Motor voltage vector modulation method and device, electronic equipment and storage medium

Abstract

Embodiments of the application provide a motor voltage vector modulation method and device, electronic equipment and storage medium, and relate to the technical field of electrical control. The phase voltage amplitude and the direct-axis voltage reference value of the motor voltage vector are obtained, and the maximum quadrature-axis voltage square value is calculated according to the phase voltage amplitude and the direct-axis voltage reference value. The current following variable of the maximum quadrature-axis voltage is obtained, and the square value of the current following variable is calculated. The square value of the current following variable is compared with the maximum quadrature-axis voltage square value to obtain a first comparison result. The current following variable is adjusted according to the first comparison result to obtain a modified following variable. The modified following variable is compared with the quadrature-axis voltage reference value to obtain a second comparison result. The quadrature-axis voltage reference value is adjusted according to the second comparison result. According to the embodiments of the application, the SVPWM voltage vector can be directly limited in the inscribed circle modulation region by simple condition judgment and change of the following variable, and the operation is simple, the modulation is accurate, and the algorithm execution period is short.

Description

Technical Field

[0001] This invention relates to the field of electrical control technology, and more specifically, to a method, apparatus, electronic device, and storage medium for motor voltage vector modulation. Background Technology

[0002] SVPWM (Space Vector Pulse Width Modulation) is a common control method used in permanent magnet synchronous motors (PMSMs). In SVPWM control of PMSMs, the inscribed circle region within the regular hexagon formed by the basic voltage vectors is the linear modulation region of SVPWM, while the region exceeding the inscribed circle is the overmodulation region. When SVPWM is in the overmodulation region, it causes a deficiency in the modulation voltage. Existing methods for addressing this deficiency often involve proportionally reducing the vector duration. However, because the modulation wave itself is distorted and the vector trajectory is not circular, low-order harmonic components increase to varying degrees depending on their order. This increase in harmonic content causes torque pulsation in the motor, leading to increased motor losses and severe overheating. Summary of the Invention

[0003] The present invention aims to provide, for example, a motor voltage vector modulation method, apparatus, electronic device, and storage medium that can confine the SVPWM voltage vector within a linear modulation region, thereby avoiding the increase of harmonics and reducing motor losses.

[0004] The embodiments of the present invention can be implemented as follows:

[0005] In a first aspect, embodiments of the present invention provide a motor voltage vector modulation method, the method comprising:

[0006] Obtain the phase voltage amplitude and direct-axis voltage reference value of the motor voltage vector, and calculate the maximum quadrature-axis voltage square value based on the phase voltage amplitude and the direct-axis voltage reference value;

[0007] Obtain the current follower variable for the maximum cross-axis voltage, and calculate the square of the current follower variable;

[0008] The squared value of the current following variable is compared with the squared value of the maximum cross-axis voltage to obtain a first comparison result;

[0009] The current follower variable is adjusted based on the first comparison result to obtain the corrected follower variable;

[0010] The corrected follower variable is compared with the quadrature-axis voltage reference value to obtain a second comparison result;

[0011] The quadrature-axis voltage reference value is adjusted based on the second comparison result.

[0012] In one embodiment, calculating the maximum quadrature-axis voltage square value based on the phase voltage amplitude and the direct-axis voltage reference value includes:

[0013] Obtain the square of the phase voltage amplitude;

[0014] Obtain the square of the direct-axis voltage reference value;

[0015] The maximum quadrature-axis voltage squared value is obtained by subtracting the square of the phase voltage amplitude from the square of the direct-axis voltage reference value.

[0016] In one embodiment, the first comparison result includes: a first positive result and a first negative result. The step of comparing the squared value of the current following variable with the squared value of the maximum quadrature-axis voltage to obtain the first comparison result includes:

[0017] If the square value of the current following variable is greater than the square value of the maximum quadrature-axis voltage, then the first comparison result is determined as the first positive result;

[0018] If the square value of the current following variable is less than the square value of the maximum quadrature-axis voltage, then the first comparison result is determined as the first negative result.

[0019] In one embodiment, adjusting the current follower variable based on the first comparison result to obtain a modified follower variable includes:

[0020] If the first comparison result is the first positive result, then the current follower variable is reduced until the difference between the current follower variable and the maximum follower variable is less than or equal to a preset precision threshold.

