Dual three-phase permanent magnet synchronous motor control method and device

Abstract

The present invention provides a dual three-phase permanent magnet synchronous motor control method and device. The method comprises: simplifying the αβ voltage vector space of the dual three-phase permanent magnet synchronous motor to obtain a simplified virtual voltage vector space; constructing a discrete space vector modulation system based on the simplified virtual voltage vector space; determining a required reference control voltage based on a reference current given value and a dual three-phase permanent magnet synchronous motor model; selecting multiple discrete voltage vectors close to the reference control voltage in the discrete space vector modulation system; and determining an optimal discrete voltage vector from the multiple discrete voltage vectors for controlling the dual three-phase permanent magnet synchronous motor. The present invention can achieve dual three-phase permanent magnet synchronous motor control with high control accuracy and reduced current and torque ripple.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a dual three-phase permanent magnet synchronous motor control method and device. Background Art

[0002] Traditional motor control methods for dual three-phase permanent magnet synchronous motors require complex space vector pulse width modulation strategies and suffer from large current and torque ripple. Consequently, a simple, high-precision, and low-current torque ripple control method for dual three-phase permanent magnet synchronous motors is currently lacking. Summary of the Invention

[0003] An embodiment of the present invention provides a dual three-phase permanent magnet synchronous motor control method for achieving dual three-phase permanent magnet synchronous motor control with high control accuracy and capable of reducing current and torque ripple. The method includes:

[0004] The αβ voltage vector space of the dual three-phase permanent magnet synchronous motor is simplified to obtain a simplified virtual voltage vector space;

[0005] Based on the simplified virtual voltage vector space, a discrete space vector modulation system is constructed;

[0006] Determine the required reference control voltage according to the reference current given value and the dual three-phase permanent magnet synchronous motor model;

[0007] In a discrete space vector modulation system, a plurality of discrete voltage vectors close to a reference control voltage are selected;

[0008] An optimal discrete voltage vector is determined from the plurality of discrete voltage vectors for controlling the dual three-phase permanent magnet synchronous motor.

[0009] An embodiment of the present invention provides a dual three-phase permanent magnet synchronous motor control device for achieving dual three-phase permanent magnet synchronous motor control with high control accuracy and reduced current and torque ripple. The device includes:

[0010] A voltage vector space simplification module is used to simplify the αβ voltage vector space of the dual three-phase permanent magnet synchronous motor to obtain a simplified virtual voltage vector space;

[0011] Discrete space vector modulation system building module, used to build a discrete space vector modulation system based on a simplified virtual voltage vector space;

[0012] A reference control voltage determination module is used to determine the required reference control voltage according to a reference current given value and a dual three-phase permanent magnet synchronous motor model;

[0013] Multiple discrete voltage vector selection modules, used for selecting multiple discrete voltage vectors close to a reference control voltage in a discrete space vector modulation system;

[0014] The optimal discrete voltage vector determination module is used to determine the optimal discrete voltage vector from the multiple discrete voltage vectors for controlling the dual three-phase permanent magnet synchronous motor.

[0015] An embodiment of the present invention further proposes a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned dual three-phase permanent magnet synchronous motor control method when executing the computer program.

[0016] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program for executing the above-mentioned dual three-phase permanent magnet synchronous motor control method.

[0017] In an embodiment of the present invention, the αβ voltage vector space of a dual three-phase permanent magnet synchronous motor is simplified to obtain a simplified virtual voltage vector space; a discrete space vector modulation system is constructed based on the simplified virtual voltage vector space; a required reference control voltage is determined based on a reference current setpoint and a dual three-phase permanent magnet synchronous motor model; within the discrete space vector modulation system, multiple discrete voltage vectors close to the reference control voltage are selected; and an optimal discrete voltage vector is determined from the multiple discrete voltage vectors for controlling the dual three-phase permanent magnet synchronous motor. In this process, discrete space vector modulation provides a greater number of selectable discrete voltage vectors, resulting in higher control accuracy and effectively addressing the issue of large current and torque ripple. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0019] Figure 1 Flowchart of a dual three-phase permanent magnet synchronous motor control method according to an embodiment of the present invention;

