Overmodulation processing method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application disclose a kind of overmodulation processing method, device, electronic equipment and storage medium.The method comprises: obtaining the initial voltage output by current regulator, and determining the initial voltage state of the initial voltage;In the case where it is determined that the initial voltage state is transient saturation state, a preset adjustment angle is obtained, and the target voltage direction of the initial voltage in overmodulation process is determined based on the preset adjustment angle;Determine the limit voltage of the initial voltage on the voltage hexagon circumscribed circle, and determine the target voltage output after overmodulation of the initial voltage based on the limit voltage.The technical scheme disclosed in the embodiments of the present application improves the accuracy of the output result after overmodulation by considering the case where the voltage is in transient saturation, thereby improving the dynamic response of the vehicle control system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, and particularly relates to a method and device for overmodulation processing, an electronic device and a storage medium. BACKGROUND

[0002] Permanent magnet synchronous motor (PMSM) has the advantages of simple structure, small size, high efficiency, high power factor, etc. With the development of society, the performance requirements of PMSM are getting higher and higher in various industries, for example, the pure electric vehicle / hybrid electric vehicle industry puts forward higher requirements on the torque stability and dynamic response of the motor and driver. PMSM usually adopts field-oriented control (FOC) to improve the response speed. In FOC control, when the output voltage of the PI current regulator is not saturated, its dynamic response is very fast. But when the output voltage reaches the maximum voltage, the corresponding speed of the current regulator decreases. To solve this problem, various overmodulation techniques are used to improve the dynamic response of PMSM.

[0003] At present, some overmodulation methods adopt the method of improving voltage utilization rate, and fully utilize the near-top region of the voltage hexagon to obtain a larger range of basic voltage. The above overmodulation method is helpful to expand the operating region in the steady state during implementation, but it does not consider the transient state, resulting in inaccurate output results after overmodulation, thereby reducing the dynamic response of PMSM. SUMMARY

[0004] The present application provides an overmodulation processing method, device, electronic device and storage medium, to solve the problem of reducing the dynamic response of the vehicle control system due to not considering the transient over-saturation of the output voltage in the prior art, considering the transient saturation of the voltage, improving the accuracy of the output results after overmodulation, thereby improving the dynamic response of the vehicle control system.

[0005] In a first aspect, an overmodulation processing method is provided, which comprises:

[0006] An initial voltage output by a current regulator is obtained, and an initial voltage state of the initial voltage is determined;

[0007] In a case where the initial voltage state is determined as a transient saturation state, a preset adjustment angle is obtained, and a limit voltage of the initial voltage on a circumscribed circle of a voltage hexagon is obtained, and a target voltage direction of the initial voltage in an overmodulation process is determined based on the preset adjustment angle and the limit voltage.

[0008] The motor speed and the motor rotation direction of the current motor are obtained, and a target voltage output after overmodulation of the initial voltage is determined based on the motor speed and the motor rotation direction.

[0009] Optionally, the preset adjustment angle is positively correlated with the voltage direction adjustment angle of the initial voltage in the overmodulation process.

[0010] Correspondingly, the method for determining the angle value range of the preset adjustment angle in the overmodulation process comprises:

[0011] obtaining a current maximum operating path in the overmodulation process, and determining an angle adjustment range of the voltage direction adjustment angle based on the current maximum operating path;

[0012] determining the angle value range of the preset adjustment angle in the overmodulation process based on the angle adjustment range of the voltage direction adjustment angle.

[0013] Optionally, the preset adjustment angle is a fixed value.

[0014] Optionally, the initial voltage output by the current regulator comprises:

[0015] obtaining an initial adjustment voltage output by the current regulator;

[0016] performing coordinate transformation on the initial adjustment voltage to obtain an initial voltage of the initial adjustment voltage in a stator coordinate system.

[0017] Optionally, the method for determining the initial voltage state comprises:

[0018] performing initial voltage output transformation on the initial voltage to obtain an initial output voltage of the initial voltage;

[0019] if the output voltage amplitude of the initial output voltage is greater than a preset bus voltage amplitude, determining that the initial voltage state is a transient saturation state.