[0021] If the first comparison result is the first negative result, then the current follower variable is increased until the difference between the current follower variable and the maximum follower variable is less than or equal to the preset precision threshold.

[0022] In one embodiment, the second comparison result includes: a second positive result and a second negative result, wherein comparing the corrected follower variable with the quadrature-axis voltage reference value to obtain the second comparison result includes:

[0023] If the cross-axis voltage reference value is greater than the corrected follower variable, then the second comparison result is determined as the second positive result;

[0024] If the cross-axis voltage reference value is less than the corrected follower variable, then the second comparison result is determined as the second negative result.

[0025] In one embodiment, adjusting the quadrature-axis voltage reference value based on the second comparison result includes:

[0026] If the second comparison result is the second positive result, then the value of the corrected follower variable is assigned to the quadrature-axis voltage reference value;

[0027] If the second comparison result is the second negative result, then the quadrature-axis voltage reference value is not changed.

[0028] Secondly, embodiments of this application provide a motor voltage vector modulation device, the device comprising:

[0029] The first acquisition module is used to acquire the phase voltage amplitude and direct-axis voltage reference value of the motor voltage vector, and calculate the maximum quadrature-axis voltage square value based on the phase voltage amplitude and the direct-axis voltage reference value;

[0030] The second acquisition module is used to acquire the current follower variable of the maximum quadrature-axis voltage and calculate the square value of the current follower variable;

[0031] The first comparison module is used to compare the square value of the current following variable with the square value of the maximum cross-axis voltage to obtain a first comparison result;

[0032] The first adjustment module is used to adjust the current follower variable according to the first comparison result to obtain the corrected follower variable;

[0033] The second comparison module is used to compare the corrected follower variable with the quadrature-axis voltage reference value to obtain a second comparison result;

[0034] The second adjustment module is used to adjust the quadrature-axis voltage reference value according to the second comparison result.

[0035] In one embodiment, the first acquisition module is further configured to:

[0036] Obtain the square of the phase voltage amplitude;

[0037] Obtain the square of the direct-axis voltage reference value;

[0038] The maximum quadrature-axis voltage squared value is obtained by subtracting the square of the phase voltage amplitude from the square of the direct-axis voltage reference value.

[0039] Thirdly, embodiments of this application also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the computer program executes the motor voltage vector modulation method described in the first aspect when the processor is running.

[0040] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when run on a processor, executes the motor voltage vector modulation method described in the first aspect.

[0041] The beneficial effects of the embodiments of the present invention include, for example:

[0042] Compared to overmodulation methods, the SVPWM voltage vector can be directly limited to the inscribed circle modulation region by simply using conditional statements and changing the following variables. This method is simple to operate, has precise modulation, and a short algorithm execution cycle. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A schematic flowchart of the motor voltage vector modulation method provided in an embodiment of this application is shown;

[0045] Figure 2 The maximum undistorted vector circle of the SVPWM method provided in this application embodiment is shown;

[0046] Figure 3 Another schematic flowchart of the motor voltage vector modulation method provided in this application embodiment is shown;

[0047] Figure 4 A schematic diagram of the structure of the motor voltage vector modulation device provided in an embodiment of this application is shown. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0049] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0050] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0051] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0052] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0053] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0054] Example 1

[0055] Please refer to Figure 1 This embodiment provides a motor voltage vector modulation method.

[0056] In permanent magnet synchronous motor control, taking a brushless DC motor as an example, the rotor is composed of permanent magnets with different numbers of pole pairs. Using power electronic circuits, the current flowing into the stator coils is switched according to the rotor's position, forming a rotating magnetic field that drives the rotor to rotate. The magnitude of the stator current determines the strength of the stator magnetic field, and the strength of the stator magnetic field determines the magnitude of the rotor torque.

[0057] Because the rotor is rotating during motor operation, its torque needs to be analyzed from the rotor perspective. From the rotor perspective, the torque is decomposed into the d-axis (direct axis, in the same direction as the motor rotor) and the perpendicular q-axis (quadrature axis, orthogonal to the motor rotor direction) along the direction of the magnetic flux. Correspondingly, the stator current is converted into components in the dq coordinate system through coordinate transformations (Clark and Park transformations). By controlling the quadrature axis current, the motor torque can be controlled; by controlling the direct axis current, the magnetic field can be controlled.

