Space vector pulse width modulation method, apparatus, equipment and storage medium

Abstract

This invention discloses a space vector pulse width modulation method, apparatus, device, and storage medium. The method includes: acquiring three-phase voltages, including a first-phase voltage, a second-phase voltage, and a third-phase voltage; sorting the first-phase voltage, the second-phase voltage, and the third-phase voltage to obtain a sorting result; determining a first switching time, a second switching time, and a third switching time based on the sorting result, the bus voltage, and the modulation period sampling time; determining the switching time of the first-phase switch, the second-phase switch, and the third-phase switch based on a preset correspondence between the sorting result and the switching times of each phase switch; and generating a pulse width modulation signal based on the switching times of the first-phase switch, the second-phase switch, and the third-phase switch. This invention allows direct derivation of the switching times of the switches based on the magnitude relationship of the three-phase voltages, improving the response speed of the AC speed control system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of pulse width modulation technology, and particularly relates to a space vector pulse width modulation method, device, equipment and storage medium. BACKGROUND

[0002] In an alternating current speed regulation system, sinusoidal pulse width modulation (SPWM) and space vector pulse width modulation (SVPWM) are the two most widely used modulation methods, SPWM is to compare a triangular carrier signal with a generated modulation signal to generate a corresponding pulse width modulation (PWM) wave, which is relatively easy to implement.

[0003] SPWM is a pulse width modulation wave generated by a specific switching mode of six power switching elements of a three-phase power inverter, which can make the output current waveform close to an ideal sinusoidal waveform. SVPWM is different from the traditional SPWM, which is based on the overall effect of three-phase output voltage and focuses on how to make the motor obtain an ideal circular flux trajectory. Compared with SPWM, SVPWM has smaller harmonic components of winding current waveform, which reduces the motor torque ripple, makes the rotating magnetic field more close to a circle, and greatly improves the utilization rate of DC bus voltage, and is easier to realize digitalization.

[0004] However, SVPWM operation is complex, which needs sector judgment and space vector combination, and occupies a large amount of time of a microprocessor, resulting in too slow response time in the alternating current speed regulation system. SUMMARY

[0005] Embodiments of the present application provide a space vector pulse width modulation method, device, equipment and storage medium, which aims to improve the response speed of the alternating current speed regulation system.

[0006] In a first aspect, embodiments of the present application provide a space vector pulse width modulation method, comprising:

[0007] acquiring a three-phase voltage, the three-phase voltage comprising a first-phase voltage, a second-phase voltage and a third-phase voltage;

[0008] sorting the first-phase voltage, the second-phase voltage and the third-phase voltage to obtain a sorting result;

[0009] determining a first switching time, a second switching time and a third switching time according to the sorting result, a bus voltage and a modulation period sampling time;

[0010] According to a preset corresponding relationship between the sorting result and switching times of the phase switching tubes, first phase switching tube switching time, second phase switching tube switching time and third phase switching tube switching time are determined from the first switching time, the second switching time and the third switching time.

[0011] A pulse width modulation signal is generated according to the first phase switching tube switching time, the second phase switching tube switching time and the third phase switching tube switching time.

[0012] In a second aspect, the embodiment of the present application further provides a space vector pulse width modulation device, which comprises:

[0013] An acquisition unit is configured to acquire three-phase voltages, including a first phase voltage, a second phase voltage and a third phase voltage;

[0014] A processing unit is configured to sort the first phase voltage, the second phase voltage and the third phase voltage to obtain a sorting result; determine first switching time, second switching time and third switching time according to the sorting result, bus voltage and modulation period sampling time; determine first phase switching tube switching time, second phase switching tube switching time and third phase switching tube switching time according to a preset corresponding relationship between the sorting result and switching times of the phase switching tubes; and generate a pulse width modulation signal according to the first phase switching tube switching time, the second phase switching tube switching time and the third phase switching tube switching time.

[0015] In a third aspect, the embodiment of the present application further provides a space vector pulse width modulation device, which comprises a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the above method.

[0016] In a fourth aspect, the embodiment of the present application further provides a computer readable storage medium, which stores a computer program, the computer program comprises program instructions, and the program instructions are executed by a processor to realize the above method.

[0017] The embodiment of the present application provides a space vector pulse width modulation method, device, equipment and storage medium. The method comprises the following steps: acquiring three-phase voltage, wherein the three-phase voltage comprises a first-phase voltage, a second-phase voltage and a third-phase voltage; sorting the first-phase voltage, the second-phase voltage and the third-phase voltage to obtain a sorting result; determining a first switch time, a second switch time and a third switch time according to the sorting result, bus voltage and modulation cycle sampling time; determining a first-phase switch tube switch time, a second-phase switch tube switch time and a third-phase switch tube switch time from the first switch time, the second switch time and the third switch time according to a preset corresponding relationship between the sorting result and the switch time of each-phase switch tube; and generating a pulse width modulation signal according to the first-phase switch tube switch time, the second-phase switch tube switch time and the third-phase switch tube switch time. The embodiment of the present application can directly deduce the switch time of the switch tube according to the size relationship (the sorting result) of the three-phase voltage, the present scheme does not need to perform sector judgment, so that the space vector combination operation is not needed, and the response speed of the alternating current speed regulation system is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0019] Figure 1 The application scenario diagram of the space vector pulse width modulation method provided by the embodiment of the present application is shown.

[0020] Figure 2 The flowchart of the space vector pulse width modulation method provided by the embodiment of the present application is shown.

[0021] Figure 3 The specific flowchart of the space vector pulse width modulation method provided by the embodiment of the present application is shown.

[0022] Figure 4 The flowchart of the space vector pulse width modulation method provided by another embodiment of the present application is shown.

[0023] Figure 5 The flowchart of the over modulation method in the space vector pulse width modulation method provided by the embodiment of the present application is shown.

[0024] Figure 6 The specific flowchart of the over modulation method in the space vector pulse width modulation method provided by the embodiment of the present application is shown.