[0020] Optionally, the method for obtaining the preset adjustment angle and the limited voltage of the initial voltage on a voltage hexagon circumscribed circle, and determining the target voltage direction of the initial voltage in the overmodulation process based on the preset adjustment angle and the limited voltage, comprises:

[0021] obtaining a limited voltage of the initial voltage on a voltage hexagon circumscribed circle, and determining a voltage difference between the initial voltage and the limited voltage;

[0022] obtaining the preset adjustment angle, and determining a target adjustment voltage of the initial voltage in the overmodulation process based on the preset adjustment angle and the voltage difference;

[0023] determining a voltage adjustment direction of the target adjustment voltage, and determining the voltage adjustment direction as the target voltage direction of the initial voltage in the overmodulation process.

[0024] Optionally, the target voltage outputted after the initial voltage is over-modulated is determined based on the motor speed and the motor rotating direction, and the target voltage outputted after the initial voltage is over-modulated comprises:

[0025] A preset adjustment function is acquired, and the motor speed, the motor rotating direction and the limited voltage are adjusted based on the adjustment function to obtain a target voltage amplitude outputted after over-modulation is completed.

[0026] In a second aspect, an embodiment of the present application further provides a modulation processing device, and the device comprises:

[0027] An initial voltage acquisition module is configured to acquire an initial voltage outputted by a current regulator and determine an initial voltage state of the initial voltage.

[0028] A target voltage direction determination module is configured to, in a case where the initial voltage state is determined as a transient saturation state, acquire a preset adjustment angle and a limited voltage of the initial voltage on a voltage hexagon circumscribed circle, and determine a target voltage direction of the initial voltage in an over-modulation process based on the preset adjustment angle and the limited voltage.

[0029] A target voltage determination module is configured to acquire a motor speed and a motor rotating direction of a current motor, and determine a target voltage outputted after the initial voltage is over-modulated based on the motor speed and the motor rotating direction.

[0030] In a third aspect, an embodiment of the present application further provides an electronic device, and the device comprises:

[0031] at least one processor; and

[0032] a memory connected with the at least one processor; wherein

[0033] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the over-modulation processing method of any embodiment of the present application.

[0034] In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to execute the over-modulation processing method of any embodiment of the present application when executed.

[0035] The technical scheme of the embodiment of the present application considers the case that the voltage is in transient saturation, determines the voltage state of the current regulator output as the transient saturation state, and modulates the voltage direction of the initial voltage based on the preset modulation angle to obtain the target voltage output after the over-modulation is completed, thereby solving the problem of reducing the dynamic responsiveness of the vehicle control system due to the failure to consider the transient over-saturation of the output voltage in the prior art, improving the accuracy of the output result after the over-modulation, and improving the dynamic responsiveness of the vehicle control system.

[0036] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0038] Figure 1 is a flow chart of an over-modulation processing method according to the first embodiment of the present application;

[0039] Figure 2 is a schematic diagram of an over-modulation processing method according to the first embodiment of the present application;

[0040] Figure 3 is a flow chart of an over-modulation processing method according to the second embodiment of the present application;

[0041] Figure 4 is a relationship diagram between the voltage direction modulation angle and the initial voltage according to the second embodiment of the present application;

[0042] Figure 5 is a change curve diagram between the voltage direction modulation angle and the initial voltage according to the second embodiment of the present application;

[0043] Figure 6 is a current running path schematic diagram according to the second embodiment of the present application;

[0044] Figure 7 is a structural schematic diagram of an over-modulation processing device according to the third embodiment of the present application;

[0045] Figure 8 is a structural schematic diagram of an electronic device according to the fourth embodiment of the present application; DETAILED DESCRIPTION

[0046] In order to better understand the technical scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts should fall within the scope of the present application.

[0047] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0048] Embodiment one

[0049] Figure 1 A flowchart of an overmodulation processing method is provided for the first embodiment of the present application. The present embodiment can be applied to the overmodulation processing of a vehicle controller. The method can be executed by an overmodulation processing device, which can be implemented in the form of hardware and / or software, and can be configured in the vehicle controller. In some other embodiments, when the voltage output by the current regulator in the vehicle control system is in a saturation state, it needs to be input to the overmodulation module, and the corresponding overmodulation module modulates the input saturated voltage. In the modulation process, the saturated voltage in the steady-state saturation state is mostly modulated, so that the overmodulation of the saturated voltage in the transient saturation state is ignored, so that the voltage output by the overmodulation module cannot quickly make the vehicle control system in a stable state. In view of the above technical problems, the technical scheme of the present embodiment proposes an overmodulation processing method, which improves the accuracy of the output result after overmodulation by considering the transient saturation state of the voltage, thereby improving the dynamic response of the vehicle control system. The method is as shown in Figure 1 Fig. 1, and specifically includes:

[0050] S110, obtaining an initial voltage output by a current regulator and determining an initial voltage state of the initial voltage.