[0058] SVPWM (Space Vector Pulse Width Modulation) can synthesize a magnetic field with arbitrary angular position. During motor operation, the angular position of the magnetic field can be changed by controlling SVPWM. SVPWM can synthesize a magnetic field in any direction using six basic vectors plus two zero vectors in a regular hexagon. Please see [link to documentation]. Figure 2 , Figure 2 The maximum undistorted vector circle of SVPWM is shown. The maximum amplitude of the SVPWM synthesized vector will not exceed the circular region defined by the six base vectors, and its maximum amplitude can be expressed as... Its maximum undistorted voltage vector output is the inscribed circle of a regular hexagon, with a radius equal to that in Formula 1:

[0059]

[0060] Among them, U dc This is the bus voltage.

[0061] When the reference voltage vector U ref Located inside the inscribed circle of a regular hexagon, i.e. At this time, the voltage vector is in the undistorted linear modulation region, and the voltage vector trajectory can be determined by 8 basic vectors (including 6 vectors with a magnitude of 2U). dc / 3 non-zero vector, two zero vectors) modulation is achieved. When the reference voltage vector reaches At that time, the actual output voltage vector slides along the inscribed circle of the hexagon.

[0062] When the reference voltage vector lies between the incircle and circumcircle of the regular hexagon, i.e. Entering the overmodulation region. When the trajectory of the reference voltage vector is inside the inscribed circle, the inverter output voltage matches the command voltage, and linear modulation can be used. When the trajectory of the reference voltage vector exceeds the inscribed circle, the inverter cannot actually output such a large voltage; its amplitude becomes lower than the command voltage, and the actual output voltage of the inverter is distorted, which is overmodulation. In some implementations, the reference voltage vector can be a direct-axis voltage reference value.

[0063] Based on the SVPWM method, this application avoids overmodulation by limiting the SVPWM voltage vector within the linear modulation region. For details, please refer to the following steps.

[0064] Step S110: Obtain the phase voltage amplitude and direct-axis voltage reference value of the motor voltage vector, and calculate the maximum quadrature-axis voltage square value based on the phase voltage amplitude and the direct-axis voltage reference value;

[0065] In view of the above situation, the maximum phase voltage amplitude U is limited. out_max The radius of the largest undistorted inscribed circle, i.e. If the current input direct-axis voltage reference value is U d_ref Through public

[0066] Equation 2 can be used to solve for the current maximum quadrature axis limiting voltage U. q_max , Formula 2:

[0067]

[0068] Among them, the direct-axis voltage reference value U d_ref This is the PI output value of the direct-axis current loop, and its initial value is generally set to 0.

[0069] However, for general motor microcontrollers, unlike addition, subtraction, multiplication, and division operations, directly taking the square root to solve for U... q_max The computational complexity is enormous, making it difficult to apply in practice. To avoid complex square root calculations, the square of the current maximum input quadrature-axis voltage is defined as U. q_Smax .

[0070] In one embodiment, the step of basing the phase voltage amplitude U out_max Calculating the maximum quadrature-axis voltage square value with the direct-axis voltage reference value includes: obtaining the square value of the phase voltage amplitude; obtaining the square value of the direct-axis voltage reference value; and subtracting the square value of the phase voltage amplitude from the square value of the direct-axis voltage reference value to obtain the maximum quadrature-axis voltage square value.

[0071] That is, by transforming Formula 2, we get Formula 3:

[0072] U q_Smax =U out_max 2 -U d_ref 2 =U q_max 2

[0073] Step S120: Obtain the current follower variable of the maximum quadrature-axis voltage and calculate the square value of the current follower variable;

[0074] The current follower variable is the follower variable of the maximum undistorted vector circle of SVPWM. The square value of the current follower variable is calculated using Formula 4: Formula 4:

[0075] U q_Sfollow =U q_follow 2

[0076] In formulas 3 and 4, U q_follow This is the current follower variable for the maximum quadrature-axis voltage. The square of the current follower variable is U. q_Sfollow .