[0020] Figure 2 Schematic diagram of a dual three-phase permanent magnet synchronous motor control method according to an embodiment of the present invention;

[0021] Figure 3 A comparison diagram of the voltage vector space of the coordinate system and the simplified virtual voltage vector space in an embodiment of the present invention;

[0022] Figure 4 Schematic diagram of phase current and torque of a dual three-phase permanent magnet synchronous motor after voltage vector space simplification in an embodiment of the present invention;

[0023] Figure 5 Schematic diagram of a discrete space vector modulation system according to an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of isosceles triangle numbering in an embodiment of the present invention;

[0025] Figure 7 Schematic diagram of a dual three-phase permanent magnet synchronous motor control device according to an embodiment of the present invention;

[0026] Figure 8 Schematic diagram of a computer device in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0028] In the description of this specification, the terms "include", "including", "have", "contain", etc. are all open terms, which mean including but not limited to. The descriptions with reference to the terms "one embodiment", "a specific embodiment", "some embodiments", "for example", etc. mean that the specific features, structures or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. The order of steps involved in each embodiment is used to schematically illustrate the implementation of the present application, and the order of steps therein is not limited and can be appropriately adjusted as needed.

[0029] Figure 1 FIG. 1 is a flow chart of a dual three-phase permanent magnet synchronous motor control method according to an embodiment of the present invention. Figure 1 As shown, the method includes:

[0030] Step 101, simplifying the αβ voltage vector space of the dual three-phase permanent magnet synchronous motor to obtain a simplified virtual voltage vector space;

[0031] Step 102: constructing a discrete space vector modulation system based on the simplified virtual voltage vector space;

[0032] Step 103, determining a required reference control voltage according to a reference current given value and a dual three-phase permanent magnet synchronous motor model;

[0033] Step 104 , in a discrete space vector modulation system, selecting a plurality of discrete voltage vectors close to a reference control voltage;

[0034] Step 105 determines an optimal discrete voltage vector from the plurality of discrete voltage vectors for controlling the dual three-phase permanent magnet synchronous motor.

[0035] In the embodiment of the present invention, based on discrete space vector modulation, more discrete voltage vectors are available for selection, the control accuracy is higher, and the current torque ripple can be effectively reduced.

[0036] When implementing it specifically, Figure 2 FIG. 1 is a schematic diagram of a control method for a dual three-phase permanent magnet synchronous motor according to an embodiment of the present invention. Figure 2 As shown, the discrete voltage vector for controlling the dual three-phase permanent magnet synchronous motor is first input into the dual three-phase inverter of the motor and then input into the motor. In step 101, the αβ voltage vector space of the dual three-phase permanent magnet synchronous motor is simplified to obtain a simplified virtual voltage vector space. Figure 3 This figure compares the voltage vector space of the coordinate system and the simplified virtual voltage vector space in an embodiment of the present invention. The αβ voltage vector space includes 64 voltage vectors, while the simplified virtual voltage vector space includes 13 virtual voltage vectors, namely 12 non-zero vectors and one zero vector. These vectors divide the voltage vector space into 12 isosceles triangles.

[0037] In one embodiment, the αβ voltage vector space of the dual three-phase permanent magnet synchronous motor is simplified to obtain a simplified virtual voltage vector space, including:

[0038] In each control cycle, a first voltage vector and a second voltage vector in the αβ voltage vector space are simultaneously used to obtain a simplified virtual voltage vector space, wherein the first voltage vector is a voltage vector with the largest amplitude, the second voltage vector is a voltage vector with the second largest amplitude in the same direction as the first voltage vector, and the action time of the first voltage vector and the second voltage vector satisfy a preset proportional relationship.

[0039] In the above embodiment, it can be seen that the other two sets of voltage vectors with smaller amplitudes do not act, and the preset ratio relationship is 0.731:0.269. Among them, the αβ voltage vector space is in the αβ coordinate system of the stator two-phase stationary coordinate system. Through such vector transformation processing, the voltage finally applied to the dual three-phase permanent magnet synchronous motor can be made free of harmonic spatial components, thereby reducing the harmonic components of the dual three-phase permanent magnet synchronous motor current. Figure 4 Schematic diagram of phase current and torque of a dual three-phase permanent magnet synchronous motor after voltage vector space simplification in an embodiment of the present invention, as shown in FIG. Figure 4 As shown, the motor phase current has high sinusoidal degree and small torque ripple. For example, in a control cycle T s middle, Figure 3 The action time of the two voltage vectors numbered 44 and 65 in the αβ voltage vector space is 0.731T respectively. s and 0.269T s , then their effects can be equivalent to u1 acting alone for one cycle T in the simplified virtual voltage vector space. s .