[0051] In the embodiments of the present application, the initial voltage can be understood as the initial input voltage that needs to be input to the overmodulation module. In order to facilitate the input of the initial voltage to the overmodulation module, the voltage output by the current regulator needs to be subjected to voltage transformation processing, that is, in other words, the initial voltage can be the voltage data obtained after the voltage transformation processing of the output voltage of the current regulator.

[0052] Optionally, the method for obtaining the initial voltage of the current regulator output can comprise: obtaining an initial regulating voltage of the current regulator output; and performing coordinate transformation processing on the initial regulating voltage to obtain an initial voltage of the initial regulating voltage in a stator coordinate system.

[0053] It should be explained that the initial regulating voltage is the original voltage data of the current regulator output, and in order to determine whether the voltage of the current regulator output is in a saturation state, voltage transformation processing needs to be performed on the initial regulating voltage, so as to obtain the initial voltage of the initial regulating voltage of the current regulator output in the stator coordinate system.

[0054] Specifically, the initial regulating voltage of the current regulator output is obtained and coordinate transformation is performed thereon to obtain the initial voltage of the initial regulating voltage in the stator coordinate system Further, the initial voltage state of the initial voltage is determined, and overmodulation processing is performed on the initial voltage based on the initial voltage state.

[0055] Optionally, the technical scheme of the embodiment determines the voltage state in which the initial voltage is located in the case of obtaining the initial voltage.

[0056] Optionally, the method for determining the initial voltage state can comprise: performing initial voltage output transformation processing on the initial voltage to obtain an initial output voltage of the initial voltage; and determining that the initial voltage state is a transient saturation state if an output voltage amplitude of the initial output voltage is greater than a preset bus voltage amplitude.

[0057] Specifically, voltage output transformation processing is performed on the initial voltage to obtain the initial voltage corresponding to the initial output voltage Further, a bus voltage V dc is obtained, and a voltage difference between the initial output voltage and the bus voltage V dc is determined, and then whether the initial voltage is in a transient saturation state is determined according to the voltage difference. Exemplarily, if the voltage difference between the voltage value of the initial output voltage and the bus voltage V dc is a positive value, it indicates that the initial voltage is currently in a transient saturation state. Of course, the above method for determining the initial voltage state is only an optional implementation manner, and the initial voltage state of the initial voltage can also be determined according to actual conditions, and the embodiment does not limit the initial voltage state of the initial voltage.

[0058] S120, in the case of determining that the initial voltage state is a transient saturation state, obtaining a preset adjustment angle and a limited voltage of the initial voltage on a voltage hexagon circumscribed circle in the case of determining that the initial voltage state is a transient saturation state, and determining a target voltage direction of the initial voltage in the over-modulation process based on the preset adjustment angle and the limited voltage.

[0059] In the embodiment of the present application, the initial voltage state of the initial voltage is determined based on the above-mentioned implementation scheme. In the case of determining that the initial voltage state is a transient saturation state, a preset adjustment angle is obtained. It should be explained that the preset adjustment angle can be understood as an angle for adjusting the voltage direction of the initial voltage, so that the initial voltage is in an unsaturated state, thereby improving the stability of the system response. Specifically, in the over-modulation module, the initial voltage is modulated based on the preset adjustment angle, so that when the current in the system changes rapidly, the system can change the voltage direction of the initial voltage more quickly, thereby making the system more stable and accelerating the dynamic response of the system. Optionally, the preset adjustment angle in the embodiment can be a fixed value, such as a preset angle of 45 degrees, 30 degrees, etc.

[0060] In the embodiment, the limited voltage can be understood as voltage data of limiting the initial voltage on the voltage hexagon circumscribed circle based on the minimum phase error (MPE) method; specifically, referring to Figure 2 , the initial voltage is In order to limit the initial voltage on the voltage hexagon circumscribed circle, as shown in the figure, the radius of the circumscribed circle is Therefore, the limited voltage of the initial voltage is determined by the initial voltage and the radius of the circumscribed circle. Exemplarily, the expression for determining the limited voltage can include:

[0061]

[0062] wherein, represents the limited voltage, represents the control value of the limited voltage; V dc represents the bus voltage.