[0077] Step S130: Compare the squared value of the current following variable with the squared value of the maximum cross-axis voltage to obtain a first comparison result;

[0078] In one embodiment, the first comparison result includes a first positive result and a first negative result. The step of comparing the square value of the current following variable with the square value of the maximum cross-axis voltage to obtain the first comparison result includes: if the square value of the current following variable is greater than the square value of the maximum cross-axis voltage, then the first comparison result is determined as the first positive result; if the square value of the current following variable is less than the square value of the maximum cross-axis voltage, then the first comparison result is determined as the first negative result.

[0079] See also Figure 3 , Figure 3 Another flowchart of the motor voltage vector modulation method provided in this application embodiment is shown. Specifically, Figure 3 The comparison process in the motor voltage vector modulation method provided in this application embodiment is described. Step S130 is used to determine the relationship between the square value of the current follower variable and the square value of the maximum cross-axis voltage, and to determine the current follower variable based on their relationship, so as to provide a basis for controlling the square value of the current follower variable to gradually approach the square value of the maximum cross-axis voltage in subsequent modulation.

[0080] It's important to note that the case where the square of the current following variable is equal to the square of the maximum quadrature-axis voltage is not mentioned because such equality is almost nonexistent during actual motor operation. Therefore, only cases where the value is greater than or less than the maximum are considered. In an ideal operating environment, if a very rare case of equality occurs, the current situation will remain unchanged without any adjustments.

[0081] Step S140: Adjust the current follower variable according to the first comparison result to obtain the corrected follower variable;

[0082] In one embodiment, adjusting the current follower variable according to the first comparison result to obtain a corrected follower variable includes: if the first comparison result is the first positive result, decreasing the current follower variable until the difference between the current follower variable and the maximum follower variable is less than or equal to a preset precision threshold; if the first comparison result is the first negative result, increasing the current follower variable until the difference between the current follower variable and the maximum follower variable is less than or equal to the preset precision threshold.

[0083] This step aims to make the current following variable infinitely close to the largest following variable. However, in reality, strict equality is impossible. Therefore, a preset precision threshold is set. Once the difference is less than the preset precision threshold, it can be considered an infinite approximation, i.e., approximately equal.

[0084] Step S150: Compare the corrected following variable with the quadrature-axis voltage reference value to obtain a second comparison result;

[0085] In one embodiment, the second comparison result includes a second positive result and a second negative result. The step of comparing the modified follower variable with the quadrature-axis voltage reference value to obtain the second comparison result includes: if the quadrature-axis voltage reference value is greater than the modified follower variable, then the second comparison result is determined as the second positive result; if the quadrature-axis voltage reference value is less than the modified follower variable, then the second comparison result is determined as the second negative result.

[0086] Similarly, this comparison process is also to obtain the relationship between the magnitude of the correction follower variable and the quadrature-axis voltage reference value, so that the quadrature-axis voltage reference value can be adjusted subsequently.

[0087] Step S160: Adjust the quadrature-axis voltage reference value according to the second comparison result.

[0088] The step of adjusting the quadrature-axis voltage reference value based on the second comparison result includes:

[0089] If the second comparison result is the second positive result, the value of the correction follower variable is assigned to the quadrature-axis voltage reference value; if the second comparison result is the second negative result, the quadrature-axis voltage reference value is not changed.

[0090] In summary, by comparing the square value of the maximum quadrature-axis voltage U q_Smax and the square value U of the current follower variable q_follow The size of the variable is adjusted in real time, and the current following variable U is adjusted accordingly. q_follow The value of U can make q_follow

[0091] infinitely close to U q_max The current quadrature-axis voltage reference value U q_ref with U q_follow For comparison, as long as U q_ref The value does not exceed U q_follow This allows the linear modulation region output to be achieved.

[0092] In execution Figure 3 During the comparison process shown, the motor's microcontroller can act as the execution entity, and the control method can be a simple conditional statement, such as an if-else statement. Furthermore, this embodiment does not require complex calculations such as square root extraction, thus consuming less microcontroller computing resources and resulting in a short algorithm execution cycle.