[0025] Figure 7This is a schematic diagram of an overall process framework for the spatial vector pulse width modulation method and overmodulation method provided in the embodiments of the present invention;

[0026] Figure 8 A schematic diagram of the overall process of the spatial vector pulse width modulation method and the overmodulation method provided in the embodiments of the present invention;

[0027] Figure 9 A spatial voltage vector diagram provided for an embodiment of the present invention;

[0028] Figure 10 A partial view of a space voltage vector provided in an embodiment of the present invention;

[0029] Figure 11 This is a waveform comparison diagram before and after overmodulation processing provided in an embodiment of the present invention;

[0030] Figure 12 A schematic block diagram of a space vector pulse width modulation device provided in an embodiment of the present invention;

[0031] Figure 13 This is a schematic block diagram of a space vector pulse width modulation device provided in an embodiment of the present invention. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0034] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0035] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0036] This invention provides a spatial vector pulse width modulation method, apparatus, device, and storage medium.

[0037] The spatial vector pulse width modulation method in this embodiment of the invention is applied to a spatial vector pulse width modulation device. The spatial vector pulse width modulation device is disposed in a spatial vector pulse width modulation equipment. The spatial vector pulse width modulation equipment is provided with one or more processors, a memory, and one or more application programs. The one or more application programs are stored in the memory and configured to be executed by the processor to implement the spatial vector pulse width modulation method. The spatial vector pulse width modulation equipment can be a terminal, a server, or a service cluster composed of multiple servers.

[0038] like Figure 1 As shown, Figure 1 This is a schematic diagram illustrating a scenario of the space vector pulse width modulation method according to an embodiment of the present invention.

[0039] In this embodiment of the invention, the spatial vector pulse width modulation scenario includes a spatial vector pulse width modulation switching device 100, which integrates a spatial vector pulse width modulation unit and runs the storage medium corresponding to the spatial vector pulse width modulation to perform the spatial vector pulse width modulation steps.

[0040] Understandable Figure 1 The spatial vector pulse width modulation device in the specific application scenario of the spatial vector pulse width modulation method, or the device included in the spatial vector pulse width modulation device, does not constitute a limitation on the embodiments of the present invention. That is, the number or type of device included in the specific application scenario of the spatial vector pulse width modulation method, or the number or type of device included in each device, does not affect the overall implementation of the technical solution in the embodiments of the present invention, and can all be considered as equivalent substitutions or derivatives of the technical solutions claimed in the embodiments of the present invention.

[0041] In this embodiment of the invention, the space vector pulse width modulation device 100 is mainly used for: acquiring three-phase voltages, including a first-phase voltage, a second-phase voltage, and a third-phase voltage; sorting the first-phase voltage, the second-phase voltage, and the third-phase voltage to obtain a sorting result; determining a first switching time, a second switching time, and a third switching time based on the sorting result, the bus voltage, and the modulation period sampling time; determining the first-phase switch time, the second-phase switch time, and the third-phase switch time from the first switching time, the second switching time, and the third switching time according to a preset correspondence between the sorting result and the switching time of each phase switch; and generating a pulse width modulation signal based on the first-phase switch time, the second-phase switch time, and the third-phase switch time.

[0042] In this embodiment of the invention, the space vector pulse width modulation device 100 can be an independent space vector pulse width modulation device, or it can be a network of space vector pulse width modulation devices or a cluster of space vector pulse width modulation devices.

[0043] For example, the spatial vector pulse width modulation device 100 described in this embodiment of the invention includes, but is not limited to, a computer, a network host, a single network spatial vector pulse width modulation device, a set of multiple network spatial vector pulse width modulation devices, or a cloud spatial vector pulse width modulation device composed of multiple spatial vector pulse width modulation devices. The cloud spatial vector pulse width modulation device is composed of a large number of computers or spatial vector pulse width modulation mode switching devices based on cloud computing.

[0044] Those skilled in the art will understand that Figure 1 The application environment shown is merely one application scenario of the present invention and does not constitute a limitation on the application scenarios of the present invention. Other application environments may include those that are more specific to the present invention. Figure 1 The more or fewer space vector pulse width modulation devices shown, or the network connectivity of space vector pulse width modulation devices, for example... Figure 1 Only one space vector pulse width modulation device is shown in the figure. It can be understood that the specific application scenarios of this space vector pulse width modulation method may also include one or more other space vector pulse width modulation devices, which are not limited here; the space vector pulse width modulation device 100 may also include a memory.

[0045] Figure 2 This is a schematic flowchart of the space vector pulse width modulation method provided in an embodiment of the present invention. Figure 2 As shown, the method includes the following steps S110-S150.

[0046] S110. Obtain the three-phase voltage, which includes the first phase voltage, the second phase voltage, and the third phase voltage.

[0047] In this embodiment, the first phase voltage, the second phase voltage, and the third phase voltage are respectively expressed as U a U b And U c express.

[0048] S120. Sort the first phase voltage, the second phase voltage and the third phase voltage to obtain the sorting result.

[0049] Specifically, for U in descending order a U b And U c Sort and then U a U bAnd U c The phase voltage with the largest median value is defined as U max , will U a U b And U c The phase voltage in the middle of the median row is defined as U. mid , will U A U B And U C The phase voltage with the smallest median value is defined as U min At this point, the sorting result is (U max U mid U min ).

[0050] S130. Determine the first switching time, the second switching time, and the third switching time based on the sorting results, the bus voltage, and the modulation period sampling time.

[0051] In some embodiments, the first switching time, the second switching time, and the third switching time are determined based on a preset first switching time calculation formula, wherein the first switching time calculation formula is:

[0052]

[0053] Among them, t cm1 Let t be the first switching time. cm2 t is the second switching time. cm3 For the third switching time, U max The U is the phase voltage with the largest value in the sorting results. mid U is the middle phase voltage in the sorted results. min U is the phase voltage with the smallest value in the sorting results. dc T is the bus voltage. s Modulation period sampling time.