[0040] In one embodiment, a discrete space vector modulation system is constructed based on a simplified virtual voltage vector space, including:

[0041] According to different control accuracy requirements, each sector of the simplified virtual voltage vector space is divided into multiple layers of congruent isosceles triangles to obtain a discrete space vector modulation system.

[0042] Figure 5 This is a schematic diagram of a discrete space vector modulation system in an embodiment of the present invention. It can be seen that the discrete space vector modulation system includes multiple sectors, each sector includes multiple layers of congruent isosceles triangles (smallest triangles), and the three vertices of each isosceles triangle correspond to three voltage vectors in the voltage vector space. Figure 5 The discrete space vector modulation system in the system has 3 layers per sector. The higher the control accuracy requirement, the more layers there are.

[0043] In one embodiment, determining the required reference control voltage according to the reference current given value and the dual three-phase permanent magnet synchronous motor model includes:

[0044] The reference current given value and the actual current sampling value are input into the dual three-phase permanent magnet synchronous motor model, and the reference control voltage when the actual current sampling value reaches the reference current given value is determined as the required reference control voltage.

[0045] In the above embodiment, the three-phase permanent magnet synchronous motor model is a parametric equation of voltage and current, as follows:

[0046]

[0047] Among them, u dref and u qref is the reference control voltage, i dref and i qref is the reference current given value, i d (k) and i q (k) is the actual current sampling value, ω e is the motor electrical angular velocity, T s is the control period, L d , L q 、R s , ψ pm are the dq axis inductance, resistance and permanent magnet flux of the motor respectively.

[0048] In one embodiment, the plurality of discrete voltage vectors close to the reference control voltage are three discrete voltage vectors corresponding to three vertices of an isosceles triangle including an endpoint of the reference control voltage.

[0049] In one embodiment, the calculation steps of the three discrete voltage vectors are as follows:

[0050] Numbering the isosceles triangles in discrete space vector modulation systems;

[0051] Determine the number of the isosceles triangle containing the reference control voltage endpoint according to the boundary size of the sector where the reference control voltage is located, the height of the hypotenuse and the base of the isosceles triangle, and the distance from the reference control voltage endpoint to the corresponding boundary;

[0052] According to the number of the isosceles triangle containing the reference control voltage endpoints, three discrete voltage vectors corresponding to the three vertices of the isosceles triangle are obtained.

[0053] In the above embodiment, the boundaries of the sector where the reference control voltage is located are defined as l1, l2, and l3; the distances from the reference control voltage endpoints to the corresponding boundaries are d1, d2, and d3 respectively; the two virtual voltage vectors corresponding to the sector are ① and ②; the hypotenuse height of each small isosceles triangle is h1, and the base height is h2. Where h1 = (1 / N)·0.597u dc ·sin(5π / 6),h2=(1 / N)·0.597u dc sin(5π / 12),u dc is the controller DC bus voltage.

[0054] Figure 6 is a schematic diagram of isosceles triangle numbering in an embodiment of the present invention, wherein U ref is the reference control voltage, Table 1 is the embodiment of the present invention Figure 5 The discrete voltage vectors corresponding to the isosceles triangles. For example, Figure 6 The reference control voltage endpoints in the equation fall within the isosceles triangle numbered (2,1,2). Then, by querying Table 1, the three discrete voltage vectors corresponding to the three vertices of the isosceles triangle numbered (2,1,2) are determined as follows:

[0055] Table 1

[0056]

[0057] In one embodiment, determining an optimal discrete voltage vector from the plurality of discrete voltage vectors for controlling a dual three-phase permanent magnet synchronous motor includes:

[0058] Substitute the three discrete voltage vectors into the dual three-phase permanent magnet synchronous motor model to predict the current generated by the three discrete voltage vectors in one control cycle, and obtain three predicted currents;

[0059] The three predicted currents and the reference current given values ​​are respectively input into the cost function, and the discrete voltage vector corresponding to the predicted current with the minimum cost function value is determined as the optimal discrete voltage vector for controlling the dual three-phase permanent magnet synchronous motor.