[0093] This ensures that the SVPWM voltage vector remains confined within the linear modulation region. Compared to overmodulation methods, this prevents the reference voltage vector from entering the overmodulation region at its source, thus avoiding many problems caused by insufficient modulation voltage, such as increased harmonics and increased motor losses.

[0094] The motor voltage vector modulation method provided in this embodiment has at least the following advantages:

[0095] This application's embodiments can directly confine the SVPWM voltage vector to the inscribed circle modulation region through simple conditional statements and adjustments to the following variables, effectively avoiding complex calculations such as square root extraction. Confining the voltage vector within the inscribed circle effectively reduces the low-order harmonic content caused by overmodulation. The algorithm is simple to operate, highly accurate in modulation, and has a short execution cycle, demonstrating significant practicality and application prospects.

[0096] Example 2

[0097] This application provides a motor voltage vector modulation device 400. Please refer to [link to relevant documentation]. Figure 4 The device includes:

[0098] The first acquisition module 410 is used to acquire the phase voltage amplitude and direct-axis voltage reference value of the motor voltage vector, and calculate the maximum quadrature-axis voltage square value based on the phase voltage amplitude and the direct-axis voltage reference value;

[0099] The second acquisition module 420 is used to acquire the current follower variable of the maximum quadrature-axis voltage and calculate the square value of the current follower variable;

[0100] The first comparison module 430 is used to compare the square value of the current following variable with the square value of the maximum cross-axis voltage to obtain a first comparison result;

[0101] The first adjustment module 440 is used to adjust the current following variable according to the first comparison result to obtain the corrected following variable;

[0102] The second comparison module 450 is used to compare the corrected follower variable with the quadrature-axis voltage reference value to obtain a second comparison result.

[0103] The second adjustment module 460 is used to adjust the quadrature-axis voltage reference value according to the second comparison result.

[0104] The motor voltage vector modulation device 400 provided in this application embodiment can directly limit the SVPWM voltage vector to the inscribed circle modulation region through simple conditional statements and adjustment of the following variable, effectively avoiding complex calculations such as square root extraction. Limiting the voltage vector to the inscribed circle can effectively reduce the low-order harmonic content caused by overmodulation. With its simple operation, precise modulation, and short algorithm execution cycle, it has great practicality and application prospects.

[0105] Example 3

[0106] Furthermore, this disclosure provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the computer program executes the motor voltage vector modulation method provided in Embodiment 1 when it is run on the processor.

[0107] The electronic device provided in this embodiment of the invention can implement the motor voltage vector modulation method provided in Embodiment 1. To avoid repetition, it will not be described again here.

[0108] The electronic device provided in this embodiment can directly confine the SVPWM voltage vector to the inscribed circle modulation region through simple conditional statements and adjustments to the following variables, effectively avoiding complex calculations such as square root extraction. Confining the voltage vector within the inscribed circle effectively reduces the low-order harmonic content caused by overmodulation. With its simple calculations, precise modulation, and short algorithm execution cycle, it possesses great practicality and application prospects.

[0109] Example 4

[0110] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the motor voltage vector modulation method provided in Embodiment 1.

[0111] In this embodiment, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0112] The computer-readable storage medium provided in this embodiment can implement the motor voltage vector modulation method provided in Embodiment 1. To avoid repetition, it will not be described again here.

[0113] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal that includes that element.

[0114] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0115] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of protection of this application, and all of these forms are within the protection scope of this application.

Claims

1. A method for motor voltage vector modulation, characterized in that, The method includes: Obtain the phase voltage amplitude and direct-axis voltage reference value of the motor voltage vector, and calculate the maximum quadrature-axis voltage square value based on the phase voltage amplitude and the direct-axis voltage reference value; Obtain the current follower variable of the maximum cross-axis voltage and calculate the square value of the current follower variable, wherein the current follower variable is the follower variable of the maximum undistorted vector circle; The squared value of the current following variable is compared with the squared value of the maximum cross-axis voltage to obtain a first comparison result; The current follower variable is adjusted based on the first comparison result to obtain the corrected follower variable; The corrected follower variable is compared with the quadrature-axis voltage reference value to obtain a second comparison result; The quadrature-axis voltage reference value is adjusted based on the second comparison result; The step of adjusting the current follower variable based on the first comparison result to obtain the corrected follower variable includes: If the first comparison result is a positive result, then the current follower variable is reduced until the difference between the current follower variable and the maximum follower variable is less than or equal to a preset precision threshold. If the first comparison result is a negative result, then the current follower variable is increased until the difference between the current follower variable and the maximum follower variable is less than or equal to the preset precision threshold. The step of adjusting the quadrature-axis voltage reference value based on the second comparison result includes: If the second comparison result is a second positive result, then the value of the corrected follower variable is assigned to the quadrature-axis voltage reference value; If the second comparison result is a negative result, the quadrature-axis voltage reference value remains unchanged.