[0063] Optionally, the method for determining the target voltage direction of the initial voltage in the over-modulation process based on the preset adjustment angle and the limited voltage can include: determining a voltage difference value of the initial voltage and the limited voltage, and determining a target adjustment voltage of the initial voltage in the over-modulation process based on the preset adjustment angle and the voltage difference value; determining a voltage adjustment direction of the target adjustment voltage, and determining the voltage adjustment direction as the target voltage direction of the initial voltage in the over-modulation process.

[0064] Specifically, in the case of determining that the initial voltage and the limited voltage an initial voltage and a voltage difference value of a limit voltage In this embodiment, the voltage difference value can be expressed as

[0065] In this embodiment, the expression for determining may include:

[0066]

[0067] wherein, an initial voltage and a voltage difference value of a limit voltage V dc represents a bus voltage.

[0068] In this embodiment, the preset angle can be expressed as α sh ; based on Figure 2 α sh may also be understood as a rotation angle of .

[0069] Further, in the case of obtaining the preset adjustment angle α sh and the voltage difference value , the preset adjustment angle α sh and the voltage difference value are processed based on a preset function to obtain a target adjustment voltage of the initial voltage in the overmodulation process. Illustratively, the expression for determining the target adjustment voltage can include:

[0070]

[0071] wherein, a target adjustment voltage of the initial voltage in the overmodulation process; in other words, it can also be expressed as a target adjustment voltage obtained after the initial voltage is shifted by α sh , and a difference voltage of the initial voltage and the limit voltage α sh represents a preset adjustment angle, V dc represents a bus voltage.

[0072] Further, the voltage adjustment direction of the target adjustment voltage is obtained, and the voltage adjustment direction is determined as the target voltage direction of the initial voltage in the overmodulation process.

[0073] S130, obtain the motor speed and the motor rotation direction of the current motor, and determine the target voltage output after the initial voltage overmodulation is completed based on the motor speed and the motor rotation direction.

[0074] In the embodiment of the present application, the motor speed and the motor rotation direction of the current motor are obtained, the motor speed can be clockwise rotation or counterclockwise rotation, in the embodiment, the motor is preset to rotate in the counterclockwise direction; the motor rotation direction also includes the counterclockwise direction and the clockwise direction. Specifically, in the embodiment, the motor speed can be represented based on ω r ; the motor rotation direction can be represented based on sgn, specifically, the counterclockwise direction is negative, and vice versa.

[0075] Optionally, based on the motor speed and the motor rotation direction, the target voltage output after the initial voltage over-modulation is completed can be determined based on the motor speed and the motor rotation direction, including: obtaining a preset adjustment function, adjusting the motor speed and the motor rotation direction and the limited voltage based on the adjustment function, and obtaining the target voltage amplitude output after the over-modulation is completed.

[0076] Specifically, the expression for determining the target voltage amplitude can include:

[0077]

[0078] wherein, represents the amplitude of the target voltage, AA() represents the amplitude adjustment function, which is used to limit the target adjustment voltage in the over-modulation process on the voltage hexagon, so that the amplitude of the voltage is in the unsaturated state, R() function represents the coordinate adjustment function, which is used to adjust the speed and rotation mode and rotation angle of the motor, represents the initial voltage and the difference voltage of the limited voltage .

[0079] The technical scheme of the embodiment of the present application considers the case that the voltage is in a transient saturation state, and in the case that the voltage state output by the current regulator is determined to be in a transient saturation state, the voltage direction of the initial voltage is modulated based on the preset adjustment angle to obtain the target voltage output after the over-modulation is completed, solving the problem that the dynamic responsiveness of the vehicle control system is reduced due to the failure to consider the transient over-saturation of the output voltage in the prior art, and achieving the beneficial effect of improving the accuracy of the output result after over-modulation, thereby improving the dynamic responsiveness of the vehicle control system.

[0080] Embodiment two

[0081] Figure 3 A flowchart of an over-modulation processing method provided by the second embodiment of the present application, the relationship between the present embodiment and the above-mentioned embodiments includes: before obtaining the initial voltage output by the current regulator, the preset adjustment angle is also determined in the angle value range in the over-modulation process. For example, Figure 3As shown, the method comprises:

[0082] S210, determining a preset adjustment angle in the angle value range in the overmodulation process.