[0060] In the above embodiment, the three discrete voltage vectors can be substituted into the following dual three-phase permanent magnet synchronous motor model:

[0061]

[0062] The above parameter equation is one of the equations of the dual three-phase permanent magnet synchronous motor model. Finally, three sets of predicted current i are obtained. d (k+1) and i q (k+1), substitute the three sets of predicted currents into the following cost function, and determine that the discrete voltage vector corresponding to the predicted current with the minimum cost function value is the optimal discrete voltage vector for controlling the dual three-phase permanent magnet synchronous motor:

[0063] g=(i dref -i d (k+1)) 2 +(i qref -i q (k+1)) 2

[0064] After obtaining the discrete voltage vector for controlling the dual three-phase permanent magnet synchronous motor, coordinate transformation is performed on the obtained discrete voltage vector to obtain a three-phase voltage to drive the dual three-phase permanent magnet synchronous motor.

[0065] The method proposed in the embodiment of the present invention can be applied to high-performance servo drive systems and electric vehicle drive systems. Due to its simple control method and excellent control effect, it can replace traditional control methods, improve the driving performance of dual three-phase motors, and reduce related industry costs.

[0066] In summary, in the method proposed in an embodiment of the present invention, the αβ voltage vector space of the dual three-phase permanent magnet synchronous motor is simplified to obtain a simplified virtual voltage vector space; a discrete space vector modulation system is constructed based on the simplified virtual voltage vector space; the required reference control voltage is determined based on a reference current given value and a dual three-phase permanent magnet synchronous motor model; in the discrete space vector modulation system, multiple discrete voltage vectors close to the reference control voltage are selected; and the optimal discrete voltage vector is determined from the multiple discrete voltage vectors for controlling the dual three-phase permanent magnet synchronous motor. In the above process, based on discrete space vector modulation, the entire voltage vector space is finely divided, resulting in a larger number of discrete voltage vectors to choose from, higher control accuracy, and the ability to effectively solve the problem of large current and torque pulsation.

[0067] The embodiment of the present invention further provides a dual three-phase permanent magnet synchronous motor control device, the principle of which is similar to the dual three-phase permanent magnet synchronous motor control method, and will not be repeated here.

[0068] Figure 7 FIG. 1 is a schematic diagram of a dual three-phase permanent magnet synchronous motor control device according to an embodiment of the present invention. Figure 7 As shown, the device includes:

[0069] A voltage vector space simplification module 701 is used to simplify the αβ voltage vector space of the dual three-phase permanent magnet synchronous motor to obtain a simplified virtual voltage vector space;

[0070] A discrete space vector modulation system construction module 702 is configured to construct a discrete space vector modulation system based on a simplified virtual voltage vector space;

[0071] A reference control voltage determination module 703 is configured to determine a required reference control voltage based on a reference current given value and a dual three-phase permanent magnet synchronous motor model;

[0072] A plurality of discrete voltage vector selection modules 704 is configured to select a plurality of discrete voltage vectors close to a reference control voltage requirement in a discrete space vector modulation system;

[0073] The discrete voltage vector determination module 705 is configured to determine an optimal discrete voltage vector from the plurality of discrete voltage vectors for controlling the dual three-phase permanent magnet synchronous motor.

[0074] In one embodiment, the voltage vector space simplification module is specifically configured to:

[0075] In each control cycle, a first voltage vector and a second voltage vector in the αβ voltage vector space are simultaneously used to obtain a simplified virtual voltage vector space, wherein the first voltage vector is a voltage vector with the largest amplitude, the second voltage vector is a voltage vector with the second largest amplitude in the same direction as the first voltage vector, and the action time of the first voltage vector and the second voltage vector satisfy a preset proportional relationship.