[0054] S140. Based on the preset sorting results and the correspondence between the switching times of each phase switch tube, determine the switching times of the first phase switch tube, the second phase switch tube, and the third phase switch tube from the first switching time, the second switching time, and the third switching time.

[0055] In some embodiments, step S140 includes: if the first phase voltage is greater than the second phase voltage, and the second phase voltage is greater than the three-phase voltage, then the first switching time is determined as the switching time of the first phase switch, the second switching time is determined as the switching time of the second phase switch, and the third switching time is determined as the switching time of the third phase switch.

[0056] If the second phase voltage is greater than the first phase voltage, and the first phase voltage is greater than the three-phase voltage, then the second switching time is determined as the switching time of the first phase switch, the first switching time is determined as the switching time of the second phase switch, and the third switching time is determined as the switching time of the third phase switch.

[0057] If the second phase voltage is greater than the third phase voltage, and the third phase voltage is greater than the first phase voltage, then the third switching time is determined as the switching time of the first phase switch, the first switching time is determined as the switching time of the second phase switch, and the second switching time is determined as the switching time of the third phase switch.

[0058] If the third phase voltage is greater than the second phase voltage, and the second phase voltage is greater than the first phase voltage, then the third switching time is determined as the switching time of the first phase switch, the second switching time is determined as the switching time of the second phase switch, and the first switching time is determined as the switching time of the third phase switch.

[0059] If the third phase voltage is greater than the first phase voltage, and the first phase voltage is greater than the second phase voltage, then the second switching time is determined as the switching time of the first phase switch, the third switching time is determined as the switching time of the second phase switch, and the first switching time is determined as the switching time of the third phase switch.

[0060] If the first phase voltage is greater than the third phase voltage, and the third phase voltage is greater than the two phase voltages, then the first switching time will be determined as the switching time of the first phase switch, the third switching time will be determined as the switching time of the second phase switch, and the second switching time will be determined as the switching time of the third phase switch.

[0061] To better understand the first switching time t cm1 Second switching time t cm2 and the third switching time t cm3 Switching time T of the first phase switch a The switching time T of the second phase switch tube b and the switching time T of the third phase switch c Please refer to Table 1 for the relationship between the three-phase voltage magnitudes and the switching times of the switching transistors in each phase:

[0062] Table 1

[0063]

[0064] S150. Generate a pulse width modulation signal based on the switching time of the first phase switch, the switching time of the second phase switch, and the switching time of the third phase switch.

[0065] Specifically, a modulation wave is generated based on the switching times of the first phase switch, the second phase switch, and the third phase switch; then, the modulation wave is compared with a preset carrier wave to generate the pulse width modulation signal.

[0066] To further understand the spatial vector pulse width modulation method provided in this embodiment, please refer to [link to relevant documentation]. Figure 3 , Figure 3 This is a schematic diagram of a specific process of the spatial vector pulse width modulation method provided in this embodiment.

[0067] In summary, this embodiment acquires three-phase voltages, including a first-phase voltage, a second-phase voltage, and a third-phase voltage. The first-phase voltage, the second-phase voltage, and the third-phase voltage are sorted to obtain a sorting result. Based on the sorting result, the bus voltage, and the modulation period sampling time, a first switching time, a second switching time, and a third switching time are determined. According to the preset correspondence between the sorting result and the switching times of each phase switch, the switching times of the first-phase switch, the second-phase switch, and the third-phase switch are determined from the first switching time, the second switching time, and the third switching time. A pulse width modulation signal is generated based on the switching times of the first-phase switch, the second-phase switch, and the third-phase switch. This embodiment can directly deduce the switching times of the switches based on the magnitude relationship of the three-phase voltages. This scheme does not require sector judgment, so it does not require spatial vector combination calculations, thus improving the response speed of the AC speed control system.

[0068] Figure 4 This is a schematic flowchart of a space vector pulse width modulation method according to another embodiment of the present invention. This embodiment... Figure 2 Based on the corresponding implementation, overmodulation calculations were added to improve bus voltage utilization while preventing voltage distortion. For example... Figure 4 As shown, the space vector pulse width modulation method in this embodiment includes steps S210-S280.

[0069] S210. Obtain the three-phase voltage, which includes the first phase voltage, the second phase voltage, and the third phase voltage.

[0070] S220. Sort the first phase voltage, the second phase voltage and the third phase voltage to obtain the sorting result.

[0071] Among them, steps S210 and S220 andFigure 2 Steps S110 and S120 in the corresponding embodiments are similar, and will not be described in detail here.

[0072] S230. Determine the overmodulation status of the reference voltage vector based on the sorting results and the bus voltage. If the overmodulation status is no overmodulation, proceed to step S240. If the overmodulation status is overmodulation zone one, proceed to step S250. If the overmodulation status is overmodulation zone two, proceed to step S260.

[0073] In this embodiment, specifically, it includes: determining the reference voltage vector based on the sorting result, and then determining whether the reference voltage vector is greater than two-thirds of the bus voltage; if it is greater than two-thirds of the bus voltage, then determining that the reference voltage vector is located in overmodulation region two; if it is less than or equal to two-thirds of the bus voltage, then determining whether the difference between the phase voltage with the largest value and the phase voltage with the smallest value in the sorting result is greater than the bus voltage; if it is greater than the bus voltage, then determining that the reference voltage vector is located in overmodulation region one; if it is less than or equal to the bus voltage, then determining that the reference voltage vector is not overmodulated.

[0074] S240. Determine the first switching time, the second switching time, and the third switching time based on the sorting results, the bus voltage, and the modulation period sampling time.

[0075] In this embodiment, if the overmodulation situation is no overmodulation, then the first switching time, the second switching time, and the third switching time are determined according to the sorting result and the preset switching time calculation formula. This step is related to... Figure 2 Step S130 in the corresponding embodiment is similar, and will not be described in detail here.

