claim 1, characterized in that, The duty cycle modulation information of the motor is determined based on the frequency compensation information and the synchronization control frequency information to control the operation of the motor, including: The frequency compensation information and the synchronization control frequency information are summed to determine the duty cycle modulation information of the motor, so as to control the operation of the motor.

7. A synchronization modulation device for an electric drive system, used to execute the synchronization modulation method for the electric drive system according to any one of claims 1-6, characterized in that, The electric drive system includes a three-phase inverter and a motor that are electrically connected; The synchronization modulation device includes: The current actual voltage angle information acquisition module is used to acquire the current actual voltage angle information of the motor; A voltage angle optimization information acquisition module is used to acquire the voltage angle optimization information of the motor. The frequency compensation information confirmation module is used to confirm the frequency compensation information of the motor based on the current actual voltage angle information and the voltage angle optimization information. A synchronization control frequency information acquisition module is used to acquire the synchronization control frequency information of the motor; The duty cycle modulation information acquisition module is used to determine the duty cycle modulation information of the motor based on the frequency compensation information and the synchronization control frequency information, so as to control the operation of the motor.

8. A motor control system, characterized in that, It includes an electric drive system and a controller, the controller being used to execute the synchronization modulation method of the electric drive system according to any one of claims 1 to 6.

9. A computer-readable storage medium storing computer instructions for causing a processor to execute and implement the synchronous modulation method of the electric drive system as described in any one of claims 1-6.

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