[0076] In one embodiment, the discrete space vector modulation system building module is specifically used to:

[0077] According to different control accuracy requirements, each sector of the simplified virtual voltage vector space is divided into multiple layers of congruent isosceles triangles to obtain a discrete space vector modulation system.

[0078] In one embodiment, the reference control voltage determination module is specifically configured to:

[0079] The reference current given value and the actual current sampling value are input into the dual three-phase permanent magnet synchronous motor model, and the reference control voltage when the actual current sampling value reaches the reference current given value is determined as the required reference control voltage.

[0080] In one embodiment, the plurality of discrete voltage vectors close to the reference control voltage are three discrete voltage vectors corresponding to three vertices of an isosceles triangle including an endpoint of the reference control voltage.

[0081] In one embodiment, the calculation steps of the three discrete voltage vectors are as follows:

[0082] Numbering the isosceles triangles in discrete space vector modulation systems;

[0083] Determine the number of the isosceles triangle containing the reference control voltage endpoint according to the boundary size of the sector where the reference control voltage is located, the height of the hypotenuse and the base of the isosceles triangle, and the distance from the reference control voltage endpoint to the corresponding boundary;

[0084] According to the number of the isosceles triangle containing the reference control voltage endpoints, three discrete voltage vectors corresponding to the three vertices of the isosceles triangle are obtained.

[0085] In one embodiment, the discrete voltage vector determination module is specifically configured to:

[0086] Substitute the three discrete voltage vectors into the dual three-phase permanent magnet synchronous motor model to predict the current generated by the three discrete voltage vectors in one control cycle, and obtain three predicted currents;

[0087] The three predicted currents and the reference current given values ​​are respectively input into the cost function, and the discrete voltage vector corresponding to the predicted current with the minimum cost function value is determined as the discrete voltage vector for controlling the dual three-phase permanent magnet synchronous motor.

[0088] In summary, in the device proposed in an embodiment of the present invention, the αβ voltage vector space of the dual three-phase permanent magnet synchronous motor is simplified to obtain a simplified virtual voltage vector space; a discrete space vector modulation system is constructed based on the simplified virtual voltage vector space; the required reference control voltage is determined based on a reference current given value and a dual three-phase permanent magnet synchronous motor model; in the discrete space vector modulation system, multiple discrete voltage vectors close to the reference control voltage are selected; and the optimal discrete voltage vector is determined from the multiple discrete voltage vectors for controlling the dual three-phase permanent magnet synchronous motor. In the above process, based on discrete space vector modulation, the entire voltage vector space is finely divided, resulting in a larger number of discrete voltage vectors to choose from, higher control accuracy, and the ability to effectively solve the problem of large current and torque pulsation.

[0089] An embodiment of the present application further provides a computer device, Figure 8 Schematic diagram of a computer device according to an embodiment of the present invention. The computer device can implement all steps of the dual three-phase permanent magnet synchronous motor control method according to the above embodiment. The computer device specifically includes the following contents:

[0090] Processor 801, memory 802, communications interface 803 and communication bus 804;

[0091] The processor 801, memory 802, and communication interface 803 communicate with each other via the communication bus 804; the communication interface 803 is used to implement information transmission between the server-side device, the detection device, the user-side device, and other related devices;

[0092] The processor 801 is used to call the computer program in the memory 802. When the processor executes the computer program, all steps in the dual three-phase permanent magnet synchronous motor control method in the above embodiment are implemented.

[0093] An embodiment of the present application also provides a computer-readable storage medium that can implement all steps in the dual three-phase permanent magnet synchronous motor control method in the above embodiment. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements all steps in the dual three-phase permanent magnet synchronous motor control method in the above embodiment.