[0083] In the embodiment of the application, the voltage direction adjustment angle can be the angle between the initial voltage and the target voltage output after the overmodulation is completed. Continuing to refer to Figure 2 , if the rotating speed of the motor is counterclockwise rotation, the voltage direction adjustment direction of the initial voltage in the overmodulation process is also counterclockwise. In this embodiment, the preset adjustment angle is positively correlated with the voltage direction adjustment angle of the initial voltage in the overmodulation process.

[0084] Specifically, since the initial voltage is modulated based on the preset adjustment angle in the overmodulation process, the voltage direction adjustment angle obtained after the overmodulation is completed is positively correlated with the preset adjustment angle.

[0085] Figure 4 is the relationship graph between the voltage direction adjustment angle and the initial voltage when the preset adjustment angle is 45 degrees. Based on Figure 4 , it can be known that the voltage direction adjustment angle θ ad is a positive value regardless of the rotor position, but θ ad is affected by the size of .

[0086] Further, the quantitative analysis of θ ad and is performed. As shown in the figure, the following expression is obtained according to the triangle principle; exemplary, the expression includes:

[0087]

[0088] wherein, represents the target adjustment voltage of the initial voltage in the overmodulation process, α sh represents the preset adjustment angle, represents the difference voltage between the initial voltage and the limited voltage , and θ ad represents the voltage direction adjustment angle.

[0089] Further, the expression for the quantitative analysis of θ ad and is combined with the expression for determining the target adjustment voltage, to obtain the expression about θ ad and ; the specific expression includes:

[0090]

[0091] Furthermore, based on The expression above can be rewritten as:

[0092]

[0093] Based on this, the preset adjustment angle α sh By setting different constants, we can obtain the following results: With α ad Changing curves, such as Figure 5 As shown. Based on Figure 5 It can be seen that when Exceed When, θ ad Follow Increase with the increase, when Much larger When, θ ad The value gradually approaches α sh Therefore, α sh Can be used as θ ad The upper boundary value.

[0094] It should be noted that if θ ad An excessively large value will lead to more d-axis current overshoot. Therefore, in the process of overmodulating the initial voltage based on the preset adjustment angle, it is necessary to limit the range of the preset adjustment angle value.

[0095] Based on the above implementation method, the method for pre-determining the angle value range of the preset adjustment angle in the overmodulation process includes: obtaining the maximum current operating path in the overmodulation process, determining the angle adjustment range of the voltage direction adjustment angle based on the maximum current operating path, and determining the angle value range of the preset adjustment angle in the overmodulation process based on the angle adjustment range of the voltage direction adjustment angle.

[0096] For details, see Figure 6 As can be seen from the figure, the initial current corresponds to the initial regulating voltage output from the current regulator. The target current corresponding to the output target voltage after modulation is completed. The maximum operating path of the current is shown, where the vertical line is the MTPA curve, and the two horizontal lines with different curvatures represent the operating paths of the target current with different voltage direction adjustment angles. It can be seen that an excessively large θ... ad (That is, the target current's path for a voltage direction adjustment angle with a larger curvature) will result in a more inwardly concave current trajectory, causing more d-axis current overshoot. Therefore, an excessively large α... sh This will increase d-axis current overshoot. Therefore, to avoid unnecessary d-axis current overshoot in the future, α shThe value should not be too large. Therefore, the angle value range of the preset adjustment angle in the over-modulation process can be determined according to the angle adjustment range based on the voltage direction adjustment angle. Of course, the specific angle value range can be determined based on the correlation between the preset adjustment angle and the voltage direction adjustment angle of the initial voltage in the over-modulation process, and the embodiment does not limit the angle value range.

[0097] In S220, the initial voltage output by the current regulator is obtained, and the initial voltage state of the initial voltage is determined.

[0098] In S230, when it is determined that the initial voltage state is a transient saturation state, a preset adjustment angle is obtained, and a limited voltage of the initial voltage on a voltage hexagon circumscribed circle is obtained, and based on the preset adjustment angle and the limited voltage, a target voltage direction of the initial voltage in the over-modulation process is determined.

[0099] In S240, the motor speed and the motor rotation direction of the current motor are obtained, and based on the motor speed and the motor rotation direction, a target voltage output after the initial voltage over-modulation is completed is determined.