[0076] S250. The three-phase voltage is scaled according to the volt-second balance principle, and the first switching time, the second switching time, and the third switching time are determined based on the scaled three-phase voltage.

[0077] Specifically, the three-phase voltage is scaled according to a proportional scaling formula, wherein the proportional scaling formula is:

[0078]

[0079] Among them, U ga U is the first phase voltage after scaling. gb U is the scaled second phase voltage. gc U is the scaled-down third-phase voltage. max The U is the phase voltage with the largest value in the sorting results. mid U is the middle phase voltage in the sorted results. minU is the phase voltage with the smallest value in the sorting results. a For the first phase voltage, U b For the second phase voltage, U c For the third phase voltage, U r =-U mid .

[0080] Then for U ga U gb And U gc The duty cycle voltage is limited to 0-1, and then the first switching time, the second switching time, and the third switching time are determined according to a preset second switching time calculation formula. The second switching time calculation formula is as follows:

[0081]

[0082] Among them, t cm1 Let t be the first switching time. cm2 t is the second switching time. cm3 For the third switching time, U ga U is the first phase voltage after scaling. gb U is the scaled second phase voltage. gc T is the scaled-down third-phase voltage. s Modulation period sampling time.

[0083] S260. The three-phase voltage is scaled according to the six-step ladder pattern, and the first switching time, the second switching time, and the third switching time are determined based on the scaled three-phase voltage.

[0084] Specifically, the three-phase voltage is scaled according to the six-step formula corresponding to the six-step mode, wherein the six-step formula is:

[0085]

[0086] Among them, U ga U is the first phase voltage after scaling. gb U is the scaled second phase voltage. gc U is the scaled-down third-phase voltage. a For the first phase voltage, U b For the second phase voltage, U c For the third phase voltage, U dc The bus voltage; when U mid ≤0 and At that time, U r =U dc -U max ; when U mid >0 and At that time, U r =-U min U max The U is the phase voltage with the largest value in the sorting results. mid U is the middle phase voltage in the sorted results. min The phase voltage with the smallest value in the sorting results.

[0087] Then for U ga U gb And U gc The duty cycle voltage is limited to 0 to 1, and the first switching time, the second switching time and the third switching time are determined according to the preset second switching time calculation formula, wherein the second switching time calculation formula is shown in formula (3).

[0088] S270. Based on the preset sorting results and the correspondence between the switching times of each phase switch tube, determine the switching times of the first phase switch tube, the second phase switch tube, and the third phase switch tube from the first switching time, the second switching time, and the third switching time.

[0089] After obtaining the first switching time, the second switching time, and the third switching time according to S240, S250, or S260, the switching time of the first phase switch, the switching time of the second phase switch, and the switching time of the third phase switch are determined from the first switching time, the second switching time, and the third switching time according to the preset sorting result and the correspondence between the switching times of each phase switch.

[0090] The specific methods for determining the switching times of the first-phase switch, the second-phase switch, and the third-phase switch are as follows: Figure 2 Step S140 in the corresponding embodiment is similar, and will not be described in detail here.

[0091] S280. Generate a pulse width modulation signal based on the switching time of the first phase switch, the switching time of the second phase switch, and the switching time of the third phase switch.

[0092] Specifically, a modulation wave is generated based on the switching times of the first phase switch, the second phase switch, and the third phase switch; then, the modulation wave is compared with a preset carrier wave to generate the pulse width modulation signal.

[0093] To further understand the overmodulation method in the space vector pulse width modulation method provided in this embodiment, please refer to [link to relevant documentation]. Figure 5 , Figure 5 This is a schematic diagram of the overmodulation method in the space vector pulse width modulation method provided in this embodiment; please refer to...Figure 6 , Figure 6 This is a schematic diagram of a specific process of the overmodulation method in the spatial vector pulse width modulation method provided in this embodiment.

[0094] Please see Figure 7 , Figure 7 This is a schematic diagram of the overall process framework of the spatial vector pulse width modulation method and overmodulation method provided in this embodiment; please refer to... Figure 8 , Figure 8 This is a schematic diagram illustrating the overall process of the spatial vector pulse width modulation method and the overmodulation method provided in this embodiment.

[0095] In summary, this embodiment can not only improve the response speed of the AC speed control system, but also perform overmodulation calculations on the voltage, so that the voltage is not distorted while improving the utilization rate of the bus voltage.

[0096] The following is a derivation and explanation of the space vector pulse width modulation and overmodulation methods in this embodiment:

[0097] (I) Derivation of Space Vector Pulse Width Modulation:

[0098] 1.1 Relationship between sector and voltage:

[0099] According to the traditional transformation, please refer to Figure 9 , Figure 9 To provide a space voltage vector diagram in this embodiment, it is first necessary to determine U. ref The voltage vector is located in which sector, and then the two fundamental vectors of that sector are used to synthesize the required vector U. ref Assuming the voltage vector falls within sector I, then we know that:

[0100] 0°<arctan(U β / U α <60°

[0101] The necessary and sufficient condition for determining which sector the synthesized voltage vector Uref falls in is shown in Table 2.

[0102] Table 2

[0103]

[0104] Reference voltage vector U ref The sector it is located in is entirely composed of U β , The three formulas determine the outcome, therefore:

[0105]

[0106] Define A = 1 if U1 > 0, otherwise A = 0; if U2 > 0, then B = 1, otherwise B = 0; if U3 > 0, then C = 1, otherwise C = 0. It can be seen that there are eight combinations of A, B, and C. However, according to the formula for determining the sector, A, B, and C cannot be simultaneously 1 or simultaneously 0, so the actual combinations are six. Different values ​​of the combinations A, B, and C correspond to different sectors, and they are one-to-one, because the sector can be determined by the combination of A, B, and C. To distinguish the six states, let N = 4*C + 2*B + A. The correspondence between sectors and N is shown in Table 3, where U1, U2, U3, A, B, and C are intermediate derived data.