2. The motor voltage vector modulation method according to claim 1, characterized in that, The calculation of the maximum quadrature-axis voltage square value based on the phase voltage amplitude and the direct-axis voltage reference value includes: Obtain the square of the phase voltage amplitude; Obtain the square of the direct-axis voltage reference value; The maximum quadrature-axis voltage squared value is obtained by subtracting the square of the phase voltage amplitude from the square of the direct-axis voltage reference value.

3. The motor voltage vector modulation method according to claim 1, characterized in that, The first comparison result includes: a first positive result and a first negative result. The step of comparing the squared value of the current following variable with the squared value of the maximum quadrature-axis voltage to obtain the first comparison result includes: If the square value of the current following variable is greater than the square value of the maximum quadrature-axis voltage, then the first comparison result is determined as the first positive result; If the square value of the current following variable is less than the square value of the maximum quadrature-axis voltage, then the first comparison result is determined as the first negative result.

4. The motor voltage vector modulation method according to claim 1, characterized in that, The second comparison result includes: a second positive result and a second negative result. The comparison of the corrected follower variable with the quadrature-axis voltage reference value to obtain the second comparison result includes: If the cross-axis voltage reference value is greater than the corrected follower variable, then the second comparison result is determined as the second positive result; If the cross-axis voltage reference value is less than the corrected follower variable, then the second comparison result is determined as the second negative result.

5. A motor voltage vector modulation device, characterized in that, The device includes: The first acquisition module is used to acquire the phase voltage amplitude and direct-axis voltage reference value of the motor voltage vector, and calculate the maximum quadrature-axis voltage square value based on the phase voltage amplitude and the direct-axis voltage reference value; The second acquisition module is used to acquire the current follower variable of the maximum cross-axis voltage and calculate the square value of the current follower variable, wherein the current follower variable is the follower variable of the maximum undistorted vector circle; The first comparison module is used to compare the square value of the current following variable with the square value of the maximum cross-axis voltage to obtain a first comparison result; The first adjustment module is used to adjust the current follower variable according to the first comparison result to obtain the corrected follower variable; The second comparison module is used to compare the corrected follower variable with the quadrature-axis voltage reference value to obtain a second comparison result; The second adjustment module is used to adjust the quadrature-axis voltage reference value according to the second comparison result; The step of adjusting the current follower variable based on the first comparison result to obtain the corrected follower variable includes: If the first comparison result is a positive result, then the current follower variable is reduced until the difference between the current follower variable and the maximum follower variable is less than or equal to a preset precision threshold. If the first comparison result is a negative result, then the current follower variable is increased until the difference between the current follower variable and the maximum follower variable is less than or equal to the preset precision threshold. The step of adjusting the quadrature-axis voltage reference value based on the second comparison result includes: If the second comparison result is a second positive result, then the value of the corrected follower variable is assigned to the quadrature-axis voltage reference value; If the second comparison result is a negative result, the quadrature-axis voltage reference value remains unchanged.

6. The motor voltage vector modulation device according to claim 5, characterized in that, The first acquisition module is also used for: Obtain the square of the phase voltage amplitude; Obtain the square of the direct-axis voltage reference value; The maximum quadrature-axis voltage squared value is obtained by subtracting the square of the phase voltage amplitude from the square of the direct-axis voltage reference value.

7. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program that executes the motor voltage vector modulation method according to any one of claims 1 to 4 when the processor is running.

8. A computer-readable storage medium, characterized in that, It stores a computer program that, when run on a processor, executes the motor voltage vector modulation method according to any one of claims 1 to 4.

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