[0100] The technical scheme of the embodiment of the application sets the angle value range of the preset adjustment angle based on the correlation between the voltage direction adjustment angle and the preset adjustment angle, and determines the preset adjustment angle within the range, and further determines the voltage direction of the initial voltage based on the preset adjustment angle to obtain the target voltage output after the over-modulation is completed in the case that the voltage state of the current regulator output is a transient saturation state. The problem of reducing the dynamic responsiveness of the vehicle control system due to not considering the transient over-saturation of the output voltage in the prior art is solved, the accuracy of the output result after the over-modulation is improved, and the beneficial effect of improving the dynamic responsiveness of the vehicle control system is achieved.

[0101] Embodiment Three

[0102] Figure 7 A structural schematic diagram of an over-modulation processing device provided by Embodiment Three of the application is shown in FIG. 3. Figure 7 As shown in FIG. 3, the device includes an initial voltage obtaining module 310, a target voltage direction determining module 320, and a target voltage determining module 330.

[0103] The initial voltage obtaining module 310 is configured to obtain the initial voltage output by the current regulator, and determine the initial voltage state of the initial voltage.

[0104] The target voltage direction determination module 320 is configured to, in a case where it is determined that the initial voltage state is the transient saturation state, acquire a preset adjustment angle and a limited voltage of the initial voltage on a voltage hexagon circumscribed circle, and determine a target voltage direction of the initial voltage in the overmodulation process based on the preset adjustment angle and the limited voltage.

[0105] The target voltage determination module 330 is configured to acquire a motor speed and a motor rotation direction of a current motor, and determine a target voltage output after the initial voltage overmodulation is completed based on the motor speed and the motor rotation direction.

[0106] Optionally, the preset adjustment angle is positively correlated with a voltage direction adjustment angle of the initial voltage in the overmodulation process.

[0107] Correspondingly, the apparatus further includes an angle value range determination module configured to pre-determine an angle value range of the preset adjustment angle in the overmodulation process.

[0108] The angle value range determination module includes:

[0109] An angle adjustment range determination unit is configured to acquire a current maximum running path in the overmodulation process, and determine an angle adjustment range of the voltage direction adjustment angle based on the current maximum running path.

[0110] An angle value range determination unit is configured to determine the angle value range of the preset adjustment angle in the overmodulation process based on the angle adjustment range of the voltage direction adjustment angle.

[0111] Optionally, the preset adjustment angle is a fixed value.

[0112] Optionally, the initial voltage acquisition module 310 includes:

[0113] An initial adjustment voltage acquisition unit is configured to acquire an initial adjustment voltage output by a current regulator.

[0114] An initial voltage acquisition unit is configured to perform coordinate transformation processing on the initial adjustment voltage to obtain an initial voltage of the initial adjustment voltage in a stator coordinate system.

[0115] Optionally, the initial voltage acquisition module 310 includes:

[0116] An initial output voltage acquisition unit is configured to perform initial voltage output transformation processing on the initial voltage to obtain an initial output voltage of the initial voltage.

[0117] The initial voltage state determination unit is configured to determine that the initial voltage state is a transient saturation state if the output voltage amplitude of the initial output voltage is greater than a preset bus voltage amplitude.

[0118] On the basis of the above-mentioned embodiments, the target voltage direction determination module 320 comprises:

[0119] The limiting voltage acquisition unit is configured to acquire a limiting voltage of the initial voltage on a voltage hexagon circumscribed circle, and determine a voltage difference between the initial voltage and the limiting voltage.

[0120] The target adjustment voltage determination unit is configured to acquire the preset adjustment angle, and determine a target adjustment voltage of the initial voltage in the over-modulation process based on the preset adjustment angle and the voltage difference.

[0121] The target voltage direction determination unit is configured to determine a voltage adjustment direction of the target adjustment voltage, and determine the voltage adjustment direction as a target voltage direction of the initial voltage in the over-modulation process.

[0122] On the basis of the above-mentioned embodiments, the target voltage determination module 330 comprises:

[0123] The target voltage amplitude determination unit is configured to acquire a preset adjustment function, and obtain a target voltage amplitude output after the over-modulation is completed by adjusting the motor speed and the motor rotation direction and the limiting voltage based on the adjustment function.

[0124] The over-modulation processing device provided by the embodiments of the present application can execute the over-modulation processing method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0125] Embodiment four

[0126] Figure 8 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the present application described and / or claimed in this document.

[0127] As Figure 8As shown, the electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., communicatively connected to the at least one processor 11, where the memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0128] Various components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, a speaker, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0129] The processor 11 can be various general and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the overmodulation processing method.

[0130] In some embodiments, the overmodulation processing method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the overmodulation processing method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the overmodulation processing method by any other appropriate means, such as by means of firmware.