[0107] Table 3

[0108] N 3 1 5 4 6 2 Sector number I II III IV V VI

[0109] Now, by converting the voltage to a three-phase stationary coordinate system for calculation, we can obtain:

[0110]

[0111]

[0112] When it is sector 1, N=3, A=1, B=1, C=0, so we can get:

[0113]

[0114] Substituting equation (5) into the above equation, we get:

[0115]

[0116] Following the above process, the relationships between the voltages in other sectors can be derived:

[0117] Sector 2:

[0118]

[0119] Sector 3:

[0120]

[0121] Sector 4:

[0122]

[0123] Sector 5:

[0124]

[0125] Sector 6:

[0126]

[0127] The above method was used to identify the 6 sectors and voltage U. a U b U c The relationship between them.

[0128] 1.2 Relationship between action time and voltage:

[0129] The expressions for the three time points in traditional SVPWM are:

[0130]

[0131] Transform the two non-zero time vectors in the two-phase stationary coordinate system to the three-phase stationary coordinate system, with the following sectors:

[0132] Sector 1:

[0133]

[0134] Sector 2:

[0135]

[0136] Sector 3:

[0137]

[0138] Sector 4:

[0139]

[0140] Sector 5:

[0141]

[0142] Sector 6:

[0143]

[0144] By combining the relationship between sectors and voltage, the duration of action of the six sectors can be summarized using a unified formula:

[0145]

[0146] Where U is the maximum output voltage of the inverter, which is 2Udc / 3. From this, we can derive the relationship between the basic vector action time and voltage in the fast SVPWM of this paper.

[0147] 1.3 Relationship between switching time and voltage

[0148] The switching timing is calculated based on the seven-segment switch sequence, using the formula (7 segments):

[0149]

[0150] Therefore, substituting the sector's operating time into the above equation yields the relationship between the switching time and the voltage:

[0151]

[0152] t aon t bon and t con This is intermediate derivation data.

[0153] Among them, the above formula (7) is the same as formula (1). The relationship between the switching time of the switching tube and the voltage magnitude in the fast SVPWM algorithm of this paper is derived from 1.3. The order of switching time can be directly determined based on the magnitude of the three-phase voltage by formula (6) and formula (7). Finally, the relationship between the switching time of each phase switching tube and the magnitude of the three-phase voltage shown in Table 1 is derived.

[0154] Therefore, the general process of implementing fast SVPWM as described in this article is to first utilize U a U b U c Get t cm1 , t cm2 , t cm3 The order, and then based on the derived t cm1 , t cm2 , t cm3 The switching time is obtained by comparing the switching time with the voltage magnitude, and finally the PWM wave is generated by comparing the switching time with the triangular carrier wave.

[0155] (I) Derivation of the overmodulation algorithm:

[0156] Because of the inverter's maximum output voltage limitation, output voltage distortion will occur when the modulation ratio exceeds a certain value. The space voltage vector must be confined within the hexagonal area of ​​the vector diagram. A common practice is to keep the phase angle of the space voltage vector constant and reduce its amplitude to the intersection point with the hexagon. In fast algorithms, a similar overmodulation method can be derived. According to the overmodulation principle, the action time of the switching vector is reduced proportionally. Most partial overmodulation algorithms use a uniformly proportional modulation algorithm, which will not include the utilization of the voltage in overmodulation region II. This paper includes overmodulation in two regions, and the method is as follows:

[0157] 1. Linear Region: Within the linear region, the SVPWM algorithm generates a circular rotating vector, and the actual output voltage vector slides along the inscribed circle of a regular hexagon. Figure 10 The OAG in the code. No processing is done at this point; the duty cycle is directly output.

[0158] 2. Overmodulation Region 1: When the length of the reference voltage vector is in and Between, the trajectory of the target vector is as follows Figure 1 Rotating within the circular region formed by OADG and OBEH, the actual output voltage of the inverter will be distorted in this region, and its amplitude will become lower than the reference voltage. This is because when the trajectory of the reference voltage vector lies outside the equilateral triangle OBH, the actual vector cannot be output. There may be unreasonable situations where T1 + T2 > Ts. In such cases, the vector output is scaled down proportionally. Let's assume Umin = Uc, Umid = Ub, and Umax = Ua.

[0159] Because there is:

[0160] but:

[0161]

[0162]

[0163] According to the traditional proportional calculation method (volt-second balance):

[0164]

[0165] Let the actual reference voltage for the synthesis be U. ga Theoretically, the desired reference voltage is U′. ga The difference between the traditional proportional method and the proportional method in this embodiment is that the modulation voltage in this embodiment includes zero vectors U0 and U7, so U ga =Ua+U r U r This represents the role of the zero vector. From this, a proportional algorithm based on voltage-second balance can be derived, and formula (2) is obtained:

[0166]

[0167]

[0168] 3. Overmodulation Zone 2

[0169] like Figure 10 As shown, when the reference voltage vector exceeds 2U dc After / 3, its trajectory rotates within the annular region formed by OBEH and OCFI. At this time, the output of the actual vector is processed as follows:

[0170] (1) When the trajectory of the vector is within the right triangles OBF and OHF, the phase angle of the actual output voltage vector remains unchanged, while the amplitude is reduced, so that the trajectory of its endpoint still falls on the BDHJ regular hexagon. At this time, the proportional algorithm corresponding to formula (4) is still used.

[0171] (2) When the trajectory of the reference voltage vector is in the CBF region, the actual output voltage vector is kept at OB; when the trajectory of the reference voltage vector is in the IHF region, the actual output voltage vector is kept at OH. At this time, only one phase of the switching transistor is in the on state, and the other two phases are in the off state. And U0 and U7 act independently. The actual voltage running trajectory stays at each vertex of the hexagon for 1 / 6 of a cycle and then jumps to the adjacent vertex in turn. This is the six-step staircase working mode, which gives formula (4):

[0172]

[0173] Finally, the duty cycle voltage U′ ga 、U′ gb 、U′ gc By limiting the range to 0-1, we can derive formula (3):

[0174]

[0175] Based on the above derivation, Table 1 and formulas (1) to (4) in the embodiments of the present invention are obtained.