[0094] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0095] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0096] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0098] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A dual three-phase permanent magnet synchronous motor control method, characterized in that: include: The αβ voltage vector space of the dual three-phase permanent magnet synchronous motor is simplified to obtain a simplified virtual voltage vector space; According to different control accuracy requirements, each sector of the simplified virtual voltage vector space is divided into multiple layers of congruent isosceles triangles to obtain a discrete space vector modulation system. Determine the required reference control voltage according to the reference current given value and the dual three-phase permanent magnet synchronous motor model; In a discrete space vector modulation system, a plurality of discrete voltage vectors close to a reference control voltage are selected; Determining an optimal discrete voltage vector from the plurality of discrete voltage vectors for controlling the dual three-phase permanent magnet synchronous motor; The plurality of discrete voltage vectors close to the reference control voltage are three discrete voltage vectors corresponding to three vertices of an isosceles triangle including an endpoint of the reference control voltage; The calculation steps of the three discrete voltage vectors are as follows: number the isosceles triangles in the discrete space vector modulation system; determine the number of the isosceles triangle containing the reference control voltage endpoint based on the boundary size of the sector where the reference control voltage is located, the height of the hypotenuse and the base of the isosceles triangle, and the distance from the reference control voltage endpoint to the corresponding boundary; and obtain the three discrete voltage vectors corresponding to the three vertices of the isosceles triangle based on the number of the isosceles triangle containing the reference control voltage endpoint.

2. The dual three-phase permanent magnet synchronous motor control method according to claim 1, characterized in that: The αβ voltage vector space of the dual three-phase permanent magnet synchronous motor is simplified to obtain a simplified virtual voltage vector space, including: In each control cycle, a first voltage vector and a second voltage vector in the αβ voltage vector space are simultaneously used to obtain a simplified virtual voltage vector space, wherein the first voltage vector is a voltage vector with the largest amplitude, the second voltage vector is a voltage vector with the second largest amplitude in the same direction as the first voltage vector, and the action time of the first voltage vector and the second voltage vector satisfy a preset proportional relationship.

3. The dual three-phase permanent magnet synchronous motor control method according to claim 1, characterized in that: Based on the reference current given value and the dual three-phase permanent magnet synchronous motor model, the required reference control voltage is determined, including: The reference current given value and the actual current sampling value are input into the dual three-phase permanent magnet synchronous motor model, and the reference control voltage when the actual current sampling value reaches the reference current given value is determined as the required reference control voltage.

4. The dual three-phase permanent magnet synchronous motor control method according to claim 1, characterized in that: Determining an optimal discrete voltage vector from the plurality of discrete voltage vectors for controlling a dual three-phase permanent magnet synchronous motor includes: Substitute the three discrete voltage vectors into the dual three-phase permanent magnet synchronous motor model to predict the current generated by the three discrete voltage vectors in one control cycle, and obtain three predicted currents; The three predicted currents and the reference current given values ​​are respectively input into the cost function, and the discrete voltage vector corresponding to the predicted current with the minimum cost function value is determined as the optimal discrete voltage vector for controlling the dual three-phase permanent magnet synchronous motor.

5. A dual three-phase permanent magnet synchronous motor control device, characterized in that: include: A voltage vector space simplification module is used to simplify the αβ voltage vector space of the dual three-phase permanent magnet synchronous motor to obtain a simplified virtual voltage vector space; A discrete space vector modulation system building module is used to divide each sector of the simplified virtual voltage vector space into multiple layers of congruent isosceles triangles according to different control accuracy requirements to obtain a discrete space vector modulation system; A reference control voltage determination module is used to determine the required reference control voltage according to a reference current given value and a dual three-phase permanent magnet synchronous motor model; Multiple discrete voltage vector selection modules, used for selecting multiple discrete voltage vectors close to a reference control voltage in a discrete space vector modulation system; an optimal discrete voltage vector determination module, configured to determine an optimal discrete voltage vector from the plurality of discrete voltage vectors for controlling the dual three-phase permanent magnet synchronous motor; The plurality of discrete voltage vectors close to the reference control voltage are three discrete voltage vectors corresponding to three vertices of an isosceles triangle including an endpoint of the reference control voltage; The calculation steps of the three discrete voltage vectors are as follows: number the isosceles triangles in the discrete space vector modulation system; determine the number of the isosceles triangle containing the reference control voltage endpoint based on the boundary size of the sector where the reference control voltage is located, the height of the hypotenuse and the base of the isosceles triangle, and the distance from the reference control voltage endpoint to the corresponding boundary; and obtain the three discrete voltage vectors corresponding to the three vertices of the isosceles triangle based on the number of the isosceles triangle containing the reference control voltage endpoint.

6. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 4 is implemented.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program for executing the method according to any one of claims 1 to 4.

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