[0131] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0132] Computer programs used to implement the processes of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a standalone software package and partially on a remote machine or entirely on a remote machine or server.

[0133] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0134] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0135] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0136] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0137] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in sequence, or executed in a different order, as long as the desired results of the present disclosure are achieved, and the present disclosure is not limited herein.

[0138] The specific embodiments described above are not intended to be limiting, and persons skilled in the art will appreciate that various modifications, combinations, sub-combinations and alternatives can be made to the specific embodiments without departing from the spirit and principles of the disclosure. Accordingly, the disclosure is not limited to the specific embodiments described above, but only by the scope of the appended claims.

Claims

1. A method of overmodulation processing, characterized by, The method comprises the following steps: acquiring an initial voltage output by a current regulator, and determining an initial voltage state of the initial voltage; in a case where the initial voltage state is determined as a transient saturation state, acquiring a preset adjustment angle and a limited voltage of the initial voltage on a voltage hexagon circumscribed circle, and determining a target voltage direction of the initial voltage in an overmodulation process based on the preset adjustment angle and the limited voltage; acquiring a motor speed and a motor rotation direction of a current motor, and determining a target voltage output after overmodulation of the initial voltage based on the motor speed and the motor rotation direction.

2. The method of claim 1, wherein, The preset adjustment angle is positively correlated with a voltage direction adjustment angle of the initial voltage in the overmodulation process. Correspondingly, a method for determining an angle value range of the preset adjustment angle in the overmodulation process comprises the following steps: acquiring a maximum current operating path in the overmodulation process, and determining an angle adjustment range of the voltage direction adjustment angle based on the maximum current operating path; determining the angle value range of the preset adjustment angle in the overmodulation process based on the angle adjustment range of the voltage direction adjustment angle.

3. The method of claim 1, wherein, The preset adjustment angle is a fixed value.

4. The method of claim 1, wherein, The acquiring of the initial voltage output by the current regulator comprises the following steps: acquiring an initial adjustment voltage output by the current regulator; performing coordinate transformation processing on the initial adjustment voltage to obtain an initial voltage of the initial adjustment voltage in a stator coordinate system.

5. The method of claim 1, wherein, The method for determining the initial voltage state comprises the following steps: performing initial voltage output transformation processing on the initial voltage to obtain an initial output voltage of the initial voltage; if an output voltage amplitude of the initial output voltage is greater than a preset bus voltage amplitude, determining that the initial voltage state is a transient saturation state.

6. The method of claim 1, wherein, The acquiring of the preset adjustment angle and the limited voltage of the initial voltage on the voltage hexagon circumscribed circle, and the determining of the target voltage direction of the initial voltage in the overmodulation process based on the preset adjustment angle and the limited voltage, comprise the following steps: acquiring the limited voltage of the initial voltage on the voltage hexagon circumscribed circle, and determining a voltage difference between the initial voltage and the limited voltage; acquiring the preset adjustment angle, determining a target adjustment voltage of the initial voltage in the overmodulation process based on the preset adjustment angle and the voltage difference; determining a voltage adjustment direction of the target adjustment voltage, and determining the voltage adjustment direction as the target voltage direction of the initial voltage in the overmodulation process.

7. The method of claim 1, wherein, The determining of the target voltage output after overmodulation of the initial voltage based on the motor speed and the motor rotation direction, comprises the following steps: acquiring a preset adjustment function, adjusting the motor speed, the motor rotation direction and the limited voltage based on the adjustment function, and obtaining a target voltage amplitude output after overmodulation.

8. An overmodulation processing device, characterized by The method comprises the following steps: an initial voltage acquiring module is configured to acquire an initial voltage output by a current regulator, and determine an initial voltage state of the initial voltage; The target voltage direction determination module is configured to, in a case where the initial voltage state is determined to be a transient saturation state, acquire a preset adjustment angle and a limited voltage of the initial voltage on a voltage hexagon circumscribed circle, and determine a target voltage direction of the initial voltage in an overmodulation process based on the preset adjustment angle and the limited voltage. The target voltage determination module is configured to acquire a motor speed and a motor rotation direction of a current motor, and determine a target voltage output after overmodulation of the initial voltage is completed based on the motor speed and the motor rotation direction.

9. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the overmodulation processing method in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing the processor to implement the overmodulation processing method in any one of claims 1-7 when executed.

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