[0176] It should be noted that in some embodiments, when the reference voltage vector is located in the overmodulation region II, and when the trajectory of the vector is within the right triangle OBF and OHF, the three-phase voltage can be scaled according to the volt-second balance principle. When the trajectory of the reference voltage vector is located in the CBF region and the IHF region, the three-phase voltage can be scaled according to the six-step ladder mode.

[0177] In this embodiment, the saddle-shaped modulation wave generated by fast SVPWM and the modulation wave after overmodulation processing are as follows: Figure 11 As shown.

[0178] Figure 12 This is a schematic block diagram of a space vector pulse width modulation device provided in an embodiment of the present invention. Figure 12 As shown, corresponding to the above-described space vector pulse width modulation method, the present invention also provides a space vector pulse width modulation apparatus. This space vector pulse width modulation apparatus 1200 includes a unit for performing the above-described space vector pulse width modulation method. (See attached diagram) Figure 12 The space vector pulse width modulation device includes:

[0179] The acquisition unit 1201 is used to acquire three-phase voltage, which includes a first-phase voltage, a second-phase voltage, and a third-phase voltage.

[0180] Processing unit 1202 is configured to sort the first phase voltage, the second phase voltage, and the third phase voltage to obtain a sorting result; determine a first switching time, a second switching time, and a third switching time based on the sorting result, the bus voltage, and the modulation period sampling time; determine the first phase switch time, the second phase switch time, and the third phase switch time from the first switching time, the second switching time, and the third switching time according to a preset correspondence between the sorting result and the switching time of each phase switch; and generate a pulse width modulation signal based on the first phase switch time, the second phase switch time, and the third phase switch time.

[0181] In some embodiments, when the processing unit 1202 performs the step of determining the first switching time, the second switching time, and the third switching time based on the sorting result, the bus voltage, and the modulation period sampling time, it is specifically used for:

[0182] The first switching time, the second switching time, and the third switching time are determined based on a preset first switching time calculation formula. The first switching time calculation formula is as follows:

[0183]

[0184] Among them, t cm1 Let t be the first switching time. cm2 t is the second switching time. cm3 For the third switching time, U max The U is the phase voltage with the largest value in the sorting results. mid U is the middle phase voltage in the sorted results. min U is the phase voltage with the smallest value in the sorting results. dc T is the bus voltage. s Modulation period sampling time.

[0185] In some embodiments, when the processing unit 1202 implements the step of determining the switching times of the first phase switch, the second phase switch, and the third phase switch from the first switching time, the second switching time, and the third switching time according to the preset sorting result and the correspondence between the switching times of each phase switch, the specific steps are as follows:

[0186] If the first phase voltage is greater than the second phase voltage, and the second phase voltage is greater than the three-phase voltage, then the first switching time is determined as the switching time of the first phase switch, the second switching time is determined as the switching time of the second phase switch, and the third switching time is determined as the switching time of the third phase switch.

[0187] If the second phase voltage is greater than the first phase voltage, and the first phase voltage is greater than the three-phase voltage, then the second switching time is determined as the switching time of the first phase switch, the first switching time is determined as the switching time of the second phase switch, and the third switching time is determined as the switching time of the third phase switch.

[0188] If the second phase voltage is greater than the third phase voltage, and the third phase voltage is greater than the first phase voltage, then the third switching time is determined as the switching time of the first phase switch, the first switching time is determined as the switching time of the second phase switch, and the second switching time is determined as the switching time of the third phase switch.

[0189] If the third phase voltage is greater than the second phase voltage, and the second phase voltage is greater than the first phase voltage, then the third switching time is determined as the switching time of the first phase switch, the second switching time is determined as the switching time of the second phase switch, and the first switching time is determined as the switching time of the third phase switch.

[0190] If the third phase voltage is greater than the first phase voltage, and the first phase voltage is greater than the second phase voltage, then the second switching time is determined as the switching time of the first phase switch, the third switching time is determined as the switching time of the second phase switch, and the first switching time is determined as the switching time of the third phase switch.

[0191] If the first phase voltage is greater than the third phase voltage, and the third phase voltage is greater than the two phase voltages, then the first switching time will be determined as the switching time of the first phase switch, the third switching time will be determined as the switching time of the second phase switch, and the second switching time will be determined as the switching time of the third phase switch.

[0192] In some embodiments, when implementing the step of generating a pulse width modulation signal based on the switching times of the first phase switch, the second phase switch, and the third phase switch, the processing unit 1202 is specifically used for:

[0193] A modulation wave is generated based on the switching times of the first phase switch, the second phase switch, and the third phase switch.

[0194] The modulated wave is compared with a preset carrier wave to generate the pulse width modulation signal.

[0195] In some embodiments, after performing the step of sorting the first phase voltage, the second phase voltage, and the third phase voltage to obtain the sorting result, the processing unit 1202 is further configured to:

[0196] The overmodulation of the reference voltage vector is determined based on the sorting results and the bus voltage.

[0197] If the overmodulation situation is no overmodulation, then the steps of determining the first switching time, the second switching time, and the third switching time based on the sorting result, the bus voltage, and the modulation period sampling time are executed.

[0198] If the overmodulation situation is overmodulation zone 1, the three-phase voltage is scaled according to the volt-second balance principle, and the first switching time, the second switching time and the third switching time are determined based on the scaled three-phase voltage.

[0199] If the overmodulation condition is overmodulation zone two, the three-phase voltage is scaled according to the six-step ladder mode, and the first switching time, the second switching time, and the third switching time are determined based on the scaled three-phase voltage.

[0200] In some embodiments, when implementing the step of determining the overmodulation situation of the reference voltage vector based on the sorting result and the bus voltage, the processing unit 1202 is specifically used for:

[0201] The reference voltage vector is determined based on the sorting result;

[0202] Determine whether the reference voltage vector is greater than two-thirds of the bus voltage;

[0203] If the reference voltage vector is greater than two-thirds of the bus voltage, then the reference voltage vector is determined to be located in the overmodulation region II.

[0204] If the bus voltage is less than or equal to two-thirds, then determine whether the difference between the phase voltage with the largest value and the phase voltage with the smallest value in the sorting results is greater than the bus voltage.

[0205] If it is greater than the bus voltage, then the reference voltage vector is determined to be located in the overmodulation region 1;

[0206] If the reference voltage vector is less than or equal to the bus voltage, then it is determined that there is no overmodulation.

[0207] In some embodiments, when implementing the step of determining the first switching time, the second switching time, and the third switching time based on the scaled three-phase voltage, the processing unit 1202 is specifically used for:

[0208] The first switching time, the second switching time, and the third switching time are determined according to a preset second switching time calculation formula, wherein the second switching time calculation formula is:

[0209]

[0210] Among them, t cm1 Let t be the first switching time. cm2 t is the second switching time. cm3 For the third switching time, U ga U is the first phase voltage after scaling. gb U is the scaled second phase voltage. gc T is the scaled-down third-phase voltage. s Modulation period sampling time.

[0211] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned space vector pulse width modulation device and each unit can be referred to the corresponding description in the foregoing method embodiments. For the sake of convenience and brevity, it will not be repeated here.

[0212] The aforementioned space vector pulse width modulation device can be implemented as a computer program, which can, for example... Figure 13 It runs on the space vector pulse width modulation device shown.

[0213] Please see Figure 13 , Figure 13 This is a schematic block diagram of a space vector pulse width modulation device provided in an embodiment of the present invention. The space vector pulse width modulation device 1300 integrates any of the space vector pulse width modulation devices provided in the embodiments of the present invention.

[0214] See Figure 13 The space vector pulse width modulation device 1300 includes a processor 1302, a memory, and a network interface 1305 connected via a system bus 1301. The memory may include a non-volatile storage medium 1303 and internal memory 1304.

[0215] The non-volatile storage medium 1303 may store an operating system 13031 and a computer program 13032. The computer program 13032 includes program instructions that, when executed, cause the processor 1302 to perform a space vector pulse width modulation method.

[0216] The processor 1302 provides computing and control capabilities to support the operation of the entire space vector pulse width modulation device 1300.

[0217] The internal memory 1304 provides an environment for the execution of the computer program 13032 in the non-volatile storage medium 1303. When the computer program 13032 is executed by the processor 1302, the processor 1302 can execute a space vector pulse width modulation method.

[0218] This network interface 1305 is used for network communication with other devices. Those skilled in the art will understand that... Figure 13 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the space vector pulse width modulation device 1300 to which the present invention is applied. The specific space vector pulse width modulation device 1300 may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0219] The processor 1302 is used to run a computer program 13032 stored in the memory to perform the following steps:

[0220] Obtain three-phase voltages, including first-phase voltage, second-phase voltage, and third-phase voltage;

[0221] The first phase voltage, the second phase voltage, and the third phase voltage are sorted to obtain the sorting result;

[0222] The first switching time, the second switching time, and the third switching time are determined based on the sorting results, the bus voltage, and the modulation period sampling time.

[0223] Based on the preset sorting results and the correspondence between the switching times of each phase switch, the switching times of the first phase switch, the second phase switch, and the third phase switch are determined from the first switching time, the second switching time, and the third switching time.

[0224] A pulse width modulation signal is generated based on the switching times of the first phase switch, the second phase switch, and the third phase switch.

[0225] It should be understood that, in this embodiment of the invention, the processor 1302 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0226] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program includes program instructions and can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0227] Therefore, the present invention also provides a storage medium. This storage medium can be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When executed by a processor, the program instructions cause the processor to perform the following steps:

[0228] Obtain three-phase voltages, including first-phase voltage, second-phase voltage, and third-phase voltage;

[0229] The first phase voltage, the second phase voltage, and the third phase voltage are sorted to obtain the sorting result;

[0230] The first switching time, the second switching time, and the third switching time are determined based on the sorting results, the bus voltage, and the modulation period sampling time.

[0231] Based on the preset sorting results and the correspondence between the switching times of each phase switch, the switching times of the first phase switch, the second phase switch, and the third phase switch are determined from the first switching time, the second switching time, and the third switching time.

[0232] A pulse width modulation signal is generated based on the switching times of the first phase switch, the second phase switch, and the third phase switch.

[0233] The storage medium can be any computer-readable storage medium capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk.

[0234] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0235] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0236] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0237] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a space vector pulse width modulation device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0238] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A space vector pulse width modulation method, characterized by, The method comprises: acquiring three-phase voltages, the three-phase voltages comprising a first-phase voltage, a second-phase voltage, and a third-phase voltage; sorting the first-phase voltage, the second-phase voltage, and the third-phase voltage to obtain a sorting result; determining a first switching time, a second switching time, and a third switching time according to the sorting result, a bus voltage, and a modulation period sampling time; determining a first-phase switching tube switching time, a second-phase switching tube switching time, and a third-phase switching tube switching time from the first switching time, the second switching time, and the third switching time according to a preset correspondence between the sorting result and the switching times of the switching tubes of the phases; generating a pulse width modulation signal according to the first-phase switching tube switching time, the second-phase switching tube switching time, and the third-phase switching tube switching time; the determination of the first switching time, the second switching time, and the third switching time according to the sorting result, the bus voltage, and the modulation period sampling time comprises: determining the first switching time, the second switching time, and the third switching time based on a preset first switching time calculation formula, the first switching time calculation formula being: ； wherein, is the first switching time, is the second switching time, is the third switching time, is the phase voltage with the largest value in the sorting result, the is the phase voltage in the middle of the value in the sorting result, is the phase voltage with the smallest value in the sorting result, is the bus voltage, is the sampling time of the modulation period.

2. The method of claim 1, wherein, the determination of the first-phase switching tube switching time, the second-phase switching tube switching time, and the third-phase switching tube switching time from the first switching time, the second switching time, and the third switching time according to the preset correspondence between the sorting result and the switching times of the switching tubes of the phases comprises: if the first-phase voltage is greater than the second-phase voltage, and the second-phase voltage is greater than the third-phase voltage, then the first switching time is determined as the first-phase switching tube switching time, the second switching time is determined as the second-phase switching tube switching time, and the third switching time is determined as the third-phase switching tube switching time; if the second-phase voltage is greater than the first-phase voltage, and the first-phase voltage is greater than the third-phase voltage, then the second switching time is determined as the first-phase switching tube switching time, the first switching time is determined as the second-phase switching tube switching time, and the third switching time is determined as the third-phase switching tube switching time; if the second-phase voltage is greater than the third-phase voltage, and the third-phase voltage is greater than the first-phase voltage, then the third switching time is determined as the first-phase switching tube switching time, the first switching time is determined as the second-phase switching tube switching time, and the second switching time is determined as the third-phase switching tube switching time; if the third-phase voltage is greater than the second-phase voltage, and the second-phase voltage is greater than the first-phase voltage, then the third switching time is determined as the first-phase switching tube switching time, the second switching time is determined as the second-phase switching tube switching time, and the first switching time is determined as the third-phase switching tube switching time. if the third phase voltage is greater than the first phase voltage and the first phase voltage is greater than the second phase voltage, determining the second switch time as the first phase switch tube switch time, determining the third switch time as the second phase switch tube switch time, and determining the first switch time as the third phase switch tube switch time; if the first phase voltage is greater than the third phase voltage and the third phase voltage is greater than the second phase voltage, determining the first switch time as the first phase switch tube switch time, determining the third switch time as the second phase switch tube switch time, and determining the second switch time as the third phase switch tube switch time.

3. The method of claim 1, wherein, The generating pulse width modulation signals according to the first phase switch tube switch time, the second phase switch tube switch time and the third phase switch tube switch time comprises: generating modulation waves according to the first phase switch tube switch time, the second phase switch tube switch time and the third phase switch tube switch time; comparing the modulation waves with preset carrier waves to generate the pulse width modulation signals.

4. The method according to any one of claims 1 to 3, characterized in that, After the sorting the first phase voltage, the second phase voltage and the third phase voltage to obtain a sorting result, the method further comprises: determining overmodulation of a reference voltage vector according to the sorting result and bus voltage; if the overmodulation is no overmodulation, performing the determining the first switch time, the second switch time and the third switch time according to the sorting result, bus voltage and modulation cycle sampling time; if the overmodulation is overmodulation region one, performing scaling processing on the three-phase voltage according to the volt-second balance principle, and determining the first switch time, the second switch time and the third switch time based on the scaling-processed three-phase voltage; if the overmodulation is overmodulation region two, performing scaling processing on the three-phase voltage according to the six-beat ladder mode, and determining the first switch time, the second switch time and the third switch time based on the scaling-processed three-phase voltage.

5. The method of claim 4, wherein, The determining overmodulation of a reference voltage vector according to the sorting result and bus voltage comprises: determining the reference voltage vector according to the sorting result; determining whether the reference voltage vector is greater than two-thirds of the bus voltage; if greater than two-thirds of the bus voltage, determining that the reference voltage vector is in overmodulation region two; if less than or equal to two-thirds of the bus voltage, determining whether the difference between the phase voltage with the maximum value and the phase voltage with the minimum value in the sorting result is greater than the bus voltage; if greater than the bus voltage, determining that the reference voltage vector is in overmodulation region one; if less than or equal to the bus voltage, determining that the reference voltage vector has no overmodulation.

6. The method of claim 4, wherein, The determining the first switch time, the second switch time and the third switch time based on the scaling-processed three-phase voltage comprises: determining the first switch time, the second switch time and the third switch time according to a preset second switch time calculation formula, the second switch time calculation formula being: ； wherein, is the first switching time, is the second switching time, is the third switching time, is the scaled first phase voltage, is the scaled second phase voltage, is the scaled third phase voltage, is the modulation period sampling time.

7. A space vector pulse width modulation apparatus characterized by comprising: comprising: The acquisition unit is configured to acquire three-phase voltages, including a first-phase voltage, a second-phase voltage, and a third-phase voltage. The processing unit is configured to sort the first-phase voltage, the second-phase voltage, and the third-phase voltage to obtain a sorting result, and determine a first switching time, a second switching time, and a third switching time according to the sorting result, a bus voltage, and a modulation period sampling time. According to a preset correspondence between the sorting result and switching times of phase switching tubes, the first switching time, the second switching time, and the third switching time are determined to be a first-phase switching tube switching time, a second-phase switching tube switching time, and a third-phase switching tube switching time, and a pulse width modulation signal is generated according to the first-phase switching tube switching time, the second-phase switching tube switching time, and the third-phase switching tube switching time. In the step of determining the first switching time, the second switching time, and the third switching time according to the sorting result, the bus voltage, and the modulation period sampling time, the processing unit is specifically configured to: The first switching time, the second switching time and the third switching time are determined based on a preset first switching time calculation formula, and the first switching time calculation formula is: ; wherein, is the first switching time, is the second switching time, is the third switching time, is the phase voltage with the largest value in the sorting result, the is the phase voltage in the middle of the value in the sorting result, is the phase voltage with the smallest value in the sorting result, is the bus voltage, is the sampling time of the modulation period.

8. A space vector pulse width modulation device, characterized by, The space vector pulse width modulation device includes a memory and a processor, the memory stores a computer program, and the processor executes the computer program to implement the method in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, the computer program includes program instructions, and the program instructions are executed by the processor to implement the method in any one of claims 1-6.

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